A picking device capable of avoiding root residues

Abstract

The utility model relates to mushroom picking device field discloses a picking device that can avoid root residual, including motor threaded rod structure, a plurality of connecting rods are rotationally connected on the motor threaded rod structure, a plurality of connecting rotary plates are rotationally connected to the plurality of connecting rods, two joint structures are bolted on the plurality of connecting rotary plates, two soft claw structures are connected on the two joint structures, nut structure is rotationally connected in the plurality of connecting rotary plates middle, the nut structure is movably connected on the motor threaded rod structure, two clamping cutter structures are bolted below the plurality of connecting rotary plates. In the utility model, through using motor drive threaded rod rotation to drive nut structure to carry out up and down movement, make connecting rotary plate carry out rotation, drive soft claw and clamping cutter to open and shut, design has bolt and magnetic attraction device, respectively to clamping cutter and soft claw can carry out quick replacement, to cope with the situation of different size mushroom or device wear and tear.

Description

Technical Field

[0001] This utility model relates to the field of mushroom harvesting devices, and in particular to a harvesting device that can avoid root residue. Background Technology

[0002] The core purpose of mushroom harvesting equipment is to automate and intelligently harvest mushrooms. Mushroom cultivation typically takes place in high-temperature and high-humidity environments, and harvesting requires workers to bend over for extended periods, which is very strenuous. Automated equipment can replace manual labor, completing repetitive and heavy tasks. Through precise vision and mechanical control, the equipment can achieve standardized harvesting, such as picking only mushrooms that have reached a specific size and maturity, while avoiding damage to the mushrooms' appearance, thereby ensuring product consistency and high quality.

[0003] Existing mushroom harvesting devices are typically complex robotic systems that integrate multiple advanced technologies. These devices are usually equipped with industrial cameras and deep learning algorithms. Through image recognition technology, they can determine the size, maturity, and location of mushrooms from complex backgrounds and harvest them using flexible grippers or negative pressure suction cup clamps.

[0004] In the process of developing this application, the inventors discovered the following problems with the existing technology: For mushrooms with porous caps, such as morels, the negative pressure suction cup grippers of existing mushroom picking devices cannot create effective negative pressure, thus failing to effectively grasp them. While general flexible grippers can be used for effective picking, most existing flexible gripper picking devices pull the mushrooms up by the roots, taking away the soil and roots along with them. For morels, which have porous caps, the roots need to be cut off to prevent contamination of the mushrooms and affect their appearance. The aforementioned picking devices cannot meet these requirements.

[0005] Therefore, those skilled in the art have provided a harvesting device that avoids root residue, in order to solve the problems mentioned in the background art. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a harvesting device that avoids root residue, removes the roots completely, is clean and pollution-free, and is formed in one step.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A harvesting device that avoids root residue includes a motor threaded rod structure, on which multiple connecting rods are rotatably connected, and multiple connecting rotating plates are rotatably connected to the multiple connecting rotating plates. Two joint structures are bolted to the multiple connecting rotating plates, and two flexible claw structures are connected to the two joint structures. A nut structure is rotatably connected in the middle of the multiple connecting rotating plates.

[0008] Furthermore, the nut structure is threadedly connected to the motor threaded rod structure, and two clamping knife structures are fixedly connected to the lower part of the multiple connecting rotating plates by bolts.

[0009] Furthermore, the flexible claw structure includes a flexible claw, a plurality of positioning posts are fixedly disposed below the flexible claw, and a magnetic block is fixedly disposed below the flexible claw.

[0010] Furthermore, the connector structure includes a connector block, on which a plurality of positioning holes are fixedly opened, and a magnetic suction hole is fixedly opened in the middle of the connector block.

[0011] Furthermore, a nut head is fixedly provided on the nut structure, and two connecting blocks are fixedly provided on both sides of the nut head, with two connecting holes fixedly provided on the two connecting blocks.

[0012] Furthermore, the clamping structure includes a blade head, on which a pin is fixedly disposed, and a blade is connected.

[0013] Furthermore, the motor threaded rod structure includes a fixing plate, on which a connecting column is fixedly connected, and a servo motor is fixedly connected below the fixing plate.

[0014] Furthermore, a threaded rod is fixedly connected to the servo motor, and a limit ring is fixedly provided on the threaded rod.

[0015] This utility model has the following beneficial effects: 1. The present invention proposes a harvesting device that avoids root residue. The device uses a motor connected to a threaded rod structure. The rotation of the threaded rod drives the nut structure to move up and down, which in turn drives the connecting rotating plate to rotate. This causes the clamping blade and soft claw to open and close, grabbing and cutting the mushroom, thus meeting the needs of morel mushrooms, which require root cutting.

[0016] 2. The present invention proposes a harvesting device that can avoid root residue. It uses different connection methods. The clamping blade uses a pin, which can not only quickly replace the worn blade, but also meet the lateral stress requirements when cutting the mushroom stem. The upper flexible clamping claw uses magnetic loading, and positioning pins are inserted into the connector around the perimeter to prevent misalignment under force. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the harvesting device of this utility model that can avoid root residue; Figure 2 This is a schematic diagram of the bottom of a harvesting device that can avoid root residue according to this utility model; Figure 3 This is a schematic diagram of the soft claw structure of a harvesting device that can avoid root residue according to this utility model. Figure 4 This is a schematic diagram of the connector structure of a harvesting device that can avoid root residue according to the present invention; Figure 5 This is a schematic diagram of the nut structure of a harvesting device that can avoid root residue according to this utility model; Figure 6 This is a schematic diagram of the clamping blade structure of a harvesting device that can avoid root residue according to this utility model; Figure 7 This is a schematic diagram of the motor threaded rod structure of a harvesting device that can avoid root residue according to this utility model.

[0018] Legend: 1. Flexible claw structure; 2. Connector structure; 3. Connecting rotating plate; 4. Nut structure; 5. Connecting rod; 6. Clamping knife structure; 7. Motor threaded rod structure; 101. Flexible claw; 102. Positioning post; 103. Magnetic block; 201. Connector block; 202. Positioning hole; 203. Magnetic suction hole; 401. Nut head; 402. Connecting block; 403. Connecting hole; 601. Knife head; 602. Pin; 603. Blade; 701. Fixing plate; 702. Servo motor; 703. Connecting post; 704. Limiting ring; 705. Threaded rod. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Reference Figure 1 , Figure 2 One embodiment provided by this utility model: A harvesting device that avoids root residue includes a motor threaded rod structure 7, a plurality of connecting rods 5 rotatably connected to the motor threaded rod structure 7, a plurality of connecting rotating plates 3 rotatably connected to the plurality of connecting rods 5, two joint structures 2 bolted to the plurality of connecting rotating plates 3, two flexible claw structures 1 connected to the two joint structures 2, a nut structure 4 rotatably connected in the middle of the plurality of connecting rotating plates 3, the nut structure 4 being threadedly connected to the motor threaded rod structure 7, and two clamping knife structures 6 bolted to the bottom of the plurality of connecting rotating plates 3; Specifically, the servo motor 702 drives the threaded rod 705 to rotate, causing the nut structure 4 to move upward on the threaded rod 705. The nut structure 4 is movably connected to the connecting rotating plate 3. The connecting rotating plate 3 rotates outward, and the connecting rod 5 is rotatably connected to the connecting rotating plate 3 and rotates accordingly. The connecting rotating plate 3 is fixedly connected to the joint structure 2 and the clamping structure 6 by two bolts, which drive it to rotate accordingly, forming an opening and closing motion.

[0021] Reference Figure 3 The flexible claw structure 1 includes a flexible claw 101, a plurality of positioning posts 102 are fixedly arranged below the flexible claw 101, and a magnetic block 103 is fixedly arranged below the flexible claw 101. Specifically, the flexible claw 101 uses silicone flexible claws to provide sufficient friction and softness to grip and adapt to different shapes of mycelial stems. The positioning column 102 is made of polypropylene plastic material, which can be well integrated with silicone material and is used for limiting position and bearing the stress generated by gripping. Magnetic block 103 is used for quick installation.

[0022] Reference Figure 4 The connector structure 2 includes a connector block 201, on which multiple positioning holes 202 are fixedly opened, and a magnetic suction hole 203 is fixedly opened in the middle of the connector block 201. Specifically, the connector structure 2 is bolted between two connecting rotating plates 3 for installing the flexible claw structure 1. The upper part is fixed with positioning holes 202 for connecting positioning posts 102, and magnetic suction holes 203 for cooperating with magnetic blocks 103.

[0023] Reference Figure 5 A nut head 401 is fixedly provided on the nut structure 4, and two connecting blocks 402 are fixedly provided on both sides of the nut head 401. Two connecting holes 403 are fixedly provided on the two connecting blocks 402. Specifically, the nut structure 4 has a built-in internal thread for the threaded rod 705 to move up and down when it rotates, and two connecting blocks 402 are fixed above it for connecting with all the connecting rotating plates 3.

[0024] Reference Figure 6 The clamping structure 6 includes a cutter head 601, a pin 602 fixedly disposed on the cutter head 601, and a blade 603 connected to the cutter head 601; Specifically, the clamping structure 6 uses a pin 602 design, the cutter head 601 is fixedly connected to the movable connecting plate, and the blade 603 can be replaced at any time in conjunction with the pin 602.

[0025] Reference Figure 7The motor threaded rod structure 7 includes a fixing plate 701, a connecting column 703 fixedly connected to the fixing plate 701, a servo motor 702 fixedly connected below the fixing plate 701, a threaded rod 705 fixedly connected to the servo motor 702, and a limit ring 704 fixedly provided on the threaded rod 705. Specifically, the servo motor 702 is fixedly connected to the fixed plate 701. The fixed plate 701 is fixedly provided with a connecting post 703 for mounting the connecting rod 5. The threaded rod 705 passes through the fixed plate 701 and forms a threaded rod 705 slider mechanism with the nut structure 4. The servo motor 702 serves as the power source for the threaded rod 705. A limit ring 704 is provided on the threaded rod 705 to prevent the jaws from closing excessively.

[0026] Working principle: The servo motor 702 drives the threaded rod 705 to rotate. A nut structure 4 is connected to the threaded rod 705, which is rotatably connected to the connecting rotating plate 3. A connecting rod 5 is rotatably connected to the connecting rotating plate 3, which is rotatably connected to the fixed plate 701. Two bolts on the connecting rotating plate 3 fix a connector structure 2 and a cutter head 601. The cutter head 601 and connector structure 2 are placed vertically and connected by the same two screws. When the nut structure 4 moves upward, the connecting rotating plate 3 rotates outward, causing the flexible claw structure 1 and the clamping blade structure 6 to open, forming a scissor shape. Then, the blade 603 is aligned with the area above the mushroom root. The threaded rod 705 rotates in the opposite direction, and the nut structure 4... As the mushroom moves downwards, the flexible claw structure 1 and the clamping blade structure 6 close. After the blade is completely closed, the mushroom is cut off. The flexible claw 101 conforms to the mushroom stem and deforms to complete the grasping process. The entire device is operated by a robot, and the vision system locates the mushroom. The aforementioned robot and vision recognition system are mature technologies and are not part of the innovation of this design, so they will not be described in detail here. The blade 603 and the cutting head 601 are connected by a pin 602 for easy and quick replacement. The flexible claw 101 and the connector structure 2 are magnetically attached for easy replacement. The flexible claw 101 uses a silicone flexible gripper, which can effectively and safely grasp the mushroom. The positioning post 102 is made of polypropylene plastic, which can be seamlessly combined with the silicone material to prevent the flexible claw 101 from being misaligned under force.

[0027] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A harvesting device that avoids root residue, comprising a motor threaded rod structure (7), characterized in that: The motor threaded rod structure (7) is rotatably connected to multiple connecting rods (5), and the multiple connecting rods (5) are rotatably connected to multiple connecting rotating plates (3). Two joint structures (2) are bolted to the multiple connecting rotating plates (3), and two flexible claw structures (1) are connected to the two joint structures (2). A nut structure (4) is rotatably connected in the middle of the multiple connecting rotating plates (3).

2. The harvesting device according to claim 1 that avoids root residue, characterized in that: The nut structure (4) is threadedly connected to the motor threaded rod structure (7), and two clamping knife structures (6) are bolted to the bottom of the multiple connecting rotating plates (3).

3. The harvesting device according to claim 1 that avoids root residue, characterized in that: The soft claw structure (1) includes a soft claw (101), a plurality of positioning posts (102) are fixedly arranged below the soft claw (101), and a magnetic block (103) is fixedly arranged below the soft claw (101).

4. The harvesting device according to claim 1 that avoids root residue, characterized in that: The connector structure (2) includes a connector block (201), on which a plurality of positioning holes (202) are fixedly opened, and a magnetic suction hole (203) is fixedly opened in the middle of the connector block (201).

5. A harvesting device that avoids root residue according to claim 1, characterized in that: The nut structure (4) is fixedly provided with a nut head (401), and two connecting blocks (402) are fixedly provided on both sides of the nut head (401). Two connecting holes (403) are fixedly provided on the two connecting blocks (402).

6. A harvesting device that avoids root residue according to claim 2, characterized in that: The clamping structure (6) includes a blade head (601), a pin (602) is fixedly provided on the blade head (601), and a blade (603) is connected to the blade head (601).

7. A harvesting device that avoids root residue according to claim 1, characterized in that: The motor threaded rod structure (7) includes a fixing plate (701), a connecting column (703) is fixedly connected on the fixing plate (701), and a servo motor (702) is fixedly connected below the fixing plate (701).

8. A harvesting device that avoids root residue according to claim 7, characterized in that: A threaded rod (705) is fixedly connected to the servo motor (702), and a limit ring (704) is fixedly provided on the threaded rod (705).

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