CN115581174A - Automatic harvesting machine for bottle-cultivated velvet mushrooms - Google Patents
Automatic harvesting machine for bottle-cultivated velvet mushrooms Download PDFInfo
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- CN115581174A CN115581174A CN202211220625.XA CN202211220625A CN115581174A CN 115581174 A CN115581174 A CN 115581174A CN 202211220625 A CN202211220625 A CN 202211220625A CN 115581174 A CN115581174 A CN 115581174A
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- 235000001674 Agaricus brunnescens Nutrition 0.000 title claims abstract description 70
- 238000003306 harvesting Methods 0.000 title claims abstract description 13
- 238000005520 cutting process Methods 0.000 claims abstract description 47
- 210000003056 antler Anatomy 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000013016 damping Methods 0.000 claims description 14
- 238000000926 separation method Methods 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 7
- 239000000725 suspension Substances 0.000 claims description 4
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- 241000233866 Fungi Species 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
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- 230000000903 blocking effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
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- 238000009776 industrial production Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000282994 Cervidae Species 0.000 description 1
- 241001534815 Hypsizygus marmoreus Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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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- Life Sciences & Earth Sciences (AREA)
- Mycology (AREA)
- Environmental Sciences (AREA)
- Mushroom Cultivation (AREA)
Abstract
The invention relates to an automatic harvesting machine for bottle-cultivated velvet mushrooms, which comprises a roller type conveying and positioning device, an adjustable root separating and cutting device, a mechanical arm and a flexible clamping and guiding device arranged on the mechanical arm, wherein the roller type conveying and positioning device is arranged on the mechanical arm; the conveying and positioning device comprises a conveying belt arranged on the rack, a tray filled with bottle-cultivated velvet antler mushrooms is placed on the conveying belt, and the conveying and positioning device further comprises a positioning mechanism for positioning the tray; the flexible clamping guide device comprises a fixed support plate arranged on the mechanical arm and a plurality of flexible guiding clampers arranged on the fixed support plate side by side; the invention can complete the limiting, conveying, guiding, clamping, separating, root cutting and collecting of the bottle-planted velvet mushrooms at one time, improves the efficiency, realizes the flexible clamping by a bionic tentacle to prevent the velvet mushrooms from being damaged, and meanwhile, key components such as the flexible clamping and guiding device, the adjustable root separating and cutting device and the like can be adjusted according to the needs and working conditions, thereby improving the working efficiency and meeting the requirements of agricultural machinery modernization.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to an automatic harvester for bottle-cultivated velvet antler mushrooms.
Background
China is a big country for producing, consuming and exporting edible fungi, and the total yield of the edible fungi in China in 2019 reaches 3900 ten thousand tons, which accounts for more than 70 percent of the total yield in the world. The Shandong province is a big province of domestic edible fungus production and consumption, only the last half of 2019 years, 2.08 million tons of edible fungus sticks are exported, the production value is 1.02 million yuan, and the edible fungus sticks are sold in China such as Yuanchya, europe, america, australia and the like, and can be called 'small mushrooms, big industry'. The harvesting work of the velvet antler mushrooms is an important link in the whole velvet antler mushroom industrial chain, most of the existing harvesting modes rely on manual work to harvest one by one, the operation is complex, the efficiency is low, the cost is high, the labor intensity is high, and the production progress of an industrial production line is difficult to follow, so that an automatic mushroom harvesting device is urgently needed by edible mushroom industrial production enterprises to replace manual mushroom harvesting.
The utility model patent with application number 202022272617.2 discloses a harvesting device for industrially cultivating velvet antler mushroom, which adopts a cutting belt to harvest, has slow harvesting speed, lower efficiency, more complex manual operation and low automation degree of velvet antler mushroom harvesting;
the utility model patent of application number 202022662457.2 discloses a mechanized hypsizygus marmoreus harvesting device, and this patent passes through electric telescopic handle and drives cutting knife reciprocating motion, realizes gathering of pilose antler mushroom, but this mechanism adaptability is poor, and damages greatly to the pilose antler mushroom, results inefficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the automatic harvester for the bottle-cultivated velvet mushroom, which adopts the six-degree-of-freedom mechanical arm, improves the efficiency, simultaneously can adjust key components such as the flexible clamping guide device, the adjustable separation root cutting device and the like according to the requirements and working conditions, improves the working efficiency, and simultaneously meets the requirements of agricultural machinery modernization.
The invention is realized by the following technical scheme, and provides an automatic harvester for bottle-planted velvet mushrooms, which comprises a roller type conveying positioning device, an adjustable separation root cutting device, a mechanical arm and a flexible clamping guide device arranged on the mechanical arm; the conveying and positioning device comprises a conveying belt arranged on the rack, a tray filled with bottle-cultivated velvet antler mushrooms is placed on the conveying belt, and the conveying and positioning device further comprises a positioning mechanism for positioning the tray; the flexible clamping guide device comprises a fixed support plate arranged on the mechanical arm and a plurality of flexible guiding clampers arranged on the fixed support plate side by side; the root device is cut in separation with adjustable includes the support frame, the support frame includes outside frame and the inside support body of vertical sliding connection in the outside frame, inside support body is connected with outside frame through a plurality of fore-and-aft damping spring, the coupling has vertical drive sprocket and the driven sprocket who arranges on the inside support body, drive sprocket and driven sprocket pass through the chain and connect, the outer lane rigid coupling of chain has a plurality of sawtooth knives of cutting the root, is equipped with the rotatory servo motor of drive sprocket on the inside support body.
The pilose antler mushroom dress is planted to the bottle in the tray, tray to assigned position is carried to the conveyer belt in this scheme, and fix a position through positioning mechanism, drive a plurality of flexible direction holders among the flexible centre gripping guider through the arm after the location and carry out flexible centre gripping to the pilose antler mushroom of single row, and remove to adjustable separation root cutting device department after the centre gripping, remove through the chain and drive a plurality of root cutting serrated knives and realized the cutting of pilose antler mushroom root, damping spring is used for carrying out the shock attenuation with the vibration that the root produced, be unlikely to lead to the fact the damage to pilose antler mushroom itself, the assigned position is placed to the pilose antler mushroom after final arm will cut.
As optimization, positioning mechanism includes horizontal positioning mechanism and a plurality of vertical positioning mechanism, vertical positioning mechanism includes the baffle cylinder that baffle and drive baffle go up and down, horizontal positioning mechanism is including fixed right push pedal, the left push pedal that is located the conveyer belt opposite side that sets up in conveyer belt one side and the left push pedal cylinder on with the tray propelling movement to right push pedal of drive left push pedal. Longitudinal positioning mechanism in this scheme goes up and down to be used for backstop walking tray on the conveyer belt, plays tray longitudinal positioning, and left push pedal is with tray propelling movement to the right push pedal on to the transverse orientation of tray has been realized, and the flexible centre gripping guider's of being convenient for accuracy realization pilose antler mushroom centre gripping.
Preferably, the conveying and positioning device further comprises a limiting fork arranged at one end of the feeding direction and a suspension cylinder driving the limiting fork to lift. The limiting fork in the scheme is used for blocking a subsequent tray.
As optimization, flexible fixture includes the fixed plate and transversely slips two connecting blocks on the fixed plate, the rigid coupling has the air chamber on the connecting block, and the air chamber front end rigid coupling has hollow software tentacle, software tentacle and air chamber intercommunication, flexible fixture still includes two connecting block relative slip's of drive push rod cylinder. In the scheme, the push rod cylinder drives the two connecting blocks to slide relatively, so that the two soft tentacles clamp the velvet mushroom, the air chamber is inflated to expand the soft tentacles so that the velvet mushroom is attached and clamped, the velvet mushroom is prevented from being damaged,
as optimization, the push rod cylinder is installed on the fixed plate, the connector is fixedly connected to the telescopic shaft of the push rod cylinder, the connector is connected with the two connecting blocks through the connecting rod respectively, one end of the connecting rod is hinged to the connector, and the other end of the connecting rod is hinged to the connecting blocks. The push rod cylinder in this scheme drives the connector and removes, drives two connecting blocks through the connector and realizes relative movement.
Preferably, the two soft tentacles in the flexible clamping mechanism are symmetrically arranged, and arc-shaped surfaces are arranged on the opposite sides of the two soft tentacles. The contact area between the soft tentacles and the velvet mushroom is increased by the arc-shaped surfaces, and the velvet mushroom is prevented from being damaged by the soft tentacles.
Preferably, a connecting rod is arranged on the inner frame body, and a pressure sensor attached to the chain is arranged on the connecting rod. The pressure sensor in the scheme is used for measuring the reaction force generated during root cutting.
Preferably, a tensioning mechanism for tensioning the chain is mounted on the inner frame body. Straining device carries out the tensioning to the chain in this scheme.
As an optimization, the root cutting device further comprises a root cutting platform positioned above the adjustable separation root cutting device, and a through hole for allowing the cultivation bottle to pass through is formed in the root cutting platform. The cultivation bottle passes downwards through the hole from this scheme during cutting to be convenient for cut velvet antler mushroom root.
Preferably, the device further comprises a conveyor belt for conveying the cut velvet antler mushrooms. The conveyer belt in this scheme is used for carrying the pilose antler mushroom that cuts.
The invention has the beneficial effects that: the automatic harvester for the bottle-cultivated velvet mushrooms can complete limiting, conveying, guiding, clamping, separating, root cutting and collecting of the bottle-cultivated velvet mushrooms at one time, and can be suitable for meeting different mushrooms.
The invention can be used for clamping and adjusting according to different planting modes and growth conditions of the velvet mushrooms, and is suitable for velvet mushrooms of different specifications. The mechanical arm can drive different joints to work according to different working paths and multiple degrees of freedom under the execution of the program path compiled in advance, so that the velvet antler mushroom can be clamped, cut into roots and conveyed.
The invention can adjust the clamping force of the flexible clamping guide device according to different working requirements. The flexible clamping and guiding device adopts a pneumatic mode to provide power, bionic tentacles are used for flexible clamping, damage to the velvet mushroom is prevented, spring damping is installed on the inner side of the guiding device, and automatic guiding of the clamping jaw is achieved through deflection.
The adjustable root separating and cutting device can adjust the root cutting serrated knife through the tensioning mechanism and the transverse adjusting mechanism, prevents chain dropping, enables the root cutting serrated knife to be kept horizontal, adjusts the width of a root cut, and achieves a good root cutting effect.
The roller type conveying and positioning device effectively finishes the limiting task in the conveying process of the bottle basket, enables the cylinder to act, fixes the bottle basket, facilitates the clamping of the mechanical arm and improves the operation efficiency.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is an isometric view of the present invention;
FIG. 5 is a front view of the robotic arm of the present invention;
FIG. 6 is an isometric view of the flexible gripping guide of the present invention;
FIG. 7 is an isometric view of a flexible jaw of the present invention;
FIG. 8 is an isometric view of the adjustable separation root cutting device of the present invention;
FIG. 9 is a left side view of the roller conveyor positioning device of the present invention;
FIG. 10 is a top view of the roller conveyor positioning device of the present invention;
FIG. 11 is an isometric view of the roller conveyor positioning device of the present invention;
shown in the figure:
1. a frame, 2, a mechanical arm, 3, a flexible clamping and guiding device, 4, a conveyor belt, 5, a fixed seat, 6, an adjustable separation root cutting device, 7, a roller type conveying and positioning device, 8, a root cutting platform, 9, a cultivation bottle basket, 201, a man-machine interface, 202, a driving motor, 203, a joint I,204, a joint II,205, a connecting flange, 206, a joint III,207, a supporting seat, 301, a speed control valve I, 302, an electromagnetic valve I,303, an electromagnetic valve II,304, a speed control valve II,305, a fixed support plate, 306, a connecting air pipe I,307, a connecting air pipe II,308, a connecting air pipe III,309, an electromagnetic valve III,3010, a flexible guiding clamp holder, 3011, a soft touch hand, 3012, an air chamber, 3013, an air interface I,3014, a spring damper, 3015, a connecting rod, 3016, a connecting block, 3017, a slide rail, 3018, a connecting rod, 3019 and a connecting head, 3020, a push rod cylinder, 3021, a fixing plate, 601, a support frame, 602, a damping spring, 603, a root cutting serrated knife, 604, a tensioning mechanism, 605, a servo motor, 606, a gearbox, 607, a connecting rod, 608, a pressure sensor, 609, a driving sprocket, 6010, a driven sprocket, 6011, a lateral adjustment mechanism, 701, a transmission motor, 702, a tray, 703, a cultivation bottle, 704, velvet mushroom, 705, a left push plate cylinder, 706, a suspension cylinder, 707, a limit fork, 708, a right push plate, 709, a photoelectric sensor, 7010, an adjustment handwheel I,7011, an adjustment handwheel II,7012, a left push plate, 7013, a conveyor, 7014, a guard plate, 7015, a handwheel connecting rod, 7016, a baffle connecting rod, 7017, a baffle, 7018, a cylinder support, 7019, a bolt II,7020, a bolt III,7021, a bolt IV,7022, and a baffle cylinder.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
As shown in fig. 1 to 11, the automatic harvester for bottle-cultivated velvet mushroom of the present invention comprises a frame 1, a roller-type conveying and positioning device 7, an adjustable root separating and cutting device 6, a mechanical arm 2, and a flexible clamping and guiding device 3 mounted on the mechanical arm 2.
The rack 1 is a supporting and mounting platform of the whole machine, which is constructed by adopting 80-80mm square tubes through bolts or welding; the mechanical arm 2 is a six-degree-of-freedom mechanical arm, is located at the rightmost end of the whole machine, is installed on the fixed seat 5, and is driven by the driving motor 202 to clamp the velvet mushroom.
The roller type conveying and positioning device 7 is arranged on the left side of the whole machine and used for limiting the velvet antler mushroom 704 in the cultivation bottle basket 9 conveyed by the conveying belt 7013. The cultivating bottle basket 9 comprises a tray 702 and cultivating bottles 703 arranged in the tray 702, the velvet antler mushroom 704 is planted on the cultivating bottles 703, and in the embodiment, 16 cultivating bottles 703 with 4 × 4 are arranged in each tray 702.
The root cutting device further comprises a root cutting platform 8 located above the adjustable separation root cutting device 6, and a through hole for allowing the cultivation bottle 703 to pass through is formed in the root cutting platform 8.
The adjustable separation root cutting device 6 is arranged in the middle of the whole machine, and the bottom of the root cutting platform 8 can cut off the root on the premise of not damaging the velvet mushroom.
The device also comprises a conveyor belt 4 for conveying the cut velvet antler mushrooms, and the conveyor belt is used for conveying the cut velvet antler mushrooms.
As shown in fig. 5, the robot arm 2 includes a human-machine interface 201, a driving motor 202, a joint I203, a joint II 204, a connecting flange 205, a joint III 206, and a supporting seat 207; the supporting seat 207 is formed by welding a steel plate with the thickness of 30mm, is arranged at the lowest end of the six-freedom-degree mechanical arm 2 and is used for fixing the six-freedom-degree mechanical arm 2; the driving motor 202 is arranged at the lower left part of the six-degree-of-freedom mechanical arm 2 and provides power for the six-degree-of-freedom mechanical arm 2; the human-machine interface 201 is arranged behind the six-degree-of-freedom mechanical arm 2 and is used for connecting an operating system; the joint I203 is arranged in the middle of the six-degree-of-freedom mechanical arm 2 through a shaft and a bolt and is used for connecting different joints; the joint II 204 is arranged at the front part of the six-degree-of-freedom mechanical arm 2 and is used for connecting a flange 205 and other joints; the joint III 206 is arranged right above the six-degree-of-freedom mechanical arm 2 and used for transmitting power and steering the mechanical arm; the connecting flange 205 is installed at the position right above the middle of the six-degree-of-freedom mechanical arm 2 and is used for connecting the flexible clamping guide device 3.
As shown in fig. 6 and 7, the flexible clamp guide 3 includes a fixed support plate 305 mounted on the robot arm 2, and a plurality of flexible guide clamps 3010 mounted on the fixed support plate 305 side by side; the fixing support plate 305 is connected with the connecting flange 205 of the mechanical arm 2 through bolts, the number of the flexible guide clamps 3010 is determined according to the number of the trays 702 in the conveying and positioning device 7 and the number of the culture bottles 703 in the trays 702, in this embodiment, the conveying and positioning device 7 positions 3 trays 702 at a time, and 4 culture bottles 703 are arranged in each row of the trays, so that the number of the flexible guide clamps 3010 in this embodiment is 12, and the flexible guide clamps 3010 are divided into three groups, and each group of the 4 flexible guide clamps 3010 is used for clamping the mushroom deer antler 704 of 4 culture bottles 703 in a single tray 702.
The flexible clamping mechanism comprises a fixing plate 3021 and two connecting blocks 3016 transversely connected to the fixing plate 3021 in a sliding manner, the fixing plate 3021 is a transverse flat plate, the connecting blocks 3016 are slidably connected to the fixing plate 3021 through slide rails 3017, and the two connecting blocks 3016 are connected to the same slide rail, so that relative movement is realized.
The last rigid coupling of connecting block 3016 has air chamber 3012, and air chamber 3012 is hollow structure, and air chamber 3012 front end rigid coupling has hollow software tentacle 3011, software tentacle 3011 and air chamber 3012 intercommunication, two software tentacles 3011 symmetry sets up among the flexible fixture, and two software tentacles 3011 relative one side all is equipped with the arcwall face to add the pilose antler mushroom and hold in the arcwall face.
The soft tentacle 3011 has a hollow structure, is made of silica gel, and has three states, namely a wrapping and grabbing state under positive pressure (inflation); the opening state is generated when negative pressure (air suction) is carried out; when the pressure is not high, the pressure is in a natural state, positive and negative pressure is switched through the electromagnetic valve and the speed regulating valve, and the pressure is adjustable.
The air chamber 3012 is used to connect the soft tentacle 3011 and store a certain amount of air, so as to release the pressure of the soft tentacle 3011.
The flexible clamping mechanism further comprises a push rod cylinder 3020 which drives the two connecting blocks 3016 to slide relatively. Push rod cylinder 3020 installs on fixed plate 3021, and the rigid coupling has connector 3019 on push rod cylinder 3020's the telescopic shaft, connector 3019 is connected with two connecting blocks 3016 through connecting rod 3018 respectively, connecting rod 3018 one end is articulated with connector 3019, and the other end is articulated with connecting block 3016, the equal vertical setting of articulated shaft to the synchronous reverse slip that can realize two connecting blocks 3016 through push rod cylinder 3020's flexible, thereby realize two softly tentacles 3011's reverse direction movement.
The fixed plate 3021 is connected to the fixed bracket 305 through the spring damping 3014. The spring damping 3014 is a main frame of the guide device composed of a guide spring and a connecting piece, and is mounted on the fixed support plate 305 through a bolt, and the other end is mounted on the fixed plate 3021.
The flexible clamping and guiding device 3 further comprises a gas circuit component, the gas circuit component comprises a connecting gas pipe I306, an electromagnetic valve and a speed regulating valve are arranged on the connecting gas pipe I306, the speed regulating valve comprises a speed control valve I301 and a speed control valve II304 which are respectively arranged at two ends of the connecting gas pipe I306, and therefore double-path gas supply at two ends of the connecting gas pipe I306 is achieved. The speed control valve I301 is arranged on the right side of the general frame and used for controlling input airflow; the speed control valve II304 is arranged on the left side of the general frame and is used for controlling the airflow input from the other end.
The solenoid valves include solenoid valve I302, solenoid valve II 303, and solenoid valve III 309. The electromagnetic valve I302 is arranged on the right side of the fixed support plate 305 through a bolt and used for controlling an airflow channel of the flexible clamping guide device 3 to realize the opening and closing of the clamping jaw; the electromagnetic valve II 303 is arranged in the middle of the fixed support plate 305 through a bolt and used for controlling an airflow channel of the flexible clamping guide device 3 to realize the opening and closing of the clamping jaw; the electromagnetic valve III 309 is mounted on the left side of the fixed support plate 305 through a bolt, and is used for controlling an airflow channel of the flexible clamping guide device 3 to open and close the clamping jaw.
The connecting air pipe I306 is arranged at the rear position of the flexible clamping guide device 3 through a pipeline, and air flow transmission is realized under the control of a speed control valve and an electromagnetic valve; the connecting air pipe II 307 is arranged in the middle of the flexible clamping guide device 3, and air flow transmission is realized under the control of a speed control valve and an electromagnetic valve; the connecting air pipe III 308 is arranged at the middle rear part of the flexible clamping guide device 3 through a pipeline, and is connected with the electromagnetic valve and the connecting air pipe II 307, so that air flow transmission is realized.
The conveying and positioning device 7 comprises a conveyor 7013 installed on the rack 1, trays 702 containing bottle-cultured velvet mushrooms are placed on the conveyor 7013, and in this embodiment, 16 cultivation bottles 703 of 4 × 4 are placed in each tray 702. The conveyor 7013 is driven by the conveyor motor 701 to convey the cultivation bottle baskets 9.
The conveying and positioning device 7 further comprises a positioning mechanism for positioning the tray 702; the positioning mechanism comprises a transverse positioning mechanism and a plurality of longitudinal positioning mechanisms, and the positioning of the three cultivation bottle baskets 9 is realized simultaneously in the embodiment, so that three longitudinal positioning mechanisms are arranged.
The longitudinal positioning mechanism comprises a baffle 7017 and a baffle cylinder 7022 for driving the baffle 7017 to lift, a baffle connecting rod 7016 is installed at the position below the conveyor 7013 and is connected with the baffle 7017 and the baffle cylinder 7022 through a bolt IV 7021; the baffle 7017 is arranged below the conveyor 7013 and used for longitudinally limiting the cultivation bottle basket 9; the conveyor 7013 is formed by splicing a roller conveyor or a plurality of belt conveyors, so that the baffle 7017 can conveniently pass through the conveyor 7013 from bottom to top to realize the longitudinal limiting of the cultivation bottle basket 9. The cylinder support 7018 is mounted on the rack 1 through a bolt II 7019, and the baffle cylinder 7022 is fixed through a bolt; one end of the baffle cylinder 7022 is connected with the baffle 7017, and the other end of the baffle cylinder 7022 is fixed on the baffle support 7018 and used for pushing the baffle 7017.
The conveying and positioning device 7 further comprises a limit fork 707 arranged at one end of the material feeding direction and a suspension cylinder 706 driving the limit fork 707 to ascend and descend. The hanging cylinder 706 is connected with the rack 1 through a bolt and used for blocking the rear cultivation bottle basket 9; the limiting fork 707 is connected with the hanging cylinder 706 through a bolt and used for limiting the rear cultivation bottle basket 9.
The transverse positioning mechanism comprises a right push plate 708 fixedly arranged on one side of the conveyor 7013, a left push plate 7012 positioned on the other side of the conveyor 7013, and a left push plate cylinder 705 for driving the left push plate 7012 to push the tray 702 to the right push plate 708. The left push plate cylinders 705 are connected with the bottom plate through bolts, the number of the left push plate cylinders 705 is 3, the left push plates 7012 are installed on the left side of the roller type conveying and positioning device 3, and the left push plate cylinders 705 are connected with the left push plate cylinders through bolts and used for limiting the left side of the cultivation bottle basket 9;
the right push plate 708 is arranged on the right side of the roller type conveying and positioning device 3, is parallel to the conveyor belt 4 and is used for limiting the right side of the cultivation bottle basket 9; the number of the photoelectric sensors 709 is 4, the photoelectric sensors are parallel to the bottom plate and are uniformly distributed on the right side of the conveyor 7013 and used for detecting the position of the cultivation bottle basket 9.
The device also comprises an adjusting hand wheel I7010 and an adjusting hand wheel II 7011 for adjusting the right push plate 708, wherein the number of the adjusting hand wheels II 7011 is 3, the adjusting hand wheels II 7011 are uniformly distributed on the right side of the conveyor 7013, and the guard plate 7014 is arranged on the right side of the conveyor 7013 and used for installing the adjusting hand wheel II 7011; the vertical connecting rod vertically penetrates through the guard plate 7014 and is fastened through the adjusting hand wheel II 7011, and the height of the vertical connecting rod can be adjusted after the adjusting hand wheel II 7011 is loosened, so that the height of the right push plate 708 is adjusted
The handwheel connecting rods 7015 are connected with the right push plate 708 through bolts III 7020, 3 adjusting handwheels I7010 are uniformly distributed on the right side of the conveyor 7013 and used for transversely adjusting the right push plate 708; the hand wheel connecting rod 7015 penetrates through the vertical connecting rod and is fastened on the vertical connecting rod through an adjusting hand wheel I7010, and the hand wheel connecting rod 7015 can be axially moved by loosening the adjusting hand wheel I7010, so that the left and right positions of the right push plate 708 are adjusted.
The adjustable root cutting device 6 comprises a support frame 601, the support frame 601 comprises an external frame and an internal frame body longitudinally connected in the external frame in a sliding manner, the internal frame body is connected with the external frame through a plurality of longitudinal damping springs 602, the external frame is of a square frame structure and is connected with the frame 1 through bolts 6012.
Inside support body is connected with outside frame through a plurality of fore-and-aft damping spring 602, in this embodiment damping spring 602 is provided with 4 and is located inside support body four corners position, and damping spring 602's one end is connected with inside support body, and the damping spring 602 other end is connected with outside frame, and damping spring 602 is on a parallel with the slip direction of inside support body to play the cushioning effect to the slip of inside support body.
The inner frame body is axially connected with a driving chain wheel 609 and a driven chain wheel 6010 which are longitudinally arranged, the driving chain wheel 609 and the driven chain wheel 6010 are connected through a chain, a plurality of root cutting serrated knives 603 are fixedly connected to the outer ring of the chain, the root cutting serrated knives 603 are made of chain punching and are serrated and move along with the chain to cut off the roots of the velvet mushroom. The inner frame carries a servo motor 605 which drives a drive sprocket 609 to rotate. The servomotor 605 is connected to a drive sprocket 609 via a gearbox 606.
A connecting rod 607 is arranged on the inner frame body, and a pressure sensor 608 attached to the chain is arranged on the connecting rod 607. For detecting root cutting reaction force.
A chain tensioning mechanism 604 is mounted on the inner frame. The tensioning mechanism 604 comprises a tensioning frame hinged to the inner frame body, a tensioning wheel attached to the chain is coupled to one end of the tensioning frame close to the chain, and the tensioning mechanism 604 further comprises a tensioning spring for driving the tensioning frame to swing so as to enable the tensioning wheel to be tightly pressed on the chain.
The using method of the invention comprises the following steps:
the pilose antler mushroom dress is planted to the bottle in the tray, tray to assigned position is carried to the conveyer belt in this scheme, and fix a position through positioning mechanism, drive a plurality of flexible direction holders among the flexible centre gripping guider through the arm after the location and carry out flexible centre gripping to the pilose antler mushroom of single row, and remove to adjustable separation root cutting device department after the centre gripping, remove through the chain and drive a plurality of root cutting serrated knives and realized the cutting of pilose antler mushroom root, damping spring is used for carrying out the shock attenuation with the vibration that the root produced, be unlikely to lead to the fact the damage to pilose antler mushroom itself, the assigned position is placed to the pilose antler mushroom after final arm will cut.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention may be implemented by or using the prior art, which is not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides an automatic harvester of bottle cultivation pilose antler mushroom which characterized in that: comprises a roller type conveying positioning device (7), an adjustable separation root cutting device (6), a mechanical arm (2) and a flexible clamping and guiding device (3) arranged on the mechanical arm (2);
the conveying and positioning device (7) comprises a conveying belt (7013) arranged on the rack (1), a tray (702) filled with bottle-cultivated velvet antler mushrooms is placed on the conveying belt (7013), and the conveying and positioning device (7) further comprises a positioning mechanism for positioning the tray (702);
the flexible clamping guide device (3) comprises a fixed support plate (305) arranged on the mechanical arm (2) and a plurality of flexible guide clamping devices (3010) arranged on the fixed support plate (305) side by side;
the adjustable separation root cutting device (6) comprises a support frame (601), the support frame (601) comprises an external frame and an internal frame body which is longitudinally connected in the external frame in a sliding mode, the internal frame body is connected with the external frame through a plurality of longitudinal damping springs (602), a driving chain wheel (609) and a driven chain wheel (6010) which are longitudinally arranged are coupled on the internal frame body in a shaft connection mode, the driving chain wheel (609) and the driven chain wheel (6010) are connected through a chain, a plurality of root cutting serrated knives (603) are fixedly connected to the outer ring of the chain, and a servo motor (605) which drives the driving chain wheel (609) to rotate is mounted on the internal frame body.
2. The automatic harvester for bottle-cultivated velvet antler mushrooms according to claim 1, characterized in that: positioning mechanism includes horizontal positioning mechanism and a plurality of vertical positioning mechanism, vertical positioning mechanism includes baffle cylinder (7022) that baffle (7017) and drive baffle (7017) go up and down, horizontal positioning mechanism includes fixed right push pedal (708) that sets up in conveyer belt (7013) one side, left push pedal (7012) that are located conveyer belt (7013) opposite side and drive left push pedal (7012) with tray (702) propelling movement to left push pedal cylinder (705) on right push pedal (708).
3. The automatic harvester for bottle-cultivated velvet antler mushrooms according to claim 1, characterized in that: the conveying and positioning device (7) further comprises a limiting fork (707) arranged at one end of the feeding direction and a suspension air cylinder (706) driving the limiting fork (707) to lift.
4. The automatic harvester for bottle-cultivated velvet antler mushrooms according to claim 1, characterized in that: flexible fixture includes fixed plate (3021) and horizontal sliding connection two connecting block (3016) on fixed plate (3021), the rigid coupling has air chamber (3012) on connecting block (3016), and air chamber (3012) front end rigid coupling has hollow software tentacle (3011), software tentacle (3011) and air chamber (3012) intercommunication, flexible fixture is still including two connecting block of drive (3016) relative gliding push rod cylinder (3020).
5. The automatic harvester for bottle-cultivated velvet antler mushrooms according to claim 4, characterized in that: push rod cylinder (3020) are installed on fixed plate (3021), and the rigid coupling has connector (3019) on the telescopic shaft of push rod cylinder (3020), connector (3019) are connected with two connecting blocks (3016) through connecting rod (3018) respectively, connecting rod (3018) one end is articulated with connector (3019), and the other end is articulated with connecting block (3016).
6. The automatic harvester for bottle-cultivated velvet antler mushrooms according to claim 4, characterized in that: two soft tentacles (3011) are arranged symmetrically in the flexible clamping mechanism, and the opposite sides of the two soft tentacles (3011) are provided with arc-shaped surfaces.
7. The automatic harvesting machine for bottle-cultivated velvet antler mushrooms according to claim 1, characterized in that: the connecting rod (607) is installed on the inner frame body, and the pressure sensor (608) attached to the chain is installed on the connecting rod (607).
8. The automatic harvester for bottle-cultivated velvet antler mushrooms according to claim 1, characterized in that: and a tensioning mechanism (604) for tensioning the chain is arranged on the inner frame body.
9. The automatic harvester for bottle-cultivated velvet antler mushrooms according to claim 1, characterized in that: the root cutting device is characterized by further comprising a root cutting platform (8) located above the adjustable separation root cutting device (6), and a through hole for allowing the cultivation bottle (703) to pass through is formed in the root cutting platform (8).
10. The automatic harvester for bottle-cultivated velvet antler mushrooms according to claim 1, characterized in that: also comprises a conveyor belt (4) used for conveying the cut velvet antler mushroom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211220625.XA CN115581174A (en) | 2022-10-08 | 2022-10-08 | Automatic harvesting machine for bottle-cultivated velvet mushrooms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211220625.XA CN115581174A (en) | 2022-10-08 | 2022-10-08 | Automatic harvesting machine for bottle-cultivated velvet mushrooms |
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| Publication Number | Publication Date |
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| CN115581174A true CN115581174A (en) | 2023-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211220625.XA Pending CN115581174A (en) | 2022-10-08 | 2022-10-08 | Automatic harvesting machine for bottle-cultivated velvet mushrooms |
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| CN218184415U (en) * | 2022-10-08 | 2023-01-03 | 山东农业大学 | Root device is cut with adjustable automatic harvester of pilose antler mushroom is planted to bottle |
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| KR20100077881A (en) * | 2008-12-29 | 2010-07-08 | 경기도농업기술원 | Automatic device for harvesting mushroom in a bottle |
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