CN216018216U - Unattended receiving device - Google Patents

Abstract

The utility model relates to an unattended material receiving device, which solves the technical problems of low automation degree, low intelligence degree, low collection working efficiency and high labor cost of the existing automatic mushroom picking robot. The utility model is widely used for picking mushrooms and the like.

Description

Unattended receiving device

Technical Field

The utility model relates to the technical field of automatic mushroom picking, in particular to an unattended material receiving 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 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.

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

(3) The automation degree is low, and the intelligent degree is low.

Disclosure of Invention

The utility model provides an unattended material receiving device which improves the collection efficiency and reduces the labor cost, and aims to solve the technical problems of low automation degree, low intelligence degree, low collection working efficiency and high labor cost of the existing automatic mushroom picking robot.

The utility model discloses an unattended material receiving device, which comprises a vertical support, a support wheel, a driving wheel, a first travelling wheel, a second travelling wheel, a circulation driving motor, a circulation chain, an upper support plate, a lower support plate, a driving sprocket connecting seat, a circulation driving synchronous pulley, a circulation synchronous belt, a driving sprocket rotating shaft, a driving sprocket, a first driven sprocket, a second driven sprocket, a third driven sprocket, a fourth driven sprocket, a fifth driven sprocket, a tray connecting shaft, a walking driving motor, a tension pulley, a first synchronous pulley, a second synchronous pulley, a walking synchronous belt and a driven synchronous pulley, wherein the support wheel is rotatably connected with the bottom of the vertical support, the upper support plate is fixedly connected with the upper part of the vertical support, the lower support plate is fixedly connected with the lower part of the vertical support, the driving sprocket connecting seat is fixedly connected with the top of the vertical support, and the circulation driving motor is connected with the upper support plate, the circulation driving synchronous belt wheel is connected with an output shaft of a circulation driving motor, one end of a driving chain wheel rotating shaft is fixedly connected with a driving chain wheel, the other end of the driving chain wheel rotating shaft is rotatably connected with a driving chain wheel connecting seat through a bearing, a driven synchronous belt wheel is connected with the driving chain wheel rotating shaft, a circulation synchronous belt is connected between the circulation driving synchronous belt wheel and the driven synchronous belt wheel, a first driven chain wheel is rotatably connected with one end of an upper supporting plate, a second driven chain wheel is rotatably connected with the other end of the upper supporting plate, a third driven chain wheel is rotatably connected with one end of a lower supporting plate, a fourth driven chain wheel is rotatably connected with the middle part of the lower supporting plate, a fifth driven chain wheel is rotatably connected with the other end of the lower supporting plate, a circulation chain is respectively connected with the driving chain wheel, the first driven chain wheel, the second driven chain wheel, the third driven chain wheel, the fourth driven chain wheel and the fifth driven chain wheel, a tray connecting shaft is fixedly connected with the circulation chain, the tray is rotationally connected with the tray connecting shaft, and the circulation chain is connected with a plurality of trays; a storage basket is placed on each tray; the walking driving motor is connected with the upper part of the vertical support, the driving wheel is connected with an output shaft of the walking driving motor, the tensioning wheel is rotationally connected with the upper part of the vertical support, the first walking wheel is rotationally connected with the upper part of the vertical support through a first walking wheel rotating shaft, the second walking wheel is rotationally connected with the upper part of the vertical support through a second walking wheel rotating shaft, the first synchronous pulley is connected with the first walking wheel rotating shaft, the second synchronous pulley is rotationally connected with the second walking wheel rotating shaft, and the walking synchronous belt is respectively connected with the driving wheel, the second synchronous pulley, the tensioning wheel and the first synchronous pulley;

preferably, the vertical support of the unattended receiving device is connected with a first light emitter for following.

Preferably, a light screen provided with a slit is connected to the first light emitter for following.

Preferably, the vertical support of the unattended receiving device is connected with a light receiver for position detection.

Preferably, a light-shielding plate provided with a slit is connected to the light receiver for position detection.

The mushroom collecting device has the advantages of high automation degree, high intelligent degree, high operating efficiency, reliable and stable operation, realization of unmanned collection operation, reduction of labor cost, no limitation of the height of the bedstead and improvement of mushroom collecting efficiency and effect.

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 intelligent picking system;

fig. 2 is a front view of the intelligent picking system;

fig. 3 is a left side view of the intelligent picking system;

fig. 4 is a right side view of the intelligent picking system;

fig. 5 is a rear view of the intelligent picking system;

fig. 6 is a perspective view of the intelligent picking system;

FIG. 7 is an enlarged view of a portion of FIG. 1 at M;

FIG. 8 is an enlarged view of a portion of FIG. 1 at N;

FIG. 9 is an enlarged view of a portion of FIG. 6 at P;

fig. 10 is a perspective view of an unattended receiving device;

fig. 11 is a perspective view of an unattended receiving device;

fig. 12 is a perspective view of an unattended receiving device;

fig. 13 is a front view of an unattended receiving device;

fig. 14 is a side view of an unattended receiving device;

fig. 15 is a rear view of the unattended receiving device;

fig. 16 is a top view of an unattended receiving device;

fig. 17 is a schematic view of a connection structure of the first and second road wheels in fig. 10;

FIG. 18 is an enlarged view of a portion of FIG. 11 at Q;

fig. 19 is a perspective view of an automatic picking robot;

fig. 20 is a top view of the automatic picking robot;

fig. 21 is a perspective view of an automatic picking robot;

FIG. 22 is a block diagram of the picking actuator of FIG. 19 attached to a first set of picking arms;

fig. 23 is a perspective view of the root cutting conveyor of the automatic picking robot of fig. 19;

FIG. 24 is a front view of the structure shown in FIG. 23;

FIG. 25 is a left side view of the structure shown in FIG. 23;

FIG. 26 is a right side view of the structure shown in FIG. 23;

FIG. 27 is a schematic view of the root cutting conveyor;

FIG. 28 is a perspective view of the root cutting conveyor;

FIG. 29 is a bottom view of the root cutting conveyor;

FIG. 30 is a schematic view of the blade mounting slot of FIG. 23 with a fourth via hole in the sidewall thereof;

FIG. 31 is an enlarged view of a portion of FIG. 1 where mushroom is collected;

fig. 32 is a perspective view of a picking apparatus 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 driving synchronous pulley, 110, a 1 synchronous belt, 111, a 1 driven synchronous pulley, 112, a blade driving motor, 113. a synchronous pulley connecting plate 114, a blade rotation synchronous belt 115, a first blade 116, a second blade 117, a third blade 118, a fourth blade 119, a first blade synchronous pulley 120, a second blade synchronous pulley 121, a third blade synchronous pulley 122, a fourth blade synchronous pulley 123, a blade rotation driving synchronous pulley 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 2 nd driving synchronous pulley 132, a 2 nd driven synchronous pulley 133, a 2 nd synchronous belt 134, a synchronous belt connecting plate 135, a 1 st guide rail assembly 136, a 2 nd guide rail assembly 137, a first Y-axis mounting plate 138, a 3 rd guide 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, 191, a light receiver for following, 192, a light emitter for position detection, 193, a light shield, 193-1, a slit, 194, a light shield;

200. an unattended receiving device, 201, a vertical support, 202, a supporting wheel, 203, a driving wheel, 204-1, a first traveling wheel, 204-2, a second traveling wheel, 205, a circulation driving motor, 206, a circulation chain, 207, an upper supporting plate, 208, a lower supporting plate, 209, a driving sprocket connecting seat, 210, a circulation driving synchronous pulley, 211, a circulation synchronous belt, 212, a driving sprocket rotating shaft, 213, a driving sprocket, 214, a first driven sprocket, 215, a second driven sprocket, 216, a third driven sprocket, 217, a fourth driven sprocket, 218, a fifth driven sprocket, 219, a tray, 220, a tray connecting shaft, 221, a traveling driving motor, 222, a tensioning wheel, 223, a first synchronous pulley, 224, a second synchronous pulley, 225, a traveling synchronous belt, 226, a driven synchronous pulley, 227, a mushroom storage basket, 228, a first light emitter for following, 228-1, a mask 229, a second light emitter for following, 230, a third light emitter for following, 231, a fourth light emitter for following, 232, a fifth light emitter for following, 233, a sixth light emitter for following, 234, a first light receiver for position detection, 234-1, a mask,

300. the automatic floor changing device comprises a rectangular frame 301, a left chain 313, a platform lifting driving motor 302, a platform 315, a platform 327 and a second position sensor; 400. a multi-layer bed frame;

1. the automatic air suction 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 belt pulley, 8. a second synchronous belt 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 belt pulley, 15. a third expansion plate, 17. a first synchronous belt, 18. a second synchronous belt, 19. a second synchronous belt connecting plate, 22. a rotary driving motor bracket, 23. a rotary driving motor, 26. an air suction joint, 27. an air inlet joint, 28. a base, 29. a flexible suction cup, 29-2. a circular bulge, 30. a connecting block and 31. an air suction pipe.

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. 1-6, the intelligent picking system comprises an automatic picking robot 100, an unattended receiving device 200 and an automatic layer changing device 300.

As shown in fig. 10 to 18, the unattended receiving device 200 includes a vertical support 201, a support wheel 202, a driving wheel 203, a first traveling wheel 204-1, a second traveling wheel 204-2, a circulation driving motor 205, a circulation chain 206, an upper support plate 207, a lower support plate 208, a driving sprocket connecting seat 209, a circulation driving synchronous pulley 210, a circulation synchronous belt 211, a driving sprocket rotating shaft 212, a driving sprocket 213, a first driven sprocket 214, a second driven sprocket 215, a third driven sprocket 216, a fourth driven sprocket 217, a fifth driven sprocket 218, a tray 219, a tray connecting shaft 220, a traveling driving motor 221, a tension pulley 222, a first synchronous pulley 223, a second synchronous pulley 224, a traveling synchronous belt 225, a driven synchronous pulley 226, a first light emitter 228 for following, a second light emitter 229 for following, a third light emitter 230 for following, A fourth light emitter 231 for following, a fifth light emitter 232 for following, a sixth light emitter 233 for following, a first light receiver 234 for position detection, a second light receiver for position detection, a third light receiver for position detection, a fourth light receiver for position detection, a fifth light receiver for position detection, a sixth light receiver for position detection, two support wheels 202 rotatably connected with the bottom of the vertical support 201, an upper support plate 207 fixedly connected with the upper portion of the vertical support 201, a lower support plate 208 fixedly connected with the lower portion of the vertical support 201, a driving sprocket connecting seat 209 fixedly connected with the top of the vertical support 201, a circulation driving motor 205 fixedly mounted on the upper support plate 207, a circulation driving synchronous pulley 210 connected with an output shaft of the circulation driving motor 205, one end of a driving sprocket rotating shaft 212 is fixedly connected with a driving sprocket 213, the other end of the driving sprocket rotating shaft 212 is rotatably connected with a driving sprocket connecting seat 209 through a bearing, a driven synchronous pulley 226 is connected with the driving sprocket rotating shaft 212, a circulating synchronous belt 211 is connected between a circulating driving synchronous pulley 210 and the driven synchronous pulley 226, a first driven sprocket 214 is rotatably connected with one end of an upper supporting plate 207, a second driven sprocket 215 is rotatably connected with the other end of the upper supporting plate 207, a third driven sprocket 216 is rotatably connected with one end of a lower supporting plate 208, a fourth driven sprocket 217 is rotatably connected with the middle part of the lower supporting plate 208, a fifth driven sprocket 218 is rotatably connected with the other end of the lower supporting plate 208, a circulating chain 206 is respectively connected with the driving sprocket 213, the first driven sprocket 214, the second driven sprocket 215, the third driven sprocket 216, the fourth driven sprocket 217 and the fifth driven sprocket 218, the tray connecting shaft 220 is fixedly connected with the circulation chain 206, the trays 219 are rotatably connected with the tray connecting shaft 220, and a plurality of trays 219 are arranged on the circulation chain 206; the walking driving motor 221 is fixedly installed on the upper portion of the vertical support 201, the driving wheel 203 is connected with an output shaft of the walking driving motor 221, the tensioning wheel 222 is rotatably connected with the upper portion of the vertical support 201, the first walking wheel 204-1 is rotatably connected with the upper portion of the vertical support 201 through a first walking wheel rotating shaft, the second walking wheel 204-2 is rotatably connected with the upper portion of the vertical support 201 through a second walking wheel rotating shaft, the first synchronous pulley 223 is connected with the first walking wheel rotating shaft, the second synchronous pulley 224 is connected with the second walking wheel rotating shaft, and the walking synchronous belt 225 is respectively connected with the driving wheel 203, the second synchronous pulley 224, the tensioning wheel 222 and the first synchronous pulley 223. There are shown 20 trays 219, one tray having a mushroom basket 227, for a total of 20 mushroom baskets.

As shown in fig. 1, 2, 3 and 7, two support wheels 202 are attached to the bottom of the multi-level bed frame 400. As shown in fig. 1, 2, 6 and 9, the first traveling wheel 204-1 and the second traveling wheel 204-2 are disposed at the top edge of the multi-layered bed frame 400, when the traveling driving motor 221 operates, the traveling driving motor 221 drives the first synchronous pulley 223 and the second synchronous pulley 224 to rotate through the driving wheel 203 and the traveling synchronous belt 225, the first synchronous pulley 223 and the second synchronous pulley 224 respectively drive the first traveling wheel 204-1 and the second traveling wheel 204-2 to rotate, further, the first traveling wheel 204-1 and the second traveling wheel 204-2 drive the entire unattended receiving device to move along the length direction of the multi-layered bed frame 400, and in the moving process of the entire unattended receiving device, the two supporting wheels 202 follow up. The first light emitter 228 for following, the second light emitter 229 for following, the third light emitter 230 for following, the fourth light emitter 231 for following, the fifth light emitter 232 for following, the sixth light emitter 233 for following, the first light receiver 234 for position detection, the second light receiver for position detection, the third light receiver for position detection, the fourth light receiver for position detection, the fifth light receiver for position detection, and the sixth light receiver for position detection are connected to the vertical support 201, respectively. The first light emitter 228 for following, the second light emitter 229 for following, the third light emitter 230 for following, the fourth light emitter 231 for following, the fifth light emitter 232 for following, and the sixth light emitter 233 for following are distributed from bottom to top corresponding to six layers, and the first light receiver 234 for position detection, the second light receiver for position detection, the third light receiver for position detection, the fourth light receiver for position detection, the fifth light receiver for position detection, and the sixth light receiver for position detection are distributed from bottom to top corresponding to six layers. The mask 228-1 is connected to the first light emitter 228 for following, a slit 228-1-1 is provided on the mask 228-1, and the optical fiber emitted from the first light emitter 228 for following is emitted from the slit 228-1-1; similarly, the other five optical fiber emitters for following are also connected with a light shielding plate. The first light receiver 234 for position detection is connected with a light shielding plate 234-1, the light shielding plate 234-1 is provided with a gap, the first light receiver 234 receives the optical fiber passing through the gap on the light shielding plate 234-1, and similarly, the other five light receivers for position detection are also connected with the light shielding plate. As shown in fig. 1 and 8, a light receiver 191 for following and a light emitter 192 for position detection are respectively connected to the side of the base of the automatic picking robot 100, a light blocking plate 193 is connected to the light receiver 191 for following, the light blocking plate 193 is provided with a slit 193-1, a light blocking plate 194 is connected to the light emitter 192 for position detection, and the light blocking plate 194 is provided with a slit. The second light emitter 229 for following and the light receiver 191 for following constitute a correlation type photoelectric switch; the light emitter 192 for position detection and the second light receiver for position detection constitute a correlation type photoelectric switch. When the automatic picking robot 100 moves to a certain position, the external controller instructs the walking driving motor 221 to work, the first walking wheel 204-1 and the second walking wheel 204-2 rotate to enable the whole unattended receiving device 200 to move horizontally, when the following light receiver 191 receives light emitted by the following second light emitter 229, a feedback signal is that the external controller (the following second light emitter 229 is right opposite to the following light receiver 191), the external controller instructs the walking driving motor 221 to stop working, the unattended receiving device 200 stops moving (the unattended receiving device 200 moves in place), and the function that the unattended receiving device 200 follows the automatic picking robot 100 is achieved. When the light receiver 191 for following receives the light emitted by the second light emitter 229 for following, the second light receiver for position detection receives the light emitted by the light emitter 192 for position detection and feeds back a signal to the controller of the robot, and the controller of the robot determines that the unattended receiving device is in place, at which time the robot performs picking operation. When the second light receiver for position detection does not receive the light of the light emitter 192 for position detection, the robot is stopped not to perform the picking work. The light shielding plate can improve the detection precision.

As shown in fig. 19 to 30, 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 timing pulley 131, a 2 nd driven timing pulley 132, a 2 nd timing belt 133, a timing 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 timing pulley 140, a 3 rd timing belt 141, a 3 rd driven timing pulley 142, a binocular camera bracket 143, and a binocular camera 144.

The traveling mechanism is provided with two driving wheels 102 and two driven wheels 103, and a traveling drive motor 104. The storage battery is installed on the base. The root cutting conveying device comprises a base plate 105, a push plate 106, a sliding 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 placing groove 105-1, a mushroom root storage groove 105-2 and 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 notch, 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 on 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 positioned in the mushroom placing groove 105-1 of the base plate 105, the second pushing part 106-2 is positioned 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 mounting 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 the 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 the blade rotation and the synchronous pulley 119 for the first blade, the second tensioner bearing 125 is located between the first blade timing pulley 119 and the second blade timing pulley 120, the third tensioner bearing 126 is located between the second blade timing pulley 120 and the third blade timing pulley 121, the fourth tensioner bearing 127 is located between the third blade timing pulley 121 and the fourth blade timing pulley 122, the blade-rotating 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 the blade-rotating timing belt 114, the blade-rotating timing belt 114 is wound 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, 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 through hole of the blade mounting groove 105-3, a portion of the second blade 116 passes through the second through hole of the blade mounting groove 105-3, a portion of the third blade 117 passes through the third through hole of the blade mounting groove 105-3, and a portion of the fourth blade 118 passes through the fourth through hole 105-3-1 of the blade mounting groove 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 fig. 24 and 26, 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, the end of the first Y-axis mounting plate 137 is connected with a 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, the 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 mounted on the first Y-axis mounting plate 137, the 3 rd driving synchronous pulley 140 is connected with an output shaft of the first Y-direction movement driving motor 139, the 3 rd driven synchronous pulley 142 is connected with the first Y-axis mounting 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. 32, the picking actuator includes 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, a third expansion plate 15, a nut seat, a first synchronous belt 17, a second synchronous belt 18, a second synchronous belt connecting plate 19, a third synchronous belt connecting plate, a fourth synchronous belt connecting plate, a rotary driving motor bracket 22, a rotary driving motor 23, a coupler, a bearing, and an adaptive sucker. 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 and the name of the self-adaptive sucker and a picking device with the self-adaptive sucker.

The main working process of the intelligent picking system is described as follows:

as shown in fig. 1, 2 and 3, auto-stratifying device 300 lifts the automatic picking robot 100 on its platform to a second-level position, and the automatic picking robot 100 moves itself into the second level of multi-level bed frame 400. Next, the automatic picking robot 100 picks mushrooms on the second layer of the multi-layer bedstead 400, the two groups of picking arms and the 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 25 through the fourth blade 118 rotating at 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 release pressure 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 the mushroom discharge port 101-1, the mushrooms in the mushroom placing groove 105-1 are discharged from the mushroom discharge port 101-1 and fall into a mushroom storage basket 227 of the unattended receiving device to be collected, and the second pushing part 106-2 pushes the roots in the mushroom root storage groove 105-2 out of the root cutting discharge port 101-2 and falls onto the ground.

When the mushroom storing basket 227 is filled with mushrooms, the circulation driving motor 205 is started to rotate the circulation chain 206, so that another empty mushroom storing basket is moved to the position of the mushroom discharging port 101-1, and the respective mushroom storing baskets can be circulated and recycled to be adapted to each layer of the multi-layer frame, and the collecting operation is not limited by the height of the frame.

Unattended receiving device is not limited to collect mushrooms, and can also be used for collecting other products.

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 (5)

1. An unattended receiving device is characterized by comprising a vertical support, a supporting wheel, a driving wheel, a first travelling wheel, a second travelling wheel, a circulation driving motor, a circulation chain, an upper supporting plate, a lower supporting plate, a driving sprocket connecting seat, a circulation driving synchronous pulley, a circulation synchronous belt, a driving sprocket rotating shaft, a driving sprocket, a first driven sprocket, a second driven sprocket, a third driven sprocket, a fourth driven sprocket, a fifth driven sprocket, a tray connecting shaft, a walking driving motor, a tensioning wheel, a first synchronous pulley, a second synchronous pulley, a walking synchronous belt and a driven synchronous pulley, wherein the supporting wheel is rotatably connected with the bottom of the vertical support, the upper supporting plate is fixedly connected with the upper portion of the vertical support, the lower supporting plate is fixedly connected with the lower portion of the vertical support, the driving sprocket connecting seat is fixedly connected with the top of the vertical support, the circulation driving motor is connected with the upper supporting plate, the circulation driving synchronous pulley is connected with the output shaft of the circulation driving motor, one end of the driving sprocket rotating shaft is fixedly connected with the driving sprocket, the other end of the driving sprocket rotating shaft is connected with the driving sprocket connecting seat in a rotating mode through a bearing, the driven synchronous pulley is connected with the driving sprocket rotating shaft, the circulation synchronous belt is connected between the circulation driving synchronous pulley and the driven synchronous pulley, the first driven sprocket is connected with one end of the upper supporting plate in a rotating mode, the second driven sprocket is connected with the other end of the upper supporting plate in a rotating mode, the third driven sprocket is connected with one end of the lower supporting plate in a rotating mode, the fourth driven sprocket is connected with the middle of the lower supporting plate in a rotating mode, the fifth driven sprocket is connected with the other end of the lower supporting plate in a rotating mode, and the circulation chain is respectively connected with the driving sprocket, the first driven sprocket, the second driven sprocket, the third driven sprocket, the lower supporting plate in a rotating mode, The tray connecting shaft is fixedly connected with the circulation chain, the trays are rotatably connected with the tray connecting shaft, and the circulation chain is connected with a plurality of trays; a storage basket is placed on each tray; the walking driving motor is connected with the upper portion of the vertical support, the driving wheel is connected with an output shaft of the walking driving motor, the tensioning wheel is connected with the upper portion of the vertical support in a rotating mode, the first walking wheel is connected with the upper portion of the vertical support in a rotating mode through a first walking wheel rotating shaft, the second walking wheel is connected with the upper portion of the vertical support in a rotating mode through a second walking wheel rotating shaft, the first synchronous pulley is connected with the first walking wheel rotating shaft, the second synchronous pulley is connected with the second walking wheel rotating shaft, and the walking synchronous belt is connected with the driving wheel, the second synchronous pulley, the tensioning wheel and the first synchronous pulley respectively.

2. The unattended receiving device according to claim 1, wherein a first light emitter for following is connected to a vertical support of the unattended receiving device.

3. The unattended receiving device according to claim 2, wherein a shading plate with a gap is connected to the first light emitter for following.

4. The unattended receiving device according to claim 2 or 3, wherein a light receiver for position detection is connected to a vertical support of the unattended receiving device.

5. The unattended receiving device according to claim 4, wherein a light shielding plate with a gap is connected to the light receiver for position detection.

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