CN216018214U - Root cutting and conveying device - Google Patents

Abstract

The utility model relates to a root cutting and conveying device, which solves the technical problems of low efficiency and low reliability of conveying mushrooms by a conveying device of the existing mushroom picking robot, and comprises a base plate, a push plate driving motor, a 1 st driving synchronous pulley, a 1 st synchronous belt, a 1 st driven synchronous pulley, a blade driving motor, a blade, a synchronous pulley for the blade and a driving synchronous pulley for the rotation of the blade, wherein the base plate is provided with a mushroom placing groove, a mushroom root storing groove and a blade mounting groove, the outer side wall of the mushroom root storing groove is provided with a notch, the side wall of the blade mounting groove is provided with a through hole, the push plate is provided with a first push part and a second push part, and the push plate driving motor is connected to one end of the base plate. The utility model is widely used for picking mushrooms and the like.

Description

Root cutting and conveying device

Technical Field

The utility model relates to the technical field of mushroom automatic picking, in particular to a root cutting conveying device.

Background

As is well known, common mushrooms (edible mushrooms) are: lentinus Edodes, straw mushroom, Agaricus campestris, Auricularia, Tremella, Hericium Erinaceus, Dictyophora Indusiata, Tricholoma matsutake, Hypsizygus marmoreus, and Boletus edulis.

At present, the mushroom cultivation has realized the industrial production, needs to install the intensification, cooling, ventilation and humidification equipment etc. in the factory mushroom room, can realize automatic or semi-automatic control to conditions such as humiture, ventilation and illumination, and production is not restricted by the season, can go out the mushroom everyday, yearly production, and output is high, and is profitable. The length of the factory mushroom house is generally 20-30 meters, the width is 6-10 meters, the height is 5-6 meters, and 2-4 rows of multilayer bed frames can be arranged in the factory mushroom house along the length direction of the mushroom house. The bed frame is made of multipurpose metal structural sections, the width of the bed is 1-1.6 meters, the number of layers is 5-6, the interlayer distance is 50-70 centimeters, the distance between the lowest layer of the bed frame and the ground is about 30 centimeters, and the distance between the highest layer of the bed frame and a roof is more than 1 meter. The width of a channel between the bed frames is 80-100 cm, and the width of a channel between the bed frames and the wall is 40-80 cm.

After the mushrooms grow mature, automatic picking operation is carried out through the automatic picking robot, so that labor is saved, efficiency is improved, and cost is reduced. Referring to the utility model with the publication number of CN212279177U, an automatic picking robot is disclosed, which mainly works in such a way that a suction cup vertically moves downwards to the position of the pileus of mushrooms, then sucks the pileus, then the suction cup rotates a certain angle, and finally the suction cup vertically moves upwards to complete picking; the utility model discloses an among the technical scheme that the patent was disclosed, there are following technical defect mainly:

(1) the picked mushrooms fall into a gap between a first conveying timing belt 608 and a second conveying timing belt 609 of the transfer device to be conveyed out, and the mushrooms are conveyed one by one in sequence, which is inefficient and low in reliability.

(2) The mushroom of picking is exported from the export of base side, and follow-up collection work is more troublesome, needs artifical manual collection mushroom, has the technical defect that inefficiency, cost of labor are high, and multilayer bedstead height 5 ~ 6 meters also leads to collecting the operation more difficult.

(3) After the mushroom automatic picking robot finishes picking operation on one layer of the multi-layer bedstead, when the other layer of the multi-layer bedstead needs to be operated, the robot needs to be manually transferred to the other layer, so that the production efficiency is reduced, the labor cost is increased, and the labor intensity is increased.

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

(5) The picking robot is large in embodiment and is not suitable for working in a narrow space.

Disclosure of Invention

The utility model aims to solve the technical problems of low mushroom conveying efficiency and low reliability of the existing mushroom picking robot transferring device, and provides a root cutting conveying device which improves the conveying efficiency and is reliable and stable in operation.

The utility model discloses a root cutting and conveying device, which comprises a base plate, a push plate driving motor, a 1 st driving synchronous pulley, a 1 st synchronous belt, a 1 st driven synchronous pulley, a blade driving motor, a blade, a synchronous pulley for the blade and a driving synchronous pulley for the rotation of the blade, wherein the base plate is provided with a mushroom placing groove, a mushroom root storage groove and a blade mounting groove, the outer side wall of the mushroom root storage groove is provided with a notch, the side wall of the blade mounting groove is provided with a through hole, the push plate is provided with a first pushing part and a second pushing part, the push plate driving motor is connected with one end of the base plate, the 1 st driving synchronous pulley is connected with an output shaft of the push plate driving motor, the 1 st driven synchronous pulley is connected with the other end of the base plate, the 1 st synchronous belt is connected between the 1 st driven synchronous pulley and the 1 st driving synchronous pulley, the push plate is connected with the 1 st synchronous belt through a synchronous belt connecting piece, and the first pushing part of the push plate is positioned in the mushroom placing groove of the base plate, the second pushing part is positioned in the mushroom root storage groove; the blade driving motor is connected to one end of the base plate, the synchronous pulley connecting plate is fixedly connected with the side face of the blade mounting groove, the blade is connected with the synchronous pulley connecting plate through a synchronous pulley, the blade is connected with the output shaft of the blade driving motor through a driving synchronous pulley, the blade is connected with the synchronous pulley through a synchronous belt, the blade is connected with the synchronous pulley for the blade, one part of the blade penetrates through a through hole of the blade mounting groove, the blade is located above the mushroom root storage groove, and a notch of the outer side wall of the mushroom root storage groove is opposite to the blade.

Preferably, the root cutting and conveying device is provided with four blades, namely a first blade, a second blade, a third blade and a fourth blade; the number of the synchronous belt wheels for the blades is four, and the synchronous belt wheels for the first blade, the synchronous belt wheels for the second blade, the synchronous belt wheels for the third blade and the synchronous belt wheels for the fourth blade are respectively arranged; the root cutting conveying device also comprises a synchronous belt for blade rotation, a first tensioning bearing, a second tensioning bearing, a third tensioning bearing and a fourth tensioning bearing, the outer side wall of the mushroom root storage groove is provided with a first notch, a second notch, a third notch and a fourth notch, the side wall of the blade mounting groove is provided with a first through hole, a second through hole, a third through hole and a fourth through hole, the first blade is connected with a synchronous pulley connecting plate of the synchronous pulley by a synchronous pulley, the second blade is connected with a synchronous pulley by a synchronous pulley, the third blade is connected with a synchronous pulley connecting plate by a synchronous pulley, the fourth blade is connected with a synchronous pulley connecting plate by a synchronous pulley, the first tensioning bearing is positioned between a driving synchronous pulley for blade rotation and the synchronous pulley for the first blade, the second tensioning bearing is positioned between the synchronous pulley for the first blade and the synchronous pulley for the second blade, the third tensioning bearing is positioned between the synchronous pulley for the second blade and the synchronous pulley for the third blade, the fourth tensioning bearing is positioned between the synchronous pulley for the third blade and the synchronous pulley for the fourth blade, the driving synchronous pulley for the blade rotation, the synchronous pulley for the first blade, the synchronous pulley for the second blade, the synchronous pulley for the third blade and the synchronous pulley for the fourth blade are connected by the synchronous pulley for the blade rotation, the synchronous pulley for the blade rotation bypasses the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing, the first blade is connected with the synchronous pulley for the first blade, the second blade is connected with the synchronous pulley for the second blade, the third blade is connected with the synchronous pulley for the third blade, the fourth blade is connected with the synchronous pulley for the fourth blade, a part of the first blade passes through the first through hole of the blade mounting groove, a part of the second blade passes through the second through hole of the blade mounting groove, one part of the third blade penetrates through a third via hole of the blade mounting groove, one part of the fourth blade penetrates through a fourth via hole of the blade mounting groove, the first blade, the second blade, the third blade and the fourth blade are located above the mushroom root storage groove, a first notch of the outer side wall of the mushroom root storage groove is opposite to the first blade, a second notch is opposite to the second blade, the third notch is opposite to the third blade, and the fourth notch is opposite to the fourth blade.

Preferably, the root cutting and conveying device further comprises a sliding rail, the sliding rail is connected with the side face of the mushroom placing groove, and the first pushing portion of the pushing plate is connected with the sliding rail.

The utility model is an improvement and an optimization based on the utility model patent with the reference of the publication number of CN 212279177U.

The utility model has the advantages of compact structure, small volume and suitability for use in narrow space. The automatic mushroom conveying device has the advantages of high automation degree, reliable operation, good stability and high conveying efficiency, and is suitable for conveying large batches of mushrooms. The mushroom root cutting machine has the root cutting function, and does not cut the roots of the mushrooms after the mushrooms are collected by workers, so that the labor cost is reduced, and the efficiency of the subsequent processing of the mushrooms is improved.

Further features of the utility model will be apparent from the description of the embodiments which follows.

Drawings

Fig. 1 is a perspective view of an automatic picking robot;

FIG. 2 is a top view of the automatic picking robot;

fig. 3 is a perspective view of the automatic picking robot;

FIG. 4 is a block diagram of the picking actuator of FIG. 1 coupled to a first set of picking arms;

fig. 5 is a perspective view of the root cutting conveyor of the automatic picking robot of fig. 1;

FIG. 6 is a front view of the structure shown in FIG. 5;

FIG. 7 is a left side view of the structure shown in FIG. 5;

FIG. 8 is a right side view of the structure shown in FIG. 5;

FIG. 9 is a schematic view of the root cutting conveyor;

FIG. 10 is a perspective view of the root cutting conveyor;

FIG. 11 is a bottom view of the root cutting conveyor;

FIG. 12 is a schematic structural view of the blade mounting slot of FIG. 5 with a fourth via hole in the sidewall thereof;

FIG. 13 is a schematic view of an automatic picking robot positioned on a multi-level bed frame with a storage basket on an unattended receiving device positioned below a mushroom discharge port;

fig. 14 is a perspective view of a picking apparatus provided with a multi-stage telescopic structure;

FIG. 15 is a front view of the structure shown in FIG. 14;

FIG. 16 is a right side view of the structure shown in FIG. 14;

FIG. 17 is a rear elevational view of the structure illustrated in FIG. 14;

fig. 18 is a perspective view of another perspective of a picking apparatus having a multi-stage telescoping configuration;

FIG. 19 is a side view of the structure shown in FIG. 18;

FIG. 20 is a schematic view of the structure of FIG. 14 with the rotary drive motor mounted on the third expansion plate and the adaptive suction cup mounted;

FIG. 21 is a cross-sectional view of the structure shown in FIG. 22;

FIG. 22 is a schematic view of the arrangement of FIG. 20 with the inlet fitting mounted on the connecting block and in communication with the air vent of the flexible suction cup;

FIG. 23 is a schematic view showing the structure of FIG. 20 with the side of the connector block open and the air passage of the connector block communicating with the central through hole of the base;

fig. 24 is a schematic structural view of an initial state of the picking apparatus provided with a multi-stage telescopic structure;

fig. 25 is a structural schematic diagram of the picking device in an initial state provided with a multi-stage telescopic structure.

The symbols in the drawings illustrate that:

100. an automatic picking robot, 101, a base, 101-1, a mushroom discharging port, 101-2, a root cutting discharging port, 102, a driving rotating wheel, 103, a driven rotating wheel, 104, a walking driving motor, 105, a base plate, 105-1, a mushroom placing groove, 105-2, a mushroom root storing groove, 105-2-1, a first gap, 105-2-2, a second gap, 105-2-3, a third gap, 105-2-4, a fourth gap, 105-3, a blade mounting groove, 105-3-1, a fourth via hole, 106, a push plate, 106-1, a first push part, 106-2, a second push part, 107, a slide rail, 108, a push plate driving motor, 109, a 1 st driving synchronous pulley, 110, a 1 st synchronous belt, 111, a 1 st driven synchronous pulley, 112, a blade driving motor, 113. a timing belt for blade rotation 114, a timing belt for blade rotation 115, a first blade 116, a second blade 117, a third blade 118, a fourth blade 119, a timing belt for first blade 120, a timing belt for second blade 121, a timing belt for third blade 122, a timing belt for fourth blade 123, a driving timing belt for blade rotation 124, a first tensioning bearing 125, a second tensioning bearing 126, a third tensioning bearing 127, a fourth tensioning bearing 128, a first X-axis mounting plate 129, a second X-axis mounting plate 130, a first arm movement driving motor 131, a second driving timing belt 132, a second driven timing belt 133, a second timing belt 134, a timing belt connecting plate 135, a first rail assembly 1, 136, a second rail assembly 137, a first Y-axis mounting plate 138, a 3 rail assembly 139, a first Y-direction movement driving motor, 140. a 3 rd driving synchronous pulley, 141. a 3 rd synchronous belt, 142. a 3 rd driven synchronous pulley, 143. a binocular camera bracket, 144. a binocular camera, 145. a second arm movement driving motor, 146. a 4 th driving synchronous pulley, 147. a 4 th driven synchronous pulley, 148. a 4 th synchronous belt, 149. a second Y axis mounting plate, 150. a 4 th guide rail assembly, 151. a second Y direction movement driving motor, 152. a 5 th driving synchronous pulley, 153. a 5 th synchronous belt, 154. a 5 th driven synchronous pulley, 155. a binocular camera bracket, 156. a binocular camera;

1. the automatic lifting device comprises a mounting plate, 2. a motor bracket, 3. a screw rod motor, 3-1. a screw rod, 4. a lifting plate, 5. a first expansion plate, 6. a second expansion plate, 7. a first synchronous pulley, 8. a second synchronous pulley, 9. a first synchronous belt connecting plate, 10. a first guide rail, 11. a second guide rail, 12. a third guide rail, 13. a third synchronous pulley, 14. a fourth synchronous pulley, 15. a third expansion plate, 16. a nut seat, 17. a first synchronous belt, 18. a second synchronous belt, 19. a second synchronous belt connecting plate, 20. a third synchronous belt connecting plate, 21. a fourth synchronous belt connecting plate, 22. a rotary driving motor bracket, 23. a rotary driving motor, 24. a coupler, 25. a bearing, 26. an air suction joint, 27. an air inlet joint, 28. a base, 28-1. a connecting hole, 28-2. a central through hole, 29. a flexible suction cup, 29-1 planar part, 29-1-1 central through hole, 29-1-2 air holes, 29-2 circular raised parts, 29-2-1 inner cavity, 30 connecting block, 30-1 air channel, 30-2 side opening, 31 exhaust tube, 32 first optical coupler, 33 second optical coupler and 34 induction sheet.

Detailed Description

The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.

As shown in fig. 1 to 4, the automatic picking robot 100 includes a base 101, a storage battery, a traveling mechanism, a picking actuator, a root-cutting conveying device, a first X-axis mounting plate 128, a second X-axis mounting plate 129, a first arm movement driving motor 130, a 2 nd driving synchronous pulley 131, a 2 nd driven synchronous pulley 132, a 2 nd synchronous belt 133, a synchronous belt connecting plate 134, a 1 st rail assembly 135, a 2 nd rail assembly 136, a first Y-axis mounting plate 137, a 3 rd rail assembly 138, a first Y-direction movement driving motor 139, a 3 rd driving synchronous pulley 140, a 3 rd synchronous belt 141, a 3 rd driven synchronous pulley 142, a binocular camera bracket 143, and a binocular camera 144.

The walking mechanism is provided with two driving rotating wheels 102, two driven rotating wheels 103 and a walking driving motor 104, the two driving rotating wheels 102 are arranged on two sides of the base 101, the two driven rotating wheels 103 are arranged on two sides of the base 101, the walking driving motor 104 is arranged on the base 101, and the walking driving motor 104 drives the two driving rotating wheels 102 to rotate through a shaft. Other prior art walking mechanisms may also be used. The storage battery is installed on the base. As shown in FIGS. 5 to 12, the root cutting and conveying device includes a base plate 105, a push plate 106, a slide rail 107, a push plate driving motor 108, a 1 st driving synchronous pulley 109, a 1 st synchronous belt 110, a 1 st driven synchronous pulley 111, a blade driving motor 112, a synchronous pulley connecting plate 113, a blade rotating synchronous belt 114, a first blade 115, a second blade 116, a third blade 117, a fourth blade 118, a first blade synchronous pulley 119, a second blade synchronous pulley 120, a third blade synchronous pulley 121, a fourth blade synchronous pulley 122, a blade rotating driving synchronous pulley 123, a first tensioning bearing 124, a second tensioning bearing 125, a third tensioning bearing 126 and a fourth tensioning bearing 127, wherein the base plate 105 is provided with a mushroom laying groove 105-1, a mushroom root storage groove 105-2, a blade mounting groove 105-3, the outer side wall of the mushroom root storage groove 105-2 is provided with a first notch 105-2-1, a second notch 105-2, a second notch, a third notch, a fourth notch, a, A second gap 105-2-2, a third gap 105-2-3, a fourth gap 105-2-4, a first via hole, a second via hole, a third via hole, a fourth via hole 105-3-1 are provided on the side wall of the blade mounting groove 105-3, a push plate 106 is provided with a first push part 106-1 and a second push part 106-2, a push plate driving motor 108 is installed at one end of the base plate 105, a 1 st driving synchronous pulley 109 is connected with the output shaft of the push plate driving motor 108, a 1 st driven synchronous pulley 111 is connected with the other end of the base plate 105, a 1 st synchronous belt 110 is connected between the 1 st driven synchronous pulley 111 and the 1 st driving synchronous pulley 109, the push plate 106 is connected with the 1 st synchronous belt 110 through a synchronous belt connecting piece, the first push part 106-1 of the push plate 106 is located in the mushroom placing groove 105-1 of the base plate 105, the second push part 106-2 is located in the mushroom root storage groove 105-2, the slide rail 107 is connected with the side surface of the mushroom placing groove 105-1, the first pushing part 106-1 is connected with the slide rail 107, the blade driving motor 112 is installed at one end of the base plate 105, the synchronous pulley connecting plate 113 is fixedly connected with the side surface of the blade installing groove 105-3, the synchronous pulley 119 for the first blade, the synchronous pulley 120 for the second blade, the synchronous pulley 121 for the third blade, and the synchronous pulley 122 for the fourth blade are respectively connected with the synchronous pulley connecting plate 113, the driving synchronous pulley 123 for blade rotation is connected with the output shaft of the blade driving motor 112, the first tensioning bearing 124, the second tensioning bearing 125, the third tensioning bearing 126, and the fourth tensioning bearing 127 are respectively connected with the synchronous pulley connecting plate 113, the first tensioning bearing 124 is positioned between the driving synchronous pulley 123 for blade rotation and the synchronous pulley 119 for the first blade, the second tensioning bearing 125 is positioned between the synchronous pulley 119 for the first blade and the synchronous pulley 120 for the second blade, a third tensioner bearing 126 is provided between the second-blade timing pulley 120 and the third-blade timing pulley 121, a fourth tensioner bearing 127 is provided between the third-blade timing pulley 121 and the fourth-blade timing pulley 122, the blade-turning drive timing pulley 123, the first-blade timing pulley 119, the second-blade timing pulley 120, the third-blade timing pulley 121, and the fourth-blade timing pulley 122 are connected by a blade-turning timing belt 114, the blade-turning timing belt 114 passes around the first tensioner bearing 124, the second tensioner bearing 125, the third tensioner bearing 126, and the fourth tensioner bearing 127, the first blade 115 is fixedly connected to the center of the first-blade timing pulley 119, the second blade 116 is fixedly connected to the center of the second-blade timing pulley 120, the third blade 117 is fixedly connected to the center of the third-blade timing pulley 121, and the fourth blade 118 is fixedly connected to the center of the fourth-blade timing pulley 122, a portion of the first blade 115 passes through the first via hole of the blade mounting slot 105-3, a portion of the second blade 116 passes through the second via hole of the blade mounting slot 105-3, a portion of the third blade 117 passes through the third via hole of the blade mounting slot 105-3, and a portion of the fourth blade 118 passes through the fourth via hole 105-3-1 of the blade mounting slot 105-3. The first blade 115, the second blade 116, the third blade 117, and the fourth blade 118 are positioned above the mushroom root stock groove 105-2. The first notch 105-2-1 of the outer side wall of the mushroom root storage groove 105-2 is opposite to the first blade 115, the second notch 105-2-2 is opposite to the second blade 116, the third notch 105-2-3 is opposite to the third blade 117, and the fourth notch 105-2-4 is opposite to the fourth blade 118. Base plate 105 is fixedly mounted on base 101 with base plate 105 positioned below first Y-axis mounting plate 137 of the first picker arm. As shown in figure 1, the side surface of the base 101 is provided with a mushroom discharging opening 101-1 and a root cutting discharging opening 101-2, the mushroom discharging opening 101-1 is opposite to the mushroom placing groove 105-1, and the root cutting discharging opening 101-2 is opposite to the mushroom root storage groove 105-2. When the mushroom is translated, the root of the mushroom moves in the direction of the fourth blade 118 after passing through the fourth notch 105-2-4, and the root of the mushroom is cut off when passing through the fourth blade 118 rotating at a high speed.

A first X-axis mounting plate 128 is fixedly connected with the base 101, a second X-axis mounting plate 129 is fixedly connected with the base 101, a first arm movement driving motor 130 is mounted on the first X-axis mounting plate 128, a 2 nd driving synchronous pulley 131 is connected with an output shaft of the first arm movement driving motor 130, a 2 nd driven synchronous pulley 132 is connected with the first X-axis mounting plate 128, a 2 nd synchronous belt 133 is connected between the 2 nd driving synchronous pulley 131 and the 2 nd driven synchronous pulley 132, a 1 st guide rail assembly 135 is connected with the first X-axis mounting plate 128, a 2 nd guide rail assembly 136 is connected with the second X-axis mounting plate 129, an end of the first Y-axis mounting plate 137 is connected with the 2 nd synchronous belt 133 through a synchronous belt connecting plate 134, one end of the first Y-axis mounting plate 137 is connected with a slider of the 1 st guide rail assembly 135, the other end of the first Y-axis mounting plate 137 is connected with a slider of the 2 nd guide rail assembly 136, a 3 rd guide rail assembly 138 is connected with the first Y-axis mounting plate 137, the first Y-direction movement driving motor 139 is installed on the first Y-axis installation plate 137, the 3 rd driving synchronous pulley 140 is connected to an output shaft of the first Y-direction movement driving motor 139, the 3 rd driven synchronous pulley 142 is connected to the first Y-axis installation plate 137, and the 3 rd synchronous belt 141 is connected between the 3 rd driven synchronous pulley 142 and the 3 rd driving synchronous pulley 140. The binocular camera bracket 143 is connected with the first Y-axis mounting plate 137, and the binocular camera 144 is connected with the binocular camera bracket 143. Pick mounting panel 1 of executor and 3 rd guide rail set 138's slider and be connected, mounting panel 1 passes through the hold-in range connecting plate and is connected with 3 rd hold-in range 141, starts first Y direction motion driving motor 139 and can the motion of mounting panel 1 along Y axle direction, also drives whole executor of picking and move along Y axle direction.

As shown in fig. 14-25, the picking actuator comprises a mounting plate 1, a motor bracket 2, a screw motor 3, a lifting plate 4, a first expansion plate 5, a second expansion plate 6, a first synchronous pulley 7, a second synchronous pulley 8, a first synchronous belt connecting plate 9, a first guide rail 10, a second guide rail 11, a third guide rail 12, a third synchronous pulley 13, a fourth synchronous pulley 14, a third expansion plate 15, a nut seat 16, a first synchronous belt 17, a second synchronous belt 18, a second synchronous belt connecting plate 19, a third synchronous belt connecting plate 20, a fourth synchronous belt connecting plate 21, a rotary driving motor bracket 22, a rotary driving motor 23, a coupler 24, a bearing 25 and an adaptive sucker. The motor support 2 is fixedly connected with the mounting plate 1, the screw rod motor 3 is fixedly mounted on the motor support 2, the nut seat 16 is connected with a screw rod 3-1 of the screw rod motor 3, one end of the lifting plate 4 is fixedly connected with the nut seat 16, the other end of the lifting plate 4 is fixedly connected with the first telescopic plate 5 through a screw, the first synchronous belt pulley 7 is connected with the upper part of the first telescopic plate 5, the second synchronous belt pulley 8 is connected with the lower part of the first telescopic plate 5, the first synchronous belt 17 is connected between the first synchronous belt pulley 7 and the second synchronous belt pulley 8, the inner side of the first synchronous belt 17 is fixedly connected with the motor support 2 through a first synchronous belt connecting plate 9, the first guide rail 10 is connected with the motor support 2, the first telescopic plate 5 is connected with the first guide rail 10, the second guide rail 11 is connected with the first telescopic plate 5, the second telescopic plate 6 is connected with the second guide rail 11, and the outer side of the first synchronous belt 17 is fixedly connected with the upper part of the second telescopic plate 6 through a second synchronous belt 19; third synchronous pulley 13 is connected with the upper portion of second expansion plate 6, fourth synchronous pulley 14 is connected with the sub-unit of second expansion plate 6, second synchronous belt 18 is connected between third synchronous pulley 13 and fourth synchronous pulley 14, third guide rail 12 is connected with second expansion plate 6, third expansion plate 15 is connected with third guide rail 12, the inboard of second synchronous belt 18 passes through the lower part fixed connection of third synchronous belt connecting plate 20 and first expansion plate 5, the outside of second synchronous belt 18 passes through the upper portion fixed connection of fourth synchronous belt connecting plate 21 and third expansion plate 15. The rotary driving motor bracket 22 is fixedly connected with the third expansion plate 15 through screws, and the rotary driving motor 23 is fixedly installed on the rotary driving motor bracket 22. The self-adaptive sucker comprises an air suction connector 26, an air inlet connector 27 and a base 28, the flexible suction cup 29 and the connecting block 30, the base 28 is provided with a central through hole 28-2 and four connecting holes 28-1, the flexible suction cup 29 is provided with a plane part 29-1 and a circular raised part 29-2, the plane part 29-1 is provided with the central through hole 29-1-1 and an air hole 29-1-2, the circular raised part 29-2 is hollow, the circular raised part 29-2 is provided with an inner cavity 29-2-1, the cross section of the circular raised part 29-2 is circular, the air hole 29-1-2 is communicated with the inner cavity 29-2-1 of the circular raised part 29-2, and the central through hole 29-1-1 of the plane part 29-1 is communicated with the middle space 29-2-2 of the circular raised part 29-2; four connecting columns can be fixedly connected to the planar part 29-1, the four connecting columns are inserted into the four connecting holes 28-1 to realize the fixed connection between the planar part 29-1 and the base 28, and the planar part 29-1 and the base 28 can also be fixedly connected in other modes such as glue bonding; the central through hole 28-2 of the base 28 communicates with the central through hole 29-1-1 of the planar portion 29-1; the connecting block 30 is fixedly connected with the base 28 (the connecting block 30 and the base 28 can also be integrally formed), an air channel 30-1 is arranged inside the connecting block 30, a side opening 30-2 is arranged on the side surface of the connecting block 30, the air channel 30-1 inside the connecting block 30 is communicated with the central through hole 28-2 of the base 28, the air suction joint 26 is connected with the side opening 30-2 of the connecting block 30 so as to enable the air suction joint 26 to be communicated with the air channel 30-1 inside the connecting block 30, the air inlet joint 27 is connected with the connecting block 30, and the air inlet joint 27 is inserted into an air hole 29-1-2 of the plane part 29-1 so as to enable the air inlet joint 27 to be communicated with the inner cavity 29-2-1 of the circular raised part 29-2. The upper part of the connecting block 30 is rotatably connected with the third expansion plate 15 through a bearing 25, and the output shaft of the rotary driving motor 23 is fixedly connected with the upper part of the connecting block 30 through a coupling 24. The flexible suction cup 29 may be made of a flexible material such as silicone rubber, thermoplastic elastomer TPE or thermoplastic rubber TPR. When the picking actuator works, one end of the air exhaust pipe 31 is connected with the air exhaust joint 26, and the external negative pressure pump is connected with the other end of the air exhaust pipe 31. An air feed pipe is connected to the air inlet connector 27. As shown in fig. 24 and 25, in the initial state of the picking device, the third expansion plate 15, the first expansion plate 5 and the second expansion plate 6 are folded and arranged side by side along the horizontal direction, and the lifting plate 4 is located at the upper end position of the motor bracket 2. The inner cavity 29-2-1 of the circular raised part of the adaptive sucker is filled with a certain amount of air through an air feeding pipe and an air inlet joint 27 (the amount of the filled air can be adjusted according to different adsorption objects). The positions of mushrooms are obtained by other methods such as a visual identification technology, a screw motor 3 acts to drive a lifting plate 4 to move downwards, the lifting plate 4 drives a first expansion plate 5 to move downwards along a first guide rail 10, a first synchronous belt pulley 7 and a second synchronous belt pulley 8 rotate simultaneously, a first synchronous belt 17 rotates, a second synchronous belt connecting plate 19 moves downwards along the first synchronous belt 17, the second synchronous belt connecting plate 19 drives a second expansion plate 6 to move downwards along a second guide rail 11, the second expansion plate 6 moves downwards and simultaneously a third synchronous belt pulley 13 and a fourth synchronous belt pulley 14 rotate, a second synchronous belt 18 rotates, a fourth synchronous belt connecting plate 21 moves downwards along the second synchronous belt 18, the fourth synchronous belt connecting plate 21 drives a third expansion plate 15 to move downwards, the third expansion plate 15 drives a rotary driving motor bracket 22, a rotary driving motor 23 and a self-adaptive sucker to move downwards, at this time, the picking device is in an extended state shown in fig. 14 (the first expansion plate 5, the second expansion plate 6 and the third expansion plate 15 are sequentially distributed along the vertical direction), so that the adaptive sucker is vertically moved downwards. The mushroom cap is pressed down by the flexible suction cup 29, the mushroom cap is pressed down by the circular raised part 29-2, the circular raised part 29-2 deforms accordingly and is tightly attached to the top of the mushroom cap, at the moment, a closed chamber is formed by the middle space 29-2-2 of the circular raised part 29-2 and the top area of the mushroom cap, then an external negative pressure pump is started to pump air out of the formed closed chamber, partial vacuum is generated, and the mushroom cap is sucked by the circular raised part 29-2. Then, the rotary driving motor 23 works to drive the adaptive sucker to rotate a certain angle through the connecting block 30, the adaptive sucker drives the mushroom to rotate a certain angle to break the mushroom stem of the mushroom, and the mushroom is picked off. Next, the screw motor 3 rotates in the opposite direction, the lifting plate 4 drives the first expansion plate 5 to move upwards, referring to fig. 14, the first synchronous belt 17 rotates, the second synchronous belt connecting plate 19 moves upwards along with the first synchronous belt 17, the second synchronous belt connecting plate 19 drives the second expansion plate 6 to move upwards, the second synchronous belt 18 rotates while the second expansion plate 6 moves upwards, the fourth synchronous belt connecting plate 21 moves upwards along with the second synchronous belt 18, the fourth synchronous belt connecting plate 21 drives the third expansion plate 15 to move upwards, the third expansion plate 15 drives the rotary driving motor bracket 22, the rotary driving motor 23 and the adaptive sucker to move upwards, and finally the picking device is in the initial contraction state shown in fig. 24. During this process, the adaptive suction cup carries the mushroom upward. When the negative pressure pump is depressurized, the mushrooms can fall freely (in some cases, the mushrooms cannot fall freely because of small dead weight, and in the case, the circular raised part 29-2 is inflated, the pressure is increased, and the circular raised part 29-2 is expanded, so that the contact surface between the circular raised part 29-2 and the mushrooms is slightly displaced, the local friction force is damaged, and the mushrooms fall smoothly). The structure of the self-adaptive sucker is basically the same as that of the self-adaptive sucker in the Chinese invention patent application with the application publication number of CN113079954A, namely the picking device with the self-adaptive sucker and the self-adaptive sucker, the structure of the self-adaptive sucker can be further optimized, and a plurality of pits can be arranged on the surface of the circular raised part 29-2 of the flexible sucker along the circumferential direction. The circular raised part 29-2 of the flexible suction cup can be provided with a plurality of protrusions along the circumferential direction to increase the radial friction force. In addition, for the structure of the self-adaptive sucker, the optimization can be carried out, so that the thickness of the outer side wall of the circular raised part 29-2 of the flexible sucker is greater than that of the inner side wall, the design has the advantage that when the circular raised part 29-2 presses a pileus to deform, the inner side wall of the circular raised part 29-2 is stressed to deform towards the outer side wall, the outer side wall of the circular raised part 29-2 can play a supporting role, and because the thickness of the outer side wall is greater than that of the inner side wall, the deformation amount of the outer side wall of the circular raised part 29-2 is small, the whole adaptive deformation of the circular raised part is mainly the deformation of the inner side wall, and the close fit with the surface of an object is more favorably realized. It should be noted that, in order to make the up-and-down displacement of first expansion plate 5 better accurate, as shown in fig. 15 and 18, install first opto-coupler 32, second opto-coupler 33 on motor support 2, at the side-mounting response piece 34 of first expansion plate 5, second opto-coupler 33 sends the upper limit signal to give the controller when response piece 34 triggers second opto-coupler 33, first opto-coupler 32 sends the lower limit signal to give the controller when response piece 34 triggers first opto-coupler 32 to accurately control the upper limit position of first expansion plate 5 rebound and the lower limit position of rebound. The multistage telescopic device composed of the motor support 2, the screw motor 3, the lifting plate 4, the first telescopic plate 5, the second telescopic plate 6, the first synchronous belt pulley 7, the second synchronous belt pulley 8, the first synchronous belt connecting plate 9, the first guide rail 10, the second guide rail 11, the third guide rail 12, the third synchronous belt pulley 13, the fourth synchronous belt pulley 14, the third telescopic plate 15, the nut seat 16, the first synchronous belt 17, the second synchronous belt 18, the second synchronous belt connecting plate 19, the third synchronous belt connecting plate 20, the fourth synchronous belt connecting plate 21 and other parts is compact in structure, ingenious in design, small in size and small in height in a contraction state, and is suitable for being applied to narrow spaces. It should be noted that, for the multi-stage retractor device, the third synchronous pulley 13, the fourth synchronous pulley 14, the second synchronous belt 18, the third synchronous belt connecting plate 20, the fourth synchronous belt connecting plate 21, the third guide rail 12, and the third retractable plate 15 may not be used, and the third retractable plate 15 is directly and fixedly mounted on the second retractable plate 6, that is, the first retractable plate 5 and the second retractable plate 6 extend during operation, and the second retractable plate 6 drives the third retractable plate 15, the rotation driving motor support 22, the rotation driving motor 23, and the adaptive suction cup to move up and down as the end (the third retractable plate 15 does not move up and down at this time, and only has a connection function). It should be noted that the multi-stage telescopic device shown in fig. 14 is a three-stage telescopic structure, and can be further expanded to a four-stage, five-stage or more telescopic structure.

The first arm movement driving motor 130, the 2 nd driving synchronous pulley 131, the 2 nd driven synchronous pulley 132, the 2 nd synchronous belt 133, the synchronous belt connecting plate 134, the first Y-axis mounting plate 137, the 3 rd guide rail assembly 138, the first Y-direction movement driving motor 139, the 3 rd driving synchronous pulley 140, the 3 rd synchronous belt 141, the 3 rd driven synchronous pulley 142, the binocular camera bracket 143 and the binocular camera 144 form a first group of picking arms, the utility model is provided with two groups of picking arms, the second group of picking arms comprises a second arm movement driving motor 145, a 4 th driving synchronous pulley 146, a 4 th driven synchronous pulley 147, a 4 th synchronous belt 148, a second Y-axis mounting plate 149, a 4 th guide rail assembly 150, a second Y-direction movement driving motor 151, a 5 th driving synchronous pulley 152, a 5 th synchronous belt 153, a 5 th driven synchronous pulley 154, a binocular camera bracket 155 and a binocular camera 156, the second arm movement driving motor 145 is mounted on the second X-axis mounting plate 129, a 4 th driving synchronous pulley 146 is connected with an output shaft of the second arm movement driving motor 145, a 4 th driven synchronous pulley 147 is connected with the second X-axis mounting plate 129, a 4 th synchronous belt 148 is connected between the 4 th driven synchronous pulley 147 and the 4 th driving synchronous pulley 146, one end of a second Y-axis mounting plate 149 is connected with a slider of the 1 st rail assembly 135, the other end of the second Y-axis mounting plate 149 is connected with a slider of the 2 nd rail assembly 136, an end of the second Y-axis mounting plate 149 is connected with the 4 th synchronous belt 148 through a synchronous belt connecting plate, the 4 th rail assembly 150 is connected with the second Y-axis mounting plate 149, a second Y-direction movement driving motor 151 is mounted on the second Y-axis mounting plate 149, a 5 th driving synchronous pulley 152 is connected with an output shaft of the second Y-direction movement driving motor 151, a 5 th driven synchronous pulley 154 is connected with the second Y-axis mounting plate 149, a 5 th synchronous belt 153 is connected between the 5 th driven synchronous pulley 154 and the 5 th driving pulley 152, the binocular camera bracket 155 is connected with the second Y-axis mounting plate 149, and the binocular camera 156 is connected with the binocular camera bracket 155. The second group of picking arms is provided with a second group of picking actuators, the mounting plate 1 of the second group of picking actuators is connected with the slider of the 4 th guide rail assembly 150, and the mounting plate 1 is connected with the 5 th synchronous belt 153 through a synchronous belt connecting plate.

The automatic picking robot 100 picks mushrooms in a certain layer on a multi-layer bedstead 400, two groups of picking arms and two groups of picking actuators work simultaneously (greatly improving picking efficiency), the first Y-axis mounting plate 137 moves in the X-axis direction to drive the binocular camera 144 to move, the binocular camera 144 collects images below the two groups of picking arms, the collected images are sent to the controller to identify the mushrooms to be picked, then the picking actuators act, the adaptive suction cups carry the mushrooms to translate from left to right according to the orientation of the figure 2 and pass through the fourth blade 118 rotating at a high speed, the fourth blade 118 cuts off the roots of the mushrooms, the roots fall into the mushroom root storage groove 105-2, the adaptive suction cups are decompressed, so that the mushrooms fall into the mushroom storage groove 105-1, then the push plate driving motor 108 is started, the push plate 106 moves, the first push part 106-1 pushes the mushrooms in the mushroom storage groove 105-1 to a mushroom discharge port 101-1, the mushrooms in the mushroom placing groove 105-1 are discharged from the mushroom discharging opening 101-1 and fall into the mushroom storing basket 227 of the unattended receiving device to be collected, and as shown in fig. 13, the second pushing part 106-2 pushes the roots in the mushroom root storing groove 105-2 out of the root cutting discharging opening 101-2 and falls onto the ground.

The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention. It will be appreciated by those skilled in the art that other configurations of parts, drive devices and connections can be made without departing from the spirit of the utility model, and similar arrangements and embodiments can be devised without departing from the utility model.

Claims (3)

1. A root cutting conveying device is characterized by comprising a base plate, a push plate driving motor, a 1 st driving synchronous pulley, a 1 st synchronous belt, a 1 st driven synchronous pulley, a blade driving motor, a blade, a synchronous pulley connecting plate, a synchronous pulley for the blade and a driving synchronous pulley for the blade to rotate, wherein the base plate is provided with a mushroom placing groove, a mushroom root storage groove and a blade mounting groove, the outer side wall of the mushroom root storage groove is provided with a notch, the side wall of the blade mounting groove is provided with a via hole, the push plate is provided with a first pushing part and a second pushing part, the push plate driving motor is connected at one end of the base plate, the 1 st driving synchronous pulley is connected with an output shaft of the push plate driving motor, the 1 st driven synchronous pulley is connected with the other end of the base plate, the 1 st synchronous belt is connected between the 1 st driven synchronous pulley and the 1 st driving synchronous pulley, the push plate is connected with a 1 st synchronous belt through a synchronous belt connecting piece, a first push part of the push plate is positioned in a mushroom placing groove of the substrate, and a second push part of the push plate is positioned in a mushroom root storage groove; the utility model discloses a mushroom root storage groove, including blade driving motor, synchronous pulley connecting plate and blade mounting groove, blade is connected with the synchronous pulley connecting plate, the blade is rotatory with driving synchronous pulley and blade driving motor's output shaft, the blade rotates and is connected through the hold-in range between with driving synchronous pulley and the synchronous pulley for the blade, the blade is connected with the synchronous pulley for the blade, the via hole of blade mounting groove is passed to some of blade, the blade is located the top of mushroom root storage groove, the breach of mushroom root storage groove lateral wall is just to the blade.

2. The root cutting and conveying device according to claim 1, wherein the root cutting and conveying device is provided with four blades, namely a first blade, a second blade, a third blade and a fourth blade; the number of the synchronous belt pulleys for the blades is four, and the synchronous belt pulleys for the first blade, the synchronous belt pulleys for the second blade, the synchronous belt pulleys for the third blade and the synchronous belt pulleys for the fourth blade are respectively arranged; the root cutting and conveying device further comprises a synchronous belt for blade rotation, a first tensioning bearing, a second tensioning bearing, a third tensioning bearing and a fourth tensioning bearing, wherein the outer side wall of the mushroom root storage groove is provided with a first notch, a second notch, a third notch and a fourth notch, the side wall of the blade mounting groove is provided with a first through hole, a second through hole, a third through hole and a fourth through hole, the synchronous belt wheel for the first blade, the synchronous belt wheel for the second blade, the synchronous belt wheel for the third blade and the synchronous belt wheel for the fourth blade are respectively connected with a synchronous belt wheel connecting plate, the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing are respectively connected with the synchronous belt wheel connecting plate, the first tensioning bearing is positioned between the driving synchronous belt wheel for blade rotation and the synchronous belt wheel for the first blade, the second tensioning bearing is positioned between the synchronous belt wheel for the first blade and the synchronous belt wheel for the second blade, the third tensioning bearing is positioned between the synchronous pulley for the second blade and the synchronous pulley for the third blade, the fourth tensioning bearing is positioned between the synchronous pulley for the third blade and the synchronous pulley for the fourth blade, the driving synchronous pulley for blade rotation, the synchronous pulley for the first blade, the synchronous pulley for the second blade, the synchronous pulley for the third blade and the synchronous pulley for the fourth blade are connected through a synchronous belt for blade rotation, the synchronous belt for blade rotation bypasses the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing, the first blade is connected with the synchronous pulley for the first blade, the second blade is connected with the synchronous pulley for the second blade, the third blade is connected with the synchronous pulley for the third blade, the fourth blade is connected with the synchronous pulley for the fourth blade, and a part of the first blade passes through the first through hole of the blade mounting groove, the second through hole of blade mounting groove is passed to part of second blade, and the third through hole of blade mounting groove is passed to part of third blade, and the fourth through hole of blade mounting groove is passed to part of fourth blade, first blade, second blade, third blade, fourth blade are located the top of mushroom root storage tank, the first breach of mushroom root storage tank lateral wall is just to first blade, and the second breach is just to the second blade, and the third breach is just to the third blade, and the fourth breach is just to the fourth blade.

3. The root cutting and conveying device as claimed in claim 1 or 2, further comprising a slide rail connected with a side surface of the mushroom placing groove, wherein the first pushing part of the pushing plate is connected with the slide rail.

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