CN218649547U - Self-propelled automatic combine harvester for ground-planted edible fungus - Google Patents

Abstract

The utility model discloses a self-propelled automatic combine harvester for cultivating edible fungus, which relates to the technical field of agricultural equipment and comprises a walking device, a profiling collecting device, a sliding table, a multi-station electric gripper device, a multi-station picking mechanism, a vibration grading sieve, a multi-station bag arranging device and a PLC computer control system; the profiling collecting device is arranged on the left side of the walking device, the vibrating classifying screen is arranged above the walking device, the multi-station picking mechanism is arranged above the vibrating classifying screen, the PLC computer control system is arranged on the right side of the multi-station picking mechanism, the sliding table is arranged on the walking device through the rack, and the multi-station electric gripper device and the multi-station bag arranging device are arranged on the sliding table; and the driving parts are electrically connected with the PLC computer control system. The utility model discloses once advance ground can accomplish pick up, pick back auricularia auriculajudae and clean hierarchical, pick the neatly multinomial operation of putting of back auricularia auriculajudae fungus bag after, improved and picked work efficiency, guaranteed to pick the quality.

Description

Self-propelled automatic combine harvester for ground planting edible fungus

Technical Field

The utility model relates to the technical field of agricultural equipment, especially, relate to self-propelled automatic combine harvester of edible fungus is planted on ground.

Background

At present, the agaric is planted in the field and picked mainly manually, the agaric bags are placed above a plastic barrel, the agaric is picked manually and made to fall into the plastic barrel, the agaric bags are placed after picking, the agaric bags are poured into a transport cart after the barrel is filled with the agaric bags, a single agaric picking machine is adopted, a machine is operated by each person, the machine is placed on the plastic barrel, one agaric bag is taken once and placed into the machine, the power supply is turned on to pick the agaric bags, the power supply is turned off after picking, and the agaric bags are taken out and then placed. There are also working machines walking on the fungus bed, but the fungus bags are manually grabbed and put into the machine for picking, and the fungus bags are manually put on the fungus bed after picking. There is no related automatic agaric harvesting machine integrating picking, cleaning and bag placing.

How to develop a self-propelled ground planting edible fungus automatic combine to be applicable to once accomplish the picking, cleaning, collection, the pendulum bag combine harvesting operation of planting edible fungus, change traditional results mode, become the technological problem that the technical staff in the field awaits a urgent need to solve.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a self-propelled automatic combine harvester of edible tree fungus is planted on ground solves the problem listed in the background art.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the utility model discloses a self-propelled automatic combine harvester for cultivating edible fungus, which comprises a walking device, a profiling collecting device, a sliding table, a multi-station electric gripper device, a multi-station picking mechanism, a vibrating classifying screen, a multi-station bag arranging device and a PLC computer control system; the profiling collecting device is movably arranged on the left side of the walking device, the vibrating classifying screen is arranged above the walking device, the multi-station picking mechanism is arranged above the vibrating classifying screen, the PLC computer control system is arranged on the right side of the multi-station picking mechanism, the sliding table is arranged on the walking device through a rack and is higher than the multi-station picking mechanism, and the multi-station electric gripper device and the multi-station bag arranging device are movably arranged on the sliding table; the walking device, the profiling collecting device, the multi-station electric gripper device, the multi-station picking mechanism, the vibrating classifying screen and the driving parts on the multi-station bag swinging device are all electrically connected with the PLC computer control system.

Preferably, the multi-station electric gripper device comprises a pickup electric flexible gripper mechanism, a pickup electric push rod and a pickup servo motor, the pickup servo motor is movably connected to the sliding table, the telescopic end of the pickup electric push rod is connected with the pickup electric flexible gripper mechanism, the fixed end of the pickup electric push rod is connected with the pickup servo motor, the pickup servo motor is started to drive the pickup electric flexible gripper mechanism to horizontally move on the sliding table, and the pickup electric push rod drives the pickup electric flexible gripper mechanism to complete up-and-down lifting movement; the picking electric flexible gripper mechanism, the picking electric push rod and the picking servo motor are all electrically connected with the PLC computer control system.

Preferably, the multi-station bag swinging device comprises a bag swinging servo motor, a bag swinging electric push rod and a bag swinging electric flexible gripper mechanism, the bag swinging servo motor is movably connected to the sliding table, the fixed end of the bag swinging electric push rod is connected with the bag swinging servo motor, the telescopic end of the bag swinging electric push rod is connected with the bag swinging electric flexible gripper mechanism, the bag swinging servo motor is started to drive the bag swinging electric flexible gripper mechanism to horizontally move on the sliding table, and the bag swinging electric push rod drives the bag swinging electric flexible gripper mechanism to complete vertical lifting movement; the bag swinging servo motor, the bag swinging electric push rod and the bag swinging electric flexible gripper mechanism are all electrically connected with the PLC computer control system.

Preferably, the multi-station picking mechanism comprises a picking assembly and an integral pressing device, and the picking assembly and the integral pressing device are arranged above the vibrating classifying screen in parallel.

Preferably, the picking assembly comprises a plurality of single picking devices, a picking rotary driving chain, a picking rotary driven chain wheel, a centering picking servo motor, a picking rotary driving chain wheel and a centering picking transmission component; a plurality of single picking devices are arranged on a straight line at equal intervals, and adjacent single picking devices are meshed through gears; the righting picking servo motor is positioned on one side and is in transmission connection with one single picking device on the edge through the righting picking transmission assembly, and two adjacent single picking devices are meshed and connected together; the picking rotary driving motor is arranged outside the righting picking servo motor, the picking rotary driving chain wheel is mounted on a rotating shaft of the picking rotary driving motor, the picking rotary driven chain wheel is arranged at the bottom end of each single picking device, and the picking rotary driving chain wheel is connected with the picking rotary driven chain wheel through the picking rotary driving chain; the righting picking servo motor and the picking rotary driving motor are electrically connected with the PLC computer control system.

Preferably, the single picking device comprises a righting picking knife device, a rotary gear disc, a single picking rack and a single picking rotary device, the righting picking knife device comprises a flexible picking blade and a righting picking knife shaft, and the flexible picking blade is fixed on the righting picking knife shaft; a first guide groove is arranged on the disc surface of the rotary gear disc, and gear teeth for meshing connection are arranged on the peripheral edge of the rotary gear disc; the single picking rack comprises a fixed side plate, a fixed upper plate and a fixed lower plate, wherein second guide grooves are uniformly distributed on the fixed upper plate and the fixed lower plate, the second guide grooves correspond to the first guide grooves, and the fixed side plate and the fixed lower plate are connected into a whole through the fixed side plate; the monomer picking rotating device comprises an agaric bag rotating shaft, an agaric bag seat disc and a first bearing, the top of the agaric bag rotating shaft is conical, the agaric bag seat disc is connected to the middle of the agaric bag rotating shaft, the first bearing is connected to the middle of the agaric bag rotating shaft and located below the agaric bag seat disc, and the bottom end of the agaric bag rotating shaft is connected with the picking rotating driven chain wheel; the single picking rotating device is rotatably arranged on the fixed lower plate through the first bearing, the rotating gear disc is respectively arranged above the fixed upper plate and below the fixed lower plate, and two ends of the righting picking cutter shaft are embedded and connected in the first guide groove and the second guide groove.

Preferably, righting and picking the transmission assembly including righting and picking servo motor, righting and picking drive gear and righting and picking the drive gear axle, righting and picking drive gear and arranging righting and picking the both ends of drive gear axle, righting and picking servo motor with righting and picking the drive gear axle and connecting, righting and picking drive gear with gear tooth on the rotatory pinion disc meshes mutually.

Preferably, the integral pressing device comprises a pressing servo motor and a pressing device, an output shaft of the pressing servo motor is in transmission connection with the pressing device and drives the pressing device to overturn, and the pressing device corresponds to the single picking devices one by one; and the compression servo motor is electrically connected with the PLC computer control system.

Preferably, the pressing device comprises a pressing rotating shaft, a plurality of pressing rotating rods, a sleeve, a pressing adjusting shaft, an adjusting nut, an adjusting spring, a second bearing and a pressing bowl; the end part of the compression rotating shaft is connected with an output shaft of the compression servo motor, one end of a plurality of compression rotating rods is welded on the compression rotating shaft in a straight line, the other end of each compression rotating rod is welded with the sleeve, the compression bowl is connected below the second bearing, the second bearing is connected to the lower end of the compression adjusting shaft, the upper end of the compression adjusting shaft penetrates through the sleeve and is positioned through the threaded connection of an adjusting nut, the compression adjusting shaft is sleeved with the adjusting spring, and two ends of the adjusting spring are respectively abutted to the opposite surfaces of the sleeve and the second bearing; the position of the pressing bowl corresponds to the position of the single picking rotating device, and the agaric fungus bag is pressed on the agaric fungus bag seat plate downwards.

Preferably, the traveling device comprises a chassis driving motor and a traveling chassis, the chassis driving motor is a double-servo motor, the traveling chassis adopts a crawler-type structure, and the chassis driving motor is electrically connected with the PLC computer control system.

Compared with the prior art, the utility model discloses a beneficial technological effect:

1) The utility model discloses a self-propelled automatic combine harvester for cultivating edible fungus, which comprises a walking device, a profiling collecting device, a sliding table, a multi-station electric gripper device, a multi-station picking mechanism, a vibrating classifying screen, a multi-station bag arranging device and a PLC computer control system; the walking device adopts the double servo motors to drive the crawler type walking chassis, has strong cross-country ability, large climbing ability, little possibility of sinking and slipping on damp muddy or soft soil, little influence from terrain and good trafficability, and can face more complicated working conditions; the profiling collecting device can be better adapted to the terrain of the ground-cultivated edible fungus breeding farm, and the influence of the terrain on the harvest efficiency of the ground-cultivated edible fungus is avoided; the PLC computer control system is electrically connected with each driving part to realize automatic control, so that the labor cost is greatly saved;

2) The picking assembly comprises a plurality of monomer picking devices, a picking rotary driving chain, a picking rotary driven chain wheel, a centering picking servo motor, a picking rotary driving chain wheel and a centering picking transmission component, wherein the monomer picking devices are arranged in a straight line, the picking efficiency of the edible fungus is greatly accelerated, the rotary power of the edible fungus bag is output by the picking rotary driving chain wheel 22, and the picking rotary driven chain wheels are simultaneously driven to rotate through the chain, so that the monomer picking rotary shaft is driven to assemble and rotate, the power for centering the picking knife is meshed with a rotary gear disc through a centering picking driving gear in the centering picking transmission component, the rotary gear disc rotates, the centering picking knife device can move at a constant speed to the center of the monomer picking frame along a through groove in the monomer picking frame by controlling the rotating speed of the centering picking servo motor, the edible fungus can be picked from big to small, the requirement of 'picking big and small' is met, the consistency of the size of the picked edible fungus is improved, and the picking quality is improved.

In general, the utility model has reasonable layout and compact structure, can complete the multi-operations of picking up the agaric fungus bags with full agaric, picking, cleaning and grading the agaric after picking and neatly placing the agaric fungus bags after picking by one-step ground feeding, and is full-automatic, thereby effectively reducing manual operation, saving time and labor, improving the picking work efficiency and ensuring the picking quality; the problems of high manual picking cost, low efficiency and the like in the prior art are solved.

Drawings

The present invention will be further explained with reference to the following description of the drawings.

Fig. 1 is a schematic view of the overall structure of an automatic combined harvester for ground planting edible fungus provided by the utility model;

FIG. 2 is a schematic view of the picking assembly of FIG. 1 according to the present invention;

FIG. 3 is a schematic view of the single picking apparatus of the present invention;

fig. 4 is a schematic view of the utility model of a righting picking knife device;

FIG. 5 is a schematic view of a rotary gear plate according to the present invention;

fig. 6 is a schematic view of the single picking frame of the present invention;

fig. 7 is a schematic view of the single picking rotating device of the present invention;

fig. 8 is a schematic view of the centralizing picking drive assembly of the present invention;

fig. 9 is a schematic view of the driving of the rotary gear plate of the present invention;

fig. 10 is a schematic view of the overall pressing device of the present invention;

fig. 11 is a schematic view of a single pressing device according to the present invention.

Description of reference numerals: 1. a profiling collection device; 2. a chassis drive motor; 3. an electric flexible gripper mechanism is picked up; 4. picking up the electric push rod; 5. picking up a servo motor; 6. a sliding table; 7. picking and final assembly; 8. an integral pressing device; 9. a bag placing servo motor; 10. a bag placing electric push rod; 11. a PLC computer control system; 12. a bag swinging electric flexible gripper mechanism; 13. vibrating a grading screen; 14. a walking chassis; 15. compressing the servo motor; 16. a pressing device; 17. a single picking device; 18. picking a rotary driving chain; 19. picking a rotating driven chain wheel; 20. righting and picking the servo motor; 21. picking a rotary driving motor; 22. picking a rotary driving chain wheel; 23. righting the picking transmission assembly; 24. righting the picking knife device; 2401. a flexible picking blade; 2402. righting the picking cutter shaft; 25. a rotating gear plate; 2501. a first guide groove; 26. a single picking frame; 2601. fixing the side plate; 2602. fixing the upper plate; 2603. fixing the lower plate; 2604. a second guide groove; 27. a single picking rotating device; 2701. a rotary shaft of the agaric bag; 2702. a seat plate of an edible fungus bag; 2703. a first bearing; 28. righting the picking driving gear; 29. righting the picking drive gear shaft; 30. compressing the rotating shaft; 31. compressing the rotating rod; 32. a sleeve; 33. compressing the adjusting shaft; 34. adjusting the nut; 35. adjusting the spring; 36. a second bearing; 37. and (5) pressing the bowl.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

As shown in fig. 1-11, the self-propelled ground-cultivation edible fungus automatic combine harvester comprises a walking device, a profiling collecting device 1, a sliding table 6, a multi-station electric gripper device, a multi-station picking mechanism, a vibrating classifying screen 13, a multi-station bag arranging device and a PLC computer control system; the utility model discloses a multi-station bag picking machine, including running gear, vibrating classifying screen, multistation picking mechanism, multistation electric gripper device, walking device, profile modeling collection device 1 is mobilizable to be installed the running gear left side, vibrating classifying screen 13 is installed the running gear top, the multistation picking mechanism is installed the mechanism is installed to the multistation picking mechanism 13 top, PLC computer control system arranges the mechanism right side is picked to the multistation, slip table 6 passes through the rack-mount and is in running gear is last and be higher than the mechanism is picked to the multistation, the electronic gripper device of multistation with the mobilizable arrangement of multistation pendulum bag device is in on the slip table 6, running gear, profile modeling collection device 1, the electronic gripper device of multistation, multistation picking mechanism, vibrating classifying screen 13, the drive part on the multistation pendulum bag device all with PLC computer control system 11 electricity is connected.

Specifically, the multi-station electric gripper device comprises a pickup electric flexible gripper mechanism 3, a pickup electric push rod 4 and a pickup servo motor 5, wherein the pickup servo motor 5 is movably connected to the sliding table 6, the telescopic end of the pickup electric push rod 4 is connected with the pickup electric flexible gripper mechanism 3, the fixed end of the pickup electric push rod 4 is connected with the pickup servo motor 5, the pickup servo motor 5 is started to drive the pickup electric flexible gripper mechanism 3 to horizontally move on the sliding table 6, and the pickup electric push rod 4 drives the pickup electric flexible gripper mechanism 3 to complete up-and-down lifting movement; the picking electric flexible gripper mechanism 3, the picking electric push rod 4 and the picking servo motor 5 are all electrically connected with the PLC computer control system 11.

Specifically, the multi-station bag swinging device comprises a bag swinging servo motor 9, a bag swinging electric push rod 10 and a bag swinging electric flexible gripper mechanism 12, wherein the bag swinging servo motor 9 is movably connected to the sliding table 6, the fixed end of the bag swinging electric push rod 10 is connected with the bag swinging servo motor 9, the telescopic end of the bag swinging electric flexible gripper mechanism 12 is connected with the bag swinging electric flexible gripper mechanism, the bag swinging servo motor 9 is started to drive the bag swinging electric flexible gripper mechanism 12 to horizontally move on the sliding table 6, and the bag swinging electric push rod 10 drives the bag swinging electric flexible gripper mechanism 12 to complete vertical lifting movement; the bag swinging servo motor 9, the bag swinging electric push rod 10 and the bag swinging electric flexible gripper mechanism 12 are all electrically connected with the PLC computer control system 11.

Specifically, the multi-station picking mechanism comprises a picking assembly 7 and an integral pressing device 8, wherein the picking assembly 7 and the integral pressing device 8 are arranged above the vibrating classifying screen 13 in parallel.

As shown in fig. 2, the picking assembly 7 comprises a plurality of individual picking devices 17, a picking rotary drive chain 18, a picking rotary driven sprocket 19, a centralizing picking servo motor 20, a picking rotary drive motor 21, a picking rotary drive sprocket 22 and a centralizing picking drive assembly 23; a plurality of single picking devices 17 are arranged on a straight line at equal intervals, and adjacent single picking devices 17 are meshed through gears; the righting picking servo motor 20 is positioned at one side and is in transmission connection with one single picking device 17 at the edge through the righting picking transmission component 23, and two adjacent single picking devices 17 are meshed and connected together; the picking rotation driving motor 21 is arranged outside the righting picking servo motor 20, the picking rotation driving chain wheel 22 is mounted on a rotating shaft of the picking rotation driving motor 21, the picking rotation driven chain wheel 19 is arranged at the bottom end of each single picking device 17, and the picking rotation driving chain wheel 22 is connected with the picking rotation driven chain wheel 19 through the picking rotation driving chain 18; the centralizing picking servo motor 20 and the picking rotary driving motor 21 are electrically connected with the PLC computer control system 11.

As shown in fig. 3-7, the single picking device 17 comprises a righting picking knife device 24, a rotating gear wheel disc 25, a single picking frame 26 and a single picking rotating device 27, the righting picking knife device 24 comprises a flexible picking blade 2401 and a righting picking cutter shaft 2402, and the flexible picking blade 2401 is fixed on the righting picking cutter shaft 2402; a first guide groove 2501 is arranged on the disc surface of the rotary gear disc 25, and gear teeth for meshing connection are arranged on the peripheral edge of the rotary gear disc 25; the single picking rack 26 comprises a fixed side plate 2601, a fixed upper plate 2602 and a fixed lower plate 2603, wherein the fixed upper plate 2602 and the fixed lower plate 2603 are both provided with a second guide slot 2604, the second guide slot 2604 corresponds to the first guide slot 2501, and the fixed side plate 2601 and the fixed lower plate 2603 are connected into a whole through the fixed side plate 2601; the monomer picking rotating device 27 comprises an agaric bag rotating shaft 2701, an agaric bag seat disc 2702 and a first bearing 2703, the top of the agaric bag rotating shaft 2701 is conical, the agaric bag seat disc 2702 is connected to the middle of the agaric bag rotating shaft 2701, the first bearing 2703 is connected to the middle of the agaric bag rotating shaft 2701 and located below the agaric bag seat disc 2702, and the bottom end of the agaric bag rotating shaft 2701 is connected with the picking rotating driven sprocket 19; the single picking rotating device 27 is rotatably mounted on the fixed lower plate 2603 through the first bearing 2703, the rotating gear disc 25 is respectively mounted above the fixed upper plate 2602 and below the fixed lower plate 2603, two ends of the centering picking knife shaft 2402 are embedded and connected in the first guide slot 2501 and the second guide slot 2604, the rotary power of the agaric fungus bag is driven by the picking rotary driving chain wheel 22 through the picking rotary driving chain 18 to simultaneously drive the eight picking rotary driven chain wheels 19 to rotate so as to drive the single picking rotating device 27 to rotate, the power of the centering picking knife device 24 is meshed with the rotating gear disc 25 through the upper and lower centering picking driving gears 28 in the centering picking transmission assembly 23, so that the rotating gear disc 25 rotates, and the centering picking knife device 24 linearly moves towards the center of the single picking frame 26 along the second guide slot 2604 on the single picking frame 26 by controlling the rotating speed of the centering picking servo motor 20, so that the picking can be from large to small and meet the requirement of' picking large agaric.

As shown in fig. 8-9, the centralizing picking transmission assembly includes a centralizing picking servo motor 20, a centralizing picking drive gear 28 and a centralizing picking drive gear shaft 29, the centralizing picking drive gear 28 is disposed at both ends of the centralizing picking drive gear shaft 29, the centralizing picking servo motor 20 is connected with the centralizing picking drive gear shaft 29, the centralizing picking drive gear 28 is engaged with gear teeth on the rotating gear disc 25, so as to realize control of a plurality of individual picking devices, the centralizing picking drive gear 28 is engaged with gear teeth on the first rotating gear disc 25, and the centralizing picking cutter device 24 is in a reset state when being located at the farthest end from the center. The righting picking drive gear 28 rotates clockwise, the first rotating gear disk 25 rotates counterclockwise, the righting picking blade device 24 moves toward the center, the first rotating gear disk and the second rotating gear disk are meshed, and the second rotating gear disk rotates clockwise. The first guide slots 2501 of the first and second rotary gear discs 25 are in a central symmetrical pattern, the third and fourth.

As shown in fig. 10 and 11, the integral pressing device 8 includes a pressing servo motor 15 and a pressing device 16, an output shaft of the pressing servo motor 15 is in transmission connection with the pressing device 16 and drives the pressing device 16 to turn, and the pressing devices 16 correspond to the single picking devices 17 one by one; and the compression servo motor 15 is electrically connected with the PLC computer control system 11.

Specifically, the pressing device 16 includes a pressing rotating shaft 30, a plurality of pressing rotating rods 31, a sleeve 32, a pressing adjusting shaft 33, an adjusting nut 34, an adjusting spring 35, a second bearing 36 and a pressing bowl 37; the end of the pressing rotary shaft 30 is connected with the output shaft of the pressing servo motor 15, one end of each of the pressing rotary rods 31 is welded on the pressing rotary shaft 30 in a straight line, the other end of each of the pressing rotary rods 31 is welded on the sleeve 32, the pressing bowl 37 is connected below the second bearing 36, the second bearing 36 is connected to the lower end of the pressing adjusting shaft 33, the upper end of the pressing adjusting shaft 33 penetrates through the sleeve 32 and is positioned through the adjusting nut 34 in a threaded connection manner, the adjusting spring 35 is sleeved on the pressing adjusting shaft 33, and two ends of the adjusting spring 35 are abutted to the opposite surfaces of the sleeve 32 and the second bearing 36 respectively; the position of the pressing bowl 37 corresponds to the monomer picking rotating devices 27 one by one, and the pressing bowl is turned downwards to press the agaric bags on the agaric bag seat plate 2702, so that adjustable clamping control on the agaric bags with different sizes is realized, and stable positioning in the picking process is ensured.

Specifically, running gear includes chassis driving motor 2 and walking chassis 14, chassis driving motor 2 is two servo motor, walking chassis 14 adopts crawler-type structure, and cross-country ability reinforce, climbing ability are big, on moist muddy or the soft soil difficult sinking, difficult skidding, receive topography influence little, trafficability characteristic good, can be in the face of more complicated operating mode, chassis driving motor 2 with PLC computer control system 11 electricity is connected.

The working process of the utility model is as follows:

1) The walking chassis 14 is of a crawler type and is driven by the chassis driving motor 2, and the walking chassis 14 walks to enable the agaric fungus bags to enter the profiling collecting device 1.

2) The picking servo motor 5 is started to drive the picking electric push rod 4 to run on the sliding table 6, when the center of a circle of each picking electric flexible gripper mechanism 3 is aligned with the center of the profiling collecting device 1, the picking electric push rod 4 extends, and the picking electric flexible gripper mechanism 3 is started to grab the agaric fungus bags. After pressing from both sides tight fungus bag, pick up electric putter 4 and shorten, pick up servo motor 5 and start, drive and pick up electric putter 4 and move to picking final assembly 7 top on the slip table, when the centre of a circle of picking up electronic flexible gripper mechanism 3 aligns with the centre of a circle of picking final assembly 7, pick up electric putter 4 extension and put into picking final assembly 7 with the fungus bag, pick up electronic flexible gripper mechanism 3 and loosen. The picking servo motor 5 starts to repeat the previous procedure to pick up the agaric bags.

3) Picking assembly 7 adopts eight monomer picking devices 17 to be arranged in parallel at equal intervals, agaric fungus bags enter the monomer picking devices 17, after an erecting picking servo motor 20 is started to erect the agaric fungus bags, a pressing servo motor 15 is started, a pressing device 16 drives a pressing rotating shaft 30 to rotate by the pressing servo motor 15, eight pressing devices 16 are welded on the pressing rotating shaft 30 at equal intervals, after the pressing rotating shaft 30 rotates for 90 degrees, a pressing bowl 37 on the rotating pressing device 16 presses the agaric fungus bags to the center, then the erecting picking servo motor 20 and a picking rotation driving motor 21 are started simultaneously, the picking rotation driving motor 21 drives the eight monomer picking devices 17 to work, each agaric fungus bag rotates at a constant speed, and meanwhile, the erecting picking servo motor 20 drives a erecting knife device 24 in each monomer picking device 17 to move towards the center at a constant speed to pick the agaric.

4) After picking, the pressing servo motor 15 is started, and the pressing device 16 is reset. The bag-swinging servo motor 9 is started, the bag-swinging servo motor operates to the picking device 7, when the center of each bag-swinging electric flexible gripper mechanism 12 is aligned with the center of the picking assembly 7, the bag-swinging electric push rod 10 extends, the bag-swinging electric flexible gripper 12 starts to grab the edible fungus bags after picking is completed, the bag-swinging electric push rod 10 shortens, the bag-swinging servo motor 9 starts to operate backwards to a bag-swinging position, the bag-swinging electric push rod 10 extends, the fungus bags are placed on the ground, the bag-swinging electric flexible gripper 12 loosens the fungus bags, the bag-swinging electric push rod 10 shortens, and the bag-swinging servo motor 9 starts to repeat the previous procedure to grab the fungus bags.

5) The picked edible fungus enters a vibration grading sieve 13, can be divided into three grades of big, medium and small by two layers of sieve sheets of the vibration grading sieve, and the edible fungus with different grades is stored in three storage hoppers arranged at the ends of the sieve sheets, and is conveyed to the next procedure for airing and drying after the storage hoppers are full, and the specific conveying mode can be manual or conveying belts. Specifically, the vibrating classifying screen 13 is a conventional device, and is not described in detail herein.

Through above operation step, can accomplish once advancing to pick up, pick the back auricularia auriculajudae fungus bag of full auricularia auriculajudae and clean hierarchical, pick neatly putting multinomial operation of back auricularia auriculajudae fungus bag, all drive assembly (motor) all are connected with PLC computer control system electricity in this automatic combine, have realized full automatization operation, effectively reduce manual work, labour saving and time saving has improved and has picked work efficiency, has guaranteed the quality of picking.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The above-mentioned embodiments are only intended to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and those skilled in the art should also be able to make various modifications and improvements to the technical solution of the present invention without departing from the spirit of the present invention, and all such modifications and improvements are intended to fall within the scope of the present invention as defined in the appended claims.

Claims (10)

1. Self-propelled automatic combine harvester for ground-planted agaric, which is characterized in that: the multi-station bag swinging device comprises a walking device, a profiling collecting device (1), a sliding table (6), a multi-station electric gripper device, a multi-station picking mechanism, a vibration grading sieve (13), a multi-station bag swinging device and a PLC computer control system; the profiling collecting device (1) is movably arranged on the left side of the walking device, the vibrating classifying screen (13) is arranged above the walking device, the multi-station picking mechanism is arranged above the vibrating classifying screen (13), the PLC computer control system is arranged on the right side of the multi-station picking mechanism, the sliding table (6) is arranged on the walking device through a frame and is higher than the multi-station picking mechanism, and the multi-station electric gripper device and the multi-station bag arranging device are movably arranged on the sliding table (6); the walking device, the profiling collecting device (1), the multi-station electric gripper device, the multi-station picking mechanism, the vibrating classifying screen (13) and the driving parts on the multi-station bag swinging device are all electrically connected with the PLC computer control system (11).

2. The self-propelled automatic combined harvester for ground-planting edible fungi of claim 1, wherein: the multi-station electric gripper device comprises a picking electric flexible gripper mechanism (3), a picking electric push rod (4) and a picking servo motor (5), wherein the picking servo motor (5) is movably connected to the sliding table (6), the telescopic end of the picking electric push rod (4) is connected with the picking electric flexible gripper mechanism (3), the fixed end of the picking electric flexible gripper mechanism is connected with the picking servo motor (5), the picking servo motor (5) is started to drive the picking electric flexible gripper mechanism (3) to horizontally move on the sliding table (6), and the picking electric push rod (4) drives the picking electric flexible gripper mechanism (3) to complete vertical lifting movement; the picking electric flexible gripper mechanism (3), the picking electric push rod (4) and the picking servo motor (5) are all electrically connected with the PLC computer control system (11).

3. The self-propelled automatic combined harvester for ground-planting edible fungi of claim 1, wherein: the multi-station bag swinging device comprises a bag swinging servo motor (9), a bag swinging electric push rod (10) and a bag swinging electric flexible gripper mechanism (12), wherein the bag swinging servo motor (9) is movably connected to the sliding table (6), the fixed end of the bag swinging electric push rod (10) is connected with the bag swinging servo motor (9), the telescopic end of the bag swinging electric flexible gripper mechanism (12) is connected with the bag swinging electric flexible gripper mechanism (12), the bag swinging servo motor (9) is started to drive the bag swinging electric flexible gripper mechanism (12) to horizontally move on the sliding table (6), and the bag swinging electric push rod (10) drives the bag swinging electric flexible gripper mechanism (12) to complete up-and-down lifting movement; the bag swinging servo motor (9), the bag swinging electric push rod (10) and the bag swinging electric flexible gripper mechanism (12) are electrically connected with the PLC computer control system (11).

4. The self-propelled automatic combined harvester for ground-planted edible fungus according to claim 1, characterized in that: the multi-station picking mechanism comprises a picking assembly (7) and an integral pressing device (8), wherein the picking assembly (7) and the integral pressing device (8) are arranged above the vibrating classifying screen (13) in parallel.

5. The self-propelled automatic combined harvester for ground-planted edible fungus according to claim 4, characterized in that: the picking assembly (7) comprises a plurality of single picking devices (17), a picking rotary driving chain (18), a picking rotary driven chain wheel (19), a centralizing picking servo motor (20), a picking rotary driving motor (21), a picking rotary driving chain wheel (22) and a centralizing picking transmission assembly (23); a plurality of single picking devices (17) are arranged on a straight line at equal intervals, and adjacent single picking devices (17) are meshed through gears; the centering picking servo motor (20) is positioned on one side and is in transmission connection with one single picking device (17) on the edge through the centering picking transmission assembly (23), and two adjacent single picking devices (17) are meshed and connected together; the picking rotary driving motor (21) is arranged outside the righting picking servo motor (20), the picking rotary driving chain wheel (22) is installed on a rotating shaft of the picking rotary driving motor (21), the picking rotary driven chain wheel (19) is arranged at the bottom end of each single picking device (17), and the picking rotary driving chain wheel (22) is connected with the picking rotary driven chain wheel (19) through the picking rotary driving chain (18); the centralizing picking servo motor (20) and the picking rotary driving motor (21) are electrically connected with the PLC computer control system (11).

6. The self-propelled automatic combined harvester for ground-planted edible fungus according to claim 5, characterized in that: the single picking device (17) comprises a righting picking knife device (24), a rotary gear disc (25), a single picking rack (26) and a single picking rotary device (27), the righting picking knife device (24) comprises flexible picking blades (2401) and a righting picking knife shaft (2402), and the flexible picking blades (2401) are fixed on the righting picking knife shaft (2402); a first guide groove (2501) is arranged on the disc surface of the rotary gear disc (25), and gear teeth for meshing connection are arranged on the peripheral edge of the rotary gear disc (25); the single picking rack (26) comprises fixed side plates (2601), fixed upper plates (2602) and fixed lower plates (2603), wherein second guide grooves (2604) are uniformly distributed on the fixed upper plates (2602) and the fixed lower plates (2603), the second guide grooves (2604) correspond to the first guide grooves (2501), and the fixed side plates (2601) and the fixed lower plates (2603) are connected into a whole through the fixed side plates (2601); the monomer picking rotating device (27) comprises an agaric fungus bag rotating shaft (2701), an agaric fungus bag seat disc (2702) and a first bearing (2703), the top of the agaric fungus bag rotating shaft (2701) is conical, the agaric fungus bag seat disc (2702) is connected to the middle of the agaric fungus bag rotating shaft (2701), the first bearing (2703) is connected to the middle of the agaric fungus bag rotating shaft (2701) and located below the agaric fungus bag seat disc (2702), and the bottom end of the agaric fungus bag rotating shaft (2701) is connected with the picking rotating driven sprocket (19); the single picking rotating device (27) is rotatably arranged on the fixed lower plate (2603) through the first bearing (2703), the rotating gear disc (25) is respectively arranged above the fixed upper plate (2602) and below the fixed lower plate (2603), and two ends of the centralizing picking knife shaft (2402) are embedded and connected in the first guide groove (2501) and the second guide groove (2604).

7. The self-propelled automatic combined harvester for ground-planted edible fungus according to claim 6, characterized in that: righting and picking drive assembly including righting and picking servo motor (20), righting and picking drive gear (28) and righting and picking drive gear axle (29), righting and picking drive gear (28) and arranging righting and picking the both ends of drive gear axle (29), righting and picking servo motor (20) with righting and picking drive gear axle (29) and connecting, righting and picking drive gear (28) with gear tooth on rotatory pinion disc (25) meshes mutually.

8. The self-propelled automatic combined harvester for ground-planted edible fungus according to claim 6, characterized in that: the integral pressing device (8) comprises a pressing servo motor (15) and a pressing device (16), an output shaft of the pressing servo motor (15) is in transmission connection with the pressing device (16) and drives the pressing device (16) to overturn, and the pressing device (16) corresponds to the single picking devices (17) one by one; and the compression servo motor (15) is electrically connected with the PLC computer control system (11).

9. The self-propelled automatic combined harvester for ground-planted edible fungus according to claim 8, characterized in that: the pressing device (16) comprises a pressing rotating shaft (30), a plurality of pressing rotating rods (31), a sleeve (32), a pressing adjusting shaft (33), an adjusting nut (34), an adjusting spring (35), a second bearing (36) and a pressing bowl (37); the end part of the pressing rotating shaft (30) is connected with an output shaft of the pressing servo motor (15), one ends of a plurality of pressing rotating rods (31) are welded on the pressing rotating shaft (30) in a straight line, the other ends of the pressing rotating rods (31) are welded on the sleeve (32), the pressing bowl (37) is connected below the second bearing (36), the second bearing (36) is connected to the lower end of the pressing adjusting shaft (33), the upper end of the pressing adjusting shaft (33) penetrates through the sleeve (32) to be in threaded connection and positioned through an adjusting nut (34), the adjusting spring (35) is sleeved on the pressing adjusting shaft (33), and two ends of the adjusting spring (35) are respectively abutted against opposite surfaces of the sleeve (32) and the second bearing (36); the position of the pressing bowl (37) corresponds to the single picking rotating device (27), and the agaric bag is pressed on the agaric bag seat plate (2702) downwards.

10. The self-propelled automatic combined harvester for ground-planted edible fungus according to claim 1, characterized in that: the walking device comprises a chassis driving motor (2) and a walking chassis (14), the chassis driving motor (2) is a double-servo motor, the walking chassis (14) adopts a crawler-type structure, and the chassis driving motor (2) is electrically connected with the PLC computer control system (11).

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