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    • 1. 发明申请
    • DEVICE FOR THE AUTOMATIC SELECTIVE HARVESTING OF MUSHROOMS
    • 用于自动选择性收藏的设备
    • WO1993000793A1
    • 1993-01-21
    • PCT/NL1992000124
    • 1992-07-09
    • CCM BEHEER B.V.JANSSEN, Joseph, Johannes, JacobusVAN NUNEN, Josephus, Johannes, HubertusGIEBELS, Marc, Marinus, Johannes, Leonardus
    • CCM BEHEER B.V.
    • A01D45/00
    • A01G18/70
    • Device for the automatic selective harvesting of mushrooms (8) grown on growing beds (6). The device comprises a carrier (16) which is movable above the growing bed and is provided with picking arms (30), at least one camera (48) for observing the mushrooms on the growing bed, and positioning devices for positioning the picking arms on the basis of the information coming from each camera. One end of each picking arm bears a picking head (32) coupled with a suction element by means of a torsionally rigid, laterally flexible coupling member (84). The suction element has an annular pad (85) consisting of a flexible envelope (85a) filled with a deformable material (85b). Each picking arm can be moved both in a horizontal plane, essentially transversely to the direction of movement (38) of the carrier (16) relative to the growing bed (6), and in a vertical plane between an initial position (A) and a picking position (B), between which positions a cutting device (86) can cut off the base of the stalk of a picked mushroom.
    • 用于自动选择性收获生长在床上的蘑菇(8)的装置(6)。 该装置包括载体(16),其可在生长床上方移动并且设置有拾取臂(30),用于观察生长床上的蘑菇的至少一个照相机(48)和用于将拾取臂定位在其上的定位装置 来自每台相机的信息的基础。 每个拾取臂的一端具有通过扭转刚性的横向柔性联接构件(84)与抽吸元件联接的拾取头(32)。 抽吸元件具有由填充有可变形材料(85b)的柔性外壳(85a)组成的环形垫(85)。 每个拾取臂可以在水平面上移动,基本上横向于托架(16)相对于成长床(6)的移动方向(38),并且在初始位置(A)和 拣选位置(B),其间定位切割装置(86)可以切割拾取的蘑菇的茎的基部。