CN115462279A - End effector of mushroom bud thinning robot and bud thinning method - Google Patents
End effector of mushroom bud thinning robot and bud thinning method Download PDFInfo
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- CN115462279A CN115462279A CN202111087710.9A CN202111087710A CN115462279A CN 115462279 A CN115462279 A CN 115462279A CN 202111087710 A CN202111087710 A CN 202111087710A CN 115462279 A CN115462279 A CN 115462279A
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- 235000001674 Agaricus brunnescens Nutrition 0.000 title claims abstract description 130
- 239000012636 effector Substances 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 98
- 239000001963 growth medium Substances 0.000 claims abstract description 16
- 238000000926 separation method Methods 0.000 claims abstract description 7
- 241000233866 Fungi Species 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000005553 drilling Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000029058 respiratory gaseous exchange Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/60—Cultivation rooms; Equipment therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mycology (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a mushroom bud thinning robot end effector, which comprises a direction adjusting mechanism, a swinging mechanism, a separating mechanism and a removing mechanism, wherein the swinging mechanism is connected below the direction adjusting mechanism, the swinging mechanism is connected with the separating mechanism and the removing mechanism, and the direction adjusting mechanism is used for adjusting the bud thinning direction; the swinging mechanism is used for swinging the roots of the mushrooms to loosen the mushrooms on the culture medium; the separation mechanism is used for fixing the mushrooms and separating the mushrooms to be subjected to bud thinning from the culture medium; the removing mechanism is used for removing the mushrooms fixed on the separating mechanism, so that bud thinning is performed for a new time. Has the following advantages: the bud thinning and removing integrated operation of mushroom selectivity is realized, and the bud thinning machine has the advantages of high bud thinning efficiency, stable performance, no influence on other mushroom individuals and the like.
Description
Technical Field
The invention belongs to the field of agricultural robots, and relates to an end effector of a mushroom bud thinning robot and a bud thinning method, which are used for realizing selective bud thinning and removal of various mushrooms without influencing surrounding mushroom individuals.
Background
The planting of fungus mushroom class crop generally goes on the mushroom bed, and the position of fruiting on the mushroom bed is completely random, consequently can cause the condition that fungus mushroom density distribution is uneven, and if the density is too big, the fungus mushroom can extrude each other, on the one hand, can influence the healthy growth of fungus mushroom, and on the other hand, the commodity looks of fungus mushroom is not good, influences its price and grading, consequently need carry out selective bud thinning and remove and can not influence fungus mushroom growth around it to it.
Aiming at the problems that bud thinning is difficult in the existing mushroom management, the bud thinning is basically performed manually, time and labor are wasted, the production benefit is reduced, and the like, the end effector of the mushroom bud thinning robot and the bud thinning method are urgently needed to be invented, automatic operation of bud thinning of mushrooms is realized, and the bud thinning efficiency is improved.
Disclosure of Invention
The invention aims to solve the technical problems, provides the end effector of the fungus mushroom bud thinning robot and the bud thinning method, realizes the selective bud thinning and removal integrated operation of fungus mushrooms, and has the advantages of high bud thinning efficiency, stable performance, no influence on other fungus mushroom individuals and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
the end effector of the mushroom bud thinning robot comprises a direction adjusting mechanism, a swinging mechanism, a separating mechanism and a removing mechanism, wherein the swinging mechanism is connected below the direction adjusting mechanism, the swinging mechanism is connected with the separating mechanism and the removing mechanism, and the direction adjusting mechanism is used for adjusting the bud thinning direction; the swinging mechanism is used for swinging the roots of the mushrooms to loosen the mushrooms on the culture medium; the separation mechanism is used for fixing the mushrooms and separating the mushrooms to be subjected to bud thinning from the culture medium; the removing mechanism is used for removing the mushrooms fixed on the separating mechanism, so that bud thinning is performed for a new time.
Furthermore, the steering mechanism comprises a steering engine, a steering wheel and a steering support, the steering engine is fixed on a base at the tail end of a mechanical arm of the robot, the steering engine is connected with the steering wheel through an output shaft, the steering wheel is fixedly connected with the steering support, other components of an end effector are connected below the steering support, the steering engine drives the steering wheel and the steering support to rotate, and therefore the end effector is driven to rotate to complete steering.
Furthermore, swing mechanism includes arc rack and pinion, and arc rack distributes down the part and has the tooth, and the pinion meshes with the tooth of arc rack lower part, and the pinion is connected with swing motor, and swing motor drive pinion rotates.
Furthermore, a groove-shaped track is arranged on the side face of the arc-shaped rack, a sliding block is installed in the groove-shaped track, and the sliding block can slide along the groove-shaped track.
Furthermore, the swing mechanism further comprises an L-shaped connecting plate, one end of the L-shaped connecting plate is fixedly connected with a swing motor, the other end of the L-shaped connecting plate is fixedly connected with a sliding block, the small gear is driven by the swing motor to rotate, the sliding block is driven to slide along the groove-shaped track, and the reciprocating swing of the L-shaped connecting plate is realized.
Furthermore, separating mechanism includes gear motor and threaded rod, and gear motor installs on L type connecting plate, gear motor output shaft and threaded rod fixed connection.
Further, the removing mechanism comprises a lifting device, and the lifting device is fixed on the arc-shaped rack.
Furthermore, the lifting device comprises a connecting frame, a lifting steering engine and a lifting plate, the connecting frame is fixed on the arc-shaped rack, the lifting steering engine is fixed on the connecting frame, and the lifting plate is connected with the lifting steering engine.
Furthermore, open the slot in the middle of the board of lifting for pass the threaded rod and contact the fungus mushroom that is fixed in on the threaded rod, be used for promoting fungus mushroom along the threaded rod rising.
Furthermore, the removing mechanism further comprises a blade and air suction pipes, the blade is installed at the lower end of the L-shaped connecting plate and fixed on two sides of the upper portion of the threaded rod, and the air suction pipes are installed at the lower end of the L-shaped connecting plate, located on the opposite side of the lifting device and externally connected to an air suction pump for providing suction.
A bud thinning method of an end effector of a mushroom bud thinning robot comprises the following steps:
step one, direction adjustment: according to the size and distribution characteristics of mushroom caps, the bud thinning direction of the mushrooms to be bud thinned is determined, and when the end effector is moved to the position above the center of the mushroom caps of the mushrooms to be bud thinned, the steering engine is turned to synchronously rotate, so that the swinging mechanism is turned to the determined bud thinning direction;
step two, a drilling process: ensuring that the threaded rod is in a vertical state at the moment, driving the threaded rod to rotate by the speed reducing motor, and synchronously moving the end effector downwards from the upper part of the center of the mushroom cap to enable the threaded rod to drill mushroom in the vertical direction and stably contact the mushroom;
step three, shaking: the swing motor drives the pinion to rotate, and drives the mushrooms to swing back and forth along the bud thinning direction through the threaded rod, so that the connection between the mushroom roots and the culture medium is loosened;
step four, separation process: the swinging mechanism is righted, the threaded rod is in a vertical state, the end effector moves upwards, the mushroom is separated from the culture medium, and the separated mushroom is fixed on the threaded rod;
step five, removing process: the removal mechanism drives the lifting plate to rotate through the lifting steering engine, a groove is formed in the middle of the lifting plate and is used for penetrating the threaded rod and contacting mushroom fixed on the threaded rod, the separated mushroom is pushed to ascend along the threaded rod, and when the mushroom is pushed to the air suction pipe opening position, the mushroom is broken by the blade and is sucked away by the air suction pipe, and the mushroom is removed.
By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:
1. the threaded rod is rotated to drill the mushrooms for bud thinning, and because the diameter of the threaded rod is far smaller than that of the mushrooms, not only can the mushrooms around the threaded rod not be affected, but also the mushrooms are tightly fixed, so that the mushrooms can be conveniently shaken by a subsequent swinging mechanism, and the effect of killing two birds with one stone is achieved;
2. the bud thinning direction is adjusted through the direction adjusting mechanism, the swinging mechanism is enabled to rotate to the determined bud thinning direction, the mushroom is shaken towards the direction with a space around the mushroom, the connection between the root of the mushroom and the culture medium is loosened, and the effect on other mushroom individuals around the mushroom is avoided;
3. lifting the mushroom through the lifting device, promoting to separate the mushroom and being broken by the blade when rising to the mouth of pipe position of breathing in along the threaded rod to be siphoned away by the contralateral breathing pipe, accomplish the bud thinning and the integrated operation of removing of mushroom, can not leave the culture medium that the residue pollutes the fruiting bed.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic structural diagram of an end effector of a mushroom bud thinning robot according to the present invention;
FIG. 2 is a front view of an end effector of a mushroom bud thinning robot according to the present invention;
FIG. 3 is a side view of an end effector of a mushroom bud thinning robot according to the present invention;
FIG. 4 is a schematic diagram of the bud thinning direction of mushroom according to the present invention;
in the figure: 1. a steering engine; 2. a rudder wheel; 3. a steering bracket; 4. a slider; 5. an arc-shaped rack; 6. a pinion gear; 7. a swing motor; 8. an L-shaped connecting plate; 9. an air suction pipe; 10. a connecting frame; 11. a reduction motor; 12. lifting the steering engine; 13. a lifting plate; 14. a blade; 15. a threaded rod.
Detailed Description
The steering mechanism comprises a steering engine 1, a steering wheel 2 and a steering support 3, the steering engine 1 is fixed on a base at the tail end of a mechanical arm of the robot, the steering engine 1 is connected with the steering wheel 2 through an output shaft, the steering wheel 2 is fixedly connected with the steering support 3, other components of an end effector are connected below the steering support, the steering engine 1 drives the steering wheel 2 and the steering support 3 to rotate, other components of the end effector are driven to rotate, and then the swinging direction of bud thinning is adjusted.
The swing mechanism comprises an arc-shaped rack 5, an L-shaped connecting plate 8, a swing motor 7, a pinion 6 and a sliding block 4, the arc-shaped rack 5 is fixed at the lower end of the steering bracket 3, a groove-shaped track is arranged on the side face of the arc-shaped rack 5, teeth are distributed on the lower portion of the arc-shaped rack 5, the pinion 6 is meshed with the teeth on the lower portion of the arc-shaped rack 5, the pinion 6 is connected with the swing motor 7 and drives the pinion 6 to rotate, and the sliding block 4 is installed on the groove-shaped track and can slide along the groove-shaped track; one end of the L-shaped connecting plate 8 is fixedly connected with the swing motor 7, and the other end of the L-shaped connecting plate is fixedly connected with the sliding block 4; the swing mechanism drives the pinion 6 to rotate through the swing motor 7, drives the sliding block 4 to slide along the groove-shaped track, and realizes reciprocating swing of the L-shaped connecting plate 8.
The separating mechanism comprises a speed reducing motor 11 and a threaded rod 15, the speed reducing motor 11 is installed on the L-shaped connecting plate 8, and an output shaft of the speed reducing motor 11 is fixedly connected with the threaded rod 15; the separating mechanism is driven by the speed reducing motor 11 to enable the threaded rod 15 to rotate, and the threaded rod 15 drills into the mushrooms to be bud-thinned in the descending process of the end effector and is tightly contacted with the mushrooms through threads.
The removing mechanism comprises a lifting device, a blade 14 and an air suction pipe 9, the lifting device comprises a connecting frame 10, a lifting steering engine 12 and a lifting plate 13, the connecting frame 10 is fixed on one side end face of the arc-shaped rack 5, the lifting steering engine 12 is fixed on the connecting frame 10, the lifting plate 13 is connected with the lifting steering engine 12, a groove is formed in the middle of the lifting plate 13 and used for penetrating through a threaded rod 15 and contacting mushroom fixed on the threaded rod 15 and used for pushing the mushroom to ascend along the threaded rod 15, the blade 14 is installed at the lower end of an L-shaped connecting plate 8 and fixed on two sides of the upper portion of the threaded rod 15, the air suction pipe 9 is installed at the lower end of the L-shaped connecting plate 8 and located on the opposite side of the lifting device, and the air suction pipe 9 is externally connected with an air suction pump and used for providing suction force.
The invention relates to a bud thinning method of an end effector of a mushroom bud thinning robot, which comprises the following steps:
step one, direction adjustment: according to the size and distribution characteristics of mushroom caps, the bud thinning direction and angle of the mushrooms to be bud thinned are determined, and when the end effector is moved to the position above the center of the mushroom caps to be bud thinned, the steering engine 1 is turned to synchronously rotate, so that the swinging mechanism is turned to the determined bud thinning direction;
step two, drilling in: ensuring that the threaded rod 15 is in a vertical state at the moment, driving the threaded rod 15 to rotate by the speed reducing motor 12, and synchronously moving the end effector downwards from the upper part of the center of the mushroom cap to enable the threaded rod 15 to drill mushroom in the vertical direction and stably contact the mushroom;
step three, shaking process: the swing motor 7 drives the pinion 6 to rotate, and drives the mushrooms to swing back and forth along the bud thinning direction through the threaded rod 15, so that the connection between the mushroom roots and the culture medium is loosened;
step four, separation process: the swinging mechanism is adjusted to be normal, the threaded rod 15 is in a vertical state, the end effector moves upwards, the mushroom is separated from the culture medium, and the separated mushroom is fixed on the threaded rod 15;
step five: the removing mechanism drives the lifting plate 13 to rotate through the lifting steering engine 12, a groove is formed in the middle of the lifting plate 13 and used for penetrating the threaded rod 15 and contacting mushroom fixed on the threaded rod 15, the separated mushroom is pushed to ascend along the threaded rod 15, and when the mushroom is pushed to the position of the opening of the air suction pipe 9, the mushroom is broken by the blade 14 and is sucked away by the air suction pipe 9, so that the mushroom is removed.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. End effector of fungus mushroom bud thinning robot, its characterized in that: comprises a direction adjusting mechanism, a swinging mechanism, a separating mechanism and a removing mechanism;
the swing mechanism is connected with the direction adjusting mechanism, the separating mechanism and the removing mechanism, the swing mechanism is fixed at the lower end of the direction adjusting mechanism, the separating mechanism is fixed at the lower end of the swing mechanism, and the removing mechanism is positioned on one side of the swing mechanism;
the direction adjusting mechanism is used for adjusting the bud thinning direction of the swinging mechanism, the separating mechanism drills into mushroom and stably contacts the mushroom after the direction is adjusted, the swinging mechanism is used for shaking the root of the mushroom contacted with the separating mechanism to enable the mushroom to loosen on a culture medium, the separating mechanism is used for fixing the mushroom to be bud thinned and separating the mushroom from the culture medium, and the mushroom separated by the separating mechanism is removed through the removing mechanism.
2. The end effector of a mushroom bud thinning robot as set forth in claim 1, wherein: the steering mechanism comprises a steering engine (1), a steering wheel (2) and a steering support (3), the steering engine (1) is fixed on a base at the tail end of a mechanical arm of the robot, the steering engine (1) is connected with the steering wheel (2) through an output shaft, the steering wheel (2) is fixedly connected with the steering support (3), the lower end of the steering support (3) is connected with other components of an end effector, the steering engine (1) drives the steering wheel (2) and the steering support (3) to rotate, and therefore the steering is completed by the rotation of the end effector.
3. The end effector of a mushroom bud thinning robot as claimed in claim 2, wherein: the swing mechanism comprises an arc-shaped rack (5) and a pinion (6), the arc-shaped rack (5) is fixed at the lower end of the steering support (3), teeth are distributed on the lower portion of the arc-shaped rack (5), the pinion (6) is meshed with the teeth on the lower portion of the arc-shaped rack (5), the pinion (6) is connected with a swing motor (7), and the swing motor (7) drives the pinion (6) to rotate.
4. The end effector of a mushroom bud thinning robot as claimed in claim 3, wherein: a groove-shaped track is arranged on the side face of the arc-shaped rack (5), a sliding block (4) is installed in the groove-shaped track, and the sliding block (4) can slide along the groove-shaped track.
5. The end effector of a mushroom bud thinning robot as claimed in claim 4, wherein: the swing mechanism further comprises an L-shaped connecting plate (8), one end of the L-shaped connecting plate (8) is fixedly connected with a swing motor (7), the other end of the L-shaped connecting plate is fixedly connected with a sliding block (4), the small gear (6) is driven to rotate through the swing motor (7), the sliding block (4) is driven to slide along the groove-shaped track, and the L-shaped connecting plate (8) swings in a reciprocating mode.
6. The end effector of a mushroom bud thinning robot as set forth in claim 5, wherein: the separating mechanism comprises a speed reducing motor (11) and a threaded rod (15), the speed reducing motor (11) is installed on the L-shaped connecting plate (8), and an output shaft of the speed reducing motor (11) is fixedly connected with the threaded rod (15).
7. The end effector of a mushroom bud thinning robot as claimed in claim 6, wherein: the removing mechanism comprises a lifting device, the lifting device is fixed on the arc-shaped rack (5), the lifting device comprises a connecting frame (10), a lifting steering engine (12) and a lifting plate (13), the connecting frame (10) is fixed on the arc-shaped rack (5), and the lifting steering engine (12) is fixed on the connecting frame (10).
8. The end effector of a mushroom bud thinning robot as claimed in claim 7, wherein: the lifting plate (13) is connected with an output shaft of the lifting steering engine (12), and a groove is formed in the middle of the lifting plate (13) and used for penetrating through a threaded rod (15) and contacting mushroom fixed on the threaded rod (15) to push the mushroom to ascend along the threaded rod (15).
9. The end effector of a mushroom bud thinning robot according to claim 7, wherein: the removing mechanism further comprises a blade (14) and an air suction pipe (9), the blade (14) is installed at the lower end of the L-shaped connecting plate (8) and fixed to two sides of the upper portion of the threaded rod (15), and the air suction pipe (9) is installed at the lower end of the L-shaped connecting plate (8), located on the opposite side of the lifting device and externally connected with an air suction pump for providing suction.
10. A bud thinning method of an end effector of a mushroom bud thinning robot is characterized in that: the bud thinning method is applied to the end effector of the mushroom bud thinning robot as claimed in any one of claims 1 to 9, and comprises the following steps:
step one, direction adjustment: according to the size and the distribution characteristics of mushroom caps, the bud thinning direction of the mushrooms to be bud thinned is determined, the end effector is moved to reach the position above the center of the mushroom caps of the mushrooms to be bud thinned, and the action of the direction adjusting mechanism is synchronously controlled, so that the swinging mechanism rotates to the determined bud thinning direction;
step two, drilling in: ensuring that the separation mechanism drills into the mushrooms along the vertical direction and stably contacts the mushrooms;
step three, shaking: the swinging mechanism acts to drive the mushrooms to swing back and forth along the bud thinning direction, and the connection between the mushroom roots and the culture medium is loosened;
step four, separation process: controlling the swinging mechanism to return to the right position, moving the end effector upwards to separate the mushrooms from the culture medium, and fixing the separated mushrooms on the separating mechanism;
step five, removing process: the removal mechanism drives the lifting plate to rotate through the lifting steering engine, a groove is formed in the middle of the lifting plate and is used for penetrating the threaded rod and contacting mushroom fixed on the threaded rod, the separated mushroom is pushed to ascend along the threaded rod, and when the mushroom is pushed to the air suction pipe opening position, the mushroom is broken by the blade and is sucked away by the air suction pipe, and the mushroom is removed.
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|---|---|---|---|
| CN202111087710.9A CN115462279B (en) | 2021-09-16 | 2021-09-16 | End effector of mushroom bud thinning robot and bud thinning method |
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| CN202111087710.9A CN115462279B (en) | 2021-09-16 | 2021-09-16 | End effector of mushroom bud thinning robot and bud thinning method |
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| CN115462279A true CN115462279A (en) | 2022-12-13 |
| CN115462279B CN115462279B (en) | 2024-04-19 |
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| CN115462279B (en) | 2024-04-19 |
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