CN114747432B - Nondestructive agaricus bisporus picking manipulator and picking method thereof - Google Patents
Nondestructive agaricus bisporus picking manipulator and picking method thereof Download PDFInfo
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- CN114747432B CN114747432B CN202210395679.3A CN202210395679A CN114747432B CN 114747432 B CN114747432 B CN 114747432B CN 202210395679 A CN202210395679 A CN 202210395679A CN 114747432 B CN114747432 B CN 114747432B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/70—Harvesting
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- 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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- 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
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Abstract
The invention provides a nondestructive agaricus bisporus picking manipulator and a picking method thereof, and belongs to the field of agricultural engineering. Solves the problem that the prior equipment is difficult to realize the damage to mushrooms in the process of picking the clustered mushrooms. The picking claw comprises a picking claw body and a bending assembly which are connected with each other, the bending assembly comprises a driving stepping motor, a motor mounting seat, a driving external gear, an arc track and an arc internal gear strip, the driving external gear is mounted on an output shaft of the driving stepping motor, the driving stepping motor is mounted on one side of the motor mounting seat, the arc track is mounted on a limiting plane on the other side of the motor mounting seat, the arc internal gear strip is arranged on the arc track, the arc internal gear strip is meshed with the driving external gear, and the picking claw body is fixedly mounted at the lower end of the arc track. It is mainly used for picking agaricus bisporus.
Description
Technical Field
The invention belongs to the field of agricultural engineering, and particularly relates to a nondestructive agaricus bisporus picking manipulator and a picking method thereof.
Background
Agaricus bisporus is a fungus cultivated and consumed worldwide, has round and regular appearance, no scales, thick fungus cover, difficult umbrella opening, thick and straight fungus handle, white fungus meat and thick meat. Along with the continuous development of the agaricus bisporus cultivation technology, the cultivation process of the agaricus bisporus is industrialized, and the continuous production throughout the year can be realized through the environmental control of the mushroom house. The agaricus bisporus is picked by a large amount of manpower, but the efficiency of manual picking is low, the cost is high, and the picking workers have the risk of suffering from occupational diseases such as 'mushroom lung'. The use of mushroom picking robots instead of manual work is one of the effective ways to solve the above problems.
In order to solve the problems, chinese patent publication No. 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 above a target mushroom through the vehicle body and the guide rails, but the invention adopts SRT flexible picking hands to pick, the picking occupation space is large, and the practical condition of high-density planting of mushroom beds is not considered; the Chinese patent publication No. CN205546557U discloses a mushroom picking device, which adopts a sucker to realize the grabbing of mushroom caps and simultaneously performs picking in combination with vertical upward lifting and pulling action, but the device is only suitable for picking single mushrooms, and the connection force between the mushrooms and culture soil cannot be too large, so that the device has poor adaptability to clustered mushrooms. The Chinese patent publication No. CN110073904A discloses a mushroom picking robot suitable for multi-layer mushroom bed operation, which comprises a picking mechanical arm, a movable lifting platform and a telescopic guide rail stretching platform, wherein the operation height can be adjusted according to a picking target, but the picking terminal adopts SRT flexible clamping jaws, and the mode can effectively reduce the picking damage to mushrooms, but cannot be applied to mushrooms planted in high density in factory production. The agaricus bisporus has multiple picking periods, and fruiting density of the first 1-3 times is higher, and the fruiting bodies are closely dependent. In picking, it is first necessary to observe whether the target mushroom is mature or not, and care should be taken not to damage the thalli and surrounding mushrooms during picking.
Disclosure of Invention
In view of the above, 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 the picking of clustered mushrooms and the damage to the mushrooms in the process of picking the mushrooms.
In order to achieve the above purpose, the present 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, drive external gear installs on drive step motor's output shaft, drive step motor installs one side of 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 drive external gear meshing, picking claw fixed mounting is at the orbital lower extreme of arc.
Still further, picking claw includes connecting seat, paw mount pad, connecting piston, four fixed fingers and linear motor, connecting seat and subassembly fixed connection of bending, the lower extreme at the connecting seat is installed to the paw mount pad, connecting piston installs in the paw mount pad, connecting piston is connected with linear motor's output, linear motor installs the side at the connecting seat, and four fixed fingers equipartition are at the lower extreme of connecting piston.
Furthermore, the paw mounting seat is uniformly provided with four chute shells, a chute is arranged in each chute shell, and four fixing fingers are respectively and slidably arranged in the chute of each chute shell.
Furthermore, the upper end of paw mount pad is equipped with the piston cavity, piston cavity outside equipartition is equipped with four straight slots, the lower extreme equipartition of connecting the piston is equipped with four gag lever posts, and four gag lever posts sliding connection respectively in four straight slots, the side-mounting of connecting the piston has the drive connecting axle, the drive connecting axle is connected with linear motor's output.
Still further, the paw mount pad bottom surface is the arc and installs the arc rubber pad, paw mount pad lower extreme cross section divide into straightway, first arc changeover portion and first circular slip section, spout casing cross section divide into second arc changeover portion and second circular slip section, first arc changeover portion is the same with the second arc changeover portion, first circular slip section is the same with the circular slip section radius of second.
Furthermore, the fixing finger is sequentially provided with a first rigid section, a flexible section and a second rigid section from top to bottom, the first rigid section is fixedly connected with the limiting rod, the radius of the second rigid section is identical to and concentric with the radius of the first circular sliding section and the radius of the second circular sliding section, and the radii of the second rigid section, the first circular sliding section and the second circular sliding section are R.
Still further, the subassembly of bending still includes spacing flat pad, draws pressure sensor and apron, the apron is installed on the motor mount pad, be equipped with a plurality of arc grooves on the arc track, the arc groove has certain central angle alpha, be equipped with multiunit symmetrical arrangement's stand on the motor mount pad, symmetry stand central line contained angle is gamma, multiunit stand all takes and is equipped with the step and form the spacing plane that is used for installing the arc track, the arc track passes through arc groove, spacing flat pad, apron and fastener limit jointly installs on the spacing plane of motor mount pad, draw pressure sensor setting is picked between claw and the arc track.
Further, the upright post limiting height H1 is larger than the thickness B1 of the arc-shaped track.
Further, the cambered surface curvature of the cambered rubber pad and the cambered surface curvature of the bottom surface of the paw mounting seat are the same, the lower cambered surface of the cambered rubber pad and the radian of the mushroom fungus cover are the same, and the lower cambered surface of the cambered rubber pad is provided with a net surface bulge.
A picking method of a nondestructive agaricus bisporus picking manipulator comprises the following steps:
step 1: the nondestructive agaricus bisporus manipulator is moved to the position right above the mushrooms to be picked through peripheral equipment, and the manipulator is rotated to a proper direction;
step 2: the nondestructive agaricus bisporus picking manipulator is vertically moved downwards through peripheral equipment, and a stepping motor is started to be driven after the arc rubber pad contacts the surface of the mushroom cap and the pressure signal of the pulling and pressing sensor reaches a preset value;
step 3: the driving stepping motor drives the arc-shaped track, the picking claw and the mushrooms to be picked to rotate around the root of the mushrooms through the driving external gear;
step 4: continuously powering on the driving stepping motor until the variation of the included angle of the axis of the picking claw relative to the vertical position reaches a required value, and then picking the mushrooms;
step 5: the linear motor is electrified, the output end of the linear motor extends out, and the four fixing fingers are driven to move through the connecting piston, so that the second rigid sections of the fixing fingers surround the mushroom cap, and the mushrooms are 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 enable the arc-shaped track to return to an initial position;
step 7: and moving the nondestructive agaricus bisporus picking manipulator and the acquired agaricus bisporus to a subsequent working part through peripheral equipment, and after the subsequent working procedure is finished, moving the manipulator to the position right above the agaricus bisporus collecting box and retracting the fixing fingers, wherein the agaricus bisporus falls 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 assembly is adopted, after the mushrooms are clamped by the picking claws, the mushrooms and the mushroom beds can be separated through the bending assembly, so that the picking success rate is improved, and the mushrooms are less damaged.
2. According to the invention, the mushrooms are picked by adopting the friction force generated between the arc-shaped rubber pad and the mushroom cap, so that the mechanical damage to the mushrooms in the picking process can be avoided, and the economic value of the mushrooms is ensured to the greatest extent.
3. The picking finger adopted by the invention solves the transportation problem after the bending action of the mushrooms is finished, and the picking finger skillfully realizes the grabbing of the mushroom caps through the round tail ends of the picking finger, so that the mushrooms are not 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 a human hand can be realized, the picking success rate is high, and the damage to mushrooms is small.
5. The arc-shaped track adopted by the invention is symmetrical, and the adjustment time can be reduced by at most half in the process of adjusting the manipulator to a proper bending direction by the peripheral equipment.
6. The invention is provided with the tension and compression sensor, the opening or the ending of the bending action can be controlled by detecting the pressure signal, in addition, the tension and compression sensor can also realize the on-line weighing of mushrooms, realize the on-line grading of mushrooms, and can provide a foundation for the full-automatic picking of mushrooms. .
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is an isometric view of a nondestructive bisporous mushroom picking manipulator according to the present invention;
FIG. 2 is an isometric view of a picking claw according to the invention;
FIG. 3 is an isometric view of a bending assembly according to the present invention;
FIG. 4 is an isometric view of a connector housing of the present invention;
FIG. 5 is a front view of the pawl mount of the present invention;
FIG. 6 is a cross-sectional view of the pawl mount of the present invention;
FIG. 7 is a top view of the pawl mount of the present invention;
FIG. 8 is an isometric view of the pawl mount 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 a connecting piston of the present invention;
FIG. 12 is a front view of the chute housing of the present invention;
FIG. 13 is a left side view of the chute housing of the invention;
FIG. 14 is an isometric view of a chute housing of the invention;
FIG. 15 is a front view of a stationary finger of the present invention;
FIG. 16 is a left side view of the stationary finger of the present invention;
FIG. 17 is an isometric view of a stationary finger of the present invention;
FIG. 18 is an exploded view of an arcuate rubber pad of the present invention;
FIG. 19 is a schematic view of the picking claw of the invention in the as-is state;
FIG. 20 is a schematic view of the picking claw of the present invention in a gripping position;
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 an 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 diagram of the operation of picking and grabbing mushroom caps after bending.
Fig. 27 is a picking principle of the invention.
1: picking claw, 2: bending assembly, 1-1: connecting seat, 1-2: paw mount pad, 1-3: connecting pistons, 1-4: chute housing, 1-5: fixed fingers, 1-6: arc rubber pad, 1-7: linear motor, 1-8: piston cavity, 1-9: straight line segment, 1-10: first arc changeover portion, 1-11: first circular sliding section, 1-12: straight groove, 1-3-1: drive connecting axle, 1-3-2: limit rod, 1-4-1: second arc changeover portion, 1-4-2: second circular sliding section, 1-4-3: chute, 1-5-1: first rigid segment, 1-5-2: flexible segment, 1-5-3: second rigid segment, 2-1: driving a stepping motor, 2-2: motor mount pad, 2-3: driving external gear, 2-4: arc track, 2-5: limit flat pad, 2-6: pulling and pressing sensor, 2-7: cover plate, 2-8: upright post, 2-9: arc groove, 2-10: arc-shaped internal gear strips.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that, in the case of no conflict, embodiments of the present invention and features of the embodiments may be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.
Referring to fig. 1-24 for illustrating the embodiment, a nondestructive bisporous mushroom picking manipulator comprises a picking claw 1 and a bending component 2 which are connected with each other, 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 track 2-4, an arc internal gear strip 2-10, a limiting flat pad 2-5, a pulling and pressing 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 limiting plane on the other side of the motor mounting seat 2-2 is provided with an arc track 2-4, the arc track 2-4 is provided with an arc internal gear strip 2-10, the arc internal gear strip 2-10 is in meshed connection with the driving external gear 2-3, the cover plate 2-7 is mounted on the motor mounting seat 2-2, the arc track 2-4 is provided with a plurality of arc grooves 2-9, the motor mounting seat 2-2 is provided with a plurality of groups of symmetrically arranged stand columns 2-8, each group of stand columns 2-8 is provided with steps to form a limit plane for mounting the step, and the limit pad 2-4 is mounted on the limit flat pad 2-4 and the limit pad 2-4 is mounted on the arc seat 2-4, and the limit plane is connected with the limit pad 2-4 through the limit flat pad 2-6, and the limit pad 2-4 is mounted on the limit plane 2-4.
The nondestructive agaricus bisporus picking manipulator vertically moves downwards through peripheral equipment, after the picking claw 1 contacts the surface of the mushroom cap, and after the pressure signal of the pulling and pressing sensor 2-6 reaches a preset value, the driving stepping motor 2-1 is started to drive the driving external gear 2-3 to rotate, the arc-shaped internal gear bar 2-10 is meshed with the driving external gear 2-3 to drive, the picking claw can be driven to rotate around the root of the mushroom through the arc-shaped track 2-4 to realize bending action of the mushroom, the direction pointed by the arc-shaped shear head shown in fig. 27 is a bending direction, the lower end of the arc-shaped track 2-4 is provided with the pulling and pressing sensor 2-6 for detecting the stress change of the lower end of the sensor, after the pressure of the mushroom reaches the preset value, the bending assembly 2 can be started to realize bending of the mushroom, and the pulling and pressing sensor 2-6 can also be used for realizing on-line weighing after the mushroom is picked, so as to realize on-line grading of the mushroom and provide a foundation for full-automatic mushroom picking.
Further, the picking claw 1 comprises a connecting seat 1-1, a claw mounting seat 1-2, a connecting piston 1-3, four fixed fingers 1-5 and a linear motor 1-7, wherein the connecting seat 1-1 is fixedly connected with the bending component 2, the claw 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 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 arranged at the side end of the connecting seat 1-1, and the four fixed fingers 1-5 are uniformly distributed at the lower end of the connecting piston 1-3.
After the mushrooms are separated from the mushroom beds, the linear motor 1-7 is started, the connecting piston 1-3 pushes the four fixed fingers 1-5 to move downwards to grab the mushrooms, and as the roots of the mushrooms are in a fracture state, the nondestructive agaricus bisporus picking manipulator and the acquired mushrooms are lifted upwards through peripheral equipment, so that the picking success rate can be improved, the mushrooms are less damaged, the manipulator can be installed on the mushroom picking robot to serve as an executing terminal of the mushroom picking manipulator, so that manual picking is replaced, mushroom picking automation is realized, and the risk that picking workers suffer from occupational diseases such as mushroom lungs can be avoided.
Further, the limiting height of the upright posts 2-8 is larger than the thickness of the arc-shaped rails 2-4, so that the planar movement of the arc-shaped rails 2-4 in a limiting plane can be ensured.
Further, four chute shells 1-4 are uniformly distributed on the paw mounting seat 1-2, a chute 1-4-3 is arranged in the chute shell 1-4, four fixed fingers 1-5 are respectively and slidably arranged in the chute 1-4-3 of the four chute 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 limit rods 1-3-2 are uniformly distributed at the lower end of the connecting piston 1-3, the four limit rods 1-3-2 are respectively and slidably connected in the four straight grooves 1-12, a driving connecting shaft 1-3-1 is arranged 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 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, the fixed 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 the 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.
When the linear motor 1-7 is started, the connecting shaft 1-3-1 is driven to drive the connecting piston 1-3 to slide downwards in the piston cavity 1-8, and as the fixed finger 1-5 is limited in the sliding groove 1-4-3 of the sliding groove shell 1-4, the first rigid section 1-5-1 of the fixed finger 1-5 can move downwards, meanwhile, 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 of the cavity, and further, the four fixed fingers 1-5 can effectively grasp mushroom caps after being stretched out simultaneously, and the flexible section 1-5-2 of the fixed finger 1-5 can smoothly move in the cavity through the first arc transition section 1-10 and the second arc transition section 1-4-1.
The curvature of the cambered surface of the bottom surface 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 cambered surface of the arc-shaped rubber pad 1-6 is the same as that of the mushroom cap, and the lower cambered surface of the arc-shaped rubber pad 1-6 is provided with a net surface bulge, so that the friction force with the surface of the mushroom cap can be increased.
Further, the radius of the indexing circle of the arc-shaped internal gear strips 2-10 is equal to the sum of the length of the cambered surface under the indexing circle-arc-shaped rubber pads 1-6 and the average height of mushrooms, and the expression is shown as the following formula:
R pe ＝L pe +H m
wherein R is pe For the radius of the indexing circle of the arc-shaped internal gear strip, L pe For the length from the reference circle of the arc-shaped internal gear strip to the lower cambered surface of the arc-shaped rubber pad, H m Is the average height of the mushrooms.
A picking method of a nondestructive agaricus bisporus picking manipulator comprises the following steps:
step 1: the nondestructive agaricus bisporus manipulator is moved to the position right above the mushrooms to be picked through peripheral equipment, and the manipulator is rotated to a proper direction;
step 2: the nondestructive agaricus bisporus picking manipulator is vertically moved downwards through peripheral equipment, and after the arc-shaped rubber pad 1-6 contacts the surface of the mushroom cap and the pressure signal of the pulling and pressing sensor 2-6 reaches a preset value, as shown in fig. 24, at the moment, positive pressure F exists between the arc-shaped rubber pad 1-6 and the mushroom surface piece N Starting and driving the stepping motor 2-1;
step (a)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 root of the mushrooms through the driving external gear 2-3, and the positive pressure F between the arc-shaped rubber pad 1-6 and the surfaces of the mushrooms is used N Generating tangential friction force F f The friction creates a moment that causes the mushroom to rotate about its O-point and causes its petiole to break with its root system;
step 4: continuously powering on 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 then picking the mushrooms;
step 5: the linear motor 1-7 is electrified, the output end of the linear motor 1-7 stretches out, and the four fixed fingers are driven to move through the connecting piston 1-3, so that the second rigid section 1-5-3 of the fixed fingers 1-5 surrounds the mushroom cap, and the mushrooms are grabbed
Step 6: lifting the nondestructive agaricus bisporus picking manipulator and the picked agaricus bisporus upwards through peripheral equipment, and reversely driving the stepping motor 2-1 to enable the arc-shaped track 2-4 to return to an initial position;
step 7: and moving the nondestructive agaricus bisporus picking manipulator and the acquired mushrooms to a subsequent working part through peripheral equipment, after the subsequent working procedure is finished, moving the manipulator to the position right above the mushroom collection box, retracting the fixing fingers 1-5, and enabling the mushrooms to fall into the collection box under the action of gravity.
The embodiments of the invention disclosed above are intended only to help illustrate 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 understand and utilize the invention.
Claims (6)
1. A nondestructive bisporous mushroom picking manipulator is characterized in that: the picking claw comprises a picking claw (1) and a bending assembly (2), 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 track (2-4) and an arc internal gear strip (2-10), 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 track (2-4) is mounted on a limiting plane on the other side of the motor mounting seat (2-2), the arc track (2-4) is provided with the arc internal gear strip (2-10), the arc internal gear strip (2-10) is meshed with the driving external gear (2-3), the picking claw (1) is fixedly mounted at the lower end of the arc track (2-4), the picking claw (1) comprises a connecting seat (1-1), a claw mounting seat (1-2), a connecting piston (1-3), four fixed finger motors (1-5) and a linear motor (1-7) are mounted on the limiting plane on the other side of the motor mounting seat (2-3) and the arc track (1-4) in meshed connection mode, the utility model discloses a hand claw mounting seat (1-2) is installed in the lower extreme of connecting seat (1-1), connecting piston (1-3) is installed in hand claw mounting seat (1-2), connecting piston (1-3) is connected with the output of linear electric motor (1-7), linear electric motor (1-7) are installed in the side of connecting seat (1-1), four fixed finger (1-5) equipartition is at the lower extreme of connecting piston (1-3), hand claw mounting seat (1-2) equipartition is equipped with four spout casings (1-4), be equipped with spout (1-4-3) in spout casing (1-4), four fixed finger (1-5) slidable mounting are in spout (1-4-3) of four spout casings (1-4) respectively, hand claw mounting seat (1-2) bottom surface is the arc and installs arc rubber pad (1-6), hand claw mounting seat (1-2) lower extreme is divided into straightaway section (1-9), first changeover portion (1-10) and second changeover portion (1-4) circular section cross section, circular section (1-4) cross section (1-4) and circular section (1-4), 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), the arc-shaped rubber pad (1-6) is the same as the cambered surface curvature of the bottom surface of the paw mounting seat (1-2), the lower cambered surface of the arc-shaped rubber pad (1-6) is the same as the radian of the mushroom cap, and the lower cambered surface of the arc-shaped rubber pad (1-6) is provided with a net surface bulge.
2. The nondestructive bisporous mushroom picking manipulator of claim 1, wherein: the upper end of paw mount pad (1-2) is equipped with piston cavity (1-8), piston cavity (1-8) outside equipartition is equipped with four straight flute (1-12), the lower extreme equipartition of connecting piston (1-3) is equipped with four gag lever posts (1-3-2), and four gag lever posts (1-3-2) sliding connection respectively are in four straight flute (1-12), drive connecting axle (1-3-1) are installed to the side of connecting piston (1-3), drive connecting axle (1-3-1) is connected with the output of linear electric motor (1-7).
3. The nondestructive bisporous mushroom picking manipulator of claim 1, 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 the limiting rod (1-3-2), and the radius of the second rigid section (1-5-3) is identical to the radius of the first circular sliding section (1-11) and the radius of the second circular sliding section (1-4-2) and is concentrically arranged.
4. The nondestructive bisporous mushroom picking manipulator of claim 1, wherein: the bending assembly (2) further comprises a limiting flat pad (2-5), a pulling and pressing 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 upright posts (2-8) which are symmetrically arranged 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 installed on the limiting plane of the motor installation seat (2-2) in a limiting mode through the arc-shaped grooves (2-9), the limiting flat pad (2-5), the cover plate (2-7) and a fastening piece, the pulling and pressing sensor (2-6) is fixedly installed at the lower end of the arc-shaped track (2-4), and the pulling and pressing sensor (2-6) is arranged between the picking claw (1) and the arc-shaped track (2-4).
5. The nondestructive bisporous mushroom picking manipulator of claim 4, wherein: the limit height of the upright posts (2-8) is larger than the thickness of the arc-shaped track (2-4).
6. The picking method of the nondestructive bisporous mushroom picking manipulator as claimed in claim 1, which is characterized in that: it comprises the following steps:
step 1: the nondestructive agaricus bisporus manipulator is moved to the position right above the mushrooms to be picked through peripheral equipment, and the manipulator is rotated to a proper direction;
step 2: the nondestructive agaricus bisporus picking manipulator is vertically moved downwards through peripheral equipment, and after the arc-shaped rubber pad (1-6) contacts the surface of the mushroom cap and the pressure signal of the pulling and pressing sensor (2-6) reaches a preset value, the stepping motor (2-1) is started to be driven;
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 root of the mushrooms through the driving external gear (2-3);
step 4: continuously powering on 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 a required value, and then picking the mushrooms;
step 5: the linear motor (1-7) is electrified, the output end of the linear motor (1-7) stretches out, and the four fixed fingers are driven to move through the connecting piston (1-3), so that the second rigid section (1-5-3) of the fixed fingers (1-5) surrounds the mushroom cap, and the mushrooms are grabbed;
step 6: lifting the nondestructive agaricus bisporus picking manipulator and the picked agaricus bisporus upwards through peripheral equipment, and reversely driving the stepping motor (2-1) to enable the arc-shaped track (2-4) to return to the initial position;
step 7: and moving the nondestructive agaricus bisporus picking manipulator and the acquired mushrooms to subsequent working parts through peripheral equipment, after the subsequent working procedure is finished, moving the manipulator to the position right above the mushroom collection box, retracting the fixing fingers (1-5), and enabling the mushrooms to fall into the collection box under the action of gravity.
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 |
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| CN202210395679.3A CN114747432B (en) | 2022-04-15 | 2022-04-15 | Nondestructive agaricus bisporus picking manipulator and picking method thereof |
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| CN114747432B true CN114747432B (en) | 2023-07-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN111543258B (en) * | 2020-05-09 | 2022-01-28 | 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 |
| CN113940238B (en) * | 2021-09-29 | 2022-08-16 | 中国农业科学院农业信息研究所 | Intelligent picking robot |
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