Automatic picking device for multi-layer mushroom planting frame

Abstract

The utility model discloses a kind of multi-layer mushroom planting frame automatic picking device, including mushroom planting frame;Lifting mechanism;Mobile picking car is carried by lifting mechanism, can be lifted to the arbitrary floor height of mushroom planting frame along with it, and can be moved along the length direction of each layer planting frame;Mushroom picking executor is set on mobile picking car;Horizontal conveying mechanism is respectively set in the lateral side of each layer of mushroom planting frame, for receiving and conveying picked mushroom along its length direction;Vertical conveying mechanism is connected on material conveying path with the horizontal conveying mechanism of each layer, for receiving mushroom and downward conveying;Collecting container is set below the output end of vertical conveying mechanism.The utility model can adapt to the mushroom picking demand of large-width planting frame, realize full-width coverage picking on whole layer planting surface in single trip, eliminate the need of forward and reverse two sides reversing arrangement, significantly improve picking efficiency.

Description

Technical Field

[0001] This utility model relates to the field of mushroom harvesting technology, specifically to an automatic harvesting device for a multi-layer mushroom growing rack. Background Technology

[0002] As an important edible fungus, mushrooms are now widely cultivated using factory-style, tiered rack systems. This method significantly improves space utilization and has become the mainstream model in the modern edible fungus industry. These racks are typically over 10 meters long and more than 1 meter wide. Traditional manual harvesting suffers from high labor intensity, low efficiency, and easy damage to the mushroom bed. Therefore, vision-guided automated harvesting equipment is becoming increasingly popular. This equipment uses machine vision to identify the coordinates of mature mushrooms, driving a robotic arm to perform the grasping action, thus reducing labor costs while increasing the standardization of harvesting.

[0003] To improve the ease of harvesting mushrooms grown in factories, most manufacturers now use 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 brings the robotic arm to the designated area, where a vision system identifies mature mushrooms and guides the robotic arm to complete the precise harvesting.

[0004] However, when existing cantilever harvesting devices operate within a planting rack width exceeding 1 meter, the end effector's positioning accuracy decreases due to cantilever stress deformation, making it difficult to cover the entire width. In practical applications, it is often necessary to deploy equipment from both sides of the planting rack for two harvests, increasing system complexity and resulting in low continuous harvesting efficiency for wide planting racks. Utility Model Content

[0005] Purpose of the utility model: To provide an automatic harvesting device for multi-layer mushroom cultivation racks, which, through the continuous movement of a mobile harvesting vehicle along the length of the cultivation rack and in conjunction with a lifting mechanism, can adapt to the mushroom harvesting needs of wide cultivation racks, achieve full-width coverage harvesting of the entire layer of cultivation surface in a single stroke, eliminate the need for deployment on both sides, and significantly improve harvesting efficiency.

[0006] Technical solution: An automatic harvesting device for multi-layer mushroom cultivation racks, comprising at least one multi-layer mushroom cultivation rack, and further comprising: A lifting mechanism is located on one side of the mushroom cultivation rack; The mobile harvesting vehicle, carried by the lifting mechanism, can be raised and lowered to any height of the mushroom growing rack and can move along the length of each growing rack. A mushroom harvesting actuator is mounted on the mobile harvesting vehicle; A horizontal conveying mechanism is installed on each side of each layer of the mushroom growing rack to receive and transport the harvested mushrooms along its length. A vertical conveying mechanism is installed on one side of the mushroom growing rack and connects with the horizontal conveying mechanism of each layer in the material transmission path. The vertical conveying mechanism is provided with receiving structures spaced apart along its length for receiving mushrooms and conveying them downward. A collection container is positioned below the output end of the vertical conveying mechanism to collect the mushrooms conveyed by the vertical conveying mechanism.

[0007] A further improvement of this utility model is that the mushroom picking actuator is located at the lower end of the mobile picking vehicle, and a first conveyor belt is provided below the mobile picking vehicle along the width direction of the mushroom planting rack. The first conveyor belt is located within the working range of the mushroom picking actuator, and its output end can be connected to the horizontal conveying mechanism of each layer.

[0008] A further improvement of this utility model is that the horizontal conveying mechanism is provided in two sets, located on both sides of the length direction of the mushroom growing rack.

[0009] A further improvement of this utility model is that a root cutting component is provided on one side of the first conveyor belt. After the mushroom picking actuator picks the mushroom, it clamps the mushroom and moves it to the working range of the root cutting component. The root cutting component cuts off the mushroom roots, and the cut roots fall on the first conveyor belt.

[0010] A further improvement of this utility model is that a second conveyor belt parallel to the first conveyor belt is provided on one side of the first conveyor belt, and the second conveyor belt is also located within the working range of the mushroom picking actuator. The first conveyor belt is used to transport the cut roots, and the second conveyor belt is used to transport the mushroom body, and the two are respectively connected to the corresponding horizontal conveying mechanism.

[0011] A further improvement of this utility model is that there are two mushroom picking actuators, with the first conveyor belt and the second conveyor belt located between the two mushroom picking actuators and both within their working range.

[0012] A further improvement of this utility model is that the output end of the horizontal conveying mechanism for conveying roots is provided with a residual root guiding structure, and a root collection container is provided below the residual root guiding structure.

[0013] A further improvement of this utility model is that protective plates are provided on both sides of the conveying path of the vertical conveying mechanism, the vertical conveying mechanism includes a conveyor belt, and the receiving structure includes multiple support strips disposed on the surface of the conveyor belt, the support strips being arranged at intervals along the width direction of the belt surface.

[0014] A further improvement of this utility model is that the collection container includes a collection box and an inclined intercepting plate. The intercepting plate is located on the movement path of the support strip and has an avoidance opening for the support strip to pass through. Mushrooms blocked by the intercepting plate slide into the collection box along its inclined surface.

[0015] A further improvement of this utility model is that the number of mushroom cultivation racks is at least two and they are arranged side by side, the tops of adjacent cultivation racks are connected by a bridge plate, and the mobile harvesting vehicle can move along the width direction of the cultivation rack and transfer between adjacent cultivation racks via the bridge plate. Beneficial effects

[0016] This invention utilizes a mobile harvesting cart that moves continuously along the length of the planting rack, in conjunction with a lifting mechanism. The lifting mechanism allows the mobile harvesting cart to be precisely positioned at any floor height. The cart moves along the length of the planting rack, ensuring a wide harvesting coverage area. A horizontal conveyor receives and transports the mushrooms, while a vertical conveyor connects materials from each layer, efficiently transporting the mushrooms downwards to the collection container. This design can adapt to the mushroom harvesting needs of wide-width planting racks, achieving full-width coverage of the entire planting surface in a single trip, eliminating the need for reversing deployment on both sides, and significantly improving harvesting efficiency.

[0017] This invention places the mushroom picking actuator at the lower end of the mobile picking vehicle and adds a conveyor belt below it. The conveyor belt is located within the working range of the picking actuator and can be connected to each layer of horizontal conveying mechanism, so that the picked mushrooms can fall directly into the conveyor belt and be quickly transported to the horizontal conveying mechanism, effectively improving the continuity and efficiency of picking and transportation.

[0018] This invention integrates root-cutting functionality into the harvesting process. The mushroom harvesting actuator grips the mushroom and moves it to the shearing assembly, automatically cutting off any remaining roots and placing the roots directly onto the first conveyor belt. This synchronizes harvesting and initial processing, reduces subsequent steps, avoids manual intervention, and improves mushroom quality (such as reducing damage) and overall efficiency.

[0019] This invention achieves material sorting and conveying by setting up a first conveyor belt and a second conveyor belt, respectively used for conveying the cut roots and mushroom bodies. The first conveyor belt is dedicated to the roots, and the second conveyor belt is dedicated to the mushroom bodies. Both are located within the working range of the harvesting actuator and are connected to the corresponding horizontal conveying mechanism. This avoids mixing of mushrooms and roots, optimizes space utilization, and allows the mushroom bodies and residual roots to be processed and sorted for conveying, ensuring an orderly and efficient conveying process. Attached Figure Description

[0020] Figure 1 This is a front view schematic diagram of the present utility model.

[0021] Figure 2This is a schematic diagram of the collection container structure of this utility model.

[0022] Figure 3 This is a partially enlarged schematic diagram of the structure of this utility model.

[0023] Figure 4 This is a schematic diagram showing the positional relationship between the horizontal conveying mechanism and the mobile picking vehicle of this utility model.

[0024] Figure 5 This is a partially enlarged schematic diagram of the structure of the mobile picking vehicle of this utility model.

[0025] Figure 6 This is a schematic diagram of the mobile harvesting vehicle of this utility model.

[0026] Figure 7 This is a schematic diagram of the layout of the mushroom harvesting actuator of this utility model.

[0027] In the diagram, 1-mushroom growing rack, 2-lifting mechanism, 3-mobile harvesting vehicle, 4-mushroom harvesting actuator, 5-horizontal conveying mechanism, 6-vertical conveying mechanism, 7-collection container, 8-first conveyor belt, 9-root shearing assembly, 10-second conveyor belt, 11-root guide structure, 12-root collection container, 14-conveyor belt, 15-support bar, 16-collection box, 17-interception plate, 18-bridge plate. Detailed Implementation

[0028] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0029] Example 1: An automatic harvesting device for a multi-layer mushroom cultivation rack, comprising at least one multi-layer mushroom cultivation rack 1, and further comprising: Lifting mechanism 2 is located on one side of mushroom growing rack 1; The mobile harvesting vehicle 3 is carried by the lifting mechanism 2 and can be raised and lowered to any height of the mushroom growing rack 1, and can move along the length of each growing rack. Mushroom picking actuator 4 is mounted on the mobile picking vehicle 3; A horizontal conveying mechanism 5 is installed on each side of each layer of the mushroom growing rack 1 to receive and transport the harvested mushrooms along its length. The vertical conveying mechanism 6 is located on one side of the mushroom growing rack 1 and is connected to the horizontal conveying mechanism 5 of each layer in the material transmission path. The vertical conveying mechanism 6 is provided with receiving structures that are spaced apart along its length to receive mushrooms and convey them downwards. The collection container 7 is located below the output end of the vertical conveyor 6 and is used to collect the mushrooms conveyed by the vertical conveyor 6.

[0030] The mushroom harvesting actuator 4 is located at the lower end of the mobile harvesting vehicle 3. Below the mobile harvesting vehicle 3, along the width of the mushroom cultivation rack 1, is a first conveyor belt 8. The first conveyor belt 8 is located within the working range of the mushroom harvesting actuator 4, and its output end can connect to the horizontal conveying mechanism 5 of each layer. The output end of the first conveyor belt 8 is located above the conveying surface of the horizontal conveying mechanism 5 of that layer. After being output from the first conveyor belt 8, the material falls onto the conveying surface of the horizontal conveying mechanism 5 and continues to be conveyed.

[0031] Both the horizontal conveyor mechanism 5 and the vertical conveyor mechanism are conventional conveyor belt mechanisms in the prior art, which include a conveyor belt and its drive motor. The lifting mechanism 2 is a conventional lifting mechanism in the prior art, which includes a lifting platform (which can be driven by a motor-driven chain or lead screw), on which the mobile harvesting vehicle 3 is placed. The mobile body of the mobile harvesting vehicle is a conventional body in the prior art, which has an independent drive system (such as a hub motor or gear motor) and a steering system (such as differential steering or independent steering wheels), enabling it to move on the lifting platform and have the ability to move along the width direction of the mushroom cultivation rack 1. The vehicle body can move in the width direction in the following ways: the lifting platform area is large enough so that the mobile harvesting vehicle 3 can turn on it and move, or the mobile harvesting vehicle 3 has two sets of moving wheels, one set of main drive wheels for movement in the length direction, and the other set of horizontal auxiliary wheels that can be raised, lowered and retracted. The horizontal auxiliary wheels are independent electric wheels, which achieve lifting and lowering actions through hydraulic cylinders, air cylinders or electric push rods. The lateral movement and precise positioning of the vehicle body on the shelf are achieved through the coordinated action of the two sets of wheels.

[0032] The mushroom picking actuator 4 is a mature device in the prior art, which has visual recognition function, and this utility model does not involve any improvement thereto. The mushroom picking actuator 4 includes at least a movable robotic arm, an image acquisition unit, a processor, and an end effector, wherein the end effector adopts a flexible gripper or a negative pressure suction cup for grasping mushrooms.

[0033] Preferably, each layer of the mushroom cultivation rack 1 has a guide structure (such as a guide rail) on the frame rods along the length direction on both sides, and the wheels of the mobile harvesting vehicle have a structure (such as a guide wheel) that cooperates with the guide structure. When the mobile harvesting vehicle 3 is working on a certain layer, its guide wheel is embedded in or fits against the guide rail to guide the mobile harvesting vehicle to move along the length direction of the mushroom cultivation rack.

[0034] The vertical conveying mechanism 6 has protective plates on both sides of its conveying path. The vertical conveying mechanism 6 includes a conveyor belt 14, and a receiving structure including multiple support strips 15 disposed on the surface of the conveyor belt 14. The support strips 15 are spaced apart along the width of the belt surface. The spacing between adjacent support strips is less than the minimum diameter of the mushroom. This enhances the stability and protection of the mushroom conveying process. The protective plates prevent mushrooms from falling or being damaged during downward conveying, while the support strips provide a stable supporting surface, ensuring the mushrooms slide down in an orderly manner. This reduces conveying losses and improves the integrity and collection rate of the mushrooms. Preferably, the angle between the support strips 15 and the surface of the conveyor belt 14 is an acute angle, forming a pocket-shaped structure facing the protective plate.

[0035] The collection container 7 includes a collection box 16 and an inclined interceptor plate 17. The interceptor plate 17 is located on the movement path of the support bar 15 and has an opening for the support bar 15 to pass through. Mushrooms blocked by the interceptor plate 17 slide into the collection box 16 along its inclined surface. Preferably, the free end of the support bar 15 has an upwardly protruding limiting end to prevent mushrooms from accidentally falling off when moving from the horizontal conveyor belt to the support bar.

[0036] There are at least two mushroom cultivation racks 1, arranged side by side. The tops of adjacent cultivation racks are connected by a bridge plate 18. The mobile harvesting cart 3 can move along the width of the cultivation rack and transfer between adjacent cultivation racks via the bridge plate 18. The harvesting cart switches between multiple cultivation racks via the bridge plate, enabling continuous operation. This improves equipment utilization and is suitable for large-scale factory cultivation. During mushroom harvesting, the cart harvests each layer of the cultivation rack from bottom to top. After harvesting the top layer of a cultivation rack, it can move to the next cultivation rack via the bridge plate for further work.

[0037] Example 2: Combination Figures 1-6 It can be seen that the structure of this embodiment is roughly the same as that of Embodiment 1, the difference being: A root cutting component 9 is provided on one side of the first conveyor belt 8. After the mushroom picking actuator 4 picks the mushroom, it clamps the mushroom and moves it into the working range of the root cutting component 9. The root cutting component 9 cuts off the mushroom root, and the cut root falls on the first conveyor belt 8.

[0038] The root shearing assembly 9 is a conventional shearing assembly in the prior art, which includes a mounting base, a drive component (such as a cylinder, hydraulic cylinder, or motor), and a cutter (such as a blade or disc cutter). The drive component drives the cutter to complete the shearing action. The cutter is located above the first conveyor belt 8, and after it cuts off the root, the root will naturally fall onto the first conveyor belt 8.

[0039] The horizontal conveyor mechanism 5 has two sets, located on both sides of the mushroom growing rack 1 along its length. One set is used to convey the main body of the mushroom, and the other set can be used to convey the cut mushroom roots.

[0040] A second conveyor belt 10 parallel to the first conveyor belt 8 is provided on one side. The second conveyor belt 10 is also located within the working range of the mushroom picking actuator 4. The first conveyor belt 8 is used to transport the cut roots, and the second conveyor belt 10 is used to transport the mushroom body. Both are connected to the corresponding horizontal conveying mechanism 5.

[0041] Preferably, there are two mushroom harvesting actuators 4, with a first conveyor belt 8 and a second conveyor belt 10 located between the two actuators 4 and both within their respective working ranges. The two actuators can operate simultaneously, expanding the harvesting coverage and increasing efficiency. The centrally located conveyor belts ensure that both are within the actuator's working range, optimizing the working radius and collaborative efficiency. This increases the harvesting volume per unit time.

[0042] The output end of the horizontal conveying mechanism for transporting roots is equipped with a residual root guiding structure 11, and a root collection container 12 is located below the residual root guiding structure 11. The residual root guiding structure 11 includes a vertical pipe installed on one side of the mushroom growing rack 1. The pipe wall has multiple mating interfaces corresponding to the number of layers of the mushroom growing rack 1. The position of the mating interfaces corresponds to the height of the output end of the horizontal conveying mechanism 5 for transporting roots on each layer of the growing rack. The mating interfaces cooperate with the first conveyor belt 8 for transporting roots on each layer of the growing rack. The roots output from the first conveyor belt 8 fall into the root collection container 12 after being guided by the vertical pipe. The bottom outlet of the vertical pipe is directly opposite the opening of the root collection container 12.

[0043] Compared to Example 1, this embodiment can remove the residual roots of the mushroom and separate the mushroom body and the cut-off roots for transport.

[0044] The other structures are the same as in Example 1, and will not be described in detail here.

[0045] The working principle of the automatic harvesting device for a multi-layer mushroom cultivation rack provided by this utility model is as follows: In use, the drive unit of the lifting mechanism 2 is activated, raising the mobile harvesting cart 3 to the designated height of the mushroom cultivation rack 1. The mobile harvesting cart 3 moves from the lifting platform along that layer and its length. The mushroom harvesting actuator 4 identifies and harvests mature mushrooms. After harvesting the mushroom, the mushroom harvesting actuator 4 clamps it and moves it to the root cutting assembly 9 to cut off the root. The cut root falls onto the first conveyor belt 8, and the mushroom body is placed onto the second conveyor belt 10. The output end of the first conveyor belt 8 cooperates with the horizontal conveying mechanism 5 for transporting roots, and the roots are transported to the horizontal conveying mechanism 5. The output end of the second conveyor belt 10 cooperates with the horizontal conveying mechanism 5 for transporting mushroom bodies, and the mushroom bodies are transported or slide onto the horizontal conveying mechanism 5. The horizontal conveying mechanism 5 for transporting roots transports the roots to its output end, where they fall into the root collection container 12 through the root guide structure 11. The horizontal conveyor 5 transports the mushroom bodies to the vertical conveyor 6, where they are transferred onto the conveyor belt 14 and supported by the support strips 15. The vertical conveyor 6, using the support strips 15 on its belt surface, transports the mushrooms downwards to the collection container 7 at the bottom, driven by a drive unit. During transport, the mushrooms are protected by a protective plate and ultimately guided by an interceptor plate 17 into the collection box 16.

[0046] 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.

[0047] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" 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 process 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.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. An automatic harvesting device for a multi-layer mushroom cultivation rack, comprising at least one multi-layer mushroom cultivation rack (1), characterized in that, Also includes: A lifting mechanism (2) is provided on one side of the mushroom growing rack (1); The mobile harvesting vehicle (3) is carried by the lifting mechanism (2) and can be raised and lowered to any height of the mushroom planting rack (1) and can move along the length of each planting rack. A mushroom picking actuator (4) is mounted on the mobile picking vehicle (3); A horizontal conveying mechanism (5) is respectively set on the side of each layer of the mushroom planting rack (1) to receive and convey the harvested mushrooms along its length. A vertical conveying mechanism (6) is set on one side of the mushroom planting rack (1) and is connected to the horizontal conveying mechanism (5) of each layer in the material transmission path. The vertical conveying mechanism (6) is provided with receiving structures distributed at intervals along its length, which are used to receive mushrooms and convey them downward. A collection container (7) is located below the output end of the vertical conveying mechanism (6) and is used to collect mushrooms conveyed by the vertical conveying mechanism (6).

2. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 1, characterized in that: The mushroom picking actuator (4) is located at the lower end of the mobile picking vehicle (3). A first conveyor belt (8) is provided below the mobile picking vehicle (3) along the width direction of the mushroom planting rack (1). The first conveyor belt (8) is located within the working range of the mushroom picking actuator (4), and its output end can be connected to the horizontal conveying mechanism (5) of each layer.

3. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 2, characterized in that: The horizontal conveying mechanism (5) is provided in two sets, located on both sides of the length direction of the mushroom planting rack (1).

4. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 3, characterized in that: A root cutting component (9) is provided on one side of the first conveyor belt (8). After the mushroom picking actuator (4) picks the mushroom, it clamps the mushroom and moves it to the working range of the root cutting component (9). The root cutting component (9) cuts off the mushroom root, and the cut-off root falls on the first conveyor belt (8).

5. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 4, characterized in that: A second conveyor belt (10) is provided on one side of the first conveyor belt (8) and is parallel to it. The second conveyor belt (10) is also located within the working range of the mushroom picking actuator (4). The first conveyor belt (8) is used to transport the cut roots, and the second conveyor belt (10) is used to transport the mushroom body. Both are connected to the corresponding horizontal conveying mechanism (5).

6. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 5, characterized in that: The mushroom picking actuator (4) is provided in two parts, with the first conveyor belt (8) and the second conveyor belt (10) located between the two mushroom picking actuators (4) and both within their working range.

7. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 5, characterized in that: The output end of the horizontal conveying mechanism for transporting roots is provided with a residual root guide structure (11), and a root collection container (12) is provided below the residual root guide structure (11).

8. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 1, characterized in that: The vertical conveying mechanism (6) has protective plates on both sides of the conveying path. The vertical conveying mechanism (6) includes a conveyor belt (14). The receiving structure includes multiple support strips (15) arranged on the surface of the conveyor belt (14). The support strips (15) are arranged at intervals along the width direction of the belt surface.

9. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 8, characterized in that: The collection container (7) includes a collection box (16) and an inclined interceptor plate (17). The interceptor plate (17) is located on the movement path of the support strip (15) and has an opening for the support strip (15) to pass through. Mushrooms blocked by the interceptor plate (17) slide into the collection box (16) along its inclined surface.

10. The automatic harvesting device for a multi-layer mushroom cultivation rack according to claim 1, characterized in that: The number of mushroom growing racks (1) is at least two and they are arranged side by side. The tops of adjacent growing racks are connected by a bridge plate (18). The mobile harvesting vehicle (3) can move along the width of the growing rack and transfer between adjacent growing racks via the bridge plate (18).

Images