CN115462279B - End effector of mushroom bud thinning robot and bud thinning method - Google Patents
End effector of mushroom bud thinning robot and bud thinning method Download PDFInfo
- Publication number
- CN115462279B CN115462279B CN202111087710.9A CN202111087710A CN115462279B CN 115462279 B CN115462279 B CN 115462279B CN 202111087710 A CN202111087710 A CN 202111087710A CN 115462279 B CN115462279 B CN 115462279B
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- mushrooms
- thinning
- mushroom
- end effector
- threaded rod
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- 235000001674 Agaricus brunnescens Nutrition 0.000 title claims abstract description 124
- 239000012636 effector Substances 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000001963 growth medium Substances 0.000 claims abstract description 16
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 4
- 238000005553 drilling Methods 0.000 claims description 3
- 241000233866 Fungi Species 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/60—Cultivation rooms; Equipment therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mycology (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses an end effector of a mushroom bud thinning robot, which comprises a direction adjusting mechanism, a swinging mechanism, a separating mechanism and a removing mechanism, wherein the swinging mechanism is connected below the direction adjusting mechanism, the swinging mechanism is connected with the separating mechanism and the removing mechanism, and the direction adjusting mechanism is used for adjusting the bud thinning direction; the swinging mechanism is used for swinging the mushroom root to loosen the mushroom root on the culture medium; the separating mechanism is used for fixing the mushrooms and separating the mushrooms to be subjected to bud thinning from the culture medium; the removing mechanism is used for removing the mushrooms fixed on the separating mechanism, so that the new bud thinning is performed. Has the following advantages: the method realizes the integrated operation of selectively removing buds and removing mushrooms and has the advantages of high bud removing efficiency, stable performance, no influence on other mushrooms and individuals and the like.
Description
Technical Field
The invention belongs to the field of agricultural robots, and relates to an end effector of a mushroom bud thinning robot and a bud thinning method, which can realize the selective bud thinning and removal of various mushrooms without affecting surrounding mushroom individuals.
Background
The planting of mushroom class crop is generally gone on the mushroom bed, and the position of fruiting on the mushroom bed is totally random, consequently can cause the uneven condition of mushroom density distribution, and the too big if density, mushroom can extrude each other, on the one hand, can influence the healthy growth of mushroom, on the other hand, the commodity looks of mushroom is bad, influences its price and classification, consequently need carry out the bud of selectivity to it and remove and can not influence the mushroom growth around it.
Aiming at the problems that the prior fungus mushroom management has difficulty in bud thinning, is basically performed manually, wastes time and labor, reduces production benefits and the like, the invention provides an end effector of a fungus mushroom bud thinning robot and a bud thinning method, realizes automatic fungus mushroom bud thinning operation and improves bud thinning efficiency.
Disclosure of Invention
Aiming at the defects, the invention provides the end effector of the mushroom bud thinning robot and the bud thinning method, which realize the integrated operation of selectively thinning and removing the mushroom, and have the advantages of high bud thinning efficiency, stable performance, no influence on other mushroom individuals and the like.
In order to solve the technical problems, the invention adopts the following technical scheme:
The end effector of the mushroom bud thinning robot comprises a direction adjusting mechanism, a swinging mechanism, a separating mechanism and a removing mechanism, wherein the swinging mechanism is connected below the direction adjusting mechanism, the swinging mechanism is connected with the separating mechanism and the removing mechanism, and the direction adjusting mechanism is used for adjusting the bud thinning direction; the swinging mechanism is used for swinging the mushroom root to loosen the mushroom root on the culture medium; the separating mechanism is used for fixing the mushrooms and separating the mushrooms to be subjected to bud thinning from the culture medium; the removing mechanism is used for removing the mushrooms fixed on the separating mechanism, so that the new bud thinning is performed.
Further, the steering mechanism comprises a steering engine, a steering wheel and a steering bracket, wherein the steering engine is fixed on a base at the tail end of the mechanical arm of the robot, the steering engine is connected with the steering wheel through an output shaft, the steering wheel is fixedly connected with the steering bracket, other parts of an end effector are connected below the steering bracket, and the steering engine drives the steering wheel and the steering bracket to rotate, so that the end effector is driven to rotate to finish steering.
Further, the swing mechanism comprises an arc-shaped rack and a pinion, teeth are distributed on the lower portion of the arc-shaped rack, the pinion is meshed with the teeth on the lower portion of the arc-shaped rack, the pinion is connected with a swing motor, and the swing motor drives the pinion to rotate.
Further, a groove-shaped track is arranged on the side face of the arc-shaped rack, a sliding block is arranged in the groove-shaped track, and the sliding block can slide along the groove-shaped track.
Further, the swing mechanism further comprises an L-shaped connecting plate, one end of the L-shaped connecting plate is fixedly connected with a swing motor, the other end of the L-shaped connecting plate is fixedly connected with a sliding block, a pinion is driven to rotate through the swing motor, the sliding block is driven to slide along a groove-shaped track, and the L-shaped connecting plate can swing reciprocally.
Further, the separating mechanism comprises a gear motor and a threaded rod, the gear motor is arranged on the L-shaped connecting plate, and an output shaft of the gear motor is fixedly connected with the threaded rod.
Further, the removing mechanism comprises a lifting device, and the lifting device is fixed on the arc-shaped rack.
Further, the lifting device comprises a connecting frame, a lifting steering engine and a lifting plate, wherein the connecting frame is fixed on the arc-shaped rack, the lifting steering engine is fixed on the connecting frame, and the lifting plate is connected with the lifting steering engine.
Further, a groove is formed in the middle of the lifting plate and used for penetrating through the threaded rod and contacting with the mushrooms fixed on the threaded rod to push the mushrooms to ascend along the threaded rod.
Further, the removing mechanism further comprises a blade and an air suction pipe, wherein the blade is arranged at the lower end of the L-shaped connecting plate and fixed at two sides of the upper part of the threaded rod, and the air suction pipe is arranged at the lower end of the L-shaped connecting plate, is positioned at the opposite side of the lifting device and is externally connected with an air suction pump for providing suction force.
The bud thinning method of the end effector of the mushroom bud thinning robot comprises the following steps:
Step one, direction adjustment: according to the size and distribution characteristics of the mushroom caps, the bud thinning direction of the mushrooms to be thinned is determined, and the steering engine synchronously rotates while the end effector is moved to reach the upper part of the center of the mushroom caps to be thinned, so that the swinging mechanism rotates to the determined bud thinning direction;
Step two, drilling: the threaded rod is ensured to be in a vertical state at the moment, the speed reducing motor drives the threaded rod to rotate, and the end effector synchronously moves downwards from the upper part of the mushroom cap center, so that the threaded rod drills into mushrooms along the vertical direction and stably contacts the mushrooms;
Step three, shaking process: the swinging motor drives the pinion to rotate, the threaded rod drives the mushrooms to swing reciprocally along the bud thinning direction, and the connection between the root of the mushrooms and the culture medium is loosened;
step four, a separation process: the swinging mechanism is straightened, so that the threaded rod is in a vertical state, and the end effector moves upwards, so that the mushrooms are separated from the culture medium, and the separated mushrooms are fixed on the threaded rod;
Step five, removing: the removing mechanism drives the lifting plate to rotate through the lifting steering engine, a groove is formed in the middle of the lifting plate and used for penetrating through the threaded rod and contacting with the mushrooms fixed on the threaded rod, the separated mushrooms are pushed to ascend along the threaded rod, and when the mushrooms are pushed to the position of the air suction pipe opening, the mushrooms are broken by the blades and sucked away by the air suction pipe, so that the mushrooms are removed.
Compared with the prior art, the invention has the following technical effects:
1. The threaded rod is rotated to drill the mushrooms to perform bud thinning, and the diameter of the threaded rod is far smaller than that of the mushrooms, so that the mushrooms around the threaded rod are not influenced, the mushrooms are tightly fixed, and the subsequent swinging mechanism can shake the mushrooms conveniently, so that two purposes are achieved;
2. The bud thinning direction is adjusted through the direction adjusting mechanism, so that the swinging mechanism rotates to the determined bud thinning direction, the mushrooms are rocked towards the direction with space around the mushrooms, and the connection between the roots of the mushrooms and the culture medium is loosened, so that the influence on other mushroom individuals around the mushrooms is avoided;
3. The mushroom is lifted by the lifting device, the separated mushroom is pushed to be broken by the blade when being lifted to the position of the suction pipe opening along the threaded rod, and is sucked by the suction pipe on the opposite side, so that the integrated operations of bud thinning and removal of the mushroom are completed, and residues are not left to pollute the culture medium on the fruiting bed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
FIG. 1 is a schematic structural view of an end effector of a mushroom bud thinning robot in the invention;
FIG. 2 is a front view of an end effector of a mushroom bud thinning robot in accordance with the present invention;
FIG. 3 is a side view of an end effector of a mushroom bud thinning robot of the present invention;
FIG. 4 is a schematic diagram showing the bud thinning direction of the mushrooms in the invention;
In the figure: 1. steering engine; 2. steering wheel; 3. a steering bracket; 4. a slide block; 5. an arc-shaped rack; 6. a pinion gear; 7. a swing motor; 8. an L-shaped connecting plate; 9. an air suction pipe; 10. a connecting frame; 11. a speed reducing motor; 12. lifting a steering engine; 13. a lifting plate; 14. a blade; 15. a threaded rod.
Detailed Description
1, As shown in fig. 1 to 4, the end effector of the mushroom bud thinning robot comprises a direction adjusting mechanism, a swinging mechanism, a separating mechanism and a removing mechanism, wherein the swinging mechanism is connected below the direction adjusting mechanism, the swinging mechanism is connected with the separating mechanism and the removing mechanism, and the direction adjusting mechanism is used for adjusting the bud thinning direction; the swinging mechanism is used for swinging the mushroom root to loosen the mushroom root on the culture medium; the separating mechanism is used for fixing the mushrooms and separating the mushrooms to be subjected to bud thinning from the culture medium; the removing mechanism is used for removing the mushrooms fixed on the separating mechanism, so that the new bud thinning is performed.
The steering mechanism comprises a steering engine 1, a steering wheel 2 and a steering bracket 3, wherein the steering engine 1 is fixed on a base at the tail end of a mechanical arm of a robot, the steering engine 1 is connected with the steering wheel 2 through an output shaft, the steering wheel 2 is fixedly connected with the steering bracket 3, other parts of an end effector are connected below the steering bracket, the steering engine 1 drives the steering wheel 2 and the steering bracket 3 to rotate, and the other parts of the end effector are driven to rotate, so that the swinging direction of a sparse bud is adjusted.
The swing mechanism comprises an arc-shaped rack 5, an L-shaped connecting plate 8, a swing motor 7, a pinion 6 and a sliding block 4, wherein the arc-shaped rack 5 is fixed at the lower end of the steering bracket 3, a groove-shaped track is arranged on the side surface of the arc-shaped rack 5, teeth are distributed at the lower part of the arc-shaped rack 5, the pinion 6 is meshed with the teeth at the lower part of the arc-shaped rack 5, the pinion 6 is connected with the swing motor 7, the pinion 6 is driven to rotate, and the sliding block 4 is installed on the groove-shaped track and can slide along the groove-shaped track; one end of the L-shaped connecting plate 8 is fixedly connected with the swing motor 7, and the other end is fixedly connected with the sliding block 4; the swing mechanism drives the pinion 6 to rotate through the swing motor 7 to drive the sliding block 4 to slide along the groove-type track, so that the L-shaped connecting plate 8 swings reciprocally.
The separating mechanism comprises a gear motor 11 and a threaded rod 15, the gear motor 11 is arranged on the L-shaped connecting plate 8, and an output shaft of the gear motor 11 is fixedly connected with the threaded rod 15; the separation mechanism is driven by the gear motor 11 to rotate the threaded rod 15, and the threaded rod 15 drills into the mushrooms to be thinned in the descending process of the end effector and is tightly contacted with the mushrooms through threads.
The removing mechanism comprises a lifting device, a blade 14 and an air suction pipe 9, the lifting device comprises a connecting frame 10, a lifting steering engine 12 and a lifting plate 13, the connecting frame 10 is fixed on one side end face of the arc-shaped rack 5, the lifting steering engine 12 is fixed on the connecting frame 10, the lifting plate 13 is connected with the lifting steering engine 12, a groove is formed in the middle of the lifting plate 13 and used for penetrating through a threaded rod 15 and contacting with mushrooms fixed on the threaded rod 15 to push the mushrooms to ascend along the threaded rod 15, the blade 14 is arranged at the lower end of the L-shaped connecting plate 8 and fixed on two sides of the upper portion of the threaded rod 15, the air suction pipe 9 is arranged at the lower end of the L-shaped connecting plate 8 and positioned on the opposite side of the lifting device, and the air suction pipe 9 is externally connected with an air suction pump to provide suction force.
The invention discloses a bud thinning method of an end effector of a mushroom bud thinning robot, which comprises the following steps of:
Step one, direction adjustment: according to the size and distribution characteristics of the mushroom caps, the bud thinning direction and angle of the mushroom to be subjected to bud thinning are determined, and the steering engine 1 synchronously rotates while the end effector is moved to reach the upper part of the center of the mushroom caps of the mushroom to be subjected to bud thinning, so that the swinging mechanism rotates to the determined bud thinning direction;
Step two, drilling: ensuring that the threaded rod 15 is in a vertical state at the moment, driving the threaded rod 15 to rotate by the speed reducing motor 12, and synchronously moving the end effector downwards from the upper part of the mushroom cap to ensure that the threaded rod 15 drills into mushrooms along the vertical direction and stably contacts the mushrooms;
Step three, shaking process: the swinging motor 7 drives the pinion 6 to rotate, the threaded rod 15 drives the mushrooms to swing reciprocally along the bud thinning direction, and the connection between the root of the mushrooms and the culture medium is loosened;
Step four, a separation process: the swinging mechanism is straightened, so that the threaded rod 15 is in a vertical state, and the end effector moves upwards, so that the mushrooms are separated from the culture medium, and the separated mushrooms are fixed on the threaded rod 15;
Step five: the removing mechanism drives the lifting plate 13 to rotate through the lifting steering engine 12, a groove is formed in the middle of the lifting plate 13 and used for penetrating through the threaded rod 15 and contacting with the mushrooms fixed on the threaded rod 15, the separated mushrooms are pushed to ascend along the threaded rod 15, and when pushed to the position of the opening of the air suction pipe 9, the mushrooms are broken by the blades 14 and sucked away by the air suction pipe 9, so that the mushrooms are removed.
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 invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (5)
1. The bud thinning method of the end effector of the mushroom bud thinning robot is characterized by comprising the following steps of: the bud thinning method is applied to an end effector of a mushroom bud thinning robot, and the end effector of the mushroom bud thinning robot comprises a direction adjusting mechanism, a swinging mechanism, a separating mechanism and a removing mechanism;
The swinging mechanism is connected with the direction adjusting mechanism, the separating mechanism and the removing mechanism, the swinging mechanism is fixed at the lower end of the direction adjusting mechanism, the separating mechanism is fixed at the lower end of the swinging mechanism, and the removing mechanism is positioned at one side of the swinging mechanism;
The direction adjusting mechanism is used for adjusting the bud thinning direction of the swinging mechanism, the separating mechanism drills into the mushrooms and stably contacts the mushrooms after the direction is adjusted, the swinging mechanism is used for swinging the roots of the mushrooms contacted with the separating mechanism to loosen the mushrooms on the culture medium, the separating mechanism is used for fixing the mushrooms to be subjected to bud thinning and separating the mushrooms from the culture medium, and then the mushrooms separated by the separating mechanism are removed through the removing mechanism;
the swing mechanism comprises an arc-shaped rack (5) and an L-shaped connecting plate (8);
The separating mechanism comprises a gear motor (11) and a threaded rod (15), the gear motor (11) is arranged on the L-shaped connecting plate (8), and an output shaft of the gear motor (11) is fixedly connected with the threaded rod (15);
The removing mechanism comprises a lifting device, the lifting device is fixed on the arc-shaped rack (5), the lifting device comprises a connecting frame (10), a lifting steering engine (12) and a lifting plate (13), the connecting frame (10) is fixed on the arc-shaped rack (5), and the lifting steering engine (12) is fixed on the connecting frame (10);
The lifting plate (13) is connected with an output shaft of the lifting steering engine (12), a groove is formed in the middle of the lifting plate (13) and used for penetrating through the threaded rod (15) and contacting with mushrooms fixed on the threaded rod (15) so as to push the mushrooms to ascend along the threaded rod (15);
The removing mechanism further comprises a blade (14) and an air suction pipe (9), wherein the blade (14) is arranged at the lower end of the L-shaped connecting plate (8) and fixed at two sides of the upper part of the threaded rod (15), and the air suction pipe (9) is arranged at the lower end of the L-shaped connecting plate (8), is positioned at the opposite side of the lifting device and is externally connected with an air suction pump for providing suction;
The bud thinning method comprises the following steps:
step one, direction adjustment: according to the size and distribution characteristics of the mushroom caps, the bud thinning direction of the mushrooms to be thinned is determined, the end effector is moved to reach the position above the center of the mushroom caps to be thinned, and the action of the direction adjusting mechanism is synchronously controlled, so that the swinging mechanism is rotated to the determined bud thinning direction;
Step two, drilling: ensuring that the separating mechanism drills into the mushrooms along the vertical direction and stably contacts the mushrooms;
Step three, shaking process: the swinging mechanism moves to drive the mushrooms to swing reciprocally along the bud thinning direction, so that the connection between the roots of the mushrooms and the culture medium is loosened;
Step four, a separation process: controlling the swinging mechanism to return, and moving the end effector upwards to separate the mushrooms from the culture medium, wherein the separated mushrooms are fixed on the separating mechanism;
Step five, removing: the removing mechanism drives the lifting plate to rotate through the lifting steering engine, a groove is formed in the middle of the lifting plate and used for penetrating through the threaded rod and contacting with the mushrooms fixed on the threaded rod, the separated mushrooms are pushed to ascend along the threaded rod, and when the mushrooms are pushed to the position of the air suction pipe opening, the mushrooms are broken by the blades and sucked away by the air suction pipe, so that the mushrooms are removed.
2. The method for thinning the buds of the end effector of the mushroom thinning robot according to claim 1, wherein the method comprises the following steps: steering mechanism includes steering wheel (1), steering wheel (2) and steering bracket (3), and steering wheel (1) is fixed on the terminal base of robot arm, and steering wheel (1) are connected with steering wheel (2) through the output shaft, steering wheel (2) and steering bracket (3) fixed connection, and steering bracket (3) lower extreme is connected with end effector other parts, through steering wheel (1) drive steering wheel (2) and steering bracket (3) rotation to drive end effector's rotation completion steering.
3. The method for thinning the end effector of the mushroom thinning robot according to claim 2, wherein the method comprises the following steps: the swing mechanism comprises an arc-shaped rack (5) and a pinion (6), the arc-shaped rack (5) is fixed at the lower end of the steering support (3), teeth are distributed at the lower part of the arc-shaped rack (5), the pinion (6) is meshed with the teeth at the lower part of the arc-shaped rack (5), the pinion (6) is connected with a swing motor (7), and the swing motor (7) drives the pinion (6) to rotate.
4. A method for primordium-thinning the end effector of a mushroom primordium-thinning robot according to claim 3, wherein: the side of the arc-shaped rack (5) is provided with a groove-shaped track, a sliding block (4) is arranged in the groove-shaped track, and the sliding block (4) can slide along the groove-shaped track.
5. The method for thinning the end effector of the mushroom thinning robot according to claim 4, wherein the method comprises the following steps: the swing mechanism further comprises an L-shaped connecting plate (8), one end of the L-shaped connecting plate (8) is fixedly connected with a swing motor (7), the other end of the L-shaped connecting plate is fixedly connected with a sliding block (4), the sliding block (4) is driven to slide along a groove type track through the rotation of a pinion (6) driven by the swing motor (7), and the L-shaped connecting plate (8) is reciprocated.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111087710.9A CN115462279B (en) | 2021-09-16 | 2021-09-16 | End effector of mushroom bud thinning robot and bud thinning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111087710.9A CN115462279B (en) | 2021-09-16 | 2021-09-16 | End effector of mushroom bud thinning robot and bud thinning method |
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| CN115462279A CN115462279A (en) | 2022-12-13 |
| CN115462279B true CN115462279B (en) | 2024-04-19 |
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| Publication number | Publication date |
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| CN115462279A (en) | 2022-12-13 |
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