Intelligent agaric picking machine

Abstract

The utility model discloses an intelligent agaric picking machine, which belongs to the technical field of agricultural machinery and comprises a frame main body, walking mechanisms are arranged on the periphery of the bottom of the frame main body, a tray is arranged under the frame main body, a cross beam is arranged in the center of the bottom of the frame main body, and harvesting mechanisms are symmetrically mounted at two ends of the cross beam. Two sets of grabbing mechanisms are arranged on the top of the frame body in parallel, each grabbing mechanism comprises a lifting plate, and a mechanical claw assembly is installed on each lifting plate. According to the intelligent agaric picking machine, the camera provides a visual basis for agaric harvesting, the grabbing mechanism and the harvesting mechanism work cooperatively, the picking efficiency is improved, and a foundation is laid for standardized and digital management of the whole agaric production process.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to an intelligent black fungus harvesting machine. Background Technology

[0002] In recent years, black fungus, with its unique taste and rich nutritional value, has gradually become one of the most popular edible fungi in domestic and international markets. Benefiting from continuous improvements in consumer demand and cultivation technology, the black fungus industry is developing towards large-scale, modern, and intelligent production. However, while progress has been made in strain cultivation and management, harvesting still largely relies on manual labor, which is not only inefficient but also lacks standardization, affecting the overall efficiency and quality of the industry. Furthermore, manual harvesting is physically demanding for workers and is prone to damage to the mushroom logs, missed harvests, and mis-harvesting in large-scale production environments. Therefore, developing and promoting automated harvesting equipment to address the technical challenges in black fungus harvesting is of great significance for further improving the production capacity and quality of the black fungus industry, reducing labor costs, and promoting rural economic development. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent black fungus harvesting machine. The camera provides visual information for black fungus harvesting, and the gripping and harvesting mechanisms work together to improve harvesting efficiency, laying the foundation for standardized and digital management of the entire black fungus production process.

[0004] To achieve the above objectives, this utility model provides an intelligent black fungus harvesting machine, including a frame body, a walking mechanism arranged around the bottom of the frame body, a tray arranged directly below the frame body, a crossbeam arranged in the center of the bottom of the frame body, harvesting mechanisms symmetrically installed at both ends of the crossbeam, and two sets of gripping mechanisms arranged parallel to each other on the top of the frame body. The gripping mechanism includes a lifting plate, and a mechanical claw assembly is installed on the lifting plate.

[0005] Preferably, the walking mechanism includes a drive wheel and a steering wheel, and the drive wheel is connected to a drive motor.

[0006] Preferably, the harvesting mechanism includes a mushroom stick rotary motor, a mushroom stick fixing plate mounted on the mushroom stick rotary motor, a column arranged on the outside of the mushroom stick rotary motor, a scraper servo motor at the bottom of the column, a scraper above the scraper servo motor, a scraper bracket connected to the top of the scraper, the scraper bracket being fixedly connected to the column, an electromagnetic push rod mounted on the scraper bracket, a fixing ball at the bottom of the electromagnetic push rod, and the fixing ball being located directly above the center of the mushroom stick fixing plate.

[0007] Preferably, the gripping mechanism includes a movable beam, which is arranged parallel to the crossbeam. Both ends of the movable beam mesh with a longitudinal rack disposed above the frame body via longitudinal gears, and the longitudinal gears are driven by a longitudinal motor. A transverse motion bracket is mounted on the movable beam, and a transverse rack is mounted on the back of the movable beam. A transverse motor is disposed above the transverse motion bracket, and the transverse motor drives the transverse motion bracket to move via a transverse gear meshing with the transverse rack.

[0008] Preferably, the lifting plate is connected to the front of the transverse motion support, the lifting plate is provided with a lifting rack on the back, and a lifting motor is also provided above the transverse motion support. A lifting gear is installed on the lifting motor, and the lifting gear meshes with the lifting rack.

[0009] Preferably, the mechanical claw assembly includes a camera located in the middle of the lifting plate, a rotary servo motor installed below the camera, and an opening and closing servo motor connected below the rotary servo motor, the opening and closing servo motor controlling the mechanical claw to open and close.

[0010] Therefore, this utility model adopts the above-mentioned intelligent black fungus harvesting machine. The camera provides visual basis for black fungus harvesting, and the gripping mechanism and harvesting mechanism work together to improve harvesting efficiency, laying the foundation for the standardization and digital management of the entire black fungus production process.

[0011] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the intelligent black fungus harvesting machine of this utility model;

[0013] Figure 2 This is a schematic diagram of the harvesting mechanism structure of an embodiment of the intelligent black fungus harvesting machine of this utility model;

[0014] Figure 3 This is a front view of the gripping mechanism of an embodiment of the intelligent black fungus harvesting machine of this utility model;

[0015] Figure 4 This is a schematic diagram of the back structure of the gripping mechanism in an embodiment of the intelligent black fungus harvesting machine of this utility model;

[0016] Figure 5 This is an enlarged structural diagram of section A of an embodiment of the intelligent black fungus harvesting machine of this utility model;

[0017] Figure 6 This is an enlarged schematic diagram of section B of an embodiment of an intelligent black fungus harvesting machine of this utility model.

[0018] Figure Labels

[0019] 1. Walking mechanism; 11. Drive wheel; 12. Drive motor; 13. Steering wheel; 2. Frame body; 3. Gripping mechanism; 31. Moving beam; 32. Longitudinal gear; 33. Longitudinal rack; 34. Longitudinal motor; 35. Lateral motion support; 36. Lateral rack; 37. Lateral motor; 38. Lifting plate; 39. Lifting motor; 310. Lifting gear; 311. Camera; 312. Rotation servo; 313. Opening and closing servo; 314. Mechanical claw; 315. Lifting rack; 316. Lateral gear; 4. Pallet; 5. Harvesting mechanism; 51. Mushroom stick rotation motor; 52. Mushroom stick fixing plate; 53. Column; 54. Scraper servo; 55. Scraper; 56. Scraper support; 57. Electromagnetic push rod; 58. Fixed ball; 6. Crossbeam. Detailed Implementation

[0020] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0021] Unless otherwise defined, the technical or scientific terms used in this utility model shall have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar terms used in this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] Example 1

[0023] This utility model provides an intelligent black fungus harvesting machine, the overall structure of which is as follows: Figure 1 As shown, the system includes a frame body 2, with a walking mechanism 1 arranged around the bottom of the frame body 2, a tray 4 positioned directly below the frame body 2, a crossbeam 6 positioned at the center of the bottom of the frame body 2, and harvesting mechanisms 5 symmetrically installed at both ends of the crossbeam 6. The harvesting mechanisms 5 are as follows... Figure 2 As shown. Two sets of gripping mechanisms 3 are arranged parallel to each other on the top of the main frame 2. The front structure of the gripping mechanism 3 is as follows. Figure 3 As shown, the rear mechanism is as follows Figure 4 As shown, Figure 3 The magnified structures at points A and B are respectively as follows: Figure 5 and Figure 6As shown, the gripping mechanism 3 includes a lifting plate 38, on which a mechanical claw assembly is mounted.

[0024] The walking mechanism 1 includes a drive wheel 11 and a steering wheel 13, and the drive wheel 11 is connected to a drive motor 12.

[0025] Harvesting mechanism 5 includes a mushroom log rotary motor 51, on which a mushroom log fixing plate 52 is mounted. A column 53 is located outside the rotary motor 51, and a scraper servo motor 54 is located at the bottom of the column 53. A scraper 55 is located above the scraper servo motor 54. The scraper servo motor 54 is used to adjust the angle of the scraper 55, flexibly adapting to the thickness of the mushroom log or the growth state of the wood ear mushrooms, minimizing the damage rate of the wood ear mushrooms while achieving efficient harvesting. A scraper bracket 56 is connected to the top of the scraper 55, and the scraper bracket 56 is fixedly connected to the column 53. An electromagnetic push rod 57 is mounted on the scraper bracket 56. A fixing ball 58 is located at the bottom of the electromagnetic push rod 57, directly above the center of the mushroom log fixing plate 52. The fixing ball 58 can dynamically press the mushroom logs during operation. The two harvesting mechanisms 5 operate independently and will not interfere with each other.

[0026] The gripping mechanism 3 includes a moving beam 31, which is arranged parallel to the crossbeam 6. Both ends of the moving beam 31 are connected to the longitudinal rack 33 located above the frame body 2 via longitudinal gears 32. The longitudinal gears 32 are driven by a longitudinal motor 34. A transverse motion support 35 is mounted on the moving beam 31, and a transverse rack 36 is mounted on the back of the moving beam 31. A transverse motor 37 is located above the transverse motion support 35. The transverse motor 37 drives the transverse motion support 35 to move via a transverse gear 316 that meshes with the transverse rack 36.

[0027] A lifting plate 38 is connected to the front of the transverse motion support 35, and a lifting rack 315 is provided on the back of the lifting plate 38. A lifting motor 39 is also provided above the transverse motion support 35, and a lifting gear 310 is installed on the lifting motor 39. The lifting gear 310 meshes with the lifting rack 315. Through the cooperation of the longitudinal motor 34, the transverse motor 37 and the lifting motor 39 in the gripping mechanism 3, the gripping mechanism 3 can achieve precise movement in three-dimensional space.

[0028] The mechanical claw assembly includes a camera 311 positioned in the middle of the lifting plate 38. The camera 311 is used to identify the spatial coordinates of the mushroom log in real time and guide the grasping action. Below the camera 311 is a rotary servo motor 312, which controls the mechanical claw 314 to rotate 180° horizontally. This eliminates the need for significant lifting and crossing of the mushroom log during grasping and placement, simplifying the harvesting process and maintaining minimal load variation in the vertical direction. This improves the overall stability and safety of the operation, facilitating continuous and efficient mushroom harvesting. Below the rotary servo motor 312 is an opening / closing servo motor 313, which controls the opening and closing of the mechanical claw 314. The two gripping mechanisms 3 are respectively responsible for placing the mushroom sticks to be harvested and taking out the harvested mushroom sticks, realizing synchronous and seamless continuous work. The front and rear arrangement of the two gripping mechanisms 3 enables the mushroom harvester to balance the center of gravity of the whole machine when working, reducing the risk of imbalance that may be caused by the simultaneous movement of the two gripping mechanisms 3, and ensuring the stability of the whole machine under multiple working conditions.

[0029] The process of harvesting black fungus using the intelligent black fungus harvesting machine described in this embodiment is as follows:

[0030] S1. Move the mushroom harvester to the mature mushroom sticks to be harvested, and start the three-dimensional positioning function of the top gripping mechanism 3. The longitudinal motor 34, the transverse motor 37 and the lifting motor 39 work together to control the movement of the gripping mechanism 3. The camera 311 identifies the position of the mushroom sticks to be harvested, and the mechanical claw 314 performs the gripping.

[0031] S2. After the mechanical claw 314 grasps the mushroom stick, it is driven by the rotary servo motor 312 to rotate 180° and transfer the mushroom stick to the mushroom stick fixing plate 52 of the harvesting mechanism 5. At this time, the electromagnetic push rod 57 drives the fixing ball 58 to press down and fix the mushroom stick. The grasping mechanism 3 then releases the mushroom stick and continues to position the next target mushroom stick. The mushroom stick rotation motor 51 starts to carry out the harvesting operation.

[0032] S3. After the mushroom sticks are fixed, the harvesting mechanism 5 is started. The mushroom stick rotation motor 51 drives the mushroom sticks to rotate at a constant speed. The scraper servo motor 54 controls the scraper 55 to be close to the surface of the mushroom sticks. The wood ear mushrooms are peeled off by adaptive adjustment of the blade edge. The peeled wood ear mushrooms fall into the tray 4 for temporary storage.

[0033] S4. When the front gripping mechanism 3 puts a new mushroom stick into the harvesting mechanism 5, the rear gripping mechanism 3 simultaneously grips the mushroom sticks that have already been harvested in the harvesting mechanism 5. Through the 180° rotation of the mechanical claw 314 and the movement of the moving beam 31, the harvested mushroom sticks are unloaded. This achieves parallel operation of alternating loading / unloading between the gripping mechanism 3 and the harvesting mechanism 5.

[0034] S5. After the single-row mushroom sticks are harvested, the walking mechanism 1 moves the mushroom harvester to the next work point, repeating the above process until the entire area is harvested. The entire process is achieved through the coordinated control of the gripping mechanism 3, the harvesting mechanism 5, and the walking mechanism 1, enabling unattended continuous operation.

[0035] Therefore, this utility model adopts the above-mentioned intelligent black fungus harvesting machine. The camera provides visual basis for black fungus harvesting, and the gripping mechanism and harvesting mechanism work together to improve harvesting efficiency, laying the foundation for the standardization and digital management of the entire black fungus production process.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solution of this utility model, and these modifications or equivalent substitutions cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of this utility model.

Claims

1. An intelligent black fungus harvesting machine, characterized in that: The system includes a frame body, a walking mechanism is provided around the bottom of the frame body, a tray is provided directly below the frame body, a crossbeam is provided in the center of the bottom of the frame body, harvesting mechanisms are symmetrically installed at both ends of the crossbeam, and two sets of gripping mechanisms are arranged parallel to each other on the top of the frame body. The gripping mechanism includes a lifting plate, and a mechanical claw assembly is installed on the lifting plate.

2. The intelligent black fungus harvesting machine according to claim 1, characterized in that: The walking mechanism includes a drive wheel and a steering wheel, and the drive wheel is connected to a drive motor.

3. The intelligent black fungus harvesting machine according to claim 1, characterized in that: The harvesting mechanism includes a mushroom stick rotary motor, on which a mushroom stick fixing plate is mounted. A column is provided on the outside of the mushroom stick rotary motor, a scraper servo motor is provided at the bottom of the column, a scraper is provided above the scraper servo motor, a scraper bracket is connected to the top of the scraper, the scraper bracket is fixedly connected to the column, an electromagnetic push rod is mounted on the scraper bracket, and a fixed ball is provided at the bottom of the electromagnetic push rod, the fixed ball being located directly above the center of the mushroom stick fixing plate.

4. The intelligent black fungus harvesting machine according to claim 1, characterized in that: The gripping mechanism includes a movable beam, which is arranged parallel to the crossbeam. Both ends of the movable beam mesh with a longitudinal rack arranged above the frame body via longitudinal gears. The longitudinal gears are driven by a longitudinal motor. A transverse motion bracket is installed on the movable beam, and a transverse rack is installed on the back of the movable beam. A transverse motor is arranged above the transverse motion bracket, and the transverse motor drives the transverse motion bracket to move via a transverse gear meshing with the transverse rack.

5. The intelligent black fungus harvesting machine according to claim 4, characterized in that: The lifting plate is connected to the front of the transverse motion support, and a lifting rack is provided on the back of the lifting plate. A lifting motor is also provided above the transverse motion support, and a lifting gear is installed on the lifting motor. The lifting gear meshes with the lifting rack.

6. The intelligent black fungus harvesting machine according to claim 1, characterized in that: The mechanical claw assembly includes a camera located in the middle of the lifting plate, a rotary servo motor installed below the camera, and an opening and closing servo motor connected below the rotary servo motor, the opening and closing servo motor controlling the mechanical claw to open and close.

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