CN113966697B - Method for automatically following picking robot by unattended material receiving device - Google Patents

Abstract

The invention relates to a method for an unattended material receiving device to automatically follow a picking robot, which solves the technical problems of low automation degree, low intelligence degree, low collection working efficiency and high labor cost of the existing automatic mushroom picking robot. The invention is widely used for picking mushrooms and the like.

Description

Method for automatically following picking robot by unattended material receiving device

Technical Field

The invention relates to the technical field of automatic mushroom picking, in particular to a method for an unattended material receiving device to automatically follow a picking robot.

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, need to install in the factory mushroom room and rise the temperature, cool down, ventilation and humidification equipment etc. to 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 20-30 m, the width is 6-10 m, the height is 5-6 m, 2-4 rows of multi-layer bed frames can be arranged in the house along the length direction of the mushroom house. The bed frame is made of metal structural section materials, the width of the bed is 1-1.6 meters, the number of layers is 5-6, the layer spacing 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 and the roof is more than 1 meter. The width of the channel between the bed frames is 80-100 cm, and the width of the channel between the bed frame and the wall is 40-80 cm.

After the mushrooms grow to be mature, automatic picking operation is carried out through the automatic picking robot, manpower is saved, efficiency is improved, and cost is reduced. Referring to the utility model patent with the publication number of CN212279177U, an automatic picking robot is disclosed, which mainly works in the process that a sucker vertically moves downwards to the position of a mushroom cap, then sucks the mushroom cap, then the sucker rotates for a certain angle, and finally the sucker 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 picked mushrooms are output from the outlet on the side surface of the base, the subsequent collection work is troublesome, the mushrooms need to be manually collected, the technical defects of low efficiency and high labor cost exist, and the collection work is difficult due to the fact that the multi-layer bed frame is 5-6 meters high.

(2) The picking efficiency of the automatic mushroom picking robot needs to be improved.

(3) The automation degree is low, and the intelligent degree is low.

Disclosure of Invention

The invention provides a method for automatically following a picking robot by an unattended receiving device, aiming at solving the technical problems of low automation degree, low intelligence degree, low collecting work efficiency and high labor cost of the existing automatic mushroom picking robot.

The invention provides a method for an unattended receiving device to automatically follow a picking robot, 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 pallet 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, 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 chain wheel connecting seat is fixedly connected with the top of the vertical support, the flow driving motor is connected with the upper supporting plate, a flow driving synchronous belt wheel is connected with an output shaft of the flow driving motor, one end of a driving chain wheel rotating shaft is fixedly connected with the driving chain wheel, the other end of the driving chain wheel rotating shaft is rotatably connected with the driving chain wheel connecting seat through a bearing, a driven synchronous belt wheel is connected with the driving chain wheel rotating shaft, the flow synchronous belt is connected between the flow driving synchronous belt wheel and the driven synchronous belt wheel, a first driven chain wheel is rotatably connected with one end of the 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 the lower supporting plate, a fourth driven chain wheel is rotatably connected with the middle of the lower supporting plate, a fifth driven chain wheel is rotatably connected with the other end of the lower supporting plate, and a flow chain is respectively connected with the driving chain wheel, the tray connecting shaft is fixedly connected with the circulation chain, the trays are 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 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 vertical support of the unattended receiving device is connected with a light emitter for following, and the light emitter for following is connected with a light screen with a gap;

the method for automatically following the picking robot comprises the following steps:

a light receiver for following is arranged on the side surface of a base of the picking robot, and the unattended material receiving device is arranged on a multilayer bed frame;

the picking robot moves to a certain position on one layer of the multi-layer bed frame;

the walking driving motor of the unattended receiving device is started to enable the unattended receiving device to move horizontally, when the light receiver used for following on the side face of the base of the picking robot receives light emitted by the light emitter used for following on the unattended receiving device, the walking driving motor stops working, and the unattended receiving device stops moving.

The automatic mushroom collecting device has the advantages of being high in automation degree, high in intelligence degree, high in operation efficiency, reliable and stable in operation, capable of achieving unmanned collection operation, automatically matched with the picking robot to work, enabling the picking robot to stay at a certain position to carry out picking operation, enabling the unattended receiving device to move to a certain position to collect mushrooms output by the picking robot, reducing labor cost, free of limitation of the height of a bed frame, and capable of improving mushroom collecting efficiency and effects.

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 the unattended receiving device;

fig. 11 is a perspective view of an unattended receiving device;

fig. 12 is a perspective view of the 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 travelling wheel and the second travelling wheel in fig. 10;

FIG. 18 is an enlarged view of a portion of FIG. 11 at Q;

fig. 19 is a perspective view of an automatic picking robot;

fig. 20 is a top plan view of the automatic picking robot;

fig. 21 is a perspective view of an automatic picking robot;

FIG. 22 is a block diagram of the picking actuator of FIG. 19 attached to a first set of picking arms;

fig. 23 is a perspective view of the root cutting conveyor of the automatic picking robot of fig. 19;

FIG. 24 is a front view of the structure shown in FIG. 23;

FIG. 25 is a left side view of the structure shown in FIG. 23;

FIG. 26 is a right side view of the structure shown in FIG. 23;

FIG. 27 is a schematic view of the root cutting conveyor;

FIG. 28 is a perspective view of the root cutting conveyor;

FIG. 29 is a bottom view of the root cutting conveyor;

FIG. 30 is a schematic view of the blade mounting slot of FIG. 23 with a fourth via hole in the sidewall thereof;

FIG. 31 is an enlarged view of a portion of FIG. 1 where mushroom is collected;

fig. 32 is a perspective view of a picking apparatus 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 driving synchronous pulley, 110, a 1 synchronous belt, 111, a 1 driven synchronous pulley, 112, a blade driving motor, 113, a synchronous pulley connecting plate, 114, a synchronous belt for blade rotation, 115, a first blade, 116, a second blade, 117, a third blade, 118, a fourth blade, 119, a synchronous pulley for the first blade, 120, a synchronous pulley for the second blade, 121, a synchronous pulley for the third blade, 122, a synchronous pulley for the fourth blade, 123, a driving synchronous pulley for rotation of the blades, 124, a first tension bearing, 125, a second tension bearing, 126, a third tension bearing, 127, a fourth tension bearing, 128, a first X-axis mounting plate, 129, a second X-axis mounting plate, 130, a first arm movement driving motor, 131, a 2 nd driving synchronous pulley, 132, a 2 nd driven synchronous pulley, 133, a 2 nd synchronous belt, 134, a synchronous belt connecting plate, 135, a 1 st rail assembly, 136, a 2 nd rail assembly, 137, a first Y-axis mounting plate, 138. a 3 rd guide rail assembly, 139. A first Y-direction movement driving motor, 140. A3 rd driving synchronous pulley, 141. A3 rd synchronous belt, 142. A3 rd driven synchronous pulley, 143. A binocular camera bracket, 144. A binocular camera, 145. A second arm movement driving motor, 146. A4 th driving synchronous pulley, 147. A4 th driven synchronous pulley, 148. A4 th synchronous belt, 149. A second Y-axis mounting plate, 150. A4 th guide rail assembly, 151. A second Y-direction movement driving motor, 152. A5 th driving synchronous pulley, 153. A5 th synchronous belt, 154. A5 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 support 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 support plate 208, a lower support 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 tension pulley 223, a first synchronous pulley 224, a second synchronous pulley 225, a traveling synchronous belt 226, a driven synchronous pulley 226, a mushroom 227, a first light emitter 228 for following, 228-1, a light screen 229, a second light emitter for following 230, a third light emitter for following, a third light emitter 231, a fourth light emitter 232, a light emitter for following, a light screen 234, a light emitter 234, a light receiver 234, a light emitter for following light screen 234, a light emitter for detecting light screen 234, a light emitter for following,

300. the automatic floor changing device comprises a rectangular frame 301, a left chain 313, a platform lifting driving motor 302, a platform 315, a platform 327 and a second position sensor; 400. a multi-layer bed frame;

1. the automatic air suction 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 belt wheel, 8. A second synchronous belt wheel, 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 belt wheel, 15. A third expansion plate, 17. A first synchronous belt, 18. A second synchronous belt, 19. A second synchronous belt connecting plate, 22. A rotary driving motor bracket, 23. A rotary driving motor, 26. An air suction joint, 27. An air inlet joint, 28. A base, 29. A flexible suction cup, 29-2. A circular bulge, 30. A connecting block and 31. An air suction pipe.

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 drive 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 drive sprocket connection seat 209, a circulation drive synchronous pulley 210, a circulation synchronous belt 211, a drive sprocket shaft 212, a drive 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 connection shaft 220, a travel driving motor 221, a tension pulley 222, a first synchronous pulley 223, a second synchronous pulley 224, a travel 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 for following, a first light receiver for position detection, a first light receiver 234 for position detection, a second light receiver for position detection, a sixth light receiver for position detection, a fifth light receiver for detecting a position of a light receiver for detecting a light receiver, a position of a fourth light receiver for detecting a light receiver, the two supporting wheels 202 are rotatably connected with the bottom of the vertical bracket 201, the upper supporting plate 207 is fixedly connected with the upper part of the vertical bracket 201, the lower supporting plate 208 is fixedly connected with the lower part of the vertical bracket 201, the driving sprocket connecting seat 209 is fixedly connected with the top of the vertical bracket 201, the circulation driving motor 205 is fixedly arranged on the upper supporting plate 207, the circulation driving synchronous pulley 210 is connected with an output shaft of the circulation driving motor 205, one end of a driving sprocket rotating shaft 212 is fixedly connected with a driving sprocket 213, the other end of the driving sprocket rotating shaft 212 is rotatably connected with a driving sprocket connecting seat 209 through a bearing, a driven synchronous pulley 226 is connected with the driving sprocket rotating shaft 212, a circulation synchronous belt 211 is connected between a circulation driving synchronous pulley 210 and the driven synchronous pulley 226, a first driven sprocket 214 is rotatably connected with one end of an upper supporting plate 207, a second driven sprocket 215 is rotatably connected with the other end of the upper supporting plate 207, a third driven sprocket 216 is rotatably connected with one end of a lower supporting plate 208, a fourth driven sprocket 217 is rotatably connected with the middle part of the lower supporting plate 208, a fifth driven sprocket 218 is rotatably connected with the other end of the lower supporting plate 208, a 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, a tray 220 is fixedly connected with the circulation chain 206, the tray 219 is rotatably connected with a tray connecting shaft 220, and a plurality of trays 219 are installed on the circulation chain connecting shaft 206; the walking driving motor 221 is fixedly installed at the upper part of the vertical support 201, the driving wheel 203 is connected with an output shaft of the walking driving motor 221, the tension wheel 222 is rotatably connected with the upper part of the vertical support 201, the first walking wheel 204-1 is rotatably connected with the upper part of the vertical support 201 through a first walking wheel rotating shaft, the second walking wheel 204-2 is rotatably connected with the upper part 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 synchronous belt 225 is respectively connected with the driving wheel 203, the second synchronous pulley 224, the tension wheel 222 and the first synchronous pulley 223. There are shown 20 trays 219, one on which a mushroom basket 227 can be placed, for a total of 20.

As shown in fig. 1, 2, 3 and 7, two support wheels 202 abut 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 gap 228-1-1 is formed on the mask 228-1, and the optical fiber emitted by the first light emitter 228 for following is emitted from the gap 228-1-1; similarly, the other five optical fiber emitters for following are also connected with the light shielding plate. The first light receiver 234 for position detection is connected to a light shielding plate 234-1, the light shielding plate 234-1 is provided with a slit, the first light receiver 234 receives an optical fiber passing through the slit on the light shielding plate 234-1, and similarly, the other five light receivers for position detection are also connected to 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 translate, when the light receiver 191 used for following receives light emitted by the second light emitter 229 used for following, a feedback signal is that the external controller (the second light emitter 229 used for following is right opposite to the light receiver 191 used for following), 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 30, 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 synchronization 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 support 143, and a binocular camera 144.

The traveling mechanism is provided with two driving wheels 102 and two driven wheels 103, and a traveling drive motor 104. The 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 storing groove 105-2 and a blade mounting groove 105-3, the outer side wall of the mushroom root storing groove 105-2 is provided with a first notch 105-2-1, a second notch 105-2-2, a third notch 105-2-3 and a fourth notch 105-2-4, the outer side wall of the mushroom root storing groove 105-2 is provided with a first notch 105-3, the first notch 105-1, the second notch 105-2-3, the second notch 105-3, the base plate is connected with the push plate driving synchronous pulley 110, the push plate driving synchronous pulley 106 is connected with the push plate driving synchronous pulley 111, the push plate driving synchronous pulley 106 is connected with the push plate driving synchronous pulley 106 through the first synchronous pulley 111, the second synchronous pulley 106, the other end of the push plate driving synchronous pulley 106, the push plate driving synchronous pulley 106 is connected with the push plate driving synchronous pulley 106, the push plate driving synchronous pulley 111, the second push part 106-2 is located in the mushroom root storage groove 105-2, the slide rail 107 is connected to the side of the mushroom root storage groove 105-1, the first push part 106-1 is connected to the slide rail 107, the blade driving motor 112 is installed at one end of the base plate 105, the timing pulley connecting plate 113 is fixedly connected to the side of the blade mounting groove 105-3, the first blade-use timing pulley 119, the second blade-use timing pulley 120, the third blade-use timing pulley 121, and the fourth blade-use timing pulley 122 are respectively connected to the timing pulley connecting plate 113, the blade-use driving timing pulley 123 is connected to 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 to the timing pulley connecting plate 113, the first tensioning bearing 124 is located between the blade-use driving timing pulley 123 and the first blade-use timing pulley 119 and the second blade-use timing pulley 119, the first tensioning bearing 126 is located between the first blade-use timing pulley 119 and the second blade-use timing pulley 120, the first tensioning bearing 126 is located between the second blade-use timing pulley 119 and the fourth blade-use timing pulley 121, the first blade-use timing pulley 124 is connected to the first blade-use timing pulley 124 and the fourth blade-use timing pulley 124, the second blade 116 is fixedly connected with the center of the second blade timing pulley 120, the third blade 117 is fixedly connected with the center of the third blade timing pulley 121, the fourth blade 118 is fixedly connected with the center of the fourth blade timing pulley 122, a portion of the first blade 115 passes through the first through hole of the blade mounting groove 105-3, a portion of the second blade 116 passes through the second through hole of the blade mounting groove 105-3, a portion of the third blade 117 passes through the third through hole of the blade mounting groove 105-3, and a portion of the fourth blade 118 passes through the fourth through hole 105-3-1 of the blade mounting groove 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 storage tub 105-2. The first notch 105-2-1 of the outer side wall of the mushroom root storing 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 FIGS. 24 and 26, a mushroom discharging opening 101-1 and a root cutting discharging opening 101-2 are formed in the side surface of the base 101, 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 storing 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.

First X-axis mounting plate 128 is fixedly connected with base 101, second X-axis mounting plate 129 is fixedly connected with base 101, first arm motion driving motor 130 is mounted on first X-axis mounting plate 128, 2 nd driving synchronous pulley 131 is connected with the output shaft of first arm motion driving motor 130, 2 nd driven synchronous pulley 132 is connected with first X-axis mounting plate 128, 2 nd synchronous belt 133 is connected between 2 nd driving synchronous pulley 131 and 2 nd driven synchronous pulley 132, 1 st guide rail assembly 135 is connected with first X-axis mounting plate 128, 2 nd guide rail assembly 136 is connected with second X-axis mounting plate 129, the end of first Y-axis mounting plate 137 is connected with 2 nd synchronous belt 133 through synchronous belt connecting plate 134, one end of first Y-axis mounting plate 137 is connected with the sliding block of 1 st guide rail assembly 135, the other end of first Y-axis mounting plate 137 is connected with the sliding block of 2 nd guide rail assembly 136, 3 rd guide rail assembly 138 is connected with first Y-axis mounting plate 137, first Y-direction motion driving motor 139 is connected with first Y-axis mounting plate 137, 3Y-direction synchronous pulley 142 is connected with first driven synchronous pulley 140, and first synchronous pulley 142. 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. 32, the picking actuator comprises 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, a third expansion plate 15, a nut seat, a first synchronous belt 17, a second synchronous belt 18, a second synchronous belt connecting plate 19, a third synchronous belt connecting plate, a fourth synchronous belt connecting plate, a rotary driving motor bracket 22, a rotary driving motor 23, a coupler, a bearing and a self-adaptive sucker. 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 and the name of the self-adaptive sucker and the picking device with the self-adaptive sucker.

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 (picking efficiency is greatly improved), 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 binocular camera, 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 in the direction of fig. 25 through the high-speed rotating fourth blades 118, the fourth blades 118 cut off the roots of the mushrooms, the roots fall into the mushroom root storage groove 105-2, the adaptive suction cups are depressurized so that the mushrooms fall into the mushroom root 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 mushroom root storage groove 105-1 to the discharge opening 101-1, the mushrooms in the discharge groove 105-1 are discharged from the mushroom root 101-1 and fall into the unattended mushroom storage basket of the mushroom root storage device, the mushroom root collection device is pushed out from the second mushroom root storage groove 105-2, and the mushroom root discharge groove 105-2 is pushed out from the ground surface 227.

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 adapted to each layer of the multi-layer bedstead, and the collecting operation is not limited by the height of the bedstead.

Unattended receiving device is not limited to collect mushrooms, and can also be used for collecting other products.

Claims (2)

1. A method for automatically following a picking robot by an unattended receiving device is characterized in that:

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, and the driving sprocket connecting seat is fixedly connected with the top of the vertical support, circulation driving motor is connected with last backup pad, circulation driving synchronous pulley is connected with circulation driving motor's output shaft, the one end and the drive sprocket fixed connection of drive sprocket pivot, the other end of drive sprocket pivot passes through the bearing and is connected with the rotation of drive sprocket connecting seat, driven synchronous pulley is connected with the drive sprocket pivot, the circulation hold-in range is connected between circulation driving synchronous pulley and driven synchronous pulley, first driven sprocket rotates with the one end of last backup pad to be connected, second driven sprocket rotates with the other end of last backup pad to be connected, third driven sprocket rotates with the one end of lower backup pad to be connected, fourth driven sprocket rotates with the middle part of lower backup pad to be connected, fifth driven sprocket rotates with the other end of lower backup pad to be connected, the circulation chain respectively with drive sprocket, first driven sprocket, the one end of lower backup pad rotates with to be connected, circulation chain, the tray connecting shaft is fixedly connected with a circulation chain, the trays are 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 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 rotationally connected with the upper part of the vertical support, the first traveling wheel is rotationally connected with the upper part of the vertical support through a first traveling wheel rotating shaft, the second traveling wheel is rotationally connected with the upper part of the vertical support through a second traveling wheel rotating shaft, the first synchronous pulley is connected with the first traveling wheel rotating shaft, the second synchronous pulley is rotationally connected with the 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 vertical support of the unattended receiving device is connected with a light ray emitter for following, and the light ray emitter for following is connected with a light screen with a gap;

the method for automatically following the picking robot comprises the following steps:

a light receiver for following is arranged on the side surface of a base of the picking robot, and an unattended material receiving device is arranged on a multilayer bed frame;

the picking robot moves to a certain position on one layer of the multi-layer bed frame;

the walking driving motor of the unattended receiving device is started to enable the unattended receiving device to move horizontally, when the light receiver used for following on the side face of the picking robot base receives light emitted by the light emitter used for following on the unattended receiving device, the walking driving motor is stopped working, and the unattended receiving device stops moving.

2. The method for an unattended receiving device to automatically follow a picking robot according to claim 1, wherein a light receiver for position detection is connected to a vertical support of the unattended receiving device, and a light screen with a gap is connected to the light receiver for position detection.

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