Mushroom harvester
US9974235B2 · kind B2 · utility
Inventors
Key dates
| Filing date | Aug 20, 2015 |
| Grant date | May 22, 2018 |
| Priority date | — |
| Expiry date | Aug 20, 2035 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J15/06
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A device for harvesting mushrooms from a mushroom bed involves a robotic arm configured to interchangeably deploy one of a plurality of different suction grippers, each of the suction grippers having a suction cup having a size and shape profile appropriate for gripping a cap of a mushroom, the cap having a size and shape profile within a predetermined range. A vacuum source in fluid communication with the suction gripper supplies negative air pressure to the suction gripper for retaining a cap of the mushroom to be harvested in the suction cup. A control circuit in electronic communication with the suction gripper and the vacuum source is configured to automatically adjust the negative air pressure in the suction gripper in response to harvesting requirements during a mushroom harvesting process. A few standard mushroom shapes have been identified, which permits suction cup designs that maximize contact between the suction cups and the mushroom caps, which permits minimizing the strength of the vacuum needed to harvest the mushrooms.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.