Two-section lifting self-adaptive flexible picking mechanism

Abstract

The invention provides a two-section type lifting self-adaptive flexible picking mechanism. The two-section type lifting self-adaptive flexible picking mechanism comprises a flexible tail end pickingmechanism (3), a sliding sleeve and sliding rod lifting mechanism (1) and a linear position movement lifting mechanism (7). By means of the two-section lifting structure, the contradiction that in actual industrial production, due to the fact that the height space of a culture frame is small, a common single-section lifting mechanism cannot meet the requirement for the large picking change stroke,and picked agaricus bisporus can be conveyed to a collecting conveying belt to be collected at a high speed is solved; and high-efficiency harvesting of actual industrial intelligent picking of the agaricus bisporus is facilitated. The lifting self-adaptive flexible picking mechanism can adapt to large picking stroke, is high in flexibility and compact in structure, well solves the key problem ofefficient harvesting of industrial actual production of edible mushrooms, and is beneficial to well promoting the industrialization process of intelligent agaricus bisporus picking. The method is also suitable for picking edible mushrooms with similar cultivation modes such as Portobello mushroom and straw mushrooms.

Description

technical field [0001] The invention relates to a two-stage lifting self-adaptive flexible picking mechanism, in particular to the picking of Agaricus bisporus and Brown mushrooms in factory production, and belongs to the field of fruit and vegetable picking. Background technique [0002] At present, the mainstream production method of Agaricus bisporus is factory production. In industrial production, apart from harvesting, other processes such as feeding, covering soil, grading, and packaging are basically mechanized and automated in the cultivation process of Agaricus bisporus. However, on the one hand, due to the large heterogeneity of Agaricus bisporus growth, for example, different strains will cause the growth height and posture of Agaricus bisporus to be uneven. In particular, in different picking periods, due to the need to continuously cultivate Spraying water in the soil and continuous picking will lead to a continuous decline in the height of the cultured soil sur...

AI Technical Summary

Problems solved by technology

[0003] At present, the existing end actuators for mushroom picking basically adopt a one-stage structure. Since the picking arm cannot be retracted after the picking is completed, if the adaptability to large-stroke picking in the height direction is satisfied, it is difficult to achieve the same in a narrow space. The rapid collection of mushrooms is only suitable for the laboratory environment and cannot meet the actual harvesting environment and requirements of factory production

In addition, the current control of mushroom picking height mainly uses the visual system to identify the height, and then the control system reaches the surface of the mushroom through the motor-driven position control system. In this way, the height recognition accuracy of the visual recognition system is high. Otherwise, it is easy to happen that the recognition height is too small to pick mushrooms or the recognition height is too high so that the picking mechanism is excessively pressed on the mushrooms and damages the mushrooms

Images