CN108669600A - A kind of full-automatic mushroom separator - Google Patents
A kind of full-automatic mushroom separator Download PDFInfo
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- CN108669600A CN108669600A CN201810344827.2A CN201810344827A CN108669600A CN 108669600 A CN108669600 A CN 108669600A CN 201810344827 A CN201810344827 A CN 201810344827A CN 108669600 A CN108669600 A CN 108669600A
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/04—Devices for topping fruit or vegetables
- A23N15/045—Devices for topping mushrooms
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Abstract
A kind of full-automatic mushroom separator of the present invention, including transfer assembly, the mushroom position Morphology observation component laid on conveying assembly, the mushroom separation assembly of side below the mushroom grasping mechanism and mushroom grasping mechanism that mushroom position Morphology observation component rear end is laid, transfer assembly is in a ring, transfer assembly includes linear transmission platform, oblique line transfer station and two semicircle transfer stations, mushroom position Morphology observation component includes the diffused light source chamber for being fixed on linear transmission platform upper front end, embeded processor and camera, mushroom grasping mechanism includes the translation gripper of three shaft mechanical arms and three shaft mechanical arm front ends, mushroom separation assembly includes the two sets of cutting mechanisms laid above material storage storage and material storage storage；The present invention provides a kind of full-automatic mushroom separator detached by cutting mechanism realization mushroom umbrella, handle, root using embedded graphic processing unit guiding mechanical arm crawl mushroom handle.
Description
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to a kind of full-automatic mushroom separator.
Background technology
Mushroom is second-biggest-in-the-world edible mushroom, canopy edible, and handle can do mushroom sauce, and mushroom root is capable of using as feed.And current people
Work shearing needs to occupy a large amount of labour, increased year by year in labor cost, is badly in need of developing a kind of equipment replacement
Heavy hand labour carries out cutting handle and cuts root using machinery to mushroom.
Application No. is 200910127348.6 patents of invention to sweep the side that mushroom falls into conveyer belt location hole using hairbrush
The shortcomings that method arrangement mushroom, this method is that alignment efficiency is low, is easy to damage mushroom, can not especially handle the perfume (or spice) of mushroom handle bending
Mushroom, and the mushroom handle being bent is a kind of common form of mushroom, the mushroom of this form can not be inserted into location hole.Application No. is
201611155068.2 patent of invention using the buoyancy of water makes mushroom umbrella, and downward, this method is due to the wet perfume (or spice) of water logging for handle upward
Mushroom and can cause mushroom that can not preserve, quality as immersion and decline.Further, since mushroom build differs, structure is crisp
Weak, industrial common vibrating disk is also not suitable for arranging mushroom.
Invention content
It is an object of the invention to overcome existing deficiency, it is a kind of mechanical using the guiding of embedded graphic processing unit to provide
Arm crawl mushroom handle realizes the full-automatic mushroom separator that umbrella, handle, root detach by way of rotating blade.
To achieve the above object, the technical solution adopted in the present invention is：
A kind of full-automatic mushroom separator, including laid on transfer assembly, conveying assembly mushroom position Morphology observation component,
The mushroom separation group of side below the mushroom grasping mechanism and mushroom grasping mechanism that mushroom position Morphology observation component rear end is laid
Part；
In a ring, transfer assembly includes linear transmission platform, oblique line transfer station and two semicircle transfer stations, institute to the transfer assembly
State the laying parallel with oblique line transfer station of linear transmission platform, described two semicircle transfer stations are laid in linear transmission platform and tiltedly respectively
The both sides of line transfer station, oblique line transfer station one end is high, the other end is low, is laid in the semicircle of oblique line transfer station lower end and passes
It send and is fixedly connected with vibrating screen above platform；
The mushroom position Morphology observation component is laid in linear transmission platform upper front end, and mushroom position Morphology observation component includes
It is fixed on the diffused light source chamber of linear transmission platform upper front end, the embeded processor on diffused light source chamber top is each attached to and takes the photograph
As head, the equal horizontal layout of the diffused light source chamber antetheca and rear wall top has bar-shaped LED lamp, is fixed with below the LED light
Light barrier, the light barrier are in upward angle with diffused light source chamber antetheca and rear wall；
The mushroom grasping mechanism includes the translation gripper of three shaft mechanical arms and three shaft mechanical arm front ends, the three shaft mechanicals arm
It is laid in above linear transmission platform rear end, three shaft mechanical arm ends are parallel with linear transmission platform direction of transfer；
The mushroom separation assembly includes being laid in above the material storage storage on the outside of linear transmission platform rear end and material storage storage
The two sets of cutting mechanisms laid, the material storage storage include mushroom root storage warehouse, mushroom stems storage warehouse and mushroom umbrella storage warehouse,
Two sets of cutting mechanisms are laid in respectively above mushroom stems storage warehouse and mushroom umbrella storage warehouse.
Further, the camera is connected to the input port of embeded processor, three shaft mechanical arm peace motivation machinery claws
It is connected to the delivery outlet of embeded processor.
Further, the three shaft mechanicals arm includes being fixed on pedestal above linear transmission platform, being connect with base rotation
Main frame, the short arm plate component and the short arm plate member hinges that are sequentially connected with main frame long arm plate component and be laid in long-armed
The gripper fixing piece of board group part front end；
The main frame is fixedly arranged in the middle of rotary electric machine, and the shaft of the rotary electric machine passes through main frame and connects with base rotation
It connects, first servo motor and the second servo motor is respectively fixed with outside the main frame both sides；
The short arm plate component includes the first short arm plate and the second short arm plate, and first short arm plate connects with the second galianconism crab bolt
It connects, first level holding rod, the second horizontal holding rod and small rod is laid between the first short arm plate and the second short arm plate；
The long arm plate component includes the first long arm plate and the second long arm plate, and first long arm plate connects with the second long-armed crab bolt
It connects, triangle retainer and the horizontal holding rod of third is laid between the first long arm plate and the second long arm plate；
The shaft of the first servo motor is rotatablely connected with the first short arm plate bottom end, and the shaft of second servo motor passes through
It second short arm plate and is rotatablely connected with small rod, top and the first long arm plate of the top of the first short arm plate and the second short arm plate
The lower end on top, the top of the second long arm plate and triangle retainer is rotatablely connected, the bottom end of the first long arm plate and the second long arm plate
Bottom end with gripper fixing piece be rotatablely connected；
The lower end of the first level holding rod is hinged with main frame, upper end and the top of triangle retainer and the first long arm plate turn
Dynamic connection, the lower end of the second horizontal holding rod and small rod be hinged, upper end and the top of the second long arm plate are hinged, and described the
The upper end of three horizontal holding rods is hinged with triangle retainer, lower end and gripper fixing piece are rotatablely connected.
Further, the translation gripper include gripper main body, the steering engine that is fixed in the middle part of gripper main body and with
The triangle fixture block that gripper main body is slidably connected, gripper main body one end is laid with connector, the other end is fixed with T shapes and leads
Rail, the triangle fixture block is linked on guide rail and quantity is two symmetrically laid, and triangle fixture block tail end is fixedly arranged above connection
Plate is fixed with a word steering engine arm in the shaft of the steering engine, is laid with swing link between the word steering engine arm and connecting plate, institute
It is hinged with a word steering engine arm and connecting plate respectively to state swing link both ends.
Further, the triangle fixture block uses insulating materials, and triangle fixture block front end is laid with electrode.
Further, the cutting mechanism includes the holder being fixed on the outside of linear transmission platform and connects respectively with holder pivots
Driven shaft, the driving shaft connect, the holder lower part are fixed with shear motor, and the driven shaft and driving shaft top are fixedly connected with
There is circular shear blade, is laid with driven gear and driving gear, the driving shaft and shearing electricity in the middle part of driven shaft and driving shaft respectively
Machine is sequentially connected, the driven gear and driving gear intermeshing.
Further, the conveyer belt appearance face color of the transfer assembly is dumb light black.
Further, the camera is located at linear transmission platform central axes and images the conveyer belt in direction and linear transmission platform
Upper surface is mutually perpendicular to.
The beneficial effects of the invention are as follows：
1. the present apparatus is laid with mushroom position Morphology observation component, the mushroom transmitted on transfer assembly is carried out by camera
Shooting, embeded processor are filtered picture, calculate handle mushroom upward after the identification of edge detection, contours extract, form
Center position coordinates avoid the damage that mushroom causes surface because of mechanical agitation to mushroom towards being identified, also avoid
The decline of mushroom quality when using water buoyancy changing its posture.
2. the transfer assembly of the present apparatus be in closed ring, the first next state of mushroom be handle downward when, back through semicircle transmission
Platform drops to the lower end of oblique line transfer station, thus it is possible to vary the form of mushroom, and again identify that, detach, mushroom circle transmission increases
The applicability of device is added.
3. the mushroom grasping mechanism that the mushroom position Morphology observation component rear end of the present apparatus is laid, embeded processor control
It makes the dynamic translation gripper of three shaft mechanical armbands to capture the mushroom of handle upward, instead of picking by hand, improves and pick effect
Rate.
4. the mushroom separation assembly of side below the mushroom grasping mechanism of the present apparatus, mushroom grasping mechanism crawl mushroom exists
Cutting mechanism is detached, and the umbrella, handle, root of mushroom is made to drop to mushroom umbrella storage warehouse, mushroom stems storage warehouse and mushroom root respectively
Storage warehouse improves separative efficiency instead of manual separation.
5. the present apparatus can on linear transmission platform complete increase mushroom position Morphology observation component, mushroom grasping mechanism
With mushroom separation assembly, with the separative efficiency that is multiplied.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of full-automatic mushroom separator of the present invention.
Fig. 2 is a kind of structural schematic diagram of the mushroom position Morphology observation component of full-automatic mushroom separator of the present invention.
Fig. 3 is a kind of structural schematic diagram of the cutting mechanism of full-automatic mushroom separator of the present invention.
Fig. 4 is a kind of structural schematic diagram of the translation gripper of full-automatic mushroom separator of the present invention.
Fig. 5 is a kind of structural schematic diagram of three shaft mechanical arms of full-automatic mushroom separator of the present invention.
Fig. 6 is a kind of three shaft mechanical arms removal short arm plate component of full-automatic mushroom separator of the present invention and long-armed board group
Structural schematic diagram after part.
Attached figure label is：1 is linear transmission platform, and 2 be oblique line transfer station, and 3 be semicircle transfer station, and 4 be vibrating screen, 5
It is three shaft mechanical arms for mushroom position Morphology observation component, 6,7 be the gripper that is translatable, and 8 be material storage storage, and 9 be cutting mechanism,
501 be diffused light source chamber, and 502 be embeded processor, and 503 be camera, and 504 be LED light, and 505 be light barrier, and 601 be bottom
Seat, 602 be main frame, and 603 be gripper fixing piece, and 604 be rotary electric machine, and 605 be first servo motor, and 606 watch for second
Motor is taken, 607 be the first short arm plate, and 608 be the second short arm plate, and 609 be first level holding rod, and 610 keep for the second level
Bar, 611 be small rod, and 612 be the first long arm plate, and 613 be the second long arm plate, and 614 be triangle retainer, and 615 is horizontal for third
Holding rod, 701 be gripper main body, and 702 be steering engine, and 703 be triangle fixture block, and 704 be connector, and 705 be T-rail, and 706 are
Connecting plate, 707 be a word steering engine arm, and 708 be swing link, and 801 be mushroom root storage warehouse, and 802 be mushroom stems storage warehouse, and 803 are
Mushroom umbrella storage warehouse, 901 be holder, and 902 be driven shaft, and 903 be driving shaft, and 904 be shear motor, and 905 be circular shear blade,
906 be driven gear, and 907 be driving gear.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings.
As shown in Fig. 1 ~ Fig. 6, a kind of full-automatic mushroom separator, including the perfume (or spice) laid on transfer assembly, conveying assembly
The mushroom grasping mechanism and mushroom grasping mechanism that mushroom position Morphology observation component 5,5 rear end of mushroom position Morphology observation component are laid
The mushroom separation assembly of lower section side；
In a ring, transfer assembly includes linear transmission platform 1, oblique line transfer station 2 and two semicircle transfer stations to the transfer assembly
3,1 laying parallel with oblique line transfer station 2 of the linear transmission platform, described two semicircle transfer stations 3 are laid in straight-line transmitting respectively
The both sides of platform 1 and oblique line transfer station 2 are sent, described 2 one end of oblique line transfer station is high, the other end is low, and it is relatively low to be laid in oblique line transfer station 2
3 top of semicircle transfer station at end is fixedly connected with vibrating screen 4；
The mushroom position Morphology observation component 5 is laid in 1 upper front end of linear transmission platform, mushroom position Morphology observation component 5
Including being fixed on the diffused light source chamber 501 of 1 upper front end of linear transmission platform, being each attached to the insertion on 501 top of diffused light source chamber
Formula processor 502 and camera 503,501 antetheca of diffused light source chamber and the equal horizontal layout in rear wall top have bar-shaped LED lamp
504, the lower section of the LED light 504 is fixed with light barrier 505, the light barrier 505 and 501 antetheca of diffused light source chamber and rear wall
It is in upward angle；
Diffused light source chamber 501 is used for light filling, in order to avoid light influences image acquisition quality, LED light to 503 direct projection of camera
Light barrier 505 is placed in 504 lower sections, and direct light is become diffusing reflection.
What camera 503 was obtained using VPIF video interface ports is video, and configuration 503 parameter of camera is per second 30
The format of frame, resolution ratio 1280*1024, output is RGB, needs calculate whether have target appearance according to the picture of every frame, such as
There is target location to occur then carrying out image procossing, obtain the location information of target, while needing to predict that target passes through on a moving belt
After the position of target after a certain period of time, so that gripper can accurately capture target.The video pictures that camera 503 obtains are RGB
Format, because of identification mushroom position, insensitive to color, so picture is converted to gray level image, gray level image is by rgb format
Digit shared by middle pixel three primary colors according to certain weighted transformation to be a kind of include 256 change in depth pixel.
Image, due to the influence of external environment, inevitably adds ambient noise etc. durings acquisition, transmission etc.
Useless signal, this reduces proportion of the information of needs in picture, it is therefore desirable to inhibit to noise, highlighting needs
The signal wanted.The common method of the preferable nonlinear filtering of local edge is medium filtering, and effect is smooth two-dimensional digital figure
Picture has and significantly goes hot-tempered ability, and fog-level is well below linear smoothing filter.The method of use is to use certain phase
The intermediate value of gray scale replaces the pixel value of the point in neighbouring region, it is final so that around pixel occurrence and real world
Value is approached.
It after gradation of image is converted and filtered, needs to protrude information on target object, other unwanted information contents is dropped
It is low, according to the difference of gray value between testee in image and remaining background, separating background and testee.In practical application
In, conveyer belt uses the paint of black, from the difference degree for the gray value for improving background and testee in practice.Image binaryzation
Exactly it will become 0 or 255 two kind of value by the pixel point value of gray processing processing, to distinguish image entirety and target object,
It is white so that image is divided into testee, and background colour is black two kinds of apparent image effects.
By the processing of above-mentioned threshold binarization, picture has been changed to only have black and white image, and white is mesh
Object is marked, and for image, to needing to obtain the relevant information of target object, the relevant information needs of remaining background filter out, because
This needs the edge by obtaining the target object in the image after binaryzation, edge usually testee and testee,
Between testee and background environment.Many information in image are present among edge, and pixel in the image of edge
Gray value changes a lot, and marginal information is discontinuous, and only differentiates at the edge of testee and background
The identification of subsequent testee can be carried out, this just needs image edge information carrying out smooth treatment, makes it have continuity.
Edge detection needs first to be filtered to inhibit ambient noise unrelated in picture, but inhibits ambient noise
Side effect is also brought along, the intensity at edge is lost, it is therefore desirable to enhance the edge strength information of image.By to being divided in image
Neighborhood in the variation of pixel strength information enhance edge, and then by pixel intensity value in edge by acute variation
Point is marked.
This patent is on the basis of with Mean Shift algorithms, in conjunction with the variation of diamond shape estimation technique predicted position, and with
The value of prediction is further reduced target as new template to make up deficiency of the Mean Shift algorithms on template renewal
The calculating time of tracking, avoid operation time long and influence real-time, improve sensibility that fast moving objects identifys with
Accuracy reduces the possibility of tracking failure.According to selected center, scanned for respectively with large and small two diamond shape templates, greatly
Template has 9 Searching points, small template to have 4 Searching points, in conjunction with diamond search method Mean Shift algorithms track start when,
Target template first is found according to preset rectangular coordinates, the weighted statistical of the pixel in the region is estimated with Mean Shift algorithms
Then histogram, i.e. kernel function density predict candidate using diamond search method as trace template in the region of present frame
Region, and the statistic histogram that Mean Shift algorithms estimate candidate region is reused, then determined using Pasteur's coefficient
The similitude of former and later two templates to find similar function maximum value, that is, finds Mean Shift vectors, to find
Best region position.
Obtain the center of target mushroom by handling above, control system is demarcated acquired by camera 503
The central point information of target mushroom is converted to the coordinate under gripper coordinate system by transition matrix, according under gripper coordinate system
The position that gripper captures target is arranged in coordinate.
The mushroom grasping mechanism includes the translation gripper 7 of 6 front end of three shaft mechanical arms 6 and three shaft mechanical arms, and described three
Shaft mechanical arm 6 is laid in above 1 rear end of linear transmission platform, and three shaft mechanical arms, 6 end is parallel with 1 direction of transfer of linear transmission platform；
The mushroom separation assembly includes being laid in the material storage storage 8 and material storage storage 8 on the outside of 1 rear end of linear transmission platform
Two sets of cutting mechanisms 9 of Fang Bushe, the material storage storage 8 include mushroom root storage warehouse 801, mushroom stems storage warehouse 802 and perfume
Mushroom umbrella storage warehouse 803, two sets of cutting mechanisms 9 are laid in respectively on mushroom stems storage warehouse 802 and mushroom umbrella storage warehouse 803
Side.
The camera 503 is connected to the input port of embeded processor 502, peaceful 7 company of motivation machinery claw of three shaft mechanical arm 6
It is connected to the delivery outlet of embeded processor 502.
The three shaft mechanicals arm 6 includes the pedestal 601 for being fixed on 1 top of linear transmission platform, is rotatablely connected with pedestal 601
Main frame 602, the short arm plate component and the short arm plate member hinges that are sequentially connected with main frame 602 long arm plate component and be laid in
The gripper fixing piece 603 of long arm plate component front end；
The main frame 602 is fixedly arranged in the middle of rotary electric machine 604, the shaft of the rotary electric machine 604 pass through main frame 602 and with
Pedestal 601 is rotatablely connected, and the main frame is respectively fixed with first servo motor 605 and the second servo motor outside 602 both sides
606；
The short arm plate component includes the first short arm plate 607 and the second short arm plate 608, first short arm plate 607 and second short
Arm plate 608 is bolted, and first level holding rod 609, second is laid between the first short arm plate 607 and the second short arm plate 608
Horizontal holding rod 610 and small rod 611；
The long arm plate component includes the first long arm plate 612 and the second long arm plate 613, and first long arm plate 612 and second is grown
Arm plate 613 is bolted, and triangle retainer 614 is laid between the first long arm plate 612 and the second long arm plate 613 and third is horizontal
Holding rod 615；
The shaft of the first servo motor 605 is rotatablely connected with 607 bottom end of the first short arm plate, second servo motor 606
Shaft pass through the second short arm plate 608 and be rotatablely connected with small rod 611, the top of the first short arm plate 607 and the second short arm plate
The lower end rotation on 608 top and the top of the first long arm plate 612, the top of the second long arm plate 613 and triangle retainer 614 connects
It connects, the bottom end of the bottom end of the first long arm plate 612 and the second long arm plate 613 is rotatablely connected with gripper fixing piece 603；
The lower end of the first level holding rod 609 is hinged with main frame 602, upper end and triangle retainer 614 and first are long-armed
The top of plate 612 is rotatablely connected, the lower end of the second horizontal holding rod 610 with small rod 611 hingedly, upper end and second long-armed
The top of plate 613 is hinged, and the upper end of the horizontal holding rod of the third 615 and triangle retainer 614 be hinged, lower end and gripper are solid
Determine the rotation connection of part 603.
First servo motor 605, the second servo motor 606 and rotary electric machine 604 are each attached on main frame 602, in this way
It is obviously improved the dynamic characteristic of device and reduces the movement inertia of device, three shaft mechanical arms 6 pass through 609 He of first level holding rod
Two parallelogram that the horizontal holding rod 615 of third forms, ensure the axis and linear transmission of three shaft mechanical arms, 6 end wrist
The conveyer belt of platform 1 is parallel.
The translation gripper 7 includes gripper main body 701, be fixed on the middle part of gripper main body 701 steering engine 702 and with
The triangle fixture block 703 that gripper main body 701 is slidably connected, described 701 one end of gripper main body are laid with connector 704, another
End is fixed with T-rail 705, and the triangle fixture block 703 is linked on guide rail and quantity is two symmetrically laid, triangle fixture block
703 tail ends are fixedly arranged above connecting plate 706, and a word steering engine arm 707, the word rudder are fixed in the shaft of the steering engine 702
Be laid with swing link 708 between horn 707 and connecting plate 706,708 both ends of the swing link respectively with a word steering engine arm 707 and
Connecting plate 706 is hinged.
The triangle fixture block 703 uses insulating materials, and 703 front end of triangle fixture block is laid with electrode.When triangle fixture block 703 is grabbed
Firmly after mushroom, resistance between electrode variation determines that translation gripper 7 has caught mushroom with this.
The cutting mechanism 9 includes being fixed on the holder 901 in 1 outside of linear transmission platform and rotating with holder 901 respectively to connect
Driven shaft 902, the driving shaft 903 connect, 901 lower part of the holder are fixed with shear motor 904, the driven shaft 902 and active
903 top of axis has been fixedly connected with circular shear blade 905, and driven shaft 902 and 903 middle part of driving shaft are laid with driven gear respectively
906 and driving gear 907, the driving shaft 903 is sequentially connected with shear motor 904, the driven gear 906 and driving gear
907 intermeshings.
The conveyer belt appearance face color of the transfer assembly is dumb light black, is convenient for the subsequent processing of image.
The camera 503 is located at 1 central axes of linear transmission platform and images the conveyer belt upper table in direction and linear transmission platform 1
Face is mutually perpendicular to.
Semicircle transfer station 3 is driven by two conical drums, and the small side of taper is inside, is formed circular orbit, is sent to
Next link, conical drum is controlled by motor and is rotated, since conical drum entirety linear velocity is inconsistent, to ensure conveyer belt
Semicircular track is run, and line conveyor is for placing mushroom position Morphology observation component 5, mushroom grasping mechanism and mushroom separation
Component, line conveyor blank position can be placed reproducibly above-mentioned three parts, improve single unit system operational efficiency.
When detaching mushroom, a pile mushroom is put into vibrating screen 4 and is placed in semicircle transfer station 3 by shaking substantially dispersion
On, it falls into oblique line transfer station 2 below, is then delivered to mushroom position Morphology observation component 5 with mushroom by linear transmission platform 1
Lower section.The picture that mushroom position Morphology observation component 5 shoots camera 503 carries out binaryzation post filtering, such mushroom umbrella to
On place be complete white, the upward place of mushroom stems is ring-shaped white circle, and it is that mushroom stems are upward which can be distinguished in this way
Mushroom, be eventually found the center of white circle, need the position that captures as manipulator.Then mushroom is delivered to mushroom grasping mechanism
Place, three shaft mechanical arms 6 drive translation gripper 7 to grip the upward mushroom of handle, then capture mushroom and move to mushroom separation assembly
The separation of mushroom is carried out, translation gripper 7 first moves down and then move to the cutting mechanism 9 on right side, you can realizes point of mushroom umbrella
From mushroom umbrella falls into mushroom umbrella storage warehouse 803, and the gripper 7 that is translatable after separation, which is moved down and moved to left to front cutting mechanism 9, completes perfume (or spice)
The separation of mushroom handle, mushroom stems fall into mushroom stems storage warehouse 802, and translation gripper 7 moves to 801 top of mushroom root storage warehouse,
Be switched on machinery claw, and mushroom root falls into mushroom root storage warehouse 801, and the gripper 7 that is finally translatable goes back to home position and carries out next crawl.It does not grab
Mushroom and the handle mushroom directed downwardly taken backs through the lower end that semicircle transfer station 3 drops to oblique line transfer station 2, thus it is possible to vary mushroom
Form, and again identify that, detach, mushroom circle transmission increases the applicability of device.
The embodiment of the above, only presently preferred embodiments of the present invention, not limits the practical range of the present invention,
Therefore the equivalent change or modification that all structure, feature and principles according to described in the scope of the claims of the present invention are done, this hair should all be included in
In bright claim.
Claims (8)
1. a kind of full-automatic mushroom separator, which is characterized in that including the mushroom position laid on transfer assembly, conveying assembly
Morphology observation component（5）, mushroom position Morphology observation component（5）Under mushroom grasping mechanism and mushroom grasping mechanism that rear end is laid
The mushroom separation assembly of square side；
In a ring, transfer assembly includes linear transmission platform to the transfer assembly（1）, oblique line transfer station（2）With two semicircle biographies
Send platform（3）, the linear transmission platform（1）With oblique line transfer station（2）Parallel laying, described two semicircle transfer stations（3）Respectively
It is laid in linear transmission platform（1）With oblique line transfer station（2）Both sides, the oblique line transfer station（2）One end is high, the other end is low, cloth
It is located at oblique line transfer station（2）The semicircle transfer station of lower end（3）Top is fixedly connected with vibrating screen（4）；
The mushroom position Morphology observation component（5）It is laid in linear transmission platform（1）Upper front end, mushroom position Morphology observation group
Part（5）Including being fixed on linear transmission platform（1）The diffused light source chamber of upper front end（501）, be each attached to diffused light source chamber（501）
The embeded processor on top（502）And camera（503）, the diffused light source chamber（501）Antetheca and rear wall top are horizontal
It is laid with bar-shaped LED lamp（504）, the LED light（504）Lower section be fixed with light barrier（505）, the light barrier（505）With
Diffused light source chamber（501）Antetheca and rear wall are in upward angle；
The mushroom grasping mechanism includes three shaft mechanical arms（6）With three shaft mechanical arms（6）The translation gripper of front end（7）, described
Three shaft mechanical arms（6）It is laid in linear transmission platform（1）Above rear end, three shaft mechanical arms（6）End and linear transmission platform（1）Transmission
Direction is parallel；
The mushroom separation assembly includes being laid in linear transmission platform（1）Material storage storage on the outside of rear end（8）And material storing
Storehouse（8）Two sets of cutting mechanisms that top is laid（9）, the material storage storage（8）Including mushroom root storage warehouse（801）, mushroom stems
Storage warehouse（802）With mushroom umbrella storage warehouse（803）, two sets of cutting mechanisms（9）It is laid in mushroom stems storage warehouse respectively（802）
With mushroom umbrella storage warehouse（803）Top.
2. a kind of full-automatic mushroom separator according to claim 1, which is characterized in that the camera（503）Even
It is connected to embeded processor（502）Input port, three shaft mechanical arms（6）Peaceful motivation machinery claw（7）It is connected to embeded processor
（502）Delivery outlet.
3. a kind of full-automatic mushroom separator according to claim 1, which is characterized in that the three shaft mechanicals arm（6）
Including being fixed on linear transmission platform（1）The pedestal of top（601）With pedestal（601）The main frame of rotation connection（602）And it is main
Frame（602）The short arm plate component of drive connection and the long arm plate component of short arm plate member hinges and before being laid in long arm plate component
The gripper fixing piece at end（603）；
The main frame（602）It is fixedly arranged in the middle of rotary electric machine（604）, the rotary electric machine（604）Shaft pass through main frame
（602）And and pedestal（601）Rotation connection, the main frame（602）First servo motor is respectively fixed with outside both sides（605）
With the second servo motor（606）；
The short arm plate component includes the first short arm plate（607）With the second short arm plate（608）, first short arm plate（607）With
Second short arm plate（608）It is bolted, the first short arm plate（607）With the second short arm plate（608）Between be laid with first level guarantor
Hold bar（609）, the second horizontal holding rod（610）And small rod（611）；
The long arm plate component includes the first long arm plate（612）With the second long arm plate（613）, first long arm plate（612）With
Second long arm plate（613）It is bolted, the first long arm plate（612）With the second long arm plate（613）Between be laid with triangle retainer
（614）With the horizontal holding rod of third（615）；
The first servo motor（605）Shaft and the first short arm plate（607）Bottom end is rotatablely connected, second servo motor
（606）Shaft pass through the second short arm plate（608）And and small rod（611）Rotation connection, the first short arm plate（607）Top and
Second short arm plate（608）Top and the first long arm plate（612）Top, the second long arm plate（613）Top and triangle keep
Frame（614）Lower end rotation connection, the first long arm plate（612）Bottom end and the second long arm plate（613）Bottom end and gripper
Fixing piece（603）Rotation connection；
The first level holding rod（609）Lower end and main frame（602）Hinged, upper end and triangle retainer（614）With
One long arm plate（612）Top rotation connection, the second horizontal holding rod（610）Lower end and small rod（611）Hingedly, on
End and the second long arm plate（613）Top it is hinged, the horizontal holding rod of third（615）Upper end and triangle retainer（614）
Hinged, lower end and gripper fixing piece（603）Rotation connection.
4. a kind of full-automatic mushroom separator according to claim 1, which is characterized in that the translation gripper（7）
Including gripper main body（701）, be fixed on gripper main body（701）The steering engine at middle part（702）With with gripper main body（701）It is sliding
The triangle fixture block of dynamic connection（703）, the gripper main body（701）One end is laid with connector（704）, the other end be fixed with T
Shape guide rail（705）, the triangle fixture block（703）It is linked on guide rail and quantity is two symmetrically laid, triangle fixture block（703）
Tail end is fixedly arranged above connecting plate（706）, the steering engine（702）Shaft on be fixed with a word steering engine arm（707）, a word
Steering engine arm（707）With connecting plate（706）Between be laid with swing link（708）, the swing link（708）Both ends respectively with a word rudder
Horn（707）And connecting plate（706）It is hinged.
5. a kind of full-automatic mushroom separator according to claim 4, which is characterized in that the triangle fixture block（703）
Using insulating materials, triangle fixture block（703）Front end is laid with electrode.
6. a kind of full-automatic mushroom separator according to claim 1, which is characterized in that the cutting mechanism（9）Packet
It includes and is fixed on linear transmission platform（1）The holder in outside（901）Respectively with holder（901）The driven shaft of rotation connection（902）, it is main
Moving axis（903）, the holder（901）Lower part is fixed with shear motor（904）, the driven shaft（902）And driving shaft（903）Top
End has been fixedly connected with circular shear blade（905）, driven shaft（902）And driving shaft（903）Middle part is laid with driven gear respectively
（906）And driving gear（907）, the driving shaft（903）With shear motor（904）It is sequentially connected, the driven gear（906）
And driving gear（907）Intermeshing.
7. a kind of full-automatic mushroom separator according to claim 1, which is characterized in that the transmission of the transfer assembly
Band appearance face color is dumb light black.
8. a kind of full-automatic mushroom separator according to claim 1, which is characterized in that the camera（503）Position
In linear transmission platform（1）Central axes and camera shooting direction and linear transmission platform（1）Conveyer belt upper surface be mutually perpendicular to.
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| CN201810344827.2A CN108669600B (en) | 2018-04-17 | 2018-04-17 | Full-automatic mushroom separator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810344827.2A CN108669600B (en) | 2018-04-17 | 2018-04-17 | Full-automatic mushroom separator |
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| Publication Number | Publication Date |
|---|---|
| CN108669600A true CN108669600A (en) | 2018-10-19 |
| CN108669600B CN108669600B (en) | 2020-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810344827.2A Active CN108669600B (en) | 2018-04-17 | 2018-04-17 | Full-automatic mushroom separator |
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| CN109821780A (en) * | 2019-03-28 | 2019-05-31 | 湖北采花茶业有限公司 | Dynamic tea extraction system |
| CN110696081A (en) * | 2019-10-18 | 2020-01-17 | 张改丽 | Processing apparatus is surely cut off to chinese caterpillar fungus sporocarp preparation can trigonometry |
| CN112265044A (en) * | 2020-11-09 | 2021-01-26 | 吉林农业大学 | Mushroom root cutting device and method thereof |
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| CN112265044B (en) * | 2020-11-09 | 2022-05-20 | 吉林农业大学 | Mushroom root cutting device and method thereof |
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|---|---|
| CN108669600B (en) | 2020-12-08 |
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