SCARA Arm Mushroom Harvesting with Flexible Suction Cup
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Solution Overview
Problem
Current mushroom harvesting methods, particularly in commercial operations, face challenges such as high labor costs, inefficiencies in frequent picking due to growth rates, and previous automation attempts that have been unsatisfactory.
Innovation Solution
An automated mushroom harvesting system utilizing a selective compliance assembly robot arm (SCARA arm) mounted on a vertical carriage assembly, which allows for precise positioning and picking of mushrooms using an end effector with a flexible cup and resilient neck, equipped with a vacuum line and helical reinforcing element for effective mushroom grasping and removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual labour is used to harvest mushrooms, then the mushrooms can be picked with care to avoid damage, but the harvesting frequency is limited and labor costs are high
Solution Approach 1:
The patent replaces manual mechanical picking with an automated robotic system that uses a suction cup end effector to grasp and remove mushrooms. The robotic arm can rapidly position and harvest mushrooms with precision, achieving high harvesting frequency while eliminating labor costs. The system uses vision guidance to identify mushrooms and control the picking mechanism to avoid damage.
Solution Approach 2:
The robotic system autonomously identifies, positions, and harvests mushrooms without human intervention. The vision system continuously monitors the mushroom bed, and the control system automatically adjusts the robotic arm positioning and suction cup activation to harvest mushrooms at optimal frequency while minimizing damage.
2Adaptability or versatility
If a rigid picking mechanism is used, then the structure is simple, but it cannot accommodate angled growth of mushrooms on Dutch-style shelves
Solution Approach 1:
The patent employs a SCARA (Selective Compliance Assembly Robot Arm) mechanism that provides dynamic positioning capability. The robotic arm can adjust its position and orientation to accommodate mushrooms growing at various angles on Dutch-style shelves. The suction cup end effector can also orient itself to match the mushroom cap orientation, ensuring proper grasping without requiring a complex rigid structure.
Solution Approach 2:
The suction cup end effector uses a flexible rubber cup that can conform to the shape and orientation of the mushroom cap. This flexibility allows the picking mechanism to adapt to angled mushroom growth without requiring a complex rigid structure, as the soft suction cup can mold to the mushroom surface while maintaining the vacuum seal.
3Reliability
If high pressure is applied during picking to ensure removal, then the mushroom is reliably harvested, but the mushroom tissue is damaged and becomes sticky
Solution Approach 1:
The patent uses a pneumatic suction cup system to harvest mushrooms. The vacuum suction gently holds the mushroom cap without applying mechanical pressure that would damage the tissue. The suction force is sufficient to reliably grasp and remove the mushroom, while the distributed vacuum pressure avoids the localized high pressure that causes tissue damage and stickiness associated with mechanical picking methods.
4Productivity
If the picking system operates quickly to increase productivity, then harvesting frequency increases, but the precision of mushroom selection and positioning decreases
Solution Approach 1:
The vision system continuously pre-identifies and tracks mushrooms in the bed before the robotic arm arrives. The system maintains a queue of ready-to-harvest mushrooms, allowing the robotic arm to move quickly between predetermined positions without slowing down for real-time identification. This preliminary detection and positioning enables high-speed operation while maintaining precision through pre-calculated trajectories and suction cup activation timing.
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 enables efficient and precise harvesting of mushrooms, reducing labor costs and improving yield by allowing for more frequent picking without damaging the mushrooms, while also accommodating the angled growth of mushrooms on Dutch-style shelves.
Implementation Method 1
equipped with a vacuum line and helical reinforcing element for effective mushroom grasping and removal
Data Source
AI summary
An automated mushroom harvesting system for mounting to a vertical mushroom rack comprises a robot having a frame mounted to a vertical carriage assembly. A SCARA arm is slidably mounted to the vertical carriage assembly by a vertical stage, operable to move the SCARA arm along a vertical mast. The SCARA arm moves the end effector in a horizontal plane for harvesting mushrooms, above the surface of the mushroom bed and into and out of the confines of the mushroom rack, and the vertical stage moves the SCARA arm in a vertical direction so as to access the mushrooms in a bed and to access mushroom beds on different levels of the vertical mushroom rack. An end effector having a helically reinforced neck and a graduated elasticity modulus, with a lower elasticity modulus in the neck and a higher elasticity in the cup, is also provided.