CN212232463U

CN212232463U - Two-section type lifting self-adaptive flexible picking mechanism

Info

Publication number: CN212232463U
Application number: CN201922344611.9U
Authority: CN
Inventors: 杨淑珍; 陆翔宇; 俞涛
Original assignee: Shanghai Polytechnic University
Current assignee: Shanghai Polytechnic University
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-12-29
Anticipated expiration: 2029-12-24

Abstract

The utility model provides a flexible picking mechanism of two segmentation lift self-adaptation, it includes flexible end picking mechanism (3), sliding sleeve slide bar elevating system (1) and linear position motion elevating system (7). The utility model discloses a two segmentation elevation structure have solved in the actual batch production because of cultivateing that the height space is narrow and small and general single section elevating system can't satisfy pick change stroke requirement big can realize again that high-speed will pick the agaricus bisporus and send to the contradiction of collecting the collection on the transmission band, help the high efficiency of actual batch production agaricus bisporus intelligence harvesting to gather. The utility model discloses adaptable picking stroke is big, flexible high, compact structure, has solved the high-efficient key problem of gathering of domestic fungus batch production actual production well, is favorable to the industrialization process that fine promotion agaricus bisporus intelligence was picked. The utility model is also suitable for the picking of edible fungi with similar cultivation modes such as brown mushroom, straw mushroom and the like.

Description

Two-section type lifting self-adaptive flexible picking mechanism

Technical Field

The utility model relates to a flexible picking mechanism of two segmentation lift self-adaptation especially relates to the picking of agaricus bisporus and brown mushroom in the batch production, belongs to the fruit vegetables field of picking.

Background

At present, the mainstream production mode of the agaricus bisporus is industrial production, in the industrial production, the cultivation process of the agaricus bisporus except for harvesting, and other processes such as feeding, earthing, grading, packaging and the like basically realize mechanization and automation. However, on one hand, due to the large growth isomerism of agaricus bisporus, for example, different strains can cause the growth heights of agaricus bisporus to be uneven and the growth postures to be different, and particularly, in different picking periods, the height of the surface of the culture soil can be continuously reduced due to the fact that water needs to be continuously sprayed into the culture soil and the continuous picking is carried out, and the range of the measured change is large and is about 30mm-60 mm; on the other hand, each layer of the culture frame for the industrialized planting of the agaricus bisporus is narrow, the culture material and the covering soil are removed, and the available height of a harvesting machine is about 300 mm; moreover, the agaricus bisporus harvesting device for actual production not only requires that the agaricus bisporus can be harvested automatically and nondestructively, but also requires that the agaricus bisporus harvested after being harvested can be rapidly collected. In such a narrow space, the mushroom picking machine not only needs to achieve nondestructive picking of the mushroom surface, but also needs to adapt to long-stroke picking, and can efficiently collect the agaricus bisporus, so that the difficulty is high.

Present terminal actuating mechanism is picked to mushroom adopts a segmentation structure basically, owing to pluck the unable shrink of arm after accomplishing, if satisfied the adaptability of picking to the big stroke of direction of height, then accomplish the quick collection to the mushroom in narrow and small space very hardly, all be fit for the laboratory environment, can't satisfy the actual environment and the requirement of gathering of batch production. In addition, the height is mainly recognized by a visual system at present, and then the control system reaches the surface of the mushroom by driving a position control system through a motor.

Therefore, there is a need for a new picking mechanism.

Disclosure of Invention

The utility model aims at providing a can be applied to the industrialized production actual environment especially can use the picking of the different height, the different gesture agaricus bisporus that adapt to different bacterial, different picking periods in narrow and small cultivation frame space, and be favorable to realizing the flexible picking mechanism of self-adaptation of collecting fast after picking. The utility model particularly relates to the intelligent nondestructive picking of agaricus bisporus in the industrial production of edible mushrooms. In order to adapt to agaricus bisporus with different heights and minimize the occupation of height space after picking so as to facilitate the efficient collection of the picked mushrooms. The utility model discloses plan to adopt two segmentation self-adaptation elevation structures based on altitude control and gravity gliding drive principle to satisfy the self-adaptation ability different, that the compost altitude variation is big to the mushroom gesture. The agaricus bisporus is picked by adopting a flexible vacuum adsorption rotary tail end picking structure to realize nondestructive picking of the agaricus bisporus.

In order to solve the technical problem, the utility model discloses a technical scheme be:

the utility model provides a flexible picking mechanism of two segmentation lift self-adaptation, it includes flexible end picking mechanism 3, sliding sleeve slide bar elevating system 1 and linear position motion elevating system 7, wherein

The sliding sleeve sliding rod lifting mechanism 1 comprises a sliding rod 101 and a sliding sleeve 102, wherein the sliding rod 101 is sleeved in the sliding sleeve 102, the sliding sleeve 102 is fixedly connected with a cylinder body of the air cylinder 5 through a first connecting piece 2, and is connected with the lower end of a piston rod of the air cylinder 5 through a fourth connecting piece 10 to form a second section of self-adaptive lifting structure;

the second motor 4 is connected with the linear position motion lifting mechanism 7 to form a first section of lifting structure;

second section self-adaptation elevation structure passes through second connecting piece 8 to be fixed and realizes being connected with first section elevation structure on slip table 6 to make flexible end picking mechanism 3 can realize the two-stage and go up and down to accomplish under first section elevation structure and second section self-adaptation elevation structure's effect and pick.

Further, the flexible end picking mechanism 3 includes a flexible adsorption chamber 309 and a rotation control mechanism,

wherein, the rotation control mechanism comprises a first motor 301, a first gear 303, a second gear 308, a micro position sensor 305 and a sensing piece 307,

the flexible adsorption cavity 309 is connected with the second gear 308, the second gear 308 is meshed with the first gear 303, the first gear 303 is fixed on the first motor 301, and the first motor 301 is connected with the second gear fixing plate 306 through the first motor fixing plate 302.

Further, a micro position sensor 305 is fixed on the second gear fixing plate 306, and is configured to control the motor to stop forward rotation and start reverse rotation to a home position to stop after detecting a signal of the sensor 307.

Further, the sensing piece 307 is fixed to the second gear 308 and rotates with the rotation of the gear.

Further, the sensing piece 307 is a magnet.

Furthermore, a spring 103 is sleeved on the sliding rod 101 below the sliding sleeve 102 and between the third connecting pieces 9.

Further, the linear position movement lifting mechanism 7 may be a ball screw structure, a belt transmission mechanism, a screw nut transmission mechanism, or a linear motor transmission mechanism.

Further, the second motor 4 may be a stepping motor, a servo motor or other motor capable of realizing position control.

A two-section self-adaptive flexible picking mechanism for Agaricus bisporus produced in factory is composed of a flexible tail end picking mechanism, a sliding sleeve sliding rod lifting mechanism connected with a cylinder, and a linear position movement lifting mechanism controlled by a motor.

The flexible tail end picking mechanism is fixedly connected with the lower end of a sliding rod in the sliding sleeve sliding rod lifting mechanism through a first connecting piece, the sliding sleeve sliding rod lifting mechanism is fixedly connected with a cylinder body through a second connecting piece and is connected with the lower end of a piston rod of a cylinder through the second connecting piece to form a second section of self-adaptive lifting structure, the motor is connected with the linear position movement lifting mechanism to form a first section of lifting structure, and the second section of self-adaptive lifting structure is fixed on the sliding table through a third connecting piece to be connected with the first section of self-adaptive lifting structure. Through the structure and the connection, the flexible tail end picking mechanism can realize two-stage lifting under the action of the first section lifting structure and the second section lifting structure to complete picking.

The motor controls the linear position movement lifting mechanism to descend to a designated height according to the picking height required by the agaricus bisporus, then the gas in the cylinder of the air cylinder is released, at the moment, the flexible tail end picking mechanism descends until the surface of the agaricus bisporus is pressed, and then the flexible tail end picking mechanism is vacuumized to form negative pressure to adsorb the agaricus bisporus. After the agaricus bisporus is adsorbed, the micro direct current motor is controlled to enable the flexible tail end picking mechanism to rotate forward and backward in sequence to loosen the mushroom roots from the soil, then the air cylinder is inflated to drive the sliding rod to lift, meanwhile, the motor controls the sliding table of the linear position movement lifting mechanism to lift, and finally the flexible tail end picking mechanism is driven to adsorb the mushrooms to lift, so that the agaricus bisporus is picked.

The maximum stroke of the two-section type lifting structure is the sum of the stroke of the linear position movement lifting mechanism and the stroke of the air cylinder, and the stroke is large enough to meet the requirement of large mushroom picking height range; meanwhile, when the two-section structure is lifted, the two sections of structures in the height space are folded together, and only occupy a distance of about half of the descending stroke, so that the height space is effectively saved, and therefore, the mushroom collecting device reserves a space in the height direction, such as the mushroom collecting device is moved to a conveying belt, and the efficient integrated operation of picking and collecting is convenient to realize.

The motor-controlled linear position motion lifting mechanism is a first section lifting mechanism, and the linear position motion lifting mechanism is driven by the motor to control the moving height of the first section lifting mechanism, so that the culture soil can adapt to different heights of culture soil in different picking periods. The motor may be a stepper motor, a servo motor or other motor that can effect position control. The linear position motion lifting mechanism can be a ball screw structure, a belt transmission mechanism, a screw nut transmission mechanism, a linear motor transmission mechanism and other position-controllable linear transmission mechanisms.

The sliding sleeve sliding rod lifting mechanism connected with the air cylinder is a height self-adaptive mechanism capable of automatically sliding downwards based on gravity, and can realize self-adaptation to mushroom heights. The slide bar is an optical axis and is sleeved in the sliding sleeve, when the slide bar descends, gas in the cylinder of the air cylinder is released, and due to the sliding sleeve structure of the slide bar, the flexible tail end picking mechanism fixed on the slide bar descends under the action of gravity until the agaricus bisporus cap is compressed. If the height of the mushroom is different, the height of the slide bar descending is different. Therefore, by means of this construction, it is possible to adapt to differences in mushroom height by means of a purely mechanical construction without measuring the mushroom height or without measuring the mushroom height very precisely. Meanwhile, the descending structure is automatically stopped when the mushroom cap is pressed by the descending structure due to the gravity, the force applied to the surface of the mushroom cap is the gravity of the flexible tail end picking mechanism, and the surface of the mushroom cap can be effectively prevented from being damaged by the executing device due to the fact that the gravity is not large. Therefore, the sliding sleeve sliding rod lifting mechanism connected with the air cylinder can realize self-adaptive picking of agaricus bisporus with different heights by means of a sliding rod sliding sleeve pure mechanical self-adaptive structure, can effectively protect mushroom caps from being damaged, can greatly reduce the requirements of an intelligent recognition system on the height visual recognition precision and the height control precision of the agaricus bisporus, and further effectively reduces the cost of the picking robot.

In the sliding sleeve sliding rod lifting mechanism, a sliding rod sleeve is arranged in a sliding sleeve with a certain length and used for ensuring that the flexible tail end picking mechanism vertically moves up and down, so that the descending rigidity of the section of the lifting mechanism is ensured.

In the sliding sleeve sliding rod lifting mechanism, a spring is sleeved on the sliding rod between the lower part of the sliding sleeve and the third connecting piece and used for adjusting the descending speed of the sliding rod and the pressing force of the sliding rod on the mushroom cover below the sliding sleeve, so that the flexibility of the lifting pressing mechanism is improved. The length and the elastic modulus of the spring can be adjusted according to the requirements of stroke and pressing force.

The flexible tail end picking mechanism consists of a flexible adsorption cavity and a rotation control mechanism.

The rotation control mechanism consists of a micro direct current motor, a first gear, a second gear, a micro position sensor and an induction sheet.

The miniature position sensor is fixedly arranged on the fourth connecting piece, the magnet is embedded on the second gear and rotates along with the rotation of the gear, and the miniature position sensor is used for sending a forward and reverse rotation switching signal.

When the mushroom picking machine is used for picking, when the flexible adsorption cavity is tightly attached to the mushroom cover, air in the cavity is pumped by the vacuum pump to form vacuum, the agaricus bisporus is tightly adsorbed on the surface of the flexible adsorption cavity, then the miniature direct current motor is controlled to rotate forwards to drive the second gear to rotate forwards until the induction sheet rotates to the position under the miniature position sensor, and after the miniature position sensor detects a signal, the motor is controlled to stop rotating forwards and start rotating backwards, and the root of the agaricus bisporus is loosened from soil through forward and reverse rotation. The angle of the forward rotation and the reverse rotation is controlled by the rotation time to increase the rotation flexibility of the end picking mechanism so as to adapt to different compactness of the combination of the agaricus bisporus and the culture soil in different picking periods.

The motor in the rotary control mechanism adopts a miniature direct current motor with a small volume, the first gear adopts a miniature gear with a diameter not exceeding the miniature direct current motor, the second gear adopts an ultrathin gear, and a miniature position sensor (adopting a miniature sensor) has a small volume, so that the whole rotary control mechanism is very compact, and is better suitable for the narrow space of a factory production environment culture frame.

The utility model discloses the effect that is showing below having:

the utility model discloses in the multistage formula elevation structure of the constitution of connecting through motor control's sharp module and cylinder, not only can adapt to the difference of agaricus bisporus height, can also contract fast when accomplishing to pick and collect fast the mushroom of having picked. The first section of lifting structure adopts a linear position control lifting structure to adapt to the change of the height of the culture soil in different picking periods. The second section of lifting structure realizes the adaptation of different mushroom growth heights through a mechanical self-adaptation mode based on gravity gliding driving and cylinder lifting principles, well protects the surface of the agaricus bisporus from being damaged, can greatly reduce the requirements of an intelligent recognition system on the height visual recognition precision and the height control precision of the agaricus bisporus, and further reduces the cost of the picking robot. The rotating mechanism formed by combining the micro motor and the micro gear on the picking actuating mechanism is compact in structure, and the picking can be completed by adjusting the rotating speed and the angle of the rotating mechanism according to different strains, different picking periods, different heights and different postures of the agaricus bisporus during picking. The utility model discloses can adapt to the picking of different bacterial, different picking period, not co-altitude, the agaricus bisporus of different gestures to the emergence of the condition such as disconnected root that can significantly reduce ordinary picking arm brought, twist off the mushroom handle when picking. Therefore, the utility model discloses a flexible picking mechanism of two segmentation lift self-adaptation has improved picking efficiency greatly, is favorable to improving the industrialization of the agaricus bisporus planting industry of china.

Drawings

Fig. 1 is a schematic structural view of a two-stage lifting adaptive flexible picking mechanism for industrial production according to the present invention;

FIG. 2 is a schematic axial side view of a flexible end picking mechanism according to the present invention;

FIG. 3 is a schematic structural view of the sliding sleeve sliding rod lifting mechanism of the present invention;

fig. 4 is a schematic structural view of the two-stage lifting adaptive flexible picking mechanism of the present invention moving downward to the maximum stroke;

fig. 5 is a schematic structural view of the two-stage lifting adaptive flexible picking mechanism of the present invention folded upwards to the maximum.

The labels in the figure are: 1. a sliding sleeve sliding rod lifting mechanism; 2. a first connecting member; 3. a flexible end picking mechanism; 4. a second motor; 5. a cylinder; 6. a sliding table; 7. a linear position motion lifting mechanism; 8. a second connecting member; 9. a third connecting member; 10. a fourth connecting member; 101. a slide bar; 102. a sliding sleeve; 103. a spring; 301. a first motor; 302. a first motor fixing plate; 303. a first gear; 305. a micro position sensor; 306. a second gear fixing plate; 307. an induction sheet; 308. a second gear; 309. a flexible adsorption cavity.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

Referring to fig. 1-5, the two-stage self-adaptive flexible picking mechanism 100 of the present invention comprises a flexible end picking mechanism 3, a sliding sleeve sliding rod lifting mechanism 1 (connected with a cylinder 5), and a linear position movement lifting mechanism 7 (controlled by a second motor 4). Wherein the flexible end picking mechanism 3 comprises a flexible adsorption chamber 309 and a rotation control mechanism. The rotation control mechanism comprises a first motor (a miniature direct current motor with a small volume) 301, a first gear 303, a second gear (an ultrathin gear) 308, a miniature position sensor 305 and an induction sheet (a magnet) 307, wherein the first gear (303) adopts a miniature gear of which the diameter does not exceed that of the miniature direct current motor (301).

The flexible adsorption cavity 309 is connected with the second gear 308, the second gear 308 is meshed with the first gear 303, the first gear 303 is fixed on the first motor 301, and the first motor 301 is connected with the second gear fixing plate 306 through the first motor fixing plate 302. A micro position sensor 305 is fixed to the second gear fixing plate 306 for sending a forward/reverse rotation switching signal. The induction sheet (magnet) 307 is embedded on the second gear 308 and rotates along with the rotation of the gear;

the sliding sleeve sliding rod lifting mechanism 1 comprises a sliding rod 101 (optical axis) and a sliding sleeve 102, wherein the sliding rod 101 is sleeved in the sliding sleeve 102, the sliding sleeve 102 is fixedly connected with a cylinder body of the air cylinder 5 through a first connecting piece 2, and is connected with the lower end of a piston rod of the air cylinder 5 through a fourth connecting piece 10 to form a second section of self-adaptive lifting structure. A spring (103) is sleeved on the sliding rod (101) below the sliding sleeve (102) and between the third connecting pieces (9), and the spring (103) is used for adjusting the descending speed of the sliding rod (101) and the pressing force of the lower mushroom cover so as to improve the flexibility of the lifting pressing mechanism. The length and the elastic modulus of the spring (103) can be adjusted according to the requirements of stroke and pressing force. The lower end of the sliding rod 101 is fixedly connected with the flexible tail end picking mechanism 3 through a third connecting piece 9;

the linear position motion lifting mechanism 7 can be a ball screw structure common in the field, a belt transmission mechanism, a screw nut transmission mechanism, a linear motor transmission mechanism and other position controllable linear transmission mechanisms, the second motor 4 is connected with the linear position motion lifting mechanism 7 to form a first section lifting structure, the second section self-adaptive lifting structure is fixed on the sliding table 6 through a second connecting piece 8, the sliding table 6 is fixed on the linear position motion lifting mechanism 7 through a common fixing piece, and moves along with the motion of the linear position motion lifting mechanism 7, so that the connection of the second section self-adaptive lifting structure and the first section lifting structure is realized. The second motor 4 may be a stepper motor, a servo motor or other motor that allows position control.

The utility model discloses a two segmentation flexible picking mechanism of lift self-adaptation is used for picking the use of agaricus bisporus as follows:

(1) the motor 4 rotates forwards to drive the linear position movement lifting mechanism 7 to move downwards to a proper position, then gas in the cylinder 5 is released (the pressure in the cylinder 5 is released through reversing of an external reversing valve), under the action of self weight and the spring 103, the slide rod 101 and the flexible tail end picking mechanism 3 move downwards vertically until the flexible adsorption cavity 309 touches the surface of a mushroom cap, and at the moment, the flexible tail end picking mechanism 3 is located at the maximum downward stroke, as shown in fig. 4;

(2) when the flexible adsorption cavity 309 reaches the surface of the cap of the agaricus bisporus (that is, when the flexible adsorption cavity (309) is tightly attached to the cap), a vacuum pump (not shown in the figure) of an external device is used for pumping air in the cavity to form vacuum to suck the agaricus bisporus (that is, the agaricus bisporus is tightly adsorbed on the surface of the flexible adsorption cavity 309), then the first motor 301 is driven to rotate forwards, so that the second gear 308 is driven to rotate forwards until the induction sheet 307 rotates to the position under the micro position sensor 305, and at the moment, after the micro position sensor 305 detects a signal of the induction sheet 307, the motor is controlled to stop rotating forwards and start rotating backwards to the original position to stop. The roots of the agaricus bisporus are loosened from the soil through forward and reverse rotation, and the forward and reverse rotation angles are controlled by the rotation time to increase the rotation flexibility of the tail end picking mechanism so as to adapt to different compactness of the combination of the agaricus bisporus and the culture soil in different picking periods;

(3) after the picking machine rotates reversely in place, the cylinder 5 is inflated by a common inflation device (not shown in the figure) arranged outside, the piston rod of the cylinder 5 is lifted, and meanwhile, the driving motor 4 rotates reversely to control the linear position movement lifting mechanism 7 to move upwards, so that the picking is completed. Flexible picking mechanism 3 is now at its maximum upward fold as shown in fig. 5.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims

1. The two-section type lifting self-adaptive flexible picking mechanism is characterized by comprising a flexible tail end picking mechanism (3), a sliding sleeve sliding rod lifting mechanism (1) and a linear position movement lifting mechanism (7), wherein the two-section type lifting self-adaptive flexible picking mechanism comprises a flexible tail end picking mechanism body, a sliding sleeve sliding rod lifting mechanism body and a linear position movement lifting mechanism body, and the two-section type lifting

The sliding sleeve sliding rod lifting mechanism (1) comprises a sliding rod (101) and a sliding sleeve (102), wherein the sliding rod (101) is sleeved in the sliding sleeve (102), the sliding sleeve (102) is fixedly connected with a cylinder body of the air cylinder (5) through a first connecting piece (2), and is connected with the lower end of a piston rod of the air cylinder (5) through a fourth connecting piece (10) to form a second section of self-adaptive lifting structure;

the second motor (4) is connected with the linear position motion lifting mechanism (7) to form a first section of lifting structure;

the second section self-adaptive lifting structure is fixed on the sliding table (6) through a second connecting piece (8) to be connected with the first section lifting structure, so that the flexible tail end picking mechanism (3) can realize two-stage lifting under the action of the first section lifting structure and the second section self-adaptive lifting structure to complete picking.

2. Two-stage elevating adaptive flexible picking mechanism according to claim 1, characterized in that the flexible end picking mechanism (3) comprises a flexible adsorption cavity (309) and a rotation control mechanism,

wherein the rotation control mechanism comprises a first motor (301), a first gear (303), a second gear (308), a micro position sensor (305) and an induction sheet (307),

the flexible adsorption cavity (309) is connected with the second gear (308), the second gear (308) is meshed with the first gear (303), the first gear (303) is fixed on the first motor (301), and the first motor (301) is connected with the second gear fixing plate (306) through the first motor fixing plate (302).

3. The two-stage lifting self-adaptive flexible picking mechanism according to claim 2, characterized in that a miniature position sensor (305) is fixed on the second gear fixing plate (306) and used for controlling the motor to stop rotating forwards and start rotating backwards to the original position to stop after detecting a signal of the sensing piece (307).

4. The two-stage elevating self-adaptive flexible picking mechanism according to claim 3, characterized in that the sensing piece (307) is fixed on the second gear (308) and rotates along with the rotation of the gear.

5. Two stage elevating adaptive flexible picking mechanism according to claim 4 characterized by that the sensing piece (307) is a magnet.

6. The two-stage elevating self-adaptive flexible picking mechanism according to claim 1, characterized in that the sliding rod (101) below the sliding sleeve (102) and between the third connecting pieces (9) is sleeved with a spring (103).

7. Two-stage elevating self-adaptive flexible picking mechanism according to claim 1, characterized in that the linear position motion elevating mechanism (7) can be a ball screw structure, a belt transmission mechanism, a screw nut transmission mechanism or a linear motor transmission mechanism.

8. Two-stage elevating adaptive flexible picking mechanism according to claim 1, characterized in that the second motor (4) can be a stepper motor or a servo motor.