CN113940239B - Intelligent picking system - Google Patents

Abstract

The invention relates to an intelligent picking system, which solves the technical problems that the existing mushroom picking robot has low automation degree, low intelligentization degree, low picking efficiency, large volume, is not suitable for working in a narrow space, has low collection working efficiency and high labor cost, increases the labor cost by manually transferring the robot, increases the labor intensity and reduces the production efficiency. The invention is widely used for picking mushrooms and the like.

Description

Intelligent picking system

technical field

The invention relates to the technical field of mushroom automatic picking, in particular to an intelligent picking system.

Background technique

As we all know, common mushrooms (edible fungi) include: shiitake mushrooms, straw mushrooms, mushrooms, fungus, white fungus, Hericium erinaceus, bamboo fungus, matsutake (matsutake), Tricholoma edodes, russula and boletus, etc.

At present, mushroom cultivation has achieved industrial production. The industrial mushroom house needs to install heating, cooling, ventilation and humidification equipment, etc., and can realize automatic or semi-automatic control of temperature, humidity, ventilation and light conditions. Production Not subject to seasonal restrictions, mushrooms can be produced every day, year-round production, high output and good benefits. The factory mushroom house is generally 20-30 meters long, 6-10 meters wide, and 5-6 meters high. In the room, 2-4 rows of multi-layer bed frames can be installed along the length of the mushroom house. The bed frame is mostly made of metal structural profiles. The bed width is 1-1.6 meters, the number of layers is 5-6 layers, and the layer spacing is 50-70 cm. The distance between the bottom layer of the bed frame and the ground is about 30 cm, and the top layer is 1 meter away from the roof. above. The channel between the bed frame is 80-100 cm wide, and the channel between the bed frame and the wall is 40-80 cm wide.

After the mushrooms grow and mature, the automatic picking operation is carried out by the automatic picking robot, which saves manpower, improves efficiency and reduces costs. With reference to the utility model patent whose authorized notification number is CN212279177U, it discloses a kind of automatic picking robot. Angle, and finally the suction cup moves vertically upwards to complete the extraction; in the technical solution disclosed in this utility model patent, there are mainly the following technical defects:

(1) The picked mushrooms are exported from the outlet on the side of the base, and the follow-up collection work is more troublesome, requiring manual collection of mushrooms, which has technical defects of low efficiency and high labor costs, and the multi-layer bed frame is 5-6 meters high, which also leads to collection operations more difficult.

(2) After the mushroom automatic picking robot completes the picking operation on one layer of the multi-layer bed frame, when it needs to work on another layer, it needs to manually transfer the robot to another layer, which reduces the production efficiency and increases the manpower. cost, increased labor intensity.

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

(4) The picking robot has a large performance and is not suitable for working in a small space.

(5) The degree of automation is low and the degree of intelligence is low.

Contents of the invention

The present invention aims to solve the problem that the existing mushroom picking robots have low degree of automation, low intelligence, low picking efficiency, large volume, not suitable for working in a narrow space, low collection efficiency, high labor cost, and increased manual transfer of the robot. The technical problems of reducing labor costs, increasing labor intensity, and reducing production efficiency provide an intelligent picking system with a high degree of intelligence.

The invention provides an intelligent picking system, including an automatic picking robot, an unattended material receiving device and an automatic layer changing device;

The automatic picking robot includes a base, a walking mechanism, a picking actuator, a cutting root conveying device, a first X-axis mounting plate, a second X-axis mounting plate, a first arm motion drive motor, a second driving synchronous pulley, a second slave Moving synchronous pulley, 2nd synchronous belt, 1st guide rail assembly, 2nd guide rail assembly, 1st Y-axis mounting plate, 3rd guide rail assembly, 1st Y direction movement driving motor, 3rd driving synchronous pulley, 3rd synchronization Belt, the third driven synchronous pulley, binocular camera bracket and binocular camera, the traveling mechanism is connected to the base; the first X-axis mounting plate and the second X-axis mounting plate are fixedly connected to the base respectively, and the first arm is driven by movement The motor is connected to the first X-axis mounting plate, the second driving synchronous belt pulley is connected to the output shaft of the first arm motion drive motor, the second driven synchronous pulley is connected to the first X-axis mounting plate, and the second synchronous belt is connected to Between the second driving synchronous pulley and the second driven synchronous pulley, the first guide rail assembly is connected to the first X-axis mounting plate, the second guide rail assembly is connected to the second X-axis mounting plate, and the first Y-axis mounting plate The end is connected to the second timing belt through the timing belt connecting plate, one end of the first Y-axis mounting plate is connected to the slider of the first guide rail assembly, and the other end of the first Y-axis mounting plate is connected to the slider of the second guide rail assembly , the third guide rail assembly is connected to the first Y-axis mounting plate, the first Y-direction motion driving motor is connected to the first Y-axis mounting plate, the third driving synchronous pulley is connected to the output shaft of the first Y-direction motion driving motor, and the second 3 The driven synchronous pulley is connected to the first Y-axis mounting plate, the third synchronous belt is connected between the third driven synchronous pulley and the third driving synchronous pulley; the binocular camera bracket is connected to the first Y-axis mounting plate , the binocular camera is connected to the binocular camera bracket;

The picking actuator is connected to the slider of the third guide rail assembly, and connected to the third timing belt through the timing belt connecting plate;

The root cutting conveying device includes a base plate, a push plate, a drive motor for the push plate, a first driving synchronous pulley, a first synchronous belt, a first driven synchronous pulley, a blade drive motor, blades, a timing pulley for blades, and a blade rotation The active synchronous pulley and the base plate are provided with mushroom placement slots, mushroom root storage slots, and blade installation slots. The outer wall of the mushroom root storage slot is provided with notches, the side wall of the blade installation slot is provided with via holes, and the push plate is provided with a first The push part and the second push part, the push plate driving motor is connected to one end of the base plate, the first driving synchronous pulley is connected to the output shaft of the push plate drive motor, the first driven synchronous pulley is connected to the other end of the base plate, the first The synchronous belt is connected between the first driven synchronous pulley and the first driving synchronous pulley, the push plate is connected with the first synchronous belt through the synchronous belt connector, and the first push part of the push plate is located in the mushroom placement groove of the base plate , the second push part is located in the mushroom root storage slot; the blade drive motor is connected to one end of the base plate, the timing pulley connecting plate is fixedly connected to the side of the blade installation groove, the blade is connected to the timing pulley connecting plate with the timing pulley, and the blade rotates The active synchronous pulley is connected with the output shaft of the blade drive motor, the active synchronous pulley for blade rotation is connected with the synchronous pulley for the blade through a synchronous belt, the blade is connected with the blade with a synchronous pulley, and a part of the blade is installed through the blade The through hole of the slot, the blade is located above the mushroom root storage tank, and the gap on the outer wall of the mushroom root storage tank is facing the blade; the base plate is fixedly connected to the base, and the base plate is located under the first Y-axis mounting plate of the first picking arm; The side of the base is provided with a mushroom discharge port and a root-cut discharge port, the mushroom discharge port is facing the mushroom storage groove, and the root-cut discharge port is directly facing the mushroom root storage groove;

The unattended material receiving device includes vertical support, supporting wheel, driving wheel, first traveling wheel, second traveling wheel, circulation drive motor, circulation chain, upper support plate, lower support plate, drive sprocket connecting seat, circulation drive Synchronous pulley, circulation synchronous belt, driving sprocket shaft, driving sprocket, first driven sprocket, second driven sprocket, third driven sprocket, fourth driven sprocket, fifth driven chain wheel, tray, tray connecting shaft, travel drive motor, tensioner pulley, first synchronous pulley, second synchronous pulley, travel synchronous belt and driven synchronous pulley, the supporting wheel is rotationally connected with the bottom of the vertical support, and the upper The support plate is fixedly connected to the upper part of the vertical support, the lower support plate is fixedly connected to the lower part of the vertical support, the driving sprocket connecting seat is fixedly connected to the top of the vertical support, the circulation drive motor is connected to the upper support plate, and the circulation drive timing belt The pulley is connected to the output shaft of the circulation drive motor, one end of the drive sprocket shaft is fixedly connected to the drive sprocket, the other end of the drive sprocket shaft is rotatably connected to the drive sprocket connecting seat through a bearing, and the driven synchronous pulley is connected to the drive sprocket The rotating shaft is connected, and the circulating synchronous belt is connected between the circulating driving synchronous pulley and the driven synchronous pulley. The first driven sprocket is connected to one end of the upper support plate in rotation, and the second driven sprocket is connected to the other end of the upper support plate. Rotational connection, the third driven sprocket is rotationally connected with one end of the lower support plate, the fourth driven sprocket is rotationally connected with the middle part of the lower support plate, and the fifth driven sprocket is rotationally connected with the other end of the lower support plate. The chains are respectively connected with the driving sprocket, the first driven sprocket, the second driven sprocket, the third driven sprocket, the fourth driven sprocket and the fifth driven sprocket, and the tray connecting shaft is fixed with the circulation chain connection, the tray is connected to the tray connecting shaft in rotation, and multiple trays are connected to the circulation chain; a storage basket is placed on each tray; the travel drive motor is connected to the upper part of the vertical support, and the drive wheel is connected to the output shaft of the travel drive motor. The tightening wheel is rotationally connected with the upper part of the vertical support, the first traveling wheel is rotationally connected with the upper part of the vertical support through the first traveling wheel shaft, and the second traveling wheel is rotationally connected with the upper part of the vertical support through the second traveling wheel shaft. A synchronous belt pulley is connected with the rotating shaft of the first traveling wheel, a second synchronous belt wheel is connected with the rotating shaft of the second traveling wheel, and the traveling synchronous belt is respectively connected with the driving wheel, the second synchronous belt pulley, the tensioning pulley and the first synchronous belt pulley;

The automatic layer changing device includes a rectangular frame, platform lifting drive motor, intermediate drive shaft, left driving sprocket, right driving sprocket, left bearing seat, right bearing seat, left tensioning sprocket, left direction change sprocket, right tensioning sprocket Sprocket, right reversing sprocket, reducer, left chain, right chain, platform, left counterweight, right counterweight, left guide rail, right guide rail, left tripod, right tripod and limit wheel, platform lift The drive motor is connected to the top of the rectangular frame, the reducer is connected to the top of the rectangular frame, the reducer is connected to the platform lifting drive motor, the middle transmission shaft is connected to the reducer, the left bearing seat and the right bearing seat are respectively connected to the top of the rectangular frame, The left end of the intermediate drive shaft is connected to the left bearing seat, the right end of the intermediate drive shaft is connected to the right bearing seat, the left drive sprocket is connected to the left end of the intermediate drive shaft, the right drive sprocket is connected to the right end of the intermediate drive shaft, and the left tension chain The wheel is rotationally connected with the top of the rectangular frame, the left direction changing sprocket is rotationally connected with the top of the rectangular frame, the right tensioning sprocket is rotationally connected with the top of the rectangular frame, the right direction changing sprocket is rotationally connected with the top of the rectangular frame, and the left chain Bypass the left driving sprocket, left tensioning sprocket and left direction changing sprocket, the right chain bypasses the right driving sprocket, right tensioning sprocket and right direction changing sprocket, the left tripod is fixedly connected to the left side of the platform , the right tripod is fixedly connected to the right side of the platform, the platform is located in a rectangular frame, one end of the left chain is fixedly connected to the left tripod, the other end of the left chain is connected to the left counterweight, and one end of the right chain is fixed to the right tripod Connection, the other end of the right chain is connected with the right counterweight; the left guide rail is connected with the left side of the rectangular frame, the right guide rail is connected with the right side of the rectangular frame, the left counterweight is slidingly connected with the left guide rail through rollers, and the right counterweight passes through The rollers are slidingly connected with the right guide rail; the four corners of the platform are connected with limit wheels, and the limit wheels are provided with ring grooves, and the ring grooves on the limit wheels are stuck on the edges of the columns of the rectangular frame.

Preferably, the picking actuator includes a motor bracket, a screw motor, a nut seat, a lifting plate, a first expansion plate, a second expansion plate, a first synchronous pulley, a second synchronous pulley, a first synchronous belt connecting plate, a second One guide rail, second guide rail, third guide rail, third synchronous pulley, fourth synchronous pulley, third telescopic plate, first synchronous belt, second synchronous belt, second synchronous belt connecting plate, third synchronous belt connection plate, the fourth synchronous belt connecting plate, rotating drive motor bracket, rotating drive motor, coupling and self-adaptive suction cup, the screw motor is connected with the motor bracket, the nut seat is connected with the screw rod of the screw motor, and one end of the lifting plate is connected with the The nut seat is fixedly connected, the other end of the lifting plate is fixedly connected with the first telescopic plate, the first synchronous pulley is connected with the upper part of the first telescopic plate, the second synchronous pulley is connected with the lower part of the first telescopic plate, and the first synchronous belt Connected between the first synchronous pulley and the second synchronous pulley, the inner side of the first synchronous belt is fixedly connected with the motor bracket through the first synchronous belt connecting plate, the first guide rail is connected with the motor bracket, the first telescopic plate is connected with the first The guide rail is connected, the second guide rail is connected with the first telescopic plate, the second telescopic plate is connected with the second guide rail, the outer side of the first synchronous belt is fixedly connected with the upper part of the second telescopic plate through the second synchronous belt connecting plate; the third synchronous belt The pulley is connected to the upper part of the second telescopic plate, the fourth synchronous pulley is connected to the lower part of the second telescopic plate, the second synchronous belt is connected between the third synchronous pulley and the fourth synchronous pulley, the third guide rail is connected to the second The expansion plate is connected, the third expansion plate is connected with the third guide rail, the inner side of the second synchronous belt is fixedly connected with the lower part of the first expansion plate through the third synchronous belt connecting plate, and the outer side of the second synchronous belt is connected through the fourth synchronous belt connecting plate It is fixedly connected with the upper part of the third expansion plate; the rotating drive motor bracket is fixedly connected with the third expansion plate, and the rotating drive motor is connected with the rotating drive motor bracket; the self-adaptive suction cup includes an air extraction joint, an air intake joint, a base, and a flexible suction cup and connecting block, the base is provided with a central through hole, the flexible suction cup is provided with a flat part and a circular raised part, the flat part is provided with a central through hole and an air hole, the circular raised part is hollow, and the circular raised part is provided with an inner Cavity, the cross section of the circle-shaped bulge is arc-shaped, the air hole of the plane part communicates with the inner cavity of the circle-shaped bulge, the central through hole of the plane part communicates with the middle space of the circle-shaped bulge; the plane part is fixed to the base connection, the central through hole of the base communicates with the central through hole of the plane part; the connecting block is fixedly connected with the base, the inside of the connecting block is provided with an air channel, the side of the connecting block is provided with a side opening, and the air channel inside the connecting block is connected to the The central through hole of the base is connected, the air extraction joint is connected with the side opening of the connection block, the air extraction joint is connected with the air channel inside the connection block, the air intake joint is connected with the connection block, and the air intake joint is inserted into the air hole of the plane part; The upper part of the block is rotationally connected with the third expansion plate through the bearing, and the output shaft of the rotating drive motor is fixedly connected with the upper part of the connecting block through a coupling; the mounting plate of the picking actuator is connected with the slider of the second guide rail assembly, and the picking actuator The mounting plate is connected with the third synchronous belt through the synchronous belt connecting plate.

Preferably, there are four blades in the root-cut conveying device, which are respectively the first blade, the second knife, the third blade, and the fourth blade; , timing pulley for the second blade, timing pulley for the third blade, timing pulley for the fourth blade, first tension bearing, second tension bearing, third tension bearing and fourth tension bearing, mushroom The outer wall of the root storage groove is provided with a first notch, the second notch, the third notch, and the fourth notch, and the side wall of the blade installation groove is provided with a first via hole, a second via hole, a third via hole, and a fourth via hole. Holes, the timing pulley for the first blade, the timing pulley for the second blade, the timing pulley for the third blade, and the timing pulley for the fourth blade are respectively connected with the connecting plate of the timing pulley, the first tensioning bearing, the second The tension bearing, the third tension bearing and the fourth tension bearing are respectively connected with the synchronous pulley connecting plate, the first tension bearing is located between the active synchronous pulley for blade rotation and the first blade synchronous pulley, the second The tension bearing is located between the timing pulley for the first blade and the timing pulley for the second blade, the third tension bearing is located between the timing pulley for the second blade and the timing pulley for the third blade, and the fourth tension bearing is The bearing is located between the timing pulley for the third blade and the timing pulley for the fourth blade, the active timing pulley for blade rotation, the timing pulley for the first blade, the timing pulley for the second blade, and the timing belt for the third blade The wheel and the fourth blade are connected with the synchronous belt pulley through the blade rotation, and the blade rotation is bypassed by the synchronous belt through the first tension bearing, the second tension bearing, the third tension bearing and the fourth tension bearing, The first blade is connected to the first blade with a synchronous pulley, the second blade is connected to the second blade with a synchronous pulley, the third blade is connected to the third blade with a synchronous pulley, and the fourth blade is connected to the fourth blade with a synchronous pulley connection, a part of the first blade passes through the first hole of the blade installation groove, a part of the second blade passes through the second hole of the blade installation groove, and a part of the third blade passes through the third hole of the blade installation groove, A part of the fourth blade passes through the fourth hole of the blade installation groove, the first blade, the second blade, the third blade, and the fourth blade are located above the mushroom root storage groove, and the first notch on the outer wall of the mushroom root storage groove is right For the first blade, the second gap is facing the second blade, the third gap is facing the third blade, and the fourth gap is facing the fourth blade.

Preferably, the side of the base of the automatic picking robot is connected with a light receiver for following, and the vertical support of the unattended material receiving device is connected with a first light emitter for following; the light receiver for following is connected with A shading plate with a slit, the first light emitter for following is connected to the shading plate with a slit.

Preferably, the side of the base of the automatic picking robot is connected with a light emitter for position detection, and the light emitter for position detection is connected with a shading plate with a gap; the vertical support connection of the unattended material receiving device is useful Light receiver for position detection.

The present invention is improved and optimized on the basis of the utility model patent whose reference authorized announcement number is CN212279177U.

The invention has the beneficial effects of high degree of automation, high degree of intelligence, high operating efficiency, reliable and stable operation, reduced labor cost, realizing unmanned operation, and improving picking effect. The picking robot is compact in structure and small in size, and can pick mushrooms in various spatial positions to improve the picking effect.

The multi-stage telescopic device is compact in structure, ingenious in design, small in volume and height in the contracted state. The picking actuator composed of an adaptive suction cup and a multi-stage telescopic device is small in size and flexible in movement, which is beneficial to picking mushrooms in various spatial positions.

Further features of the present invention will be clearly described in the following description of specific embodiments.

Description of drawings

Fig. 1 is the perspective view of intelligent picking system;

Fig. 2 is the main view of intelligent picking system;

Fig. 3 is the left view of intelligent picking system;

Fig. 4 is the right view of intelligent picking system;

Fig. 5 is the back view of intelligent picking system;

Fig. 6 is the perspective view of intelligent picking system;

Fig. 7 is a partial enlarged view at M place in Fig. 1;

Fig. 8 is a partial enlarged view at N in Fig. 1;

Fig. 9 is a partial enlarged view at P in Fig. 6;

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

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

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

Fig. 13 is the front view of the unattended material receiving device;

Fig. 14 is a side view of the unattended material receiving device;

Figure 15 is a rear view of the unattended material receiving device;

Fig. 16 is a top view of the unattended material receiving device;

Fig. 17 is a schematic diagram of the connecting structure of the first traveling wheel and the second traveling wheel in Fig. 10;

Fig. 18 is a partial enlarged view at Q in Fig. 11;

Fig. 19 is a perspective view of an automatic layer changing device;

Fig. 20 is a perspective view of an automatic layer changing device;

Figure 21 is a side view of the automatic layer changing device;

Figure 22 is a partial enlarged view at S in Figure 20;

Fig. 23 is a schematic diagram of the connection between the limit wheel and the edge of the column in the rectangular frame in Fig. 22;

Fig. 24 is the perspective view of automatic picking robot;

Fig. 25 is the top view of automatic picking robot;

Fig. 26 is the perspective view of automatic picking robot;

Figure 27 is a structural diagram of the connection between the picking actuator and the first group of picking arms in Figure 24;

Fig. 28 is a perspective view of the root-cut conveying device in the automatic picking robot shown in Fig. 24;

Figure 29 is a front view of the structure shown in Figure 28;

Figure 30 is a left view of the structure shown in Figure 28;

Figure 31 is a right view of the structure shown in Figure 28;

The structural representation of Fig. 32 root-cut conveying device;

Figure 33 is a perspective view of the root cutting conveying device;

Fig. 34 is the bottom view of root cutting conveying device;

Fig. 35 is a structural schematic diagram of a fourth via hole provided on the side wall of the blade mounting groove in the structure shown in Fig. 28;

Figure 36 is a partial enlarged view of the mushroom collection site in Figure 1;

Fig. 37 is a perspective view of a picking device provided with a multi-stage telescopic structure;

Figure 38 is a front view of the structure shown in Figure 37;

Figure 39 is a right view of the structure shown in Figure 37;

Figure 40 is a rear view of the structure shown in Figure 37;

Fig. 41 is a perspective view of another viewing angle of the picking device with a multi-stage telescopic structure;

Figure 42 is a side view of the structure shown in Figure 41;

Fig. 43 is a schematic diagram of the installation method of the self-adaptive suction cup in the structure shown in Fig. 37, where the rotating drive motor is installed on the third telescopic plate;

Figure 44 is a sectional view of the structure shown in Figure 43;

Fig. 45 is a schematic diagram of the structure shown in Fig. 43, where the air inlet joint is installed on the connection block and communicates with the air hole of the flexible suction cup;

Fig. 46 is a schematic diagram of the structure shown in Fig. 43, the side opening of the connecting block, and the air channel of the connecting block communicating with the central through hole of the base;

Figure 47 is a schematic structural view of the initial state of the picking device provided with a multi-stage telescopic structure;

Fig. 48 is a structural schematic diagram of the initial state of the picking device provided with a multi-stage telescopic structure.

Explanation of symbols in the figure:

100. Automatic picking robot, 101. Base, 101-1. Mushroom discharge port, 101-2. Root cutting discharge port, 102. Active runner, 103. Driven runner, 104. Travel drive motor, 105 .Substrate, 105-1. Mushroom placement slot, 105-2. Mushroom root storage slot, 105-2-1. First gap, 105-2-2. Second gap, 105-2-3. Third gap , 105-2-4. The fourth notch, 105-3. Blade installation groove, 105-3-1. The fourth via hole, 106. Push plate, 106-1. The first push part, 106-2. The second Pushing part, 107. Slide rail, 108. Push plate drive motor, 109. 1st driving synchronous pulley, 110. 1st synchronous belt, 111. 1st driven synchronous pulley, 112. Blade drive motor, 113. Synchronization Pulley connecting plate, 114. blade rotates with synchronous belt, 115. the first blade, 116. the second blade, 117. the third blade, 118. the fourth blade, 119. the first blade is with synchronous pulley, 120. the first Two blades are with synchronous belt pulley, 121. The third blade is with synchronous belt pulley, 122. The fourth blade is with synchronous belt pulley, 123. The blade rotates with active synchronous belt pulley, 124. The first tensioning bearing, 125. The second sheet tight bearing, 126. third tension bearing, 127. fourth tension bearing, 128. first x-axis mounting plate, 129. second x-axis mounting plate, 130. first arm motion drive motor, 131. 2nd Active synchronous pulley, 132. Second driven synchronous pulley, 133. Second synchronous belt, 134. Timing belt connecting plate, 135. First guide rail assembly, 136. Second guide rail assembly, 137. First Y-axis installation Board, 138. The third guide rail assembly, 139. The first Y direction motion drive motor, 140. The third driving synchronous pulley, 141. The third synchronous belt, 142. The third driven synchronous pulley, 143. Binocular camera Bracket, 144. binocular camera, 145. second arm motion drive motor, 146. 4th driving synchronous pulley, 147. 4th driven synchronous pulley, 148. 4th synchronous belt, 149. second Y-axis installation Board, 150. The 4th guide rail assembly, 151. The second Y direction movement drive motor, 152. The 5th driving synchronous pulley, 153. The 5th synchronous belt, 154. The 5th driven synchronous pulley, 155. Binocular camera Bracket, 156. binocular camera, 191. light receiver for following, 192. light emitter for position detection, 193. shading plate, 193-1. slit, 194. shading plate;

200. Unattended material receiving device, 201. Vertical support, 202. Support wheel, 203. Driving wheel, 204-1. First traveling wheel, 204-2. Second traveling wheel, 205. Circulation drive motor, 206 .Circulation chain, 207. Upper support plate, 208. Lower support plate, 209. Drive sprocket connecting seat, 210. Circulation drive synchronous pulley, 211. Circulation synchronous belt, 212. Drive shaft of drive sprocket, 213. Drive sprocket , 214. First driven sprocket, 215. Second driven sprocket, 216. Third driven sprocket, 217. Fourth driven sprocket, 218. Fifth driven sprocket, 219. Pallet, 220. Pallet connection shaft, 221. Walking drive motor, 222. Tensioning wheel, 223. The first synchronous pulley, 224. The second synchronous pulley, 225. Walking synchronous belt, 226. Driven synchronous pulley, 227. Mushroom storage basket, 228. The first light emitter for following, 228-1. Light shield, 229. The second light emitter for following, 230. The third light emitter for following, 231. The fourth light emitter for following, 232. The fifth light emitter for following, 233. The sixth light emitter for following, 234. The first light receiver for position detection, 234-1. visor,

300. Automatic layer changing device, 301. Rectangular frame, 302. Platform lifting drive motor, 303. Intermediate transmission shaft, 304. Left driving sprocket, 305. Right driving sprocket, 306. Left bearing seat, 307. Right bearing seat , 308. Left tensioning sprocket, 309. Left changing sprocket, 310. Right tensioning sprocket, 311. Right changing sprocket, 312. Reducer, 313. Left chain, 314. Right chain, 315. Platform, 316. left counterweight, 317. right counterweight, 318. left guide rail, 319. right guide rail, 320. left tripod, 321. right tripod, 322. left auxiliary track, 323. right auxiliary track, 324. Limiting wheel, 325. Charging pile, 326. First position sensor, 327. Second position sensor, 328. Third position sensor, 329. Fourth position sensor, 330. Fifth position sensor, 331. Sixth Position sensor; 400. Multi-layer bed frame;

1. Mounting plate, 2. Motor bracket, 3. Screw motor, 3-1. Screw rod, 4. Lifting plate, 5. The first telescopic plate, 6. The second telescopic plate, 7. The first synchronous pulley, 8. The second timing belt pulley, 9. The first timing belt connecting plate, 10. The first guide rail, 11. The second guide rail, 12. The third guide rail, 13. The third timing pulley, 14. The fourth timing pulley , 15. The third telescopic plate, 16. Nut seat, 17. The first synchronous belt, 18. The second synchronous belt, 19. The second synchronous belt connecting plate, 20. The third synchronous belt connecting plate, 21. The fourth synchronous With connecting plate, 22. Rotary drive motor bracket, 23. Rotary drive motor, 24. Coupling, 25. Bearing, 26. Air extraction joint, 27. Air intake joint, 28. Base, 28-1. Connection hole , 28-2. Center through hole, 29. Flexible suction cup, 29-1. Plane part, 29-1-1. Center through hole, 29-1-2. Air hole, 29-2. Circle-shaped raised part, 29 -2-1. Inner cavity, 30. Connecting block, 30-1. Air channel, 30-2. Side opening, 31. Exhaust pipe, 32. First optocoupler, 33. Second optocoupler, 34. Inductor .

Detailed ways

Referring to the accompanying drawings, the present invention will be further described in detail with specific embodiments.

As shown in Figures 1-6, the intelligent picking system includes an automatic picking robot 100, an unattended material receiving device 200, and an automatic layer changing device 300.

As shown in Figures 10-18, the unattended material receiving device 200 includes a vertical support 201, a support wheel 202, a driving wheel 203, a first traveling wheel 204-1, a second traveling wheel 204-2, a circulation drive motor 205, Circulation chain 206, upper support plate 207, lower support plate 208, driving sprocket connection seat 209, circulation driving synchronous pulley 210, circulation synchronous belt 211, driving sprocket rotating shaft 212, driving sprocket 213, first driven sprocket 214, second driven sprocket 215, third driven sprocket 216, fourth driven sprocket 217, fifth driven sprocket 218, tray 219, tray connecting shaft 220, travel drive motor 221, tensioner 222, the first synchronous pulley 223, the second synchronous pulley 224, the walking synchronous belt 225, the driven synchronous pulley 226, the first light emitter 228 for following, the second light emitter 229 for following, The third light emitter 230 for following, the fourth light emitter 231 for following, the fifth light emitter 232 for following, the sixth light emitter 233 for following, the fourth light emitter for position detection A light receiver 234, a second light receiver for position detection, a third light receiver for position detection, a fourth light receiver for position detection, a fifth light receiver for position detection, For the sixth light receiver for position detection, two support wheels 202 are rotationally connected to the bottom of the vertical support 201, the upper support plate 207 is fixedly connected to the top of the vertical support 201, and the lower support plate 208 is connected to the bottom of the vertical support 201. The bottom is fixedly connected, the driving sprocket connecting seat 209 is fixedly connected to the top of the vertical support 201, the circulation drive motor 205 is fixedly installed on the upper support plate 207, the circulation drive synchronous pulley 210 is connected with the output shaft of the circulation drive motor 205, and the drive One end of the sprocket rotating shaft 212 is fixedly connected with the driving sprocket 213, the other end of the driving sprocket rotating shaft 212 is rotationally connected with the driving sprocket connecting seat 209 through a bearing, and the driven synchronous pulley 226 is connected with the driving sprocket rotating shaft 212, and the circulation is synchronous The belt 211 is connected between the circulation driving synchronous pulley 210 and the driven synchronous pulley 226, the first driven sprocket 214 is rotationally connected with an end of the upper support plate 207, and the second driven sprocket 215 is connected with the end of the upper support plate 207. The other end is rotationally connected, the third driven sprocket 216 is rotationally connected with one end of the lower support plate 208, the fourth driven sprocket 217 is rotationally connected with the middle part of the lower support plate 208, the fifth driven sprocket 218 is connected with the lower support plate The other end of 208 is rotationally connected, and circulation chain 206 is respectively with drive sprocket 213, first driven sprocket 214, second driven sprocket 215, the 3rd driven sprocket 216, the 4th driven sprocket 217, the 4th driven sprocket Five driven sprockets 218 are connected, the tray connecting shaft 220 is fixedly connected with the circulation chain 206, the tray 219 is connected with the rotation of the tray connecting shaft 220, and a plurality of trays 219 are installed on the circulation chain 206; the walking drive motor 221 is fixedly installed on the vertical bracket 20 1, the driving wheel 203 is connected to the output shaft of the walking drive motor 221, the tensioning wheel 222 is connected to the top of the vertical support 201 in rotation, and the first traveling wheel 204-1 is connected to the vertical support 201 through the first traveling wheel rotating shaft. The upper part is rotationally connected, the second road wheel 204-2 is rotationally connected with the upper part of the vertical support 201 through the second road wheel shaft, the first synchronous pulley 223 is connected with the first road wheel shaft, and the second synchronous pulley 224 is connected with the second synchronous pulley 224. The walking wheel rotating shaft is connected, and the walking synchronous belt 225 is connected with the driving wheel 203, the second synchronous pulley 224, the tensioning pulley 222, and the first synchronous pulley 223 respectively. There are 20 trays 219 shown in the figure, and one mushroom storage basket 227 is placed on each tray, and 20 mushroom storage baskets can be placed in total.

As shown in FIGS. 1 , 2 , 3 and 7 , the two support wheels 202 are in close contact with the bottom of the multi-layer bed frame 400 . As shown in Figures 1, 2, 6 and 9, the first traveling wheel 204-1 and the second traveling wheel 204-2 are placed on the top edge of the multi-layer bed frame 400, when the traveling driving motor 221 works, the traveling driving motor 221 passes the active Wheel 203, walking synchronous belt 225 drive the first synchronous belt pulley 223 and the second synchronous belt pulley 224 to rotate, the first synchronous belt pulley 223, the second synchronous belt pulley 224 respectively drive the first traveling wheel 204-1, the second traveling wheel 204-2 rotates, and then, the first road wheel 204-1 and the second road wheel 204-2 drive the whole unattended material receiving device to move along the length direction of the multi-layer bed frame 400, and the whole unattended material receiving device moves During the process, the two support wheels 202 follow up. The first light emitter 228 for following, the second light emitter 229 for following, the third light emitter 230 for following, the fourth light emitter 231 for following, the fifth light emitter for following A light emitter 232, a sixth light emitter 233 for following, a first light receiver 234 for position detection, a second light receiver for position detection, a third light receiver for position detection, The fourth light receiver for position detection, the fifth light receiver for position detection and the sixth light receiver for position detection are respectively connected to the vertical support 201 . The first light emitter 228 for following, the second light emitter 229 for following, the third light emitter 230 for following, the fourth light emitter 231 for following, the fifth light emitter for following The light emitter 232 and the sixth light emitter 233 for following are distributed from bottom to top equivalent to six layers, the first light receiver 234 for position detection, the second light receiver for position detection, and the second light receiver for position detection. The distribution of the third light receiver for detection, the fourth light receiver for position detection, the fifth light receiver for position detection and the sixth light receiver for position detection corresponds to six layers from bottom to top. The shading plate 228-1 is connected with the first light emitter 228 for following, and the shading plate 228-1 is provided with a slit 228-1-1, and the optical fiber sent by the first light emitter 228 for following passes through the slit 228-1-1. 1-1 launch; similarly, the other five optical fiber transmitters used to follow are also connected to light-shielding plates. The first light receiver 234 used for position detection is connected with a shading plate 234-1, the shading plate 234-1 is provided with a slit, and the first light receiver 234 receives the optical fiber passing through the slit on the shading plate 234-1, In the same way, the other five light receivers for position detection are also connected with light shields. As shown in Figures 1 and 8, the light receiver 191 for following, the light emitter 192 for position detection are respectively connected with the side of the automatic picking robot 100 base, and the light shield 193 is connected with the light receiver 191 for following. The light shielding plate 193 is provided with a slit 193-1, the light shielding plate 194 is connected with the light emitter 192 for position detection, and the light shielding plate 194 is provided with a slit. The second light emitter 229 for following and the light receiver 191 for following form a through-beam photoelectric switch; the light emitter 192 for position detection and the second light receiver for position detection form a pair Radiation photoelectric switch. When the automatic picking robot 100 moves to a certain position, the external controller instructs the walking drive motor 221 to work, and the first road wheel 204-1 and the second road wheel 204-2 rotate to make the entire unattended material receiving device 200 translate. When the following light receiver 191 receives the light sent by the second light emitter 229 for following, the feedback signal is the external controller (the second light emitter 229 for following is facing the light receiver for following). 191), the external controller instructs the walking drive motor 221 to stop working, and the unattended material receiving device 200 stops moving (the unattended material receiving device 200 moves in place), realizing the function of the unattended material receiving device 200 following the automatic picking robot 100 . When the light receiver 191 for following receives the light emitted by the second light emitter 229 for following, the second light receiver for position detection receives the light of the light emitter 192 for position detection And feedback signal to the controller of the robot, the controller of the robot judges that the unattended material receiving device is in place, and the robot just carries out the picking operation at this moment. When the second light receiver for position detection does not receive light from the light emitter 192 for position detection, the robot stops and does not perform picking operations. The light shield can improve detection accuracy.

As shown in Figures 19-22, the automatic layer changing device 300 includes a rectangular frame 301, a platform lifting drive motor 302, an intermediate transmission shaft 303, a left driving sprocket 304, a right driving sprocket 305, a left bearing seat 306, and a right bearing seat 307 , left tensioning sprocket 308, left changing sprocket 309, right tensioning sprocket 310, right changing sprocket 311, reducer 312, left chain 313, right chain 314, platform 315, left counterweight 316, Right counterweight 317, left guide rail 318, right guide rail 319, left tripod 320, right tripod 321, left auxiliary rail 322, right auxiliary rail 323, limit wheel 324, charging pile 325, first position sensor 326, the first Two position sensors 327, the third position sensor 328, the fourth position sensor 329, the fifth position sensor 330 and the sixth position sensor 331, the platform lifting drive motor 302 is fixedly installed on the top of the rectangular frame 301, and the speed reducer 312 is fixedly installed on the rectangular frame 301. On the top of the frame 301, the reducer 312 is connected to the platform lifting drive motor 302, the intermediate drive shaft 303 is connected to the reducer 312, the left bearing seat 306 is fixedly installed on the top of the rectangular frame 301, and the right bearing seat 307 is fixedly installed on the top of the rectangular frame 301. Top, the left end of the intermediate transmission shaft 303 is connected with the left bearing seat 306, the right end of the intermediate transmission shaft 303 is connected with the right bearing seat 307, the left driving sprocket 304 is connected with the left end of the intermediate transmission shaft 303, and the right driving sprocket 305 is connected with the intermediate transmission The right end of the shaft 303 is connected, the left tensioning sprocket 308 is rotatably connected with the top of the rectangular frame 301 through the bearing seat, the left changing sprocket 309 is rotatably connected with the top of the rectangular frame 301 through the bearing seat, and the right tensioning sprocket 310 is connected through the bearing The seat is rotationally connected with the top of the rectangular frame 301, the right direction changing sprocket 311 is rotationally connected with the top of the rectangular frame 301 through the bearing seat, and the left chain 313 bypasses the left driving sprocket 304, the left tensioning sprocket 308, the left direction changing chain Wheel 309, right chain 314 walks around right driving sprocket wheel 305, right tensioning sprocket wheel 310, right changing direction sprocket wheel 311, left tripod 320 is fixedly connected with the left side of platform 315, and right tripod 321 is connected with the right side of platform 315. The side is fixedly connected, the platform 315 is located in the rectangular frame 301, one end of the left chain 313 is fixedly connected with the left tripod 320, the other end of the left chain 313 is connected with the left counterweight 316, and one end of the right chain 314 is fixed with the right tripod 321 Connection, the other end of the right chain 314 is connected with the right counterweight 317; the left guide rail 318 is fixedly installed on the left side of the rectangular frame 301, the right guide rail 319 is fixedly installed on the right side of the rectangular frame 301, and the left counterweight 316 passes through the roller and the left guide rail 318 is slidingly connected, and the right counterweight 317 is slidingly connected with the right guide rail 319 through rollers; the charging pile 325 is installed on the platform 315; the rectangular frame 301 is divided into six layers from bottom to top; the left auxiliary rail 322, Right auxiliary track 323, can make the walking of robot The wheels of the walking mechanism move onto the platform more easily. A spacer wheel 324 is respectively installed on the four corners of the platform 315, the spacer wheel 324 is provided with a ring groove, and the ring groove on the spacer wheel 324 is stuck on the edge of the column of the rectangular frame 301 (as shown in Figure 22 and 23 22 and 23, preferably, both sides of the platform 315 are respectively provided with tracks 315-1 adapted to the wheels in the walking mechanism of the automatic picking robot, which can make the robot more Accurately and stably move onto the platform; the first position sensor 326, the second position sensor 327, the third position sensor 328, the fourth position sensor 329, the fifth position sensor 330 and the sixth position sensor 331 are installed on the rectangular Edge positions of the first to sixth floors of the frame 301 .

The working process of the automatic layer changing device 300 is that the platform lifting drive motor 302 works to drive the intermediate transmission shaft 303 to rotate, the intermediate transmission shaft 303 drives the left driving sprocket 304 and the right driving sprocket 305 to rotate, the left driving sprocket 304, the right driving sprocket Sprocket 305 drives left chain 313, right chain 314 motions, and left chain 313, right chain 314 make platform 315 lift, and platform 315 can rise to second floor from Fig. On the second floor, the second position sensor 327 detects that the platform is on the second floor; when the platform 315 rises to the sixth floor, the sixth position sensor 331 detects that the platform is on the sixth floor. The platform 315 can be descended from the sixth floor to the first floor. When the platform 315 is moving up and down, the four limit wheels 324 can ensure the stable movement of the platform and prevent the platform from overturning. When the automatic picking robot 100 moves onto the platform 315 , the charging pile 325 can charge the battery in the automatic picking robot 100 .

As shown in FIGS. 1 , 2 and 3 , the automatic layer changing device 300 is close to the front part of the multi-layer bed frame 400 along the length direction.

As shown in Figures 24-27, the automatic picking robot 100 includes a base 101, a storage battery, a traveling mechanism, a picking actuator, a cutting root conveying device, a first X-axis mounting plate 128, a second X-axis mounting plate 129, a first arm Motion drive motor 130, second driving synchronous pulley 131, second driven synchronous pulley 132, second synchronous belt 133, synchronous belt connecting plate 134, first guide rail assembly 135, second guide rail assembly 136, first Y axis Mounting plate 137, the third guide rail assembly 138, the first Y-direction motion drive motor 139, the third driving synchronous pulley 140, the third synchronous belt 141, the third driven synchronous pulley 142, binocular camera bracket 143, binocular camera144.

The traveling mechanism is provided with two driving runners 102, two driven runners 103 and a travel drive motor 104, the two driving runners 102 are installed on both sides of the base 101, and the two driven runners 103 are installed on the base On both sides of 101, the traveling drive motor 104 is installed on the base 101, and the traveling driving motor 104 drives the two driving wheels 102 to rotate through shafts. The running mechanism can also adopt other existing technologies. The battery is mounted on the base. Root-cut conveying device comprises base plate 105, push pedal 106, slide rail 107, push pedal drive motor 108, the 1st driving synchronous pulley 109, the 1st synchronous belt 110, the 1st driven synchronous pulley 111, blade drive motor 112, Timing pulley connecting plate 113, blade rotation timing belt 114, first blade 115, second blade 116, third blade 117, fourth blade 118, first blade timing pulley 119, second blade timing pulley 120, the 3rd blade is with synchronous pulley 121, the 4th blade is with synchronous pulley 122, blade rotates with driving synchronous pulley 123, the first tension bearing 124, the second tension bearing 125, the 3rd tension bearing 126 and The fourth tension bearing 127, the base plate 105 is provided with a mushroom placement groove 105-1, a mushroom root storage groove 105-2, and a blade installation groove 105-3, and the outer wall of the mushroom root storage groove 105-2 is provided with a first gap 105 -2-1, the second notch 105-2-2, the third notch 105-2-3, the fourth notch 105-2-4, the side wall of the blade mounting groove 105-3 is provided with a first via hole, a second Via hole, the 3rd via hole, the 4th via hole 105-3-1, push plate 106 is provided with the first push part 106-1 and the second push part 106-2, push plate drive motor 108 is installed on one end of substrate 105 , the first driving synchronous pulley 109 is connected to the output shaft of the push plate drive motor 108, the first driven synchronous pulley 111 is connected to the other end of the base plate 105, and the first synchronous belt 110 is connected to the first driven synchronous pulley 111 Between the first driving synchronous pulley 109, the push plate 106 is connected to the first synchronous belt 110 through a synchronous belt connector, and the first push portion 106-1 of the push plate 106 is located in the mushroom placement groove 105-1 of the base plate 105 , the second push part 106-2 is located in the mushroom root storage tank 105-2, the slide rail 107 is connected with the side of the mushroom storage tank 105-1, the first push part 106-1 is connected with the slide rail 107, and the blade driving motor 112 Installed on one end of the base plate 105, the timing pulley connecting plate 113 is fixedly connected with the side of the blade mounting groove 105-3, the timing pulley 119 for the first blade, the timing pulley 120 for the second blade, and the timing pulley for the third blade 121, the fourth blade is connected with the synchronous pulley connecting plate 113 respectively with synchronous pulley 122, and the active synchronous pulley 123 of blade rotation is connected with the output shaft of blade driving motor 112, and the first tension bearing 124, the second tension bearing 125. The third tensioning bearing 126 and the fourth tensioning bearing 127 are respectively connected with the synchronous pulley connecting plate 113, and the first tensioning bearing 124 is located between the active synchronous pulley 123 for blade rotation and the synchronous pulley 119 for the first blade Between, the second tension bearing 125 is located between the synchronous pulley 119 for the first blade and the synchronous pulley 120 for the second blade, and the third tension bearing 126 is located between the synchronous pulley 120 for the second blade and the synchronous pulley 120 for the third blade. Between the pulleys 121, the fourth tension bearing 127 is located between the third blade timing pulley 121 and the fourth blade Between the synchronous belt pulley 122, the active synchronous belt pulley 123 for blade rotation, the synchronous belt pulley 119 for the first blade, the synchronous belt pulley 120 for the second blade, the synchronous belt pulley 121 for the 3rd blade and the synchronous belt for the 4th blade The wheels 122 are connected by the synchronous belt 114 for blade rotation, and the synchronous belt 114 for blade rotation walks around the first tension bearing 124, the second tension bearing 125, the third tension bearing 126 and the fourth tension bearing 127, A blade 115 is fixedly connected with the center of the first blade synchronous pulley 119, the second blade 116 is fixedly connected with the center of the second blade synchronous pulley 120, and the third blade 117 is fixedly connected with the center of the third blade synchronous pulley 121. Fixedly connected, the fourth blade 118 is fixedly connected with the center of the fourth blade with the synchronous pulley 122, a part of the first blade 115 passes through the first via hole of the blade mounting groove 105-3, and a part of the second blade 116 passes through the blade The second via hole of the mounting groove 105-3, a part of the third blade 117 passes through the third via hole of the blade mounting groove 105-3, and a part of the fourth blade 118 passes through the fourth via hole of the blade mounting groove 105-3 105-3-1. The first blade 115, the second blade 116, the third blade 117, and the fourth blade 118 are located above the mushroom root storage tank 105-2. The first gap 105-2-1 on the outer wall of the mushroom root storage tank 105-2 is facing the first blade 115, the second gap 105-2-2 is facing the second blade 116, and the third gap 105-2-3 is facing The third blade 117 and the fourth notch 105 - 2 - 4 are facing the fourth blade 118 . The base plate 105 is fixedly installed on the base 101 , and the base plate 105 is located below the first Y-axis mounting plate 137 of the first picking arm. As shown in Figures 24 and 26, the side of the base 101 is provided with a mushroom discharge port 101-1 and a root-cut discharge port 101-2, and the mushroom discharge port 101-1 is facing the mushroom placement groove 105-1. The root discharge port 101-2 is facing the mushroom root storage tank 105-2. When the mushroom is translated, the root of the mushroom first passes through the fourth gap 105-2-4 and then moves toward the direction of the fourth blade 118, and the root of the mushroom is cut off when passing through the fourth blade 118 rotating at high speed.

The first X-axis mounting plate 128 is fixedly connected to the base 101, the second X-axis mounting plate 129 is fixedly connected to the base 101, the first arm movement drive motor 130 is installed on the first X-axis mounting plate 128, and the second active synchronization The pulley 131 is connected to the output shaft of the first arm motion drive motor 130, the second driven synchronous pulley 132 is connected to the first X-axis mounting plate 128, and the second synchronous belt 133 is connected to the second driving synchronous pulley 131 and the second 2 Between the driven synchronous pulleys 132, the first guide rail assembly 135 is connected to the first X-axis mounting plate 128, the second guide rail assembly 136 is connected to the second X-axis mounting plate 129, and the end of the first Y-axis mounting plate 137 The timing belt connecting plate 134 is connected to the second timing belt 133, one end of the first Y-axis mounting plate 137 is connected to the slider of the first guide rail assembly 135, and the other end of the first Y-axis mounting plate 137 is connected to the second guide rail assembly 136 The slider is connected, the third guide rail assembly 138 is connected with the first Y-axis mounting plate 137, the first Y-direction motion drive motor 139 is installed on the first Y-axis mounting plate 137, the third driving synchronous pulley 140 is connected with the first Y-axis The output shaft of the direction motion driving motor 139 is connected, the 3rd driven synchronous pulley 142 is connected with the first Y-axis mounting plate 137, and the 3rd synchronous belt 141 is connected with the 3rd driven synchronous pulley 142 and the 3rd driving synchronous pulley Between 140. The binocular camera bracket 143 is connected to the first Y-axis mounting plate 137 , and the binocular camera 144 is connected to the binocular camera bracket 143 . The mounting plate 1 of the picking actuator is connected to the slider of the third guide rail assembly 138, the mounting plate 1 is connected to the third synchronous belt 141 through the synchronous belt connecting plate, and the first Y direction motion driving motor 139 is started to enable the mounting plate 1 to move along the Y axis direction movement, that is, to drive the entire picking actuator to move along the Y-axis direction.

As shown in Figure 37-48, the picking actuator includes a mounting plate 1, a motor bracket 2, a screw motor 3, a lifting plate 4, a first telescopic plate 5, a second telescopic plate 6, a first synchronous pulley 7, a second Synchronous pulley 8, first synchronous belt connecting plate 9, first guide rail 10, second guide rail 11, third guide rail 12, third synchronous pulley 13, fourth synchronous pulley 14, third telescopic plate 15, nut seat 16. The first synchronous belt 17, the second synchronous belt 18, the second synchronous belt connecting plate 19, the third synchronous belt connecting plate 20, the fourth synchronous belt connecting plate 21, the rotary drive motor bracket 22, the rotary drive motor 23, the joint Shaft device 24, bearing 25, adaptive sucker. The motor bracket 2 is fixedly connected with the mounting plate 1, the screw motor 3 is fixedly installed on the motor bracket 2, the nut seat 16 is connected with the screw mandrel 3-1 of the screw motor 3, and one end of the lifting plate 4 is fixedly connected with the nut seat 16, The other end of the lifting plate 4 is fixedly connected with the first telescopic plate 5 by screws, the first synchronous pulley 7 is connected with the top of the first telescopic plate 5, the second synchronous pulley 8 is connected with the bottom of the first telescopic plate 5, and the second synchronous pulley 8 is connected with the bottom of the first telescopic plate 5. A synchronous belt 17 is connected between the first synchronous pulley 7 and the second synchronous pulley 8, the inner side of the first synchronous belt 17 is fixedly connected with the motor bracket 2 through the first synchronous belt connecting plate 9, and the first guide rail 10 is connected with the motor The bracket 2 is connected, the first telescopic plate 5 is connected with the first guide rail 10, the second guide rail 11 is connected with the first telescopic plate 5, the second telescopic plate 6 is connected with the second guide rail 11, and the outside of the first synchronous belt 17 passes through the second The synchronous belt connecting plate 19 is fixedly connected with the top of the second telescopic plate 6; the third synchronous pulley 13 is connected with the top of the second telescopic plate 6, the fourth synchronous pulley 14 is connected with the bottom of the second telescopic plate 6, and the second The synchronous belt 18 is connected between the third synchronous pulley 13 and the fourth synchronous pulley 14, the third guide rail 12 is connected with the second telescopic plate 6, the third telescopic plate 15 is connected with the third guide rail 12, and the second synchronous belt 18 The inner side of the second synchronous belt 18 is fixedly connected with the bottom of the first telescopic plate 5 through the third synchronous belt connecting plate 20, and the outer side of the second synchronous belt 18 is fixedly connected with the top of the third telescopic plate 15 through the fourth synchronous belt connecting plate 21. The rotation driving motor bracket 22 is fixedly connected with the third expansion plate 15 by screws, and the rotation driving motor 23 is fixedly installed on the rotation driving motor bracket 22 . The self-adaptive suction cup includes an air extraction joint 26, an air intake joint 27, a base 28, a flexible suction cup 29, and a connection block 30. The base 28 is provided with a central through hole 28-2 and four connection holes 28-1, and the flexible suction cup 29 is provided with planar part 29-1, circle-shaped bulge 29-2, and planar part 29-1 is provided with central through hole 29-1-1 and air hole 29-1-2, and circle-shaped bulge 29-2 is hollow , the circle-shaped bulge 29-2 is provided with an inner cavity 29-2-1, the cross section of the circle-shaped bulge 29-2 is arc-shaped, and the inner cavity of the air hole 29-1-2 and the circle-shaped bulge 29-2 29-2-1 communicates, and the central through hole 29-1-1 of the plane part 29-1 communicates with the middle space 29-2-2 of the circular raised part 29-2; These four connecting columns are inserted into the four connecting holes 28-1 to realize the fixed connection between the plane part 29-1 and the base 28, and the plane part 29-1 and the base 28 can also be realized by other methods such as glue bonding. The fixed connection of seat 28; The center through hole 28-2 of base 28 communicates with the center through hole 29-1-1 of planar part 29-1; Connection block 30 is fixedly connected with base 28 (also can make connection block 30 and The base 28 is integrally formed), the inside of the connecting block 30 is provided with an air passage 30-1, and the side of the connecting block 30 is provided with a side opening 30-2, and the air passage 30-1 inside the connecting block 30 communicates with the center of the base 28. The hole 28-2 communicates, the air suction joint 26 is connected with the side opening 30-2 of the connection block 30 so that the air suction joint 26 communicates with the air channel 30-1 inside the connection block 30, and the air intake joint 27 is connected with the connection block 30, The air inlet joint 27 is inserted into the air hole 29-1-2 of the flat portion 29-1 so as to realize the communication between the air inlet joint 27 and the inner chamber 29-2-1 of the circular raised portion 29-2. The upper part of the connecting block 30 is rotatably connected with the third expansion plate 15 through the bearing 25 , and the output shaft of the rotating drive motor 23 is fixedly connected with the upper part of the connecting block 30 through the coupling 24 . The material of the flexible suction cup 29 can be flexible materials such as silica gel, rubber, thermoplastic elastomer TPE or thermoplastic rubber TPR. When the plucking actuator works, one end of the air extraction pipe 31 is connected with the air extraction joint 26, and the external negative pressure pump is connected with the other end of the air extraction pipe 31. Connect with air inlet joint 27 with an air supply pipe. As shown in Figures 47 and 48, the picking device is in the initial state, the third telescopic plate 15, the first telescopic plate 5 and the second telescopic plate 6 are arranged side by side along the horizontal direction, and the lifting plate 4 is located at the upper end of the motor support 2. A certain amount of air is charged into the inner cavity 29-2-1 of the circular bulge of the self-adaptive suction cup through the air supply pipe and the air inlet joint 27 (the amount of air charged can be adjusted according to the different adsorption objects). The position of the mushroom is obtained by other means such as visual recognition technology, the action of the screw motor 3 drives the lifting plate 4 to move downward, the lifting plate 4 drives the first telescopic plate 5 to move downward along the first guide rail 10, and the first synchronous pulley 7 Rotate simultaneously with the second synchronous pulley 8, the first synchronous belt 17 rotates, the second synchronous belt connecting plate 19 moves downward with the first synchronous belt 17, the second synchronous belt connecting plate 19 drives the second telescopic plate 6 along The second guide rail 11 moves downward, the third synchronous pulley 13 and the fourth synchronous pulley 14 rotate simultaneously when the second telescopic plate 6 moves downward, the second synchronous belt 18 rotates, and the fourth synchronous belt connecting plate 21 follows The second synchronous belt 18 moves downward, the fourth synchronous belt connecting plate 21 drives the third telescopic plate 15 to move downward, and the third telescopic plate 15 drives the rotary drive motor bracket 22, the rotary drive motor 23 and the self-adaptive sucker to move downward, Now the picking device is in the extended state shown in Figure 37 (the first telescopic plate 5, the second telescopic plate 6 and the third telescopic plate 15 are distributed sequentially along the vertical direction), thereby realizing the vertical downward movement of the self-adaptive sucker . The flexible suction cup 29 presses down the mushroom cap of the mushroom, and the circle-shaped bulge 29-2 presses the mushroom cap, and the circle-shaped bulge 29-2 deforms thereupon and then closely fits with the top of the mushroom cap. The middle space 29-2-2 of 29-2 and the top area of the mushroom cap form a closed chamber, and then start the external negative pressure pump to suck out the air in the formed closed chamber to generate a partial vacuum, and then the circle-shaped bulge Part 29-2 sucks the cap. Next, the rotary drive motor 23 works, and the self-adaptive suction cup is driven to rotate by a certain angle through the connecting block 30, and the self-adaptive suction cup drives the mushroom to rotate by a certain angle to twist off the handle of the mushroom, and the mushroom is removed. Next, the screw motor 3 rotates in the opposite direction, and the lifting plate 4 drives the first telescopic plate 5 to move upward. Referring to FIG. 37 , the first synchronous belt 17 rotates, and the second synchronous belt connecting plate 19 moves upward along with the first synchronous belt 17 , the second synchronous belt connecting plate 19 drives the second telescopic plate 6 to move upward, while the second telescopic plate 6 moves upward and the second synchronous belt 18 rotates, the fourth synchronous belt connecting plate 21 moves upward along with the second synchronous belt 18, The fourth synchronous belt connecting plate 21 drives the third telescopic plate 15 to move upwards, and the third telescopic plate 15 drives the rotary drive motor support 22, the rotary drive motor 23 and the self-adaptive sucker to move upwards, finally making the picking device in the initial position shown in Figure 47 contracted state. During this process, the adaptive suction cup moves the mushroom upwards. When the negative pressure pump is depressurized, the mushrooms will fall freely (sometimes it may happen that the mushrooms cannot fall autonomously because of their small weight, in this case, inflate the circular bulge 29-2 again to increase the pressure , so that the circle-shaped bulge 29-2 swells, so that the contact surface between the circle-shaped bulge 29-2 and the mushroom has a slight displacement, destroys the local friction force, and makes the mushroom fall smoothly). The structure of the above-mentioned self-adaptive suction cup is basically the same as the self-adaptive suction cup in the Chinese invention patent application whose application publication number is CN113079954A, and the name is called picking device with self-adaptive suction cup and self-adaptive suction cup. The structure of the self-adaptive suction cup can be further optimized. A plurality of dimples may be provided along the circumferential direction on the surface of the circular raised portion 29-2 of the flexible suction cup. It is also possible to arrange a plurality of protrusions along the circumferential direction on the surface of the circular raised portion 29-2 of the flexible suction cup to increase the radial friction force. In addition, for the structure of the self-adaptive suction cup, such optimization can be carried out, so that the outer wall thickness of the circular bulge 29-2 of the flexible suction cup is greater than the inner wall thickness. The advantage of this design is that when the circular bulge 29-2 When the mushroom cap is pressed down and deformed, the inner wall of the circle-shaped bulge 29-2 is deformed toward the outer wall under force, and the outer wall of the circle-shaped bulge 29-2 can play a supporting role, because the outer wall thickness is greater than the inner wall thickness. , the deformation of the outer wall of the circle-shaped bulge 29-2 is very small, and the overall adaptive deformation of the circle-shaped bulge is mainly the deformation of the inner wall, which is more conducive to achieving a close fit with the surface of the object. It should be noted that, in order to make the vertical displacement of the first telescopic plate 5 more accurate, as shown in Figures 38 and 41, the first optocoupler 32 and the second optocoupler 33 are installed on the motor bracket 2, The side of the induction plate 34 is installed, and when the induction plate 34 triggers the second optocoupler 33, the second optocoupler 33 sends an upper limit signal to the controller, and when the induction plate 34 triggers the first optocoupler 32, the first optocoupler 32 sends a lower limit signal to the controller. The controller, thereby accurately controlling the upper limit position of the first telescopic plate 5 to move upward and the lower limit position of the downward movement. By the motor bracket 2, the screw motor 3, the lifting plate 4, the first telescopic plate 5, the second telescopic plate 6, the first synchronous pulley 7, the second synchronous pulley 8, the first synchronous belt connecting plate 9, the first Guide rail 10, second guide rail 11, third guide rail 12, third synchronous pulley 13, fourth synchronous pulley 14, third expansion plate 15, nut seat 16, first synchronous belt 17, second synchronous belt 18, the first The multistage telescopic device composed of the second synchronous belt connecting plate 19, the third synchronous belt connecting plate 20, the fourth synchronous belt connecting plate 21 and other parts is compact in structure, ingenious in design, small in volume and small in height in the contracted state, and is suitable for use in narrow spaces. in the application. It should be noted that for this multi-stage telescopic device, the third synchronous belt pulley 13, the fourth synchronous belt pulley 14, the second synchronous belt 18, the third synchronous belt connecting plate 20, and the fourth synchronous belt connecting plate 21 may not be used. , the third guide rail 12, the third telescopic plate 15, directly fix the third telescopic plate 15 on the second telescopic plate 6, that is to say, the first telescopic plate 5 and the second telescopic plate 6 are stretched during work, and the second telescopic plate Plate 6 drives the 3rd expansion plate 15, rotation drive motor support 22, rotation drive motor 23 and self-adaptive sucker to move up and down as the end (the 3rd expansion plate 15 of this moment does not move up and down, only plays connection function). It should be noted that the multi-stage telescopic device shown in Figure 37 is a three-stage telescopic structure, which can be expanded to four, five or more stages.

The first arm movement driving motor 130, the second driving synchronous pulley 131, the second driven synchronous pulley 132, the second synchronous belt 133, the synchronous belt connecting plate 134, the first Y-axis mounting plate 137, and the third guide rail assembly 138 , the first Y direction movement drive motor 139, the 3rd driving synchronous belt pulley 140, the 3rd synchronous belt 141, the 3rd driven synchronous belt pulley 142, binocular camera support 143, binocular camera 144 form the first group of picking arms, The present invention is provided with two groups of picking arms, and the second group of picking arms includes a second arm motion drive motor 145, a 4th driving synchronous pulley 146, a 4th driven synchronous pulley 147, a 4th synchronous belt 148, a second Y-axis Mounting plate 149, the 4th guide rail assembly 150, the second Y direction movement drive motor 151, the 5th driving synchronous belt pulley 152, the 5th synchronous belt 153, the 5th driven synchronous belt pulley 154, binocular camera support 155, binocular Camera 156, the second arm motion drive motor 145 is installed on the second X-axis mounting plate 129, the 4th driving synchronous pulley 146 is connected with the output shaft of the second arm motion drive motor 145, the 4th driven synchronous pulley 147 is connected with the output shaft of the second arm motion drive motor 145 The second X-axis mounting plate 129 is connected, the fourth synchronous belt 148 is connected between the fourth driven synchronous pulley 147 and the fourth driving synchronous pulley 146, and one end of the second Y-axis mounting plate 149 is connected to the first guide rail assembly 135 The other end of the second Y-axis mounting plate 149 is connected to the slider of the second guide rail assembly 136, and the end of the second Y-axis mounting plate 149 is connected through the fourth timing belt 148 of the timing belt connecting plate. The guide rail assembly 150 is connected with the second Y-axis mounting plate 149, the second Y-direction motion driving motor 151 is installed on the second Y-axis mounting plate 149, the output of the 5th driving synchronous pulley 152 and the second Y-direction motion driving motor 151 Shaft connection, the fifth driven synchronous pulley 154 is connected with the second Y-axis mounting plate 149, the fifth synchronous belt 153 is connected between the fifth driven synchronous pulley 154 and the fifth driving synchronous pulley 152, binocular camera The bracket 155 is connected to the second Y-axis mounting plate 149 , and the binocular camera 156 is connected to the binocular camera bracket 155 . The second group of picking actuators is installed on the second group of picking arms, the mounting plate 1 of the second group of picking actuators is connected with the slider of the fourth guide rail assembly 150, and the mounting plate 1 is connected with the fifth synchronous belt 153 through the timing belt connecting plate .

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

As shown in Figures 1, 2 and 3, the automatic layer-changing device 300 lifts the automatic picking robot 100 on its platform to the second floor position, and the automatic picking robot 100 moves into the second layer of the multi-layer bed frame 400 by itself. In the next step, the automatic picking robot 100 picks the mushrooms on the second layer of the multi-layer bed frame 400. Two groups of picking arms and two groups of picking actuators work simultaneously (greatly improving picking efficiency), and the first Y-axis mounting plate 137 is placed on the The movement in the X-axis direction drives the binocular camera 144 to move, and the binocular camera 144 collects images below it, and the collected images are sent to the controller to identify the mushrooms to be picked, and then the picking actuator moves, and the adaptive suction cup takes the mushrooms according to the figure. The position of 25 translates from left to right through the fourth blade 118 rotating at high speed, the fourth blade 118 cuts off the root of the mushroom, and the root falls into the mushroom root storage tank 105-2, and the self-adaptive sucker releases the pressure so that the mushroom falls In the mushroom placement groove 105-1, then start the push plate drive motor 108, the push plate 106 moves, and the first push part 106-1 pushes the mushrooms in the mushroom placement groove 105-1 to the mushroom discharge port 101-1 , the mushrooms in the mushroom placement groove 105-1 are discharged from the mushroom discharge port 101-1 and dropped into the mushroom storage basket 227 of the unattended material receiving device to realize collection, as shown in Figure 36, the second pusher 106-2 pushes out the root in the mushroom root storage tank 105-2 from the root-cut discharge port 101-2 and drops to the ground.

When the mushroom storage basket 227 is filled with mushrooms, the circulation drive motor 205 is started to rotate the circulation chain 206, so that another empty mushroom storage basket moves to the position of the mushroom discharge port 101-1, and each mushroom storage basket can be circulated and recycled to fit each layer of the multi-tiered bed frame. Collection work is not limited by the height of the bed frame.

When every two layers of the multi-layer bed frame are processed, the automatic picking robot moves to the platform of the automatic layer changing device 300, and the platform rises to transfer the automatic picking robot to the entrance of the third layer of the multi-layer bed frame, and then the automatic picking robot Move to the third floor for homework.

It can be seen that the whole process has a high degree of automation and intelligence, high operating efficiency, reliable and stable operation, and reduced labor costs. The whole process realizes unmanned operation and a high degree of intelligence. The picking robot is compact in structure and small in size, and can pick mushrooms in various spatial positions.

Unattended catchers are not limited to collecting mushrooms, but can also be used to collect other products.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. If those skilled in the art are inspired by it, without departing from the inventive concept of the present invention, adopt other forms of component configurations, driving devices and connection methods without creatively designing structural methods and embodiments similar to the technical solution , should belong to the protection scope of the present invention.

Claims (5)

1. An intelligent picking system is characterized by comprising an automatic picking robot, an unattended receiving device and an automatic layer changing device;

the automatic picking robot comprises a base, a walking mechanism, a picking actuator, a root cutting conveying device, a first X-axis mounting plate, a second X-axis mounting plate, a first arm movement driving motor, a 2 nd driving synchronous pulley, a 2 nd driven synchronous pulley, a 2 nd synchronous belt, a 1 st guide rail assembly, a 2 nd guide rail assembly, a first Y-axis mounting plate, a 3 rd guide rail assembly, a first Y-direction movement driving motor, a 3 rd driving synchronous pulley, a 3 rd synchronous belt, a 3 rd driven synchronous pulley, a binocular camera support and a binocular camera, wherein the walking mechanism is connected with the base; the first X-axis mounting plate and the second X-axis mounting plate are fixedly connected with each other through bases, the first arm movement driving motor is connected with the first X-axis mounting plate, the 2 nd driving synchronous pulley is connected with an output shaft of the first arm movement driving motor, the 2 nd driven synchronous pulley is connected with the first X-axis mounting plate, the 2 nd synchronous belt is connected between the 2 nd driving synchronous pulley and the 2 nd driven synchronous pulley, the 1 st guide rail assembly is connected with the first X-axis mounting plate, the 2 nd guide rail assembly is connected with the second X-axis mounting plate, the end part of the first Y-axis mounting plate is connected with the 2 nd synchronous belt through a synchronous belt connecting plate, one end of the first Y-axis mounting plate is connected with a sliding block of the 1 st guide rail assembly, the other end of the first Y-axis mounting plate is connected with a sliding block of the 2 nd guide rail assembly, the 3 rd guide rail assembly is connected with the first Y-axis mounting plate, the first Y-direction movement driving motor is connected with an output shaft of the first Y-direction movement driving motor, the 3 rd synchronous pulley is connected with the first Y-axis mounting plate, and the first synchronous belt is connected between the 3 rd synchronous pulley and the first synchronous belt; the binocular camera support is connected with the first Y-axis mounting plate, and the binocular camera is connected with the binocular camera support;

the picking actuator is connected with a sliding block of the 3 rd guide rail assembly and is connected with the 3 rd synchronous belt through a synchronous belt connecting plate;

the root cutting conveying device comprises a substrate, a push plate driving motor, a 1 st driving synchronous pulley, a 1 st synchronous belt, a 1 st driven synchronous pulley, a blade driving motor, a blade, a synchronous pulley for the blade, a driving synchronous pulley for the blade to rotate, a mushroom placing groove, a mushroom root storage groove and a blade mounting groove, wherein the outer side wall of the mushroom root storage groove is provided with a notch; the mushroom root storage groove is characterized in that the blade driving motor is connected to one end of the base plate, the synchronous pulley connecting plate is fixedly connected with the side face of the blade mounting groove, the blade is connected with the synchronous pulley connecting plate through a synchronous pulley, the driving synchronous pulley is connected with an output shaft of the blade driving motor for blade rotation, the driving synchronous pulley is connected with the synchronous pulley for blade rotation through a synchronous belt, the blade is connected with the synchronous pulley for blade, one part of the blade penetrates through a through hole of the blade mounting groove, the blade is positioned above the mushroom root storage groove, and a notch of the outer side wall of the mushroom root storage groove is opposite to the blade; the base plate is fixedly connected to the base and is positioned below the first Y-axis mounting plate of the first picking arm; the side surface of the base is provided with a mushroom discharging opening and a root cutting discharging opening, the mushroom discharging opening is opposite to the mushroom placing groove, and the root cutting discharging opening is opposite to the mushroom root storage groove;

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

the automatic layer changing device comprises a rectangular frame, a platform lifting driving motor, a middle transmission shaft, a left driving sprocket, a right driving sprocket, a left bearing seat, a right bearing seat, a left tensioning sprocket, a left turning sprocket, a right tensioning sprocket, a right turning sprocket, a speed reducer, a left chain, a right chain, a platform, a left balancing weight, a right balancing weight, a left guide rail, a right guide rail, a left tripod, a right tripod and a limiting wheel, wherein the platform lifting driving motor is connected with the top of the rectangular frame, the speed reducer is connected with the platform lifting driving motor, the middle transmission shaft is connected with the speed reducer, the left bearing seat and the right bearing seat are respectively connected with the top of the rectangular frame, the left end of the middle transmission shaft is connected with the left bearing seat, and the right end of the middle transmission shaft is connected with the right bearing seat, the left driving sprocket is connected with the left end of the middle transmission shaft, the right driving sprocket is connected with the right end of the middle transmission shaft, the left tensioning sprocket is rotationally connected with the top of the rectangular frame, the left turning sprocket is rotationally connected with the top of the rectangular frame, the right tensioning sprocket is rotationally connected with the top of the rectangular frame, the right turning sprocket is rotationally connected with the top of the rectangular frame, the left chain bypasses the left driving sprocket, the left tensioning sprocket and the left turning sprocket, the right chain bypasses the right driving sprocket, the right tensioning sprocket and the right turning sprocket, the left tripod is fixedly connected with the left side of the platform, the right tripod is fixedly connected with the right side of the platform, the platform is positioned in the rectangular frame, one end of the left chain is fixedly connected with the left tripod, the other end of the left chain is connected with the left balancing weight, and one end of the right chain is fixedly connected with the right tripod, the other end of the right chain is connected with a right balancing weight; the left guide rail is connected with the left side of the rectangular frame, the right guide rail is connected with the right side of the rectangular frame, the left balancing weight is connected with the left guide rail in a sliding mode through a roller, and the right balancing weight is connected with the right guide rail in a sliding mode through a roller; the four corners of the platform are all connected with limiting wheels, the limiting wheels are provided with annular grooves, and the annular grooves in the limiting wheels are clamped on the edges of the stand columns of the rectangular frame.

2. The intelligent picking system of claim 1, wherein the picking actuator comprises a motor bracket, a lead screw motor, a nut seat, a lifting plate, a first expansion plate, a second expansion plate, a first synchronous belt pulley, a second synchronous belt pulley, a first synchronous belt connecting plate, a first guide rail, a second guide rail, a third synchronous belt pulley, a fourth synchronous belt pulley, a third expansion plate, a first synchronous belt, a second synchronous belt connecting plate, a third synchronous belt connecting plate, a fourth synchronous belt connecting plate, a rotary driving motor bracket, a rotary driving motor, a coupling and a self-adaptive suction cup, wherein the lead screw motor is connected with the motor bracket, the nut seat is connected with a lead screw of the lead screw motor, one end of the lifting plate is fixedly connected with the nut seat, the other end of the lifting plate is fixedly connected with the first expansion plate, the first synchronous belt pulley is connected with the upper part of the first expansion plate, the second synchronous belt pulley is connected with the lower part of the first expansion plate, the first synchronous belt is connected between the first synchronous belt pulley and the second synchronous belt pulley, the inner side of the first synchronous belt is fixedly connected with the motor support through a first synchronous belt connecting plate, the first guide rail is connected with the motor support, the first expansion plate is connected with the first guide rail, the second guide rail is connected with the first expansion plate, the second expansion plate is connected with the second guide rail, and the outer side of the first synchronous belt is fixedly connected with the upper part of the second expansion plate through a second synchronous belt connecting plate; the third synchronous belt pulley is connected with the upper part of the second expansion plate, the fourth synchronous belt pulley is connected with the lower part of the second expansion plate, the second synchronous belt is connected between the third synchronous belt pulley and the fourth synchronous belt pulley, the third guide rail is connected with the second expansion plate, the third expansion plate is connected with the third guide rail, the inner side of the second synchronous belt is fixedly connected with the lower part of the first expansion plate through a third synchronous belt connecting plate, and the outer side of the second synchronous belt is fixedly connected with the upper part of the third expansion plate through a fourth synchronous belt connecting plate; the rotary driving motor bracket is fixedly connected with the third telescopic plate, and the rotary driving motor is connected with the rotary driving motor bracket; the self-adaptive sucker comprises an air exhaust connector, an air inlet connector, a base, a flexible suction cup and a connecting block, wherein the base of the self-adaptive sucker is provided with a central through hole, the flexible suction cup is provided with a plane part and a circular raised part, the plane part is provided with the central through hole and an air hole, the circular raised part is hollow, the circular raised part is provided with an inner cavity, the cross section of the circular raised part is arc-shaped, the air hole of the plane part is communicated with the inner cavity of the circular raised part, and the central through hole of the plane part is communicated with the middle space of the circular raised part; the plane part is fixedly connected with a base of the self-adaptive sucker, and a central through hole of the base of the self-adaptive sucker is communicated with a central through hole of the plane part; the air suction device comprises a connecting block, an air suction joint, an air inlet joint, a connecting block and a flat surface part, wherein the connecting block is fixedly connected with a base of the self-adaptive sucker, an air channel is arranged inside the connecting block, a side opening is arranged on the side surface of the connecting block, the air channel inside the connecting block is communicated with a central through hole of the base of the self-adaptive sucker, the air suction joint is connected with the side opening of the connecting block, the air suction joint is communicated with the air channel inside the connecting block, the air inlet joint is connected with the connecting block, and the air inlet joint is inserted into an air hole of the flat surface part; the upper part of the connecting block is rotationally connected with the third expansion plate through a bearing, and an output shaft of the rotary driving motor is fixedly connected with the upper part of the connecting block through a coupler; the mounting panel of picking the executor is connected with the slider of first guide rail set spare, and the mounting panel of picking the executor passes through the hold-in range connecting plate and is connected with 3 rd hold-in range.

3. The intelligent picking system of claim 1 or 2, wherein there are four blades in the root cutting conveyor, being a first blade, a second blade, a third blade, a fourth blade; the root cutting conveying device also comprises a synchronous belt for blade rotation, a synchronous belt wheel for a first blade, a synchronous belt wheel for a second blade, a synchronous belt wheel for a third blade, a synchronous belt wheel for a fourth blade, a first tensioning bearing, a second tensioning bearing, a third tensioning bearing and a fourth tensioning bearing, wherein a first notch, a second notch, a third notch and a fourth notch are arranged on the outer side wall of the mushroom root storage tank, a first through hole, a second through hole, a third through hole and a fourth through hole are arranged on the side wall of the blade mounting groove, the synchronous belt wheel for the first blade, the synchronous belt wheel for the second blade, the synchronous belt wheel for the third blade and the synchronous belt wheel for the fourth blade are respectively connected with a synchronous belt wheel connecting plate, and the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing are respectively connected with the synchronous belt wheel connecting plate, the first tensioning bearing is positioned between the driving synchronous pulley for blade rotation and the synchronous pulley for the first blade, the second tensioning bearing is positioned between the synchronous pulley for the first blade and the synchronous pulley for the second blade, the third tensioning bearing is positioned between the synchronous pulley for the second blade and the synchronous pulley for the third blade, the fourth tensioning bearing is positioned between the synchronous pulley for the third blade and the synchronous pulley for the fourth blade, the driving synchronous pulley for blade rotation, the synchronous pulley for the first blade, the synchronous pulley for the second blade, the synchronous pulley for the third blade and the synchronous pulley for the fourth blade are connected through the synchronous pulley for blade rotation, the synchronous pulley for blade rotation bypasses the first tensioning bearing, the second tensioning bearing, the third tensioning bearing and the fourth tensioning bearing, the first blade is connected with the synchronous pulley for the first blade, and the second blade is connected with the synchronous pulley for the second blade, the utility model discloses a mushroom root storage tank, including first blade, second blade, fourth blade, blade mounting groove, fourth blade, synchronous pulley, the third blade is connected with synchronous pulley for the third blade, the first via hole of blade mounting groove is passed to some of first blade, and the second via hole of blade mounting groove is passed to some of second blade, and the third via hole of blade mounting groove is passed to some of third blade, and the fourth via hole of blade mounting groove is passed to some of fourth blade, first blade, second blade, third blade, fourth blade are located the top of mushroom root storage tank, the first breach of mushroom root storage tank lateral wall is just to first blade, and the second breach is just to the second blade, and the third breach is just to the third blade, and the fourth breach is just to the fourth blade.

4. The intelligent picking system according to claim 1 or 2, wherein a light receiver for following is connected to a side of a base of the automatic picking robot, and a first light emitter for following is connected to a vertical support of the unattended receiving device; the light receiver for following is connected with a light screen with a gap, and the first light emitter for following is connected with a light screen with a gap.

5. The intelligent picking system according to claim 4, wherein a light emitter for position detection is connected to the side of the base of the automatic picking robot, and a shading plate with a gap is connected to the light emitter for position detection; the vertical support of the unattended receiving device is connected with a light receiver for position detection.

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