CN216146910U

CN216146910U - Picking robot for industrialized production of agaricus bisporus

Info

Publication number: CN216146910U
Application number: CN202122249461.0U
Authority: CN
Inventors: 苑进; 陶凯; 刘雪美
Original assignee: Shandong Agricultural University
Current assignee: Shandong Agricultural University
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2022-04-01
Anticipated expiration: 2031-09-16

Abstract

The application discloses a picking robot for industrialized production of agaricus bisporus, which comprises a picking robot body, an active picking mechanism, an agaricus bisporus transport vehicle and a scheduling mechanism, wherein the picking robot body is used for selectively picking the agaricus bisporus; the active picking mechanism synchronously moves along with the end effector and is used for actively picking the agaricus bisporus picked by the end effector and finishing the root cutting and grading work of the agaricus bisporus in the subsequent clamping and conveying process, and the agaricus bisporus transport vehicle is used for collecting the picked agaricus bisporus and transporting the agaricus bisporus after being fully collected; the scheduling mechanism is used for picking the agaricus bisporus in the fruiting bed by the agaricus bisporus picking robot in the layer changing or bed changing process, and transporting the harvested agaricus bisporus after being collected in a box. Has the following advantages: the integrated picking, root cutting, grading and conveying of the agaricus bisporus is realized, and the agaricus bisporus harvesting machine has the characteristics of simple structure, reduced harvesting processes and high harvesting efficiency.

Description

Picking robot for industrialized production of agaricus bisporus

Technical Field

The utility model belongs to the field of agricultural robots, and relates to an agaricus bisporus picking robot and an agaricus bisporus picking method suitable for industrial production, which are used for realizing integrated operation of picking, root cutting, grading and conveying of agaricus bisporus.

Background

The agaricus bisporus is a food which is rich in nutrition and has food therapy value, contains more than 10 kinds of amino acid, vitamin, mineral substances and the like required by human bodies, has low market price, is popular with consumers and has good market prospect.

At present, the common bisporous mushroom planting is carried out on a mushroom growing bed, the operation space is narrow, the manual picking is difficult, but the manual picking is basically carried out at present, the time and the labor are wasted, the production benefit is reduced, and the mechanization level needs to be greatly improved.

Aiming at the bottleneck problems that the agaricus bisporus can only be manually harvested and is not suitable for harvesting equipment in the existing agaricus bisporus industrial production, the utility model of the agaricus bisporus harvesting robot and the harvesting method suitable for industrial production is urgently needed, the agaricus bisporus is picked, the agaricus bisporus is cut into roots, classified and conveyed, the operation steps are simpler and faster, and the harvesting efficiency is improved.

Disclosure of Invention

The utility model aims to solve the technical problems, provides a picking robot for industrialized production of agaricus bisporus, realizes the integration of picking, root cutting, grading and conveying of agaricus bisporus, and has the characteristics of simple structure, reduced picking process and high picking efficiency.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the picking robot for the industrialized production of the agaricus bisporus comprises a picking robot body, an active picking mechanism, an agaricus bisporus transport vehicle and a scheduling mechanism, wherein the picking robot body is placed on guide rails on two sides of a fruiting bed and is used for selectively picking the agaricus bisporus; the active receiving mechanism is arranged on the picking robot body and is used for actively receiving the agaricus bisporus picked by the picking robot body and finishing the root cutting and grading work of the agaricus bisporus in the subsequent clamping and conveying process; the agaricus bisporus transport vehicle synchronously moves behind the picking robot body and is used for collecting the agaricus bisporus conveyed after being processed by the active receiving mechanism and transporting the agaricus bisporus out of a following state after being fully collected; the scheduling mechanism is used for picking the agaricus bisporus picking robot body and the agaricus bisporus transport vehicle on the layer changing or bed changing of the mushroom growing bed and transporting the agaricus bisporus collected by the agaricus bisporus transport vehicle after the agaricus bisporus is collected in a full box.

Furthermore, the picking robot body comprises a picking frame and mechanical arms, the picking frame is a chassis of the agaricus bisporus picking robot and is used for fixedly mounting each auxiliary mechanism, the auxiliary mechanisms are placed on guide rails on two sides of the fruiting bed, and can self-walk along the fruiting bed and detect self-walking distance;

the front end of the mechanical arm is provided with an end effector for picking the agaricus bisporus;

a depth camera is mounted on the front side of the mechanical arm, the field of view of the depth camera faces to the growing mushrooms, and the depth camera moves along with the mechanical arm and is used for positioning the spatial position of the agaricus bisporus and determining the size of an agaricus bisporus crown;

the front part of the picking frame is provided with a left-right moving module used for driving the mechanical arm to drive the end effector to accurately move in the left-right direction of the fruiting bed;

the sliding table of the left-right moving module is provided with an up-down moving module which is used for driving the mechanical arm to drive the end effector to accurately move in the up-down direction of the fruiting bed;

the arm is installed on the slip table that reciprocates the module, rotates through the joint of arm, moves end effector to the growth position of waiting to pick the bisporous mushroom.

Furthermore, the active receiving mechanism comprises a left-right moving module, a front-back moving module, a supporting plate and a clamping and conveying unit, wherein the left-right moving module is fixed at the rear part of the picking frame and is used for driving the clamping and conveying unit to accurately move in the left and right directions of the fruiting bed; the front-back moving module is arranged on a sliding table of the left-right moving module and is used for accurately moving in the front-back direction of the picking robot body; the bearing plate is arranged on the sliding table of the front-back moving module and used for bearing the clamping conveying unit.

Furthermore, the clamping and conveying unit comprises a driving motor and belt pulleys, the driving motor is installed at the rear end of the supporting plate and connected with the belt pulleys for driving the belt pulleys to rotate, and the belt pulleys are symmetrically arranged on two sides of the supporting plate.

Furthermore, the clamping and conveying unit further comprises two flexible belts, the two flexible belts are respectively sleeved on the belt pulleys on the two sides of the supporting plate, and the two flexible belts are used for clamping and conveying the picked agaricus bisporus stems.

Furthermore, the clamping and conveying unit also comprises a disc blade and a motor, the disc blade is arranged at the position, close to the rear, in the middle of the supporting plate, and the disc blade is positioned between the two flexible belts and used for cutting off the mushroom stems of the agaricus bisporus in the clamping and conveying process; the motor is connected with the disc blade and is used for driving the disc blade to rotate at a high speed so as to cut off the agaricus bisporus stems.

Furthermore, the agaricus bisporus transport vehicle comprises a transport chassis, a mushroom stem collecting box and a grading box, wherein driving wheels of the transport chassis are arranged on guide rails on two sides of a fruiting bed, and the agaricus bisporus transport vehicle walks behind a picking frame during picking; the mushroom stem collecting box is placed at the front part of the transportation chassis and is used for collecting cut mushroom stems; the grading boxes are arranged in a plurality according to the grading standard, are arranged at the rear part of the transportation chassis side by side and are used for collecting the agaricus bisporus after the agaricus bisporus is graded by the clamping and conveying units.

Furthermore, the scheduling mechanism comprises a movable chassis, a lifting table board and a lifting driving device, wherein the movable chassis is used for moving different mushroom growing beds and is used for mushroom growing bed replacing operation of the picking robot and the agaricus bisporus transport vehicle; guide rails aligned with the guide rails on the two sides of the fruiting bed are arranged on the lifting table top and are used for bearing the picking robot and the agaricus bisporus transport vehicle; the lifting driving device drives the lifting table board to lift in a transmission chain or gear rack mode, aligns with the guide rails on two sides of the fruiting bed, and is used for layer changing operation of the picking robot and the agaricus bisporus transport vehicle and transport operation of the agaricus bisporus collecting box.

Furthermore, the left-right moving module, the up-down moving module, the left-right moving module and the up-down moving module are screw linear modules or synchronous belt linear modules.

By adopting the technical scheme, compared with the prior art, the utility model has the following technical effects:

1. the active picking mechanism senses the position of the end effector, can synchronously move along with the end effector, is used for actively picking the agaricus bisporus picked by the end effector, and can complete the root cutting and grading work of the agaricus bisporus in the subsequent clamping and conveying process. However, the agaricus bisporus picking machine in the prior art transports the agaricus bisporus by means of the secondary movement of the mechanical arm, so that the picking efficiency is greatly reduced, and the agaricus bisporus cannot be subjected to root cutting and grading work; according to the utility model, the agaricus bisporus can be actively picked, so that the action of a mechanical arm for transporting the agaricus bisporus is saved, and the harvesting efficiency is improved; the root cutting and grading work of the agaricus bisporus can be simultaneously finished, the manpower is greatly reduced, and the mechanization and automation degree is high;

2. the agaricus bisporus transportation vehicle is provided with another independent walking device, the agaricus bisporus transportation vehicle synchronously walks along with an agaricus bisporus picking robot in the picking process, agaricus bisporus is collected through the conveying of the active receiving mechanism, the agaricus bisporus transportation vehicle can be actively separated from the following state of the picking robot after a grading box of the agaricus bisporus transportation vehicle is fully collected, the agaricus bisporus transportation vehicle walks backwards and walks onto the dispatching mechanism, the dispatching mechanism lowers a lifting table board, the fully collected grading box is emptied, and a new round of operation is performed, so that the link of manual conveying is reduced, and the labor cost is saved;

3. the utility model is provided with a scheduling mechanism which is used for the layer changing and bed changing processes of the agaricus bisporus picking robot, and the scheduling mechanism can enable the whole picking system to pick the agaricus bisporus on the layers of different mushroom beds.

Drawings

In order to more clearly illustrate the detailed description of the utility model or the technical solutions in the prior art, the drawings that are needed in the detailed description of the utility model or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic structural view of an agaricus bisporus picking robot;

FIG. 2 is a front view of an agaricus bisporus picking robot;

FIG. 3 is a schematic structural view of an active picking mechanism of an agaricus bisporus picking robot;

FIG. 4 is a front view of an active picking mechanism of an agaricus bisporus picking robot;

FIG. 5 is a schematic diagram of a scheduling mechanism;

FIG. 6 is a schematic diagram of a layer and line changing process;

in the figure: 1. picking the frame; 2. a left-right moving module; 3. an up-down moving module; 4. a mechanical arm; 5. a depth camera; 6. an end effector; 7. a left-right moving module; 8. a mushroom stem collecting box; 9. a grading box; 10. a transport chassis; 11. a front-back moving module; 12. a support plate; 13. a belt pulley; 14. a flexible belt; 15. a disc blade; 16. a motor; 17. a drive motor; 18. moving the chassis; 19. a lift drive; 20. the table top is lifted.

Detailed Description

Embodiment 1, as shown in fig. 1 to 6, a picking robot for industrialized production of agaricus bisporus comprises a picking robot body, an active picking mechanism, an agaricus bisporus transport cart and a scheduling mechanism, wherein the picking robot body is placed on guide rails on two sides of a fruiting bed and is used for selectively picking agaricus bisporus; the active receiving mechanism is arranged on the picking robot body and is used for actively receiving the agaricus bisporus picked by the picking robot body and finishing the root cutting and grading work of the agaricus bisporus in the subsequent clamping and conveying process; the agaricus bisporus transport vehicle synchronously moves behind the picking robot body and is used for collecting the agaricus bisporus conveyed after being processed by the active receiving mechanism and transporting the agaricus bisporus out of a following state after being fully collected; the scheduling mechanism is used for picking the agaricus bisporus picking robot body and the agaricus bisporus transport vehicle on the layer changing or bed changing of the mushroom growing bed and transporting the agaricus bisporus collected by the agaricus bisporus transport vehicle after the agaricus bisporus is collected in a full box.

The picking robot body comprises a picking frame 1, a left-right moving module 2, an up-down moving module 3, an arm 4, an end effector 6 and a depth camera 5, wherein the picking frame 1 is a chassis of the agaricus bisporus picking robot and is used for fixedly installing each auxiliary mechanism, the auxiliary mechanisms are placed on guide rails on two sides of a fruiting bed, and the auxiliary mechanisms can be self-propelled along the fruiting bed and can be used for self-propelling the distance to be detected.

The left-right moving module 2 adopts a lead screw linear module or a synchronous belt linear module, is arranged in the front part of the picking frame 1 and is used for driving the mechanical arm 4 to drive the end effector 6 to accurately move in the left-right direction of the fruiting bed.

Reciprocate module 3 and adopt lead screw sharp module or hold-in range sharp module, install on the slip table of removing module 2 about for drive arm 4 drives end effector 6 and goes up accurate removal in the direction of going up and down of mushroom bed.

The mechanical arm 4 is a single-joint or two-joint series mechanical arm arranged on the horizontal plane, is arranged on a sliding table of the up-down moving module 3, and rotates through the joint of the mechanical arm 4 to move the end effector 6 to a growth position where agaricus bisporus is to be picked.

The end effector 6 is arranged at the front end of the mechanical arm 4 and is clamped by a sucker or a flexible claw for picking the agaricus bisporus.

The depth camera 5 is a binocular vision camera or a laser radar camera, is installed on the front side of the mechanical arm 4, has a view field facing the growing mushrooms, moves along with the mechanical arm 4, and is used for positioning the spatial position of the agaricus bisporus and determining the size of an agaricus bisporus crown.

The active receiving mechanism comprises a left-right moving module 7, a front-back moving module 11, a bearing plate 12 and a clamping and conveying unit, the clamping and conveying unit comprises a driving motor 17, a belt pulley 13, a flexible belt 14, a disc blade 15 and a motor 16, the left-right moving module 7 adopts a lead screw linear module or a synchronous belt linear module, is fixed at the rear part of the picking frame 1 and is used for driving the clamping and conveying unit to accurately move in the left-right direction of the fruiting bed; the front-back moving module 11 adopts a screw linear module or a synchronous belt linear module, is arranged on a sliding table of the left-right moving module 7 and is used for accurately moving in the front-back direction of the picking robot body; the support plate 12 is installed on a slide table of the forward-backward movement module 11 for carrying the clamping conveying unit.

The driving motor 17 is arranged at the rear end of the support plate 12 and connected with the belt pulley 13 for driving the belt pulley 13 to rotate, and the belt pulleys 13 are symmetrically arranged at two sides of the support plate 12; two flexible belts 14 are respectively sleeved on the belt pulleys 13 on the two sides of the support plate 12, and the two flexible belts 14 are used for clamping and conveying the picked agaricus bisporus stems; the disc blade 15 is arranged at the position, close to the rear, in the middle of the supporting plate 12, and the disc blade 15 is positioned between the two flexible belts 14 and used for cutting off the agaricus bisporus stems in the clamping and conveying process; a motor 16 is connected to the disc blade 15 for driving the disc blade to rotate at a high speed to cut off the stem of Agaricus bisporus

The agaricus bisporus transport vehicle comprises a transport chassis 10, a mushroom stem collecting box 8 and a grading box 9, wherein driving wheels of the transport chassis 10 are arranged on guide rails on two sides of a fruiting bed, and walk behind a picking frame 1 during picking, and automatically walk to a scheduling mechanism when the agaricus bisporus is full, so that the agaricus bisporus is transported out; a mushroom stem collecting box 8 is placed at the front of the transport chassis 10 for collecting cut-off mushroom stems; the grading boxes 9 are arranged in a plurality according to the grading standard, are arranged at the rear part of the transportation chassis 10 side by side and are used for collecting the agaricus bisporus subjected to grading by the clamping and conveying units.

The scheduling mechanism comprises a movable chassis 18, a lifting table-board 20 and a lifting driving device 19, wherein the movable chassis 18 is used for moving different mushroom growing beds and is used for mushroom growing bed changing operation of a picking robot and an agaricus bisporus transport vehicle; guide rails aligned with the guide rails on the two sides of the fruiting bed are arranged on the lifting table surface 20 and are used for bearing the picking robot body and the agaricus bisporus transport vehicle; the lifting driving device 19 drives the lifting table board to lift in a transmission chain or gear rack mode, aligns with the guide rails on two sides of the fruiting bed, and is used for layer changing operation of the picking robot body and the agaricus bisporus transport vehicle and transportation operation of the agaricus bisporus collecting box.

The harvesting method of the agaricus bisporus picking robot comprises the following steps:

step 1, a perception process: 3D data of the agaricus bisporus on the agaricus bisporus bed are collected through a depth camera 5, and the spatial picking position of the agaricus bisporus and classification information according to the size of agaricus bisporus caps are obtained through analysis and calculation;

step 2, picking process: the left-right moving module 2, the up-down moving module 3 and the mechanical arm 4 cooperate to enable the end effector 6 to move to the growth position of the agaricus bisporus, the end effector 6 picks the agaricus bisporus, and the agaricus bisporus is separated from a fruiting bed and lifted;

step 3, a handle cutting process: when the agaricus bisporus is lifted, the clamping and conveying unit is in forward active approach to the agaricus bisporus under the cooperation of the left-right moving module 7 and the front-back moving module 11, the agaricus bisporus stems are rolled between the two belt pulleys 13, the flexible belt 14 plays a clamping role on the agaricus bisporus, the agaricus bisporus moves backwards along with the flexible belt 14, and when the agaricus bisporus is contacted with the disc blade 15 on the supporting plate 12, the cutting of the agaricus bisporus stems is completed;

step 4, grading process: when the agaricus bisporus clamps and cuts the stalks, the left-right moving module 7 drives the clamping conveying unit to move to the front of the corresponding grading box 9 according to the grading information of the agaricus bisporus;

step 5, a container collecting process: after the agaricus bisporus is clamped and cut into the stems, the cut-off agaricus bisporus stems fall into a stem collecting box 8 of an agaricus bisporus transport vehicle; the agaricus bisporus continues to move backwards under the clamping action of the flexible belt 14 and finally falls into a grading box 9 of the agaricus bisporus transport vehicle;

step 6, transportation process: when the grading box 9 of the agaricus bisporus transport vehicle is fully collected, the agaricus bisporus transport vehicle can be initiatively separated from the following state of the picking robot body, the agaricus bisporus transport vehicle can walk backwards after being separated from the following state, the agaricus bisporus transport vehicle walks to the dispatching mechanism, the dispatching mechanism lowers the lifting table-board 20, the fully collected grading box 9 is emptied, and then a new round of operation is carried out;

step 7, layer changing process: after one layer of agaricus bisporus of the mushroom bed is picked, the agaricus bisporus transport vehicle and the picking robot move backwards, the lifting driving device 19 lifts the lifting table-board 20 to the current layer of the mushroom bed and aligns with the guide rails on the two sides of the layer, the agaricus bisporus transport vehicle and the picking robot stop on the guide rails of the scheduling mechanism in sequence, and the scheduling mechanism ascends or descends to the other layer of the mushroom bed to finish the layer changing operation;

step 8, bed replacement process: when picking of a certain fruiting bed is completed, the agaricus bisporus transport vehicle and the picking robot body stop on the guide rail of the lifting table-board 20, the scheduling mechanism moves to one end of a new fruiting bed, and the processes of picking, layer changing and the like are repeated to complete picking of the fruiting bed.

The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. Picking robot of two spore mushroom industrial production, its characterized in that: the mushroom picking machine comprises a picking robot body, wherein the picking robot body is placed on guide rails on two sides of a mushroom growing bed and is used for selectively picking agaricus bisporus;

the picking robot also comprises an active receiving mechanism, the active receiving mechanism is arranged on the picking robot body and is used for actively receiving the agaricus bisporus picked by the picking robot body and finishing the root cutting and grading work of the agaricus bisporus in the subsequent clamping and conveying process;

the picking robot further comprises an agaricus bisporus transport vehicle which synchronously moves behind the picking robot body and is used for collecting the agaricus bisporus conveyed after being processed by the active receiving mechanism and transporting the agaricus bisporus in a separation following state after the agaricus bisporus is fully collected;

the picking robot further comprises a scheduling mechanism, the scheduling mechanism is used for picking the agaricus bisporus picking robot body and the agaricus bisporus transport vehicle in the layer changing or bed changing of the mushroom growing bed, and transporting the agaricus bisporus transport vehicle after the agaricus bisporus transport vehicle is fully collected in a box;

the active receiving mechanism comprises a left-right moving module (7), a front-back moving module (11) and a clamping and conveying unit, wherein the left-right moving module (7) is fixed on the picking robot body and used for driving the clamping and conveying unit to accurately move in the left and right directions of the fruiting bed; the front-back moving module (11) is arranged on a sliding table of the left-right moving module (7) and is used for accurately moving in the front-back direction of the picking robot body.

2. A picking robot for industrialized production of agaricus bisporus according to claim 1, wherein: the active receiving mechanism further comprises a supporting plate (12), the clamping and conveying unit is installed on the supporting plate (12), and the supporting plate (12) is installed on a sliding table of the front-back moving module (11) and used for bearing the clamping and conveying unit.

3. A picking robot for industrialized production of agaricus bisporus according to claim 2, wherein: the clamping and conveying unit comprises a driving motor (17) and a belt pulley (13), the driving motor (17) is installed at the rear end of the supporting plate (12) and connected with the belt pulley (13) for driving the belt pulley (13) to rotate, and the belt pulley (13) is symmetrically arranged on two sides of the supporting plate (12).

4. A picking robot for industrialized production of agaricus bisporus according to claim 3, wherein: the clamping and conveying unit further comprises two flexible belts (14), the two flexible belts (14) are respectively sleeved on the belt pulleys (13) on the two sides of the supporting plate (12), and the two flexible belts (14) are used for clamping and conveying the picked agaricus bisporus stems.

5. A picking robot for industrialized production of agaricus bisporus according to claim 4, wherein: the clamping and conveying unit further comprises a disc blade (15) and a motor (16), the disc blade (15) is installed at the position, close to the rear, in the middle of the supporting plate (12), and the disc blade (15) is located between the two flexible belts (14) and used for cutting off the agaricus bisporus stems in the clamping and conveying process; the motor (16) is connected with the disc blade (15) and is used for driving the disc blade to rotate at a high speed so as to cut off the agaricus bisporus stems.

6. A picking robot for industrialized production of agaricus bisporus according to claim 1, wherein: the picking robot body comprises a picking frame (1) and a mechanical arm (4), wherein the picking frame (1) is a chassis of the agaricus bisporus picking robot and is used for fixedly mounting each auxiliary mechanism, and the auxiliary mechanisms are placed on guide rails on two sides of a fruiting bed, can self-walk along the fruiting bed and can detect self-walking distance;

an end effector (6) is mounted at the front end of the mechanical arm (4), and the end effector (6) is used for picking agaricus bisporus;

a depth camera (5) is installed on the front side of the mechanical arm (4), the field of view of the depth camera (5) faces to the growing mushrooms, and the depth camera moves along with the mechanical arm (4) and is used for positioning the spatial position of the agaricus bisporus and determining the size of an agaricus bisporus crown;

the left-right moving module (7) is fixed at the rear part of the picking vehicle frame (1).

7. A picking robot for industrialized production of agaricus bisporus according to claim 6, wherein: the front part of the picking frame (1) is provided with a left-right moving module (2) which is used for driving a mechanical arm (4) to drive an end effector (6) to accurately move in the left-right direction of the fruiting bed;

the sliding table of the left-right moving module (2) is provided with an up-down moving module (3) which is used for driving the mechanical arm (4) to drive the end effector (6) to accurately move in the up-down direction of the fruiting bed;

arm (4) are installed on the slip table that reciprocates module (3), rotate through the joint of arm (4), move end effector (6) to the growth position of waiting to pick the bisporous mushroom.

8. A picking robot for industrialized production of agaricus bisporus according to claim 6, wherein: the agaricus bisporus transport vehicle comprises a transport chassis (10), a mushroom stem collecting box (8) and a grading box (9), wherein driving wheels of the transport chassis (10) are arranged on guide rails on two sides of a fruiting bed, and the agaricus bisporus transport vehicle walks behind a picking frame (1) during picking; the mushroom stem collecting box (8) is arranged at the front part of the transportation chassis (10) and is used for collecting cut mushroom stems; the grading boxes (9) are arranged in a plurality according to the grading standard, are placed at the rear part of the transportation chassis (10) side by side and are used for collecting the agaricus bisporus which is graded by the clamping and conveying units.

9. A picking robot for industrialized production of agaricus bisporus according to claim 1, wherein: the scheduling mechanism comprises a movable chassis (18), a lifting table board (20) and a lifting driving device (19), wherein the movable chassis (18) is used for moving different mushroom growing beds and is used for mushroom growing bed changing operation of a picking robot and an agaricus bisporus transport vehicle; guide rails aligned with the guide rails on the two sides of the fruiting bed are arranged on the lifting table top (20) and are used for bearing the picking robot and the agaricus bisporus transport vehicle; the lifting driving device (19) drives the lifting table top to lift in a transmission chain or gear rack mode, aligns with the guide rails on the two sides of the fruiting bed, and is used for layer changing operation of the picking robot and the agaricus bisporus transport vehicle and transportation operation of the agaricus bisporus collecting box.

10. A picking robot for industrialized production of agaricus bisporus according to claim 7, wherein: the left-right moving module (2), the up-down moving module (3), the left-right moving module (7) and the front-back moving module (11) are all screw linear modules or synchronous belt linear modules.