CN110073904A - A kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation - Google Patents

A kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation Download PDF

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Publication number
CN110073904A
CN110073904A CN201910488814.7A CN201910488814A CN110073904A CN 110073904 A CN110073904 A CN 110073904A CN 201910488814 A CN201910488814 A CN 201910488814A CN 110073904 A CN110073904 A CN 110073904A
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CN
China
Prior art keywords
guide rail
motor
mast
support
level
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Pending
Application number
CN201910488814.7A
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Chinese (zh)
Inventor
卢伟
张俊
王玲
张刚
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Nanjing Agricultural Univ
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Nanjing Agricultural Univ
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Priority to CN201910488814.7A priority Critical patent/CN110073904A/en
Publication of CN110073904A publication Critical patent/CN110073904A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01GHORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G18/00Cultivation of mushrooms
    • A01G18/70Harvesting

Abstract

The invention discloses a kind of Mushroom Picking Robots suitable for multilayer mushroom bed operation, it includes mobile lifting platform, telescopic rail extension platform, picking mechanical arm, it is characterized in that self structure is compact, it can independently be gone up and down according to picking demand, arm installing mechanism stretches operation, applicable multilayer mushroom bed work pattern in batch production mushroom-cultivating, the present invention realizes the picking demand of the brown mushroom of multilayer parallel arranged industrialized cultivation, raising and lowering can effectively be carried out, the function of shrinking and stretch and flexibly advance in passageway, modular structure design, replaceability is strong, it can effectively meet and pick demand under brown mushroom industrialized planting conditions, it is low to solve factory automation degree, the problems such as labour cost is high.

Description

A kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation
Technical field
The invention belongs to agricultural mechanization and automatization equipment technology fields, and in particular to a kind of agricultural intelligence equipment, it is special It is not to be related to picking robot under brown mushroom industrialized cropping pattern.
Background technique
Brown mushroom has splendid food value, is capable of providing people's good protein, vitamin, ammonia in microelement and 21 Base acid.Brown mushroom albumen is better than animal protein, and 70-90% can be absorbed by the body, the two kinds of weights not contained rich in cereals Want amino acid lysine and tryptophan.Brown mushroom market demand notch is big, and brown mushroom production plantation number of the enterprise increases year by year.
In brown mushroom production activity under industrialized cultivation mode, brown mushroom is planted in multilayer parallel arranged and obtains on mushroom bed, Labour used in traditional artificial picking link accounts for 60% or more of labour's total amount used in brown mushroom production process.It manually picks brown Mushroom low efficiency misses the brown mushroom best collecting period easily to reduce mushroom market value;Labourer's great work intensity, picking process are easily right Delicate mushroom causes to damage;There are larger blank for current Mushroom Picking Robot research, and domestic and international some R&D institutions carry out Correlative study, but mostly concentrate under the conditions of R&D units, based on the Mushroom Picking Robot under industrialized cultivation mode into The research of row fining picking there is no open report.
With the development of industrial or agricultural technology, mechanical intelligent degree is continuously improved, the image of automatic control technology and fruit Identification technology is used widely in picking robot field.Developing intelligent Mushroom Picking Robot technology can be improved picking effect Rate reduces fruit and is damaged, saves business manpower cost.
Summary of the invention
To solve in the brown mushroom production activity under industrialized cultivation mode, when traditional artificial picking mushroom link worker picks Need to climb mushroom bed, great work intensity, picking efficiency are low, easily cause the problems such as damaging to mushroom, and the present invention devises a kind of imitative The Mushroom Picking Robot for being suitable for the bed operation of multilayer mushroom of people's picking.
To achieve the goals above, a kind of technical side of the Mushroom Picking Robot suitable for multilayer mushroom bed operation of the present invention Case is: it is characterised by comprising: mobile lifting platform, telescopic rail platform, picking mechanical arm;The moving lifting is flat Platform is it is characterised by comprising: before mobile platform chassis (1), left front Universal support wheel (21), left back Universal support wheel (22), the right side Universal support wheel (24), hoistable platform lifter plate (3), the left fixed frame of hoistable platform (41), lifting behind Universal support wheel (23), the right side The right fixed frame of platform (42), left lower mast telescoping mechanism (7), right lower mast telescoping mechanism (8), wherein left lower mast telescoping mechanism (7) wraps Include left first order lower mast (701), left second level lower mast (702), left third level lower mast (703), left fourth stage lower mast (704), a left side Raise-lower hydraulic bar (705), the first from left secondary lifting support shaft (706), the first from left secondary lifting spring bearing (707), the first from left second level liter Driving chain (708), left three level Four lifting support shaft (709), left three level Four lifting spring bearing (710), left three level Four liters drop It drops driving chain (711);Right lower mast telescoping mechanism (8) includes right first order lower mast (801), right second level lower mast (802), right the Three-level lower mast (803), right fourth stage lower mast (804), right raise-lower hydraulic bar (805), a right secondary lifting support shaft (806), the right side One secondary lifting spring bearing (807), a right secondary lifting driving chain (808), right three level Four lifting support shaft (809), the right side Three level Four go up and down spring bearing (810), right three level Four lifting and driving chains (811);Mobile platform chassis (1) bottom plane is left front Before Angle Position is fixedly mounted with left front Universal support wheel (21), left back Universal support wheel (22), the right side respectively behind angle, left rear corner, right anterior angle, the right side Universal support wheel (24) behind Universal support wheel (23), the right side;It is equipped with groove in the left rear corner of mobile platform chassis (1) upper plane, Groove location places left lower mast telescoping mechanism (7), left first order lower mast (701) rear end of the left lower mast telescoping mechanism (7) Lower part is packed in mobile platform chassis (1) left groove, and front end face is equipped with sliding slot and the sliding of left second level lower mast (702) connects It connects, left second level lower mast (702) rear end face and the sliding slot of left first order lower mast (701) are slidably connected, and front end face is equipped with sliding slot It is slidably connected with left third level lower mast (703), left third level lower mast (703) rear end face and the sliding of left second level lower mast (702) connect It connects, and front end face is equipped with sliding slot and is slidably connected with left fourth stage lower mast (704), left fourth stage lower mast (704) rear end face It is slidably connected with left third level lower mast (703), front end face is fixedly mounted with the left fixed frame of hoistable platform (41), the left raise-lower hydraulic bar (705) bottom end is installed in left first order lower mast (701) and mobile platform chassis (1) groove, and top is equipped with a hole, described The first from left secondary lifting support shaft (706) is installed in hole, and the first from left secondary lifting branch is fixedly mounted in the first from left secondary lifting support shaft (706) It supports bearing (707), the first from left secondary lifting driving chain is rotatablely connected on the first from left secondary lifting spring bearing (707) (708), the first from left secondary lifting driving chain (708) one end is installed on left first order lower mast (701), and the other end is installed in left the On second level lower mast (702), a hole, left three level Four lifting support shaft (709) are equipped at the top of the left third level lower mast (703) It is installed in shrinkage pool, left three level Four lifting spring bearing (710) is fixedly mounted on left three level Four lifting support shaft (709), described Left three level Four lifting and driving chains (711), left three level Four lifting and drivings are rotatablely connected on left three level Four lifting spring bearing (710) Chain (711) one end is installed on left third level lower mast (703), and the other end is installed on left fourth stage lower mast (704), in movement The right relief angle of platform chassis (1) upper plane is equipped with groove, and groove location places right lower mast telescoping mechanism (8), the right mast Right first order lower mast (801) rear end lower of column telescoping mechanism (8) is packed in mobile platform chassis (1) right groove, and front end Face is equipped with cunning and is slidably connected with right second level lower mast (802), right second level lower mast (802) rear end face and right first order lower mast (801) sliding slot is slidably connected, and front end face is equipped with sliding slot and is slidably connected with right third level lower mast (803), right third level lower mast (803) rear end face is slidably connected with right second level lower mast (802), and front end face is equipped with sliding slot and right fourth stage lower mast (804) is sliding Dynamic connection, right fourth stage lower mast (804) rear end face are slidably connected with right third level lower mast (803), and front end face is fixedly mounted with The right fixed frame of hoistable platform (42), right raise-lower hydraulic bar (805) bottom end are installed in right first order lower mast (801) and movement In platform chassis (1) groove, and top is equipped with a hole, and the one secondary lifting support shaft (806) of the right side is installed in hole, the right side one A right secondary lifting spring bearing (807) is fixedly mounted in secondary lifting support shaft (806), in the one secondary lifting support shaft of the right side It holds and is rotatablely connected a right secondary lifting driving chain (808) on (807), right secondary lifting driving chain (808) one end is fixedly mounted with In on right first order lower mast (801), the other end is installed on right second level lower mast (802), in the right third level lower mast (803) top is equipped with a hole, and right three level Four lifting support shaft (809) is packed in shrinkage pool, right three level Four lifting support shaft (809) On be fixedly mounted with right three level Four lifting spring bearing (810), the rotation connection right side in three level Four of right side lifting spring bearing (810) Three level Four lifting and driving chains (811), right three level Four lifting and driving chain (811) one end are installed in right third level lower mast (803) On, the other end is installed on right fourth stage lower mast (804), the left back portion of hoistable platform lifter plate (4) and right rear lower plate point It is not fixedly mounted with the left fixed frame of hoistable platform (41) and the right fixed frame of hoistable platform (42), connection is in same level; The telescopic rail platform is it is characterised by comprising: left front guide rail extension platform hold-down support (51), the stretching, extension of left back guide rail are put down Platform hold-down support (52), right fromer rail extension platform hold-down support (53), right rear rail extension platform hold-down support (54), a left side push away Into guide rail mechanism (6), right propelling track mechanism (9), X-direction guide rail mechanism (10);Left propelling track mechanism (6) packet It includes: left P motor (601), left P motor fixing plate (602), left P motor fixed support plate (603), left P motor intermediate supports pipe (604), left P synchronous wheel support bearing (605), left P synchronizing wheel (606), fixing sleeve (607) on rear side of left P guide rail, left Y guide rail with Fixing sleeve (609) on rear side of dynamic synchronizing wheel module (608), left Y guide rail, left rail connector (610), left Y guide rail sliding block (611), Left Y synchronous belt compression module (612), left Y guide rail (613), left Y guide rail front side fixing sleeve (614), left Y-motor fixed support plate (615), left Y synchronizing wheel (616), left Y synchronous wheel support bearing (617), left Y-motor intermediate supports pipe (618), left Y-motor are solid Fixed board (619), left Y-motor (620), left P guide rail are servo-actuated synchronizing wheel module (621), left P guide rail front side fixing sleeve (622), left Y Synchronous belt (623), left P synchronous belt (624), left P guide rail (625), left P synchronous belt compression module (626);The right pushing guidance Rail mechanism (9) includes: right P motor (901), right P motor fixing plate (902), right P motor fixed support plate (903), right P motor Intermediate supports pipe (904), right P synchronous wheel support bearing (905), right P synchronizing wheel (906), fixing sleeve (907) on rear side of right P guide rail, Right Y guide rail is servo-actuated synchronizing wheel module (908), right Y guide rail rear side fixing sleeve (909), right guide-rail coupling member (910), right Y guide rail cunning Block (911), right Y synchronous belt compression module (912), right Y guide rail (913), right Y guide rail front side fixing sleeve (914), right Y-motor are solid Determine support plate (915), right Y synchronizing wheel (916), right Y synchronous wheel support bearing (917), right Y-motor intermediate supports pipe (918), the right side Y-motor fixed plate (919), right Y-motor (920), right P guide rail are servo-actuated synchronizing wheel module (921), right P guide rail front side fixing sleeve (922), right Y synchronous belt (923), right P synchronous belt (924), right P guide rail (925), right P synchronous belt compression module (926);It is described X-direction guide rail mechanism (10) include: that be servo-actuated synchronizing wheel module (1002), X synchronous for the left end X sliding dowel block (1001), X guide rail Band (1003), X synchronous belt compression module (1004), X-motor (1005), X-motor fixed plate (1006), X synchronizing wheel (1007), X Motor intermediate supports pipe (1008), X-motor fixed support plate (1009), X right end sliding dowel block (1010), X guide rail (1011), X guide rail slide block (1012);Left P guide rail (625) is packed in left front guide rail extension platform hold-down support (51) and the stretching, extension of left back guide rail In platform hold-down support (52) upper plane, it is in sustained height horizontal plane, fixing sleeve (607) is set on rear side of the left P guide rail There is a hole, be fixedly mounted with left P guide rail (625) rear end guide rail, fixing sleeve (622) is equipped with a hole on front side of the left P guide rail, with left P Guide rail (625) rear end guide rail is fixedly mounted with, and the left P motor fixing plate (602) is installed on rear side of left P guide rail on fixing sleeve (607), Left P motor (601), left P motor fixed support plate (603) and the left P motor intermediate supports pipe (604) and left P motor are solid Fixed board (602) is fixedly mounted with, and left P motor fixed support plate (603) center is equipped with a hole, and left P is synchronous wheel support bearing (605) It is installed in hole, the left P synchronizing wheel (606) is equipped with D type inner hole, and left P motor (601) output shaft is fixedly mounted with hole, and left P is synchronous Cylindrical surface wheel support bearing (605) synchronous with left P is fixedly mounted on the outside of wheel (606), and the left P guide rail is servo-actuated synchronizing wheel module (621) it is installed on front side of left P guide rail on fixing sleeve (622), left P synchronous belt (624) rear end thereof is connected to left P synchronizing wheel (606) on, left P synchronous belt (624) front end is rotationally connected with left P guide rail and is servo-actuated in the synchronizing wheel of synchronizing wheel module (621), described Left P synchronous belt compression module (626) be installed in left P synchronous belt (624) aperture position;Right P guide rail (925) is packed in right leading On rail extension platform hold-down support (53) and right rear rail extension platform hold-down support (54) upper plane, it is in sustained height water Plane, the right P guide rail rear side fixing sleeve (907) are equipped with a hole, are fixedly mounted with right P guide rail (925) rear end guide rail, the right side Fixing sleeve (922) is equipped with a hole on front side of P guide rail, is fixedly mounted with right P guide rail (925) rear end guide rail, the right P motor fixing plate (902) it is installed on rear side of right P guide rail on fixing sleeve (907), the right P motor (901), right P motor fixed support plate (903) It is fixedly mounted with right P motor intermediate supports pipe (904) and right P motor fixing plate (902), the right P motor fixed support plate (903) Center is equipped with a hole, and right P synchronous wheel support bearing (905) is installed in hole, and the right P synchronizing wheel (906) is equipped in D type Hole, right P motor (901) output shaft are fixedly mounted with hole, cylindrical surface wheel support bearing synchronous with right P on the outside of right P synchronizing wheel (906) (905) it is fixedly mounted with, the right P guide rail is servo-actuated synchronizing wheel module (921) and is installed on front side of right P guide rail on fixing sleeve (922), right P Synchronous belt (924) rear end thereof is connected on right P synchronizing wheel (906), and right P synchronous belt (924) front end is rotationally connected with right P guide rail In the synchronizing wheel of servo-actuated synchronizing wheel module (921), the right P synchronous belt compression module (926) is installed in right P synchronous belt (924) aperture position;X guide rail (1011) both ends are fixedly mounted with the left end X sliding dowel block (1001) and X right end sliding dowel block respectively (1010), the left end X sliding dowel block (1001) is installed on the left Y guide rail sliding block (611) of left propelling track mechanism (6), X right end Sliding dowel block (1010) is installed on the right Y guide rail sliding block (911) of right propelling track mechanism (9), and the X synchronous belt compresses Module (1004) is installed on X guide rail slide block (1012), and the X-motor fixed support plate (1009) is installed in X right end sliding block On fixed block (1010), X-motor (1005), X-motor fixed plate (1006) and X-motor intermediate supports pipe (1008) are fixed in X electricity On machine fixed support plate (1009), D type hole, X-motor (1005) output shaft and Kong Gu are equipped on the inside of the X synchronizing wheel (1007) Dress, X synchronous belt (1003) left end are rotatably connected on X guide rail and are servo-actuated in the synchronizing wheel of synchronizing wheel module (1002), and right end rotation connects It connects on X synchronizing wheel (1007), the X synchronous belt compression module (1004) is installed in X synchronous belt (1003) aperture position, X Guide rail slide block (1012) X guide rail (1011) is slidably connected;The picking mechanical arm is it is characterised by comprising: large arm motor (1101), large arm motor hold-down support (1102), large-arm joint synchronous belt (1103), large arm motor drum in-phase (1104), large arm Arthrodesis block (1105), large-arm joint synchronization wheel shaft (1106), large-arm joint bearing (1107), wire casing shield (1108), hand Arm large arm (1109), forearm motor (1110), forearm motor drum in-phase (1111), forearm joint synchronous band (1112), forearm close Bearings (1113), forearm joint synchronous wheel shaft (1114), arm forearm (1115), end rotating electric machine (1116), end rotation Rotating motor fixing seat (1117), miniature active synchronization wheel (1118), miniature synchronous belt (1119), miniature driven synchronizing wheel (1120), camera hold-down support (1121), camera (1122), end lifting cylinder (1123), end picking paw (1124);Greatly Shoulder joint fixed block (1105) cross section is " L " type, and vertical side is installed on X guide rail slide block (1012), solid on horizontal plane Fill large arm motor hold-down support (1102) and large-arm joint bearing (1107);The large arm motor hold-down support (1102) is fixedly mounted with Large arm motor (1101), large arm motor drum in-phase (1104) inside are equipped with a hole, and large arm motor (1101) output shaft is fixedly mounted with hole, Large-arm joint synchronization wheel shaft (1106) are rotatablely connected on large-arm joint bearing (1107), the large-arm joint synchronous belt (1103) left end and large arm motor drum in-phase (1104) are rotatablely connected, and right end and large-arm joint synchronization wheel shaft (1106) rotation connect It connects, a boss is equipped with below the large-arm joint bearing (1107), is rotatablely connected arm large arm (1109) on boss, it is described Arm large arm (1109) rear end is equipped with shrinkage pool and is fixedly mounted with boss, and arm large arm (1109) front end is fixedly mounted with forearm oscillating bearing (1113), arm large arm (1109) is fixedly installed at the upper part with wire casing shield (1108) and forearm motor (1110), the forearm motor (1110) the D type inner hole that output shaft is equipped with forearm motor drum in-phase (1111) is fixedly mounted with, forearm joint synchronous wheel shaft (1114) It is fixedly mounted with forearm oscillating bearing (1113) inner hole;Forearm joint synchronous band (1112) rear end and forearm motor drum in-phase (1111) it is rotatablely connected, forearm joint synchronous band (1112) front end and forearm joint synchronous wheel shaft (1114) are rotatablely connected, described Forearm oscillating bearing (1113) above be equipped with a boss, arm forearm (1115) rear end be equipped with a shrinkage pool, arm forearm (1115) shrinkage pool is installed on boss;The end rotating electric machine fixing seat (1117) is packed on arm forearm (1115), end It is fixedly mounted with end rotating electric machine (1116) on end rotating electric machine fixing seat (1117), described end rotating electric machine (1116) output shaft It is fixedly mounted with miniature active synchronization wheel (1118) D type inner hole, described arm forearm (1115) front end is successively fixedly mounted with miniature driven same Step wheel (1120), end lifting cylinder (1123), end lifting cylinder (1123) lower end is fixedly mounted with end picking paw (1124), institute Miniature synchronous belt (1119) rear end and miniature active synchronization wheel (1118) stated are rotatablely connected, front end and miniature driven synchronizing wheel (1120) it is rotatablely connected, in arm forearm (1115), front position is fixedly mounted with camera hold-down support (1121), and camera (1122) is fixedly mounted with On camera hold-down support (1121).
The left-front corner of plane on hoistable platform lifter plate (4) in the mobile lifting platform, left rear corner, right anterior angle, Angle Position is fixedly mounted with the left front guide rail extension platform hold-down support (51) of the telescopic rail platform respectively behind the right side, left back guide rail is stretched Platform hold-down support (52), right fromer rail extension platform hold-down support (53), right rear rail extension platform hold-down support (54) are flattened, The large-arm joint fixed block (1105) of the picking mechanical arm is packed in the X guide rail slide block (1012) of telescopic rail platform On.
The P guide rail is servo-actuated synchronizing wheel module (621), Y guide rail is servo-actuated synchronizing wheel module (608) and X guide rail is servo-actuated same Step wheel module (1002) by fixed plate (M01), fixed side bearing (M02), clamp nut (M03), intermediate axle bolt (M04), is consolidated Determine side axle bearing roller (M05), intermediate supports pipe (M06), synchronizing wheel (M07), support-side bearing roller (M08), support-side bearing (M09), support plate (M10) forms;Fixed plate (M01) is installed on fixed block, support plate (M10) and intermediate supports pipe (M06) It being packed on fixed plate (M01), the fixed plate center (M01) is equipped with a hole, and fixed side bearing (M02) is installed in hole, The support plate center (M10) is equipped with a hole, and support-side bearing (M09) is installed in hole, and synchronizing wheel (M07) is rotatably connected on On intermediate axle bolt (M04), between fixed plate (M01) and support plate (M10), intermediate axle bolt (M04) is rotationally connected with Fixed side bearing (M02) and support-side bearing (M09) inner hole, the clamp nut (M03) and intermediate axle bolt (M04) are solid Dress.
P synchronous belt compression module (626), Y synchronous belt compression module (612) and the X synchronous belt compression module (1004) piece is compressed by upper and lower two panels to form, bottom sheet is fixedly mounted with guide rail slide block, upper piece be equipped with the tooth being meshed with synchronous belt flute profile Slot, upper and lower two panels is affixed, compresses synchronous belt.
The invention has the advantages that a kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation of the present invention realizes It is compact-sized, mobile flexibly, picking arm is small in size, functional characteristics of light weight;The Aluminum alloy double-mast column liter that the present invention uses Telescoping mechanism stable structure intensity height is dropped, minimum one layer of picking position is realized and maximum layer picks the function that position height is taken into account Energy;Picking mechanical arm is sent into mushroom bed interlayer using the guide track system of sliding extension formula and carries out picking operation, energy by the present invention Picking efficiency is enough effectively improved, while reducing the job costs manually picked, improves the performance of enterprises;The present invention can effectively solve the problem that Plucker needs to climb on the spot under the brown mushroom cropping pattern of batch production, and large labor intensity picks the problems such as time-consuming and laborious at high cost.
Detailed description of the invention
Below in conjunction with drawings and examples, the present invention will be further described.
Fig. 1 is a kind of structural schematic diagram of Mushroom Picking Robot of the present invention;
Fig. 2 is hoistable platform overall structure diagram;
Fig. 3 is left lower mast telescoping mechanism and right lower mast telescoping mechanism structure partial cross-sectional view;
Fig. 4 is left propelling track mechanism and right propelling track mechanism structure schematic diagram;
Fig. 5 is X-direction guide rail mechanism structural schematic diagram;
Fig. 6 is that P guide rail is servo-actuated synchronizing wheel module, Y guide rail is servo-actuated synchronizing wheel module and X guide rail is servo-actuated the signal of synchronizing wheel module Figure;
Fig. 7 is P synchronous belt compression module, Y synchronous belt compression module and X synchronous belt compression module structural schematic diagram;
Fig. 8 is picking mechanical arm structure schematic diagram.
Specific embodiment
[embodiment 1]
The present embodiment is related to a kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation, comprising: mobile lifting platform, The mobile lifting platform is it is characterised by comprising: mobile platform chassis (1), left front Universal support wheel (21), left back universal Universal support wheel (24), hoistable platform lifter plate (3), hoistable platform are left behind Universal support wheel (23), the right side before support wheel (22), the right side Fixed frame (41), the right fixed frame of hoistable platform (42), left lower mast telescoping mechanism (7), right lower mast telescoping mechanism (8), wherein left mast Column telescoping mechanism (7) includes left first order lower mast (701), left second level lower mast (702), left third level lower mast (703), a left side the 4th Grade lower mast (704), left raise-lower hydraulic bar (705), the first from left secondary lifting support shaft (706), the first from left secondary lifting spring bearing (707), the first from left secondary lifting driving chain (708), left three level Four lifting support shaft (709), left three level Four go up and down spring bearing (710), left three level Four lifting and driving chains (711);Right lower mast telescoping mechanism (8) includes right first order lower mast (801), the right side second Grade lower mast (802), right third level lower mast (803), right fourth stage lower mast (804), right raise-lower hydraulic bar (805), a right second level liter Support shaft (806), a right secondary lifting spring bearing (807), a right secondary lifting driving chain (808), right three level Four liters drop Support shaft (809), right three level Four lifting spring bearing (810), right three level Four lifting and driving chains (811) drop;Mobile platform bottom Angle Position is fixedly mounted with left front Universal support wheel (21), left back ten thousand respectively behind disk (1) bottom plane left-front corner, left rear corner, right anterior angle, the right side Universal support wheel (24) behind Universal support wheel (23), the right side before to support wheel (22), the right side;In mobile platform chassis (1) upper plane Left rear corner be equipped with a groove, groove location places left lower mast telescoping mechanism (7), a left side for the left lower mast telescoping mechanism (7) First order lower mast (701) rear end lower is packed in mobile platform chassis (1) left groove, and front end face is equipped with sliding slot, and a left side second Grade lower mast (702) is slidably connected, and left second level lower mast (702) rear end face and the sliding slot of left first order lower mast (701) are slidably connected, Front end face is equipped with sliding slot and left third level lower mast (703) is slidably connected, left third level lower mast (703) rear end face and the left second level Lower mast (702) is slidably connected, and front end face is equipped with sliding slot and left fourth stage lower mast (704) is slidably connected, the left fourth stage mast Column (704) rear end face is slidably connected with left third level lower mast (703), and front end face is fixedly mounted with the left fixed frame of hoistable platform (41), described Left raise-lower hydraulic bar (705) bottom end be installed in left first order lower mast (701) and mobile platform chassis (1) groove, top is set There is a hole, the first from left secondary lifting support shaft (706) is installed in hole, is fixedly mounted in the first from left secondary lifting support shaft (706) The first from left secondary lifting spring bearing (707) is rotatablely connected the first from left second level on the first from left secondary lifting spring bearing (707) Lifting and driving chain (708), the first from left secondary lifting driving chain (708) one end is installed on left first order lower mast (701), another End is installed on left second level lower mast (702), and a hole, left three level Four liters are equipped at the top of the left third level lower mast (703) Drop support shaft (709) is packed in shrinkage pool, and left three level Four lifting spring bearing is fixedly mounted on left three level Four lifting support shaft (709) (710), left three level Four lifting and driving chains (711) are rotatablely connected in three level Four of left side lifting spring bearing (710), it is left Three level Four lifting and driving chain (711) one end are installed on left third level lower mast (703), and the other end is installed in left fourth stage lower mast (704) on;It is equipped with a groove in the right relief angle of mobile platform chassis (1) upper plane, groove location places right lower mast telescopic machine Right first order lower mast (801) rear end lower of structure (8), the right lower mast telescoping mechanism (8) is packed in mobile platform chassis (1) In right groove, front end face is equipped with sliding slot and right second level lower mast (802) and is slidably connected, right second level lower mast (802) rear end face with The sliding slot of right first order lower mast (801) is slidably connected, and front end face is equipped with sliding slot and right third level lower mast (803) is slidably connected, right Third level lower mast (803) rear end face is slidably connected with right second level lower mast (802), and front end face is equipped with sliding slot and right fourth stage mast Column (804) is slidably connected, and right fourth stage lower mast (804) rear end face is slidably connected with right third level lower mast (803), front end Face is fixedly mounted with the right fixed frame of hoistable platform (42), and right raise-lower hydraulic bar (805) bottom end is installed in right first order lower mast (801) In mobile platform chassis (1) groove, top is equipped with a hole, and the one secondary lifting support shaft (806) of the right side is installed in hole, A right secondary lifting spring bearing (807) is fixedly mounted in a right secondary lifting support shaft (806), in the one secondary lifting branch of the right side It supports and is rotatablely connected a right secondary lifting driving chain (808) on bearing (807), right secondary lifting driving chain (808) one end It is installed on right first order lower mast (801), the other end is installed on right second level lower mast (802), in the right third level mast A hole is equipped at the top of column (803), right three level Four lifting support shaft (809) is packed in shrinkage pool, and right three level Four go up and down support shaft (809) it is fixedly mounted with right three level Four lifting spring bearing (810) on, is rotated in three level Four of right side lifting spring bearing (810) Right three level Four lifting and driving chains (811) are connected, right three level Four lifting and driving chain (811) one end are installed in right third level lower mast (803) on, the other end is installed on right fourth stage lower mast (804);The left back portion of hoistable platform lifter plate (4) and right rear lower are flat Plate is fixedly mounted with the left fixed frame of hoistable platform (41) and the right fixed frame of hoistable platform (42) respectively, and connection is in same level On;When actuator work drives hydraulic stem to rise or decline by hydraulic high-pressure pipeline, to drive left and right lower mast telescopic machine Structure is risen or fallen, and is realized and is driven the telescopic rail platform that is mounted on hoistable platform lifter plate and picking arm according to adopting It plucks demand and carries out raising and lowering.
[embodiment 2]
The present embodiment is related to a kind of Mushroom Picking Robot suitable for the bed operation of multilayer mushroom, comprising: described flexible to lead Rail platform is it is characterised by comprising: left front guide rail extension platform hold-down support (51), left back guide rail extension platform hold-down support (52), right fromer rail extension platform hold-down support (53), right rear rail extension platform hold-down support (54), left propelling track mechanism (6), right propelling track mechanism (9), X-direction guide rail mechanism (10);The left propelling track mechanism (6) includes: left P motor (601), left P motor fixing plate (602), left P motor fixed support plate (603), left P motor intermediate supports pipe (604), left P are same Walk wheel support bearing (605), left P synchronizing wheel (606), left P guide rail rear side fixing sleeve (607), the servo-actuated synchronizing wheel module of left Y guide rail (608), fixing sleeve (609), left rail connector (610), left Y guide rail sliding block (611), left Y synchronous belt compress on rear side of left Y guide rail Module (612), left Y guide rail (613), left Y guide rail front side fixing sleeve (614), left Y-motor fixed support plate (615), left Y are synchronous Take turns (616), left Y synchronous wheel support bearing (617), left Y-motor intermediate supports pipe (618), left Y-motor fixed plate (619), left Y Motor (620), left P guide rail are servo-actuated synchronizing wheel module (621), left P guide rail front side fixing sleeve (622), left Y synchronous belt (623), a left side P synchronous belt (624), left P guide rail (625), left P synchronous belt compression module (626);The right propelling track mechanism (9) includes: Right P motor (901), right P motor fixing plate (902), right P motor fixed support plate (903), right P motor intermediate supports pipe (904), right P synchronous wheel support bearing (905), right P synchronizing wheel (906), fixing sleeve (907) on rear side of right P guide rail, right Y guide rail with Fixing sleeve (909) on rear side of dynamic synchronizing wheel module (908), right Y guide rail, right guide-rail coupling member (910), right Y guide rail sliding block (911), Right Y synchronous belt compression module (912), right Y guide rail (913), right Y guide rail front side fixing sleeve (914), right Y-motor fixed support plate (915), right Y synchronizing wheel (916), right Y synchronous wheel support bearing (917), right Y-motor intermediate supports pipe (918), right Y-motor are solid Fixed board (919), right Y-motor (920), right P guide rail are servo-actuated synchronizing wheel module (921), right P guide rail front side fixing sleeve (922), right Y Synchronous belt (923), right P synchronous belt (924), right P guide rail (925), right P synchronous belt compression module (926);The X-direction is led Rail mechanism (10) include: the left end X sliding dowel block (1001), X guide rail be servo-actuated synchronizing wheel module (1002), X synchronous belt (1003), X synchronous belt compression module (1004), X-motor (1005), X-motor fixed plate (1006), X synchronizing wheel (1007), X-motor centre branch Stay tube (1008), X-motor fixed support plate (1009), X right end sliding dowel block (1010), X guide rail (1011), X guide rail slide block (1012);Left P guide rail (625) is packed in left front guide rail extension platform hold-down support (51) and the fixed branch of left back guide rail extension platform In seat (52) upper plane, it is in sustained height horizontal plane, fixing sleeve (607) is equipped with a hole on rear side of the left P guide rail, with a left side P guide rail (625) rear end guide rail is fixedly mounted with, after fixing sleeve (622) is equipped with a hole, with left P guide rail (625) on front side of the left P guide rail End guide rail is fixedly mounted with, and the left P motor fixing plate (602) is installed on rear side of left P guide rail on fixing sleeve (607), the left P electricity Machine (601), left P motor fixed support plate (603) and left P motor intermediate supports pipe (604) and left P motor fixing plate (602) are solid Dress, left P motor fixed support plate (603) center are equipped with a hole, and left P synchronous wheel support bearing (605) is installed in hole, D type hole is equipped on the inside of the left P synchronizing wheel (606), left P motor (601) output shaft is fixedly mounted with hole, and left P synchronizing wheel (606) is outside Side cylindrical surface wheel support bearing (605) synchronous with left P is fixedly mounted with, and the left P guide rail is servo-actuated synchronizing wheel module (621) and is installed in a left side On front side of P guide rail on fixing sleeve (622), left P synchronous belt (624) rear end thereof is connected on left P synchronizing wheel (606), left P synchronous belt (624) front end is rotationally connected with left P guide rail and is servo-actuated in the synchronizing wheel of synchronizing wheel module (621), the left P synchronous belt pressure die Block (626) is installed in left P synchronous belt (624) aperture position;Right P guide rail (925) is packed in the fixed branch of right fromer rail extension platform On seat (53) and right rear rail extension platform hold-down support (54) upper plane, it is in sustained height horizontal plane, the right P is led Fixing sleeve (907) is equipped with a hole on rear side of rail, is fixedly mounted with right P guide rail (925) rear end guide rail, fixing sleeve on front side of the right P guide rail (922) it is equipped with a hole, is fixedly mounted with right P guide rail (925) rear end guide rail, the right P motor fixing plate (902) is installed in right P and leads On rear side of rail on fixing sleeve (907), branch among the right P motor (901), right P motor fixed support plate (903) and right P motor Stay tube (904) is fixedly mounted with right P motor fixing plate (902), and right P motor fixed support plate (903) center is equipped with a hole, right P synchronous wheel support bearing (905) is installed in hole, and D type hole, right P motor (901) are equipped on the inside of the right P synchronizing wheel (906) Output shaft is fixedly mounted with hole, and cylindrical surface wheel support bearing (905) synchronous with right P is fixedly mounted on the outside of right P synchronizing wheel (906), the right P Guide rail is servo-actuated synchronizing wheel module (921) and is installed on front side of right P guide rail on fixing sleeve (922), right P synchronous belt (924) rear end thereof It is connected on right P synchronizing wheel (906), right P synchronous belt (924) front end is rotationally connected with right P guide rail and is servo-actuated synchronizing wheel module (921) Synchronizing wheel on, the right P synchronous belt compression module (926) is installed in right P synchronous belt (924) aperture position;X guide rail (1011) both ends are fixedly mounted with the left end X sliding dowel block (1001) and X right end sliding dowel block (1010) respectively, and the left end X sliding block is fixed Block (1001) is installed on the left Y guide rail sliding block (611) of left propelling track mechanism (6), and X right end sliding dowel block (1010) is fixedly mounted with In on the right Y guide rail sliding block (911) of right propelling track mechanism (9), the X synchronous belt compression module (1004) is installed in X and leads On rail sliding block (1012), the X-motor fixed support plate (1009) is installed on X right end sliding dowel block (1010), X-motor (1005), X-motor fixed plate (1006) and X-motor intermediate supports pipe (1008) are fixed on X-motor fixed support plate (1009), D type hole is equipped on the inside of the X synchronizing wheel (1007), X-motor (1005) output shaft is fixedly mounted with hole, X synchronous belt (1003) left end X guide rail is rotatably connected on to be servo-actuated in the synchronizing wheel of synchronizing wheel module (1002), right end is rotatably connected on X synchronizing wheel (1007), The X synchronous belt compression module (1004) is installed in X synchronous belt (1003) aperture position, X guide rail slide block (1012) X guide rail (1011) it is slidably connected;The P motor being installed on it P sliding block driven by synchronous belt and be fixedly mounted with Y guide rail thereon realize stretching, extension and Contractile function, the Y-motor being installed on it drive Y sliding block by synchronous belt and are fixedly mounted with before X guide rail thereon realizes and carry out in the Y direction Sliding function afterwards, the X-motor being installed on it drive X sliding block and the picking arm being installed on it to realize in X-direction by synchronous belt Horizontally slip function.
[embodiment 3]
The present embodiment is related to a kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation characterized by comprising institute The picking mechanical arm stated is it is characterised by comprising: large arm motor (1101), large arm motor hold-down support (1102), large arm are closed Save synchronous belt (1103), large arm motor drum in-phase (1104), large-arm joint fixed block (1105), large-arm joint synchronization wheel shaft (1106), large-arm joint bearing (1107), wire casing shield (1108), arm large arm (1109), forearm motor (1110), forearm electricity Machine synchronizing wheel (1111), forearm joint synchronous band (1112), forearm oscillating bearing (1113), forearm joint synchronous wheel shaft (1114), arm forearm (1115), end rotating electric machine (1116), end rotating electric machine fixing seat (1117), miniature active are same Step wheel (1118), miniature synchronous belt (1119), miniature driven synchronizing wheel (1120), camera hold-down support (1121), camera (1122), end lifting cylinder (1123), end picking paw (1124);Large-arm joint fixed block (1105) cross section is " L " Type, vertical side are installed on X guide rail slide block (1012), and large arm motor hold-down support (1102) and large arm are fixedly mounted on horizontal plane Oscillating bearing (1107);The large arm motor hold-down support (1102) is fixedly mounted with large arm motor (1101), large arm motor drum in-phase (1104) inside is equipped with a hole, and large arm motor (1101) output shaft is fixedly mounted with hole, the company of rotation on large-arm joint bearing (1107) It connects large-arm joint synchronization wheel shaft (1106), large-arm joint synchronous belt (1103) left end and large arm motor drum in-phase (1104) Rotation connection, right end and large-arm joint synchronization wheel shaft (1106) are rotatablely connected, set below the large-arm joint bearing (1107) There is a boss, is rotatablely connected arm large arm (1109) on boss, arm large arm (1109) rear end is equipped with shrinkage pool and boss It is fixedly mounted with, arm large arm (1109) front end is fixedly mounted with forearm oscillating bearing (1113), and arm large arm (1109) is fixedly installed at the upper part with wire casing screening Plate (1108) and forearm motor (1110) are set on forearm motor (1110) output shaft and forearm motor drum in-phase (1111) Some D type inner holes are fixedly mounted with, and forearm joint synchronous wheel shaft (1114) is fixedly mounted with forearm oscillating bearing (1113) inner hole;The forearm Joint synchronous band (1112) rear end and forearm motor drum in-phase (1111) are rotatablely connected, forearm joint synchronous band (1112) front end with Forearm joint synchronous wheel shaft (1114) rotation connection, forearm oscillating bearing (1113) top are equipped with a boss, and arm is small Arm (1115) rear end is equipped with a shrinkage pool, and arm forearm (1115) shrinkage pool is installed on boss;The end rotating electric machine fixing seat (1117) it is packed on arm forearm (1115), is fixedly mounted with end rotating electric machine in end rotating electric machine fixing seat (1117) (1116), end rotating electric machine (1116) output shaft is fixedly mounted with miniature active synchronization wheel (1118) D type inner hole, described Arm forearm (1115) front end is successively fixedly mounted with miniature driven synchronizing wheel (1120), end lifting cylinder (1123), end lifting air Cylinder (1123) lower end is fixedly mounted with end picking paw (1124), miniature synchronous belt (1119) rear end and miniature active synchronization wheel (1118) it is rotatablely connected, front end and miniature driven synchronizing wheel (1120) are rotatablely connected, and in arm forearm (1115), front position is solid Built-in camera hold-down support (1121), camera (1122) are packed on camera hold-down support (1121), and wherein large-arm joint motor is suitable Hour hands rotation drives large arm to move right, and rotates counterclockwise and large arm is driven to move downward, forearm joint motor rotates clockwise band Dynamic forearm moves right, and rotates counterclockwise and forearm is driven to move downward, the mountable different fingers numbers of end picking paw and hand Refer to that the gripper of length realizes the picking to different mushrooms.

Claims (4)

1. a kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation characterized by comprising mobile lifting platform is stretched Contracting guide rail platform and picking mechanical arm;
The mobile lifting platform is it is characterised by comprising: mobile platform chassis (1), left front Universal support wheel (21), left back Universal support wheel (24), hoistable platform lifter plate (3), lifting are flat behind Universal support wheel (23), the right side before Universal support wheel (22), the right side The left fixed frame of platform (41), the right fixed frame of hoistable platform (42), left lower mast telescoping mechanism (7), right lower mast telescoping mechanism (8), wherein Left lower mast telescoping mechanism (7) includes left first order lower mast (701), left second level lower mast (702), left third level lower mast (703), a left side Fourth stage lower mast (704), left raise-lower hydraulic bar (705), the first from left secondary lifting support shaft (706), the first from left secondary lifting support shaft Hold (707), the first from left secondary lifting driving chain (708), left three level Four lifting support shaft (709), left three level Four lifting support shaft Hold (710), left three level Four lifting and driving chains (711);Right lower mast telescoping mechanism (8) includes right first order lower mast (801), right the Second level lower mast (802), right third level lower mast (803), right fourth stage lower mast (804), right raise-lower hydraulic bar (805), a right second level Go up and down support shaft (806), a right secondary lifting spring bearing (807), a right secondary lifting driving chain (808), right three level Four Go up and down support shaft (809), right three level Four lifting spring bearing (810), right three level Four lifting and driving chains (811);
Angle Position is fixedly mounted with left front universal branch respectively behind mobile platform chassis (1) bottom plane left-front corner, left rear corner, right anterior angle, the right side Universal support wheel (24) behind Universal support wheel (23), the right side before support wheel (21), left back Universal support wheel (22), the right side;In mobile platform The left rear corner of chassis (1) upper plane is equipped with groove, and groove location places left lower mast telescoping mechanism (7), and the left lower mast is stretched Left first order lower mast (701) rear end lower of contracting mechanism (7) is packed in mobile platform chassis (1) left groove, and front end face is set There is sliding slot to be slidably connected with left second level lower mast (702), left second level lower mast (702) rear end face and left first order lower mast (701) Sliding slot be slidably connected, and front end face be equipped with sliding slot be slidably connected with left third level lower mast (703), left third level lower mast (703) Rear end face is slidably connected with left second level lower mast (702), and front end face is equipped with sliding slot and the sliding of left fourth stage lower mast (704) connects It connects, left fourth stage lower mast (704) rear end face is slidably connected with left third level lower mast (703), and it is flat that front end face is fixedly mounted with lifting The left fixed frame of platform (41), left raise-lower hydraulic bar (705) bottom end are installed in left first order lower mast (701) and mobile platform bottom In disk (1) groove, and top is equipped with a hole, and the first from left secondary lifting support shaft (706) is installed in hole, the first from left second level liter It is fixedly mounted with the first from left secondary lifting spring bearing (707) in drop support shaft (706), in the first from left secondary lifting spring bearing (707) the first from left secondary lifting driving chain (708) are rotatablely connected on, the first from left secondary lifting driving chain (708) one end is installed in On left first order lower mast (701), the other end is installed on left second level lower mast (702), in the left third level lower mast (703) Top is equipped with a hole, and left three level Four lifting support shaft (709) is installed in shrinkage pool, solid on left three level Four lifting support shaft (709) Left three level Four lifting spring bearing (710) is filled, is rotatablely connected Zuo Sansi in three level Four of left side lifting spring bearing (710) Grade lifting and driving chain (711), left three level Four lifting and driving chain (711) one end are installed on left third level lower mast (703), separately One end is installed on left fourth stage lower mast (704), is equipped with groove, groove in the right relief angle of mobile platform chassis (1) upper plane Place right lower mast telescoping mechanism (8), right first order lower mast (801) rear end lower of the right lower mast telescoping mechanism (8) in position It is packed in mobile platform chassis (1) right groove, and front end face is equipped with cunning and is slidably connected with right second level lower mast (802), the right side the Second level lower mast (802) rear end face and the sliding slot of right first order lower mast (801) are slidably connected, and front end face is equipped with sliding slot and right third Grade lower mast (803) is slidably connected, and right third level lower mast (803) rear end face is slidably connected with right second level lower mast (802), and front end Face is equipped with sliding slot and is slidably connected with right fourth stage lower mast (804), right fourth stage lower mast (804) rear end face and the right third level Lower mast (803) is slidably connected, and front end face is fixedly mounted with the right fixed frame of hoistable platform (42), right raise-lower hydraulic bar (805) bottom End is installed in right first order lower mast (801) and mobile platform chassis (1) groove, and top is equipped with a hole, the right side one or two Grade lifting support shaft (806) is installed in hole, and a right secondary lifting spring bearing is fixedly mounted in a right secondary lifting support shaft (806) (807), a right secondary lifting driving chain (808) is rotatablely connected on the one secondary lifting spring bearing (807) of the right side, it is right One secondary lifting driving chain (808) one end is installed on right first order lower mast (801), and the other end is installed in right second level lower mast (802) on, a hole is equipped at the top of the right third level lower mast (803), right three level Four lifting support shaft (809) is packed in recessed Kong Zhong, right three level Four, which are gone up and down, is fixedly mounted with right three level Four lifting spring bearing (810) on support shaft (809), in three level Four of the right side It goes up and down and is rotatablely connected right three level Four lifting and driving chains (811) on spring bearing (810), right three level Four lifting and driving chains (811) one end is installed on right third level lower mast (803), and the other end is installed on right fourth stage lower mast (804), hoistable platform liter It is solid that drop plate (4) left back portion and right rear lower plate are fixedly mounted with the left fixed frame of hoistable platform (41) and the hoistable platform right side respectively Determine frame (42), connection is in same level;
The telescopic rail platform is it is characterised by comprising: left front guide rail extension platform hold-down support (51), left back guide rail are stretched Flatten platform hold-down support (52), right fromer rail extension platform hold-down support (53), right rear rail extension platform hold-down support (54),
Left propelling track mechanism (6), right propelling track mechanism (9), X-direction guide rail mechanism (10);The left pushing guidance trailer Structure (6) include: left P motor (601), left P motor fixing plate (602), left P motor fixed support plate (603), among left P motor Support tube (604), left P synchronous wheel support bearing (605), left P synchronizing wheel (606), left P guide rail rear side fixing sleeve (607), left Y Guide rail is servo-actuated synchronizing wheel module (608), left Y guide rail rear side fixing sleeve (609), left rail connector (610), left Y guide rail sliding block (611), left Y synchronous belt compression module (612), left Y guide rail (613), left Y guide rail front side fixing sleeve (614), left Y-motor are fixed Support plate (615), left Y synchronizing wheel (616), left Y synchronous wheel support bearing (617), left Y-motor intermediate supports pipe (618), left Y Motor fixing plate (619), left Y-motor (620), left P guide rail are servo-actuated synchronizing wheel module (621), left P guide rail front side fixing sleeve (622), left Y synchronous belt (623), left P synchronous belt (624), left P guide rail (625), left P synchronous belt compression module (626);It is described Right propelling track mechanism (9) include: right P motor (901), right P motor fixing plate (902), right P motor fixed support plate (903), after right P motor intermediate supports pipe (904), right P synchronous wheel support bearing (905), right P synchronizing wheel (906), right P guide rail Side fixing sleeve (907), right Y guide rail are servo-actuated synchronizing wheel module (908), right Y guide rail rear side fixing sleeve (909), right guide-rail coupling member (910), right Y guide rail sliding block (911), right Y synchronous belt compression module (912), right Y guide rail (913), right Y guide rail front side fixing sleeve (914), right Y-motor fixed support plate (915), right Y synchronizing wheel (916), right Y synchronous wheel support bearing (917), in right Y-motor Between support tube (918), right Y-motor fixed plate (919), right Y-motor (920), right P guide rail be servo-actuated synchronizing wheel module (921), right P Fixing sleeve (922), right Y synchronous belt (923), right P synchronous belt (924), right P guide rail (925), right P synchronous belt compress on front side of guide rail Module (926);The X-direction guide rail mechanism (10) includes: the left end X sliding dowel block (1001), the servo-actuated synchronous wheel model of X guide rail Block (1002), X synchronous belt (1003), X synchronous belt compression module (1004), X-motor (1005), X-motor fixed plate (1006), X Synchronizing wheel (1007), X-motor intermediate supports pipe (1008), X-motor fixed support plate (1009), X right end sliding dowel block (1010), X guide rail (1011), X guide rail slide block (1012);
Left P guide rail (625) is packed in left front guide rail extension platform hold-down support (51) and left back guide rail extension platform hold-down support (52) in upper plane, it is in sustained height horizontal plane, fixing sleeve (607) is equipped with a hole on rear side of the left P guide rail, with left P Guide rail (625) rear end guide rail is fixedly mounted with, and fixing sleeve (622) is equipped with a hole on front side of the left P guide rail, with left P guide rail (625) rear end Guide rail is fixedly mounted with, and the left P motor fixing plate (602) is installed on rear side of left P guide rail on fixing sleeve (607), the left P motor (601), left P motor fixed support plate (603) and left P motor intermediate supports pipe (604) are fixedly mounted with left P motor fixing plate (602), Left P motor fixed support plate (603) center is equipped with a hole, and left P synchronous wheel support bearing (605) is installed in hole, institute The left P synchronizing wheel (606) stated is equipped with D type inner hole, and left P motor (601) output shaft is fixedly mounted with hole, circle on the outside of left P synchronizing wheel (606) Cylinder wheel support bearing (605) synchronous with left P is fixedly mounted with, and the left P guide rail servo-actuated synchronizing wheel module (621) is installed in left P and leads On front side of rail on fixing sleeve (622), left P synchronous belt (624) rear end thereof is connected on left P synchronizing wheel (606), left P synchronous belt (624) front end is rotationally connected with left P guide rail and is servo-actuated in the synchronizing wheel of synchronizing wheel module (621), the left P synchronous belt pressure die Block (626) is installed in left P synchronous belt (624) aperture position;Right P guide rail (925) is packed in the fixed branch of right fromer rail extension platform On seat (53) and right rear rail extension platform hold-down support (54) upper plane, it is in sustained height horizontal plane, the right P is led Fixing sleeve (907) is equipped with a hole on rear side of rail, is fixedly mounted with right P guide rail (925) rear end guide rail, fixing sleeve on front side of the right P guide rail (922) it is equipped with a hole, is fixedly mounted with right P guide rail (925) rear end guide rail, the right P motor fixing plate (902) is installed in right P and leads On rear side of rail on fixing sleeve (907), branch among the right P motor (901), right P motor fixed support plate (903) and right P motor Stay tube (904) is fixedly mounted with right P motor fixing plate (902), and right P motor fixed support plate (903) center is equipped with a hole, right P synchronous wheel support bearing (905) is installed in hole, and the right P synchronizing wheel (906) is equipped with D type inner hole, and right P motor (901) is defeated Shaft is fixedly mounted with hole, and cylindrical surface wheel support bearing (905) synchronous with right P is fixedly mounted on the outside of right P synchronizing wheel (906), and the right P is led Rail is servo-actuated synchronizing wheel module (921) and is installed on front side of right P guide rail on fixing sleeve (922), and right P synchronous belt (924) rear end thereof connects It is connected on right P synchronizing wheel (906), right P synchronous belt (924) front end is rotationally connected with right P guide rail and is servo-actuated synchronizing wheel module (921) In synchronizing wheel, the right P synchronous belt compression module (926) is installed in right P synchronous belt (924) aperture position;X guide rail (1011) Both ends are fixedly mounted with the left end X sliding dowel block (1001) and X right end sliding dowel block (1010), the left end X sliding dowel block respectively (1001) it is installed on the left Y guide rail sliding block (611) of left propelling track mechanism (6), X right end sliding dowel block (1010) is installed in On the right Y guide rail sliding block (911) of right propelling track mechanism (9), the X synchronous belt compression module (1004) is installed in X guide rail On sliding block (1012), the X-motor fixed support plate (1009) is installed on X right end sliding dowel block (1010), X-motor (1005), X-motor fixed plate (1006) and X-motor intermediate supports pipe (1008) are fixed on X-motor fixed support plate (1009), D type hole is equipped on the inside of the X synchronizing wheel (1007), X-motor (1005) output shaft is fixedly mounted with hole, X synchronous belt (1003) left end X guide rail is rotatably connected on to be servo-actuated in the synchronizing wheel of synchronizing wheel module (1002), right end is rotatably connected on X synchronizing wheel (1007), The X synchronous belt compression module (1004) is installed in X synchronous belt (1003) aperture position, X guide rail slide block (1012) X guide rail (1011) it is slidably connected;
The picking mechanical arm it is characterised by comprising: large arm motor (1101), large arm motor hold-down support (1102), Large-arm joint synchronous belt (1103), large arm motor drum in-phase (1104), large-arm joint fixed block (1105), large-arm joint synchronizing wheel Axis (1106), large-arm joint bearing (1107), wire casing shield (1108), arm large arm (1109), forearm motor (1110), forearm Motor drum in-phase (1111), forearm joint synchronous band (1112), forearm oscillating bearing (1113), forearm joint synchronous wheel shaft (1114), arm forearm (1115), end rotating electric machine (1116), end rotating electric machine fixing seat (1117), miniature active are same Step wheel (1118), miniature synchronous belt (1119), miniature driven synchronizing wheel (1120), camera hold-down support (1121), camera (1122), end lifting cylinder (1123), end picking paw (1124);
Large-arm joint fixed block (1105) cross section is " L " type, and vertical side is installed on X guide rail slide block (1012), horizontal Large arm motor hold-down support (1102) and large-arm joint bearing (1107) are fixedly mounted on face;The large arm motor hold-down support (1102) it is fixedly mounted with large arm motor (1101), a hole, large arm motor (1101) output is equipped on the inside of large arm motor drum in-phase (1104) Axis is fixedly mounted with hole, is rotatablely connected large-arm joint synchronization wheel shaft (1106) on large-arm joint bearing (1107), and the large arm is closed It saves synchronous belt (1103) left end and large arm motor drum in-phase (1104) is rotatablely connected, right end and large-arm joint synchronization wheel shaft (1106) Rotation connection, large-arm joint bearing (1107) lower section are equipped with a boss, are rotatablely connected arm large arm (1109) on boss, Arm large arm (1109) rear end is equipped with shrinkage pool and is fixedly mounted with boss, and arm large arm (1109) front end is fixedly mounted with forearm oscillating bearing (1113), arm large arm (1109) is fixedly installed at the upper part with wire casing shield (1108) and forearm motor (1110), the forearm motor (1110) the D type inner hole that output shaft is equipped with forearm motor drum in-phase (1111) is fixedly mounted with, forearm joint synchronous wheel shaft (1114) It is fixedly mounted with forearm oscillating bearing (1113) inner hole;Forearm joint synchronous band (1112) rear end and forearm motor drum in-phase (1111) it is rotatablely connected, forearm joint synchronous band (1112) front end and forearm joint synchronous wheel shaft (1114) are rotatablely connected, described Forearm oscillating bearing (1113) above be equipped with a boss, arm forearm (1115) rear end be equipped with a shrinkage pool, arm forearm (1115) shrinkage pool is installed on boss;The end rotating electric machine fixing seat (1117) is packed on arm forearm (1115), end It is fixedly mounted with end rotating electric machine (1116) on end rotating electric machine fixing seat (1117), described end rotating electric machine (1116) output shaft It is fixedly mounted with miniature active synchronization wheel (1118) D type inner hole, described arm forearm (1115) front end is successively fixedly mounted with miniature driven same Step wheel (1120), end lifting cylinder (1123), end lifting cylinder (1123) lower end is fixedly mounted with end picking paw (1124), institute Miniature synchronous belt (1119) rear end and miniature active synchronization wheel (1118) stated are rotatablely connected, front end and miniature driven synchronizing wheel (1120) it is rotatablely connected, in arm forearm (1115), front position is fixedly mounted with camera hold-down support (1121), and camera (1122) is fixedly mounted with On camera hold-down support (1121).
2. a kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation according to claim 1, it is characterised in that institute Angle Position behind the left-front corner of plane, left rear corner, right anterior angle, the right side on hoistable platform lifter plate (4) in the mobile lifting platform stated It is fixedly mounted with the left front guide rail extension platform hold-down support (51) of the telescopic rail platform respectively, left back guide rail extension platform is fixed Support (52), right fromer rail extension platform hold-down support (53), right rear rail extension platform hold-down support (54), the picking The large-arm joint fixed block (1105) of mechanical arm is packed on the X guide rail slide block (1012) of telescopic rail platform.
3. a kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation according to claim 1, it is characterised in that: institute The P guide rail stated is servo-actuated synchronizing wheel module (621), Y guide rail is servo-actuated synchronizing wheel module (608) and X guide rail is servo-actuated synchronizing wheel module (1002), by fixed plate (M01), fixed side bearing (M02), clamp nut (M03), intermediate axle bolt (M04), fixed side bearing Roller (M05), intermediate supports pipe (M06), synchronizing wheel (M07), support-side bearing roller (M08), support-side bearing (M09), branch Fagging (M10) composition;Fixed plate (M01) is installed on fixed block, and support plate (M10) and intermediate supports pipe (M06) are packed in admittedly On fixed board (M01), the fixed plate center (M01) is equipped with a hole, and fixed side bearing (M02) is installed in hole, the branch The fagging center (M10) is equipped with a hole, and support-side bearing (M09) is installed in hole, and synchronizing wheel (M07) is rotatably connected on jackshaft spiral shell On bolt (M04), between fixed plate (M01) and support plate (M10), intermediate axle bolt (M04) is rotationally connected with fixed side axle (M02) and support-side bearing (M09) inner hole is held, the clamp nut (M03) is fixedly mounted with intermediate axle bolt (M04).
4. a kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation according to claim 1, it is characterised in that: institute P synchronous belt compression module (626), Y synchronous belt compression module (612) and the X synchronous belt compression module (1004) stated are by upper and lower two Piece compresses piece composition, and bottom sheet is fixedly mounted with guide rail slide block, upper piece be equipped with and tooth socket that synchronous belt flute profile is meshed, upper and lower two panels are consolidated It connects, compresses synchronous belt.
CN201910488814.7A 2019-06-04 2019-06-04 A kind of Mushroom Picking Robot suitable for multilayer mushroom bed operation Pending CN110073904A (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203611246U (en) * 2013-11-01 2014-05-28 莱恩精机(深圳)有限公司 Industrial robot
CN105149400A (en) * 2015-06-23 2015-12-16 东莞沁峰机器人有限公司 Efficient stamping robot
CN105234934A (en) * 2015-10-30 2016-01-13 江苏亿嘉和科技股份有限公司 Multistage robot lifting device and lifting method
CN106182081A (en) * 2016-08-18 2016-12-07 海尚集团有限公司 Parallel-telescopical tow-armed robot
CN205852772U (en) * 2016-07-15 2017-01-04 新纪元智能系统有限公司 Multifunctional mobile robot platform
CN107094429A (en) * 2017-07-03 2017-08-29 彭紫薇 A kind of multiaxis fruit picking robot
CN107738253A (en) * 2017-11-17 2018-02-27 长沙展朔轩兴信息科技有限公司 A kind of plane joint type robot wrist transmission part

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203611246U (en) * 2013-11-01 2014-05-28 莱恩精机(深圳)有限公司 Industrial robot
CN105149400A (en) * 2015-06-23 2015-12-16 东莞沁峰机器人有限公司 Efficient stamping robot
CN105234934A (en) * 2015-10-30 2016-01-13 江苏亿嘉和科技股份有限公司 Multistage robot lifting device and lifting method
CN205852772U (en) * 2016-07-15 2017-01-04 新纪元智能系统有限公司 Multifunctional mobile robot platform
CN106182081A (en) * 2016-08-18 2016-12-07 海尚集团有限公司 Parallel-telescopical tow-armed robot
CN107094429A (en) * 2017-07-03 2017-08-29 彭紫薇 A kind of multiaxis fruit picking robot
CN107738253A (en) * 2017-11-17 2018-02-27 长沙展朔轩兴信息科技有限公司 A kind of plane joint type robot wrist transmission part

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