Picking mechanism of double-spore mushroom automatic picking equipment
By combining distance detection and object recognition devices with vacuum suction cups, the problem of robotic arms damaging mushroom caps was solved, enabling efficient and precise harvesting of button mushrooms and improving mushroom quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHUOZHOU ROBOT YANCHENG CO LTD
- Filing Date
- 2025-09-02
- Publication Date
- 2026-07-21
AI Technical Summary
In existing technologies, robotic arms are prone to damaging the caps of button mushrooms when harvesting them, leading to a decline in mushroom quality.
The device uses a distance detection device and an object recognition device to accurately identify the location of mushrooms, and uses a vacuum suction cup to precisely grab the mushrooms. Combined with a servo motor and a synchronous belt slide module, it achieves precise mushroom picking.
This method avoids damaging the mushroom caps during harvesting, improves the quality of button mushrooms, and achieves an efficient and precise harvesting process.
Smart Images
Figure CN224521958U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automatic harvesting equipment technology, and in particular to a harvesting mechanism for an automatic harvesting device for button mushrooms. Background Technology
[0002] Edible mushroom cultivation, as a profitable project with low investment, short cycle, and quick returns, has developed rapidly in my country. Developing the edible mushroom industry aligns with the needs of increasing consumer spending and sustainable agricultural development, and is an effective way for farmers to quickly become wealthy. my country's mushroom industry has developed rapidly; whether in domestic demand or exports, mushroom products are increasingly popular, leading to the growing strength of my country's mushroom cultivation industry.
[0003] In existing technologies, button mushrooms are harvested by using robotic arms to grasp the caps. However, due to the low positioning accuracy of these robotic arms, the caps can be damaged, leading to a decline in the quality of the mushrooms and causing unnecessary losses for businesses. Utility Model Content
[0004] The purpose of this utility model is to provide a harvesting mechanism for an automatic mushroom harvesting device. The mechanism accurately identifies the position of the mushroom through a distance detection device and an object recognition device, and precisely grabs the mushroom through a vacuum suction cup. This avoids the problem of easily damaging the mushroom cap during the harvesting process, which would reduce the quality of the mushroom, and thus solves the problems mentioned in the background art.
[0005] To achieve the above objectives, this utility model provides the following technical solution: A harvesting mechanism for an automatic mushroom harvesting device includes a rotating component connected to a lifting mechanism, which is connected to a base. The rotating component is driven and connected to a support plate. A harvesting linear slide module is connected to the support plate, a base is connected to the harvesting linear slide module, a lifting cylinder is connected to the base, a vacuum suction cup is connected to the power output end of the lifting cylinder, and a distance detection device and an object recognition device are connected to the base.
[0006] A further improvement of this utility model is that the lifting mechanism is vertically arranged, and the lifting mechanism includes an electric cylinder. A bracket is connected to the base, and the electric cylinder is connected to the bracket. The power output end of the electric cylinder is connected to a three-stage synchronous belt slide module A. The first-stage synchronous belt slide module A is connected to the power output end of the electric cylinder, and the first-stage synchronous belt slide module A is connected to the bracket through a linear guide rail. The second-stage synchronous belt slide module A is connected to the slider of the first-stage synchronous belt slide module A and is connected to the first-stage synchronous belt slide module A through a linear guide rail. The third-stage synchronous belt slide module A is connected to the slider of the second-stage synchronous belt slide module A and is connected to the second-stage synchronous belt slide module A through a linear guide rail.
[0007] A further improvement of this utility model is that a support is connected to the lifting mechanism, and the rotating component includes a servo motor and a rotating base. The servo motor is connected to the support, and the upper and lower ends of the rotating base are rotatably connected to the support through rotating shafts. The power output end of the servo motor drives a rotating shaft connected to the rotating base, and a support plate is connected to the rotating base.
[0008] A further improvement of this utility model is that the picking linear slide module is a synchronous belt slide module, and the base is connected to the slider of the picking linear slide module; the lifting cylinder is vertically connected to the base, the vacuum suction cup is connected to one end of the piston rod at the bottom of the lifting cylinder, and a cover is connected to the top of the base; the picking linear slide module is arranged along the width direction of the base, or the picking linear slide module is driven by a servo motor to be arranged along the length direction of the base.
[0009] A further improvement of this invention is that the distance detection device consists of several infrared ranging sensors arranged in a rectangular array.
[0010] A further improvement to this invention is that the object recognition device is an industrial camera.
[0011] The beneficial effects of this utility model are: The harvesting mechanism of this invention's automatic mushroom harvesting equipment accurately identifies the mushroom's location through a distance detection device and an object recognition device, and precisely grabs the mushroom using a vacuum suction cup, thus avoiding the problem of easily damaging the mushroom cap during the harvesting process and causing a decline in the quality of the mushrooms.
[0012] The picking mechanism of this invention's automatic mushroom harvesting equipment can rotate 90° to switch between harvesting and walking modes. During harvesting, the picking mechanism is set along the width of the vehicle body to facilitate the vacuum suction cups to extend into the planting rack. When switching to the next planting rack, the picking mechanism is set along the length of the vehicle body to avoid interference between the picking mechanism and the uprights of the planting rack. Attached Figure Description
[0013] Figure 1 This is a schematic diagram of the overall structure of the harvesting mechanism of this utility model.
[0014] Figure 2 This is a schematic diagram of the overall structure of the harvesting mechanism of this utility model.
[0015] Figure 3 This is a partial structural diagram of the harvesting mechanism of this utility model.
[0016] Figure 4 This is a partial structural diagram of the harvesting mechanism of this utility model.
[0017] In the diagram: 201-Support plate, 202-Harvesting linear slide module, 203-Base, 204-Lifting cylinder, 205-Electric cylinder, 206-Bracket, 207-Three-stage synchronous belt slide module A, 208-Support, 209-Servo motor, 210-Rotating seat, 211-Vacuum suction cup, 212-Cover, 213-Infrared ranging sensor, 214-Industrial camera, 5-Button mushroom. Detailed Implementation
[0018] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.
[0019] Example 1: As Figures 1-4 As shown, a harvesting mechanism for an automatic mushroom harvesting device includes a rotating component connected to a lifting mechanism, which is connected to a base 101. The rotating component is driven and connected to a support plate 201. A harvesting linear slide module 202 is connected to the support plate 201, a base 203 is connected to the harvesting linear slide module 202, a lifting cylinder 204 is connected to the base 203, a vacuum suction cup 211 is connected to the power output end of the lifting cylinder 204, and a distance detection device and an object recognition device are connected to the base 203.
[0020] The lifting mechanism is vertically arranged and includes an electric cylinder 205. A bracket 206 is connected to the base 101, and the electric cylinder 205 is connected to the bracket 206. The power output end of the electric cylinder 205 is connected to a three-stage synchronous belt slide module A207. The first-stage synchronous belt slide module A is connected to the power output end of the electric cylinder 205 and is connected to the bracket 206 through a linear guide rail. The second-stage synchronous belt slide module A is connected to the slider of the first-stage synchronous belt slide module A and is connected to the first-stage synchronous belt slide module A through a linear guide rail. The third-stage synchronous belt slide module A is connected to the slider of the second-stage synchronous belt slide module A and is connected to the second-stage synchronous belt slide module A through a linear guide rail.
[0021] The lifting mechanism is connected to a support 208. The rotating component includes a servo motor 209 and a rotating base 210. The servo motor 209 is connected to the support 208. The upper and lower ends of the rotating base 210 are rotatably connected to the support 208 through a rotating shaft. The power output end of the servo motor 209 is connected to a rotating shaft of the rotating base 210. The support plate 201 is connected to the rotating base 210.
[0022] The picking linear slide module 202 is a synchronous belt slide module. The base 203 is connected to the slider of the picking linear slide module 202. The lifting cylinder 204 is vertically connected to the base 203. The vacuum suction cup 211 is connected to one end of the piston rod at the bottom of the lifting cylinder 204. A cover 212 is connected above the base 203. The picking linear slide module 202 is set along the width direction of the base 101, or the servo motor 209 drives the picking linear slide module 202 to be set along the length direction of the base 101.
[0023] The distance detection device consists of several infrared ranging sensors 213 arranged in a rectangular array.
[0024] The object recognition device is an industrial camera 214.
[0025] The specific working principle of this utility model is as follows: This utility model is used in conjunction with the planting rack for button mushrooms 5. The planting rack is arranged in multiple rows, with multiple racks in each row, and each rack has a multi-layer structure.
[0026] During operation, the harvesting mechanism is mounted on the vehicle body. When the vehicle body moves to one side of the planting rack, the servo motor 209 drives the harvesting linear slide module 202 to rotate 90°, so that the harvesting linear slide module 202 extends into the top of the planting rack shelf. The infrared ranging sensor 213 and the industrial camera 214 work to feed back distance and image data to the PLC controller on the vehicle body. The PLC controller corrects and calculates the difference of the acquired data and removes invalid signals. Then, it sends commands to the solenoid valves of the harvesting linear slide module 202, the lifting cylinder 204 and the vacuum suction cup 211. The vacuum suction cup 211 picks up the cap of the button mushroom 5 and places it in the collection box.
[0027] The vehicle moves until all the appropriately sized button mushrooms 5 on a shelf have been picked. The servo motor 209 drives the picking linear slide module 202 to rotate 90° in the opposite direction, lifting it off the planting rack. At this point, the lifting mechanism activates, causing the picking linear slide module 202 to rise and move to the second layer of the planting rack. The servo motor 209 then drives the picking linear slide module 202 to rotate 90° again, allowing it to re-enter the planting rack. This process is repeated to continue harvesting until all layers on a planting rack have been harvested.
[0028] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent transformations or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.
Claims
1. A harvesting mechanism for an automatic mushroom harvesting device, characterized in that, It includes a rotating component, which is connected to a lifting mechanism, which is connected to a base (101), and the rotating component is driven and connected to a support plate (201); a picking linear slide module (202) is connected to the support plate (201), a base (203) is connected to the picking linear slide module (202), a lifting cylinder (204) is connected to the base (203), a vacuum suction cup (211) is connected to the power output end of the lifting cylinder (204), and a distance detection device and an object recognition device are connected to the base (203).
2. The harvesting mechanism of the automatic mushroom harvesting device as described in claim 1, characterized in that: The lifting mechanism is vertically arranged and includes an electric cylinder (205). A bracket (206) is connected to the base (101), and the electric cylinder (205) is connected to the bracket (206). The power output end of the electric cylinder (205) is connected to a three-stage synchronous belt slide module A (207). The first-stage synchronous belt slide module A is connected to the power output end of the electric cylinder (205), and the first-stage synchronous belt slide module A is connected to the bracket (206) through a linear guide rail. The second-stage synchronous belt slide module A is connected to the slider of the first-stage synchronous belt slide module A and is connected to the first-stage synchronous belt slide module A through a linear guide rail. The third-stage synchronous belt slide module A is connected to the slider of the second-stage synchronous belt slide module A and is connected to the second-stage synchronous belt slide module A through a linear guide rail.
3. The harvesting mechanism of the automatic mushroom harvesting device as described in claim 1 or 2, characterized in that: The lifting mechanism is connected to a support (208). The rotating component includes a servo motor (209) and a rotating seat (210). The servo motor (209) is connected to the support (208). The upper and lower ends of the rotating seat (210) are rotatably connected to the support (208) through a rotating shaft. The power output end of the servo motor (209) is driven to a rotating shaft of the rotating seat (210). The support plate (201) is connected to the rotating seat (210).
4. The harvesting mechanism of the automatic mushroom harvesting device as described in claim 1, characterized in that: The picking linear slide module (202) is a synchronous belt slide module, and the base (203) is connected to the slider of the picking linear slide module (202); the lifting cylinder (204) is vertically connected to the base (203), the vacuum suction cup (211) is connected to one end of the piston rod at the bottom of the lifting cylinder (204), and a cover (212) is connected above the base (203); the picking linear slide module (202) is set along the width direction of the base (101), or the servo motor (209) drives the picking linear slide module (202) to be set along the length direction of the base (101).
5. The harvesting mechanism of the automatic mushroom harvesting device as described in claim 1, characterized in that: The distance detection device consists of several infrared ranging sensors (213) arranged in a rectangular array.
6. The harvesting mechanism of the automatic mushroom harvesting device as described in claim 1, characterized in that: The object recognition device is an industrial camera (214).