Device for cutting the stems of a harvested mushroom

Abstract

Device for cutting the stipe of a harvested mushroom, comprising: - A knife blade connected to a rotation shaft, rotatably mounted by means of rotation of said shaft around an axis of rotation coinciding with the centre of the shaft, the knife having a cutting edge that extends from the shaft along a straight or curved path with at least one directional component in the radial direction of the axis; - A drive device for driving the shaft; - A control device for the drive, configured for: - Discontinuously driving the shaft, to each time turn a maximum of between one and one and three quarter full revolutions from a rest position and preferably to turn the shaft about one and a quarter revolutions from the rest position; - Returning the shaft to the rest position when exceeding a full revolution. - Subsequently stopping the shaft at the rest position.

Description

The present invention relates to a device for cuttingthe stems of harvested mushrooms. Mushrooms are harvested by cutting their stipe from the substrate theyare grown on. Commonly, this is a layer ofcompostwith casing soil. The harvestingmay be done manually or in an automated matter, as described in International patent application PCT / EP2024 / 062359 by thesame applicant. In both cases, the mushroom stipe may need to be cut again, in orderto obtain a mushroom that is suitable to be presented in a consumer package, or to be further processed forconsumption. It is known in the art to cutmushroom stipes during conveyance of the mushrooms on a harvesting conveyor. While the stipes protrude through holes in the conveyor, they are cut by a knife that is configured for cutting all stipes at a predetermined distance belowthe conveyor surface. However, arranging mushrooms on a harvestingconveyor still requires manual labour in most cases, and the predetermined distance with respect to the conveyor surface may be set at an average optimum value, but as a result, it is not necessarilythe best setting foreach individual mushroom. It is also known in general to use a discshaped knife for cuttingmushroom stipes. However, such knives have an impact on the stipe in the direction of the speed of their circumferential edge. This impactmaycause the mushroom to tilt during the cutting of the stipe, or require a grabbing force to avoid the tilting, which force causes damage to the mushroom. It is therefore a goal of the present invention, to provide a device for cuttingthe stems of harvested mushrooms that takes awaythe disadvantages of the prior art. More in particular it is a goal of the present invention to provide a device for cuttingmushrooms each at an individual, optimised way. It is a further goal of the present invention to provide a useful alternative to the prior art. For that purpose, the present invention proposes a device for cuttingthe stipe of a harvested mushroom, comprising: A knife blade connected to a rotation shaft, rotatablymounted bymeans of rotation of said shaft around an axis of rotation coincidingwith the centre of the shaft, the knife having a cutting edge that extends from the shaft along a straight or curved path with at least one directionalcomponent in the radial direction of the axis; A drive device for drivingthe shaft. | Contrary to a discshaped knife, a knife having a cuttingedge that extends from the shaft along a straight or curved path with at leastone directionalcomponent in the radial direction of the axis allows the mushroom to be brought in the cutting plane of the knife in a direction opposite to the momentary direction of the knife at the moment the knife touches the mushroom stipe. The cuttingedge of the knife then cuts the stipe in a radial direction of the stipe. In an embodiment, wherein the mushroom is movingwhile its stipe is cut, the cutting direction mayme essentially or exactlyopposite to the direction ofmovement of the mushroom. To avoid the mushroom stipe being hit bythe knife twice, the knife mayextend in onlyone direction from its axis, or in otherwords be a single knife, nit extending to both (or more) sides of the axis. It is also possible that a mushroom is first positioned in a cutting position and is held still there without furthermovement. The device according to the invention may therefore further comprise: A control device forthe drive, configured for: Discontinuously drivingthe shaft, to each time turn a maximum of between one and one and three quarter revolutions from a rest position and preferably to turn the shaft about one and a quarter revolutions from the rest position; Returningthe shaft to the rest position when exceeding a full revolution. Subsequently stoppingthe shaft at the rest position. By discontinuously drivingthe shaft and therewith the knife, the device according to the invention allows to position an individualmushroom in a cutting plane described by rotation of the knife, beingthe circular surface through which the knife moves. As the knife makes less than two revolutions, the mushroom can be positioned at a cutting location where the cuttingedge of the knife passes only once. Returningthe shaft to the rest position may therefore be done in opposite rotary direction of the rotary direction while cutting. The knife may have a limited width in a tangential direction, in order to leave space for positioningmushroom stipes in the cutting plane. In particular, the knife may protrude in onlyone direction and at onlyone side from the shaft. Preferablythe knife has a surface that is less than 25% of the cutting plane and preferably less than 10%. The knife preferably extends over less than 90 degrees of the cutting plane and more preferably less than 45 degrees. 2 The control device may be configured to achieve a speed progression wherein the speed increases to a maximum speedwhen rotatingthe blade and then decreases again to standstill, in particular according to a progression that is built up from a rampup and a rampdown. This speed progression leads to the highest possible peak speed, which occurs at the instant between the rampup and the ramp down. The location of the knife at that instantmay be selected as a cutting position for a mushroom, since the best cut is made at the highest speed. The control device may be configured to build up the speed to a maximum of at least 3000 rpm, preferablyto a maximum of at least4000 to 5000 rpm and more preferablyaround 4500 rpm. It has been determined that at this speed, in particularwith knife specifications as provided further on, a sharp cut can be obtained, without havingan impact that substantiallymoves the mushroom. In an embodiment, on a side facingawayfrom the direction in which the blade extends the shaft is provided with a countenNeight, such as a thickening, for balancing the shaft. Such countenNeightmay be configured and / or dimensioned to have thesame moment as the knife. The device according to the invention maycomprise a mushroom grippingand moving means, configured for gripping a mushroom at or under the cap of the mushroom, such that the end of the stipe of the mushroom is accessible, and for positioningthe mushroom in a cutting plane described by rotation of the knife, beingthe circular surface through which the knife moves. The grippingmeans of such device maycomprise avacuum suction cap, clamping means, hook means or other lifting means, and be configured and / or adapted to pick individual mushrooms from a harvestingconveyor belt in case it is used in combination with manual harvesting or a picking robot that places harvested mushrooms in a harvesting belt, which is a conveyor belt with holes formushroom stipes, orfrom a cloth or foilwhich may be used in combination with automated harvesting methods, as described in the above mentioned international patent application. As the knife extends in a radial direction from the shaft, the cutting plane is discshaped. The control device may be configured to control the gripping and moving means, and is further configured to place a mushroom stipe to be cut at a position in the cutting plane that is located at an angle of between 120 and 270, more particularly between 180 and 240 degrees and even more particularlyaround 225 degrees around the axis of rotation, from the rest position. The cutting position may be chosen to be at the position where the knife has a high or preferablythe highest speed, which latter is at the angular position where the speed is altered from a rampup 3 to a rampdown. Dependingon the amount of turns (between one and one and three quarter turns) this maybe halfwaythe total number of turns, as will be elucidated into more detailwith reference to the figures. The control device may further be configured to control the grippingand moving device for placing it at a position in the cutting planewhere the rotating knife has its maximum rotational speed. The mushroom gripping and moving means maycomprise a robot arm. Such robotarm may carry avacuum suction cap, clamping means, hookmeans or other lifting means. The device according to the invention may further comprise an optical recognition device, such as a camera system, for monitoringthe stipe of a mushroom, before or during gripping and moving a mushroom held bythe grippingand moving device, wherein the control device is configured to determine a cutting position on the stipe of the mushroom stiped on information provided bythe optical recognition device, and is configured to control the grippingand moving device to cut the mushroom with the cutting position in the cutting plane. The optical recognition device may be coupled to the grippingand moving device or be placed and / or directed at the mushroom bed or at the position of the knife. The control device may be configured to determine the cutting position on the stipe of the mushroom on at least one of the following criteria: The shape of the stipe; The height towhich there are contaminants such as casing soil and / orcompost on the stipe; or The ratio between the cap diameter orcap height and the stipe length. The control device may be configured to position the mushroom with its entire stipe just in the extreme range of the cutting plane bythe mushroom grippingand moving means. A knife for use in a device according to the invention may have a blade length from the axis of rotation to an end of the blade is between 6 and 10 cm, and in particular between 7 and 9 cm, and more in particularabout 8 cm. Such blade may decrease in width from the axis of rotation, and / or taper, and / or be substantially scytheshaped, and / or substantially have the shape of the black orwhite part of a yin and yang shape. The blade may have a cutting angle of between 5 and 10, and in particular between 6 and 7 and more in particular about 6.5 degrees. 4 The invention willnow be elucidated into more detail, with reference to the following figures. Herein: Figure 1 shows a perspectiveview of a device according to the invention; Figure 2 shows a detail of a knife blade for a device according to the invention; Figure 3 shows a schematic overview of the use of a device according to the invention; and Figure 4 shows a speed curve during use of a device according to the invention. Figure 1 shows a device 1 for cuttingthe stipe 8 of a harvested mushroom 9, comprising a knife blade 2 connected to a rotation shaft 3, rotatablymounted bymeans of rotation of said shaft around an axis of rotation 4 coincidingwith the centre of the shaft 3, the knife having a cutting edge 5 that extends from the shaft along a straight or curved path 6 with at leastone directional component in the radial direction R of the axis 4. The device 1 may furthercomprise a drive device (notshown) for drivingthe shaft 3 and a control device (not shown) forthe drive, configured for discontinuously drivingthe shaft 3, to each time turn a maximum of between one and one and three quarter full revolutions Ffrom a rest positionA (visible in figure 3 ) and preferably to turn the shaft 2 about one and a quarter revolutions from the rest position A, followed by returningthe shaft 3 to the rest positionwhen exceeding a full revolution and subsequently stopping the shaft 3 at the rest position. The device 1 furthercomprises mushroom grippingand movingmeans 11, configured for gripping a mushroom 9 at or under the cap 7 of the mushroom 9, such that the end of the stipe 8 of the mushroom 9 is accessible, and positioningthe mushroom 9 in a cutting plane P described by rotation of the knife 2, being the circular surface through which the knife 2 moves. The drive may also be configured for moving the mushroom through the cutting plane. In that case it is not necessary to start and stop the knife, although this combination is thinkable. Figure 2shows a knife 2 according to the invention wherein the blade length Lfrom the axis of rotation 4 to an end of the blade is between 6 and 10 cm, and in particular between 7 and 9 cm, and more in particular about 8 cm. The blade 12 decreases in widthW in a radial R direction X awayfrom the axis of rotation 4, and / or tapers, and / or is substantially scytheshaped, and / or has substantiallythe shape of the black orwhite part of a yin and yang shape. The blade 12 has a cutting angle of between 5 and 10, and in particular between 6 and 7 and more in particular about 6.5 degrees. Figure 3 shows how a mushroom 9 stipe 8 to be cut is positioned at a position E in the cutting plane Pwhere the rotating knife has its maximum rotational speed. In this example, the rest 5 position may be at position A, and the control device may be configured for rotatingthe knife 2 one and a quarter turns, so that a tip 10 of the knife 2 starts at positionAand then passes positions B and C while its speedVramps up, before it reaches its maximum speed at position E, that is located atan angle of 225 degrees around the axis of rotation, from the rest position A, and then the speed is ramped down while the tip 10 passes positions D and A. It stops at position B and then returns to position A, rotating in an opposite direction from B to A. It is also possible that the knife is continuously driven for rotation. In either case it is also thinkable that the mushroom is moved through the cutting plane, in a directionthich is preferably essentially or exactly opposite to the momentary direction Y in which the part of the knife that hits the mushroom moves. The control device is configured to position the mushroom 9 with its entire stipe 8 precisely in the extreme range Z of the cutting plane P bythe mushroom grippingand movingmeans 11. Figure 4 shows howthe control device is configured to achieve a speed progression wherein the speedV (which is the speed of the tip 10 of the knife 2) increases to a maximum speedwhen rotating the blade and then decreases again to standstill, in particular according to a progression that is built up from a rampup and a rampdown. In the example shown, the maximum speed is 4500 rpm. As the knife 2 rotates 450 degrees, it has to rotate backwith negative speed to rest position A. The embodiments as described are examples onlyand do not limit the scope of protection of the following claims. 6 Clauses 1. Device for cuttingthe stipe of a harvested mushroom, comprising: A knife blade connected to a rotation shaft, rotatablymounted bymeans of rotation of said shaft around an axis of rotation coincidingwith the centre of the shaft, the knife having a cutting edge that extends from the shaft along a straight or curved path with at least one directionalcomponent in the radial direction of the axis; A drive device for drivingthe shaft. 2. Device according to claim 1, comprising: A control device for the drive, configured for: Discontinuously drivingthe shaft, to each time turn a maximum of between one and one and three quarter full revolutions from a rest position and preferably to turn the shaft about one and a quarter revolutions from the rest position; Returningthe shaft to the rest position when exceeding a full revolution. Subsequently stoppingthe shaft at the rest position. 3. Device according to claim 2, wherein the control device is configured to achieve a speed progression wherein the speed increases to a maximum speedwhen rotating the blade and then decreases again to standstill, in particular according to a progression that is built up from a rampup and a rampdown. 4. Device according to claim 2 or 3, wherein the control device is configured to build up the speed to a maximum of at least 3000 rpm, preferably to a maximum of at least4000 to 5000 rpm and more preferablyaround 4500 rpm. 5. Device according to one of the preceding claims, wherein the shaft on a side facingawayfrom the direction in which the blade extends is provided with a countenNeight, such as a thickening, for balancingthe shaft. 6. Device according to any of the preceding claims, comprising a mushroom gripping and moving means, configured for gripping a mushroom at or under the cap of the mushroom, such that the end of the stipe of the mushroom is accessible, and positioningthe mushroom in a cutting plane described by rotation of the knife, beingthe circular surface through which the knife moves. 7 7. Device according to claim 6, wherein the mushroom grippingand movingmeans are configured for bringingthe mushroom in the cutting plane of the knife in a direction opposite to the momentary direction of the knife at the moment the knife touches the mushroom stipe. 8. Device according to claim 7, wherein the mushroom grippingand movingmeans are configured for movingthe mushroom is movingwhile its stipe is cut, wherein the direction of movement of the mushroom is essentially or exactly opposite to the cutting direction. 9. Device according to any of claims claim 6 to 8, wherein the control device is configured to control the grippingand moving means, and is further configured to place a mushroom stipe to be cut at a position in the cutting plane that is located at an angle of between 120 and 270, more particularly between 180 and 240 degrees and even more particularlyaround 225 degrees around the axis of rotation, from the rest position. 10. Device according to any of claims claim 6 to 9, wherein the control device is configured to control the gripping and moving device for placing it at a position in the cutting plane where the rotating knife has its maximum rotational speed. 11. Device accordingany of claims claim 6 to 10, wherein the mushroom grippingand moving means comprises a robot arm. 12. Device according to any of claims 61 1, comprising an optical recognition device, such as a camera system, for monitoringthe stipe of a mushroom, before or during gripping and moving a mushroom held bythe gripping and moving device, wherein the control device is configured to determine a cutting position on the stipe of the mushroom stiped on information provided bythe optical recognition device, and is configured to control the gripping and moving device to cut the mushroom with the cutting position in the cutting plane. 13. Device according to any of claims 61 1, wherein the optical recognition device is coupled to the grippingand moving device or is placed and / or directed at the mushroom bed or is positioned at the knife. 14. Device according to claim 12, wherein the control device is configured to determine the cutting position on the stipe of the mushroom stiped on at least one of the following criteria: The shape of the stipe; The height towhich there are contaminants such as casing soil and / orcompost on the stipe; or The ratio between the cap diameter orcap height and the stipe length. 8 15. Device according to one of claims 614, wherein the control device is configured to position the mushroom with its entire stipe precisely in the extreme range of the cutting plane bythe mushroom gripping and moving means. 16. Device according to one of the preceding claims, wherein the blade length from the axis of rotation to an end of the blade is between 6 and 10 cm, and in particular between 7 and 9 cm, and more in particularabout 8 cm. 17. Device according to any of the preceding claims, wherein the blade decreases in width from the axis of rotation, and / or tapers, and / or is substantially scytheshaped, and / or has substantiallythe shape of the black orwhite part of a yin and yang shape. 18. Device according to any of the preceding claims, wherein the blade has a cutting angle of between 5 and 10, and in particular between 6 and 7 and more in particularabout 6.5 degrees. 19. Mushroom harvesting device, comprising a device according to any of the preceding claims. 9

Claims

1. Device for cutting the stems of a harvested mushroom, comprising: A knife connected to a rotation axis, mounted rotatably by means of rotation of that axis, with a cutting edge extending from the axis along a straight or curved path with at least a directional component extends away from the axis in the radial direction; A drive device for driving the shaft.

2. Arrangement in accordance with Claim 1, further comprising: A drive control device, designed for: 0 Discontinuous driving of the shaft, for repeatedly generating maximum between one and three-quarters of a full revolution from a resting position and at preference rotating the axis around one and a quarter revolutions from the resting position; o Returning to the upon transcending a complete revolution resting position. o Subsequently bring the shaft to a standstill in the resting position.

3. Configuration in accordance with claim 2, where the control device is configured for the achieving a speed profile where the speed during the rotation of the blade increases to a maximum speed and is subsequently reduced again to a standstill, in the particularly according to a progression built from a ramp-up and a ramp-down.

4. Configuration in accordance with claim 2 or 3, where the control device is configured for the build up the speed to a maximum of at least 3000 rpm, preferably to a maximum of at least 4000 to 5000 rpm and otherwise preferably around 4500 rpm.

5. Arrangement in accordance with one of the preceding claims, where the axis is connected to one of the directions in which the knife protrudes, the averted side is provided with a counterweight, such as a thickening, for balancing the shaft.

6. Establishment pursuant to one of the preceding claims, comprising a mushroom attack and means of transport, designed for grasping on or under the cap of the mushroom a mushroom, such that the end of the stem of the mushroom is accessible, and the in a cutting surface described by rotation of the blade, being the circular surface whereby the knife moves, placing the mushroom. 10 7. Installation according to claim 6, where the mushroom is the means of attachment and transport. configured to bring the mushroom into the cutting edge of the knife in a direction that is opposite to the instantaneous direction of the blade at the moment the blade touches the handle touches the mushroom.

8. Installation in accordance with claim 7, where the mushroom is the means of attachment and transport. configured to move the mushroom while its stem is cut, whereby the direction of movement of the mushroom is essentially or exactly opposite to the cutting direction.

9. Configuration in accordance with one of claims 68, whereby the control system is configured to the to control means of engagement and displacement, and is further equipped for doing so. placing a mushroom stem to be cut on a position in the cutting surface that is situated on a angle of between 120 and 270, more specifically between 180 and 240 degrees and even more in the particularly around 225 degrees around the axis of rotation, from the rest position.

10. Configuration in accordance with one of claims 69, whereby the control system is configured to the to control the engagement and displacement device for positioning in the cutting plane where the rotating blade has its maximum rotation speed.

11. Setup in accordance with one of claims 610, whereby the mushroom attack and means of transport comprises a robotic arm.

12. Device pursuant to one of claims 61 1 , comprising an optical recognition device, such as a camera system, for viewing the stem of a mushroom, before or during the engagement and displacement of an object by the engagement and displacement device retained mushroom, where the control device is configured to based on information emitted by the optical recognition device a cutting position on the base of the to determine mushroom, and is configured to control the engagement and displacement device to position the mushroom with the cutting position in the cutting surface.

13. Device in accordance with one of claims 612, where the optical recognition device is coupled with the displacement device or is placed and / or aimed at the mushroom bed or is positioned near the knife.

14. Configuration in accordance with claim 12, where the control device is configured to the to determine the cutting position on the stem of the mushroom based on at least one of the the following criteria: The shape of the foot; 11 The height to which contaminants such as casing soil and / or compost settle on the base find; or The ratio between the hat diameter or hat height and the foot length.

15. Configuration in accordance with one of claims 614, where the control device is configured to the mushroom through the mushroom gripping and displacing device correctly with to position his entire foot at the extreme end of the cutting edge.

16. Design in accordance with one of the preceding claims, whereby the blade length of the center from the axis of rotation to one end of the blade between 6 and 10 cm, and in particular between 7 and 9 cm, and more specifically around 8 cm.

17. Configuration in accordance with one of the preceding claims, whereby the blade is positioned from the axis of rotation in decreases in length, and / or tapers, and / or is predominantly scythe-shaped, and / or predominantly the shape has of the heavy or white part of a yin and yang form.

18. Design in accordance with one of the preceding claims, where the blade has a cutting angle of between 5 and 10, and in particular between 6 and 7 and more specifically around 6.5 has degrees 19. Mushroom harvesting facility, comprising a facility in accordance with one of the preceding conclusions. 12

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