CN111788997A - Machine equipment is picked to red ball lid mushroom of wine - Google Patents
Machine equipment is picked to red ball lid mushroom of wine Download PDFInfo
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- CN111788997A CN111788997A CN202010900838.1A CN202010900838A CN111788997A CN 111788997 A CN111788997 A CN 111788997A CN 202010900838 A CN202010900838 A CN 202010900838A CN 111788997 A CN111788997 A CN 111788997A
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- motor
- conveying pipeline
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- mushroom
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/70—Harvesting
Abstract
The invention relates to the field of mushroom planting, and particularly discloses a wine red cap mushroom picking machine device which comprises a traveling mechanism, a material carrying bin, a mechanical arm mechanism, a picking mechanism and a control center, wherein the traveling mechanism is used as a bearing main body and drives the material carrying bin, the mechanical arm mechanism and the picking mechanism to move, the mechanical arm mechanism further drives the picking mechanism to move, and finally the picking mechanism harvests wine red cap mushrooms and comprises a rotary blade, a conveying pipeline and a pneumatic conveyor. Introduce strength conveyer and pipeline's structure in this scheme, siphoning away wine red ball lid mushroom that will cut at once and can not influence subsequent harvesting, it is efficient to pick. The automation degree of the equipment is high, the two groups of lifting mechanisms respectively correspond to different functions, the adaptability is strong, and the consumption can be saved.
Description
Technical Field
The invention belongs to the field of mushroom planting, and particularly relates to a wine red stropharia rugoso-annulata picking machine device.
Background
At present, the mushroom planting is industrialized, ventilation equipment, CO2 supplement equipment, temperature control equipment, lighting equipment and the like are installed in a factory building, and the yield is greatly improved correspondingly when the mushroom is continuously produced under the conditions. A plurality of mushrooms (according to the difference of variety, have between the adjacent mushroom also to have the dispersion) grow on a fungus bag, a planting frame is according to highly divide into a plurality of layers, and a plurality of fungus bag is all placed along length direction in each layer, has a plurality of planting frame in the factory building (a pavement both sides are different planting frame respectively, and the collection is controlled alone to the convenience). After the mushrooms grow up and are mature, the mushrooms need to be picked manually, if the yield of the mushrooms is very large, the method is a link which consumes manpower and material resources extremely, and is high in labor intensity, low in efficiency and long in period.
Some automatic picking devices exist in the market, and the mushroom is picked from the mushroom bag and transferred to a temporary storage bin by a manipulator in a reciprocating manner, but the existing manipulator has large motion amplitude, low efficiency and high cost, and still has more improvement spaces. The growth vigor of different mushrooms also has great difference, and special automatic picking equipment is difficult to implement due to small market.
The cap mushroom with wine red is one of ten mushrooms in the international mushroom trading market, and has the advantages of bright color, thick legs, rich fertilizer, fragrant taste, rich nutrition and high market share. Aiming at the characteristics that the wine red stropharia rugoso-annulata has the weight of about 50g per granule, the diameter of 5-40cm, the mushroom groups are scattered and the like, an automatic device suitable for picking the wine red stropharia rugoso-annulata is developed.
Disclosure of Invention
The invention aims to provide a picking machine device for the wine red stropharia rugoso-annulata, which realizes automatic picking and improves the production efficiency.
In order to achieve the above object, the present invention provides a picking machine apparatus for wine red cap mushroom comprising: the walking mechanism is used as a bearing main body and a moving platform; the material loading bin is used as a storage container and is arranged on the travelling mechanism; the main mounting platform is arranged on the walking mechanism, a guide rail is arranged on the main mounting platform, a main movable end, a transmission unit and a motor are mounted on the guide rail, and the main movable end slides relative to the guide rail and translates under the driving of the motor; the first lifting mechanism comprises a first fixed end fixedly arranged at the main movable end, a first movable end movably arranged at the first fixed end, a transmission unit and a motor, and the first movable end slides relative to the first fixed end under the driving of the motor and is lifted; the rotary blade and a motor thereof are driven by the motor to spin around an axial line, the rotary blade is used for cutting off mushroom legs, and the rotary blade is arranged on a first movable end and is driven by the first movable end; the conveying pipeline and the pneumatic conveyor are used for sucking away cut mushrooms, an inlet of the conveying pipeline is arranged on the first movable end, the inlet of the conveying pipeline is positioned at the upper end of the rotary blade, the pneumatic conveyor is arranged in the middle section of the conveying pipeline, the tail end of the conveying pipeline is positioned above the material loading bin, the pneumatic conveyor is connected with a gas supply device on the travelling mechanism to obtain compressed gas, and the compressed gas drives air outside the conveying pipeline to enter from the inlet and then flow out of the tail end when the pneumatic conveyor runs; the camera is arranged on the first movable end; and the control center is connected with the electrode of the main mounting platform, the motor of the first lifting mechanism and the camera, and the operation of the motor is adjusted by analyzing the image transmitted back by the camera.
By adopting the scheme, the device can drive the rotary blade to translate and cut the mushroom legs when advancing, the cut wine red cap mushrooms are sucked away by the pneumatic conveyor, and the picking is completed. Since the wine red stropharia rugoso-annulata is planted in the factory building, and the wine red stropharia rugoso-annulata grows on the fungus stick in the same growth vigor by matching with the adjustment of proper environmental parameters, the rotary blade only needs to slightly lift up and down by a certain height and horizontally move by a certain height in the horizontal moving process; this difference is obtained by a camera and a graphic algorithm, allowing an error of around 2 mm.
As an improvement of the above scheme, the elevator further comprises a second lifting mechanism, the second lifting mechanism comprises a second fixed end fixedly installed on the traveling mechanism, a second movable end movably installed on the second fixed end, a transmission unit and a motor, the second movable end slides relative to the second fixed end and is lifted under the driving of the motor, at the moment, the first installation platform is arranged at the second movable end of the second lifting mechanism, and the control center is connected with the motor of the second lifting mechanism.
By adopting the scheme, the condition that the multilayer planting frames are arranged in a factory can be easily met by the design, the second lifting mechanism is mainly used for lifting the whole height, and the first lifting mechanism is mainly used for ensuring that the roots are aligned when the rotary blades cut mushroom legs, so that waste is reduced; wherein first elevating system need adjust the height repeatedly, second ginger mechanism only need promote to predetermineeing the height can. For the first lifting mechanism and the second lifting mechanism, components of different types or different qualities can be adopted to respectively meet respective driving requirements, and the reliability of the mechanisms is improved.
As an improvement of the above scheme, the transmission unit of the main mounting platform adopts belt transmission or screw transmission, the transmission unit of the first lifting mechanism adopts belt transmission or screw transmission, and the transmission unit of the second lifting mechanism adopts belt transmission or screw transmission.
As an improvement of the scheme, the second set of main mounting platform, the first lifting mechanism, the second lifting mechanism, the rotary blade and the conveying pipeline which can run are symmetrically arranged on the other side of the travelling mechanism in the moving direction, so that double-side picking is realized. By adopting the scheme, the mushroom on the planting frames on the left side and the right side is picked simultaneously when the equipment walks on the walkway. One of the picking methods is to pick one layer by the equipment once and pick the other side when the equipment returns back.
As an improvement of the above scheme, the first fixing end is provided with a groove for clamping a conveying pipeline, an inlet section of the conveying pipeline is embedded into the groove to complete fixing, and the tail end of the conveying pipeline reaches the upper part of the material loading bin after being bent.
As an improvement of the scheme, the conveying pipeline is provided with a plurality of bends with bending angles not less than 90 degrees or the whole conveying pipeline is arc-shaped. By adopting the scheme, the wine red stropharia rugoso-annulata can be smoothly and better rotated away.
As an improvement of the above scheme, the rotation axis of the rotary blade faces vertically downward.
As the improvement of the scheme, the traveling mechanism adopts an AGV chassis structure.
The invention has the following beneficial effects: the structure of introducing pneumatic conveyor and pipeline, absorb the wine red cap mushroom that cuts away at once and can not influence subsequent harvesting, pick efficiently. The automation degree of the equipment is high, the two groups of lifting mechanisms respectively correspond to different functions, the adaptability is strong, and the consumption can be saved.
Drawings
FIG. 1 is a perspective view of the front of an apparatus according to an embodiment;
FIG. 2 is a perspective view of the back of an apparatus according to an embodiment;
FIG. 3 is a perspective view of a lower picking station of an embodiment;
fig. 4 is a side view of a lower picking site of an embodiment.
Description of reference numerals: 11. a traveling mechanism; 12. a loading bin; 21. a main mounting platform; 22. a main active end; 30. a first lifting mechanism; 31. a first fixed end; 32. a first movable end; 40. a second lifting mechanism; 41. a second fixed end; 42. a second movable end; 51. a rotary blade; 52. a delivery conduit; 53. a pneumatic conveyor; 60. and a control center.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Referring to fig. 1 to 4, the invention discloses wine red stropharia rugoso-annulata collecting machine equipment which comprises a traveling mechanism 11, a material carrying bin 12, a mechanical arm mechanism, a picking mechanism and a control center 60, wherein the traveling mechanism 11 is used as a bearing main body and drives the material carrying bin 12, the mechanical arm mechanism and the picking mechanism to move, meanwhile, the mechanical arm mechanism further drives the picking mechanism to move, and finally, the picking mechanism harvests wine red stropharia rugoso-annulata.
The two loading bins 12 are arranged, in the embodiment, the two loading bins 12 are both upwards opened, the whole body is similar to a horn-shaped opening, and a platform for mounting other components is arranged between the two loading bins 12. In this embodiment, the robot mechanism and the picking mechanism are provided on both the left and right sides of the advancing direction of one of the traveling mechanisms 11. Although only half of the robot arm mechanism and picking mechanism are shown in fig. 1 and 2, the other side of the robot arm mechanism and picking mechanism may be meaningfully symmetric.
The robot arm mechanism includes a main mounting platform 21, a main movable end 22, a first lift mechanism 30, and a second lift mechanism 40. In this embodiment, the second lifting mechanism 40 is installed on the traveling mechanism 11, and then the main installation platform 21 is installed on the second lifting mechanism 40 to realize the height adjustment of the main installation platform 21. The main mounting platform 21 is provided with a guide rail, the guide rail is provided with a main movable end 22, a transmission unit and a motor, and the main movable end 22 slides relative to the guide rail and translates under the driving of the motor. Referring to fig. 3 in particular, it can be seen that the transmission unit of the main mounting platform 21 adopts belt transmission, the main movable end 22 is limited in degree of freedom by the guide rail and can only move horizontally, then the belt is connected to the other side of the main movable end 22 (the main mounting platform 21 is an annular groove steel structure, half of the belt is exposed out of the main mounting platform 21, and the other half of the belt circulates in the main mounting platform 21), and when the motor drives the belt to circulate, the main movable end 22 is also pulled to move. In other embodiments, a screw drive may be used, that is, a screw rod is used instead of a belt, and a motor drives the screw rod to spin, and the screw rod passes through the main movable end 22 and is connected with the main movable end 22 through threads, so as to drive the main movable end 22 to move.
Similarly, the second lifting mechanism 40 may adopt the above-mentioned belt transmission or screw transmission as required. Taking a belt transmission as an example, it can be seen in fig. 4 that the second lifting mechanism 40 includes a second fixed end 41 fixedly installed on the traveling mechanism 11, a second movable end 42 movably installed on the second fixed end 41, a transmission unit and a motor, the second fixed end 41 has two parallel and vertical guide rails, the second movable end 42 is installed on the guide rails and only has freedom of up-and-down movement, and the second movable end 42 slides relative to the second fixed end 41 and is lifted and lowered under the driving of the motor.
In other embodiments, if the cap mushrooms to be picked are planted on the ground and only have one layer, the main mounting platform 21 can be directly mounted on the traveling mechanism 11 without the need of the second lifting mechanism 40 to adjust the height greatly.
Similarly, first elevating system 30 includes fixed mounting at the first stiff end 31 of main expansion end 22, movable mounting and is in the first expansion end 32, the drive unit and the motor of first stiff end 31, under the drive of motor first expansion end 32 slides and realizes going up and down relative first stiff end 31. In this embodiment, the transmission unit is a belt transmission. The first lifting mechanism 30 is used for driving the picking mechanism to move up and down so as to deal with the mushroom legs with different heights, and at the moment, the motor and the micro-motion precision of the first lifting mechanism 30 are higher in demand.
The picking mechanism comprises a rotary blade 51 and a motor thereof, the rotary blade 51 is driven by the motor to spin around the axis, the rotary blade 51 is used for cutting off mushroom legs, the rotary blade 51 or the motor is arranged on the first movable end 32 and is driven by the first movable end 32 (as the rotary blade 51 and the motor are integrated, the motor is fixed, namely the rotary blade 51 is fixed). The first movable end 32 is further provided with a conveying pipeline 52 and a pneumatic conveyor 53 positioned on the conveying pipeline 52 and used for sucking away cut-off pinocytosporus vinaceus, an inlet of the conveying pipeline 52 is installed on the first movable end 32, an inlet of the conveying pipeline 52 is positioned at the upper end of the rotary blade 51, the tail end of the conveying pipeline 52 is positioned above the material loading bin 12, the pneumatic conveyor 53 is connected with an air supply device positioned on the travelling mechanism 11 so as to obtain compressed air, and the compressed air drives air outside the conveying pipeline 52 to enter from the inlet and then flow out of the tail end by the pneumatic conveyor 53 in operation.
Considering that the russet mushrooms are basically grown upward, the rotation axis of the rotary blade 51 is directed vertically downward to achieve horizontal cutting. The rotary blade 51 is a thin disc structure with sharp arc blades at the edges.
The pneumatic conveyor 53 is similar to a tee joint in the prior art, the middle of the pneumatic conveyor is provided with a port for inputting compressed air, the other two pneumatic conveyors are provided with an air suction and exhaust end, the principle is that after the compressed air is input, the compressed air is guided to flow in a single direction through an internal structure, and after the compressed air flows, the external air is driven to enter the conveying pipeline 52 to flow to form circulation, so that suction is brought. Generally, the air flow generated by the pneumatic conveyor 53 is already capable of pulling the wine red cap mushrooms weighing around 50 g; for other occasions needing to transfer large-volume pinocystis vinifera, a pneumatic conveyor with higher power can be selected.
The picking mechanism further comprises a camera arranged on the first movable end 32 and used for taking pictures and transmitting the pictures back to the control center 60, and the length of the mushroom legs is judged through an image algorithm. Since the rotary blade 51 cuts the mushroom from the outside to the inside, the photographing direction of the camera is directed to the incision of the rotary blade 51. In addition, the control center 60 is connected to the electrodes of the main mounting platform 21, the motor of the first lifting mechanism 30 and the camera, and adjusts the operation of the motor by analyzing the image transmitted back by the camera.
Due to the presence of the pneumatic conveyor 53, the conveying duct 52 is actually divided into two sections. Referring specifically to fig. 3, in this embodiment, the first fixing end 31 has a groove for clamping the conveying pipe 52, the inlet section of the conveying pipe 52 is embedded in the groove to complete the fixing, and the end of the conveying pipe 52 is suspended. The whole conveying pipeline 52 can be made of hard materials, can be made of flexible pipes (in this case, an auxiliary support needs to be arranged on the travelling mechanism 11 or the first movable end 32 to support the conveying pipeline 52), or can be made of a combination of the two materials. In the embodiment, the russula vinosa is firstly vertically sucked up and then obliquely pushed down to the material loading bin 12; in other embodiments using a circular arc structure, the inner side of the conveying pipe 52 is smooth, and the wine red cap mushroom is sucked up and then transferred to the material loading bin 12 in an arc motion.
The invention introduces the structure of the pneumatic conveyor 53 and the conveying pipeline 52, absorbs the cut pinkeye mushrooms immediately without influencing the subsequent harvesting, and has high picking efficiency. Equipment degree of automation is high, and two sets of elevating system correspond different functions respectively, compare single elevating system and need the heavier whole arm mechanism of reciprocating drive, and this scheme is with strong points and can energy saving consumption.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (8)
1. The utility model provides a machine equipment is picked to red ball lid mushroom which characterized in that includes:
the walking mechanism is used as a bearing main body and a moving platform;
the material loading bin is used as a storage container and is arranged on the travelling mechanism;
the main mounting platform is arranged on the walking mechanism, a guide rail is arranged on the main mounting platform, a main movable end, a transmission unit and a motor are mounted on the guide rail, and the main movable end slides relative to the guide rail and translates under the driving of the motor;
the first lifting mechanism comprises a first fixed end fixedly arranged at the main movable end, a first movable end movably arranged at the first fixed end, a transmission unit and a motor, and the first movable end slides relative to the first fixed end under the driving of the motor and is lifted;
the rotary blade and a motor thereof are driven by the motor to spin around an axial line, the rotary blade is used for cutting off mushroom legs, and the rotary blade is arranged on a first movable end and is driven by the first movable end;
the conveying pipeline and the pneumatic conveyor are used for sucking away cut mushrooms, an inlet of the conveying pipeline is arranged on the first movable end, the inlet of the conveying pipeline is positioned at the upper end of the rotary blade, the pneumatic conveyor is arranged in the middle section of the conveying pipeline, the tail end of the conveying pipeline is positioned above the material loading bin, the pneumatic conveyor is connected with a gas supply device on the travelling mechanism to obtain compressed gas, and the compressed gas drives air outside the conveying pipeline to enter from the inlet and then flow out of the tail end when the pneumatic conveyor runs;
the camera is arranged on the first movable end;
and the control center is connected with the electrode of the main mounting platform, the motor of the first lifting mechanism and the camera, and the operation of the motor is adjusted by analyzing the image transmitted back by the camera.
2. The apparatus of claim 1, wherein the cap mushroom picking machine comprises: still include second elevating system, second elevating system includes fixed mounting at running gear's second stiff end, movable mounting and is in the second expansion end, the drive unit and the motor of second stiff end, under the drive of motor the relative second stiff end of second expansion end slides and realize going up and down, this moment first mounting platform sets up the second expansion end at second elevating system, control center connects second elevating system's motor.
3. The apparatus of claim 2, wherein the cap mushroom picking machine comprises: the transmission unit of the main mounting platform adopts belt transmission or screw rod transmission, the transmission unit of the first lifting mechanism adopts belt transmission or screw rod transmission, and the transmission unit of the second lifting mechanism adopts belt transmission or screw rod transmission.
4. The apparatus of claim 2, wherein the cap mushroom picking machine comprises: and a second set of operable main mounting platform, a first lifting mechanism, a second lifting mechanism, a rotary blade and a conveying pipeline are symmetrically arranged on the other side of the travelling mechanism in the moving direction, so that double-side picking is realized.
5. The apparatus of claim 1, wherein the cap mushroom picking machine comprises: the first fixed end is provided with a groove for clamping a conveying pipeline, the inlet section of the conveying pipeline is embedded into the groove to be fixed, and the tail end of the conveying pipeline reaches the upper part of the material loading bin after being bent.
6. The apparatus of claim 5, wherein the cap mushroom picking machine comprises: the conveying pipeline is provided with a plurality of bends with bending angles not less than 90 degrees or is integrally arc-shaped.
7. The apparatus of claim 6, wherein the cap mushroom picking machine comprises: the rotating axis of the rotating blade faces downwards vertically.
8. The apparatus according to any one of claims 1 to 7, wherein: running gear adopts AGV vehicle chassis structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010900838.1A CN111788997A (en) | 2020-08-31 | 2020-08-31 | Machine equipment is picked to red ball lid mushroom of wine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010900838.1A CN111788997A (en) | 2020-08-31 | 2020-08-31 | Machine equipment is picked to red ball lid mushroom of wine |
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| CN111788997A true CN111788997A (en) | 2020-10-20 |
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| CN202010900838.1A Pending CN111788997A (en) | 2020-08-31 | 2020-08-31 | Machine equipment is picked to red ball lid mushroom of wine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112616576A (en) * | 2020-12-31 | 2021-04-09 | 中国农业科学院都市农业研究所 | Mushroom harvesting robot device and method |
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