A fully automatic edible mushroom bag scratching and processing equipment

Abstract

The present invention discloses a fully automatic edible mushroom bag scratching processing equipment, comprising a cover removing device, a ring removing device and a bag opening turning device, wherein the cover removing device is used to remove the cover of the mushroom bag; the ring removing device is arranged at the rear end of the cover removing device, and is used to remove the sleeve ring of the mushroom bag; the bag opening turning device is arranged at the rear end of the ring removing device, and is used to fold the bag opening of the mushroom bag. The fully automatic edible mushroom bag scratching processing equipment of the present invention has a high degree of automation, can replace manual work to realize the actions of removing the cover, removing the ring, cutting, folding the bag opening, etc. of the mushroom bag, has high work efficiency, and has a good mushroom bag processing effect.

Description

Technical Field

[0001] The invention relates to the technical field of edible fungus production, and in particular to a fully automatic edible fungus bag scratching and processing device. Background Art

[0002] The purpose of the mushroom bag cleaning treatment of edible fungi is to remove the surface skin of the culture medium in the mushroom bag, cut off the mycelium and make it quickly enter the growth and reproduction state from the dormant state. After the mushroom bag is cleaned, the bag mouth must be higher than the culture medium by a certain height to maintain the moisture of the culture medium in the mushroom bag; there are two main ways to clean edible fungi. One is to use cutting equipment to cut off the surface skin and the above part of the mushroom bag as a whole. This method requires the bag mouth to be pasted to the mushroom bag in the later stage so that the bag mouth is higher than the culture medium by a certain height. The process is complicated, and part of the mycelium is cut off, which affects the yield of fungi; the other method is to first remove the lid and ring, and then fold the bag mouth to make the bag mouth open and higher than the culture medium by a certain height, and then clean the fungi. Among them, removing the lid, taking the ring and folding the bag mouth are mostly done manually, which has the problems of high labor intensity, low efficiency and uneven treatment effect, which affects the stability of the bag mouth after folding, and is not conducive to the production requirements of large-scale and high-quality edible fungi. Summary of the invention

[0003] 1. Technical issues to be solved

[0004] The present invention provides a fully automatic edible mushroom bag scratching processing equipment, which at least solves the problem that the existing edible mushroom bags need to be manually covered, ringed and bag mouth folded before the mushrooms are scratched, which is inefficient and labor-intensive. It has the advantages of saving time and labor and having a good bag turning effect.

[0005] (II) Technical solution

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A fully automatic edible mushroom bag scratching and processing equipment, comprising

[0008] A cover removing device, which is used to remove the cover of the mushroom bag;

[0009] A ring removing device, which is arranged at the rear end of the cap removing device and is used to remove the ring of the fungus bag;

[0010] The bag opening device is arranged at the rear end of the ring taking device and is used for folding the bag opening of the mushroom bag.

[0011] Preferably, the bag opening device includes an external jig assembly and an outward-turning claw assembly, the external jig assembly includes an external jig, the external jig forms a support ring on the periphery of the bag opening which is concentric with the bag opening and has a radius smaller than the radius of the bag opening, and the outward-turning claw assembly includes an outward-turning claw for extending into the bag opening of the mushroom bag to open the bag opening and fold the bag opening outward with the external jig as support.

[0012] Preferably, the outward-turning claw assembly includes at least two adapter plates for installing the outward-turning claws, a downward pressure driving mechanism for driving the adapter plates to rise and fall, and an opening and closing driving mechanism for driving the adapter plates to move closer to or further away from each other, the outward-turning claws gather when the adapter plates are close to each other, and the distance between them expands when the adapter plates are further away from each other; the adapter plates are arranged relative to each other and have installation protrusions arranged at intervals at the opposite ends, the outward-turning claws are arranged on the installation protrusions, the outer side surfaces of the outward-turning claws are arc surfaces, and when four adjacent outward-turning claws are opened, an arc-shaped downward pressure surface is formed on the bag opening, the downward pressure driving mechanism includes a lifting cylinder vertically connected to the adapter plate, and the opening and closing driving mechanism includes an opening and closing cylinder whose telescopic end is connected to the lifting cylinder.

[0013] Preferably, the external fixture includes half rings relatively arranged on both sides of the mushroom bag and an engaging drive mechanism for driving the half rings to close at the bag opening to form a support ring. The engaging drive mechanism drives the half rings to tilt upward from the lower end and form a support ring around the bag opening. The outer diameter of the support ring gradually decreases from top to bottom to form a pressure-bearing inclined surface. The bottom of the outward-turned support claw is provided with a pressing inclined surface that matches the pressure-bearing inclined surface.

[0014] Preferably, the bag opening device also includes a flaring claw assembly, which includes a flaring claw for extending into the bag opening to open the bag opening to a diameter larger than the lateral dimension of the outward-turning claw, and a lifting drive mechanism for driving the flaring claw to rise and fall, and the lifting end of the lifting drive mechanism is connected to the outward-turning claw assembly and drives the outward-turning claw assembly to rise and fall.

[0015] Preferably, the flaring claw assembly includes a transverse bracing base plate and a longitudinal bracing base plate for installing the flaring claws, the transverse bracing base plates are two in number and are respectively connected to a transverse rack, the transverse racks are arranged in parallel, the longitudinal bracing base plates are two in number and are respectively connected to a longitudinal rack, the longitudinal racks are arranged in parallel, the transverse racks and the longitudinal racks are connected by synchronous gears, the synchronous gears rotate synchronously and are connected to the driving motor so that the rotation of the synchronous gears drives the transverse racks and the longitudinal racks to move in the opposite direction, the flaring claws on the transverse bracing base plate and the longitudinal bracing base plate radially open to each other to open the bag mouth, the transverse bracing base plate is provided with a mounting portion for installing the flaring claws, the mounting portions are arranged at intervals and a clearance hole for the flaring claws on the longitudinal bracing base plate to move is formed between the mounting portions of the two transverse bracing base plates, when the transverse bracing base plate and the longitudinal bracing base plate are close to each other, the adjacent mounting portions are close to each other so that the flaring claws form a cylindrical structure.

[0016] Preferably, the bag opening device also includes a pressing edge assembly, which includes a plurality of pressing rods and a pressing edge driving mechanism that drives the pressing rods to press the everted bag opening in the direction of the bag opening. The pressing edge assembly is relatively arranged on both sides of the mushroom bag and a circular structure around the bag opening is formed between the ends of the pressing rods on both sides to prevent the bag opening from moving when the everted support claws and the external fixture are reset.

[0017] Preferably, the cover removing device includes a bracket, a guide shaft vertically arranged on the bracket, a first positioning mechanism slidably arranged on the guide shaft, and a cover removing mechanism; the first positioning mechanism includes a first lifting frame slidably arranged on the guide shaft, a clamping plate movably arranged in pairs in the first lifting frame, and a first driving mechanism driving the clamping plates to be closed, the clamping plate is provided with a clamping opening, and the mushroom stick sleeve ring is fixed between the clamping openings when the two clamping plates are closed; the cover removing mechanism is located at the upper end of the first positioning mechanism, and includes a second lifting frame slidably arranged on the guide shaft, a slide movably connected to the second lifting frame, an elastic head installed on the slide, a card arranged in pairs on the outside of the elastic head, a second driving mechanism installed on the first lifting frame and driving the second lifting frame to move along the guide shaft, a third driving mechanism driving the card to open and close, and a fourth driving mechanism driving the slide to move to the lower feeding station, the cards are pre-tightened by springs and are provided with a clamping opening for clamping the mushroom bag cover, and the elastic head is telescopically arranged between the clamping openings.

[0018] Preferably, the ring removal device includes a ring removal jaw, a finger cylinder for driving the ring removal jaw to close, a mounting seat for installing the finger cylinder, a feed drive mechanism connected to the mounting seat and driving the mounting seat to move in the direction of the mushroom bag ring, a fixed seat for installing the feed drive mechanism, and a ring pulling drive mechanism connected to the fixed seat and driving the fixed seat to move in the ring pulling direction.

[0019] Preferably, it also includes a cutting device arranged at the rear end of the ring-removing device, which is used to cut off part of the bag opening after the ring is removed from the mushroom bag, and includes a bag opening pinching mechanism, a second positioning mechanism and a cutting mechanism. The bag opening pinching mechanism includes a lifting arm, a pinching claw arranged on the lifting arm, a lifting drive mechanism for driving the lifting arm to lift and lower, and a pinching claw driving mechanism for driving the pinching claw to open and close. The pinching claw driving mechanism drives the pinching claw to pinch the edge of the bag opening, and the lifting drive mechanism drives the lifting arm to drive the pinching claw to lift; the second positioning mechanism is used to position the mushroom bag so that the bag opening of the mushroom bag is located below the pinching claw, and the second positioning mechanism includes a positioning clamping claw, a clamping claw cylinder for driving the positioning clamping claw to close, a fixing plate for installing the clamping claw cylinder, and a positioning driving mechanism connected to the fixing plate and driving the positioning clamping claw to move toward the bag opening of the mushroom bag; the cutting mechanism includes a cutting line, a frame for installing the cutting line, and a cutting driving mechanism connected to the frame and driving the cutting line to move toward the bag opening of the mushroom bag below the pinching claw.

[0020] Preferably, it also includes a diversion device arranged between two processes, the diversion device is used to take the mushroom bag out of the mushroom frame and transfer it to the next process, including a conveyor line, a frame moving mechanism, a third positioning mechanism and a diversion manipulator, the conveyor line is used to convey the mushroom frame, the frame moving mechanism is used to move the mushroom frame on the conveyor line to the diversion station, including a frame moving member for connecting the mushroom frame and a frame moving driving mechanism for driving the frame moving member to move to the diversion station; the third positioning mechanism includes a limiting member arranged on the conveyor line and limiting the mushroom bag to the diversion station; the diversion manipulator includes a manipulator body and a moving device that drives the manipulator body to move, the manipulator body includes a mounting plate and a frame moving driving mechanism arranged on the conveyor line. The guide piece and the inner clamping jaw assembly are mounted on the mounting plate, wherein the guide piece forms a guide space for inserting the mushroom bag, and the inner clamping jaw assembly comprises an expansion head, an ejector pin, a connecting seat and a driving mechanism, wherein the connecting seat is fixed relative to the mounting plate, and the expansion head is arranged at the center line position in the guide space, and comprises at least two expansion pieces rotatably connected to the connecting seat, and matching holes are formed between the expansion pieces, and the ejector pin can be movably inserted into the matching hole, and the matching hole and / or the ejector pin comprise a plug-in section whose cross-sectional size gradually decreases along the direction away from the connecting seat, and the driving mechanism is used to drive the ejector pin to move toward the matching hole so that the end of the expansion piece opens and the annular piece of the mushroom bag is tightened.

[0021] Preferably, it also includes a bag mouth shaping device arranged at the rear end of the bag opening device, the bag mouth shaping device includes a shaping claw, a driving cylinder connected to the shaping claw and driving the shaping claw to open and close, a fixed plate for installing the shaping claw, and a lifting drive mechanism connected to the fixed plate and driving the fixed plate to lift and lower. The shaping claw includes an articulated seat connected to the fixed plate, a plurality of claw fingers hinged to the articulated seat, a connecting rod hinged to the middle of the claw fingers, and a connecting head hinged to the connecting rod. The connecting head is arranged between the claw fingers and connected to the telescopic end of the driving cylinder. The driving cylinder drives the connecting head to rise and fall and drives the claw fingers to close and open through the connecting rod; it also includes a framing mechanism, which includes a movable clamp, a fixed clamp arranged at a distance from the movable clamp, a mounting plate connected to the fixed clamp, a guide rail structure connected between the movable clamp and the mounting plate, a clamping cylinder driving the movable clamp to move in the direction of the fixed clamp, a longitudinal driving mechanism connected to the mounting plate, and a horizontal driving mechanism connected to the longitudinal driving mechanism.

[0022] (III) Beneficial effects

[0023] Compared with the prior art, the fully automatic edible mushroom bag scratching processing equipment provided by the present invention has the following beneficial effects:

[0024] 1. The fully automatic edible mushroom bag scratching and processing equipment of the present invention automatically folds the bag mouth through the bag opening turning device. Specifically, the bag mouth is opened by extending the expanding support claws into the bag mouth of the mushroom bag after the ring is taken out. The expanded opening diameter of the bag mouth is larger than the lateral size of the everted support claws, which is convenient for the everted support claws with larger sizes to extend into the bag mouth. The everted support claws extend into the bag mouth of the mushroom bag to open the bag mouth, and the external fixture forms a support ring on the periphery of the bag mouth that is coaxial with the bag mouth and has a radius smaller than the radius of the bag mouth. The everted support claws push the bag mouth outwards of the support ring with the support ring as support to realize the bag The bag mouth is turned outward, and the edge pressing assembly is used to press the edge of the bag mouth after the bag mouth is turned outward. The edge pressing assembly includes a plurality of pressing rods, which are pressed on the everted bag mouth after the everting claws push the bag mouth outward with the support ring as the support to realize the everting of the bag mouth, so as to avoid the bag mouth from moving when the everting claws and the external fixture are reset. In this way, the external fixture and the everting claws cooperate with each other to realize the everting of the bag mouth. The everting action of the bag mouth is simple and efficient, and no manual operation is required, which saves time and effort. At the same time, the folding effect of the bag mouth tends to be consistent, which ensures the efficient processing of large quantities of mushroom bags.

[0025] 2. The fully automatic edible mushroom bag scratching processing equipment of the present invention automatically removes the covers from the mushroom bags in the mushroom frames through the cover removing device. Specifically, the cover removing device positions the ring on the mushroom bag through the clamping opening on the splint, so as to realize the positioning of the mushroom bag and its cover, and fixes the mushroom bag and the cover through the clamping opening of the card and the limiting ring of the cover. The second driving mechanism drives the second lifting frame to move away from the first lifting frame, and the card pulls the cover up from the ring, and then drives the slide to move to the unloading station through the fourth driving mechanism. The third driving mechanism drives the card to open, and the cover falls down under the push of the elastic top head, completing the cover removal, realizing the automation of mushroom bag cover removal, without manual operation, and with high cover removal efficiency, thereby improving the pre-treatment speed of edible mushroom bag scratching.

[0026] 3. The fully automatic edible fungus bag scratching processing equipment of the present invention automatically removes the rings of the fungus bags through the ring removing device. Specifically, the feed drive mechanism drives the mounting seat to move toward the fungus bag, the finger cylinder drives the ring removing claws to open and clamp the ring, and the ring pulling drive mechanism drives the fixed seat to move in the ring pulling direction, driving the ring removing claws to remove the clamped ring. After the ring is taken out, the feed drive mechanism is reset, the ring removing claws open, and the ring falls into the collection box, completing the ring removing action. The whole process does not require manual operation and is realized automatically, which greatly improves the ring removing efficiency.

[0027] 4. The fully automatic edible mushroom bag scratching processing equipment of the present invention cuts off part of the bag opening of the mushroom bag through a cutting device. Specifically, the mushroom bag is positioned below the bag opening pinching mechanism through a second positioning mechanism. The bag opening pinching mechanism drives the pinching claws through the pinching claw driving mechanism to pinch the edge of the bag opening. The lifting driving mechanism drives the lifting arm to drive the pinching claws to lift and pull up the bag opening. Subsequently, the cutting device drives the cutting line through a driving mechanism to cut the bag opening. The entire process does not require manual operation and is realized automatically. The bag opening cutting position can be adjusted according to the cutting line height, so that the cut mushroom bag still retains the necessary bag opening height, which is convenient for the subsequent bag opening turning device to turn over the bag opening and reduce the number of folding times.

[0028] 5. The fully automatic edible mushroom bag scratching processing equipment of the present invention transfers the mushroom bag from the mushroom frame to the next process through the diversion device, such as the ring removing device. Specifically, the frame moving part is driven by the frame moving driving mechanism to transport the mushroom frame to the diversion station, and the third positioning mechanism limits the position of the mushroom bag to the diversion station through the limiting part, thereby realizing the movement of the mushroom frame between the conveying line and the diversion station, and the diversion manipulator positions and corrects the mushroom bag through the guiding space of the guiding part, and grabs the ring on the mushroom bag through the inner clamping claw assembly. Specifically, the expansion head extends into the ring, and the driving mechanism drives the ejector pin to move toward the matching hole between the expansion sheets. The expansion sheets are stretched open by the ejector pin and the inside of the ring is expanded to fix the bag mouth between the ring and the expansion head. The movement of the mushroom bag body is realized by moving the ring and the bag mouth, and the bag body is avoided from contacting, thereby ensuring the quality of the mushroom bag and improving the transportation efficiency of the mushroom bag between the processes.

[0029] 6. The fully automatic edible mushroom bag scratching processing equipment of the present invention shapes and frames the mushroom bag after the bag mouth is folded through the bag mouth shaping device. Specifically, the lifting drive mechanism drives the shaping claw to extend into the bag mouth, and the driving cylinder controls the shaping claw to open and expand and tighten on the inner side of the bag mouth to achieve the shaping of the bag mouth; the clamping cylinder of the framing mechanism drives the movable clamp and the fixed clamp to close to clamp and position the shaped mushroom bag, and the mushroom bag is placed in the frame through the coordinated movement of the horizontal drive mechanism and the longitudinal drive mechanism to achieve the framing action and improve the processing efficiency.

[0030] 7. The fully automatic edible mushroom bag scratching processing equipment of the present invention has a high degree of automation and can replace manual work to perform actions such as removing the lid, ring, cutting, and folding the bag mouth of the mushroom bag. It has high work efficiency and good mushroom bag processing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a front view of the present invention;

[0032] Figure 2 A top view of the present invention;

[0033] Figure 3 It is a front view of the cap removing device of the present invention;

[0034] Figure 4 A side view of the cap removing device of the present invention;

[0035] Figure 5 A top view of the cap removing device of the present invention;

[0036] Figure 6 A top view of the first positioning mechanism and the cap removing mechanism of the cap removing device of the present invention;

[0037] Figure 7 It is a structural schematic diagram of the cap removing mechanism of the cap removing device of the present invention;

[0038] Figure 8 It is a front view of the cutting device of the present invention;

[0039] Fig. 9 is a side view of the cutting device of the present invention;

[0040] Fig.10 is a top view of the cutting device of the present invention;

[0041] Fig.11 It is a front view of the second positioning mechanism of the cutting device of the present invention;

[0042] Fig.12 is a side view of a second positioning mechanism of the cutting device of the present invention;

[0043] Fig.13 is a top view of the second positioning mechanism of the cutting device of the present invention;

[0044] Fig.14 is a schematic diagram of a cutting mechanism of a cutting device of the present invention;

[0045] Fig.15 is a schematic diagram of the flow diversion device of the present invention;

[0046] Fig.16 It is a top view of the frame moving mechanism of the flow diversion device of the present invention;

[0047] Fig.17 It is a side view of the frame moving mechanism of the flow dividing device of the present invention;

[0048] Fig.18 It is a front view of the third positioning mechanism of the diversion device of the present invention;

[0049] Fig.19 It is a top view of the third positioning mechanism of the flow diversion device of the present invention;

[0050] Fig. 20 It is a side view of the third positioning mechanism of the flow diversion device of the present invention;

[0051] Fig.21 Schematic diagram of the third positioning mechanism of the diversion device of the present invention including the limit plate

[0052] Fig. 22 It is a front view of the diversion manipulator of the present invention;

[0053] Fig.23 It is a side view of the flow diversion manipulator of the present invention;

[0054] Fig.24 A top view of the flow diversion manipulator of the present invention;

[0055] Fig.25 It is a schematic diagram of the main body of the robot of the present invention;

[0056] Fig.26 It is a front view of the ring removal device of the present invention;

[0057] Fig. 27 It is a side view of the ring removal device of the present invention;

[0058] Fig.28 A top view of the ring removal device of the present invention;

[0059] Fig.29 It is a structural schematic diagram of the bag opening device of the present invention;

[0060] Fig.30 It is a front view of the outward-turning claw assembly of the present invention;

[0061] Fig.31 A side view of the outward-turning claw assembly of the present invention;

[0062] Fig.32 A top view of the outward-turning claw assembly of the present invention;

[0063] Fig.33 It is a front view of the outer fixture assembly of the present invention;

[0064] Fig.34 A top view of the outer fixture assembly of the present invention;

[0065] Fig.35 It is a structural schematic diagram of the flared support claw assembly of the present invention;

[0066] Fig.36 It is a main schematic diagram of the installation of the horizontal support base plate of the flared support claw assembly of the present invention;

[0067] Fig.37 It is a top view of the installation of the horizontal support base plate of the flared support claw assembly of the present invention;

[0068] Fig.38 It is a side view of the installation of the horizontal support base plate of the flared support claw assembly of the present invention;

[0069] Fig.39 It is a main schematic diagram of the installation of the longitudinal support base plate of the flared support claw assembly of the present invention;

[0070] Fig.40 It is a top view of the installation of the longitudinal support bottom plate of the flared support claw assembly of the present invention;

[0071] Fig.41 It is a side view of the installation of the longitudinal support base plate of the flared support claw assembly of the present invention;

[0072] Fig.42 It is a structural schematic diagram of the edge pressing assembly of the present invention;

[0073] Fig.43 It is a front view of the bag mouth shaping device of the present invention;

[0074] Fig.44 It is a rear view of the bag opening shaping device of the present invention;

[0075] Fig.45 It is a side view of the bag opening shaping device of the present invention;

[0076] Fig.46 A top view of the bag opening shaping device of the present invention;

[0077] Fig.47 It is a structural schematic diagram of the shaping gripper of the present invention. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0079] See also Figure 1 and Figure 2 As shown, Figure 1 is the front view of the present invention, Figure 2 This is a top view of the present invention, which is a fully automatic edible fungus bag scratching processing equipment, including a cover removing device 1, a cutting device 2, a diverting device 3, a ring removing device 4, a bag opening turning device 5, and a bag opening shaping device 6.

[0080] Combination Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, Figure 3 This is a front view of the cap removal device of the present invention. Figure 4 is a side view of the capping device of the present invention, Figure 5 is a top view of the capping device of the present invention, Figure 6 FIG. 1 is a top view of the first positioning mechanism and the cap removing mechanism of the cap removing device of the present invention. Figure 71 is a schematic diagram of the structure of the capping mechanism of the capping device of the present invention. The mushroom bag is first transported to the capping device 1, and the capping device 1 is used to take out the cap of the mushroom bag, including a first positioning mechanism 11, a capping mechanism 12, a conveyor line 13 and a bracket 14. The conveyor line 13 transports the mushroom bag through the lower end of the first positioning mechanism 11, and four guide shafts 140 are vertically arranged on the bracket 14. The first positioning mechanism 11 and the capping mechanism 12 are slidably arranged on the guide shafts 140. The first positioning mechanism 11 includes a first lifting frame 111, a clamping plate 112, a lifting drive mechanism 113 and a first drive mechanism 114. The first lifting frame 111 is slidably arranged on the guide shaft 140 through a linear bearing. The first lifting frame 111 is connected to the lifting drive mechanism 113. The lifting drive mechanism 113 includes a lifting cylinder 1131 and a connecting rod 1132 connected between the telescopic rod of the lifting cylinder 1131 and the first lifting frame 111. The lifting cylinder 1131 drives the connecting rod 1132 to drive the first lifting frame 111. The lowering frame 111 is raised and lowered, and the clamps 112 are arranged in pairs in the first lifting frame 111 and the clamps 112 can move relative to each other. The first driving mechanism 114 can be a cylinder installed on the first lifting frame 111, which is used to drive the clamps 112 to close. The clamps 112 are provided with clamps 1120; when positioning, the clamps 112 are opened, the first lifting frame 111 is lowered, the mushroom bag ring is extended between the clamps 112, and then the two clamps 112 are closed to fix the mushroom stick ring between the clamps 1120 to complete the positioning.

[0081] The cover removal mechanism 12 is located at the upper end of the first positioning mechanism 11, and includes a second lifting frame 121, a slide 122, an elastic head 123, a card 124, a second driving mechanism 125, a third driving mechanism 126 and a fourth driving mechanism 127. The second lifting frame 121 is slidably arranged on the guide shaft 140 through a linear bearing, and the slide 122 is movably connected to the second lifting frame 121 through a slide rail structure 1220. The elastic head 123 is installed on the slide 122, and the cards 124 are arranged in pairs outside the elastic head 123. The cards 124 are tightened by springs 128, and there are The bayonet 1240 for clamping the lid of the mushroom bag, the elastic top head 123 is telescopically arranged between the bayonet 1240, the second driving mechanism 125 can be a cylinder installed on the first lifting frame 111 and driving the second lifting frame 121 to move along the guide shaft 140, the third driving mechanism 126 can be a cylinder installed on the slide 122 and connected to the card 124 and driving the card 124 to open and close, the fourth driving mechanism 127 includes a chain 1270 connected to the slide 122, the chain 1270 is connected to the motor through a sprocket, and the fourth driving mechanism 127 drives the slide 122 to move toward the lower material station through the chain. When removing the cover, the slide 122 is located directly above the positioned mushroom bag, the second driving mechanism 125 controls the second lifting frame 121 to descend, the mushroom bag cover presses the elastic head 123 into the bayonet 1240, the bayonet 1240 of the card 124 cooperates and fixes with the limit ring of the cover, the second driving mechanism 125 drives the second lifting frame 121 to rise, the card 124 pulls the cover from the ring, and then drives the slide 122 to move to the unloading station through the fourth driving mechanism 127, the third driving mechanism 126 drives the card 124 to open, and the cover falls under the push of the elastic head 123, completing the unloading of the cover. In order to facilitate the collection of the cover, the unloading station is provided with a hopper 129, which is arranged below the cover removal device, and a protective net 130 is arranged between the hopper 129 and the cover removal mechanism 12.

[0082] See also Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 and Fig.14 As shown, Figure 8 is a front view of the cutting device of the present invention, Fig. 9 is a side view of the cutting device of the present invention, Fig.10 is a top view of the cutting device of the present invention, Fig.11 is a front view of the second positioning mechanism of the cutting device of the present invention, Fig.12 is a side view of the second positioning mechanism of the cutting device of the present invention, Fig.13 is a top view of the second positioning mechanism of the cutting device of the present invention, Fig.14The schematic diagram of the cutting mechanism of the cutting device of the present invention is shown in FIG. The mushroom bag after the cap is removed is transported to the cutting device 2 via a conveyor belt or a diversion device. The cutting device 2 includes a bag opening mechanism 21, a second positioning mechanism 22 and a cutting mechanism 23. The bag opening mechanism 21 includes a lifting arm 211, a pinching claw 212 arranged on the lifting arm 211, a lifting driving mechanism 213 for driving the lifting arm 211 to lift and lower, and a pinching claw driving mechanism 214 for driving the pinching claw 212 to open and close. The pinching claw driving mechanism 214 drives the pinching claw 212 to pinch the edge of the bag opening, and the lifting driving mechanism 213 drives the lifting arm 211 to drive the pinching claw 212 to lift. In order to enable the pinching claw 212 to be able to adaptively extend and retract, the bottom end of the lifting arm 211 is connected to a clamping claw fixing plate 2 15. The gripper driving mechanism 214 includes a gripper cylinder 2141, which is connected to a gripper fixing plate 215 via a guide screw 2142 and a self-adjusting spring 2143. The self-adjusting spring 2143 is sleeved on the guide screw 2142. A guide block 2144 connected to the guide screw 2142 is also provided on the gripper fixing plate 215. In order to facilitate the bag opening to be pinched, a square array structure is formed between the grippers 212, and the bag opening is pinched from four directions respectively.

[0083] In a preferred embodiment of the above-mentioned lifting drive mechanism 213, the lifting drive mechanism 213 includes a rack 2131 vertically arranged on the lifting arm 211, a lifting motor 2133 connected to the rack 2131 through a gear 2132, and the lifting motor 2133 is fixed on the mounting plate 2134. The lifting motor 2133 drives the gear 2132 to rotate, and the gear 2132 drives the rack 2131 to rise and fall, thereby driving the lifting arm 211 to rise and fall; in order to enable the lifting arm 211 to feed in the horizontal direction, the lifting drive mechanism 213 also includes a base 2135, a slide rail 2136 arranged on the base 2135, a slider 2137 slidably connected to the slide rail 2136 and connected to the mounting plate 2134, and a sliding cylinder 2138 driving the mounting plate 2134 to slide in the direction of the slide rail 2136, and the sliding cylinder 2138 drives the mounting plate 2134 to move horizontally toward the mushroom bag, thereby realizing the horizontal movement of the pinching claw 212. Of course, the lifting drive mechanism 213 can also be implemented by a linear drive mechanism such as a cylinder drive mechanism.

[0084] The second positioning mechanism 22 of the cutting device 2 positions the mushroom bag by fixing the mushroom bag or the ring a on the mushroom bag, so that the bag opening of the mushroom bag is located below the pinching claw 212; preferably, the second positioning mechanism 22 includes a positioning clamping claw 221, a clamping claw cylinder 222 for driving the positioning clamping claw 221 to close, a fixing plate 223 for installing the clamping claw cylinder 222, and a positioning driving mechanism 224 connected to the fixing plate 223 and driving the positioning clamping claw 221 to move toward the bag opening of the mushroom bag, wherein the positioning driving mechanism 224 is a linear driving mechanism, preferably including a positioning cylinder 2241 connected to the fixing plate 223, A fixed base 2242 on which a positioning cylinder 2241 is installed, a guide rod 2243 connected to the fixed plate 223, and a linear bearing 2244 slidably sleeved with the guide rod 2243, the linear bearing 2244 being installed on the fixed base 2242, and the guide rod 2243 being arranged toward the bag opening of the mushroom bag; in this way, the positioning cylinder 2241 pushes the fixed plate 223 to drive the clamping claw cylinder 222 and the positioning clamping claw 221 to move to the mushroom bag area, and the clamping claw cylinder 222 drives the positioning clamping claw 221 to grasp the mushroom bag or the ring a on the mushroom bag, thereby realizing the positioning of the mushroom bag and making the bag opening located below the pinching claw 212.

[0085] The cutting mechanism 23 includes a cutting line 231, a frame 232 on which the cutting line 231 is installed, and a cutting drive mechanism 233 connected to the frame 232 and driving the cutting line 231 to move toward the bag opening of the mushroom bag below the pinching claw 212, wherein the cutting line 231 can be an electric heating wire. In a preferred embodiment of the cutting drive mechanism 233, the cutting drive mechanism 233 includes a cutting cylinder 2331 connected to the frame 232, a seat plate 2333 on which the cutting cylinder 2331 is installed, and a guide rail structure 2332 arranged between the seat plate 2333 and the frame 232. The guide rail structure 2332 is used for guiding the seat plate 2333 and can be an equivalent structure of the above guide rod 2243. The cutting cylinder 2331 pushes the frame 232 toward the mushroom bag with the seat plate 2333 as support, and the cutting line 231 cuts the pinched bag opening.

[0086] When the cutting device is working, the mushroom bag is positioned below the bag opening mechanism 21 through the second positioning mechanism 22, and the bag opening mechanism 21 drives the pinching claw 212 to pinch the edge of the bag opening through the pinching claw driving mechanism 214, and the lifting driving mechanism 213 drives the lifting arm 211 to drive the pinching claw 212 to lift and pull up the bag opening, and then the cutting device drives the cutting line 231 to cut the bag opening through the starting driving mechanism. The whole process does not require manual operation and is realized automatically. The bag opening cutting position can be adjusted according to the height of the cutting line 231, so that the cut mushroom bag still retains the necessary bag opening height.

[0087] Combination Fig.15 , Fig.16 , Fig.17 , Fig.18 , Fig.19 , Fig. 20 , Fig.21 , Fig. 22 , Fig.23 , Fig.24 and Fig.25 As shown, Fig.15 is a schematic diagram of the flow diversion device of the present invention, Fig.16 It is a top view of the frame moving mechanism of the diversion device of the present invention. Fig.17 It is a side view of the frame moving mechanism of the diversion device of the present invention. Fig.18 This is a front view of the third positioning mechanism of the diversion device of the present invention, Fig.19 is a top view of the third positioning mechanism of the diversion device of the present invention, Fig. 20 is a side view of the third positioning mechanism of the diversion device of the present invention, Fig.21 Schematic diagram of the third positioning mechanism of the diversion device of the present invention including a limit plate, Fig. 22 This is a front view of the diversion manipulator of the present invention, Fig.23 is a side view of the diversion manipulator of the present invention, Fig.24 It is a top view of the diversion manipulator of the present invention, Fig.25 Schematic diagram of the main body of the manipulator of the present invention; the diversion device 3 is used to transport the mushroom bag to the diversion station b, and then transport it to the cutting device 2 through the diversion manipulator 34, including a conveyor line 31, a frame moving mechanism 32, a third positioning mechanism 33 and a diversion manipulator 34. The conveyor line 31 is used to transport the mushroom frame, and the conveyor line 31 preferably uses a roller conveyor line. The frame moving mechanism 32 is used to move the mushroom frame on the conveyor line 31 to the diversion station b, including a frame moving member 321 for connecting the mushroom frame and a frame moving driving mechanism for driving the frame moving member 321 to move to the diversion station b; the frame moving driving mechanism preferably includes a chain 322 connected to the frame moving member 321, and the chain 322 is connected to the conveying motor 324 through a sprocket 323; the chain 322 is arranged below the roller conveyor line, and the frame moving member 321 can be a push plate or a hook, passing through the roller and connected to the mushroom frame, and driving the mushroom frame to move by pulling or pushing.

[0088] The third positioning mechanism 33 includes a limiting member 331 which is arranged on the conveying line 31 and limits the mushroom bag to the diversion station b. The third positioning mechanism 33 also includes a push plate 332 and a positioning drive mechanism for driving the push plate 332 to move toward the limiting member 331. The push plate 332 and the limiting member 331 fix the mushroom bag in the mushroom frame to the diversion station b. In a preferred embodiment of the limiting member 331, it is a limiting frame, which includes a cross bar 3311 for limiting the movement of the mushroom frame along the conveying direction of the conveying line 31 and a longitudinal bar 3312 for limiting the mushroom bag in the mushroom frame from leaving the diversion station b. The height of the longitudinal bar 3312 is higher than the height of the mushroom frame but lower than the height of the mushroom bag, so that the mushroom frame can pass under the longitudinal bar 3312. A limiting plate 3320 is provided at the end of the push plate 332 away from the cross bar 3311. The limiting plate 3320 arranges the mushroom bags neatly to prevent the mushroom bags from shaking and misaligning.

[0089] The positioning drive mechanism is a linear drive mechanism. In a preferred embodiment of the positioning drive mechanism, the positioning drive mechanism includes a rack 333 connected to the push plate 332, a gear 334 connected to the rack 333, and a drive motor 335 connected to the gear 334. The drive motor 335 drives the gear 334 to rotate and drives the rack 333 to move toward the diversion station b. In order to ensure the directional and stable movement of the push plate 332, the positioning drive mechanism also includes a slider 336 connected between the rack 333 and the push plate 332 and a slide rail 337 slidably connected to the slider 336. The slide rail 337 is used to guide the slider 336 toward the diversion station b.

[0090] The diversion manipulator 34 includes a manipulator body 341 and a moving device 342 for driving the manipulator body 341 to move. The manipulator body 341 includes a mounting plate 3411 and a guide 3412 and an inner clamp assembly 3413 arranged on the mounting plate 3411. The guide 3412 forms a guide space 34120 for inserting a mushroom bag. The guide 3412 can be a cylindrical structure, and its inner cavity forms the guide space 34120. Preferably, the guide 3412 includes a plurality of positioning rods 34121 arranged at intervals, and the positioning rods 34121 form the guide space 34120. In order to facilitate the insertion of the mushroom bag into the guide space 34120, a V-shaped head is provided at the end of the positioning rod 34121.

[0091] The inner clamping jaw assembly 3413 includes an expansion head 34131, a pin 34132, a connecting seat 34133 and a driving mechanism 34134. The expansion head 34131 is arranged at the center line position in the guiding space 34120, and can be inserted into the sleeve ring when the fungus bag is inserted into the guiding space 34120. The expansion head 34131 includes at least two expansion pieces 34135 rotatably connected to the connecting seat 34133, and a matching hole 34130 is formed between the expansion pieces 34135. The engaging hole 34130 and / or the ejector pin 34132 are conical, and the top of the cone is arranged away from the connecting seat 34133. The connecting seat 34133 is fixed relative to the mounting plate 3411. The driving mechanism 34134 is used to drive the ejector pin 34132 to move toward the engaging hole 34130 so that the end of the expansion piece 34135 is opened and the collar of the bacteria bag is tightened. The driving mechanism 34134 is preferably a cylinder, and the connecting seat 34133 is fixedly mounted at the bottom of the cylinder, and the cylinder is arranged on the mounting plate 3411. In order to facilitate the resetting of the expansion head 34131, a reset spring 34136 is arranged between the expansion pieces 34135, which is used for resetting the expansion pieces 34135 after they are opened. In a preferred installation mode of the reset spring 34136, an annular groove is arranged on the periphery of the expansion head 34131, and the reset spring 34136 is annular and sleeved on the annular groove.

[0092] The moving device 342 includes a longitudinal moving mechanism 3421, which includes a lifting seat 34211 connected to the mounting plate 3411, a lifting rack 34212 connected to the lifting seat 34211, and a first driving motor 34214 that drives the lifting rack 34212 to move through a lifting gear 34213. In this way, the first driving motor 34214 drives the lifting gear 34213 to rotate, driving the lifting rack 34212 and the lifting seat 34211 to rise and fall, thereby realizing the movement and grasping of the robot body 341 without moving the mushroom bag.

[0093] The moving device 342 also includes a transverse moving mechanism 3422, which includes a moving seat 34221 connected to the frame of the longitudinal moving mechanism 3421, a moving rack 34222 connected to the moving seat 34221, and a second drive motor 34224 that drives the moving rack 34222 to move through a moving gear 34223. The second drive motor 34224 drives the moving gear 34223 to rotate and then drives the moving rack 34222 and the moving seat 34221 to move transversely, thereby realizing the transverse movement of the manipulator body 341 and completing the transverse conveying action of the mushroom bag.

[0094] When the diversion device is working, the bacteria frame is transported to the side of the diversion station b along the conveyor line 31 and is restricted by the limit frame to continue to be transported forward. At this time, the frame moving drive mechanism drives the frame moving member 321 to push the bacteria frame to the diversion station b, and the push plate 332 pushes the bacteria bag room into position until the first row of bacteria bags contacts the longitudinal rod 3312 and is limited to the diversion station b. The diversion manipulator 34 takes out the bacteria bags at the diversion station b. Specifically, the longitudinal moving mechanism 3421 drives the manipulator body 341 to move toward the bacteria bag c, and the bacteria bag c is inserted into the guide member 3412. The guide space 34120 of the guide member 3412 positions and corrects the bacteria bag c. At this time, the expansion head 34131 is inserted into the collar of the mushroom bag, and the driving mechanism 34134 drives the ejector pin 34132 to move toward the matching hole 34130 between the expansion sheets 34135. The expansion sheets 34135 are stretched open by the ejector pin 34132 to expand the inside of the collar, and the bag mouth of the mushroom bag is fixed between the collar and the expansion head 34131. Then, the collar and the bag mouth are moved by the lateral moving mechanism 3422 to move the mushroom bag body to the next process; then, the frame moving member 321 continues to drive the mushroom frames to move so that the mushroom bags in the second row are placed on the diversion station b, and it reciprocates in sequence until all the mushroom bags in all the mushroom frames are taken out, and the empty mushroom frames are then transported outward by the frame moving member 321.

[0095] Combination Fig.26 , Fig. 27 and Fig.28 As shown, Fig.26 This is a front view of the ring removal device of the present invention. Fig. 27 is a side view of the ring removal device of the present invention, Fig.28It is a top view of the ring removal device of the present invention. After the bag mouth is cut, the mushroom bag is transported to the ring removal device 4 for ring removal operation. The ring removal device 4 includes a ring removal jaw 41, a finger cylinder 42, a mounting seat 43, a feed drive mechanism 44, a fixed seat 45 and a ring pulling drive mechanism 46. The finger cylinder 42 is installed on the mounting seat 43 and connected to the ring removal jaw 41, and is used to drive the ring removal jaw 41 to close. The feed drive mechanism 44 is connected to the mounting seat 43 and drives the mounting seat 43 to move in the direction of mushroom bag ringing. The fixed seat 45 is used to install the feed drive mechanism 44. The ring pulling drive mechanism 46 is connected to the fixed seat 45 and drives the fixed seat 45 to move in the ring pulling direction.

[0096] The feed drive mechanism 44 is a linear drive mechanism. Preferably, the feed drive mechanism 44 includes a feed cylinder 441 connected to the mounting seat 43, and the feed cylinder 441 is arranged on the fixed seat 45. In order to improve the stability of the feed drive mechanism 44, the feed drive mechanism 44 also includes a guide rod 442 connected to the mounting seat 43, a guide member 443 slidably connected to the guide rod 442, a drag chain 444 is connected between the mounting seat 43 and the fixed seat 45, and the guide member 443 is fixed on the fixed seat 45. The guide rod 442 is arranged toward the mushroom bag ring direction, and the feed cylinder 441 drives the fixed seat 45 to move along the guide rod 442. Among them, the guide member 443 can be a linear bearing or a sliding sleeve.

[0097] In a preferred embodiment of the ring pulling drive mechanism 46, the ring pulling drive mechanism 46 includes a ring pulling cylinder 461 connected to the fixed seat 45 and a cylinder support 462 on which the ring pulling cylinder 461 is installed. In order to improve the stability of the action of the ring pulling drive mechanism 46, the ring pulling drive mechanism 46 also includes a guide rail 463 connected to the fixed seat 45, and a guide rail base plate 464 that is slidably connected to the guide rail 463 and connected to the cylinder support 462. The ring pulling cylinder 461 drives the fixed seat 45 to move along the direction of the guide rail 463.

[0098] When the edible fungus bag ring removing device of the present invention is working, the feed drive mechanism 44 drives the mounting seat 43 to move toward the mushroom bag direction, the finger cylinder 42 drives the ring removing jaws 41 to open and clamp the ring, and the ring pulling drive mechanism 46 drives the fixed seat 45 to move in the ring pulling direction, driving the ring removing jaws 41 to remove the clamped ring. After the ring is taken out, the feed drive mechanism 44 is reset, the ring removing jaws 41 are opened, and the ring falls into the collection box, and the process is repeated in sequence to complete the ring removing action.

[0099] See also Fig.29 As shown, Fig.29 It is a schematic diagram of the structure of the bag opening device of the present invention; the mushroom bag after ring removal is transported to the bag opening device 5, and the bag opening device 5 includes an outer everting claw assembly 51, an outer fixture assembly 52, an expanding claw assembly 53 and a pressing edge assembly 54.

[0100] Combination Fig.33 and Fig.34 As shown, Fig.33 This is a front view of the outer fixture assembly of the present invention, Fig.34 It is a top view of the external jig assembly of the present invention, the external jig assembly 52 includes an external jig, the external jig forms a support ring 520 on the periphery of the bag opening, which is concentric with the bag opening and has a radius smaller than the radius of the bag opening; the external jig includes half rings 521 relatively arranged on both sides of the mushroom bag and an embracing drive mechanism 522 for driving the half rings 521 to close on the bag opening to form the support ring 520, the embracing drive mechanism 522 can be an embracing cylinder 5220, the embracing cylinder 5220 drives the half ring 521 to tilt upward from the lower end and form a support ring 520 on the periphery of the bag opening, thereby reducing the impact of the half ring 521 on the bag opening when it withdraws.

[0101] Combination Fig.30 , Fig.31 and Fig.32 As shown, Fig.30 This is a front view of the outward-turning claw assembly of the present invention. Fig.31 is a side view of the outward-turning claw assembly of the present invention, Fig.32 The top view of the outward-turning claw assembly of the present invention, the outward-turning claw assembly 51 includes an outward-turning claw 511 for extending into the bag opening of the mushroom bag to open the bag opening and fold the bag opening outward with the outer jig as support; the outward-turning claw assembly 51 also includes at least two adapter plates 512 for installing the outward-turning claw 511, a downward-pressing driving mechanism 513 for driving the adapter plates 512 to move up and down, and an opening and closing driving mechanism 514 for driving the adapter plates 512 to move closer to or away from each other. The outward-turning claws 511 gather when the adapter plates 512 move closer to each other, and expand when the adapter plates 512 move away from each other. Specifically, the adapter plates 512 are arranged relative to each other and have installation protrusions 5120 arranged at intervals at opposite ends. The outward-turned support claws 511 are arranged on the installation protrusions 5120. The outer side surfaces of the outward-turned support claws 511 are arc surfaces and when the four adjacent outward-turned support claws 511 are opened, an arc-shaped downward pressing surface is formed on the bag opening. The downward pressing drive mechanism 513 includes a lifting cylinder 5130 vertically connected to the adapter plate 512. The opening and closing drive mechanism 514 includes an opening and closing cylinder 5140 whose telescopic end is connected to the lifting cylinder. The opening and closing cylinder 5140 is installed on a mounting base plate 515.

[0102] In order to facilitate the outward-turning claw assembly 51 to fold the bag opening on the support ring 520, the outer diameter of the support ring 520 gradually decreases from top to bottom to form a pressure-bearing slope 5200, and a pressing slope 5110 adapted to the pressure-bearing slope 5200 is provided at the bottom of the outward-turning claw 511.

[0103] See also Fig.35 , Fig.36 , Fig.37 , Fig.38 , Fig.39 , Fig.40 and Fig.41 As shown, Fig.35 It is a schematic diagram of the structure of the flared claw assembly of the present invention, Fig.36 This is the main schematic diagram of the installation of the horizontal support base plate of the flared support claw assembly of the present invention. Fig.37 This is a top view of the installation of the horizontal support base plate of the flared support claw assembly of the present invention. Fig.38 This is a side view of the installation of the horizontal support base plate of the flared support claw assembly of the present invention. Fig.39 This is the main schematic diagram of the installation of the longitudinal support base plate of the flared support claw assembly of the present invention. Fig.40 This is a top view of the installation of the longitudinal support base plate of the flared support claw assembly of the present invention. Fig.41 It is a side view of the installation of the longitudinal support base plate of the flaring claw assembly of the present invention; the flaring claw assembly 53 includes a flaring claw 531 for extending into the bag opening to open the bag opening to a caliber larger than the lateral size of the outward-turning claw 511, and a lifting drive mechanism 532 for driving the flaring claw 531 to rise and fall, and the lifting end of the lifting drive mechanism 532 is connected to the outward-turning claw assembly 51 and drives the outward-turning claw assembly 51 to rise and fall; specifically, the flaring claw assembly 53 also includes a transverse support base plate 533 and a longitudinal support base plate 534 for installing the flaring claw 531, and the transverse support base plates 533 are two in number and are respectively connected to one The transverse racks 535 are arranged in parallel with each other, and there are two longitudinal support base plates 534, each of which is connected to a longitudinal rack 536. The longitudinal racks 536 are arranged in parallel with each other, and the transverse racks 535 and the longitudinal racks 536 are connected by synchronous gears 537. The synchronous gears 537 rotate synchronously and are connected to the driving motor so that the synchronous gears 537 rotate to drive the transverse racks 535 and the longitudinal racks 536 to move in the opposite direction, and the expanding support claws 531 on the transverse support base plate 533 and the longitudinal support base plate 534 open radially to each other to open the bag mouth.

[0104] In a preferred installation method of the flared support claw 531, a mounting portion 5330 for mounting the flared support claw 531 is provided on the transverse support base plate 533, the mounting portions 5330 are arranged at intervals, and a clearance hole 5300 for the flared support claw 531 on the longitudinal support base plate 534 to move is formed between the mounting portions 5330 of the two transverse support base plates 533, the longitudinal support base plate 534 is movably arranged at the upper end of the transverse support base plate 533 and its flared support claw 531 is arranged through the clearance hole 5300, when the transverse support base plate 533 and the longitudinal support base plate 534 are close to each other, the adjacent mounting portions 5330 are close to each other so that the flared support claw 531 forms a cylindrical structure, which is convenient for inserting into the bag opening with a smaller diameter from which the ring has just been removed and radially opening the bag opening outward.

[0105] The mounting frame of the flaring claw assembly 53 is connected to the mounting base plate 515 of the outward-turning claw assembly 51 to form an integrated structure, which is connected to the lifting end of a lifting drive mechanism 532, and is driven to lift synchronously by the lifting drive mechanism 532. The lifting drive mechanism 532 can be a universal lifting mechanism.

[0106] Combination Fig.42 As shown, Fig.42 This is a structural schematic diagram of the edge pressing assembly of the present invention. The edge pressing assembly 54 includes a plurality of pressing rods 541 and an edge pressing driving mechanism 542 which drives the pressing rods 541 to press on the everted bag opening in the direction of the bag opening, so as to prevent the bag opening from moving when the everted support claws 511 and the external fixture are reset. Specifically, the edge pressing assembly 54 is relatively arranged on both sides of the mushroom bag and a circular structure around the bag opening is formed between the ends of the pressure rods 541 on both sides. The edge pressing driving mechanism 542 can be a linear driving mechanism such as a cylinder.

[0107] When the bag opening device 5 is working, the expanding support claws 531 extend into the bag opening of the mushroom bag after the ring is taken out to open the bag opening and drive the bag opening to rise a certain distance. The expanded opening diameter of the bag opening is larger than the lateral size of the everting support claws 511, so that the everting support claws 511 are convenient for extending into the bag opening; the external fixture forms a support ring 520 on the periphery of the bag opening, which is concentric with the bag opening and has a radius smaller than the radius of the bag opening; the everting support claws 511 extend into the bag opening of the mushroom bag to open the bag opening; the everting support claws 511 push the bag opening outward with the support ring 520 as support to realize the eversion of the bag opening; the pressing rod 541 of the edge pressing assembly 54 presses the bag opening after eversion; the expanding support claws 531, the everting support claws 511 and the external fixture withdraw from the bag opening and reset, completing a folding action of the bag opening of the mushroom bag; subsequently, the same mushroom bag can be folded multiple times or the bag openings of other mushroom bags can be folded in sequence.

[0108] Combination Fig.43 , Fig.44 , Fig.45 , Fig.46 and Fig.47 As shown, Fig.43 It is a front view of the bag mouth shaping device of the present invention, Fig.44 It is a rear view of the bag opening shaping device of the present invention, Fig.45 is a side view of the bag opening shaping device of the present invention, Fig.46 is a top view of the bag mouth shaping device of the present invention, Fig.47 This is a structural schematic diagram of the shaping gripper of the present invention, a bag mouth shaping device 6, comprising a shaping claw 61, a driving cylinder 62, a fixed plate 63 and a lifting drive mechanism 64, the telescopic end of the driving cylinder 62 is connected to the shaping claw 61, for driving the shaping claw 61 to open and close, the fixed plate 63 is used to install the shaping claw 61 and the driving cylinder 62, and the lifting drive mechanism 64 is connected to the fixed plate 63, for driving the fixed plate 63 and the shaping claw 61 to rise and fall synchronously.

[0109] In a preferred embodiment of the shaping claw 61, the shaping claw 61 includes an articulated seat 611, claw fingers 612, a connecting rod 613 and a connecting head 614. The articulated seat 611 is connected and fixed to the bottom surface of the fixed plate 63, and the claw fingers 612 are hinged to the articulated seat 611. The claw fingers 612 are equidistant and arranged in the same circle to better tighten the bag opening. One end of the connecting rod 613 is hinged to the middle of the claw fingers 612, and the other end is hinged to the connecting head 614. The connecting head 614 is arranged at an axial position between the claw fingers 612 and is connected to the telescopic end of the driving cylinder 62. The driving cylinder 62 drives the connecting head 614 to rise and fall, and drives the claw fingers 612 to close and open through the connecting rod 613 to complete the shaping action.

[0110] The lifting drive mechanism 64 can be a universal lifting drive mechanism 64, preferably including a lifting arm 641 connected to the fixed plate 63, a rack 642 longitudinally installed on the lifting arm 641, a gear 643 transmission-connected to the rack 642, and a driving motor 44 that drives the gear 643 to rotate. The driving motor 44 drives the gear 643 and the rack 642 to move, thereby realizing the lifting and lowering of the lifting arm 641, and further driving the plastic surgery claw 61 to move.

[0111] The bag mouth shaping device 6 also includes a framing mechanism, which includes a movable clamp 651, a fixed clamp 652, a mounting plate 66, a guide rail structure 67, a clamping cylinder 68, a horizontal drive mechanism 69 and a longitudinal drive mechanism 610. The fixed clamp 652 is fixedly mounted on one side of the mounting plate 66, the clamping cylinder 68 is mounted on the other side of the fixed plate 63 and its telescopic end is connected to the movable clamp 651, the movable clamp 651 and the mounting plate 66 are connected and guided by the guide rail structure 67, the movable clamp 651 and the fixed clamp 652 are spaced apart, the clamping cylinder 68 drives the movable clamp 651 to move toward the fixed clamp 652 to clamp the mushroom bag, the longitudinal drive mechanism 610 is connected to the mounting plate 66 to drive the mounting plate 66 to rise and fall, and the horizontal drive mechanism 69 is connected to the longitudinal drive mechanism 610 to drive the longitudinal drive mechanism 610 and the mounting plate 66 to move horizontally.

[0112] In order to better clamp the mushroom bag, the fixed clamp 652 and the movable clamp 651 are provided with arc-shaped clamping grooves 650 , and a clamping space 5 for the mushroom bag is formed between the arc-shaped clamping grooves 650 .

[0113] To simplify the structure, the longitudinal drive mechanism 610 and the horizontal drive mechanism 69 are preferably gear rack drive mechanisms, and the structure is equivalent to the lifting drive mechanism 64. The horizontal drive mechanism 69, the longitudinal drive mechanism 610 and the lifting drive mechanism 64 are installed on a beam.

[0114] When the edible fungus bag mouth shaping robot of the present invention is working, the shaping claw 61 is driven to extend into the bag mouth through the lifting drive mechanism 64, the driving cylinder 62 drives the connecting head 614 to lift and lower, and the connecting rod 613 drives the claw finger 612 to close and open, thereby realizing the shaping action of the bag mouth by the shaping claw 61, and realizing the shaping of the bag mouth of the mushroom bag; the shaped mushroom bag moves a distance with the conveyor belt, and the framing mechanism performs a framing operation on the shaped mushroom bag. Specifically, the clamping cylinder 68 drives the movable clamp 651 and the fixed clamp 652 to close and clamp the shaped mushroom bag in place, and the horizontal driving mechanism 69 and the longitudinal driving mechanism 610 cooperate to move to put the mushroom bag into the frame, so that the shaping and framing actions are completed simultaneously.

[0115] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic edible mushroom bag scratching processing equipment, characterized in that: include A cover removing device, which is used to remove the cover of the mushroom bag; A ring removing device, which is arranged at the rear end of the cap removing device and is used to remove the ring of the fungus bag; A bag opening device, which is arranged at the rear end of the ring taking device and is used to fold the bag opening of the mushroom bag; The bag mouth shaping device is also included at the rear end of the bag opening device, and the bag mouth shaping device includes a shaping claw, a driving cylinder connected to the shaping claw and driving the shaping claw to open and close, a fixed plate for installing the shaping claw, and a lifting drive mechanism connected to the fixed plate and driving the fixed plate to lift and lower. The shaping claw includes an articulated seat connected to the fixed plate, a plurality of claw fingers articulated to the articulated seat, a connecting rod articulated to the middle of the claw fingers, and a connecting head articulated to the connecting rod, the connecting head is arranged between the claw fingers and connected to the telescopic end of the driving cylinder, and the driving cylinder drives the connecting head to lift and lower and drives the claw fingers to close and open through the connecting rod; the framing mechanism also includes a movable clamp, a fixed clamp arranged at a distance from the movable clamp, a mounting plate connected to the fixed clamp, a guide rail structure connected between the movable clamp and the mounting plate, a clamping cylinder driving the movable clamp to move in the direction of the fixed clamp, a longitudinal driving mechanism connected to the mounting plate, and a horizontal driving mechanism connected to the longitudinal driving mechanism; The bag opening device comprises an external fixture assembly and an external eversion claw assembly, wherein the external fixture assembly comprises an external fixture, and the external eversion claw assembly comprises an external eversion claw for extending into the bag opening of the mushroom bag to open the bag opening and fold the bag opening outwards with the external fixture as support; The outward-turning claw assembly includes at least two adapter plates for mounting the outward-turning claws, a downward-pressing driving mechanism for driving the adapter plates to rise and fall, and an opening and closing driving mechanism for driving the adapter plates to move closer to or away from each other; The external fixture includes half rings relatively arranged on both sides of the mushroom bag and an engaging driving mechanism for driving the half rings to close at the bag opening to form a support ring. The engaging driving mechanism drives the half rings to tilt upward from the lower end and form a support ring at the periphery of the bag opening. The outer diameter of the support ring gradually decreases from top to bottom to form a pressure-bearing inclined surface. The bottom of the outward-turned support claw is provided with a pressing inclined surface adapted to the pressure-bearing inclined surface.

2. The fully automatic edible mushroom bag scratching processing equipment according to claim 1 is characterized in that: The outward-turned support claws gather when the adapter plates are close to each other, and the distance between them expands when the adapter plates are away from each other; the adapter plates are arranged relative to each other and have installation protrusions arranged at intervals at the opposite ends, the outward-turned support claws are arranged on the installation protrusions, the outer side surfaces of the outward-turned support claws are arc surfaces, and when four adjacent outward-turned support claws are opened, a circular arc-shaped downward pressing surface is formed on the bag opening, the downward pressing drive mechanism includes a lifting cylinder vertically connected to the adapter plate, and the opening and closing drive mechanism includes an opening and closing cylinder whose telescopic end is connected to the lifting cylinder.

3. The fully automatic edible mushroom bag scratching processing equipment according to claim 1 is characterized in that: The bag opening device also includes an expanding claw assembly, which includes an expanding claw for extending into the bag opening to expand the bag opening to a diameter larger than the lateral dimension of the outward-turning claw, and a lifting drive mechanism for driving the expanding claw to rise and fall, and the lifting end of the lifting drive mechanism is connected to the outward-turning claw assembly and drives the outward-turning claw assembly to rise and fall.

4. The fully automatic edible mushroom bag scratching processing equipment according to claim 3 is characterized in that: The flaring claw assembly includes a transverse bracing base plate and a longitudinal bracing base plate for installing the flaring claws. The transverse bracing base plates are provided with two pieces and are respectively connected to a transverse rack. The transverse racks are arranged in parallel with each other. The longitudinal bracing base plates are provided with two pieces and are respectively connected to a longitudinal rack. The longitudinal racks are arranged in parallel with each other. The transverse racks and the longitudinal racks are connected by synchronous gears. The synchronous gears rotate synchronously and are connected to the driving motor so that the rotation of the synchronous gears drives the transverse racks and the longitudinal racks to move in the opposite direction. The flaring claws on the transverse bracing base plate and the longitudinal bracing base plate are radially opened to each other to open the bag mouth. The transverse bracing base plate is provided with a mounting portion for mounting the flaring claws. The mounting portions are arranged at intervals and a clearance hole for the flaring claws on the longitudinal bracing base plate to move is formed between the mounting portions of the two transverse bracing base plates. When the transverse bracing base plate and the longitudinal bracing base plate are close to each other, the adjacent mounting portions are close to each other so that the flaring claws form a cylindrical structure.

5. The fully automatic edible mushroom bag scratching processing equipment according to claim 4 is characterized in that: The bag opening device also includes a pressing edge assembly, which includes a plurality of pressing rods and a pressing edge driving mechanism that drives the pressing rods to press the everted bag opening in the direction of the bag opening. The pressing edge assembly is relatively arranged on both sides of the mushroom bag and a circular structure around the bag opening is formed between the ends of the pressing rods on both sides to prevent the bag opening from moving when the everted support claws and the external fixture are reset.

6. The fully automatic edible mushroom bag scratching processing equipment according to claim 1 is characterized in that: The cover removing device comprises a bracket, a guide shaft vertically arranged on the bracket, a first positioning mechanism slidably arranged on the guide shaft, and a cover removing mechanism; the first positioning mechanism comprises a first lifting frame slidably arranged on the guide shaft, a clamping plate movably arranged in pairs in the first lifting frame, and a first driving mechanism driving the clamping plates to be closed, the clamping plate is provided with a clamping opening, and the mushroom stick sleeve ring is fixed between the clamping openings when the two clamping plates are closed; the cover removing mechanism is located at the upper end of the first positioning mechanism, and comprises a second lifting frame slidably arranged on the guide shaft, a slide movably connected to the second lifting frame, an elastic head installed on the slide, a card arranged in pairs on the outside of the elastic head, a second driving mechanism installed on the first lifting frame and driving the second lifting frame to move along the guide shaft, a third driving mechanism driving the card to open and close, and a fourth driving mechanism driving the slide to move to the lower feeding station, the cards are pre-tightened by springs and are provided with a clamping opening for clamping the mushroom bag cover, and the elastic head is telescopically arranged between the clamping openings.

7. The fully automatic edible mushroom bag scratching processing equipment according to claim 1 is characterized in that: The ring removal device includes a ring removal claw, a finger cylinder that drives the ring removal claw to close, a mounting seat on which the finger cylinder is installed, a feed drive mechanism that is connected to the mounting seat and drives the mounting seat to move in the direction of the mushroom bag ring, a fixed seat on which the feed drive mechanism is installed, and a ring pulling drive mechanism that is connected to the fixed seat and drives the fixed seat to move in the ring pulling direction.

8. The fully automatic edible mushroom bag scratching processing equipment according to any one of claims 1 to 7, characterized in that: It also includes a cutting device arranged at the front end of the ring removing device, the cutting device is used to cut off part of the bag opening after the mushroom bag is covered, and includes a bag opening pinching mechanism, a second positioning mechanism and a cutting mechanism, the bag opening pinching mechanism includes a lifting arm, a pinching claw arranged on the lifting arm, a lifting driving mechanism driving the lifting arm to lift and lower, and a pinching claw driving mechanism driving the pinching claw to open and close, the pinching claw driving mechanism drives the pinching claw to pinch the edge of the bag opening, and the lifting driving mechanism drives the lifting arm to drive the pinching claw to lift; The second positioning mechanism is used to position the mushroom bag so that the bag opening of the mushroom bag is located below the pinching claw. The second positioning mechanism includes a positioning clamping claw, a clamping claw cylinder driving the positioning clamping claw to close, a fixing plate on which the clamping claw cylinder is installed, and a positioning driving mechanism connected to the fixing plate and driving the positioning clamping claw to move toward the bag opening of the mushroom bag. The cutting mechanism comprises a cutting line, a frame body for installing the cutting line, and a cutting driving mechanism connected with the frame body and driving the cutting line to move toward the mushroom bag opening below the pinching claw.

9. The fully automatic edible mushroom bag scratching processing equipment according to any one of claims 1 to 7, characterized in that: The present invention also includes a shunt device arranged between the capping process of the capping device and the cutting process of the cutting device, the shunt device is used to take the mushroom bag out of the mushroom frame and transfer it to the next process, including a conveyor line, a frame moving mechanism, a third positioning mechanism and a shunt manipulator, the conveyor line is used to convey the mushroom frame, the frame moving mechanism is used to move the mushroom frame on the conveyor line to the shunt station, including a frame moving member for connecting the mushroom frame and a frame moving driving mechanism for driving the frame moving member to move to the shunt station; the third positioning mechanism includes a limiting member arranged on the conveyor line and limiting the mushroom bag at the shunt station; the shunt manipulator includes a manipulator body and a moving device that drives the manipulator body to move, and the manipulator body includes a positioning member. A mounting plate and a guide member and an inner clamping jaw assembly arranged on the mounting plate, the guide member forming a guide space for inserting a mushroom bag, the inner clamping jaw assembly comprising an expansion head, an ejector pin, a connecting seat and a driving mechanism, the connecting seat being fixed relative to the mounting plate, the expansion head being arranged at a center line position in the guide space, comprising at least two expansion sheets rotatably connected to the connecting seat, a matching hole being formed between the expansion sheets, the ejector pin being movably plugged into the matching hole, the matching hole and / or the ejector pin comprising an inserting section whose cross-sectional size gradually decreases along a direction away from the connecting seat, the driving mechanism being used to drive the ejector pin to move toward the matching hole so that the end of the expansion sheet is opened and the annular member of the mushroom bag is inflated.

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