A fully automatic machine for harvesting and cutting roots of Flammulina velutipes

Abstract

The invention relates to a fully automatic enoki mushroom harvesting and root cutting integrated machine, comprising a frame, two mushroom basket conveying lines arranged in parallel on the frame, two enoki mushroom conveying lines located between the two mushroom basket conveying lines, two groups of handling manipulators arranged on the top of the frame, two groups of root cutting mechanisms respectively arranged at output ends of the two enoki mushroom conveying lines, a root conveying line arranged below the enoki mushroom conveying lines and located directly below the two groups of root cutting mechanisms, and two finished product conveying lines arranged in parallel at output ends of the two enoki mushroom conveying lines; the invention can directly convey mushroom baskets containing bottle-grown enoki mushrooms from a mushroom cultivation room to the mushroom basket conveying lines, does not require manual handling, has low labor intensity, can harvest enoki mushrooms in a plurality of mushroom baskets at one time through the handling manipulator, and place them on the enoki mushroom conveying lines, and finally cut off the roots through the root cutting mechanism, thereby greatly improving work efficiency.

Description

Technical Field

[0001] The invention relates to the field of enoki mushroom production, in particular to a full-automatic enoki mushroom harvesting and root cutting integrated machine. Background Art

[0002] Bottle-grown Flammulina velutipes involves putting the raw materials into a shaped bottle, and then inoculating the spawn of the Flammulina velutipes. The bottle is then placed in a mushroom cultivation room that is suitable for the growth environment of the Flammulina velutipes for cultivation, and the grown Flammulina velutipes are separated from the bottle, and the roots are cut off before packaging. However, in the past, factories used to manually separate and harvest the Flammulina velutipes from the bottle, and manually cut off the roots with a knife, which would result in the following problems: 1. Manual cutting can easily lead to an uneven cut surface; 2. The amount of roots cut off each time is inconsistent, which can easily lead to waste; 3. Manual cutting can also be dangerous; 4. Due to the particularity of Flammulina velutipes, direct contact with human hands will reduce the freshness of the Flammulina velutipes, thereby reducing the commercial value of the Flammulina velutipes; although there are also devices for automatic harvesting and root cutting of Flammulina velutipes on the market, such as a device disclosed in prior art 201610310330.X, The automatic harvesting and root cutting machine for bottle-grown mushrooms can only continuously harvest and root a single bottle-grown mushroom, resulting in relatively low production efficiency; another example is the prior art 201910312928.6 discloses an intelligent harvesting-root cutting-packaging assembly line for fresh Flammulina velutipes. When working, the clamping device clamps the Flammulina velutipes in the Flammulina velutipes cultivation container, and then places the Flammulina velutipes in the Flammulina velutipes placement hole through the robotic arm, and controls the electric telescopic rod through the single-chip microcomputer to drive the root cutting blade to cut the roots. This root cutting method requires reciprocating operation of the robotic arm, and cannot perform continuous root cutting operation, and the production efficiency is also relatively low. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a fully automatic Flammulina velutipes harvesting and root cutting machine.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a fully automatic enoki mushroom harvesting and root cutting machine, comprising a frame, two mushroom basket conveyor lines arranged in parallel on the frame, two enoki mushroom conveyor lines arranged in parallel on the frame and located between the two mushroom basket conveyor lines, two groups of handling manipulators arranged on the top of the frame and located above the two mushroom basket conveyor lines and the two enoki mushroom conveyor lines, two groups of root cutting mechanisms respectively arranged at the output ends of the two enoki mushroom conveyor lines, a root conveyor line arranged below the enoki mushroom conveyor lines and located directly below the two groups of root cutting mechanisms, and two finished product conveyor lines arranged in parallel at the output ends of the two enoki mushroom conveyor lines.

[0005] Preferably, two parallel guide rails are arranged on the top of the frame and are placed perpendicular to the mushroom basket conveyor line; each group of the handling robots includes a movable frame arranged on the two guide rails, an X-axis servo module driving the movable frame to move horizontally, a Z-axis servo module vertically arranged on the movable frame, a double-slider servo module horizontally arranged at the driving end of the Z-axis servo module and placed perpendicular to the mushroom basket conveyor line, and a material picking and unloading mechanism respectively arranged on the two slider driving ends of the double-slider servo module; each of the material picking and unloading mechanisms includes a gantry frame placed parallel to the mushroom basket conveyor line, a rotating frame with both ends respectively rotatably arranged in the gantry frame, a rotating motor arranged on the gantry frame for driving the rotating frame to rotate, multiple groups of gripper assemblies arranged at the bottom of the rotating frame and corresponding to the positions of the bottle-grown Flammulina velutipes in multiple mushroom baskets, and a material picking and unloading gear rack assembly arranged at the bottom of the rotating frame for simultaneously driving multiple groups of gripper assemblies to open or close.

[0006] Preferably, each group of the gripper assemblies comprises a bracket, a cam horizontally arranged on the bracket, clamping hands arranged on the bracket and respectively located on both sides of the cam, and spring sheets arranged on the bracket and respectively driving the clamping hands to fit the surface of the cam; the material picking and unloading gear rack assembly comprises a material picking and unloading rack slidably arranged at the bottom of the rotating frame, a material picking and unloading cylinder arranged at one end of the rotating frame for driving the material picking and unloading rack to slide, and a plurality of material picking and unloading gears meshing with the material picking and unloading racks and respectively coaxial with the cams.

[0007] Preferably, a swinging gear rack assembly is also provided at the bottom of the rotating frame; multiple groups of gripper assemblies are rotatably connected to the rotating frame, and the cam and the material picking and releasing gear are connected through a joint bearing; the swinging gear rack assembly includes a swinging rack slidably arranged at the bottom of the rotating frame, a swinging cylinder arranged at one end of the rotating frame for driving the swinging rack to slide, and a plurality of swinging gears meshing with the swinging rack and respectively connected to the bracket.

[0008] Preferably, the root cutting mechanism includes a protective cover, a driving wheel and a driven wheel arranged in the protective cover at vertical intervals, an annular belt knife passing around the driving wheel and the driven wheel at both ends respectively, and a root cutting motor driving the driving wheel to drive the annular belt knife to rotate.

[0009] Preferably, the enoki mushroom conveyor line is a partition type conveyor line;

[0010] Preferably, the partition type conveyor line is provided with a positioning baffle on the side where the root cutting mechanism is provided; a gap is provided between the partition and the positioning baffle in the partition type conveyor line, and the gap is the thickness of the cut root.

[0011] Preferably, the gap between the positioning baffle and the partition is adjustable.

[0012] Preferably, the mushroom basket conveyor line is a roller conveyor line.

[0013] Preferably, the root conveyor line and the finished product conveyor line are both belt conveyor lines.

[0014] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0015] 1. The present invention can directly transport the baskets containing bottled Flammulina velutipes from the mushroom cultivation room to the basket conveying line, without the need for manual handling, and with low labor intensity;

[0016] 2. The present invention can harvest multiple mushroom baskets at one time through a handling manipulator and place them on a mushroom conveyor line, and finally cut off the roots through a root cutting mechanism, thereby greatly improving work efficiency;

[0017] 3. The present invention can automatically collect the excised roots of Flammulina velutipes through the root conveyor line, without the need for manual cleaning, which not only greatly improves the factory environment but also reduces labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The technical solution of the present invention is further described below in conjunction with the accompanying drawings:

[0019] Attached Figure 1 It is a structural schematic diagram of the input end of the present invention;

[0020] Attached Figure 2 is a schematic diagram of the structure of the output end of the present invention;

[0021] Attached Figure 3 It is a partial front view of the present invention;

[0022] Attached Figure 4 is a side view of the input end of the present invention;

[0023] Attached Figure 5 It is a partial structural schematic diagram of the material taking and discharging mechanism in the present invention;

[0024] Attached Figure 6 This is a schematic diagram of the gripper assembly in the present invention in an open state;

[0025] Attached Figure 7 This is a schematic diagram of the closed state of the gripper assembly in the present invention;

[0026] Attached Figure 8 It is a structural schematic diagram of the root cutting mechanism in the present invention.

[0027] Among them: 1. Rack; 2. Basket conveyor line; 3. Enoki mushroom conveyor line; 31. Positioning baffle; 32. Partition; 4. Handling manipulator; 41. Guide rail; 42. X-axis servo module; 43. Z-axis servo module; 44. Movable frame; 45. Double slider servo module; 46. Material loading and unloading mechanism; 461. Rotating motor; 462. Gantry; 463. Rotating frame; 464. Gripper assembly; 4641. Bracket; 4642. Shrapnel; 4643 , gripper; 4644, cam; 465, pick-up and discharge gear rack assembly; 4651, pick-up and discharge cylinder; 4652, pick-up and discharge rack; 4653, pick-up and discharge gear; 4661, swing cylinder; 4662, swing rack; 4663, swing gear; 5, finished product conveyor line; 6, root cutting mechanism; 61, protective cover; 62, driven wheel; 63, driving wheel; 64, ring belt knife; 7, root conveyor line; 8, mushroom basket; 9, bottle-grown Flammulina velutipes. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] Attached Figure 1-8 The fully automatic Flammulina velutipes harvesting and root cutting integrated machine of the present invention comprises a frame 1, two mushroom basket conveying lines 2 arranged in parallel on the frame 1, two Flammulina velutipes conveying lines 3 arranged in parallel on the frame 1 and located between the two mushroom basket conveying lines 2, two groups of handling manipulators 4 arranged on the top of the frame 1 and located above the two mushroom basket conveying lines 2 and the two Flammulina velutipes conveying lines 3, two groups of root cutting mechanisms 6 respectively arranged at the output ends of the two Flammulina velutipes conveying lines 3, a root conveying line 7 arranged below the Flammulina velutipes conveying lines 3 and located directly below the two groups of root cutting mechanisms 6, and two finished product conveying lines 5 arranged in parallel at the output ends of the two Flammulina velutipes conveying lines 3; when working: the feeding ends of the two mushroom basket conveying lines 2 can be directly connected to the mushroom cultivation room through the conveying lines respectively, No manual handling is required, and the labor intensity is low. When the mushroom basket 8 containing the bottle-grown Flammulina velutipes 9 is transported to the mushroom basket conveyor line 2, the handling robot 4 can harvest the Flammulina velutipes in three mushroom baskets 8 at a time and place them on the Flammulina velutipes conveyor line 3, and then the roots are cut off by the root cutting mechanism 6. Since a root conveyor line 7 is arranged just below the root cutting mechanism 6, the roots of the Flammulina velutipes can be automatically collected, and finally the finished product conveyor line 5 transports the root-cut Flammulina velutipes out for packaging and other processes. Since the handling robot 4 is provided with two groups, when one group takes the material, the other group can discharge the material, and the alternating work can greatly improve the work efficiency. At the same time, the discharge ends of the two mushroom basket conveyor lines 2 can be connected to the conveyor lines respectively, and the empty mushroom baskets 8 are automatically transported out, and no manual handling is required, and the labor intensity is low.

[0030] Furthermore, two guide rails 41 are arranged on the top of the frame 1 and are parallel to and placed perpendicular to the basket conveyor line 2; each group of the handling manipulators 4 includes a movable frame 44 arranged on the two guide rails 41, an X-axis servo module 42 driving the movable frame 44 to move horizontally, a Z-axis servo module 43 vertically arranged on the movable frame 44, a double-slider servo module 45 horizontally arranged at the driving end of the Z-axis servo module 43 and placed perpendicular to the basket conveyor line 2, and a material taking and discharging mechanism 46 respectively arranged on the driving ends of the two sliders of the double-slider servo module; each of the material taking and discharging mechanisms 46 includes a movable frame 44 arranged on the two guide rails 41, an X-axis servo module 42 driving the movable frame 44 to move horizontally, a Z-axis servo module 43 vertically arranged on the movable frame 44, a double-slider servo module 45 horizontally arranged at the driving end of the Z-axis servo module 43 and placed perpendicular to the basket conveyor line 2, and a material taking and discharging mechanism 46 respectively arranged on the driving ends of the two sliders of the double-slider servo module; The gantry 462 is placed parallel to the conveyor line, the rotating frame 463 at both ends of which is respectively rotated and arranged in the gantry 462, the rotating motor 461 arranged on the gantry 462 for driving the rotating frame 463 to rotate, twelve groups of gripper assemblies 464 arranged at the bottom of the rotating frame 463 and corresponding to the positions of the bottle-grown Flammulina velutipes in the three mushroom baskets, and the material taking and placing gear rack assembly 465 arranged at the bottom of the rotating frame 463 for simultaneously driving the twelve groups of gripper assemblies 464 to open or close; when working: when the mushroom basket 8 containing the bottle-grown Flammulina velutipes 9 is conveyed to the mushroom basket conveyor line 2, the X-axis servo module 42 first drives The movable frame 44 is placed above the mushroom basket conveyor line 2. Since the bottle-grown Flammulina velutipes 9 in each mushroom basket 8 are placed in a 4×4 pattern, the double-slider servo module 45 simultaneously drives the two pick-up and discharge mechanisms 46 to be located directly above the two outer rows of the mushroom basket 8. Then the Z-axis servo module 43 drives the double-slider servo module 45 to drive the two pick-up and discharge mechanisms 46 to descend. Then the pick-up and discharge gear rack assembly 465 simultaneously drives the twelve groups of gripper assemblies 464 to clamp the Flammulina velutipes. Then the Z-axis servo module 43 drives the double-slider servo module 45 to drive the two pick-up and discharge mechanisms 46 to ascend. The X-axis servo module 42 then drives the movable frame 44 to move the two pick-up and discharge mechanisms 46 upward. 4 is placed above the two enoki mushroom conveyor lines 3, and then the rotating motor drives the rotating frame 463 to rotate, so that the enoki mushrooms are placed horizontally from vertical, and then the double-slider servo module 45 simultaneously drives the two picking and placing mechanisms 46 to be respectively located above the two enoki mushroom conveyor lines 3, and then the Z-axis servo module 43 drives the double-slider servo module 45 to drive the two picking and placing mechanisms 46 to descend, and then the picking and placing gear rack assembly 465 simultaneously drives the twelve groups of gripper assemblies 464 to release the enoki mushrooms, so that the enoki mushrooms are placed horizontally on the enoki mushroom conveyor line 3, and the cycle is repeated in sequence to harvest the enoki mushrooms in the two rows inside the mushroom basket 8.

[0031] Furthermore, each group of the gripper assembly 464 includes a bracket 4641, a cam 4644 horizontally arranged on the bracket 4641, grippers 4643 arranged on the bracket 4641 and respectively located on both sides of the cam 4644, and springs 4642 arranged on the bracket 4641 and respectively driving the grippers 4643 to fit with the surface of the cam 4644; the material picking and unloading gear rack assembly 465 includes a material picking and unloading rack 4652 slidably arranged at the bottom of the rotating frame 463, and a material picking and unloading air gear 4652 arranged at one end of the rotating frame 463 for driving the material picking and unloading rack 4652 to slide. Cylinder 4651, twelve feeding gears 4653 meshing with feeding racks 4652 and coaxial with cam 4644 respectively; when working: feeding cylinder 4651 drives feeding rack 4652 to slide, drives twelve feeding gears 4653 to rotate simultaneously, thereby drives cam 4644 to rotate, utilizes the enlarged diameter of cam 4644 to overcome the elastic force of spring sheet 4642 to open the clamping hand 4643 and release the enoki mushrooms, conversely utilizes the reduced diameter of cam 4644, the spring sheet 4642 drives the clamping hand 4643 to close under the action of elastic force and clamps the enoki mushrooms.

[0032] Furthermore, a swinging gear rack assembly is also provided at the bottom of the rotating frame 463; the twelve groups of gripper assemblies 464 are all rotatably connected to the rotating frame 463, and the cam 4644 is connected to the material taking and releasing gear 4653 through a joint bearing; the swinging gear rack assembly includes a swinging rack 4662 slidably arranged at the bottom of the rotating frame 463, a swinging cylinder 4661 arranged at one end of the rotating frame 463 for driving the swinging rack 4662 to slide, and twelve swinging gears 4663 meshing with the swinging rack 4662 and respectively connected to the bracket 4641; when working: the swinging cylinder 4661 drives the swinging rack 4662 to slide, driving the twelve swinging gears 4663 to rotate at the same time, thereby driving the gripper assembly 464 to swing left and right, so as to facilitate the removal of the enoki mushrooms from the bottle; since the cam 4644 is connected to the material taking and releasing gear 4653 through a joint bearing, the gripper assembly 464 can also tightly clamp the enoki mushrooms during the swinging process.

[0033] Furthermore, the root cutting mechanism 6 includes a protective cover 61, a driving wheel 63 and a driven wheel 62 arranged vertically and spaced apart in the protective cover 61, an annular belt knife 64 which respectively passes around the driving wheel 63 and the driven wheel 62 at both ends, and a root cutting motor which drives the driving wheel 63 to drive the annular belt knife 64 to rotate; when working: the root cutting motor drives the driving wheel 63 to drive the annular belt knife 64 to rotate, thereby cutting off the roots of the Flammulina velutipes.

[0034] Furthermore, the enoki mushroom conveyor line 3 is a partition type conveyor line, so that the enoki mushrooms are evenly spaced, which is convenient for the root cutting mechanism 6 to cut off the roots;

[0035] Furthermore, a positioning baffle 31 is provided on the side of the partition type conveyor line where the root cutting mechanism 6 is provided; a gap is provided between the partition 32 and the positioning baffle 31 in the partition type conveyor line, and the gap is the thickness of the cut root, which can effectively ensure that the amount of root cut each time is consistent.

[0036] Furthermore, the position of the positioning baffle 31 can be adjusted, so that the gap between the positioning baffle 31 and the partition 32 can be adjusted.

[0037] Furthermore, the mushroom basket conveyor line 2 is a roller conveyor line with a large load-bearing capacity and easy connection and transition between roller lines.

[0038] Furthermore, the root conveyor line 7 and the finished product conveyor line 5 are both belt conveyor lines that can convey various bulk materials.

[0039] The above are only specific application examples of the present invention and do not constitute any limitation on the protection scope of the present invention. Any technical solution formed by equivalent transformation or equivalent replacement shall fall within the protection scope of the present invention.

Claims

1. A fully automatic machine for harvesting and cutting roots of Flammulina velutipes, characterized by: It comprises a frame, two mushroom basket conveying lines arranged in parallel on the frame, two enoki mushroom conveying lines arranged in parallel on the frame and located between the two mushroom basket conveying lines, two groups of handling manipulators arranged on the top of the frame and located above the two mushroom basket conveying lines and the two enoki mushroom conveying lines, two groups of root cutting mechanisms respectively arranged at the output ends of the two enoki mushroom conveying lines, a root conveying line arranged below the enoki mushroom conveying lines and located directly below the two groups of root cutting mechanisms, and two finished product conveying lines arranged in parallel at the output ends of the two enoki mushroom conveying lines; The top of the frame is provided with two guide rails which are parallel and placed perpendicularly to the mushroom basket conveying line; each group of the handling manipulators comprises a movable frame arranged on the two guide rails, an X-axis servo module which drives the movable frame to move horizontally, a Z-axis servo module which is vertically arranged on the movable frame, a double-slider servo module which is horizontally arranged at the driving end of the Z-axis servo module and placed perpendicularly to the mushroom basket conveying line, and a material taking and discharging mechanism which is respectively arranged on the driving ends of the two sliders of the double-slider servo module; each of the material taking and discharging mechanisms comprises a gantry which is placed parallel to the mushroom basket conveying line, a rotating frame which is respectively arranged in the gantry for rotation at both ends, a rotating motor which is arranged on the gantry for driving the rotating frame to rotate, a plurality of gripper assemblies which are arranged at the bottom of the rotating frame and correspond to the positions of the bottle-grown Flammulina velutipes in a plurality of mushroom baskets, and a material taking and discharging gear rack assembly which is arranged at the bottom of the rotating frame and is used to simultaneously drive a plurality of gripper assemblies to open or close; Each group of the gripper assembly comprises a bracket, a cam horizontally arranged on the bracket, grippers arranged on the bracket and respectively located on both sides of the cam, and springs arranged on the bracket and respectively driving the grippers to fit with the surface of the cam; The material picking and unloading gear rack assembly includes a material picking and unloading gear rack slidably arranged at the bottom of the rotating frame, a material picking and unloading cylinder arranged at one end of the rotating frame for driving the material picking and unloading gear rack to slide, and a plurality of material picking and unloading gears meshing with the material picking and unloading gear rack and coaxial with the cams respectively; A swing gear rack assembly is also provided at the bottom of the rotating frame; multiple groups of gripper assemblies are rotatably connected to the rotating frame, and the cam is connected to the material picking and unloading gear through a joint bearing; the swing gear rack assembly includes a swing rack slidably arranged at the bottom of the rotating frame, a swing cylinder arranged at one end of the rotating frame for driving the swing rack to slide, and multiple swing gears meshing with the swing rack and respectively connected to the bracket; The root cutting mechanism comprises a protective cover, a driving wheel and a driven wheel arranged in a vertical interval in the protective cover, an annular belt knife with two ends passing around the driving wheel and the driven wheel respectively, and a root cutting motor driving the driving wheel to drive the annular belt knife to rotate; The enoki mushroom conveyor line is a partition type conveyor line; the partition type conveyor line is provided with a positioning baffle on the side where the root cutting mechanism is provided; a gap is provided between the partition and the positioning baffle in the partition type conveyor line, and the gap is the thickness of the cut root; The root conveyor line and the finished product conveyor line are both belt conveyor lines; When the baskets filled with bottle-grown Flammulina velutipes are transported to the basket conveyor line, the X-axis servo module first drives the movable frame to be placed above the basket conveyor line, and the double-slider servo module then simultaneously drives the two pick-up and discharge mechanisms to be located directly above the two outer rows of the baskets. Then the Z-axis servo module drives the double-slider servo module to drive the two pick-up and discharge mechanisms to descend, and then the pick-up and discharge gear rack assembly simultaneously drives multiple groups of gripper assemblies to clamp the Flammulina velutipes at the same time. Then the Z-axis servo module drives the double-slider servo module to drive the two pick-up and discharge mechanisms to rise, and the X-axis servo module then drives the movable frame to be placed above the two Flammulina velutipes conveyor lines, and then The rotating motor drives the rotating frame to rotate, changing the vertical placement of the enoki mushrooms to a horizontal placement. Then, the double-slider servo module simultaneously drives the two pick-up and discharge mechanisms to be located directly above the two enoki mushroom conveyor lines. Then, the Z-axis servo module drives the double-slider servo module to drive the two pick-up and discharge mechanisms to descend. Then, the pick-up and discharge gear rack assembly simultaneously drives multiple groups of gripper assemblies to release the enoki mushrooms, so that the enoki mushrooms are placed horizontally on the enoki mushroom conveyor line. Finally, the enoki mushroom conveyor line sends the enoki mushrooms to the root cutting mechanism for root cutting, where the cut roots fall on the root conveyor line, and the finished products fall on the finished product conveyor line.

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