CN112956375A - Full-automatic asparagus is gathered and is cut root all-in-one - Google Patents
Full-automatic asparagus is gathered and is cut root all-in-one Download PDFInfo
- Publication number
- CN112956375A CN112956375A CN202010613577.5A CN202010613577A CN112956375A CN 112956375 A CN112956375 A CN 112956375A CN 202010613577 A CN202010613577 A CN 202010613577A CN 112956375 A CN112956375 A CN 112956375A
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- Prior art keywords
- root
- needle mushroom
- root cutting
- material taking
- frame
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- 235000005340 Asparagus officinalis Nutrition 0.000 title claims description 9
- 244000003416 Asparagus officinalis Species 0.000 title claims 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 claims abstract description 78
- 238000005520 cutting process Methods 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000003306 harvesting Methods 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims description 51
- 241000233866 Fungi Species 0.000 claims description 28
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 238000005192 partition Methods 0.000 claims description 10
- 241000894006 Bacteria Species 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 7
- 241000785075 Jatropha podagrica Species 0.000 claims description 2
- 240000006499 Flammulina velutipes Species 0.000 abstract description 18
- 235000016640 Flammulina velutipes Nutrition 0.000 abstract description 18
- 241000234427 Asparagus Species 0.000 description 7
- 238000004806 packaging method and process Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000012258 culturing Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/70—Harvesting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/80—Accessories for use after harvesting, e.g. scrapers
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/04—Devices for topping fruit or vegetables
- A23N15/045—Devices for topping mushrooms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mycology (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Mushroom Cultivation (AREA)
Abstract
本发明涉及一种全自动金针菇采收切根一体机，包含机架、两条平行设置在机架上的菌筐输送线、两条位于两条菌筐输送线之间的金针菇输送线、两组设置在机架顶部的搬运机械手、两组分别设置在两条金针菇输送线输出端的切根机构、一条设置在金针菇输送线下方且位于两组切根机构正下方的根部输送线、两条平行设置在两条金针菇输送线输出端的成品输送线；本发明可直接将装有瓶栽金针菇的菌筐从育菇房内输送到菌筐输送线上，不需要人工搬运，劳动强度低，且通过搬运机械手能一次采收多个菌筐内的金针菇，并置于金针菇输送线上，最终通过切根机构切掉根部，从而大大提高了工作效率。The invention relates to a fully automatic Flammulina velutipes harvesting and rooting integrated machine, comprising a frame, two mushroom basket conveying lines arranged in parallel on the frame, two Flammulina velutipes conveying lines located between the two mushroom basket conveying lines, two A set of handling manipulators arranged on the top of the rack, two sets of root-cutting mechanisms respectively set at the output ends of the two enoki mushroom conveyor lines, one set of root conveyor lines located below the enoki mushroom conveyor line and just below the two sets of root-cutting mechanisms, two parallel The finished product conveying line is arranged at the output end of the two enoki mushroom conveying lines; the present invention can directly transport the mushroom baskets containing the bottled Flammulina velutipes from the mushroom growing room to the mushroom basket conveying line, without manual handling, low labor intensity, and through The handling manipulator can harvest enoki mushrooms in multiple baskets at one time, place them on the enoki mushroom conveying line, and finally cut off the roots through the root cutting mechanism, thus greatly improving the work efficiency.
Description
Technical Field
The invention relates to the field of needle mushroom production, in particular to a full-automatic needle mushroom harvesting and root cutting all-in-one machine.
Background
The bottle cultivation of the golden mushroom is that the raw materials are put into a shaped bottle, and then the strains of the golden mushroom are inoculated. Culturing in a mushroom cultivating room suitable for growth environment of Flammulina velutipes, separating the grown Flammulina velutipes from the bottle, cutting off the root of Flammulina velutipes, and packaging. However, in the prior factory, the flammulina velutipes is manually separated and collected from the bottle, and the roots are cut off by a knife manually, so that the following problems are caused: 1. manual resection tends to result in uneven cut surfaces; 2. the quantity of roots cut off every time is inconsistent, so that waste is easy to generate; 3. manual excision is also prone to danger; 4. due to the particularity of the flammulina velutipes, the freshness of the flammulina velutipes can be reduced by direct contact of hands of people, so that the commodity of the flammulina velutipes is reduced; although the automatic harvesting and root cutting equipment for the golden mushroom is also available on the market, such as the automatic harvesting and root cutting machine for the bottle-cultivated mushroom disclosed by the prior art 201610310330.X, only a single bottle-cultivated mushroom can be harvested and root cut continuously, so that the production efficiency is low; according to the intelligent harvesting-root cutting-packaging assembly line for the fresh flammulina velutipes disclosed by the prior art 201910312928.6, when the intelligent harvesting-root cutting-packaging assembly line works, the clamping device clamps the flammulina velutipes in the flammulina velutipes cultivation container, then the flammulina velutipes are placed in the flammulina velutipes placing holes through the mechanical arms, and the electric telescopic rods are controlled by the single chip microcomputer to drive the root cutting blades to cut roots.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a full-automatic needle mushroom harvesting and root cutting all-in-one machine.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a full-automatic asparagus is gathered and is cut root all-in-one, contain the frame, two parallel arrangement are the fungus basket transfer chain in the frame, two parallel arrangement are in the frame and lie in the asparagus transfer chain between two fungus basket transfer chains, two sets of transport manipulators that set up at the frame top and lie in two fungus basket transfer chains and two asparagus transfer chains tops, two sets of root cutting mechanisms that set up respectively at two asparagus transfer chain output ends, a root transfer chain that sets up below the asparagus transfer chain and lie in two sets of root cutting mechanisms directly under, two parallel arrangement are at the finished product transfer chain of two asparagus transfer chain output ends.
Preferably, two parallel guide rails which are perpendicular to the bacteria basket conveying line are arranged at the top of the rack; each group of carrying manipulators comprises a movable frame arranged on the two guide rails, an X-axis servo module for driving the movable frame to move horizontally, a Z-axis servo module vertically arranged on the movable frame, a double-slider servo module horizontally arranged at the driving end of the Z-axis servo module and vertically arranged with the bacteria basket conveying line, and material taking and placing mechanisms respectively arranged at the two slider driving ends of the double-slider servo module; every get drop feed mechanism all includes the portal frame of placing with fungus basket transfer chain parallel, both ends rotate respectively and set up the swivel mount in the portal frame, set up and be used for driving swivel mount pivoted rotating electrical machines on the portal frame, multiunit setting in the swivel mount bottom and with a plurality of fungus baskets in the bottle plant the needle mushroom position corresponding tongs subassembly, set up and be used for driving multiunit tongs subassembly simultaneously and open or closed get and put the feed gear rack subassembly.
Preferably, each group of the gripper assemblies comprises a bracket, a cam horizontally arranged on the bracket, grippers arranged on the bracket and respectively positioned on two sides of the cam, and elastic sheets arranged on the bracket and respectively driving the grippers to be attached to the surfaces of the cam; the material taking gear rack assembly comprises a material taking rack, a material taking and placing cylinder and a plurality of material taking and placing gears, wherein the material taking and placing rack is arranged at the bottom of the rotating frame in a sliding mode, the material taking and placing cylinder is arranged at one end of the rotating frame and used for driving the material taking and placing rack to slide, and the material taking and placing gears are meshed with the material taking and placing rack and are coaxial with the cam respectively.
Preferably, the bottom of the rotating frame is also provided with a swinging gear rack assembly; the plurality of groups of the gripper assemblies are rotationally connected with the rotating frame, and the cam is connected with the material taking and placing gear through a joint bearing; the swing gear rack assembly comprises a swing rack arranged at the bottom of the rotating frame in a sliding mode, a swing cylinder arranged at one end of the rotating frame and used for driving the swing rack to slide, and a plurality of swing gears meshed with the swing rack and respectively connected with the support.
Preferably, the root cutting mechanism comprises a protective cover, a driving wheel, a driven wheel, an annular band knife and a root cutting motor, wherein the driving wheel and the driven wheel are vertically arranged in the protective cover at intervals, the two ends of the annular band knife are respectively wound around the driving wheel and the driven wheel, and the driving wheel drives the annular band knife to rotate.
Preferably, the needle mushroom conveying line is a clapboard type conveying line;
preferably, a positioning baffle is arranged on one side of the clapboard type conveying line, which is provided with the root cutting mechanism; a gap is arranged between the partition plate in the partition plate type conveying line and the positioning baffle plate, and the gap is the thickness of the cut root.
Preferably, the gap between the positioning baffle and the partition plate can be adjusted.
Preferably, the fungus basket conveying line is a drum-type conveying line.
Preferably, the root conveying line and the finished product conveying line are both belt conveying lines.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. the invention can directly convey the fungus baskets containing the bottle-cultivated golden mushrooms from the mushroom cultivating room to the fungus basket conveying line, does not need manual transportation, and has low labor intensity;
2. according to the invention, needle mushrooms in a plurality of mushroom baskets can be collected at one time by the carrying manipulator, and are placed on the needle mushroom conveying line, and finally the roots are cut off by the root cutting mechanism, so that the working efficiency is greatly improved;
3. according to the needle mushroom collecting device, the cut roots of needle mushrooms can be automatically collected through the root conveying line, manual cleaning is not needed, the factory environment is greatly improved, and the labor intensity is reduced.
Drawings
The technical scheme of the invention is further explained by combining the accompanying drawings as follows:
FIG. 1 is a schematic diagram of the input end of the present invention;
FIG. 2 is a schematic diagram of the structure of the output end of the present invention;
FIG. 3 is a partial front view of the present invention;
FIG. 4 is a side view of the input end of the present invention;
FIG. 5 is a schematic view of a part of the structure of the material taking and placing mechanism of the present invention;
FIG. 6 is a schematic view of the grip assembly of the present invention in an open position;
FIG. 7 is a schematic view of a closed state of the gripper assembly of the present invention;
FIG. 8 is a schematic structural view of the root cutting mechanism of the present invention.
Wherein: 1. a frame; 2. a fungus basket conveying line; 3. needle mushroom conveying lines; 31. positioning a baffle plate; 32. a partition plate; 4. carrying the mechanical arm; 41. a guide rail; 42. an X-axis servo module; 43. a Z-axis servo module; 44. a movable frame; 45. a double-slider servo module; 46. taking and placing a material mechanism; 461. a rotating electric machine; 462. a gantry; 463. a rotating frame; 464. a gripper assembly; 4641. a support; 4642. a spring plate; 4643. clamping a hand; 4644. a cam; 465. taking a feeding gear rack assembly; 4651. taking a material feeding cylinder; 4652. a material taking and placing rack; 4653. a material taking and placing gear; 4661. a swing cylinder; 4662. a swing rack; 4663. a swing gear; 5. a finished product conveying line; 6. a root cutting mechanism; 61. a protective cover; 62. a driven wheel; 63. a driving wheel; 64. an endless band knife; 7. a root conveyor line; 8. a fungus basket; 9. bottle-cultivated needle mushrooms.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Fig. 1-8 show a full-automatic needle mushroom harvesting and root cutting integrated machine, which comprises a frame 1, two mushroom basket conveying lines 2 arranged in parallel on the frame 1, two needle mushroom conveying lines 3 arranged in parallel on the frame 1 and between the two mushroom basket conveying lines 2, two sets of carrying manipulators 4 arranged at the top of the frame 1 and above the two mushroom basket conveying lines 2 and the two needle mushroom conveying lines 3, two sets of root cutting mechanisms 6 respectively arranged at the output ends of the two needle mushroom conveying lines 3, a root conveying line 7 arranged below the needle mushroom conveying lines 3 and right below the two sets of root cutting mechanisms 6, and two finished product conveying lines 5 arranged in parallel at the output ends of the two needle mushroom conveying lines 3; when in work: the feeding ends of the two fungus basket conveying lines 2 can be directly connected with the mushroom growing room through the conveying lines respectively, manual carrying is not needed, and labor intensity is low; after the fungus baskets 8 containing the bottle-cultivated golden mushrooms 9 are conveyed to the fungus basket conveying line 2, the conveying manipulator 4 can collect golden mushrooms in three fungus baskets 8 at a time and place the golden mushrooms on the golden mushroom conveying line 3, roots of the golden mushrooms are cut off through the root cutting mechanism 6, the roots of the golden mushrooms cut off can be automatically collected due to the fact that the root conveying line 7 is arranged right below the root cutting mechanism 6, and finally the golden mushrooms after root cutting are conveyed out through the finished product conveying line 5 to be packaged; because the carrying manipulator 4 is provided with two groups, when one group takes materials, the other group can discharge materials and work alternately, the working efficiency can be greatly improved; simultaneously, the transfer chain can be connected respectively to the discharge end of two fungus basket transfer chain 2, transports away empty fungus basket 8 automatically, does not need artifical transport, low in labor strength.
Further, two parallel guide rails 41 which are perpendicular to the bacteria basket conveying line 2 are arranged at the top of the rack 1; each group of the carrying manipulators 4 comprises a movable frame 44 arranged on two guide rails 41, an X-axis servo module 42 for driving the movable frame 44 to move horizontally, a Z-axis servo module 43 vertically arranged on the movable frame 44, a double-slider servo module 45 horizontally arranged at the driving end of the Z-axis servo module 43 and vertically arranged with the bacteria basket conveying line 2, and material taking and placing mechanisms 46 respectively arranged at the two slider driving ends of the double-slider servo module; each material taking and placing mechanism 46 comprises a portal frame 462 arranged in parallel with the bacteria basket conveying line, a rotating frame 463 with two ends respectively rotatably arranged in the portal frame 462, a rotating motor 461 arranged on the portal frame 462 and used for driving the rotating frame 463 to rotate, twelve groups of gripper assemblies 464 arranged at the bottom of the rotating frame 463 and corresponding to the positions of the bottle-cultivated golden mushrooms in the three bacteria baskets, and a material taking and placing gear rack assembly 465 arranged at the bottom of the rotating frame 463 and used for simultaneously driving the twelve groups of gripper assemblies 464 to open or close; when in work: after the fungus baskets 8 containing the bottle-cultivated golden mushrooms 9 are conveyed to the fungus basket conveyor line 2, the X-axis servo module 42 drives the movable frame 44 to be arranged above the fungus basket conveyor line 2, because the bottle-cultivated golden mushrooms 9 in each fungus basket 8 are 4 multiplied by 4, the double-slider servo module 45 drives the two material taking and placing mechanisms 46 to be positioned right above the two rows outside the fungus baskets 8 at the same time, then the Z-axis servo module 43 drives the double-slider servo module 45 to drive the two material taking and placing mechanisms 46 to descend, then the material taking and placing rack assembly 465 drives the twelve groups of gripper assemblies 464 to take and place golden mushrooms at the same time, then the Z-axis servo module 43 drives the double-slider servo module 45 to drive the two material taking and placing mechanisms 46 to ascend, the X-axis servo module 42 drives the movable frame 44 to be arranged above the two golden mushroom conveyor lines 3 again, then the rotary motor drives the rotary frame 463 to rotate to change the, then, the double-slider servo module 45 drives the two material taking and placing mechanisms 46 to be located right above the two needle mushroom conveying lines 3, the Z-axis servo module 43 drives the double-slider servo module 45 to drive the two material taking and placing mechanisms 46 to descend, the material taking and placing gear rack assemblies 465 drive the twelve groups of gripper assemblies 464 to release needle mushrooms simultaneously, the needle mushrooms are horizontally placed on the needle mushroom conveying lines 3, circulation is carried out in sequence, and two rows of needle mushrooms on the inner side of the mushroom basket 8 are harvested.
Further, each group of the hand grip assemblies 464 comprises a bracket 4641, a cam 4644 horizontally arranged on the bracket 4641, clamping hands 4643 respectively arranged on the bracket 4641 and positioned at two sides of the cam 4644, and elastic pieces 4642 respectively arranged on the bracket 4641 and driving the clamping hands 4643 to be attached to the surface of the cam 4644; the material taking and placing gear rack assembly 465 comprises a material taking and placing rack 4652 arranged at the bottom of the rotating frame 463 in a sliding manner, a material taking and placing cylinder 4651 arranged at one end of the rotating frame 463 and used for driving the material taking and placing rack 4652 to slide, and twelve material taking and placing gears 4653 which are meshed with the material taking and placing rack 4652 and are respectively coaxial with the cams 4644; when in work: the material taking and placing cylinder 4651 drives the material taking and placing rack 4652 to slide and drives the twelve material taking and placing gears 4653 to rotate simultaneously, so that the cam 4644 is driven to rotate, the diameter of the cam 4644 is increased, the elastic force of the elastic sheet 4642 is overcome to open the clamping hands 4643 and loosen the flammulina velutipes, and on the contrary, the diameter of the cam 4644 is decreased, the elastic sheet 4642 drives the clamping hands 4643 to close under the action of the elastic force to clamp the flammulina velutipes.
Further, a swing gear rack assembly is further arranged at the bottom of the rotating frame 463; twelve groups of the gripping hand assemblies 464 are rotatably connected with the rotating frame 463, and the cam 4644 is connected with the material taking and placing gear 4653 through a joint bearing; the swing gear rack assembly comprises a swing rack 4662 arranged at the bottom of the rotating frame 463 in a sliding manner, a swing cylinder 4661 arranged at one end of the rotating frame 463 and used for driving the swing rack 4662 to slide, and twelve swing gears 4663 which are meshed with the swing rack 4662 and are respectively connected with the bracket 4641; when in work: the swinging cylinder 4661 drives the swinging rack 4662 to slide and drives the twelve swinging gears 4663 to rotate simultaneously, so that the gripper assembly 464 is driven to swing left and right, and needle mushrooms can be taken out of the bottle conveniently; as the cam 4644 is connected with the material taking and placing gear 4653 through the joint bearing, the hand grip assembly 464 can tightly grip the flammulina velutipes in the swinging process.
Further, the root cutting mechanism 6 comprises a protective cover 61, a driving wheel 63 and a driven wheel 62 which are vertically arranged in the protective cover 61 at intervals, an annular band knife 64 with two ends respectively bypassing the driving wheel 63 and the driven wheel 62, and a root cutting motor for driving the driving wheel 63 to drive the annular band knife 64 to rotate; when in work: the root cutting motor drives the driving wheel 63 to drive the annular band knife 64 to rotate, so that the roots of the needle mushrooms are cut off.
Further, the needle mushroom conveying line 3 is a clapboard type conveying line, so that needle mushrooms are uniformly placed at intervals, and the root cutting mechanism 6 can conveniently cut off roots;
further, a positioning baffle plate 31 is arranged on one side of the clapboard type conveying line, which is provided with the root cutting mechanism 6; a gap is formed between the partition plate 32 and the positioning baffle plate 31 in the partition plate type conveying line, the gap is the thickness of a cut root, and the root quantity cut off every time can be effectively guaranteed to be consistent.
Further, the position of the positioning baffle 31 can be adjusted, so that the gap between the positioning baffle 31 and the partition plate 32 can be adjusted.
Further, fungus basket transfer chain 2 is the drum-type transfer chain, and bearing capacity is big, easily links up the transition between the raceway line.
Further, the root conveying line 7 and the finished product conveying line 5 are both belt conveying lines and can convey various bulk materials.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a full-automatic asparagus is gathered and is cut root all-in-one which characterized in that: the automatic root cutting machine comprises a frame, two fungus basket conveying lines arranged on the frame in parallel, two needle mushroom conveying lines arranged on the frame in parallel and located between the two fungus basket conveying lines, two groups of carrying manipulators arranged at the top of the frame and located above the two fungus basket conveying lines and the two needle mushroom conveying lines, two groups of root cutting mechanisms arranged at the output ends of the two needle mushroom conveying lines respectively, a root conveying line arranged below the needle mushroom conveying lines and located right below the two groups of root cutting mechanisms, and two finished product conveying lines arranged at the output ends of the two needle mushroom conveying lines in parallel.
2. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in claim 1, characterized in that: two parallel guide rails which are perpendicular to the bacterium basket conveying line are arranged at the top of the rack; each group of carrying manipulators comprises a movable frame arranged on the two guide rails, an X-axis servo module for driving the movable frame to move horizontally, a Z-axis servo module vertically arranged on the movable frame, a double-slider servo module horizontally arranged at the driving end of the Z-axis servo module and vertically arranged with the bacteria basket conveying line, and material taking and placing mechanisms respectively arranged at the two slider driving ends of the double-slider servo module; every get drop feed mechanism all includes the portal frame of placing with fungus basket transfer chain parallel, both ends rotate respectively and set up the swivel mount in the portal frame, set up and be used for driving swivel mount pivoted rotating electrical machines on the portal frame, multiunit setting in the swivel mount bottom and with a plurality of fungus baskets in the bottle plant the needle mushroom position corresponding tongs subassembly, set up and be used for driving multiunit tongs subassembly simultaneously and open or closed get and put the feed gear rack subassembly.
3. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in claim 2, characterized in that: each group of the gripper assemblies comprises a support, a cam horizontally arranged on the support, grippers arranged on the support and respectively positioned on two sides of the cam, and elastic sheets arranged on the support and respectively driving the grippers to be attached to the surface of the cam; the material taking gear rack assembly comprises a material taking rack, a material taking and placing cylinder and a plurality of material taking and placing gears, wherein the material taking and placing rack is arranged at the bottom of the rotating frame in a sliding mode, the material taking and placing cylinder is arranged at one end of the rotating frame and used for driving the material taking and placing rack to slide, and the material taking and placing gears are meshed with the material taking and placing rack and are coaxial with the cam respectively.
4. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in claim 3, characterized in that: the bottom of the rotating frame is also provided with a swing gear rack assembly; the plurality of groups of the gripper assemblies are rotationally connected with the rotating frame, and the cam is connected with the material taking and placing gear through a joint bearing; the swing gear rack assembly comprises a swing rack arranged at the bottom of the rotating frame in a sliding mode, a swing cylinder arranged at one end of the rotating frame and used for driving the swing rack to slide, and a plurality of swing gears meshed with the swing rack and respectively connected with the support.
5. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in any one of claims 1 to 4, characterized in that: the root cutting mechanism comprises a protective cover, a driving wheel, a driven wheel, an annular band knife and a root cutting motor, wherein the driving wheel is arranged in the protective cover at vertical intervals, the annular band knife is wound around the driving wheel and the driven wheel at two ends, and the annular band knife is driven by the driving wheel to rotate.
6. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in claim 5, characterized in that: the needle mushroom conveying line is a clapboard type conveying line.
7. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in claim 6, characterized in that: the clapboard type conveying line is provided with a positioning baffle at one side provided with the root cutting mechanism; a gap is arranged between the partition plate in the partition plate type conveying line and the positioning baffle plate, and the gap is the thickness of the cut root.
8. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in claim 7, characterized in that: the gap between the positioning baffle and the partition plate can be adjusted.
9. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in claim 8, characterized in that: the fungus basket conveying line is a drum-type conveying line.
10. The full-automatic needle mushroom harvesting and root cutting all-in-one machine as claimed in claim 9, characterized in that: the root conveying line and the finished product conveying line are both belt conveying lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010613577.5A CN112956375B (en) | 2020-06-30 | 2020-06-30 | A fully automatic machine for harvesting and cutting roots of Flammulina velutipes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010613577.5A CN112956375B (en) | 2020-06-30 | 2020-06-30 | A fully automatic machine for harvesting and cutting roots of Flammulina velutipes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112956375A true CN112956375A (en) | 2021-06-15 |
| CN112956375B CN112956375B (en) | 2025-03-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010613577.5A Active CN112956375B (en) | 2020-06-30 | 2020-06-30 | A fully automatic machine for harvesting and cutting roots of Flammulina velutipes |
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| Country | Link |
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| CN (1) | CN112956375B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113348978A (en) * | 2021-07-23 | 2021-09-07 | 山东茸丽生物科技股份有限公司 | Swing type edible mushroom harvesting machine and harvesting method |
| CN113475319A (en) * | 2021-07-22 | 2021-10-08 | 成都红九鑫科技有限公司 | Harvesting device and harvesting and root cutting device |
| CN113545502A (en) * | 2021-08-05 | 2021-10-26 | 李宁 | Full-automatic garlic root cutting processing equipment |
| CN113940238A (en) * | 2021-09-29 | 2022-01-18 | 中国农业科学院农业信息研究所 | Intelligent picking robot |
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| CN115380831A (en) * | 2022-10-11 | 2022-11-25 | 甘肃鼎丰马铃薯种业有限公司 | Full-automatic high-throughput tissue culture and rapid propagation device for potato tissue culture seedlings and use method thereof |
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| CN119302184A (en) * | 2024-12-18 | 2025-01-14 | 福建省农业机械化研究所(福建省机械科学研究院） | A fully automatic Tremella fuciformis pedicle-removing harvesting and waste separation and processing system |
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