CN113179863A - Use method of picking robot for edible mushroom industrial planting - Google Patents
Use method of picking robot for edible mushroom industrial planting Download PDFInfo
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- CN113179863A CN113179863A CN202110597096.4A CN202110597096A CN113179863A CN 113179863 A CN113179863 A CN 113179863A CN 202110597096 A CN202110597096 A CN 202110597096A CN 113179863 A CN113179863 A CN 113179863A
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- 235000001674 Agaricus brunnescens Nutrition 0.000 title claims abstract description 384
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 238000007599 discharging Methods 0.000 claims abstract description 3
- 238000009826 distribution Methods 0.000 claims description 13
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 2
- 230000000977 initiatory effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 241000233866 Fungi Species 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 238000011031 large-scale manufacturing process Methods 0.000 description 1
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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
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Abstract
A method for using a mushroom picking robot for industrial planting of edible mushrooms comprises the steps that a mushroom picking trolley is placed on one end of a pair of rails corresponding to a first mushroom planting bed, different mushroom diameters are set for different varieties of mushrooms through a central control module, the mushroom picking trolley is started through the central control module after picking objects are finished, an electric guide rail of a lifting shaft automatically runs to the rear end along an electric guide rail of a longitudinal shaft, and a travelling mechanism of the longitudinal guide rail automatically drives the electric guide rail of the longitudinal shaft to run to the positions of a first row and a second row to pick and collect mature mushrooms; pouring the mushrooms collected by the conveying belt into a mushroom transferring and walking trolley, and discharging the mushrooms collected by the conveying belt; the mushroom picking robot can pick mature mushrooms planted on each layer of mushroom planting bed of each mushroom shelf in a continuous and arranged manner; the production cost is reduced, the freshness of the picked mushrooms is ensured, and the higher economic income of enterprises is ensured.
Description
Technical Field
The invention relates to picking of edible mushroom factory planted mushrooms, in particular to a use method of a picking robot for edible mushroom factory planted mushrooms.
Background
At present, the existing edible fungus industrial planting industry requires large-scale and industrial production, and the edible fungus industrial planting is multilayer mushroom bed planting; the mushroom in the mature period of the edible mushroom planting grows faster, the just mature mushroom is fresh and tender, and when the mushroom is picked later, the mushroom is not fresh and tender enough or over mature, even old and hard, and dry and cracked, in order to prevent the mushroom from growing too mature rapidly, and ensure the quality of the mushroom to be fresh and tender and higher price, an edible mushroom production factory needs twenty more workers to work continuously in the mature period of the mushroom to ensure that the picked mushroom is fresh and tender, so that the labor intensity of the workers is high, the labor cost is high, the difficulty of manually picking the mushroom and the production cost are increased, a larger economic burden is added for production enterprises, and the survival of the enterprises is influenced; in view of the above reasons, a method for using a picking robot for industrially planting mushrooms on edible fungi is proposed.
Disclosure of Invention
The invention aims to overcome the defects that the existing edible fungus factory planting industry requires large-scale and factory production, and the factory planting of the edible fungi is multi-layer mushroom bed planting; the mushroom in the mature period of the edible mushroom planting grows faster, the just mature mushroom is fresh and tender, and when the mushroom is picked later, the mushroom is not fresh and tender enough or over mature, even old and hard, and dry and cracked, in order to prevent the mushroom from growing too mature rapidly, and ensure the quality of the mushroom to be fresh and tender and higher price, an edible mushroom production factory needs twenty more workers to work continuously in the mature period of the mushroom to ensure that the picked mushroom is fresh and tender, so that the labor intensity of the workers is high, the labor cost is high, the difficulty of manually picking the mushroom and the production cost are increased, a larger economic burden is added for production enterprises, and the survival of the enterprises is influenced; the use method of the picking robot for the industrial mushroom planting of the edible mushrooms is provided through reasonable design; the mushroom picking robot picks mature mushrooms through the mushroom picking trolley, the mushroom picking trolley is placed at one end of each layer of mushroom planting bed of the mushroom bed and intermittently walks towards the other end, and the mushroom picking trolley intermittently walks and can continuously pick the mature mushrooms planted on each layer of mushroom planting bed of each mushroom shelf in an arrangement manner; the mushroom picking machine can pick mushrooms in the mature period of an edible mushroom production workshop by four to five workers, can greatly reduce the use and labor intensity of the workers, reduce the use and expenditure of the workers, reduce the production cost, ensure the freshness of the picked mushrooms and ensure higher economic income of enterprises.
In order to achieve the purpose, the invention adopts the following technical scheme: a use method of a mushroom picking robot for industrial edible mushroom planting is disclosed, wherein the mushroom picking robot for industrial edible mushroom planting is composed of a mushroom picking trolley, a transverse shaft electric guide rail, a longitudinal shaft electric guide rail, a lifting shaft electric guide rail, a rotary cylinder, a flexible gripper, a transverse auxiliary guide rail, a conveying belt, a belt frame body, a conveying belt sliding block, a longitudinal guide rail walking mechanism, a distribution box, a mushroom identification camera, an air pump, a belt outlet baffle, a belt output guide rail, a belt output cylinder, a distance measuring radar, a cantilever frame, a side plate, a discharge port, walking wheels, a mushroom planting bed, a trolley walking mechanism and a central control module; a pair of side plates are symmetrically arranged on two sides of the mushroom picking trolley, a rear box plate is arranged between the rear ends of the side plates, a mushroom planting bed is arranged below the mushroom picking trolley, a pair of rails are arranged on two sides of the mushroom planting bed, the lower surfaces of the side plates are arranged corresponding to the rails, and two pairs of walking wheels are arranged between the front ends and the rear ends of the lower surfaces of the side plates on two sides of the mushroom picking trolley and the rails; a traveling wheel shaft is arranged between a pair of traveling wheels at the front end of the mushroom picking trolley, a trolley traveling mechanism is arranged between the mushroom picking trolley and the traveling wheel shaft, an air pump and a distribution box are respectively arranged above the traveling wheel shaft, a central control module is arranged on one side of the distribution box, and a control console is arranged on the central control module;
a pair of belt output guide rails are transversely arranged between the lower parts of the rear parts of the side plates, a conveying belt is arranged on the pair of belt output guide rails, belt frame bodies are arranged on two sides of the conveying belt, a conveying belt sliding block is arranged between each belt frame body and each belt output guide rail, and a weight sensor is arranged between each conveying belt sliding block and each belt frame body; a discharge port is reserved in the side plate on one side of the walking trolley corresponding to the outlet end of the conveying belt, two distance measuring radars are arranged on two sides of the discharge port respectively, and a mushroom transferring walking trolley is arranged on the ground on one side of the discharge port; a belt outlet baffle is arranged at the outlet end of the conveying belt, and a belt output cylinder is arranged between one side of the outlet end of the belt frame body and the rear box plate; a mushroom picking groove is reserved between the conveying belt and the transverse shaft electric guide rail;
a transverse shaft electric guide rail is arranged above the front part of the mushroom picking trolley, and a longitudinal guide rail travelling mechanism is arranged at one end of the transverse shaft electric guide rail; a transverse auxiliary guide rail is arranged on the upper surfaces of the rear ends of the pair of side plates, the transverse shaft electric guide rail and the transverse auxiliary guide rail are arranged in parallel to form a pair of transverse guide rails, and at least one longitudinal shaft electric guide rail is arranged on the pair of transverse guide rails; sliding blocks are respectively arranged between the two ends of the longitudinal shaft electric guide rail and the transverse shaft electric guide rail and between the two ends of the longitudinal shaft electric guide rail and the transverse auxiliary guide rail; a lifting shaft electric guide rail is vertically arranged on one side of the longitudinal shaft electric guide rail, a cantilever bracket is arranged between the longitudinal shaft electric guide rail and the lifting shaft electric guide rail, a sliding block is arranged between one end of the cantilever bracket and the longitudinal shaft electric guide rail, and a pair of joules is arranged between the other end of the cantilever bracket and the lifting shaft electric guide rail; the mushroom identification camera is arranged at the upper end of the electric guide rail of the lifting shaft, the rotary cylinder is arranged at the lower part of the electric guide rail of the lifting shaft, the cylinder rod is arranged at the lower end of the rotary cylinder, and the flexible gripper is arranged at the lower end of the cylinder rod;
an air pressure pipeline is arranged between the rotary air cylinder, the flexible gripper and the belt output air cylinder and the air pump respectively, and an electromagnetic air valve is arranged on each air pressure pipeline; control circuits are arranged between the longitudinal guide rail travelling mechanism, the lifting shaft electric guide rail, the air pump, the trolley travelling mechanism and the electromagnetic air valve and the distribution box respectively; a mushroom identification camera is arranged on one side of the upper end of the electric guide rail of the lifting shaft corresponding to the mushroom planting bed, and the electric guide rail of the lifting shaft, the mushroom identification camera, the rotary cylinder and the flexible gripper are arranged as a mushroom picking mechanism;
at least one distance measuring radar is arranged on one side of the side plate provided with the discharge port, and signal circuits are arranged between the mushroom identification camera and the distance measuring radar and the central control module respectively;
before the mushrooms are ripe and need to be picked, placing a mushroom picking trolley on one end of a pair of rails corresponding to a first mushroom planting bed, and placing a mushroom transferring and walking trolley on one side of the mushroom planting bed corresponding to one side below a discharge hole; the front end of the mushroom picking trolley is a picking area of the mushroom planting bed; the distribution box is connected with a power supply, different mushroom diameters are set for different varieties of mushrooms through the central control module to be picking objects, the picking objects are mature mushrooms, after the diameter setting of the mature mushrooms is completed, the mushroom picking trolley is started through the central control module, the electric guide rail of the lifting shaft automatically moves to the rear end along the electric guide rail of the longitudinal shaft, and the travelling mechanism of the longitudinal guide rail automatically drives the electric guide rail of the longitudinal shaft to move to the inner side of the conveying belt, so that the end of picking of the first row of mushrooms is formed.
After the lifting shaft electric guide rail is positioned at the initial end, the central control module instructs the longitudinal guide rail traveling mechanism to drive the longitudinal shaft electric guide rail to transversely move from one end to the other end along the transverse shaft electric guide rail, and meanwhile, the longitudinal shaft electric guide rail drives the lifting shaft electric guide rail and the mushroom picking mechanism to move; the data that the mushroom discernment camera was gathered will gather in real time data transmission to central control module, and when the diameter data that the mushroom discernment camera was gathered was equal to or was greater than the diameter of ripe mushroom, central control module instruction longitudinal axis electric guide rail stopped moving.
After the longitudinal shaft electric guide rail stops stabilizing, the central control module instructs a cantilever frame sliding block on the lifting shaft electric guide rail to drive a rotary cylinder and a flexible gripper to slide downwards, the flexible gripper is in an open state, when the inner side of the flexible gripper touches mature mushrooms, fingertips of the flexible gripper contract inwards and appropriately grip the mature mushrooms, the rotary cylinder obtains an instruction to rotate, the mature mushrooms are separated from roots after being rotated by the rotary cylinder by an angle, and a mushroom picking mechanism finishes picking a first mature mushroom; after the first ripe mushroom is picked, the slider of the cantilever bracket is instructed to the central control module to drive the rotary air cylinder, when the flexible gripper slides upwards to a position higher than the upper surface of the belt bracket body, after the slider of the cantilever bracket is instructed to the central control module to stop sliding upwards, the central control module instructs the electric guide rail of the lifting shaft to drive the mushroom picking mechanism to drive the ripe mushroom to move towards the middle part of the conveying belt, the electric guide rail of the lifting shaft drives the mushroom picking mechanism, the ripe mushroom is moved towards the middle part of the conveying belt, the electric guide rail of the lifting shaft is instructed to stop by the central control module, after the electric guide rail of the lifting shaft stops, the flexible gripper is instructed to open outwards by the central control module.
After the flexible claw is opened outwards, the longitudinal shaft electric guide rail continuously moves transversely to a position for picking the second mature mushroom along the transverse shaft electric guide rail, the central control module instructs the longitudinal guide rail walking mechanism and the mushroom picking mechanism to pick and collect the mature mushroom repeatedly according to the first mature mushroom picking process until the longitudinal shaft electric guide rail moves from one end to the other end along the transverse shaft electric guide rail, and the picking and the collection of the first row of mature mushrooms on the mushroom planting bed are finished.
The picking and collecting of the first row of ripe mushrooms are completed, when the central control module instructs the lifting shaft electric guide rail to move to the position of the second row, the central control module instructs the longitudinal guide rail traveling mechanism to drive the longitudinal shaft electric guide rail to move reversely along the transverse shaft electric guide rail, and the picking and collecting processes of the first row of ripe mushrooms are carried out on the second row of ripe mushrooms on the mushroom planting bed through the central control module.
When picking and collecting of mature mushrooms corresponding to the mushroom picking grooves between the conveying belt and the transverse shaft electric guide rail are completed, the central control module instructs the trolley travelling mechanism to drive the mushroom picking trolley to run towards the front end of the mushroom planting bed, when the mushroom picking trolley runs until the mushroom picking grooves enter a new mushroom picking area, the central control module instructs the mushroom picking trolley to stop, and the new mushroom picking area of the mushroom picking grooves is opposite to the picked mushroom picking area in a head-tail mode; after the mushroom picking trolley enters a new mushroom picking area, picking and collecting mature mushrooms in the new mushroom picking area according to the mushroom picking process.
In the mushroom picking process, the weight of collecting mushrooms on the conveying belt is sent to the central control module through the weight sensor in real time, when the central control module receives that the weight of collecting mushrooms reaches the maximum value, when the ranging radar detects that one end of the discharge port is not blocked by a side rail, the central control module instructs the mushroom picking trolley, after the lifting shaft electric guide rail and the mushroom picking mechanism stop running, one side of the mushroom transferring walking trolley below the corresponding discharge port stops for use, the central control module instructs the belt output cylinder to push the conveying belt to stretch out of the discharge port and stop, after the belt outlet baffle is opened, the central control module instructs the conveying belt to rotate towards the direction of the discharge port, mushrooms collected by the conveying belt are poured into the mushroom transferring walking trolley, and the mushrooms collected by the conveying belt complete discharging.
The first mushroom planting bed for picking the mushrooms is the first mushroom planting bed, the mushroom picking trolley is switched from the first mushroom planting bed to the second mushroom planting bed for picking the mushrooms after the mature mushrooms on the first mushroom planting bed are completely picked, collected and transferred, the mushroom picking trolley is switched to the second mushroom planting bed for picking the mature mushrooms according to the operation flow of the first mushroom planting bed, and the switching lifting platform of the mushroom picking trolley is operated.
Has the advantages that: the mushroom picking robot picks mature mushrooms through the mushroom picking trolley, the mushroom picking trolley is placed at one end of each layer of mushroom planting bed of the mushroom bed and intermittently walks towards the other end, and the mushroom picking trolley intermittently walks and can continuously pick the mature mushrooms planted on each layer of mushroom planting bed of each mushroom shelf in an arrangement manner; the mushroom picking machine can pick mushrooms in the mature period of an edible mushroom production workshop by four to five workers, can greatly reduce the use and labor intensity of the workers, reduce the use and expenditure of the workers, reduce the production cost, ensure the freshness of the picked mushrooms and ensure higher economic income of enterprises.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of the assembly structure;
FIG. 2 is a partial schematic view of FIG. 1;
FIG. 3 is a schematic diagram of a right-hand partial structure of FIG. 2;
FIG. 4 is a schematic view of a portion of the structure of FIG. 3;
FIG. 5 is a schematic view of the operating state structure of FIG. 2;
FIG. 6 is a schematic top view of the structure of FIG. 1;
in fig. 1, 2, 3, 4, 5, 6: the mushroom picking machine comprises a mushroom picking trolley 1, a transverse shaft electric guide rail 2, a longitudinal shaft electric guide rail 3, a lifting shaft electric guide rail 4, a rotary cylinder 5, a flexible gripper 6, a transverse auxiliary guide rail 7, a conveying belt 8, a belt frame body 8-1, a conveying belt sliding block 8-2, a longitudinal guide rail travelling mechanism 9, a distribution box 10, a mushroom identification camera 11, an air pump 12, a belt outlet baffle 13, a belt output guide rail 14, a belt output cylinder 15, a distance measuring radar 16, a cantilever frame 17, a side plate 18, a discharge hole 19, a travelling wheel 20, a mushroom planting bed 21, a trolley travelling mechanism 22 and a central control module 23.
Detailed Description
The present invention will be described in further detail with reference to the following examples and embodiments:
example 1
A pair of side plates 18 are symmetrically arranged on two sides of the mushroom picking trolley 1, a rear box plate is arranged between the rear ends of the side plates 18, a mushroom planting bed 21 is arranged below the mushroom picking trolley 1, a pair of rails are arranged on two sides of the mushroom planting bed 21, the lower surfaces of the side plates 18 are arranged corresponding to the rails, and two pairs of travelling wheels 20 are arranged between the front end and the rear end of the lower surfaces of the side plates 18 on the two sides of the mushroom picking trolley 1 and the rails; a walking wheel shaft is arranged between a pair of walking wheels 20 at the front end of the mushroom picking trolley 1, a trolley walking mechanism 22 is arranged between the mushroom picking trolley 1 and the walking wheel shaft, an air pump 12 and a distribution box 10 are respectively arranged above the walking wheel shaft, a central control module 23 is arranged on one side of the distribution box 10, and a control console is arranged on the central control module 23;
a pair of belt output guide rails 14 are transversely arranged between the lower parts of the rear parts of the side plates 18, a conveying belt 8 is arranged on the pair of belt output guide rails 14, belt frame bodies 8-1 are arranged on two sides of the conveying belt 8, a conveying belt sliding block 8-2 is arranged between the belt frame body 8-1 and the belt output guide rails 14, and a weight sensor is arranged between the upper part of the conveying belt sliding block 8-2 and the belt frame body 8-1; a discharge port 19 is reserved on a side plate 18 on one side of the walking trolley corresponding to the outlet end of the conveying belt 8, two distance measuring radars 16 are arranged on two sides of the discharge port 19 respectively, and the mushroom transferring walking trolley is arranged on the ground on one side of the discharge port 19; a belt outlet baffle 13 is arranged at the outlet end of the conveying belt 8, and a belt output cylinder 15 is arranged between one side of the outlet end of the belt frame body 8-1 and the rear box plate; a mushroom picking groove is reserved between the conveying belt 8 and the transverse shaft electric guide rail 2;
a transverse shaft electric guide rail 2 is arranged above the front part of the mushroom picking trolley 1, and a longitudinal guide rail walking mechanism 9 is arranged at one end of the transverse shaft electric guide rail 2; a transverse auxiliary guide rail 7 is arranged on the upper surface of the rear ends of the pair of side plates 18, the transverse shaft electric guide rail 2 and the transverse auxiliary guide rail 7 are arranged in parallel to form a pair of transverse guide rails, and at least one longitudinal shaft electric guide rail 3 is arranged on the pair of transverse guide rails; sliding blocks are respectively arranged between the two ends of the longitudinal shaft electric guide rail 3 and the transverse shaft electric guide rail 2 and the transverse auxiliary guide rail 7; a lifting shaft electric guide rail 4 is vertically arranged on one side of the longitudinal shaft electric guide rail 3, a cantilever bracket 17 is arranged between the longitudinal shaft electric guide rail 3 and the lifting shaft electric guide rail 4, a sliding block is arranged between one end of the cantilever bracket 17 and the longitudinal shaft electric guide rail 3, and a pair of joules is arranged between the other end of the cantilever bracket 17 and the lifting shaft electric guide rail 4; the mushroom identification camera 11 is arranged at the upper end of the lifting shaft electric guide rail 4, the rotary cylinder 5 is arranged at the lower part of the lifting shaft electric guide rail 4, the cylinder rod is arranged at the lower end of the rotary cylinder 5, and the flexible gripper 6 is arranged at the lower end of the cylinder rod;
an air pressure pipeline is arranged between the rotary cylinder 5, the flexible gripper 6 and the belt output cylinder 15 and the air pump 12 respectively, and an electromagnetic air valve is arranged on each air pressure pipeline; control circuits are arranged between the longitudinal guide rail travelling mechanism 9, the lifting shaft electric guide rail 4, the air pump 12, the trolley travelling mechanism 22 and the electromagnetic air valve and the distribution box 10 respectively; a mushroom identification camera 11 is arranged on one side of the upper end of the lifting shaft electric guide rail 4 corresponding to the mushroom planting bed 21, and the lifting shaft electric guide rail 4, the mushroom identification camera 11, the rotary air cylinder 5 and the flexible hand grip 6 are arranged as a mushroom picking mechanism;
at least one distance measuring radar 16 is arranged on one side of the side plate 18 with the discharge hole 19, and signal lines are arranged between the mushroom identification camera 11 and the distance measuring radar 16 and the central control module 23 respectively;
before the mushrooms are ripe and need to be picked, placing the mushroom picking trolley 1 on one end of a pair of rails corresponding to a first mushroom planting bed 21, and placing a mushroom transferring and walking trolley on one side of the mushroom planting bed 21 corresponding to one side below a discharge hole 19; the front end of the mushroom picking trolley 1 is a picking area of the mushroom planting bed 21; block terminal 10 and switch on, set up different mushroom diameters for picking the object through central control module 23 to the mushroom of different cultivars, it is ripe mushroom to pick the object, the diameter of ripe mushroom sets up the back, start mushroom picking dolly 1 through central control module 23, the automatic rear end of moving to along longitudinal axis electric guide 3 of lift axle electric guide 4, longitudinal guide running gear 9 drives longitudinal axis electric guide 3 automatically and moves to 8 inboard one end of conveyer belt and is the initiating terminal that first mushroom was picked.
Example 2
After the lifting shaft electric guide rail 4 is positioned at the initial end, the central control module 23 instructs the longitudinal guide rail walking mechanism 9 to drive the longitudinal shaft electric guide rail 3 to transversely move from one end to the other end along the transverse shaft electric guide rail 2, and meanwhile, the longitudinal shaft electric guide rail 3 drives the lifting shaft electric guide rail 4 and the mushroom picking mechanism to move; the data that the mushroom discernment camera 11 was gathered will gather in real time data transmission to central control module 23, and when the diameter data of mushroom was gathered to mushroom discernment camera 11 was equal to or was greater than the diameter of ripe mushroom, central control module 23 instruction longitudinal axis electric guide 3 stopped moving.
Example 3
After the longitudinal shaft electric guide rail 3 stops stabilizing, the central control module 23 instructs the cantilever frame 17 slide block on the lifting shaft electric guide rail 4 to drive the rotary cylinder 5 and the flexible hand grip 6 to slide downwards, the flexible hand grip 6 is in an open state, when the inner side of the flexible hand grip 6 touches mature mushrooms, the fingertips of the flexible hand grip 6 contract inwards and appropriately grip the mature mushrooms, the rotary cylinder 5 obtains an instruction to rotate 360 degrees, the mature mushrooms are separated from the roots after being rotated 180 degrees by the rotary cylinder 5, and the mushroom picking mechanism finishes picking a first mature mushroom; after the first ripe mushroom is picked, the central control module 23 instructs the sliding block of the cantilever bracket 17 to drive the rotating cylinder 5, when the flexible gripper 6 slides upwards to be higher than the upper surface of the belt frame body 8-1, after the central control module 23 instructs the sliding block of the cantilever bracket 17 to stop sliding upwards, the central control module 23 instructs the lifting shaft electric guide rail 4 to drive the mushroom picking mechanism to drive the ripe mushroom to move towards the middle of the conveying belt 8, the lifting shaft electric guide rail 4 drives the mushroom picking mechanism, after the ripe mushroom moves towards the middle of the conveying belt 8, the central control module 23 instructs the lifting shaft electric guide rail 4 to stop, after the lifting shaft electric guide rail 4 stops, the central control module 23 instructs the flexible gripper 6 to open outwards, and the ripe mushroom is separated from the flexible gripper 6 and falls into the middle of the conveying belt 8 to be collected.
Example 4
After the flexible hand grips 6 are opened outwards, the longitudinal shaft electric guide rail 3 continues to move transversely to the position for picking the second ripe mushroom along the transverse shaft electric guide rail 2, the central control module 23 instructs the longitudinal guide rail travelling mechanism 9 and the mushroom picking mechanism to pick and collect the ripe mushroom repeatedly according to the first ripe mushroom picking process until the longitudinal shaft electric guide rail 3 moves from one end to the other end along the transverse shaft electric guide rail 2, and the picking and collecting of the first row of ripe mushroom on the mushroom planting bed 21 are completed.
Example 5
The picking and collecting of the first row of ripe mushrooms are completed, when the central control module 23 instructs the lifting shaft electric guide rail 4 to move to the position of the second row, the central control module 23 instructs the longitudinal guide rail walking mechanism 9 to drive the longitudinal shaft electric guide rail 3 to move reversely along the transverse shaft electric guide rail 2, and the central control module 23 picks and collects the second row of ripe mushrooms on the mushroom planting bed 21 according to the picking and collecting flow of the first row of ripe mushrooms.
Example 6
When the picking and collection of mature mushrooms corresponding to the mushroom picking groove between the conveying belt 8 and the transverse shaft electric guide rail 2 are finished, the central control module 23 instructs the trolley travelling mechanism 22 to drive the mushroom picking trolley 1 to run towards the front end of the mushroom planting bed 21, when the mushroom picking trolley 1 runs until the mushroom picking groove enters a new mushroom picking area, the central control module 23 instructs the mushroom picking trolley 1 to stop, and the new mushroom picking area of the mushroom picking groove is opposite to the picked mushroom picking area in head-tail; after the mushroom picking trolley 1 enters a new mushroom picking area, picking and collecting mature mushrooms in the new mushroom picking area according to the mushroom picking process.
Example 7
In the mushroom picking process, when the weight of mushrooms collected on the conveying belt 8 is sent to the central control module 23 through the weight sensor in real time, when the central control module 23 receives that the weight of the collected mushrooms reaches the maximum value, the distance measuring radar 16 detects that no side rail at one end of the discharge port 19 blocks, the central control module 23 instructs the mushroom picking trolley 1, the lifting shaft electric guide rail 4 and the mushroom picking mechanism to stop running, one side of the mushroom transferring and walking trolley corresponding to the lower part of the discharge port 19 stops for standby, the central control module 23 instructs the belt output cylinder 15 to push the conveying belt 8 to stretch out of the discharge port 19 and stop, after the belt outlet baffle 13 is opened, the central control module 23 instructs the conveying belt 8 to rotate towards the discharge port 19, the mushrooms collected by the conveying belt 8 are poured into the mushroom transferring and walking trolley, and the mushrooms collected by the conveying belt 8 are discharged.
Example 8
The mushroom planting bed 21 which firstly picks mushrooms is the first mushroom planting bed 21, the mushroom picking trolley 1 is switched from the first mushroom planting bed 21 to the second mushroom planting bed 21 for picking mushrooms after the mature mushrooms on the first mushroom planting bed 21 are completely picked, collected and transported, the mushroom picking trolley 1 is switched to the second mushroom planting bed 21 for picking the mature mushrooms according to the operation flow of the first mushroom planting bed 21, and the switching lifting platform of the mushroom picking trolley 1 is operated.
Claims (8)
1. A use method of a mushroom picking robot for industrial planting of edible mushrooms comprises a mushroom picking trolley (1), a transverse shaft electric guide rail (2), a longitudinal shaft electric guide rail (3), a lifting shaft electric guide rail (4), a rotary cylinder (5), a flexible gripper (6), a transverse auxiliary guide rail (7), a conveying belt (8), a belt frame body (8-1), a conveying belt sliding block (8-2), a longitudinal guide rail walking mechanism (9), a distribution box (10), a mushroom identification camera (11), an air pump (12), a belt outlet baffle (13), a belt output guide rail (14), a belt output cylinder (15), a ranging radar (16), a cantilever frame (17), a side plate (18), a discharge port (19), a walking wheel (20), a mushroom planting bed (21), A trolley travelling mechanism (22) and a central control module (23); the method is characterized in that: a pair of side plates (18) are symmetrically arranged on two sides of the mushroom picking trolley (1), a rear box plate is arranged between the rear ends of the side plates (18), a mushroom planting bed (21) is arranged below the mushroom picking trolley (1), a pair of rails is arranged on two sides of the mushroom planting bed (21), the pair of side plates (18) are arranged correspondingly to the pair of rails, and two pairs of travelling wheels (20) are arranged between the front end and the rear end of the side plates (18) on the two sides of the mushroom picking trolley (1) and the pair of rails; a walking wheel shaft is arranged between a pair of walking wheels (20) at the front end of the mushroom picking trolley (1), a trolley walking mechanism (22) is arranged between the mushroom picking trolley (1) and the walking wheel shaft, an air pump (12) and a distribution box (10) are respectively arranged above the walking wheel shaft, a central control module (23) is arranged on one side of the distribution box (10), and a control console is arranged on the central control module (23);
a pair of belt output guide rails (14) is transversely arranged between the lower parts of the rear parts of the side plates (18), a conveying belt (8) is arranged on the pair of belt output guide rails (14), belt frame bodies (8-1) are arranged on two sides of the conveying belt (8), a conveying belt sliding block (8-2) is arranged between each belt frame body (8-1) and each belt output guide rail (14), and a weight sensor is arranged between each conveying belt sliding block (8-2) and each belt frame body (8-1); a side plate (18) on one side of the walking trolley is reserved with a discharge port (19) corresponding to the outlet end of the conveying belt (8), two ranging radars (16) are arranged on two sides of the discharge port (19) respectively, and a mushroom transferring walking trolley is arranged on the ground on one side of the discharge port (19); a belt outlet baffle (13) is arranged at the outlet end of the conveyor belt (8), and a belt output cylinder (15) is arranged between one side of the outlet end of the belt frame body (8-1) and the rear box plate; a mushroom picking groove is reserved between the conveying belt (8) and the transverse shaft electric guide rail (2);
a transverse shaft electric guide rail (2) is arranged above the front part of the mushroom picking trolley (1), and a longitudinal guide rail travelling mechanism (9) is arranged at one end of the transverse shaft electric guide rail (2); a transverse auxiliary guide rail (7) is arranged on the upper surface of the rear ends of the pair of side plates (18), a transverse shaft electric guide rail (2) and the transverse auxiliary guide rail (7) are arranged in parallel to form a pair of transverse guide rails, and at least one longitudinal shaft electric guide rail (3) is arranged on the pair of transverse guide rails; sliding blocks are respectively arranged between the two ends of the longitudinal shaft electric guide rail (3) and the transverse shaft electric guide rail (2) and between the two ends of the longitudinal shaft electric guide rail and the transverse auxiliary guide rail (7); a lifting shaft electric guide rail (4) is vertically arranged on one side of the longitudinal shaft electric guide rail (3), a cantilever bracket (17) is arranged between the longitudinal shaft electric guide rail (3) and the lifting shaft electric guide rail (4), a slide block is arranged between one end of the cantilever bracket (17) and the longitudinal shaft electric guide rail (3), and a pair of joules is arranged between the other end of the cantilever bracket (17) and the lifting shaft electric guide rail (4); a mushroom identification camera (11) is arranged at the upper end of the lifting shaft electric guide rail (4), a rotary cylinder (5) is arranged at the lower part of the lifting shaft electric guide rail (4), a cylinder rod is arranged at the lower end of the rotary cylinder (5), and a flexible gripper (6) is arranged at the lower end of the cylinder rod;
air pressure pipelines are arranged between the rotary cylinder (5), the flexible gripper (6) and the belt output cylinder (15) and the air pump (12), and electromagnetic air valves are arranged on the air pressure pipelines respectively; control circuits are arranged between the longitudinal guide rail travelling mechanism (9), the lifting shaft electric guide rail (4), the air pump (12), the trolley travelling mechanism (22) and the electromagnetic air valve and the distribution box (10) respectively; a mushroom identification camera (11) is arranged on one side of the upper end of the lifting shaft electric guide rail (4) corresponding to the mushroom planting bed (21), and the lifting shaft electric guide rail (4), the mushroom identification camera (11), the rotary cylinder (5) and the flexible gripper (6) are arranged as mushroom picking mechanisms;
at least one distance measuring radar (16) is arranged on one side of a side plate (18) provided with a discharge hole (19), and signal circuits are arranged between the mushroom identification camera (11) and the distance measuring radar (16) and the central control module (23) respectively;
before the mushrooms are ripe and need to be picked, placing the mushroom picking trolley (1) on one end of a pair of rails corresponding to a first mushroom planting bed (21), and placing a mushroom transferring and walking trolley on one side of the mushroom planting bed (21) corresponding to one side below a discharge hole (19); the front end of the mushroom picking trolley (1) is a picking area of the mushroom planting bed (21); block terminal (10) and switch on with the power, set up different mushroom diameters for picking the object through central control module (23) to the mushroom of different cultivars, it is ripe mushroom to pick the object, the diameter of ripe mushroom sets up the completion back, start mushroom picking dolly (1) through central control module (23), the rear end that longitudinal axis electric guide (3) moved extremely is followed automatically to lift axle electric guide (4), longitudinal guide running gear (9) automatically drives longitudinal axis electric guide (3) and moves to conveyer belt (8) inboard one end and be first row, the initiating terminal that first mushroom was picked.
2. The use method of the edible mushroom factory planting mushroom picking robot according to the claim 1 is characterized in that: after the lifting shaft electric guide rail (4) is positioned at the initial end, the central control module (23) drives the longitudinal shaft electric guide rail (3) to transversely move from one end to the other end along the transverse shaft electric guide rail (2) by instructing the longitudinal guide rail travelling mechanism (9), and meanwhile, the longitudinal shaft electric guide rail (3) drives the lifting shaft electric guide rail (4) and the mushroom picking mechanism to move; the data that mushroom identification camera (11) were gathered will gather in real time send central control module (23) to, when the diameter data of mushroom was gathered to mushroom identification camera (11) were equal to or were greater than the diameter of ripe mushroom, central control module (23) instruction longitudinal axis electric guide (3) stopped to move.
3. The use method of the edible mushroom factory planting mushroom picking robot according to the claim 1 is characterized in that: after the longitudinal shaft electric guide rail (3) stops stabilizing, the central control module (23) instructs a cantilever frame (17) on the lifting shaft electric guide rail (4) to drive a rotary cylinder (5) and a flexible gripper (6) to slide downwards, the flexible gripper (6) is in an open state, when the inner side of the flexible gripper (6) touches mature mushrooms, fingertips of the flexible gripper (6) contract inwards and appropriately grip the mature mushrooms, the rotary cylinder (5) obtains an instruction to rotate 360 degrees, the mature mushrooms are separated from roots after being rotated 180 degrees by the rotary cylinder (5), and a mushroom picking mechanism finishes picking of a first mature mushroom; after the first mature mushroom is picked, when the central control module (23) instructs the slide block of the cantilever bracket (17) to drive the rotary cylinder (5) and the flexible gripper (6) to slide upwards to a position higher than the upper surface of the belt bracket body (8-1), after the central control module (23) instructs the slide block of the cantilever frame (17) to stop sliding upwards, the central control module (23) instructs the lifting shaft electric guide rail (4) to drive the mushroom picking mechanism to drive the mature mushrooms to move towards the middle part of the conveyer belt (8), after the lifting shaft electric guide rail (4) drives the mushroom picking mechanism and the mature mushrooms move towards the middle part of the conveyer belt (8), the central control module (23) instructs the lifting shaft electric guide rail (4) to stop, after the lifting shaft electric guide rail (4) stops, the central control module (23) instructs the flexible gripper (6) to open outwards, and the mature mushrooms are separated from the flexible gripper (6) and fall into the middle of the conveying belt (8) for collection.
4. The use method of the edible mushroom factory planting mushroom picking robot according to the claim 1 is characterized in that: after the flexible claw (6) is opened outwards, the longitudinal shaft electric guide rail (3) continues to move transversely to a position where a second mature mushroom is picked along the transverse shaft electric guide rail (2), the central control module (23) instructs the longitudinal guide rail walking mechanism (9) and the mushroom picking mechanism to pick and collect the repeated mature mushrooms according to the picking process of the first mature mushroom until the longitudinal shaft electric guide rail (3) moves from one end to the other end along the transverse shaft electric guide rail (2), and the picking and collecting of the first row of mature mushrooms on the mushroom planting bed (21) are completed.
5. The use method of the edible mushroom factory planting mushroom picking robot according to the claim 1 is characterized in that: the picking and collecting of the first row of ripe mushrooms are completed, when the central control module (23) instructs the lifting shaft electric guide rail (4) to move to the position of the second row, the central control module (23) instructs the longitudinal guide rail walking mechanism (9) to drive the longitudinal shaft electric guide rail (3) to move reversely along the transverse shaft electric guide rail (2), and the picking and collecting processes of the first row of ripe mushrooms are carried out on the central control module (23) to pick and collect the second row of ripe mushrooms on the mushroom planting bed (21).
6. The use method of the edible mushroom factory planting mushroom picking robot according to the claim 1 is characterized in that: after picking and collecting of mature mushrooms corresponding to the mushroom picking grooves between the conveying belt (8) and the transverse shaft electric guide rail (2) are completed, the central control module (23) instructs the trolley travelling mechanism (22) to drive the mushroom picking trolley (1) to move towards the front end of the mushroom planting bed (21), when the mushroom picking trolley (1) moves to a new mushroom picking area entering the mushroom picking groove, the central control module (23) instructs the mushroom picking trolley (1) to stop, and the new mushroom picking area of the mushroom picking groove is opposite to the picked mushroom picking area in head-tail mode; after the mushroom picking trolley (1) enters a new mushroom picking area, the mature mushrooms in the new mushroom picking area are picked and collected according to the mushroom picking process.
7. The use method of the edible mushroom factory planting mushroom picking robot according to the claim 1 is characterized in that: in the mushroom picking process, when the weight of mushrooms collected on the conveying belt (8) is sent to the central control module (23) through the weight sensor in real time, when the central control module (23) receives that the weight of the collected mushrooms reaches the maximum value, and the distance measuring radar (16) detects that one end of the discharge port (19) is not blocked by a side rail, the central control module (23) instructs the mushroom picking trolley (1), the lifting shaft electric guide rail (4) and the mushroom picking mechanism to stop running, one side of the mushroom transferring and walking trolley corresponding to the lower part of the discharge port (19) stops for standby, the central control module (23) instructs the belt output cylinder (15) to push the conveying belt (8) to extend out of the discharge port (19) and then stops, after the belt outlet baffle (13) is opened, the central control module (23) instructs the conveying belt (8) to rotate towards the discharge port (19), the mushrooms collected by the conveying belt (8) are poured into the mushroom transferring and walking trolley, the mushrooms collected by the conveyer belt (8) finish discharging.
8. The use method of the edible mushroom factory planting mushroom picking robot according to the claim 1 is characterized in that: the mushroom picking trolley (1) is switched from the first mushroom planting bed (21) to the second mushroom planting bed (21) for picking mushrooms after the mature mushrooms on the first mushroom planting bed (21) are completely picked, collected and transported, the mushroom picking trolley (1) is switched to the second mushroom planting bed (21) for picking the mature mushrooms according to the operation flow of the first mushroom planting bed (21), and the switching lifting table of the mushroom picking trolley (1) is operated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110597096.4A CN113179863A (en) | 2021-05-31 | 2021-05-31 | Use method of picking robot for edible mushroom industrial planting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110597096.4A CN113179863A (en) | 2021-05-31 | 2021-05-31 | Use method of picking robot for edible mushroom industrial planting |
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| CN113179863A true CN113179863A (en) | 2021-07-30 |
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| CN202110597096.4A Pending CN113179863A (en) | 2021-05-31 | 2021-05-31 | Use method of picking robot for edible mushroom industrial planting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115067154A (en) * | 2022-06-21 | 2022-09-20 | 广州大学 | Mushroom is irrigated and is picked categorised integrative robot |
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