CN113940239A - Intelligent picking system - Google Patents

Intelligent picking system Download PDF

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Publication number
CN113940239A
CN113940239A CN202111151228.7A CN202111151228A CN113940239A CN 113940239 A CN113940239 A CN 113940239A CN 202111151228 A CN202111151228 A CN 202111151228A CN 113940239 A CN113940239 A CN 113940239A
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CN
China
Prior art keywords
blade
plate
synchronous belt
synchronous pulley
driving
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Granted
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CN202111151228.7A
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Chinese (zh)
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CN113940239B (en
Inventor
柴秀娟
钟鸣
孙坦
黄博
张文蓉
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Guonong Robot Industry Innovation Research Institute (Jiangsu) Co.,Ltd.
Agricultural Information Institute of CAAS
Original Assignee
Weihai Huilei Robot Technology Co ltd
Agricultural Information Institute of CAAS
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Priority to CN202111151228.7A priority Critical patent/CN113940239B/en
Publication of CN113940239A publication Critical patent/CN113940239A/en
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Publication of CN113940239B publication Critical patent/CN113940239B/en
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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
    • 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
    • A01G18/80—Accessories for use after harvesting, e.g. scrapers

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  • Life Sciences & Earth Sciences (AREA)
  • Mycology (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to an intelligent picking system, which solves the technical problems that the existing mushroom picking robot has low automation degree, low intelligence degree, low picking efficiency, large volume, low collection working efficiency and high labor cost, is not suitable for working in a narrow space, increases the labor cost by manually transferring the robot, increases the labor intensity and reduces the production efficiency. The invention is widely used for picking mushrooms and the like.

Description

Intelligent picking system
Technical Field
The invention relates to the technical field of mushroom automatic picking, in particular to an intelligent picking system.
Background
As is well known, common mushrooms (edible mushrooms) are: lentinus Edodes, straw mushroom, Agaricus campestris, Auricularia, Tremella, Hericium Erinaceus, Dictyophora Indusiata, Tricholoma matsutake, Hypsizygus marmoreus, and Boletus edulis.
At present, the mushroom cultivation has realized the industrial production, needs to install the intensification, cooling, ventilation and humidification equipment etc. in the factory mushroom room, can realize automatic or semi-automatic control to conditions such as humiture, ventilation and illumination, and production is not restricted by the season, can go out the mushroom everyday, yearly production, and output is high, and is profitable. The length of the factory mushroom house is generally 20-30 meters, the width is 6-10 meters, the height is 5-6 meters, and 2-4 rows of multilayer bed frames can be arranged in the factory mushroom house along the length direction of the mushroom house. The bed frame is made of multipurpose metal structural sections, the width of the bed is 1-1.6 meters, the number of layers is 5-6, the interlayer distance is 50-70 centimeters, the distance between the lowest layer of the bed frame and the ground is about 30 centimeters, and the distance between the highest layer of the bed frame and a roof is more than 1 meter. The width of a channel between the bed frames is 80-100 cm, and the width of a channel between the bed frames and the wall is 40-80 cm.
After the mushrooms grow mature, automatic picking operation is carried out through the automatic picking robot, so that labor is saved, efficiency is improved, and cost is reduced. Referring to the utility model with the publication number of CN212279177U, an automatic picking robot is disclosed, which mainly works in such a way that a suction cup vertically moves downwards to the position of the pileus of mushrooms, then sucks the pileus, then the suction cup rotates a certain angle, and finally the suction cup vertically moves upwards to complete picking; the utility model discloses an among the technical scheme that the patent was disclosed, there are following technical defect mainly:
(1) the mushroom of picking is exported from the export of base side, and follow-up collection work is more troublesome, needs artifical manual collection mushroom, has the technical defect that inefficiency, cost of labor are high, and multilayer bedstead height 5 ~ 6 meters also leads to collecting the operation more difficult.
(2) After the mushroom automatic picking robot finishes picking operation on one layer of the multi-layer bedstead, when the other layer of the multi-layer bedstead needs to be operated, the robot needs to be manually transferred to the other layer, so that the production efficiency is reduced, the labor cost is increased, and the labor intensity is increased.
(3) The picking efficiency of the automatic mushroom picking robot needs to be improved.
(4) The picking robot is large in embodiment and is not suitable for working in a narrow space.
(5) The automation degree is low, and the intelligent degree is low.
Disclosure of Invention
The invention provides an intelligent picking system with high intelligence degree, and aims to solve the technical problems that an existing mushroom picking robot is low in automation degree, low in intelligence degree, low in picking efficiency, large in size, not suitable for working in a narrow space, low in collecting work efficiency and high in labor cost, and the robot is manually transferred, so that the labor cost is increased, the labor intensity is increased, and the production efficiency is reduced.
The invention provides an intelligent picking system which comprises an automatic picking robot, an unattended material receiving device and an automatic layer changing device, wherein the automatic picking robot is connected with the unattended material receiving device through a connecting rod;
the automatic picking robot comprises a base, a walking mechanism, a picking actuator, a root cutting conveying device, a first X-axis mounting plate, a second X-axis mounting plate, a first arm movement driving motor, a 2 nd driving synchronous pulley, a 2 nd driven synchronous pulley, a 2 nd synchronous belt, a 1 st guide rail assembly, a 2 nd guide rail assembly, a first Y-axis mounting plate, a 3 rd guide rail assembly, a first Y-direction movement driving motor, a 3 rd driving synchronous pulley, a 3 rd synchronous belt, a 3 rd driven synchronous pulley, a binocular camera support and a binocular camera, wherein the walking mechanism is connected with the base; the first X-axis mounting plate and the second X-axis mounting plate are respectively fixedly connected with a base, a first arm motion driving motor is connected with the first X-axis mounting plate, a 2 nd driving synchronous pulley is connected with an output shaft of the first arm motion driving motor, a 2 nd driven synchronous pulley is connected with the first X-axis mounting plate, a 2 nd synchronous belt is connected between the 2 nd driving synchronous pulley and the 2 nd driven synchronous pulley, a 1 st guide rail assembly is connected with the first X-axis mounting plate, a 2 nd guide rail assembly is connected with the second X-axis mounting plate, the end part of the first Y-axis mounting plate is connected with a 2 nd synchronous belt through a synchronous belt connecting plate, one end of the first Y-axis mounting plate is connected with a slide block of the 1 st guide rail assembly, the other end of the first Y-axis mounting plate is connected with a slide block of the 2 nd guide rail assembly, a 3 rd guide rail assembly is connected with the first Y-axis mounting plate, a first Y-direction motion driving motor is connected with the first Y-axis mounting plate, a 3 rd driving synchronous belt pulley is connected with an output shaft of the first Y-direction movement driving motor, a 3 rd driven synchronous belt pulley is connected with the first Y-axis mounting plate, and a 3 rd synchronous belt is connected between the 3 rd driven synchronous belt pulley and the 3 rd driving synchronous belt pulley; the binocular camera support is connected with the first Y-axis mounting plate, and the binocular camera is connected with the binocular camera support;
The picking actuator is connected with a sliding block of the 3 rd guide rail assembly and is connected with the 3 rd synchronous belt through a synchronous belt connecting plate;
the root cutting conveying device comprises a base plate, a push plate driving motor, a 1 st driving synchronous pulley, a 1 st synchronous belt, a 1 st driven synchronous pulley, a blade driving motor, a blade, a synchronous pulley for the blade, a driving synchronous pulley for the blade to rotate, a mushroom placing groove arranged on the base plate, a mushroom root storage groove and a blade mounting groove, wherein the outer side wall of the mushroom root storage groove is provided with a notch, the side wall of the blade mounting groove is provided with a through hole, the push plate is provided with a first pushing part and a second pushing part, the push plate driving motor is connected with one end of the base plate, the 1 st driving synchronous pulley is connected with an output shaft of the push plate driving motor, the 1 st driven synchronous pulley is connected with the other end of the base plate, the 1 st synchronous belt is connected between the 1 st driven synchronous pulley and the 1 st driving synchronous pulley, the push plate is connected with the 1 st synchronous belt through a synchronous belt connecting piece, and the first pushing part of the push plate is positioned in the mushroom placing groove of the base plate, the second pushing part is positioned in the mushroom root storage groove; the cutter driving motor is connected to one end of the base plate, the synchronous belt wheel connecting plate is fixedly connected with the side face of the cutter mounting groove, the cutter is connected with the synchronous belt wheel connecting plate through a synchronous belt wheel, the cutter is connected with an output shaft of the cutter driving motor through a driving synchronous belt wheel, the cutter is connected with the synchronous belt wheel through a synchronous belt, a part of the cutter passes through a through hole of the cutter mounting groove, the cutter is positioned above the mushroom root storage groove, and a notch of the outer side wall of the mushroom root storage groove is opposite to the cutter; the base plate is fixedly connected to the base and is positioned below the first Y-axis mounting plate of the first picking arm; the side surface of the base is provided with a mushroom discharging opening and a root cutting discharging opening, the mushroom discharging opening is opposite to the mushroom placing groove, and the root cutting discharging opening is opposite to the mushroom root storage groove;
The unattended receiving device comprises a vertical support, a supporting wheel, a driving wheel, a first traveling wheel, a second traveling wheel, a circulation driving motor, a circulation chain, an upper supporting plate, a lower supporting plate, a driving sprocket connecting seat, a circulation driving synchronous pulley, a circulation synchronous belt, a driving sprocket rotating shaft, a driving sprocket, a first driven sprocket, a second driven sprocket, a third driven sprocket, a fourth driven sprocket, a fifth driven sprocket, a tray connecting shaft, a walking driving motor, a tensioning wheel, a first synchronous pulley, a second synchronous pulley, a walking synchronous belt and a driven synchronous pulley, wherein the supporting wheel is rotatably connected with the bottom of the vertical support, the upper supporting plate is fixedly connected with the upper part of the vertical support, the lower supporting plate is fixedly connected with the lower part of the vertical support, the driving sprocket connecting seat is fixedly connected with the top of the vertical support, and the circulation driving motor is connected with the upper supporting plate, the circulation driving synchronous belt wheel is connected with an output shaft of a circulation driving motor, one end of a driving chain wheel rotating shaft is fixedly connected with a driving chain wheel, the other end of the driving chain wheel rotating shaft is rotatably connected with a driving chain wheel connecting seat through a bearing, a driven synchronous belt wheel is connected with the driving chain wheel rotating shaft, a circulation synchronous belt is connected between the circulation driving synchronous belt wheel and the driven synchronous belt wheel, a first driven chain wheel is rotatably connected with one end of an upper supporting plate, a second driven chain wheel is rotatably connected with the other end of the upper supporting plate, a third driven chain wheel is rotatably connected with one end of a lower supporting plate, a fourth driven chain wheel is rotatably connected with the middle part of the lower supporting plate, a fifth driven chain wheel is rotatably connected with the other end of the lower supporting plate, a circulation chain is respectively connected with the driving chain wheel, the first driven chain wheel, the second driven chain wheel, the third driven chain wheel, the fourth driven chain wheel and the fifth driven chain wheel, a tray connecting shaft is fixedly connected with the circulation chain, the tray is rotationally connected with the tray connecting shaft, and the circulation chain is connected with a plurality of trays; a storage basket is placed on each tray; the walking driving motor is connected with the upper part of the vertical support, the driving wheel is connected with an output shaft of the walking driving motor, the tensioning wheel is rotationally connected with the upper part of the vertical support, the first walking wheel is rotationally connected with the upper part of the vertical support through a first walking wheel rotating shaft, the second walking wheel is rotationally connected with the upper part of the vertical support through a second walking wheel rotating shaft, the first synchronous pulley is connected with the first walking wheel rotating shaft, the second synchronous pulley is rotationally connected with the second walking wheel rotating shaft, and the walking synchronous belt is respectively connected with the driving wheel, the second synchronous pulley, the tensioning wheel and the first synchronous pulley;
The automatic layer changing device comprises a rectangular frame, a platform lifting driving motor, a middle transmission shaft, a left driving sprocket, a right driving sprocket, a left bearing seat, a right bearing seat, a left tensioning sprocket, a left turning sprocket, a right tensioning sprocket, a right turning sprocket, a speed reducer, a left chain, a right chain, a platform, a left balancing weight, a right balancing weight, a left guide rail, a right guide rail, a left tripod, a right tripod and a limiting wheel, wherein the platform lifting driving motor is connected with the top of the rectangular frame, the speed reducer is connected with the platform lifting driving motor, the middle transmission shaft is connected with the speed reducer, the left bearing seat and the right bearing seat are respectively connected with the top of the rectangular frame, the left end of the middle transmission shaft is connected with the left bearing seat, the right end of the middle transmission shaft is connected with the right bearing seat, the left driving sprocket is connected with the left end of the middle transmission shaft, and the right driving sprocket is connected with the right end of the middle transmission shaft, the left tensioning chain wheel is rotationally connected with the top of the rectangular frame, the left turning chain wheel is rotationally connected with the top of the rectangular frame, the right tensioning chain wheel is rotationally connected with the top of the rectangular frame, the right turning chain wheel is rotationally connected with the top of the rectangular frame, the left chain bypasses the left driving chain wheel, the left tensioning chain wheel and the left turning chain wheel, the right chain bypasses the right driving chain wheel, the right tensioning chain wheel and the right turning chain wheel, the left tripod is fixedly connected with the left side of the platform, the right tripod is fixedly connected with the right side of the platform, the platform is positioned in the rectangular frame, one end of the left chain is fixedly connected with the left tripod, the other end of the left chain is connected with the left balancing weight, one end of the right chain is fixedly connected with the right tripod, and the other end of the right chain is connected with the right balancing weight; the left guide rail is connected with the left side of the rectangular frame, the right guide rail is connected with the right side of the rectangular frame, the left balancing weight is connected with the left guide rail in a sliding mode through a roller, and the right balancing weight is connected with the right guide rail in a sliding mode through a roller; all be connected with spacing round on four angles of platform, spacing round is equipped with the annular, and the annular card on the spacing round is on the arris limit of rectangular frame's stand.
Preferably, the picking actuator comprises a motor bracket, a screw motor, a nut seat, a lifting plate, a first telescopic plate, a second telescopic plate, a first synchronous pulley, a second synchronous pulley, a first synchronous belt connecting plate, a first guide rail, a second guide rail, a third synchronous pulley, a fourth synchronous pulley, a third telescopic plate, a first synchronous belt, a second synchronous belt connecting plate, a third synchronous belt connecting plate, a fourth synchronous belt connecting plate, a rotary driving motor bracket, a rotary driving motor, a coupler and a self-adaptive sucker, wherein the screw motor is connected with the motor bracket, the nut seat is connected with a screw rod of the screw motor, one end of the lifting plate is fixedly connected with the nut seat, the other end of the lifting plate is fixedly connected with the first telescopic plate, the first synchronous pulley is connected with the upper part of the first telescopic plate, the second synchronous pulley is connected with the lower part of the first telescopic plate, the first synchronous belt is connected between the first synchronous belt wheel and the second synchronous belt wheel, the inner side of the first synchronous belt is fixedly connected with the motor support through a first synchronous belt connecting plate, the first guide rail is connected with the motor support, the first expansion plate is connected with the first guide rail, the second guide rail is connected with the first expansion plate, the second expansion plate is connected with the second guide rail, and the outer side of the first synchronous belt is fixedly connected with the upper part of the second expansion plate through a second synchronous belt connecting plate; a third synchronous belt wheel is connected with the upper part of the second expansion plate, a fourth synchronous belt wheel is connected with the lower part of the second expansion plate, a second synchronous belt is connected between the third synchronous belt wheel and the fourth synchronous belt wheel, a third guide rail is connected with the second expansion plate, the third expansion plate is connected with a third guide rail, the inner side of the second synchronous belt is fixedly connected with the lower part of the first expansion plate through a third synchronous belt connecting plate, and the outer side of the second synchronous belt is fixedly connected with the upper part of the third expansion plate through a fourth synchronous belt connecting plate; the rotary driving motor bracket is fixedly connected with the third telescopic plate, and the rotary driving motor is connected with the rotary driving motor bracket; the self-adaptive sucker comprises an air exhaust connector, an air inlet connector, a base, a flexible suction cup and a connecting block, wherein the base is provided with a central through hole, the flexible suction cup is provided with a plane part and a circular raised part, the plane part is provided with the central through hole and an air hole, the circular raised part is hollow, the circular raised part is provided with an inner cavity, the cross section of the circular raised part is in an arc shape, the air hole of the plane part is communicated with the inner cavity of the circular raised part, and the central through hole of the plane part is communicated with the middle space of the circular raised part; the plane part is fixedly connected with the base, and a central through hole of the base is communicated with a central through hole of the plane part; the air exhaust joint is connected with the side opening of the connecting block, the air exhaust joint is communicated with the air channel in the connecting block, the air inlet joint is connected with the connecting block, and the air inlet joint is inserted into an air hole of the plane part; the upper part of the connecting block is rotationally connected with the third expansion plate through a bearing, and an output shaft of the rotary driving motor is fixedly connected with the upper part of the connecting block through a coupler; the mounting panel of picking the executor is connected with the slider of first guide rail set spare, and the mounting panel of picking the executor passes through the hold-in range connecting plate and is connected with 3 rd hold-in range.
Preferably, the root cutting and conveying device is provided with four blades, namely a first blade, a second blade, a third blade and a fourth blade; the root cutting conveying device also comprises a synchronous belt for blade rotation, a synchronous belt wheel for a first blade, a synchronous belt wheel for a second blade, a synchronous belt wheel for a third blade, a synchronous belt wheel for a fourth blade, a first tensioning bearing, a second tensioning bearing, a third tensioning bearing and a fourth tensioning bearing, wherein the outer side wall of the mushroom root storage tank is provided with a first notch, a second notch, a third notch and a fourth notch, the side wall of the blade mounting groove is provided with a first through hole, a second through hole, a third through hole and a fourth through hole, the synchronous belt wheel for the first blade, the synchronous belt wheel for the second blade, the synchronous belt wheel for the third blade and the synchronous belt wheel for the fourth blade are respectively connected with a synchronous belt wheel connecting plate, the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing are respectively connected with the synchronous belt wheel connecting plate, the first tensioning bearing is positioned between the driving synchronous belt wheel for blade rotation and the synchronous belt wheel for the first blade, the second tensioning bearing is positioned between the synchronous pulley for the first blade and the synchronous pulley for the second blade, the third tensioning bearing is positioned between the synchronous pulley for the second blade and the synchronous pulley for the third blade, the fourth tensioning bearing is positioned between the synchronous pulley for the third blade and the synchronous pulley for the fourth blade, the driving synchronous pulley for blade rotation, the synchronous pulley for the first blade, the synchronous pulley for the second blade, the synchronous pulley for the third blade and the synchronous pulley for the fourth blade are connected by a synchronous belt for blade rotation, the synchronous belt for blade rotation bypasses the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing, the first blade is connected with the synchronous pulley for the first blade, the second blade is connected with the synchronous pulley for the second blade, the third blade is connected with the synchronous pulley for the third blade, and the fourth blade is connected with the synchronous pulley for the fourth blade, one part of the first blade penetrates through the first through hole of the blade mounting groove, one part of the second blade penetrates through the second through hole of the blade mounting groove, one part of the third blade penetrates through the third through hole of the blade mounting groove, one part of the fourth blade penetrates through the fourth through hole of the blade mounting groove, the first blade, the second blade, the third blade and the fourth blade are located above the mushroom root storage groove, the first notch of the outer side wall of the mushroom root storage groove is opposite to the first blade, the second notch is opposite to the second blade, the third notch is opposite to the third blade, and the fourth notch is opposite to the fourth blade.
Preferably, a light receiver for following is connected to the side face of the base of the automatic picking robot, and a first light emitter for following is connected to a vertical support of the unattended receiving device; the light receiver for following is connected with a light screen with a gap, and the first light emitter for following is connected with a light screen with a gap.
Preferably, the side surface of the base of the automatic picking robot is connected with a light emitter for position detection, and the light emitter for position detection is connected with a shading plate with a gap; the vertical support of the unattended receiving device is connected with a light receiver for position detection.
The invention is an improvement and an optimization based on the utility model patent with the reference of the publication number of CN 212279177U.
The invention has the advantages of high automation degree, high intelligence degree, high operation efficiency, reliable and stable operation, reduced labor cost, unmanned operation and improved picking effect. The picking robot has compact structure and small volume, and can pick mushrooms in various spatial positions, thereby improving the picking effect.
The multi-stage telescopic device has compact structure, smart design, small volume and small height in a contraction state. The picking actuator composed of the self-adaptive sucker and the multistage telescopic device is small in size and flexible in movement, and is beneficial to picking mushrooms in various spatial positions.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
Fig. 1 is a perspective view of an intelligent picking system;
fig. 2 is a front view of the intelligent picking system;
fig. 3 is a left side view of the intelligent picking system;
fig. 4 is a right side view of the intelligent picking system;
fig. 5 is a rear view of the intelligent picking system;
fig. 6 is a perspective view of the intelligent picking system;
FIG. 7 is an enlarged view of a portion of FIG. 1 at M;
FIG. 8 is an enlarged view of a portion of FIG. 1 at N;
FIG. 9 is an enlarged view of a portion of FIG. 6 at P;
fig. 10 is a perspective view of an unattended receiving device;
fig. 11 is a perspective view of an unattended receiving device;
fig. 12 is a perspective view of an unattended receiving device;
fig. 13 is a front view of an unattended receiving device;
fig. 14 is a side view of an unattended receiving device;
fig. 15 is a rear view of the unattended receiving device;
fig. 16 is a top view of an unattended receiving device;
fig. 17 is a schematic view of a connection structure of the first and second road wheels in fig. 10;
FIG. 18 is an enlarged view of a portion of FIG. 11 at Q;
FIG. 19 is a perspective view of the auto-layer changer;
FIG. 20 is a perspective view of the auto-layer changer;
FIG. 21 is a side view of the auto-layer changer;
FIG. 22 is a partial enlarged view at S in FIG. 20;
FIG. 23 is a schematic view of the spacing wheel of FIG. 22 attached to the edge of a vertical post in a rectangular frame;
fig. 24 is a perspective view of an automatic picking robot;
fig. 25 is a top view of the automatic picking robot;
fig. 26 is a perspective view of an automatic picking robot;
FIG. 27 is a block diagram of the picking actuator of FIG. 24 attached to a first set of picking arms;
fig. 28 is a perspective view of the root cutting conveyor of the automatic picking robot of fig. 24;
FIG. 29 is a front view of the structure shown in FIG. 28;
FIG. 30 is a left side view of the structure shown in FIG. 28;
FIG. 31 is a right side view of the structure shown in FIG. 28;
FIG. 32 is a schematic view of the root cutting conveyor;
FIG. 33 is a perspective view of the root cutting conveyor;
FIG. 34 is a bottom view of the root cutting conveyor;
FIG. 35 is a schematic view of the blade mounting slot of FIG. 28 with a fourth via hole in the sidewall thereof;
FIG. 36 is an enlarged partial view of the mushroom collecting portion of FIG. 1;
fig. 37 is a perspective view of a picking apparatus provided with a multi-stage telescopic structure;
FIG. 38 is a front view of the structure shown in FIG. 37;
FIG. 39 is a right side view of the structure shown in FIG. 37;
FIG. 40 is a rear elevational view of the structure illustrated in FIG. 37;
fig. 41 is a perspective view of a picking apparatus having a multi-stage telescopic structure from another perspective;
FIG. 42 is a side view of the structure shown in FIG. 41;
FIG. 43 is a schematic view of the structure of FIG. 37 with the rotary drive motor mounted on the third expansion plate and the adaptive suction cup mounted;
FIG. 44 is a cross-sectional view of the structure shown in FIG. 43;
FIG. 45 is a schematic view of the arrangement of FIG. 43 with the air inlet fitting mounted on the connector block and in communication with the air vent of the flexible suction cup;
FIG. 46 is a schematic view showing the structure of FIG. 43 with the side of the connector block open and the air passage of the connector block communicating with the central through hole of the base;
FIG. 47 is a schematic view of the picking apparatus in an initial state provided with a multi-stage telescopic structure;
fig. 48 is a structural schematic view of the picking device in an initial state provided with a multi-stage telescopic structure.
The symbols in the drawings illustrate that:
100. an automatic picking robot, 101, a base, 101-1, a mushroom discharging port, 101-2, a root cutting discharging port, 102, a driving rotating wheel, 103, a driven rotating wheel, 104, a walking driving motor, 105, a base plate, 105-1, a mushroom placing groove, 105-2, a mushroom root storing groove, 105-2-1, a first gap, 105-2-2, a second gap, 105-2-3, a third gap, 105-2-4, a fourth gap, 105-3, a blade mounting groove, 105-3-1, a fourth via hole, 106, a push plate, 106-1, a first push part, 106-2, a second push part, 107, a slide rail, 108, a push plate driving motor, 109, a 1 st driving synchronous pulley, 110, a 1 st synchronous belt, 111, a 1 st driven synchronous pulley, 112, a blade driving motor, 113. a timing belt for blade rotation 114, a timing belt for blade rotation 115, a first blade 116, a second blade 117, a third blade 118, a fourth blade 119, a timing belt for first blade 120, a timing belt for second blade 121, a timing belt for third blade 122, a timing belt for fourth blade 123, a driving timing belt for blade rotation 124, a first tensioning bearing 125, a second tensioning bearing 126, a third tensioning bearing 127, a fourth tensioning bearing 128, a first X-axis mounting plate 129, a second X-axis mounting plate 130, a first arm movement driving motor 131, a second driving timing belt 132, a second driven timing belt 133, a second timing belt 134, a timing belt connecting plate 135, a first rail assembly 1, 136, a second rail assembly 137, a first Y-axis mounting plate 138, a 3 rail assembly 139, a first Y-direction movement driving motor, 140. a 3 rd driving synchronous pulley, 141. a 3 rd synchronous belt, 142. a 3 rd driven synchronous pulley, 143. a binocular camera bracket, 144. a binocular camera, 145. a second arm movement driving motor, 146. a 4 th driving synchronous pulley, 147. a 4 th driven synchronous pulley, 148. a 4 th synchronous belt, 149. a second Y-axis mounting plate, 150. a 4 th guide rail assembly, 151. a second Y-direction movement driving motor, 152. a 5 th driving synchronous pulley, 153. a 5 th synchronous belt, 154. a 5 th driven synchronous pulley, 155. a binocular camera bracket, 156. a binocular camera, 191. a light receiver for following, 192. a light emitter for position detection, 193. a light shield, 193-1. a gap, 194. a light shield;
200. An unattended receiving device, 201, a vertical support, 202, a supporting wheel, 203, a driving wheel, 204-1, a first traveling wheel, 204-2, a second traveling wheel, 205, a circulation driving motor, 206, a circulation chain, 207, an upper supporting plate, 208, a lower supporting plate, 209, a driving sprocket connecting seat, 210, a circulation driving synchronous pulley, 211, a circulation synchronous belt, 212, a driving sprocket rotating shaft, 213, a driving sprocket, 214, a first driven sprocket, 215, a second driven sprocket, 216, a third driven sprocket, 217, a fourth driven sprocket, 218, a fifth driven sprocket, 219, a tray, 220, a tray connecting shaft, 221, a traveling driving motor, 222, a tensioning wheel, 223, a first synchronous pulley, 224, a second synchronous pulley, 225, a traveling synchronous belt, 226, a driven synchronous pulley, 227, a mushroom storage basket, 228, a first light emitter for following, 228-1, a mask 229, a second light emitter for following, 230, a third light emitter for following, 231, a fourth light emitter for following, 232, a fifth light emitter for following, 233, a sixth light emitter for following, 234, a first light receiver for position detection, 234-1, a mask,
300. the automatic floor changing device comprises a floor changing device, a rectangular frame, a platform lifting driving motor, a middle transmission shaft, a platform lifting driving motor, a middle transmission shaft, a left driving chain wheel, a right driving chain wheel, a left bearing seat, a right bearing seat, a left tensioning chain wheel, a left turning chain wheel, a right tensioning chain wheel, a right turning chain wheel, a speed reducer, a left chain, a right chain, a platform lifting driving chain wheel, a speed reducer, a left chain, a right chain, a platform lifting chain, a left counterweight, a right counterweight, a left guide rail, a right guide rail, a left tripod, a right tripod, a left auxiliary rail, a right auxiliary rail, a limiting wheel, a charging pile, a first position sensor, a second position sensor, a third position sensor, a fourth position sensor, a fifth position sensor, a sixth position sensor, a third position sensor, a fourth; 400. a multi-layer bed frame;
1. The automatic lifting device comprises a mounting plate, 2. a motor bracket, 3. a screw rod motor, 3-1. a screw rod, 4. a lifting plate, 5. a first expansion plate, 6. a second expansion plate, 7. a first synchronous pulley, 8. a second synchronous pulley, 9. a first synchronous belt connecting plate, 10. a first guide rail, 11. a second guide rail, 12. a third guide rail, 13. a third synchronous pulley, 14. a fourth synchronous pulley, 15. a third expansion plate, 16. a nut seat, 17. a first synchronous belt, 18. a second synchronous belt, 19. a second synchronous belt connecting plate, 20. a third synchronous belt connecting plate, 21. a fourth synchronous belt connecting plate, 22. a rotary driving motor bracket, 23. a rotary driving motor, 24. a coupler, 25. a bearing, 26. an air suction joint, 27. an air inlet joint, 28. a base, 28-1. a connecting hole, 28-2. a central through hole, 29. a flexible suction cup, 29-1 planar part, 29-1-1 central through hole, 29-1-2 air holes, 29-2 circular raised parts, 29-2-1 inner cavity, 30 connecting block, 30-1 air channel, 30-2 side opening, 31 exhaust tube, 32 first optical coupler, 33 second optical coupler and 34 induction sheet.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1-6, the intelligent picking system comprises an automatic picking robot 100, an unattended receiving device 200 and an automatic layer changing device 300.
As shown in fig. 10 to 18, the unattended receiving device 200 includes a vertical support 201, a support wheel 202, a driving wheel 203, a first traveling wheel 204-1, a second traveling wheel 204-2, a circulation driving motor 205, a circulation chain 206, an upper support plate 207, a lower support plate 208, a driving sprocket connecting seat 209, a circulation driving synchronous pulley 210, a circulation synchronous belt 211, a driving sprocket rotating shaft 212, a driving sprocket 213, a first driven sprocket 214, a second driven sprocket 215, a third driven sprocket 216, a fourth driven sprocket 217, a fifth driven sprocket 218, a tray 219, a tray connecting shaft 220, a traveling driving motor 221, a tension pulley 222, a first synchronous pulley 223, a second synchronous pulley 224, a traveling synchronous belt 225, a driven synchronous pulley 226, a first light emitter 228 for following, a second light emitter 229 for following, a third light emitter 230 for following, A fourth light emitter 231 for following, a fifth light emitter 232 for following, a sixth light emitter 233 for following, a first light receiver 234 for position detection, a second light receiver for position detection, a third light receiver for position detection, a fourth light receiver for position detection, a fifth light receiver for position detection, a sixth light receiver for position detection, two support wheels 202 rotatably connected with the bottom of the vertical support 201, an upper support plate 207 fixedly connected with the upper portion of the vertical support 201, a lower support plate 208 fixedly connected with the lower portion of the vertical support 201, a drive sprocket connecting seat 209 fixedly connected with the top of the vertical support 201, a circulation driving motor 205 fixedly mounted on the upper support plate 207, a circulation driving synchronous pulley 210 connected with an output shaft of the circulation driving motor 205, one end of a drive sprocket rotating shaft 212 fixedly connected with a drive sprocket 213, the other end of the driving sprocket rotating shaft 212 is rotatably connected with the driving sprocket connecting seat 209 through a bearing, the driven synchronous pulley 226 is connected with the driving sprocket rotating shaft 212, the circulation synchronous belt 211 is connected between the circulation driving synchronous pulley 210 and the driven synchronous pulley 226, the first driven sprocket 214 is rotatably connected with one end of the upper supporting plate 207, the second driven sprocket 215 is rotatably connected with the other end of the upper supporting plate 207, the third driven sprocket 216 is rotatably connected with one end of the lower supporting plate 208, the fourth driven sprocket 217 is rotatably connected with the middle part of the lower supporting plate 208, the fifth driven sprocket 218 is rotatably connected with the other end of the lower supporting plate 208, the circulation chain 206 is respectively connected with the driving sprocket 213, the first driven sprocket 214, the second driven sprocket 215, the third driven sprocket 216, the fourth driven sprocket 217 and the fifth driven sprocket 218, the tray connecting shaft 220 is fixedly connected with the circulation chain 206, and the tray 219 is rotatably connected with the tray connecting shaft 220, a plurality of trays 219 are mounted on the circulation chain 206; the walking driving motor 221 is fixedly installed on the upper portion of the vertical support 201, the driving wheel 203 is connected with an output shaft of the walking driving motor 221, the tensioning wheel 222 is rotatably connected with the upper portion of the vertical support 201, the first walking wheel 204-1 is rotatably connected with the upper portion of the vertical support 201 through a first walking wheel rotating shaft, the second walking wheel 204-2 is rotatably connected with the upper portion of the vertical support 201 through a second walking wheel rotating shaft, the first synchronous pulley 223 is connected with the first walking wheel rotating shaft, the second synchronous pulley 224 is connected with the second walking wheel rotating shaft, and the walking synchronous belt 225 is respectively connected with the driving wheel 203, the second synchronous pulley 224, the tensioning wheel 222 and the first synchronous pulley 223. There are shown 20 trays 219, one tray having a mushroom basket 227, for a total of 20 mushroom baskets.
As shown in fig. 1, 2, 3 and 7, two support wheels 202 are attached to the bottom of the multi-level bed frame 400. As shown in fig. 1, 2, 6 and 9, the first traveling wheel 204-1 and the second traveling wheel 204-2 are disposed at the top edge of the multi-layered bed frame 400, when the traveling driving motor 221 operates, the traveling driving motor 221 drives the first synchronous pulley 223 and the second synchronous pulley 224 to rotate through the driving wheel 203 and the traveling synchronous belt 225, the first synchronous pulley 223 and the second synchronous pulley 224 respectively drive the first traveling wheel 204-1 and the second traveling wheel 204-2 to rotate, further, the first traveling wheel 204-1 and the second traveling wheel 204-2 drive the entire unattended receiving device to move along the length direction of the multi-layered bed frame 400, and in the moving process of the entire unattended receiving device, the two supporting wheels 202 follow up. The first light emitter 228 for following, the second light emitter 229 for following, the third light emitter 230 for following, the fourth light emitter 231 for following, the fifth light emitter 232 for following, the sixth light emitter 233 for following, the first light receiver 234 for position detection, the second light receiver for position detection, the third light receiver for position detection, the fourth light receiver for position detection, the fifth light receiver for position detection, and the sixth light receiver for position detection are connected to the vertical support 201, respectively. The first light emitter 228 for following, the second light emitter 229 for following, the third light emitter 230 for following, the fourth light emitter 231 for following, the fifth light emitter 232 for following, and the sixth light emitter 233 for following are distributed from bottom to top corresponding to six layers, and the first light receiver 234 for position detection, the second light receiver for position detection, the third light receiver for position detection, the fourth light receiver for position detection, the fifth light receiver for position detection, and the sixth light receiver for position detection are distributed from bottom to top corresponding to six layers. The mask 228-1 is connected to the first light emitter 228 for following, a slit 228-1-1 is provided on the mask 228-1, and the optical fiber emitted from the first light emitter 228 for following is emitted from the slit 228-1-1; similarly, the other five optical fiber emitters for following are also connected with a light shielding plate. The first light receiver 234 for position detection is connected with a light shielding plate 234-1, the light shielding plate 234-1 is provided with a gap, the first light receiver 234 receives the optical fiber passing through the gap on the light shielding plate 234-1, and similarly, the other five light receivers for position detection are also connected with the light shielding plate. As shown in fig. 1 and 8, a light receiver 191 for following and a light emitter 192 for position detection are respectively connected to the side of the base of the automatic picking robot 100, a light blocking plate 193 is connected to the light receiver 191 for following, the light blocking plate 193 is provided with a slit 193-1, a light blocking plate 194 is connected to the light emitter 192 for position detection, and the light blocking plate 194 is provided with a slit. The second light emitter 229 for following and the light receiver 191 for following constitute a correlation type photoelectric switch; the light emitter 192 for position detection and the second light receiver for position detection constitute a correlation type photoelectric switch. When the automatic picking robot 100 moves to a certain position, the external controller instructs the walking driving motor 221 to work, the first walking wheel 204-1 and the second walking wheel 204-2 rotate to enable the whole unattended receiving device 200 to move horizontally, when the following light receiver 191 receives light emitted by the following second light emitter 229, a feedback signal is that the external controller (the following second light emitter 229 is right opposite to the following light receiver 191), the external controller instructs the walking driving motor 221 to stop working, the unattended receiving device 200 stops moving (the unattended receiving device 200 moves in place), and the function that the unattended receiving device 200 follows the automatic picking robot 100 is achieved. When the light receiver 191 for following receives the light emitted by the second light emitter 229 for following, the second light receiver for position detection receives the light emitted by the light emitter 192 for position detection and feeds back a signal to the controller of the robot, and the controller of the robot determines that the unattended receiving device is in place, at which time the robot performs picking operation. When the second light receiver for position detection does not receive the light of the light emitter 192 for position detection, the robot is stopped not to perform the picking work. The light shielding plate can improve the detection precision.
As shown in fig. 19 to 22, the automatic layer changing device 300 includes a rectangular frame 301, a platform lifting driving motor 302, a middle transmission shaft 303, a left driving sprocket 304, a right driving sprocket 305, a left bearing seat 306, a right bearing seat 307, a left tensioning sprocket 308, a left direction changing sprocket 309, a right tensioning sprocket 310, a right direction changing sprocket 311, a speed reducer 312, a left chain 313, a right chain 314, a platform 315, a left counterweight 316, a right counterweight 317, a left guide rail 318, a right guide rail 319, a left tripod 320, a right tripod 321, a left auxiliary rail 322, a right auxiliary rail 323, a limit wheel 324, a charging pile 325, a first position sensor 326, a second position sensor 327, a third position sensor 328, a fourth position sensor 329, a fifth position sensor 330 and a sixth position sensor 331, wherein the platform lifting driving motor 302 is fixedly installed on the top of the rectangular frame 301, the speed reducer 312 is fixedly installed on the top of the rectangular frame 301, the speed reducer 312 is connected with the platform lifting driving motor 302, the middle transmission shaft 303 is connected with the speed reducer 312, the left bearing seat 306 is fixedly installed at the top of the rectangular frame 301, the right bearing seat 307 is fixedly installed at the top of the rectangular frame 301, the left end of the middle transmission shaft 303 is connected with the left bearing seat 306, the right end of the middle transmission shaft 303 is connected with the right bearing seat 307, the left driving sprocket 304 is connected with the left end of the middle transmission shaft 303, the right driving sprocket 305 is connected with the right end of the middle transmission shaft 303, the left tensioning sprocket 308 is rotatably connected with the top of the rectangular frame 301 through the bearing seats, the left direction-changing sprocket 309 is rotatably connected with the top of the rectangular frame 301 through the bearing seats, the right tensioning sprocket 310 is rotatably connected with the top of the rectangular frame 301 through the bearing seats, the left chain 313 bypasses the left driving sprocket 304, the left tensioning sprocket 308, the left chain 313, The left direction changing sprocket 309 and the right chain 314 bypass the right driving sprocket 305, the right tensioning sprocket 310 and the right direction changing sprocket 311, the left tripod 320 is fixedly connected with the left side of the platform 315, the right tripod 321 is fixedly connected with the right side of the platform 315, the platform 315 is positioned in the rectangular frame 301, one end of the left chain 313 is fixedly connected with the left tripod 320, the other end of the left chain 313 is connected with the left balancing weight 316, one end of the right chain 314 is fixedly connected with the right tripod 321, and the other end of the right chain 314 is connected with the right balancing weight 317; the left guide rail 318 is fixedly arranged on the left side of the rectangular frame 301, the right guide rail 319 is fixedly arranged on the right side of the rectangular frame 301, the left balancing weight 316 is in sliding connection with the left guide rail 318 through a roller, and the right balancing weight 317 is in sliding connection with the right guide rail 319 through a roller; the charging post 325 is mounted on the platform 315; the rectangular frame 301 is divided into six layers from bottom to top; the left auxiliary rail 322 and the right auxiliary rail 323 are arranged at two sides of the outlet of each layer, so that the wheels of the walking mechanism of the robot can move to the platform more easily. Four corners of the platform 315 are respectively provided with a limiting wheel 324, the limiting wheel 324 is provided with a ring groove, the ring groove on the limiting wheel 324 is clamped on the edge of the upright column of the rectangular frame 301 (as shown in fig. 22 and 23), and there are four limiting wheels 324 in total; as shown in fig. 22 and 23, preferably, the two sides of the platform 315 are respectively provided with a track 315-1 adapted to the wheels of the traveling mechanism of the automatic picking robot, so that the robot can move to the platform more accurately and stably; a first position sensor 326, a second position sensor 327, a third position sensor 328, a fourth position sensor 329, a fifth position sensor 330 and a sixth position sensor 331 are installed at edge positions of the first to sixth layers of the rectangular frame 301 from the bottom up.
The working process of the automatic layer changing device 300 is that the platform lifting driving motor 302 works to drive the middle transmission shaft 303 to rotate, the middle transmission shaft 303 drives the left driving sprocket 304 and the right driving sprocket 305 to rotate, the left driving sprocket 304 and the right driving sprocket 305 drive the left chain 313 and the right chain 314 to move, the left chain 313 and the right chain 314 lift the platform 315, the platform 315 can be lifted from a first layer to a second layer where fig. 19 and 21 are located, and when the platform 315 is lifted to the second layer, the second position sensor 327 detects that the platform is located at the second layer; when the stage 315 ascends to the sixth floor, the sixth position sensor 331 detects that the stage is located at the sixth floor. The platform 315 may descend from the sixth level to the first level. When the platform 315 is in the process of lifting, the four limiting wheels 324 can ensure the platform to move stably, so as to prevent the platform from overturning. When the automatic picking robot 100 moves onto the platform 315, the charging pile 325 can charge the batteries in the automatic picking robot 100.
As shown in fig. 1, 2 and 3, the deck changer 300 is located near the front of the multi-deck bed frame 400 in the longitudinal direction.
As shown in fig. 24 to 27, the automatic picking robot 100 includes a base 101, a storage battery, a traveling mechanism, a picking actuator, a root-cutting conveying device, a first X-axis mounting plate 128, a second X-axis mounting plate 129, a first arm movement driving motor 130, a 2 nd driving timing pulley 131, a 2 nd driven timing pulley 132, a 2 nd timing belt 133, a timing belt connecting plate 134, a 1 st rail assembly 135, a 2 nd rail assembly 136, a first Y-axis mounting plate 137, a 3 rd rail assembly 138, a first Y-direction movement driving motor 139, a 3 rd driving timing pulley 140, a 3 rd timing belt 141, a 3 rd driven timing pulley 142, a binocular camera bracket 143, and a binocular camera 144.
The walking mechanism is provided with two driving rotating wheels 102, two driven rotating wheels 103 and a walking driving motor 104, the two driving rotating wheels 102 are arranged on two sides of the base 101, the two driven rotating wheels 103 are arranged on two sides of the base 101, the walking driving motor 104 is arranged on the base 101, and the walking driving motor 104 drives the two driving rotating wheels 102 to rotate through a shaft. Other prior art walking mechanisms may also be used. The storage battery is installed on the base. The root cutting conveying device comprises a base plate 105, a push plate 106, a sliding rail 107, a push plate driving motor 108, a 1 st driving synchronous pulley 109, a 1 st synchronous belt 110, a 1 st driven synchronous pulley 111, a blade driving motor 112, a synchronous pulley connecting plate 113, a blade rotating synchronous belt 114, a first blade 115, a second blade 116, a third blade 117, a fourth blade 118, a first blade synchronous pulley 119, a second blade synchronous pulley 120, a third blade synchronous pulley 121, a fourth blade synchronous pulley 122, a blade rotating driving synchronous pulley 123, a first tensioning bearing 124, a second tensioning bearing 125, a third tensioning bearing 126 and a fourth tensioning bearing 127, wherein the base plate 105 is provided with a mushroom placing groove 105-1, a mushroom root storage groove 105-2 and a blade mounting groove 105-3, the outer side wall of the mushroom root storage groove 105-2 is provided with a first notch 105-2-1, a second notch 105-2, a notch, A second gap 105-2-2, a third gap 105-2-3, a fourth gap 105-2-4, a first via hole, a second via hole, a third via hole, a fourth via hole 105-3-1 are provided on the side wall of the blade mounting groove 105-3, a push plate 106 is provided with a first push part 106-1 and a second push part 106-2, a push plate driving motor 108 is installed at one end of the base plate 105, a 1 st driving synchronous pulley 109 is connected with the output shaft of the push plate driving motor 108, a 1 st driven synchronous pulley 111 is connected with the other end of the base plate 105, a 1 st synchronous belt 110 is connected between the 1 st driven synchronous pulley 111 and the 1 st driving synchronous pulley 109, the push plate 106 is connected with the 1 st synchronous belt 110 through a synchronous belt connecting piece, the first push part 106-1 of the push plate 106 is located in the mushroom placing groove 105-1 of the base plate 105, the second push part 106-2 is located in the mushroom root storage groove 105-2, the slide rail 107 is connected with the side surface of the mushroom placing groove 105-1, the first pushing part 106-1 is connected with the slide rail 107, the blade driving motor 112 is installed at one end of the base plate 105, the synchronous pulley connecting plate 113 is fixedly connected with the side surface of the blade installing groove 105-3, the synchronous pulley 119 for the first blade, the synchronous pulley 120 for the second blade, the synchronous pulley 121 for the third blade, and the synchronous pulley 122 for the fourth blade are respectively connected with the synchronous pulley connecting plate 113, the driving synchronous pulley 123 for blade rotation is connected with the output shaft of the blade driving motor 112, the first tensioning bearing 124, the second tensioning bearing 125, the third tensioning bearing 126, and the fourth tensioning bearing 127 are respectively connected with the synchronous pulley connecting plate 113, the first tensioning bearing 124 is positioned between the driving synchronous pulley 123 for blade rotation and the synchronous pulley 119 for the first blade, the second tensioning bearing 125 is positioned between the synchronous pulley 119 for the first blade and the synchronous pulley 120 for the second blade, a third tensioner bearing 126 is provided between the second-blade timing pulley 120 and the third-blade timing pulley 121, a fourth tensioner bearing 127 is provided between the third-blade timing pulley 121 and the fourth-blade timing pulley 122, the blade-turning drive timing pulley 123, the first-blade timing pulley 119, the second-blade timing pulley 120, the third-blade timing pulley 121, and the fourth-blade timing pulley 122 are connected by a blade-turning timing belt 114, the blade-turning timing belt 114 passes around the first tensioner bearing 124, the second tensioner bearing 125, the third tensioner bearing 126, and the fourth tensioner bearing 127, the first blade 115 is fixedly connected to the center of the first-blade timing pulley 119, the second blade 116 is fixedly connected to the center of the second-blade timing pulley 120, the third blade 117 is fixedly connected to the center of the third-blade timing pulley 121, and the fourth blade 118 is fixedly connected to the center of the fourth-blade timing pulley 122, a portion of the first blade 115 passes through the first via hole of the blade mounting slot 105-3, a portion of the second blade 116 passes through the second via hole of the blade mounting slot 105-3, a portion of the third blade 117 passes through the third via hole of the blade mounting slot 105-3, and a portion of the fourth blade 118 passes through the fourth via hole 105-3-1 of the blade mounting slot 105-3. The first blade 115, the second blade 116, the third blade 117, and the fourth blade 118 are positioned above the mushroom root stock groove 105-2. The first notch 105-2-1 of the outer side wall of the mushroom root storage groove 105-2 is opposite to the first blade 115, the second notch 105-2-2 is opposite to the second blade 116, the third notch 105-2-3 is opposite to the third blade 117, and the fourth notch 105-2-4 is opposite to the fourth blade 118. Base plate 105 is fixedly mounted on base 101 with base plate 105 positioned below first Y-axis mounting plate 137 of the first picker arm. As shown in fig. 24 and 26, the side surface of the base 101 is provided with a mushroom discharging opening 101-1 and a root cutting discharging opening 101-2, the mushroom discharging opening 101-1 is opposite to the mushroom placing groove 105-1, and the root cutting discharging opening 101-2 is opposite to the mushroom root storage groove 105-2. When the mushroom is translated, the root of the mushroom moves in the direction of the fourth blade 118 after passing through the fourth notch 105-2-4, and the root of the mushroom is cut off when passing through the fourth blade 118 rotating at a high speed.
A first X-axis mounting plate 128 is fixedly connected with the base 101, a second X-axis mounting plate 129 is fixedly connected with the base 101, a first arm movement driving motor 130 is mounted on the first X-axis mounting plate 128, a 2 nd driving synchronous pulley 131 is connected with an output shaft of the first arm movement driving motor 130, a 2 nd driven synchronous pulley 132 is connected with the first X-axis mounting plate 128, a 2 nd synchronous belt 133 is connected between the 2 nd driving synchronous pulley 131 and the 2 nd driven synchronous pulley 132, a 1 st guide rail assembly 135 is connected with the first X-axis mounting plate 128, a 2 nd guide rail assembly 136 is connected with the second X-axis mounting plate 129, an end of the first Y-axis mounting plate 137 is connected with the 2 nd synchronous belt 133 through a synchronous belt connecting plate 134, one end of the first Y-axis mounting plate 137 is connected with a slider of the 1 st guide rail assembly 135, the other end of the first Y-axis mounting plate 137 is connected with a slider of the 2 nd guide rail assembly 136, a 3 rd guide rail assembly 138 is connected with the first Y-axis mounting plate 137, the first Y-direction movement driving motor 139 is installed on the first Y-axis installation plate 137, the 3 rd driving synchronous pulley 140 is connected to an output shaft of the first Y-direction movement driving motor 139, the 3 rd driven synchronous pulley 142 is connected to the first Y-axis installation plate 137, and the 3 rd synchronous belt 141 is connected between the 3 rd driven synchronous pulley 142 and the 3 rd driving synchronous pulley 140. The binocular camera bracket 143 is connected with the first Y-axis mounting plate 137, and the binocular camera 144 is connected with the binocular camera bracket 143. Pick mounting panel 1 of executor and 3 rd guide rail set 138's slider and be connected, mounting panel 1 passes through the hold-in range connecting plate and is connected with 3 rd hold-in range 141, starts first Y direction motion driving motor 139 and can the motion of mounting panel 1 along Y axle direction, also drives whole executor of picking and move along Y axle direction.
As shown in fig. 37 to 48, the picking actuator includes a mounting plate 1, a motor bracket 2, a screw motor 3, a lifting plate 4, a first expansion plate 5, a second expansion plate 6, a first synchronous pulley 7, a second synchronous pulley 8, a first synchronous belt connecting plate 9, a first guide rail 10, a second guide rail 11, a third guide rail 12, a third synchronous pulley 13, a fourth synchronous pulley 14, a third expansion plate 15, a nut seat 16, a first synchronous belt 17, a second synchronous belt 18, a second synchronous belt connecting plate 19, a third synchronous belt connecting plate 20, a fourth synchronous belt connecting plate 21, a rotary driving motor bracket 22, a rotary driving motor 23, a coupler 24, a bearing 25, and an adaptive sucker. The motor support 2 is fixedly connected with the mounting plate 1, the screw rod motor 3 is fixedly mounted on the motor support 2, the nut seat 16 is connected with a screw rod 3-1 of the screw rod motor 3, one end of the lifting plate 4 is fixedly connected with the nut seat 16, the other end of the lifting plate 4 is fixedly connected with the first telescopic plate 5 through a screw, the first synchronous belt pulley 7 is connected with the upper part of the first telescopic plate 5, the second synchronous belt pulley 8 is connected with the lower part of the first telescopic plate 5, the first synchronous belt 17 is connected between the first synchronous belt pulley 7 and the second synchronous belt pulley 8, the inner side of the first synchronous belt 17 is fixedly connected with the motor support 2 through a first synchronous belt connecting plate 9, the first guide rail 10 is connected with the motor support 2, the first telescopic plate 5 is connected with the first guide rail 10, the second guide rail 11 is connected with the first telescopic plate 5, the second telescopic plate 6 is connected with the second guide rail 11, and the outer side of the first synchronous belt 17 is fixedly connected with the upper part of the second telescopic plate 6 through a second synchronous belt 19; third synchronous pulley 13 is connected with the upper portion of second expansion plate 6, fourth synchronous pulley 14 is connected with the sub-unit of second expansion plate 6, second synchronous belt 18 is connected between third synchronous pulley 13 and fourth synchronous pulley 14, third guide rail 12 is connected with second expansion plate 6, third expansion plate 15 is connected with third guide rail 12, the inboard of second synchronous belt 18 passes through the lower part fixed connection of third synchronous belt connecting plate 20 and first expansion plate 5, the outside of second synchronous belt 18 passes through the upper portion fixed connection of fourth synchronous belt connecting plate 21 and third expansion plate 15. The rotary driving motor bracket 22 is fixedly connected with the third expansion plate 15 through screws, and the rotary driving motor 23 is fixedly installed on the rotary driving motor bracket 22. The self-adaptive sucker comprises an air suction connector 26, an air inlet connector 27 and a base 28, the flexible suction cup 29 and the connecting block 30, the base 28 is provided with a central through hole 28-2 and four connecting holes 28-1, the flexible suction cup 29 is provided with a plane part 29-1 and a circular raised part 29-2, the plane part 29-1 is provided with the central through hole 29-1-1 and an air hole 29-1-2, the circular raised part 29-2 is hollow, the circular raised part 29-2 is provided with an inner cavity 29-2-1, the cross section of the circular raised part 29-2 is circular, the air hole 29-1-2 is communicated with the inner cavity 29-2-1 of the circular raised part 29-2, and the central through hole 29-1-1 of the plane part 29-1 is communicated with the middle space 29-2-2 of the circular raised part 29-2; four connecting columns can be fixedly connected to the planar part 29-1, the four connecting columns are inserted into the four connecting holes 28-1 to realize the fixed connection between the planar part 29-1 and the base 28, and the planar part 29-1 and the base 28 can also be fixedly connected in other modes such as glue bonding; the central through hole 28-2 of the base 28 communicates with the central through hole 29-1-1 of the planar portion 29-1; the connecting block 30 is fixedly connected with the base 28 (the connecting block 30 and the base 28 can also be integrally formed), an air channel 30-1 is arranged inside the connecting block 30, a side opening 30-2 is arranged on the side surface of the connecting block 30, the air channel 30-1 inside the connecting block 30 is communicated with the central through hole 28-2 of the base 28, the air suction joint 26 is connected with the side opening 30-2 of the connecting block 30 so as to enable the air suction joint 26 to be communicated with the air channel 30-1 inside the connecting block 30, the air inlet joint 27 is connected with the connecting block 30, and the air inlet joint 27 is inserted into an air hole 29-1-2 of the plane part 29-1 so as to enable the air inlet joint 27 to be communicated with the inner cavity 29-2-1 of the circular raised part 29-2. The upper part of the connecting block 30 is rotatably connected with the third expansion plate 15 through a bearing 25, and the output shaft of the rotary driving motor 23 is fixedly connected with the upper part of the connecting block 30 through a coupling 24. The flexible suction cup 29 may be made of a flexible material such as silicone rubber, thermoplastic elastomer TPE or thermoplastic rubber TPR. When the picking actuator works, one end of the air exhaust pipe 31 is connected with the air exhaust joint 26, and the external negative pressure pump is connected with the other end of the air exhaust pipe 31. An air feed pipe is connected to the air inlet connector 27. Referring to fig. 47 and 48, in the initial state of the picking device, the third expansion plate 15, the first expansion plate 5 and the second expansion plate 6 are folded and arranged side by side in the horizontal direction, and the lifting plate 4 is located at the upper end position of the motor bracket 2. The inner cavity 29-2-1 of the circular raised part of the adaptive sucker is filled with a certain amount of air through an air feeding pipe and an air inlet joint 27 (the amount of the filled air can be adjusted according to different adsorption objects). The positions of mushrooms are obtained by other methods such as a visual identification technology, a screw motor 3 acts to drive a lifting plate 4 to move downwards, the lifting plate 4 drives a first expansion plate 5 to move downwards along a first guide rail 10, a first synchronous belt pulley 7 and a second synchronous belt pulley 8 rotate simultaneously, a first synchronous belt 17 rotates, a second synchronous belt connecting plate 19 moves downwards along the first synchronous belt 17, the second synchronous belt connecting plate 19 drives a second expansion plate 6 to move downwards along a second guide rail 11, the second expansion plate 6 moves downwards and simultaneously a third synchronous belt pulley 13 and a fourth synchronous belt pulley 14 rotate, a second synchronous belt 18 rotates, a fourth synchronous belt connecting plate 21 moves downwards along the second synchronous belt 18, the fourth synchronous belt connecting plate 21 drives a third expansion plate 15 to move downwards, the third expansion plate 15 drives a rotary driving motor bracket 22, a rotary driving motor 23 and a self-adaptive sucker to move downwards, at this time, the picking device is in an extended state shown in fig. 37 (the first expansion plate 5, the second expansion plate 6 and the third expansion plate 15 are sequentially distributed along the vertical direction), so that the adaptive sucker is vertically moved downwards. The mushroom cap is pressed down by the flexible suction cup 29, the mushroom cap is pressed down by the circular raised part 29-2, the circular raised part 29-2 deforms accordingly and is tightly attached to the top of the mushroom cap, at the moment, a closed chamber is formed by the middle space 29-2-2 of the circular raised part 29-2 and the top area of the mushroom cap, then an external negative pressure pump is started to pump air out of the formed closed chamber, partial vacuum is generated, and the mushroom cap is sucked by the circular raised part 29-2. Then, the rotary driving motor 23 works to drive the adaptive sucker to rotate a certain angle through the connecting block 30, the adaptive sucker drives the mushroom to rotate a certain angle to break the mushroom stem of the mushroom, and the mushroom is picked off. Next, the screw motor 3 rotates in the opposite direction, the lifting plate 4 drives the first expansion plate 5 to move upwards, referring to fig. 37, the first synchronous belt 17 rotates, the second synchronous belt connecting plate 19 moves upwards along with the first synchronous belt 17, the second synchronous belt connecting plate 19 drives the second expansion plate 6 to move upwards, the second synchronous belt 18 rotates while the second expansion plate 6 moves upwards, the fourth synchronous belt connecting plate 21 moves upwards along with the second synchronous belt 18, the fourth synchronous belt connecting plate 21 drives the third expansion plate 15 to move upwards, the third expansion plate 15 drives the rotary driving motor bracket 22, the rotary driving motor 23 and the adaptive sucker to move upwards, and finally the picking device is in the initial contraction state shown in fig. 47. During this process, the adaptive suction cup carries the mushroom upward. When the negative pressure pump is depressurized, the mushrooms can fall freely (in some cases, the mushrooms cannot fall freely because of small dead weight, and in the case, the circular raised part 29-2 is inflated, the pressure is increased, and the circular raised part 29-2 is expanded, so that the contact surface between the circular raised part 29-2 and the mushrooms is slightly displaced, the local friction force is damaged, and the mushrooms fall smoothly). The structure of the self-adaptive sucker is basically the same as that of the self-adaptive sucker in the Chinese invention patent application with the application publication number of CN113079954A, namely the picking device with the self-adaptive sucker and the self-adaptive sucker, the structure of the self-adaptive sucker can be further optimized, and a plurality of pits can be arranged on the surface of the circular raised part 29-2 of the flexible sucker along the circumferential direction. The circular raised part 29-2 of the flexible suction cup can be provided with a plurality of protrusions along the circumferential direction to increase the radial friction force. In addition, for the structure of the self-adaptive sucker, the optimization can be carried out, so that the thickness of the outer side wall of the circular raised part 29-2 of the flexible sucker is greater than that of the inner side wall, the design has the advantage that when the circular raised part 29-2 presses a pileus to deform, the inner side wall of the circular raised part 29-2 is stressed to deform towards the outer side wall, the outer side wall of the circular raised part 29-2 can play a supporting role, and because the thickness of the outer side wall is greater than that of the inner side wall, the deformation amount of the outer side wall of the circular raised part 29-2 is small, the whole adaptive deformation of the circular raised part is mainly the deformation of the inner side wall, and the close fit with the surface of an object is more favorably realized. It should be noted that, in order to make the up-and-down displacement of first expansion plate 5 better accurate, as shown in fig. 38 and 41, install first opto-coupler 32, second opto-coupler 33 on motor support 2, at the side-mounting of first expansion plate 5 response piece 34, second opto-coupler 33 sends the upper limit signal to the controller when response piece 34 triggers second opto-coupler 33, and first opto-coupler 32 sends the lower limit signal to the controller when response piece 34 triggers first opto-coupler 32 to accurately control the upper limit position of first expansion plate 5 rebound and the lower limit position of rebound. The multistage telescopic device composed of the motor support 2, the screw motor 3, the lifting plate 4, the first telescopic plate 5, the second telescopic plate 6, the first synchronous belt pulley 7, the second synchronous belt pulley 8, the first synchronous belt connecting plate 9, the first guide rail 10, the second guide rail 11, the third guide rail 12, the third synchronous belt pulley 13, the fourth synchronous belt pulley 14, the third telescopic plate 15, the nut seat 16, the first synchronous belt 17, the second synchronous belt 18, the second synchronous belt connecting plate 19, the third synchronous belt connecting plate 20, the fourth synchronous belt connecting plate 21 and other parts is compact in structure, ingenious in design, small in size and small in height in a contraction state, and is suitable for being applied to narrow spaces. It should be noted that, for the multi-stage retractor device, the third synchronous pulley 13, the fourth synchronous pulley 14, the second synchronous belt 18, the third synchronous belt connecting plate 20, the fourth synchronous belt connecting plate 21, the third guide rail 12, and the third retractable plate 15 may not be used, and the third retractable plate 15 is directly and fixedly mounted on the second retractable plate 6, that is, the first retractable plate 5 and the second retractable plate 6 extend during operation, and the second retractable plate 6 drives the third retractable plate 15, the rotation driving motor support 22, the rotation driving motor 23, and the adaptive suction cup to move up and down as the end (the third retractable plate 15 does not move up and down at this time, and only has a connection function). It should be noted that the multi-stage telescopic device shown in fig. 37 is a three-stage telescopic structure, and can be further expanded to a four-stage, five-stage or more telescopic structure.
The first arm movement driving motor 130, the 2 nd driving synchronous pulley 131, the 2 nd driven synchronous pulley 132, the 2 nd synchronous belt 133, the synchronous belt connecting plate 134, the first Y-axis mounting plate 137, the 3 rd guide rail assembly 138, the first Y-direction movement driving motor 139, the 3 rd driving synchronous pulley 140, the 3 rd synchronous belt 141, the 3 rd driven synchronous pulley 142, the binocular camera bracket 143 and the binocular camera 144 form a first group of picking arms, the invention is provided with two groups of picking arms, the second group of picking arms comprises a second arm movement driving motor 145, a 4 th driving synchronous pulley 146, a 4 th driven synchronous pulley 147, a 4 th synchronous belt 148, a second Y-axis mounting plate 149, a 4 th guide rail assembly 150, a second Y-direction movement driving motor 151, a 5 th driving synchronous pulley 152, a 5 th synchronous belt 153, a 5 th driven synchronous pulley 154, a binocular camera bracket 155 and a binocular camera 156, the second arm movement driving motor 145 is mounted on the second X-axis mounting plate 129, a 4 th driving synchronous pulley 146 is connected with an output shaft of the second arm movement driving motor 145, a 4 th driven synchronous pulley 147 is connected with the second X-axis mounting plate 129, a 4 th synchronous belt 148 is connected between the 4 th driven synchronous pulley 147 and the 4 th driving synchronous pulley 146, one end of a second Y-axis mounting plate 149 is connected with a slider of the 1 st rail assembly 135, the other end of the second Y-axis mounting plate 149 is connected with a slider of the 2 nd rail assembly 136, an end of the second Y-axis mounting plate 149 is connected with the 4 th synchronous belt 148 through a synchronous belt connecting plate, the 4 th rail assembly 150 is connected with the second Y-axis mounting plate 149, a second Y-direction movement driving motor 151 is mounted on the second Y-axis mounting plate 149, a 5 th driving synchronous pulley 152 is connected with an output shaft of the second Y-direction movement driving motor 151, a 5 th driven synchronous pulley 154 is connected with the second Y-axis mounting plate 149, a 5 th synchronous belt 153 is connected between the 5 th driven synchronous pulley 154 and the 5 th driving pulley 152, the binocular camera bracket 155 is connected with the second Y-axis mounting plate 149, and the binocular camera 156 is connected with the binocular camera bracket 155. The second group of picking arms is provided with a second group of picking actuators, the mounting plate 1 of the second group of picking actuators is connected with the slider of the 4 th guide rail assembly 150, and the mounting plate 1 is connected with the 5 th synchronous belt 153 through a synchronous belt connecting plate.
The main working process of the intelligent picking system is described as follows:
as shown in fig. 1, 2 and 3, auto-stratifying device 300 lifts the automatic picking robot 100 on its platform to a second-level position, and the automatic picking robot 100 moves itself into the second level of multi-level bed frame 400. Next, the automatic picking robot 100 picks mushrooms on the second layer of the multi-layer bedstead 400, the two groups of picking arms and the two groups of picking actuators work simultaneously (greatly improving picking efficiency), the first Y-axis mounting plate 137 moves in the X-axis direction to drive the binocular camera 144 to move, the binocular camera 144 collects images below the two groups of picking arms, the collected images are sent to the controller to identify the mushrooms to be picked, then the picking actuators act, the adaptive suction cups carry the mushrooms to translate from left to right according to the orientation of the figure 25 through the fourth blade 118 rotating at high speed, the fourth blade 118 cuts off the roots of the mushrooms, the roots fall into the mushroom root storage groove 105-2, the adaptive suction cups release pressure so that the mushrooms fall into the mushroom storage groove 105-1, then the push plate driving motor 108 is started, the push plate 106 moves, the first push part 106-1 pushes the mushrooms in the mushroom storage groove 105-1 to the mushroom discharge port 101-1, the mushrooms in the mushroom placing groove 105-1 are discharged from the mushroom discharging opening 101-1 and fall into the mushroom storing basket 227 of the unattended receiving device to be collected, as shown in fig. 36, the second pushing part 106-2 pushes the roots in the mushroom root storing groove 105-2 out of the root cutting discharging opening 101-2 and falls onto the ground.
When the mushroom storing basket 227 is filled with mushrooms, the circulation driving motor 205 is started to rotate the circulation chain 206, so that another empty mushroom storing basket is moved to the position of the mushroom discharging opening 101-1, and the respective mushroom storing baskets can be circulated and recycled to be suitable for each layer of the multi-layer bedstead. The collecting work is not limited by the height of the bed frame.
When every two layers of the multi-layer bedstead are processed, the automatic picking robot moves to the platform of the automatic layer changing device 300, the platform rises to transfer the automatic picking robot to the inlet of the third layer of the multi-layer bedstead, and then the automatic picking robot moves to the third layer to carry out operation.
Therefore, the whole process is high in automation degree, intelligence degree and operating efficiency, reliable and stable in operation, labor cost is reduced, unmanned operation is achieved in the whole process, and intelligence degree is high. The picking robot has compact structure and small volume, and can pick mushrooms in various spatial positions.
Unattended receiving device is not limited to collect mushrooms, and can also be used for collecting other products.
The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention. It will be appreciated by those skilled in the art that other configurations of parts, drive devices and connections can be made without departing from the spirit of the invention, and similar arrangements and embodiments can be devised without departing from the invention.

Claims (5)

1. An intelligent picking system is characterized by comprising an automatic picking robot, an unattended receiving device and an automatic layer changing device;
the automatic picking robot comprises a base, a walking mechanism, a picking actuator, a root cutting conveying device, a first X-axis mounting plate, a second X-axis mounting plate, a first arm movement driving motor, a 2 nd driving synchronous pulley, a 2 nd driven synchronous pulley, a 2 nd synchronous belt, a 1 st guide rail assembly, a 2 nd guide rail assembly, a first Y-axis mounting plate, a 3 rd guide rail assembly, a first Y-direction movement driving motor, a 3 rd driving synchronous pulley, a 3 rd synchronous belt, a 3 rd driven synchronous pulley, a binocular camera support and a binocular camera, wherein the walking mechanism is connected with the base; the first X-axis mounting plate and the second X-axis mounting plate are respectively fixedly connected with a base, the first arm motion driving motor is connected with the first X-axis mounting plate, the 2 nd driving synchronous pulley is connected with an output shaft of the first arm motion driving motor, the 2 nd driven synchronous pulley is connected with the first X-axis mounting plate, the 2 nd synchronous belt is connected between the 2 nd driving synchronous pulley and the 2 nd driven synchronous pulley, the 1 st guide rail component is connected with the first X-axis mounting plate, the 2 nd guide rail component is connected with the second X-axis mounting plate, the end part of the first Y-axis mounting plate is connected with the 2 nd synchronous belt through a synchronous belt connecting plate, one end of the first Y-axis mounting plate is connected with a slide block of the 1 st guide rail component, the other end of the first Y-axis mounting plate is connected with a slide block of the 2 nd guide rail component, the 3 rd guide rail component is connected with the first Y-axis mounting plate, the first Y-direction movement driving motor is connected with a first Y-axis mounting plate, the 3 rd driving synchronous pulley is connected with an output shaft of the first Y-direction movement driving motor, the 3 rd driven synchronous pulley is connected with the first Y-axis mounting plate, and the 3 rd synchronous belt is connected between the 3 rd driven synchronous pulley and the 3 rd driving synchronous pulley; the binocular camera support is connected with the first Y-axis mounting plate, and the binocular camera is connected with the binocular camera support;
The picking actuator is connected with a sliding block of the 3 rd guide rail assembly and is connected with the 3 rd synchronous belt through a synchronous belt connecting plate;
the root cutting conveying device comprises a base plate, a push plate driving motor, a 1 st driving synchronous pulley, a 1 st synchronous belt, a 1 st driven synchronous pulley, a blade driving motor, a blade, a synchronous pulley for the blade, and a driving synchronous pulley for the blade rotation, wherein the base plate is provided with a mushroom placing groove, a mushroom root storage groove and a blade mounting groove, the outer side wall of the mushroom root storage groove is provided with a notch, the side wall of the blade mounting groove is provided with a via hole, the push plate is provided with a first pushing part and a second pushing part, the push plate driving motor is connected at one end of the base plate, the 1 st driving synchronous pulley is connected with an output shaft of the push plate driving motor, the 1 st driven synchronous pulley is connected with the other end of the base plate, the 1 st synchronous belt is connected between the 1 st driven synchronous pulley and the 1 st driving synchronous pulley, and the push plate is connected with the 1 st synchronous belt through a synchronous belt connecting piece, the first pushing part of the pushing plate is positioned in the mushroom placing groove of the substrate, and the second pushing part is positioned in the mushroom root storage groove; the mushroom root storage groove is characterized in that the blade driving motor is connected to one end of the base plate, the synchronous pulley connecting plate is fixedly connected with the side face of the blade mounting groove, the blade is connected with the synchronous pulley connecting plate through a synchronous pulley, the driving synchronous pulley is connected with an output shaft of the blade driving motor for blade rotation, the driving synchronous pulley is connected with the synchronous pulley for blade rotation through a synchronous belt, the blade is connected with the synchronous pulley for blade, one part of the blade penetrates through a through hole of the blade mounting groove, the blade is positioned above the mushroom root storage groove, and a notch of the outer side wall of the mushroom root storage groove is opposite to the blade; the base plate is fixedly connected to the base and is positioned below the first Y-axis mounting plate of the first picking arm; the side surface of the base is provided with a mushroom discharging opening and a root cutting discharging opening, the mushroom discharging opening is opposite to the mushroom placing groove, and the root cutting discharging opening is opposite to the mushroom root storage groove;
The unattended receiving device comprises a vertical support, a supporting wheel, a driving wheel, a first traveling wheel, a second traveling wheel, a circulation driving motor, a circulation chain, an upper supporting plate, a lower supporting plate, a driving sprocket connecting seat, a circulation driving synchronous pulley, a circulation synchronous belt, a driving sprocket rotating shaft, a driving sprocket, a first driven sprocket, a second driven sprocket, a third driven sprocket, a fourth driven sprocket, a fifth driven sprocket, a tray connecting shaft, a walking driving motor, a tensioning wheel, a first synchronous pulley, a second synchronous pulley, a walking synchronous belt and a driven synchronous pulley, wherein the supporting wheel is rotatably connected with the bottom of the vertical support, the upper supporting plate is fixedly connected with the upper part of the vertical support, the lower supporting plate is fixedly connected with the lower part of the vertical support, the driving sprocket connecting seat is fixedly connected with the top of the vertical support, and the circulation driving motor is connected with the upper supporting plate, the circulation driving synchronous pulley is connected with the output shaft of the circulation driving motor, one end of the driving sprocket rotating shaft is fixedly connected with the driving sprocket, the other end of the driving sprocket rotating shaft is connected with the driving sprocket connecting seat in a rotating mode through a bearing, the driven synchronous pulley is connected with the driving sprocket rotating shaft, the circulation synchronous belt is connected between the circulation driving synchronous pulley and the driven synchronous pulley, the first driven sprocket is connected with one end of the upper supporting plate in a rotating mode, the second driven sprocket is connected with the other end of the upper supporting plate in a rotating mode, the third driven sprocket is connected with one end of the lower supporting plate in a rotating mode, the fourth driven sprocket is connected with the middle of the lower supporting plate in a rotating mode, the fifth driven sprocket is connected with the other end of the lower supporting plate in a rotating mode, and the circulation chain is respectively connected with the driving sprocket, the first driven sprocket, the second driven sprocket, the third driven sprocket, the second driven sprocket, the third driven sprocket, the drive sprocket, the second driven sprocket, the third driven sprocket, the middle of the lower supporting plate is connected with the lower supporting plate, the one end of the first driven sprocket is connected with the second driven sprocket, the second driven sprocket is connected with the drive sprocket, the drive sprocket is connected with the drive sprocket, the drive sprocket is connected with the drive sprocket, the drive sprocket is connected with the drive sprocket, the drive sprocket is connected with the drive sprocket, the drive sprocket is connected with the drive sprocket, the drive sprocket is connected with the drive sprocket, the drive sprocket is connected with the drive sprocket, the drive sprocket is connected with the drive sprocket, the drive sprocket is, The tray connecting shaft is fixedly connected with the circulation chain, the trays are rotatably connected with the tray connecting shaft, and the circulation chain is connected with a plurality of trays; a storage basket is placed on each tray; the traveling driving motor is connected with the upper part of the vertical support, the driving wheel is connected with an output shaft of the traveling driving motor, the tensioning wheel is rotatably connected with the upper part of the vertical support, the first traveling wheel is rotatably connected with the upper part of the vertical support through a first traveling wheel rotating shaft, the second traveling wheel is rotatably connected with the upper part of the vertical support through a second traveling wheel rotating shaft, the first synchronous pulley is connected with a first traveling wheel rotating shaft, the second synchronous pulley is connected with a second traveling wheel rotating shaft, and the traveling synchronous belt is respectively connected with the driving wheel, the second synchronous pulley, the tensioning wheel and the first synchronous pulley;
The automatic layer changing device comprises a rectangular frame, a platform lifting driving motor, a middle transmission shaft, a left driving sprocket, a right driving sprocket, a left bearing seat, a right bearing seat, a left tensioning sprocket, a left turning sprocket, a right tensioning sprocket, a right turning sprocket, a speed reducer, a left chain, a right chain, a platform, a left balancing weight, a right balancing weight, a left guide rail, a right guide rail, a left tripod, a right tripod and a limiting wheel, wherein the platform lifting driving motor is connected with the top of the rectangular frame, the speed reducer is connected with the platform lifting driving motor, the middle transmission shaft is connected with the speed reducer, the left bearing seat and the right bearing seat are respectively connected with the top of the rectangular frame, the left end of the middle transmission shaft is connected with the left bearing seat, the right end of the middle transmission shaft is connected with the right bearing seat, the left driving sprocket is connected with the left end of the middle transmission shaft, the right driving chain wheel is connected with the right end of the middle transmission shaft, the left tensioning chain wheel is rotationally connected with the top of the rectangular frame, the left turning chain wheel is rotationally connected with the top of the rectangular frame, the right tensioning chain wheel is rotationally connected with the top of the rectangular frame, the right turning chain wheel is rotationally connected with the top of the rectangular frame, the left chain bypasses the left driving chain wheel, the left tensioning chain wheel and the left turning chain wheel, the right chain bypasses the right driving chain wheel, the right tensioning chain wheel and the right turning chain wheel, the left tripod is fixedly connected with the left side of the platform, the right tripod is fixedly connected with the right side of the platform, the platform is positioned in the rectangular frame, one end of the left chain is fixedly connected with the left tripod, the other end of the left chain is connected with the left balancing weight, one end of the right chain is fixedly connected with the right tripod, and the other end of the right chain is connected with the right balancing weight; the left guide rail is connected with the left side of the rectangular frame, the right guide rail is connected with the right side of the rectangular frame, the left balancing weight is connected with the left guide rail in a sliding mode through a roller, and the right balancing weight is connected with the right guide rail in a sliding mode through a roller; all be connected with spacing round on four angles of platform, spacing round is equipped with the annular, and the annular card on the spacing round is on the arris limit of rectangular frame's stand.
2. The intelligent picking system of claim 1, wherein the picking actuator comprises a motor bracket, a lead screw motor, a nut seat, a lifting plate, a first retractable plate, a second retractable plate, a first synchronous pulley, a second synchronous pulley, a first synchronous belt connecting plate, a first guide rail, a second guide rail, a third synchronous pulley, a fourth synchronous pulley, a third retractable plate, a first synchronous belt, a second synchronous belt connecting plate, a third synchronous belt connecting plate, a fourth synchronous belt connecting plate, a rotary driving motor bracket, a rotary driving motor, a coupling and a self-adaptive sucker, wherein the lead screw motor is connected with the motor bracket, the nut seat is connected with a lead screw of the lead screw motor, one end of the lifting plate is fixedly connected with the nut seat, the other end of the lifting plate is fixedly connected with the first retractable plate, the first synchronous pulley is connected with the upper portion of the first retractable plate, the second synchronous belt wheel is connected with the lower part of the first telescopic plate, the first synchronous belt is connected between the first synchronous belt wheel and the second synchronous belt wheel, the inner side of the first synchronous belt is fixedly connected with the motor support through a first synchronous belt connecting plate, the first guide rail is connected with the motor support, the first telescopic plate is connected with the first guide rail, the second guide rail is connected with the first telescopic plate, the second telescopic plate is connected with the second guide rail, and the outer side of the first synchronous belt is fixedly connected with the upper part of the second telescopic plate through a second synchronous belt connecting plate; the third synchronous belt pulley is connected with the upper part of the second expansion plate, the fourth synchronous belt pulley is connected with the lower part of the second expansion plate, the second synchronous belt is connected between the third synchronous belt pulley and the fourth synchronous belt pulley, the third guide rail is connected with the second expansion plate, the third expansion plate is connected with the third guide rail, the inner side of the second synchronous belt is fixedly connected with the lower part of the first expansion plate through a third synchronous belt connecting plate, and the outer side of the second synchronous belt is fixedly connected with the upper part of the third expansion plate through a fourth synchronous belt connecting plate; the rotary driving motor bracket is fixedly connected with the third telescopic plate, and the rotary driving motor is connected with the rotary driving motor bracket; the self-adaptive sucker comprises an air exhaust connector, an air inlet connector, a base, a flexible suction cup and a connecting block, wherein the base is provided with a central through hole, the flexible suction cup is provided with a plane part and a circular raised part, the plane part is provided with the central through hole and an air hole, the circular raised part is hollow, the circular raised part is provided with an inner cavity, the cross section of the circular raised part is arc-shaped, the air hole of the plane part is communicated with the inner cavity of the circular raised part, and the central through hole of the plane part is communicated with the middle space of the circular raised part; the plane part is fixedly connected with the base, and the central through hole of the base is communicated with the central through hole of the plane part; the air exhaust connector is connected with the side opening of the connecting block, the air exhaust connector is communicated with the air channel in the connecting block, the air inlet connector is connected with the connecting block, and the air inlet connector is inserted into an air hole in the plane part; the upper part of the connecting block is rotationally connected with the third expansion plate through a bearing, and an output shaft of the rotary driving motor is fixedly connected with the upper part of the connecting block through a coupler; the mounting plate of the picking actuator is connected with the sliding block of the first guide rail assembly, and the mounting plate of the picking actuator is connected with a 3 rd synchronous belt through a synchronous belt connecting plate.
3. The intelligent picking system of claim 1 or 2, wherein there are four blades in the root cutting conveyor, being a first blade, a second blade, a third blade, a fourth blade; the root cutting conveying device also comprises a synchronous belt for blade rotation, a synchronous belt wheel for a first blade, a synchronous belt wheel for a second blade, a synchronous belt wheel for a third blade, a synchronous belt wheel for a fourth blade, a first tensioning bearing, a second tensioning bearing, a third tensioning bearing and a fourth tensioning bearing, wherein the outer side wall of the mushroom root storage tank is provided with a first notch, a second notch, a third notch and a fourth notch, the side wall of the blade mounting groove is provided with a first through hole, a second through hole, a third through hole and a fourth through hole, the synchronous belt wheel for the first blade, the synchronous belt wheel for the second blade, the synchronous belt wheel for the third blade and the synchronous belt wheel for the fourth blade are respectively connected with a synchronous belt wheel connecting plate, the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing are respectively connected with the synchronous belt wheel connecting plate, the first tensioning bearing is positioned between the driving synchronous belt wheel for blade rotation and the synchronous belt wheel for the first blade, the second tensioning bearing is positioned between the synchronous pulley for the first blade and the synchronous pulley for the second blade, the third tensioning bearing is positioned between the synchronous pulley for the second blade and the synchronous pulley for the third blade, the fourth tensioning bearing is positioned between the synchronous pulley for the third blade and the synchronous pulley for the fourth blade, the synchronous pulley for the blade rotation, the synchronous pulley for the first blade, the synchronous pulley for the second blade, the synchronous pulley for the third blade and the synchronous pulley for the fourth blade are connected by a synchronous belt for the blade rotation, the synchronous belt for the blade rotation bypasses the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing, the first blade is connected with the synchronous pulley for the first blade, the second blade is connected with the synchronous pulley for the second blade, the third blade is connected with the synchronous pulley for the third blade, and the fourth blade is connected with the synchronous pulley for the fourth blade, the utility model discloses a mushroom root storage groove, including blade mounting groove, first blade, second blade, first blade, second blade, third blade, fourth blade, first blade, second blade, third blade, fourth blade are located the top of mushroom root storage tank, the first breach of mushroom root storage tank lateral wall is just to first blade, and the second breach is just to the second blade, and the third breach is just to the third blade, and the fourth breach is just to the fourth blade.
4. The intelligent picking system according to claim 1 or 2, wherein a light receiver for following is connected to a side of a base of the automatic picking robot, and a first light emitter for following is connected to a vertical support of the unattended receiving device; the light receiver for following is connected with a light screen with a gap, and the first light emitter for following is connected with a light screen with a gap.
5. The intelligent picking system according to claim 4, wherein a light emitter for position detection is connected to the side of the base of the automatic picking robot, and a light shield with a gap is connected to the light emitter for position detection; the vertical support of the unattended receiving device is connected with a light receiver for position detection.
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