CN114747432A - Nondestructive agaricus bisporus picking mechanical arm and picking method thereof - Google Patents

Nondestructive agaricus bisporus picking mechanical arm and picking method thereof Download PDF

Info

Publication number
CN114747432A
CN114747432A CN202210395679.3A CN202210395679A CN114747432A CN 114747432 A CN114747432 A CN 114747432A CN 202210395679 A CN202210395679 A CN 202210395679A CN 114747432 A CN114747432 A CN 114747432A
Authority
CN
China
Prior art keywords
arc
picking
shaped
agaricus bisporus
mushroom
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210395679.3A
Other languages
Chinese (zh)
Other versions
CN114747432B (en
Inventor
黄铭森
万雨洁
李洪昌
张成龙
张东辉
张涛
王胜山
高芳
刘勺华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou Vocational Institute of Mechatronic Technology
Original Assignee
Changzhou Vocational Institute of Mechatronic Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changzhou Vocational Institute of Mechatronic Technology filed Critical Changzhou Vocational Institute of Mechatronic Technology
Priority to CN202210395679.3A priority Critical patent/CN114747432B/en
Publication of CN114747432A publication Critical patent/CN114747432A/en
Application granted granted Critical
Publication of CN114747432B publication Critical patent/CN114747432B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping

Landscapes

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

Abstract

The invention provides a nondestructive agaricus bisporus picking mechanical arm and a picking method thereof, and belongs to the field of agricultural engineering. Solves the problem that the prior equipment is difficult to realize cluster mushroom picking and mushroom damage in the mushroom grabbing process. It includes interconnect's picking claw and the subassembly of bending, the subassembly of bending includes driving step motor, motor mount pad, drive external gear, arc track and arc internal gear strip, the drive external gear is installed on driving step motor's output shaft, driving step motor installs the one side at the motor mount pad, install the arc track on the spacing plane of motor mount pad opposite side, be equipped with arc internal gear strip on the arc track, arc internal gear strip is connected with the meshing of drive external gear, pick claw fixed mounting at the orbital lower extreme of arc. It is mainly used for picking the agaricus bisporus.

Description

Nondestructive agaricus bisporus picking mechanical arm and picking method thereof
Technical Field
The invention belongs to the field of agricultural engineering, and particularly relates to a lossless agaricus bisporus picking mechanical arm and a picking method thereof.
Background
The agaricus bisporus is a fungus which is cultivated and consumed worldwide, has round and regular appearance, no scale, thick pileus, difficult opening of the agaricus bisporus, thick and straight and short stipe, white fungus flesh and thick meat quality. With the continuous development of the agaricus bisporus cultivation technology, the planting process is industrialized, and the uninterrupted production in four seasons can be realized by controlling the environment of mushroom houses. The picking of the agaricus bisporus still needs to be carried out by a large amount of manpower, but the manual picking efficiency is low, the cost is high, and picking workers are at risk of suffering from occupational diseases such as mushroom lung and the like. The mushroom picking robot is used for replacing the manual work, and is one of effective ways for solving the problems.
In order to solve the problems, the Chinese patent with the publication number of CN213523278U discloses a mushroom picking device, which comprises an environment monitoring system, a vehicle body, two groups of guide rails and two groups of mechanical arm devices, wherein the device can move a picking terminal to the position above a target mushroom through the vehicle body and the guide rails, but the invention adopts SRT flexible picking hands to pick the mushroom, so that the picking occupation space is large, and the actual conditions of high-density planting of mushroom beds are not considered; chinese patent publication No. CN205546557U discloses a mushroom picking device, which uses a suction cup to grasp mushroom cap and picks up mushroom by vertical and upward lifting, but the device is only suitable for picking single mushroom, and the force of the mushroom connecting with culture soil cannot be too large, so the adaptability to clump mushrooms is poor. Chinese patent publication No. CN110073904A discloses a mushroom picking robot suitable for multi-layer mushroom bed operation, which includes a picking mechanical arm, a movable lifting platform, and a telescopic rail extending platform, and can adjust the operation height according to the picking target, but its picking terminal also adopts SRT flexible clamping jaws, and this way can effectively reduce the picking damage to mushrooms, but cannot be applied to producing high-density planted mushrooms in factories. The agaricus bisporus has multiple picking periods, the fruiting density of the first 1-3 times is high, and the mushroom bodies depend on the compactness. When picking, whether the target mushroom is mature or not needs to be observed firstly, and attention should be paid to no damage to thalli and surrounding mushrooms in the picking process.
Disclosure of Invention
In view of this, the invention aims to provide a nondestructive agaricus bisporus picking manipulator and a picking method thereof, so as to solve the problem that the existing equipment is difficult to realize cluster mushroom picking and mushroom damage in the mushroom picking process.
In order to realize the purpose, the invention adopts the following technical scheme:
the utility model provides a harmless bisporous mushroom picking manipulator, includes interconnect's picking claw and the subassembly of bending, the subassembly of bending includes drive step motor, motor mount pad, drive external gear, arc track and arc internal gear strip, the drive external gear is installed on drive step motor's output shaft, drive step motor installs the one side at the motor mount pad, install the arc track on the spacing plane of motor mount pad opposite side, be equipped with arc internal gear strip on the arc track, arc internal gear strip is connected with the meshing of drive external gear, pick claw fixed mounting at the orbital lower extreme of arc.
Furthermore, the picking claw comprises a connecting seat, a claw mounting seat, a connecting piston, four fixing fingers and a linear motor, the connecting seat is fixedly connected with the bending assembly, the claw mounting seat is installed at the lower end of the connecting seat, the connecting piston is installed in the claw mounting seat, the connecting piston is connected with the output end of the linear motor, the linear motor is installed at the side end of the connecting seat, and the four fixing fingers are evenly distributed at the lower end of the connecting piston.
Furthermore, four sliding groove shells are uniformly distributed on the paw mounting seat, sliding grooves are formed in the sliding groove shells, and four fixing fingers are respectively slidably mounted in the sliding grooves of the four sliding groove shells.
Furthermore, the upper end of hand claw mount pad is equipped with the piston cavity, piston cavity outside equipartition is equipped with four straight flutes, the lower extreme equipartition of connecting the piston is equipped with four gag lever posts, and four gag lever posts are sliding connection respectively in four straight flutes, the side-mounting of connecting the piston has the drive connecting axle, the drive connecting axle is connected with linear electric motor's output.
Furthermore, the bottom surface of the paw mounting seat is arc-shaped and is provided with an arc-shaped rubber pad, the cross section of the lower end of the paw mounting seat is divided into a straight section, a first arc-shaped transition section and a first circular sliding section, the cross section of the sliding chute shell is divided into a second arc-shaped transition section and a second circular sliding section, the first arc-shaped transition section is identical to the second arc-shaped transition section, and the radius of the first circular sliding section is identical to that of the second circular sliding section.
Furthermore, the fixed finger is provided with a first rigid section, a flexible section and a second rigid section from top to bottom in sequence, the first rigid section is fixedly connected with the limiting rod, the radius of the second rigid section is the same as the radius of the first circular sliding section and the radius of the second circular sliding section, the first rigid section and the second rigid section are concentrically arranged, and the radius of the second rigid section, the radius of the first circular sliding section and the radius of the second circular sliding section are R.
Further, the subassembly of bending still includes spacing flat pad, draws and presses sensor and apron, the apron is installed on the motor mount pad, be equipped with a plurality of arc walls on the arc track, the arc wall has certain central angle alpha, be equipped with the stand of multiunit symmetrical arrangement on the motor mount pad, symmetry stand central line contained angle is gamma, and multiunit stand all takes to be equipped with the step and forms the spacing plane that is used for installing the arc track, the arc track passes through arc wall, spacing flat pad, apron and the common restriction of fastener and installs on the spacing plane of motor mount pad, draw and press the sensor setting to pick between claw and the arc track.
Furthermore, the height H1 of the upright post limit is larger than the thickness B1 of the arc-shaped track.
Furthermore, the curvature of the arc-shaped rubber pad is the same as that of the arc-shaped surface of the bottom surface of the paw mounting seat, the radian of the lower arc-shaped surface of the arc-shaped rubber pad is the same as that of the mushroom cap, and a net surface bulge is arranged on the lower arc-shaped surface of the arc-shaped rubber pad.
A picking method of a lossless agaricus bisporus picking mechanical arm comprises the following steps:
step 1: moving a nondestructive agaricus bisporus manipulator to a position right above mushrooms to be harvested through peripheral equipment, and rotating the manipulator to a proper direction;
And 2, step: the nondestructive agaricus bisporus picking manipulator vertically moves downwards through peripheral equipment, and after an arc-shaped rubber pad contacts the surface of a mushroom cap and a pressure signal of a tension and compression sensor reaches a preset value, a driving stepping motor is started;
and 3, step 3: the driving stepping motor drives the arc-shaped track, the picking claw and the mushrooms to be picked to rotate around the mushroom roots through the driving outer gear;
and 4, step 4: continuously electrifying the driving stepping motor until the variation of the included angle of the axis of the picking claw relative to the vertical position reaches the required value, and picking the mushrooms;
and 5: electrifying the linear motor, extending out the output end of the linear motor, and driving the four fixed fingers to move through the connecting piston, so that the second rigid sections of the fixed fingers surround the mushroom cap, and the mushroom is grabbed;
step 6: lifting the nondestructive agaricus bisporus picking manipulator and the picked agaricus bisporus upwards through peripheral equipment, and reversely driving a stepping motor to return the arc-shaped track to the initial position;
and 7: the nondestructive agaricus bisporus picking mechanical arm and the picked mushrooms are moved to a subsequent working part through peripheral equipment, after the subsequent working procedure is finished, the mechanical arm is moved to the position right above the mushroom collecting box, the fixing finger retracts, and the mushrooms fall into the collecting box under the action of gravity.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the mushroom picking machine, the bending assemblies are adopted, and after mushrooms are clamped by the picking claws, the mushrooms can be separated from the mushroom bed through the bending assemblies, so that the picking success rate is improved, and the mushroom is slightly damaged.
2. According to the mushroom picking machine, the mushroom is picked by adopting the friction force generated between the arc-shaped rubber pad and the mushroom pileus, so that the mechanical damage to the mushroom in the picking process can be avoided, and the economic value of the mushroom is ensured to the greatest extent.
3. The picking finger solves the transportation problem after the mushroom bending action is finished, the picking finger skillfully realizes the grabbing of the mushroom cap through the round tail end of the picking finger, and the mushroom cannot be damaged in the grabbing process.
4. The circle center of the arc-shaped track adopted by the invention is positioned at the joint of the mushroom root and the culture soil, so that the bending picking action similar to that of hands can be realized, the picking success rate is high, and the damage to the mushroom is small.
5. The arc-shaped rails adopted by the invention are symmetrical, so that the adjustment time can be reduced by half at most in the process of adjusting the manipulator to a proper bending direction by peripheral equipment.
6. The mushroom automatic picking machine is provided with the tension and compression sensor, the opening or the ending of the bending action can be controlled by detecting a pressure signal, in addition, the tension and compression sensor can also realize the online weighing of mushrooms, realize the online grading of the mushrooms and provide a foundation for the full-automatic picking of the mushrooms. .
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is an isometric view of a nondestructive agaricus bisporus picking manipulator of the present invention;
fig. 2 is an isometric view of a picking claw according to the present invention;
FIG. 3 is an isometric view of a bending assembly according to the present invention;
FIG. 4 is an isometric view of the connector housing of the present invention;
FIG. 5 is a front view of the paw mounting base of the invention;
FIG. 6 is a cross-sectional view of the paw mounting base of the invention;
FIG. 7 is a top view of the gripper attachment of the present invention;
FIG. 8 is an isometric view of a gripper mounting base of the present invention;
FIG. 9 is a top view of the connecting piston of the present invention;
FIG. 10 is a front view of the connecting piston of the present invention;
FIG. 11 is an isometric view of the connecting piston of the present invention;
FIG. 12 is a front view of the chute housing of the invention;
FIG. 13 is a left side view of the chute housing of the invention;
FIG. 14 is an isometric view of the chute housing of the invention;
FIG. 15 is a front view of the fixed finger of the present invention;
FIG. 16 is a left side view of the fixed finger of the present invention;
FIG. 17 is an isometric view of a fixed finger of the present invention;
FIG. 18 is an exploded view of the arcuate rubber pad of the present invention;
FIG. 19 is a schematic view of the picking jaws of the present invention in an original state;
FIG. 20 is a schematic view of the picking claw grip state of the present invention;
FIG. 21 is a front view of the motor mount of the present invention;
FIG. 22 is a left side view of the motor mount of the present invention;
FIG. 23 is a front view of the arcuate track of the present invention;
FIG. 24 is a left side view of the arcuate track of the present invention;
FIG. 25 is a schematic view of the operation of the contact state of the present invention;
FIG. 26 is a schematic view of the mushroom cap picking and grasping operation after bending according to the present invention.
Fig. 27 is a schematic diagram of the picking of the present invention.
1: picking claws, 2: bending assembly, 1-1: connecting seat, 1-2: paw mounting base, 1-3: connecting piston, 1-4: chute housing, 1-5: fixed finger, 1-6: arc rubber pad, 1-7: linear motor, 1-8: piston cavity, 1-9: straight line segment, 1-10: first arcuate transition section, 1-11: first circular sliding section, 1-12: straight groove, 1-3-1: drive connection shaft, 1-3-2: limiting rod, 1-4-1: second arc transition section, 1-4-2: second circular sliding section, 1-4-3: chute, 1-5-1: first rigid segment, 1-5-2: flexible section, 1-5-3: second rigid section, 2-1: driving a stepping motor, 2-2: motor mount pad, 2-3: drive external gear, 2-4: arc track, 2-5: a limiting flat pad, 2-6: tension and compression sensor, 2-7: cover plate, 2-8: column, 2-9: arc-shaped groove, 2-10: an arc-shaped internal gear strip.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
Referring to fig. 1-24 to illustrate the embodiment, the lossless agaricus bisporus picking manipulator comprises picking claws 1 and a bending assembly 2 which are connected with each other, wherein the bending assembly 2 comprises a driving stepping motor 2-1, a motor mounting seat 2-2, a driving external gear 2-3, an arc-shaped track 2-4, an arc-shaped internal gear strip 2-10, a limiting flat pad 2-5, a tension and compression sensor 2-6 and a cover plate 2-7, the driving external gear 2-3 is mounted on an output shaft of the driving stepping motor 2-1, the driving stepping motor 2-1 is mounted on one side of the motor mounting seat 2-2, the arc-shaped track 2-4 is mounted on a limiting plane on the other side of the motor mounting seat 2-2, the arc-shaped track 2-4 is provided with the arc-shaped internal gear strip 2-10, and the arc-shaped internal gear strip 2-10 is meshed with the driving external gear 2-3, the cover plate 2-7 is installed on the motor installation seat 2-2, a plurality of arc-shaped grooves 2-9 are formed in the arc-shaped track 2-4, a plurality of groups of symmetrically arranged upright posts 2-8 are arranged on the motor installation seat 2-2, the plurality of groups of upright posts 2-8 are provided with steps to form a limiting plane for installing the arc-shaped track 2-4, the arc-shaped track 2-4 is limited and installed on the limiting plane of the motor installation seat 2-2 through the arc-shaped grooves 2-9, the limiting flat pads 2-5, the cover plate 2-7 and fasteners, the tension and compression sensor 2-6 is fixedly installed at the lower end of the arc-shaped track 2-4, and the connecting seat 1-1 is connected with the tension and compression sensor 2-6.
The nondestructive agaricus bisporus picking manipulator vertically moves downwards through peripheral equipment, after a picking claw 1 contacts the surface of a mushroom cap and a pressure signal of a tension and compression sensor 2-6 reaches a preset value, a driving stepping motor 2-1 is started to drive a driving external gear 2-3 to rotate, an arc internal gear strip 2-10 is in meshing transmission with the driving external gear 2-3, the picking claw can be driven to rotate around the root of the mushroom through an arc track 2-4 and realize the bending action of the mushroom, the direction indicated by an arc shear head shown in figure 27 is the bending direction, the tension and compression sensor 2-6 is arranged at the lower end of the arc track 2-4 and used for detecting the stress change of the lower end of the sensor, when the pressure borne by the mushroom reaches the preset value, the bending component 2 can be started to realize the bending of the mushroom, and the tension and compression sensor 2-6 can also be used for on-line weighing after the mushroom is picked, the mushroom is classified on line, and a foundation is provided for the full-automatic mushroom picking.
Furthermore, the picking claw 1 comprises a connecting seat 1-1, a claw mounting seat 1-2, a connecting piston 1-3, four fixing fingers 1-5 and a linear motor 1-7, the connecting seat 1-1 is fixedly connected with the bending component 2, the claw mounting seat 1-2 is installed at the lower end of the connecting seat 1-1, the connecting piston 1-3 is installed in the claw mounting seat 1-2, the connecting piston 1-3 is connected with the output end of the linear motor 1-7, the linear motor 1-7 is installed at the side end of the connecting seat 1-1, and the four fixing fingers 1-5 are uniformly distributed at the lower end of the connecting piston 1-3.
After the mushrooms are separated from the mushroom bed, the linear motors 1-7 are started, the connecting pistons 1-3 push the four fixing fingers 1-5 to move downwards to grab the mushrooms, and the roots of the mushrooms are in a fracture state, so that the lossless agaricus bisporus picking mechanical arm and the picked mushrooms are lifted upwards through peripheral equipment, the picking success rate can be improved, the damage to the mushrooms is small, the mechanical arm can be installed on a mushroom picking robot to serve as an execution terminal of the mushroom picking mechanical arm to replace manual picking and achieve automation of mushroom picking, and the risk that picking workers suffer from occupational diseases such as mushroom lungs and the like can be avoided.
Furthermore, the limiting height of the upright posts 2-8 is greater than the thickness of the arc-shaped tracks 2-4, so that the planar motion of the arc-shaped tracks 2-4 in a limiting plane can be ensured.
Furthermore, four sliding groove shells 1-4 are uniformly distributed on the paw mounting seat 1-2, sliding grooves 1-4-3 are arranged in the sliding groove shells 1-4, four fixed fingers 1-5 are respectively and slidably mounted in the sliding grooves 1-4-3 of the four sliding groove shells 1-4, a piston cavity 1-8 is arranged at the upper end of the paw mounting seat 1-2, four straight grooves 1-12 are uniformly distributed on the outer side of the piston cavity 1-8, four limiting rods 1-3-2 are uniformly distributed at the lower end of the connecting piston 1-3, the four limiting rods 1-3-2 are respectively and slidably connected in the four straight grooves 1-12, a driving connecting shaft 1-3-1 is mounted on the side surface of the connecting piston 1-3, the driving connecting shaft 1-3-1 is connected with the output end of the linear motor 1-7, the bottom surface of the paw mounting seat 1-2 is arc-shaped and is provided with an arc-shaped rubber pad 1-6, the cross section of the lower end of the paw mounting seat 1-2 is divided into a straight line section 1-9, a first arc-shaped transition section 1-10 and a first circular sliding section 1-11, the cross section of the sliding chute shell 1-4 is divided into a second arc-shaped transition section 1-4-1 and a second circular sliding section 1-4-2, the first arc-shaped transition section 1-10 is the same as the second arc-shaped transition section 1-4-1, the first circular sliding section 1-11 is the same as the second circular sliding section 1-4-2, a first rigid section 1-5-1, a flexible section 1-5-2 and a second rigid section 1-5-3 are sequentially arranged from top to bottom of a fixed finger 1-5, the first rigid section 1-5-1 is fixedly connected with a limiting rod 1-3-2, the radius of the second rigid section 1-5-3 is the same as the radius of the first circular sliding section 1-11 and the radius of the second circular sliding section 1-4-2, and the second rigid section and the second circular sliding section are concentrically arranged.
When the linear motor 1-7 is started, the connecting piston 1-3 is driven to slide downwards in the piston cavity 1-8 by driving the connecting shaft 1-3-1, the first rigid section 1-5-1 of the fixed finger 1-5 can move downwards due to the fact that the fixed finger 1-5 is limited in the sliding groove 1-4-3 of the sliding groove shell 1-4, the flexible section 1-5-2 of the fixed finger 1-5 is forced to deform, the fixed finger 1-5 slides downwards along a cavity formed by the sliding groove shell 1-4 and the surface of the paw mounting seat 1-2, the second rigid section 1-5-3 is driven to rotate around the circle center, the mushroom cap can be effectively grabbed after the four fixed fingers 1-5 extend out simultaneously, and the fixed finger can be favorably grabbed through the first arc-shaped transition section 1-10 and the second arc-shaped transition section 1-4-1 1-5. the flexible segments 1-5-2 move smoothly in the cavity.
The curvature of the arc-shaped rubber pad 1-6 is the same as that of the bottom surface of the paw mounting seat 1-2, the radian of the lower arc surface of the arc-shaped rubber pad 1-6 is the same as that of the mushroom cap, and the lower arc surface of the arc-shaped rubber pad 1-6 is provided with a net surface bulge which can increase the friction force with the surface of the mushroom cap.
Further, the radius of a reference circle of 2-10 of the arc-shaped internal gear strip is equal to the sum of the length of the lower arc surface of the reference circle to 1-6 of the arc-shaped rubber gasket and the average height of mushrooms, and the expression is shown as follows:
Rpe＝Lpe+Hm
In the formula, RpeIs the reference circle radius, L, of the arc-shaped internal gear rackpeIs the length from the reference circle of the arc-shaped internal gear strip to the lower arc surface of the arc-shaped rubber pad HmIs the average height of the mushrooms.
A picking method of a lossless agaricus bisporus picking mechanical arm comprises the following steps:
step 1: moving a nondestructive agaricus bisporus manipulator to a position right above the mushrooms to be harvested through peripheral equipment, and rotating the manipulator to a proper direction;
step 2: the nondestructive agaricus bisporus picking manipulator vertically moves downwards through peripheral equipment, and when the arc-shaped rubber pads 1-6 contact the surface of the mushroom cap and pressure signals of the tension and compression sensors 2-6 reach preset values, as shown in figure 24, positive pressure F exists between the arc-shaped rubber pads 1-6 and the mushroom surface componentNStarting a driving stepping motor 2-1;
and step 3: the step motor 2-1 is driven to drive the arc-shaped track 2-4, the picking claw 1 and the mushrooms to be picked to rotate around the mushroom roots through the outer driving gear 2-3, and the mushroom picking claw is driven to rotate through positive pressure F between the arc-shaped rubber pad 1-6 and the mushroom surfacesNGenerating a tangential frictional force FfThe friction creates a moment that causes the mushroom to rotate about its point O and its stipe to break off from its root system;
and 4, step 4: continuously electrifying the driving stepping motor 2-1 until the variation beta of the included angle of the axis of the picking claw 1 relative to the vertical position reaches (alpha-gamma)/2, and picking the mushrooms at the moment;
And 5: electrifying the linear motor 1-7, extending the output end of the linear motor 1-7, and driving the four fixed fingers to move by the connecting piston 1-3, so that the second rigid section 1-5-3 of the fixed finger 1-5 surrounds the mushroom cap, thereby realizing the grabbing of the mushroom
Step 6: lifting the lossless agaricus bisporus picking manipulator and the picked agaricus bisporus upwards through peripheral equipment, and simultaneously reversely driving the stepping motor 2-1 to return the arc-shaped track 2-4 to the initial position;
and 7: and (3) moving the lossless agaricus bisporus picking mechanical arm and the picked mushrooms to a subsequent working part through peripheral equipment, after the subsequent working procedure is finished, moving the mechanical arm to a position right above the mushroom collecting box, retracting the fixing fingers 1-5, and allowing the mushrooms to fall into the collecting box under the action of gravity.
The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention.

Claims (10)

1. The utility model provides a manipulator is picked to harmless bisporous mushroom which characterized in that: comprises a picking claw (1) and a bending component (2), wherein the bending component (2) comprises a driving stepping motor (2-1), a motor mounting seat (2-2), a driving external gear (2-3), an arc-shaped track (2-4) and an arc-shaped internal gear strip (2-10), the driving external gear (2-3) is arranged on an output shaft of the driving stepping motor (2-1), the driving stepping motor (2-1) is arranged on one side of the motor mounting seat (2-2), the arc-shaped track (2-4) is arranged on a limiting plane on the other side of the motor mounting seat (2-2), the arc-shaped internal gear strip (2-10) is arranged on the arc-shaped track (2-4), and the arc-shaped internal gear strip (2-10) is meshed with the driving external gear (2-3), the picking claw (1) is fixedly arranged at the lower end of the arc-shaped track (2-4).
2. The manipulator for picking up agaricus bisporus without damage according to claim 1, wherein: the picking claw (1) comprises a connecting seat (1-1), a paw mounting seat (1-2), a connecting piston (1-3), four fixing fingers (1-5) and a linear motor (1-7), the connecting seat (1-1) is fixedly connected with the lower end of the arc-shaped track (2-4), the paw mounting seat (1-2) is arranged at the lower end of the connecting seat (1-1), the connecting piston (1-3) is arranged in the paw mounting seat (1-2), the connecting piston (1-3) is connected with the output end of the linear motor (1-7), the linear motor (1-7) is arranged at the side end of the connecting seat (1-1), and the four fixing fingers (1-5) are uniformly distributed at the lower end of the connecting piston (1-3).
3. The nondestructive agaricus bisporus picking manipulator of claim 2, wherein: four sliding groove shells (1-4) are uniformly distributed on the paw mounting seat (1-2), sliding grooves (1-4-3) are arranged in the sliding groove shells (1-4), and four fixing fingers (1-5) are respectively and slidably mounted in the sliding grooves (1-4-3) of the four sliding groove shells (1-4).
4. The nondestructive agaricus bisporus picking manipulator of claim 3, wherein: the gripper mounting seat is characterized in that a piston cavity (1-8) is arranged at the upper end of the gripper mounting seat (1-2), four straight grooves (1-12) are uniformly distributed in the outer side of the piston cavity (1-8), four limiting rods (1-3-2) are uniformly distributed at the lower end of the connecting piston (1-3), the four limiting rods (1-3-2) are respectively connected in the four straight grooves (1-12) in a sliding mode, a driving connecting shaft (1-3-1) is mounted on the side face of the connecting piston (1-3), and the driving connecting shaft (1-3-1) is connected with the output end of the linear motor (1-7).
5. The nondestructive agaricus bisporus picking manipulator of claim 4, wherein: the gripper mounting seat is characterized in that the bottom surface of the gripper mounting seat (1-2) is arc-shaped and is provided with an arc-shaped rubber pad (1-6), the cross section of the lower end of the gripper mounting seat (1-2) is divided into a straight section (1-9), a first arc-shaped transition section (1-10) and a first circular sliding section (1-11), the cross section of the sliding groove shell (1-4) is divided into a second arc-shaped transition section (1-4-1) and a second circular sliding section (1-4-2), the first arc-shaped transition section (1-10) is identical to the second arc-shaped transition section (1-4-1), and the first circular sliding section (1-11) is identical to the second circular sliding section (1-4-2).
6. The nondestructive agaricus bisporus picking manipulator of claim 5, wherein: the fixing finger (1-5) is sequentially provided with a first rigid section (1-5-1), a flexible section (1-5-2) and a second rigid section (1-5-3) from top to bottom, the first rigid section (1-5-1) is fixedly connected with a limiting rod (1-3-2), and the radius of the second rigid section (1-5-3) is the same as that of the first circular sliding section (1-11) and the second circular sliding section (1-4-2) and is concentrically arranged.
7. The nondestructive agaricus bisporus picking manipulator of claim 1, wherein: the bending assembly (2) further comprises a limiting flat pad (2-5), a tension and compression sensor (2-6) and a cover plate (2-7), the cover plate (2-7) is installed on the motor installation seat (2-2), a plurality of arc-shaped grooves (2-9) are formed in the arc-shaped track (2-4), a plurality of groups of symmetrically arranged upright posts (2-8) are arranged on the motor installation seat (2-2), steps are arranged on the plurality of groups of upright posts (2-8) to form a limiting plane for installing the arc-shaped track (2-4), the arc-shaped track (2-4) is limited and installed on the limiting plane of the motor installation seat (2-2) through the arc-shaped grooves (2-9), the limiting flat pad (2-5), the cover plate (2-7) and a fastener, the tension and compression sensor (2-6) is fixedly installed at the lower end of the arc-shaped track (2-4), the tension and compression sensors (2-6) are arranged between the picking claw (1) and the arc-shaped tracks (2-4).
8. The nondestructive agaricus bisporus picking manipulator of claim 7, wherein: the limiting height of the upright posts (2-8) is greater than the thickness of the arc-shaped tracks (2-4).
9. The nondestructive agaricus bisporus picking manipulator of claim 5, wherein: the cambered surface curvature of the bottom surfaces of the arc-shaped rubber pads (1-6) and the paw mounting seats (1-2) is the same, the radian of the lower cambered surfaces of the arc-shaped rubber pads (1-6) is the same as that of the mushroom cap, and the lower cambered surfaces of the arc-shaped rubber pads (1-6) are provided with net surface bulges.
10. The picking method of the nondestructive agaricus bisporus picking manipulator of claim 1, wherein: the method comprises the following steps:
step 1: moving a nondestructive agaricus bisporus manipulator to a position right above the mushrooms to be harvested through peripheral equipment, and rotating the manipulator to a proper direction;
step 2: vertically moving the nondestructive agaricus bisporus picking manipulator downwards through peripheral equipment, and starting a driving stepping motor (2-1) after an arc-shaped rubber pad (1-6) contacts the surface of a mushroom cap and a pressure signal of a tension and compression sensor (2-6) reaches a preset value;
and step 3: the driving stepping motor (2-1) drives the arc-shaped track (2-4), the picking claw (1) and the mushrooms to be picked to rotate around the mushroom roots by driving the external gear (2-3);
And 4, step 4: continuously electrifying the driving stepping motor (2-1) until the variation of the included angle of the axis of the picking claw (1) relative to the vertical position reaches the required value, and picking the mushrooms;
and 5: electrifying the linear motor (1-7), extending the output end of the linear motor (1-7), and driving the four fixed fingers to move through the connecting piston (1-3), so that the second rigid section (1-5-3) of the fixed finger (1-5) surrounds the mushroom cap, and the mushroom is grabbed;
and 6: lifting the lossless agaricus bisporus picking manipulator and the picked agaricus bisporus upwards through peripheral equipment, and simultaneously reversely driving a stepping motor (2-1) to return the arc-shaped track (2-4) to the initial position;
and 7: the nondestructive agaricus bisporus picking mechanical arm and the picked mushrooms are moved to a subsequent working part through peripheral equipment, after the subsequent working procedure is finished, the mechanical arm is moved to the position right above the mushroom collecting box, the fixing fingers (1-5) are retracted, and the mushrooms fall into the collecting box under the action of gravity.
CN202210395679.3A 2022-04-15 2022-04-15 Nondestructive agaricus bisporus picking manipulator and picking method thereof Active CN114747432B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210395679.3A CN114747432B (en) 2022-04-15 2022-04-15 Nondestructive agaricus bisporus picking manipulator and picking method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210395679.3A CN114747432B (en) 2022-04-15 2022-04-15 Nondestructive agaricus bisporus picking manipulator and picking method thereof

Publications (2)

Publication Number Publication Date
CN114747432A true CN114747432A (en) 2022-07-15
CN114747432B CN114747432B (en) 2023-07-28

Family

ID=82331677

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210395679.3A Active CN114747432B (en) 2022-04-15 2022-04-15 Nondestructive agaricus bisporus picking manipulator and picking method thereof

Country Status (1)

Country Link
CN (1) CN114747432B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN209185263U (en) * 2018-07-12 2019-08-02 河北工业大学 A kind of agaricus bisporus picking machine and its control system
CN111011112A (en) * 2019-12-24 2020-04-17 上海第二工业大学 Two-section type lifting self-adaptive flexible picking mechanism
CN111543258A (en) * 2020-05-09 2020-08-18 吉林大学 Damage-proof bionic manipulator for mushroom picking
CN112970525A (en) * 2021-04-12 2021-06-18 南京农业大学 Harmless electronic flexible hand claw of picking
CN213800074U (en) * 2020-12-04 2021-07-27 江苏海龙风电科技有限公司 Ocean engineering positioning anchoring device
CN214077415U (en) * 2020-10-26 2021-08-31 烟台名岳模塑有限公司 Spraying manipulator capable of being flexibly adjusted
CN113602793A (en) * 2021-07-21 2021-11-05 常州机电职业技术学院 Automatic part grabbing device is used between metaplasia workshop
CN113940238A (en) * 2021-09-29 2022-01-18 中国农业科学院农业信息研究所 Intelligent picking robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN209185263U (en) * 2018-07-12 2019-08-02 河北工业大学 A kind of agaricus bisporus picking machine and its control system
CN111011112A (en) * 2019-12-24 2020-04-17 上海第二工业大学 Two-section type lifting self-adaptive flexible picking mechanism
CN111543258A (en) * 2020-05-09 2020-08-18 吉林大学 Damage-proof bionic manipulator for mushroom picking
CN214077415U (en) * 2020-10-26 2021-08-31 烟台名岳模塑有限公司 Spraying manipulator capable of being flexibly adjusted
CN213800074U (en) * 2020-12-04 2021-07-27 江苏海龙风电科技有限公司 Ocean engineering positioning anchoring device
CN112970525A (en) * 2021-04-12 2021-06-18 南京农业大学 Harmless electronic flexible hand claw of picking
CN113602793A (en) * 2021-07-21 2021-11-05 常州机电职业技术学院 Automatic part grabbing device is used between metaplasia workshop
CN113940238A (en) * 2021-09-29 2022-01-18 中国农业科学院农业信息研究所 Intelligent picking robot

Also Published As

Publication number Publication date
CN114747432B (en) 2023-07-28

Similar Documents

Publication Publication Date Title
CN111543258B (en) Damage-proof bionic manipulator for mushroom picking
CN108407911B (en) Automatic tree climbing device and tree climbing method thereof
CN112792841B (en) Intelligent control movable robotic arm
CN107852952B (en) Comb-brushing profiling wolfberry picking end effector
CN110073904B (en) Mushroom picking robot suitable for operation of multilayer mushroom beds
CN111011112A (en) Two-section type lifting self-adaptive flexible picking mechanism
CN214628194U (en) Frame-type tomato picking robot based on image recognition
CN108124561B (en) A kind of the hole tray Strawberry Seedlings transplant robot and its working method of high ridge cultivation
CN109819774A (en) Intelligent coconut picking robot
CN206501129U (en) Spacing can adjust clamping jaw structure
CN114451223A (en) Low-loss bionic agaricus bisporus picking mechanical arm and picking method
CN114747432A (en) Nondestructive agaricus bisporus picking mechanical arm and picking method thereof
CN114946539A (en) Self-adaptive nondestructive agaricus bisporus picking mechanical arm and picking method thereof
CN204634348U (en) A kind of Plug seedling greenhouse transplanting machine many end effector mechanisms elevator
CN106818057A (en) A kind of intelligent vegetables picking robot
CN218499615U (en) Bidirectional strawberry picking robot
CN211197811U (en) Manipulator device and feeding machine
CN116638533A (en) Flexible manipulator is picked to interval adjustable fruit
CN211152794U (en) Broccoli picking mechanical claw suitable for various flower stalk lengths
CN211406880U (en) Gauze type kiwi fruit picking machine based on greenhouse planting
CN205313013U (en) A slip table operating system for matrimony vine picking mechanism
CN110352706B (en) Pineapple harvester
CN210898324U (en) Length-adjustable three-core wire distribution device
CN209806478U (en) Grabbing mechanism
CN213214398U (en) Six-degree-of-freedom robot end effector for grabbing spherical fruits

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant