Telescopic cantilever for mushroom picking

Abstract

The utility model discloses a telescopic cantilever for mushroom picking, comprising: a first arm plate; a second arm plate, the second arm plate can be slidably arranged in one side of the first arm plate, and can slide along the length direction of the first arm plate under the drive of the first drive assembly; a mechanical hand mounting seat, the mechanical hand mounting seat can be slidably arranged in one side of the second arm plate opposite to the first arm plate, and can slide along the length direction of the second arm plate under the drive of the second drive assembly. The utility model can be contracted in the non - working state, the overall length is reduced significantly, the passing property and the transfer convenience are improved, and the time required for the movement of the moving seat to the specified position is reduced, and the picking efficiency is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of mushroom harvesting technology, specifically to a telescopic cantilever for mushroom harvesting. Background Technology

[0002] Button mushrooms, as the most widely cultivated and highest-yielding edible fungus globally, have seen rapid industry growth in recent years, becoming a crucial pillar for increasing farmers' income in many regions. With rising living standards, market demand for mushrooms continues to grow, driving the widespread adoption of factory-style mushroom cultivation. To improve the ease of harvesting factory-cultivated mushrooms, most manufacturers now utilize vision-guided automated equipment. During operation, a liftable base cart first sends the cantilever into the target shelf, then a moving seat on the cantilever guides the robotic arm to the designated area. A vision system then identifies mature mushrooms and guides the robotic arm for precise harvesting.

[0003] Existing automated equipment typically employs long cantilever arms to achieve a harvesting range matching the shelf length. Examples include Chinese patents CN202510416892.1 (A Track-Mounted Intelligent Mushroom Harvesting Robot) and CN202420230928.8 (A Rotatable Harvesting Arm for Automated Harvesting of Button Mushrooms). These long cantilever arms occupy significant space, resulting in poor flexibility and inconvenient operation when transferring the equipment between planting shelves. Furthermore, the robotic arm relies on a moving seat on the cantilever for long-distance movement. Because the cantilever length is fixed and relies on a single drive, the moving seat requires a long travel time to move from the near end to the far end of the cantilever, slowing the robotic arm's entry into the target working area and reducing harvesting efficiency. Utility Model Content

[0004] The purpose of this utility model is to provide a retractable cantilever for mushroom harvesting, which can be retracted when not in use, significantly reducing the overall length, improving its passability and ease of transfer, and reducing the time required for the moving seat to move to the designated position, thereby effectively improving harvesting efficiency.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: a telescopic cantilever for mushroom harvesting, comprising:

[0006] First arm plate;

[0007] The second arm plate is slidably disposed on one side of the first arm plate and can slide along the length direction of the first arm plate under the drive of the first drive assembly.

[0008] A robotic arm mounting base is slidably disposed on the side of the second arm plate opposite to the first arm plate, and can slide along the length direction of the second arm plate under the drive of the second drive assembly;

[0009] The first drive assembly includes a first motor and a first transmission mechanism driven by the first motor, wherein the first motor drives the second arm plate to slide relative to the first arm plate through the first transmission mechanism.

[0010] The second drive assembly includes a second motor and a second transmission mechanism driven by the second motor, wherein the second motor drives the robotic arm mounting base to slide relative to the second arm plate via the second transmission mechanism.

[0011] A further improvement of this utility model is that the first transmission mechanism is disposed on the side of the first arm plate opposite to the second arm plate, and the first arm plate has an avoidance opening along its length direction. The first transmission mechanism is connected to the second arm plate through a connector passing through the avoidance opening.

[0012] A further improvement of this utility model is that the first transmission mechanism includes a first synchronous belt assembly, the first synchronous belt assembly includes two first synchronous pulleys connected by the first synchronous belt, one of the first synchronous pulleys is driven by the first motor, a first connecting block is fixedly provided on the first synchronous belt, a bearing plate is provided on the first connecting block and slidably connected to the first arm plate, and the connecting member is a linkage shaft rotatably connected to the bearing plate, the linkage shaft passes through the clearance and is rotatably connected to the second arm plate.

[0013] A further improvement of this utility model is that the second transmission mechanism includes:

[0014] The third synchronous pulley is fixedly connected to one end of the linkage shaft;

[0015] The second synchronous belt assembly is disposed on the side of the first arm plate opposite to the second arm plate, and includes two second synchronous pulleys connected by a second synchronous belt drive, one of which is driven by the second motor, and the second synchronous belt is connected to the third synchronous pulley drive.

[0016] The third synchronous belt assembly is disposed on the side of the second arm plate opposite to the first arm plate, and includes two fourth synchronous pulleys connected by the third synchronous belt drive, one of which is fixedly disposed at the other end of the linkage shaft;

[0017] The second connecting block is fixedly mounted on the third synchronous belt and is fixedly connected to the robot arm mounting base.

[0018] A further improvement of this utility model is that at least one idler wheel is provided on the bearing plate, and the idler wheel cooperates with the third synchronous pulley to tension the second synchronous belt, so as to ensure that the second synchronous belt and the third synchronous pulley are fully engaged for transmission.

[0019] A further improvement of this utility model is that the second surrounding opening formed by the second synchronous belt is located within the first surrounding opening formed by the first synchronous belt.

[0020] A further improvement of this utility model is that the first arm plate and the second arm plate are connected by a first linear guide pair, and the guiding direction of the first linear guide pair is consistent with the length direction of the first arm plate.

[0021] A further improvement of this utility model is that the second arm plate and the robot arm mounting base are connected by a second linear guide pair, and the guiding direction of the second linear guide pair is consistent with the length direction of the second arm plate.

[0022] The beneficial effects of this utility model are as follows:

[0023] This invention achieves two-stage telescopic extension of the cantilever through a sliding structure between the first and second arm plates. When in operation, it unfolds to cover a long distance, and when not in operation, it retracts to reduce lateral space occupation, thereby improving the flexibility of the equipment when moving between planting racks.

[0024] This invention uses a first motor to control the extension and retraction of the second arm plate and a second motor to control the lateral movement of the robotic arm, which can be driven simultaneously, shortening the total travel time for the robotic arm to reach the target position and improving harvesting efficiency.

[0025] This invention uses a clearance opening and a linkage shaft to transmit the power of the second motor on the back of the first arm plate to the second arm plate. No matter what extension or retraction position the second arm plate is in, the power of the second motor can be stably transmitted to the third synchronous belt assembly installed on the second arm plate through the linkage shaft, ultimately driving the movement of the robot arm mounting base. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural schematic diagram of the present invention.

[0027] Figure 2 This is a three-dimensional schematic diagram of the first transmission mechanism of this utility model.

[0028] Figure 3 This is a three-dimensional schematic diagram of the third synchronous belt assembly structure of this utility model (the robot arm mounting base is not shown in the figure).

[0029] Figure 4 This is a side sectional view of the linkage shaft structure of this utility model.

[0030] In the diagram, 1-first arm plate, 2-second arm plate, 3-robotic arm mounting base, 4-first motor, 5-second motor, 6-clearance opening, 7-first synchronous belt, 8-first synchronous pulley, 9-first connecting block, 10-bearing plate, 11-linkage shaft, 12-third synchronous pulley, 13-second synchronous belt, 14-second synchronous pulley, 15-third synchronous belt, 16-fourth synchronous pulley, 17-second connecting block, 18-idler pulley. Detailed Implementation

[0031] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0032] Example 1: Combination Figures 1-4 It is known that a retractable cantilever for mushroom harvesting includes:

[0033] First arm plate 1;

[0034] The second arm plate 2 is slidably disposed on one side of the first arm plate 1 and can slide along the length direction of the first arm plate 1 under the drive of the first drive assembly.

[0035] The robotic arm mounting base 3 is slidably disposed on the side of the second arm plate 2 opposite to the first arm plate 1, and can slide along the length direction of the second arm plate 2 under the drive of the second drive assembly.

[0036] The first drive assembly includes a first motor 4 and a first transmission mechanism driven by the first motor 4. The first motor 4 drives the second arm plate 2 to slide relative to the first arm plate 1 through the first transmission mechanism.

[0037] The second drive assembly includes a second motor 5 and a second transmission mechanism driven by the second motor 5. The second motor 5 drives the robot mounting base 3 to slide relative to the second arm plate 2 through the second transmission mechanism.

[0038] The first transmission mechanism is located on the side of the first arm plate 1 opposite to the second arm plate 2. The first arm plate 1 has a clearance opening 6 along its length direction. The first transmission mechanism is connected to the second arm plate 2 through a connector passing through the clearance opening 6.

[0039] The first transmission mechanism includes a first synchronous belt assembly, which includes two first synchronous pulleys 8 connected by a first synchronous belt 7. One of the first synchronous pulleys 8 is driven by a first motor 4. A first connecting block 9 is fixedly mounted on the first synchronous belt 7. A bearing plate 10 is slidably connected to the first arm plate 1 on the first connecting block 9. The connecting component is a linkage shaft 11 rotatably connected to the bearing plate 10. The linkage shaft 11 passes through a clearance opening 6 and is rotatably connected to the second arm plate 2. The bearing plate 10 slides on the first arm plate 1 along its length. The clearance opening 6 is an elongated through hole extending along the length of the first arm plate 1. Its length is greater than the maximum sliding stroke of the second arm plate 2 relative to the first arm plate 1, and its width is slightly greater than the diameter of the linkage shaft 11 (preferably 1-2 mm greater than the diameter of the linkage shaft 11) to ensure that the linkage shaft 11 does not interfere with the edge of the clearance opening 6 during sliding.

[0040] When the first motor 4 drives the first synchronous belt 7 to move, causing the first connecting block 9 to move within its effective driving stroke, it can cover all the sliding displacement required by the second arm plate 2. Within the working stroke, the first connecting block 9 maintains horizontal movement, ensuring that the second arm plate 2 receives stable and linear drive throughout the entire working process.

[0041] The second transmission mechanism includes:

[0042] The third synchronous pulley 12 is fixedly connected to one end of the linkage shaft 11;

[0043] The second synchronous belt assembly is located on the side of the first arm plate 1 opposite to the second arm plate 2, and includes two second synchronous pulleys 14 that are connected by a second synchronous belt 13. One of the second synchronous pulleys 14 is driven by the second motor 5, and the second synchronous belt 13 is connected to the third synchronous pulley 12.

[0044] The third synchronous belt assembly is located on the side of the second arm plate 2 opposite to the first arm plate 1, and includes two fourth synchronous pulleys 16 connected by the third synchronous belt 15, one of which is fixedly located at the other end of the linkage shaft 11.

[0045] The second connecting block 17 is fixedly mounted on the third synchronous belt 15 and is fixedly connected to the robot arm mounting base 3. Within the starting and ending range of the working stroke of the robot arm mounting base 3, the second connecting block 17 maintains horizontal movement.

[0046] At least one idler pulley 18 is provided on the bearing plate 10. The idler pulley 18 cooperates with the third synchronous pulley 12 to tension the second synchronous belt 13, ensuring that the second synchronous belt 13 and the third synchronous pulley 12 are fully engaged for transmission, thereby improving transmission reliability. The idler pulley 18 is rotatably mounted on the bearing plate 10 via a rotating shaft. Preferably, there are two idler pulleys 18, located on both sides of the third synchronous pulley 12.

[0047] The second surrounding opening formed by the second synchronous belt 13 is located within the first surrounding opening formed by the first synchronous belt 7. This results in a compact structural layout and improves the space utilization on the back of the first arm plate 1.

[0048] The first arm plate 1 and the second arm plate 2 are connected by a first linear guide pair, the guiding direction of which is consistent with the length direction of the first arm plate 1. The second arm plate 2 is connected to the robot mounting base 3 by a second linear guide pair, the guiding direction of which is consistent with the length direction of the second arm plate 2. The guide pairs ensure smooth sliding, reduce friction, and improve motion accuracy and lifespan.

[0049] The working principle of the telescopic cantilever for mushroom harvesting provided by the utility model is as follows:

[0050] During operation, the liftable base vehicle delivers the retracted cantilever to the target shelf. The first motor 4 is started, driving the second arm plate 2 to extend along the length of the first arm plate 1 via the first synchronous belt assembly. Simultaneously, the second motor 5 drives the linkage shaft 11 to rotate via the second synchronous belt assembly. The fourth synchronous wheel 16 on the linkage shaft 11 drives the third synchronous belt assembly, causing the robotic arm mounting base 3, fixed to the third synchronous belt 15, to slide along the second arm plate 2. This dual-drive system increases the moving speed of the robotic arm mounting base 3, enabling the robotic arm to quickly reach the designated area and improving mushroom harvesting efficiency.

[0051] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A telescopic cantilever for mushroom harvesting, characterized in that, include: First arm plate (1); The second arm plate (2) is slidably disposed on one side of the first arm plate (1) and can slide along the length direction of the first arm plate (1) under the drive of the first drive assembly; The robotic arm mounting base (3) is slidably disposed on the side of the second arm plate (2) opposite to the first arm plate (1), and can slide along the length direction of the second arm plate (2) under the drive of the second drive assembly; The first drive assembly includes a first motor (4) and a first transmission mechanism driven by the first motor (4). The first motor (4) drives the second arm plate (2) to slide relative to the first arm plate (1) through the first transmission mechanism. The second drive assembly includes a second motor (5) and a second transmission mechanism driven by the second motor (5), wherein the second motor (5) drives the manipulator mounting base (3) to slide relative to the second arm plate (2) through the second transmission mechanism.

2. The telescopic cantilever for mushroom harvesting according to claim 1, characterized in that: The first transmission mechanism is located on the side of the first arm plate (1) opposite to the second arm plate (2). The first arm plate (1) has a clearance opening (6) along its length direction. The first transmission mechanism is connected to the second arm plate (2) through a connector passing through the clearance opening (6).

3. The telescopic cantilever for mushroom harvesting according to claim 2, characterized in that: The first transmission mechanism includes a first synchronous belt assembly, which includes two first synchronous pulleys (8) connected by a first synchronous belt (7). One of the first synchronous pulleys (8) is driven by the first motor (4). A first connecting block (9) is fixedly provided on the first synchronous belt (7). A bearing plate (10) is slidably connected to the first arm plate (1) on the first connecting block (9). The connecting member is a linkage shaft (11) rotatably connected to the bearing plate (10). The linkage shaft (11) passes through the clearance opening (6) and is rotatably connected to the second arm plate (2).

4. The telescopic cantilever for mushroom harvesting according to claim 3, characterized in that: The second transmission mechanism includes: The third synchronous pulley (12) is fixedly connected to one end of the linkage shaft (11); The second synchronous belt assembly is disposed on the side of the first arm plate (1) opposite to the second arm plate (2), and includes two second synchronous pulleys (14) connected by a second synchronous belt (13). One of the second synchronous pulleys (14) is driven by the second motor (5), and the second synchronous belt (13) is connected to the third synchronous pulley (12). The third synchronous belt assembly is disposed on the side of the second arm plate (2) opposite to the first arm plate (1), and includes two fourth synchronous pulleys (16) connected by the third synchronous belt (15), one of which is fixedly disposed at the other end of the linkage shaft (11); The second connecting block (17) is fixedly mounted on the third synchronous belt (15) and fixedly connected to the robot arm mounting base (3).

5. The telescopic cantilever for mushroom harvesting according to claim 4, characterized in that: At least one idler wheel (18) is provided on the bearing plate (10). The idler wheel (18) cooperates with the third synchronous pulley (12) to tension the second synchronous belt (13) to ensure that the second synchronous belt (13) and the third synchronous pulley (12) are fully engaged for transmission.

6. The telescopic cantilever for mushroom harvesting according to claim 4, characterized in that: The second circumferential opening formed by the second synchronous belt (13) is located within the first circumferential opening formed by the first synchronous belt (7).

7. The telescopic cantilever for mushroom harvesting according to claim 1, characterized in that: The first arm plate (1) and the second arm plate (2) are connected by a first linear guide pair, and the guiding direction of the first linear guide pair is consistent with the length direction of the first arm plate (1).

8. The telescopic cantilever for mushroom harvesting according to claim 1, characterized in that: The second arm plate (2) is connected to the robot arm mounting base (3) through a second linear guide pair, and the guiding direction of the second linear guide pair is consistent with the length direction of the second arm plate (2).

Images