Flexible Mushroom Gripper With Scraping-Edge Scale Removal
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Solution Overview
Problem
Existing mushroom picking systems face challenges in gently handling mushroom caps while minimizing damage and preventing scale accumulation on suction cups, which compromises the effectiveness and longevity of the system.
Innovation Solution
A mushroom picking system with a gripper having a flexible polymeric suction cup and a cleaning unit with a scraping edge to periodically clean the gripper, ensuring minimal pressure on the mushroom cap and effective scale removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a brush is used to clean the suction cup surface, then scales are removed from the engaging surface, but the brush potentially damages the engaging surface creating grooves that inhibit good contact
Solution Approach 1:
The patent replaces the brush-based mechanical cleaning system with a compressed air blowing system. Instead of using mechanical contact (brush) to remove scales, the invention uses a stream of compressed air to blow scales off the suction cup's engaging surface, thereby eliminating surface damage while maintaining cleaning effectiveness
Solution Approach 2:
The invention employs compressed air (pneumatics) to clean the suction cup surface. A compressed air source generates a high-velocity air stream that directs force onto the scales, lifting and removing them from the engaging surface without physical contact, thus avoiding grooves and surface damage
2Reliability
If a higher partial vacuum is applied to pick up mushrooms when scales are present, then mushrooms can be picked up despite scale accumulation, but increased pressure is exerted on the mushroom cap increasing damage risk
Solution Approach 1:
The patent implements preliminary cleaning action by periodically blowing compressed air onto the suction cup's engaging surface between picking operations. This preliminary removal of scales ensures that the suction cup maintains good contact with the mushroom cap, allowing picking to proceed at normal vacuum levels without requiring excessive pressure that could damage the mushroom
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively removes scales without increasing pressure on the mushroom cap, maintaining gentle handling and extending the system's longevity by ensuring consistent gripper contact.
Implementation Method 1
The channel defined by the suction cup is fluidly connected to a vacuum system for creating a partial vacuum in the channel upon engagement of the suction cup with a mushroom cap.
Implementation Method 2
a stream of compressed air directed onto the engaging surface of the suction cup
Data Source
Figure 1~2
Figure 3~5
AI summary
A mushroom picking system comprising: (a) a picking tool (1) comprising a gripper (5) for engaging a mushroom cap; (b) a cleaning unit (2) for periodically cleaning the gripper (5), wherein the gripper (5) comprises a wall part made of a flexible polymeric material defining a surface (10) for engaging a mushroom cap, characterized in that the cleaning unit (2) comprises a blade (13) defining a scraping edge (13, 14) configured to engage with said engaging surface (10) of the gripper (5).