A fully automatic bacterial bag inoculation production line

Abstract

The present invention provides a fully automatic mushroom bag inoculation production line, including a fully automatic unloading mechanism, a positioning transmission mechanism and an inoculation mechanism; the fully automatic unloading mechanism includes a frame, a lifting platform arranged on the frame, and a material transmission line and a grabbing assembly arranged on the lifting platform, the material transmission line includes a horizontal transmission line and a follower transmission line hinged at the end of the horizontal transmission line; the grabbing assembly is used to grab the mushroom bag on the material rack and place it on the horizontal transmission line. The positioning transmission mechanism includes a transition conveyor line, a station stepping line, a transition pick-and-place assembly and a rotary positioning assembly; the follower transmission line is connected to the transition conveyor line, and the transition pick-and-place assembly sequentially places the mushroom bag on the transition conveyor line into the restricted station of the station stepping line; the rotary positioning assembly is used to locate the direction of the air vent of the mushroom bag; the inoculation mechanism is located at the rear end of the station stepping line to receive the mushroom bag output by the station stepping line, and perform punching and inoculation. In this way, the automatic inoculation operation of the mushroom bag is realized.

Description

Technical Field

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

[0002] At present, the mushroom bags of edible fungi have realized the mechanized operation of automatic bagging of culture medium. Before injecting and inoculating the mushroom bags, holes need to be punched in the corresponding positions of the mushroom bags, and the ventilation holes of the mushroom bags themselves are set during the high-temperature sterilization process of bagging. The direction of the ventilation holes during inoculation needs to be the same as the inoculation direction; in the prior art, the mushroom bags are placed in the production line after being identified by the human eye, such as placing the mushroom bags in the production line with the ventilation holes facing upwards. However, this manual operation method has a large deviation in direction and low efficiency. Summary of the invention

[0003] To this end, the present invention provides a fully automatic mushroom bag inoculation production line, which can automatically unload, position and inoculate, thereby realizing fully automatic inoculation production.

[0004] To achieve the above purpose, the technical solution provided by the present invention is as follows:

[0005] A fully automatic mushroom bag inoculation production line, comprising: a fully automatic unloading mechanism, a positioning transmission mechanism and an inoculation mechanism; the fully automatic unloading mechanism comprises a frame, a lifting platform arranged on the frame, and a material transmission line and a grabbing assembly arranged on the lifting platform, the material transmission line comprises a horizontal transmission line and a follower transmission line hinged at the end of the horizontal transmission line; the grabbing assembly is used to grab the mushroom bag on the material frame and place it on the horizontal transmission line, and the mushroom bag is transmitted to the follower transmission line via the horizontal transmission line; the positioning transmission mechanism comprises a transition transmission line, a workpiece at the rear end of the transition transmission line, and a control unit. The invention relates to a station stepping line, a transition pick-and-place assembly located between the transition conveyor line and the work station stepping line, and a rotation positioning assembly corresponding to the work station stepping line; the end of the follower transmission line can be slidably abutted against the transition conveyor line, and the conveyor belt of the work station stepping line is provided with equally spaced limiting stations, and the transition pick-and-place assembly is used to place the mushroom bags on the transition conveyor line into the limiting stations of the work station stepping line in sequence; the rotation positioning assembly is used to locate the direction of the air holes of the mushroom bags; the inoculation mechanism is located at the rear end of the work station stepping line to receive the mushroom bags output by the work station stepping line, and to perform punching and inoculation.

[0006] Furthermore, the horizontal transmission line extends along the Y-axis direction, and the grabbing assembly can slide along the Y-axis direction on the lifting platform; the grabbing assembly includes an image collector and at least one group of grabbing units, and the image collector is used to collect mushroom bags on the material rack; the grabbing unit includes a first telescopic driving arm and a second telescopic driving arm that can be telescoped in the X-axis direction, and the end of the first telescopic driving arm is provided with a first laterally arranged first suction cup; the second telescopic driving arm is provided with a second downwardly arranged second suction cup.

[0007] Furthermore, a plurality of second suction cups are provided on the second telescopic driving arm, and the plurality of second suction cups are arranged along the X-axis direction.

[0008] Furthermore, the first telescopic driving arm and the second telescopic driving arm of the same group of grabbing units are arranged vertically.

[0009] Furthermore, the grabbing units are provided in two groups, and the two groups of grabbing units are arranged along the Y-axis direction.

[0010] Furthermore, the grabbing assembly also includes a spacing adjustment device, and the spacing adjustment device adjusts the spacing between the two groups of grabbing units.

[0011] Furthermore, the rotation positioning assembly includes an image collector, a lifting drive and a rotation support unit; the image collector is located above the workstation stepping line to collect the image of the mushroom bag on the restricted workstation; the rotation support unit is arranged below the workstation stepping line, and the lifting drive is connected to the rotation support unit to drive the rotation support unit to move up and down.

[0012] Furthermore, the rotating support unit includes a connecting frame, a rotating drive, an active roller and a driven roller, the active roller and the driven roller are arranged at intervals on the top of the connecting frame, the rotating drive is fixed on the connecting frame and is transmission-connected to the active roller; the lifting drive is connected to the connecting frame, and the lifting drive drives the rotating support unit to lift until the active roller and the driven roller lift the mushroom bag on the limiting station.

[0013] Furthermore, the transition pick-and-place assembly includes a horizontal transmission unit, a lifting transmission unit arranged on the horizontal transmission unit, and a suction cup arranged on the lifting transmission unit; the horizontal transmission unit drives the lifting transmission unit and the suction cup to switch between the transition conveyor line and the workstation stepping line; the lifting transmission unit drives the suction cup to rise and fall to pick up and place the mushroom bag.

[0014] Furthermore, a discharging and placing assembly is also provided at the rear end of the station stepping line of the positioning transmission mechanism; the inoculation mechanism comprises a station transmission line, a punching assembly and an inoculation assembly, a support seat is provided on the station transmission line, and the discharging and placing assembly is used to transfer the mushroom bag output by the station stepping line to the support seat of the station transmission line; the punching assembly and the inoculation assembly correspond to the station transmission line respectively, the punching assembly punches holes in the mushroom bag on the support seat, and the inoculation assembly is located at the rear end of the punching assembly, and is used to inject bacteria into the mushroom bag.

[0015] The technical solution provided by the present invention has the following beneficial effects:

[0016] During operation, the fully automatic unloading mechanism takes the mushroom bag off the material rack and transfers it to the positioning transmission mechanism through the follow-up transmission line to realize the automatic unloading of the mushroom bag; after the positioning transmission mechanism receives the mushroom bag, the transition pick-and-place component sequentially places the input mushroom bag on the restricted station of the station stepping line; and the rotating positioning component rotates and positions it to realize automatic positioning; and then it is output to the inoculation mechanism for inoculation. In this way, the fully automatic production of mushroom bag unloading, positioning and inoculation is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure shows a schematic diagram of the structure of the fully automatic bacteria bag inoculation production line in the embodiment;

[0018] Figure 2 Shown is a side view of the fully automatic unloading mechanism in the embodiment;

[0019] Figure 3 The figure shows a front view of the fully automatic unloading mechanism in the embodiment;

[0020] Figure 4 The figure is a schematic structural diagram of the first telescopic driving arm part in the embodiment;

[0021] Figure 5 The figure is a schematic structural diagram of the second telescopic driving arm part in the embodiment;

[0022] Figure 6 The figure shows a schematic diagram of the connection structure of two first telescopic driving arms in two groups of grabbing units in the embodiment;

[0023] Figure 7 The figure shows a schematic diagram of the connection structure of two second telescopic driving arms in two groups of grabbing units in the embodiment;

[0024] Figure 8 The figure is a schematic diagram of the structure of the positioning transmission mechanism in the embodiment;

[0025] Fig. 9 The figure shows a schematic diagram of the structure of the station stepping line in the embodiment;

[0026] Fig.10 The figure shows a schematic structural diagram of a rotating support unit in an embodiment;

[0027] Fig.11 Shown is a schematic diagram of the structure of the inoculation mechanism in the embodiment;

[0028] Fig.12 Shown is a partial structural schematic diagram of the punching assembly in the embodiment. DETAILED DESCRIPTION

[0029] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0030] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0031] This embodiment provides a fully automatic bacterial bag inoculation production line. Figure 1 As shown, it includes: a fully automatic unloading mechanism 100, a positioning transmission mechanism 200 and an inoculation mechanism 300. Figure 2 , Figure 3 As shown, the fully automatic unloading mechanism 100 includes a frame 11, a lifting platform 12 disposed on the frame 11, and a material transmission line 13 and a grabbing assembly 16 disposed on the lifting platform 12. The lifting platform 12 can drive the material transmission line 13 and the grabbing assembly 16 to move up and down. Specifically, a vertical guide rail is disposed on the frame 11, and the lifting platform 12 can be slidably assembled on the vertical guide rail, and can be moved up and down by the driving of the lifting drive device 121.

[0032] The material transmission line 13 includes a horizontal transmission line 131 and a follower transmission line 132 hinged at the end of the horizontal transmission line 131. When the lifting platform 12 moves up and down, it will drive the horizontal transmission line 131 to move up and down together, and the follower transmission line 132 will also adjust its inclination accordingly. The grabbing assembly 16 is used to grab the mushroom bag 1 on the material rack 2 and place it on the horizontal transmission line 131. The mushroom bag 1 is transmitted to the follower transmission line 132 via the horizontal transmission line 131.

[0033] Continue to refer to Figures 8 to 10 As shown, the positioning transmission mechanism 200 includes a transition conveyor line 210, a station stepping line 230 located at the rear end of the transition conveyor line 210, a transition pick-and-place assembly 220 located between the transition conveyor line 210 and the station stepping line 230, and a rotation positioning assembly 240 corresponding to the station stepping line 230; the end of the follower transmission line 132 can be slidably abutted on the transition conveyor line 210. Specifically, in this embodiment, the end of the follower transmission line 132 is provided with an abutting pulley 1321, which can be slidably abutted on the transition conveyor line 210 through the abutting pulley 1321. In this way, no matter how the lifting platform 12 of the fully automatic unloading mechanism 100 is raised or lowered, the follower transmission line 132 can adjust its position adaptively. The mushroom bag 1 output by the follower transmission line 132 is transmitted to the transition conveyor line 210.

[0034] The conveyor belt of the station stepping line 230 is provided with equally spaced limiting stations 2301. The transition pick-and-place assembly 220 is used to sequentially place the mushroom bags on the transition conveyor line 210 into the limiting stations 2301 of the station stepping line 230 to achieve equally spaced transmission; the rotation positioning assembly 240 is used to position the direction of the air holes of the mushroom bag 1, such as setting the air holes of the mushroom bag 1 upward. The inoculation mechanism 300 is located at the rear end of the station stepping line 230 to receive the mushroom bags output by the station stepping line 230, and perform punching and inoculation.

[0035] During operation, the fully automatic unloading mechanism 100 unloads the mushroom bag 1 from the material rack 2, and transmits it to the positioning transmission mechanism 200 through the follow-up transmission line 132, so as to realize the automatic unloading of the mushroom bag 1; after the positioning transmission mechanism 200 receives the mushroom bag 1, the transition pick-and-place component 220 sequentially puts the input mushroom bag into the limiting station 2301 of the station stepping line 230; and the rotating positioning component 240 rotates and positions it, so as to realize automatic positioning; and then it is output to the inoculation mechanism 300 for inoculation. In this way, the fully automatic production of unloading, positioning and inoculation of the mushroom bag 1 is realized.

[0036] Specifically, the operation of the fully automatic unloading mechanism 100, the positioning transmission mechanism 200 and the inoculation mechanism 300 of the fully automatic mushroom bag inoculation production line is coordinated and controlled by the control system of the production line. The specific connection and control principle are all existing technologies, which have been mastered and skillfully used by technicians in the field of automation, and will not be described in detail here.

[0037] For further information, please refer to Figures 2 to 7 As shown, in this embodiment, the horizontal transmission line 131 extends along the Y-axis direction, and the grabbing assembly 16 can slide along the Y-axis direction on the lifting platform 12 to grab the mushroom bag 1 on the same layer of the material rack 2. Specifically, the lifting platform 12 is provided with a Y-axis guide rail, and the grabbing assembly 16 can be slidably assembled on the Y-axis guide rail and driven by the Y-axis driving device to realize the sliding of the grabbing assembly 16 in the Y-axis direction, thereby realizing a simple structure.

[0038] The grabbing assembly 16 includes an image collector 17 (defined as a first image collector 17) and at least one group of grabbing units 14, wherein the first image collector 17 is used to collect the mushroom bags 1 on the material rack 2; the grabbing unit 14 includes a first telescopic driving arm 141 and a second telescopic driving arm 142 that can be telescoped in the X-axis direction, and the end of the first telescopic driving arm 141 is provided with a laterally arranged first suction cup 1411; the second telescopic driving arm 142 is provided with a downwardly arranged second suction cup 1421.

[0039] Specifically, the working steps of the fully automatic unloading mechanism are:

[0040] A1, the material rack 2 is transferred to the position corresponding to the fully automatic unloading mechanism; the lifting platform 12 is lifted so that the material transmission line 13 and the grabbing assembly 16 thereon correspond to the material storage layer of the material rack 2;

[0041] Specifically, the material rack 2 has multiple material storage layers, in which multiple layers of mushroom bags 1 are stacked. The fully automatic unloading mechanism 100 sequentially unloads the mushroom bags 1 on each material storage layer.

[0042] Specifically, in this embodiment, a transmission line 18 is provided on one side of the fully automatic unloading mechanism, and the material rack 2 is automatically transferred through the transmission of the transmission line 18, further eliminating manual handling and making the transfer more stable and accurate.

[0043] A2, the first image collector 17 collects the stacking status of the mushroom bags 1 in the storage layer in real time;

[0044] In this way, the stacking status of the mushroom bags 1 in the storage layer can be clearly confirmed, such as the number of stacked layers of the mushroom bags 1 , the number of each layer and the specific position, etc., so that the grabbing unit can be aligned with the corresponding mushroom bag 1 .

[0045] Specifically, the first image collector 17 is implemented by an industrial camera. Of course, other cameras such as a CCD camera may also be used.

[0046] A3, the first telescopic driving arm 141 is aligned with the upper mushroom bag 1 of the storage layer, and is extended to make the first suction cup 1411 suck the upper mushroom bag 1 laterally, and then retracts to drag the upper mushroom bag 1 out to the horizontal transmission line 131, until all the mushroom bags 1 in the upper layer are dragged out, so that the upper space of the storage layer is vacated;

[0047] Specifically, the size of the vacated upper space is based on the ability to accommodate the second telescopic driving arm 142 .

[0048] Specifically, after the mushroom bag 1 is transferred to the horizontal transmission line 131, it is transferred to the follow-up transmission line 132 via the horizontal transmission line 131, and then transferred to the subsequent production line by the follow-up transmission line 132 to achieve output.

[0049] A4, the second telescopic driving arm 142 extends into the upper space of the storage layer, and the second suction cup 1421 facing downward sucks the mushroom bag 1, and lifts the mushroom bag 1 out to the horizontal transmission line until all the remaining mushroom bags 1 in the storage layer are taken out.

[0050] Specifically, the second telescopic driving arm 142 lifts up the mushroom bag 1 and takes it out. The specific action is that after the second suction cup 1421 sucks the mushroom bag 1, it first lifts it upward (this action is driven by the lifting platform 12) to make the mushroom bag 1 suspended in the air, and then moves it out. During this process, the mushroom bags 1 will not rub against each other, thereby avoiding damage to the mushroom bags 1 due to transfer.

[0051] A5, repeat the actions of step A1 to step A4 until all the mushroom bags 1 on the entire material rack 2 are transferred out.

[0052] Specifically, the movement of the grabbing assembly 16 on the Y-axis drives the first telescopic drive arm 141 and the second telescopic drive arm 142 to translate to grab the mushroom bags on the same layer; and the lifting and lowering movement of the lifting platform 12 drives the first telescopic drive arm 141 and the second telescopic drive arm 142 to lift and lower to grab the mushroom bags on different layers or the corresponding storage layers on different layers.

[0053] By adopting the fully automatic unloading mechanism of the present application, the mushroom bag 1 on the material rack 2 can be automatically transferred to the production line, eliminating manual operation and achieving higher efficiency.

[0054] At the same time, at the beginning, the mushroom bags 1 are stacked more fully, and the mushroom bags 1 can only be taken out by sucking them sideways and dragging them out; because in the dragging process, the mushroom bags will rub against each other and are easily damaged; for this reason, after the first telescopic driving arm 141 drags out the upper mushroom bag 1 laterally to leave the upper space in the storage layer, the second telescopic driving arm 142 is used to extend into the material rack 2 to lift the mushroom bag 1 and take it out; this ensures the mushroom bag 1 to be transported off the shelf to the greatest extent and minimizes the damage to the mushroom bag 1.

[0055] Furthermore, there are multiple second suction cups 1421 on the second telescopic driving arm 142, and two in this specific embodiment, and the two second suction cups 1421 are arranged along the X-axis direction. In this way, after the second telescopic driving arm 142 extends into the material rack 2, the two second suction cups 1421 can simultaneously suck the same mushroom bag 1, so that the force on the mushroom bag 1 is more uniform and the removal is more stable. Of course, in other embodiments, the number of second suction cups 1421 on the second telescopic driving arm 142 is not limited to this, as long as it can stably suck the mushroom bag 1.

[0056] Furthermore, the first telescopic driving arm 141 and the second telescopic driving arm 142 of the same group of grabbing units 14 are arranged vertically; specifically, in this embodiment, the second telescopic driving arm 142 is located above the first telescopic driving arm 141 to achieve vertical arrangement, which can save layout space in the horizontal direction.

[0057] Furthermore, the grabbing units 14 are provided in two groups, and the two groups of grabbing units 14 are arranged along the Y-axis direction. In this way, the first telescopic driving arms 141 of the two groups of grabbing units 14 are located in the same layer, and the second telescopic driving arms 142 of the two groups of grabbing units 14 are located in the same layer; and the spacing is equal. There will be no interference with each other during operation.

[0058] Furthermore, the first telescopic driving arms 141 of the two grabbing units 14 are driven by the same first driving device, so that the movements of the two first telescopic driving arms 141 are consistent. Similarly, the second telescopic driving arms 142 of the two grabbing units 14 are driven by the same second driving device, so that the movements of the two second telescopic driving arms 142 are consistent.

[0059] Furthermore, in this embodiment, the first image collector 17 is fixed on one of the first telescopic driving arms 141 for easy layout. At the same time, an illumination light source is also provided to supplement the material rack with illumination, so that the image acquisition effect of the first image collector 17 is better.

[0060] Furthermore, the grabbing assembly 16 further includes a spacing adjustment device 15, and the spacing adjustment device 15 adjusts the spacing between the two groups of grabbing units 14. With such a configuration, the spacing between the two groups of grabbing units 14 can be adjusted according to the spacing between two adjacent mushroom bags 1, which has wider applicability.

[0061] Specifically, the spacing adjustment device 15 includes a driving motor, a gear and a rack. The driving motor is fixed on one group of grabbing units 14, the rack is fixed on the other group of grabbing units 14 and extends along the Y-axis direction, and the gear is sleeved on the driving shaft of the driving motor and meshes with the rack. When it is necessary to adjust the spacing between the two groups of grabbing units 14, the driving motor drives the gear to rotate, and the two groups of grabbing units 14 are moved closer to or farther away from each other through the cooperation of the gear and the rack. The spacing adjustment device 15 adopts this structure, which is simple in design and easy to implement. Of course, in other embodiments, the structure of the spacing adjustment device 15 is not limited to this.

[0062] Furthermore, a limit position is provided on the conveyor belt of the following conveyor line 132. When the mushroom bag 1 is transferred from the horizontal conveyor line 131 to the following conveyor line, it will be limited by the limit position to ensure the transmission stability of the mushroom bag 1 and prevent transmission abnormality caused by the tilted setting of the following conveyor line 132.

[0063] Specifically, the limiting station is composed of two limiting blocks arranged at intervals. The mushroom bag 1 is limited between the two limiting blocks, which has a simple structure and will not affect the normal circulation of the conveyor belt.

[0064] Furthermore, in this embodiment, a hydraulic lifting platform (not shown) is also provided at the bottom of the transmission line 18 of the material transmission rack 2. The purpose of such a setting is that when the lifting platform 12 descends to the level of the follower transmission line 132, the continued descent of the lifting platform 12 will cause the end of the follower transmission line 132 to tilt and detach from the transmission line of the rear section (i.e., the transition conveying line 210 of the positioning transmission mechanism 200). Therefore, in this case, the lifting platform 12 will not continue to descend, but the hydraulic lifting platform will be used to lift the material rack as a whole to a suitable position so that the lower storage layer of the material rack 2 corresponds to the lifting platform 12. Of course, in other embodiments, if there is no storage layer on the material rack 2 that is lower than when the follower transmission line 132 is horizontally arranged, there is no need to adopt the structure of the hydraulic lifting platform.

[0065] Further, in the positioning transmission mechanism 200, the rotation positioning assembly 240 includes an image collector 241 (positioned as a second image collector 241), a lifting driver 243 and a rotation support unit 242; the second image collector 241 is located above the station stepping line 230 to collect the image of the mushroom bag 1 on the limiting station 2301; specifically, in this embodiment, the second image collector 241 is an industrial camera, and of course, a CCD camera or the like can also be used. The rotation support unit 242 is set below the station stepping line 230, and the lifting driver 243 is connected to the rotation support unit 242 to drive the rotation support unit 242 to move up and down.

[0066] During production, the mushroom bag 1 is input from the transition conveyor line 210, and the transition pick-and-place assembly 220 sequentially places the input mushroom bag 1 on the limiting station 2301 of the station stepping line 230; when the mushroom bag 1 on the limiting station 2301 corresponds to the rotation positioning assembly 240, the lifting driver 243 drives the rotating support unit 242 to rise to hold the mushroom bag 1 and drive the mushroom bag 1 to rotate; the image collector 241 collects the image of the rotating mushroom bag 1 and outputs it to the control system of the production line. When it rotates to a suitable position (such as when the air vent on the mushroom bag 1 is detected to be facing upward), the rotating support unit 242 stops rotating, and the lifting driver 243 drives the rotating support unit 242 to descend, and the mushroom bag 1 is positioned and re-placed on the limiting station 2301. In this way, the automatic positioning of the mushroom bag 1 on the production line is realized. Compared with the manual operation in the prior art, the positioning accuracy is good and the efficiency is high.

[0067] Further preferably, in this embodiment, the rotating support unit 242 includes a connecting frame 2421, a rotating driver 2422, an active roller 2423 and a driven roller 2424, wherein the active roller 2423 and the driven roller 2424 are arranged at intervals on the top of the connecting frame 2421, and the rotating driver 2422 is fixed on the connecting frame 2421 and is connected to the active roller 2423 by transmission. Specifically, the lifting driver 243 is a lifting driving cylinder; the lifting driver 243 is connected to the connecting frame 2421, and the lifting driver 243 drives the rotating support unit 242 to lift until the active roller 2423 and the driven roller 2424 lift the mushroom bag 1 on the limiting station 2301. When rotating, the rotating driver 2422 drives the active roller 2423 to rotate, thereby driving the mushroom bag 1 to rotate. With this structure, the support and rotation of the mushroom bag 1 are more stable when it is lifted, and the structure is simple. More specifically, in this embodiment, the rotation driver 2422 is a driving motor, and the driving motor is connected to the driving roller 2423 through a belt.

[0068] Furthermore, in this embodiment, the matching rotary driver 2422, the active roller 2423 and the driven roller 2424 are defined as a set of drive groups, and two sets of drive groups are provided on the connecting frame 2421 to correspond to two adjacent limiting stations 2301 of the station stepping line 230. In this way, two mushroom bags 1 can be positioned at one time, effectively improving efficiency. Of course, in other embodiments, the number of drive groups is not limited to this.

[0069] Furthermore, the limiting station 2301 of the station stepping line 230 is composed of two blocking members 231 arranged at a distance; the mushroom bag 1 is limited between the two blocking members 231. Such a setting has a simple structure. Of course, it is not limited to this in other embodiments.

[0070] Furthermore, the transition pick-and-place assembly 220 includes a horizontal transmission unit 221, a lifting transmission unit 222 arranged on the horizontal transmission unit 221, and a suction cup 223 arranged on the lifting transmission unit 222; the horizontal transmission unit 221 drives the lifting transmission unit 222 and the suction cup 223 to switch between the transition conveyor line 210 and the station stepping line 230; the lifting transmission unit 222 drives the suction cup 223 to rise and fall to pick up and place the mushroom bag 1. Specifically, when grabbing the mushroom bag 1, the suction cup 223 sucks the mushroom bag 1, and when putting down the mushroom bag 1, the suction cup 223 breaks the vacuum. With such a configuration, the structure is simple, the operation is stable, and the mushroom bag 1 is not easily damaged. Of course, in other embodiments, it is not limited to this.

[0071] More specifically, the horizontal transmission unit 221 and the lifting transmission unit 222 can be implemented by using common structures in the prior art. For example, the horizontal transmission unit 221 can be implemented by using a matching structure of a horizontally arranged screw rod and a screw rod nut, and the lifting transmission unit 222 can be implemented by using a vertically telescopic cylinder.

[0072] Furthermore, in this embodiment, a discharging and placing assembly 250 is also correspondingly provided at the rear end of the work station stepping line 230; the discharging and placing assembly 250 is used to output the mushroom bag 1 (i.e., the mushroom bag 1 that has been positioned by the rotating positioning assembly 240) transmitted to the end of the work station stepping line 230 to the inoculation mechanism 300.

[0073] Specifically, in this embodiment, the discharging and placing assembly 250 has the same structure as the transitional placing and placing assembly 220, that is, the discharging and placing assembly 250 includes a horizontal transmission unit 251, a lifting transmission unit 252 arranged on the horizontal transmission unit 251, and a suction cup 253 arranged on the lifting transmission unit 252. The horizontal transmission unit 251 drives the lifting transmission unit 252 and the suction cup 253 to switch between the station stepping line 230 and the inoculation mechanism; the lifting transmission unit 252 drives the suction cup 253 to rise and fall to take and place the mushroom bag 1. In this way, the mushroom bag 1 positioned on the station stepping line 230 is smoothly transferred to the inoculation mechanism 300, and the direction of the vent hole on the mushroom bag 1 will not be damaged. Of course, in other embodiments, the structure of the discharging and placing assembly 250 is not limited to this.

[0074] Further, in this embodiment, continue to refer to Fig.11 , Fig.12 As shown, the inoculation mechanism 300 includes a station transmission line 310, a punching assembly 320 and an inoculation assembly 330. A support seat is provided on the station transmission line 310. The material discharging and placing assembly 250 transfers the mushroom bag 1 output by the station stepping line 230 to the support seat of the station transmission line 310; the punching assembly 320 and the inoculation assembly 330 correspond to the station transmission line 310 respectively, the punching assembly 320 punches holes in the mushroom bag 1 on the support seat, and the inoculation assembly 330 is located at the rear end of the punching assembly 320, and is used to inject bacteria into the mushroom bag 1.

[0075] Specifically, the punching assembly 320 includes a lifting drive, a mounting frame 321, and a punching rod 322 mounted on the mounting frame 321. The mounting frame 321 is mounted on the frame of the inoculation mechanism 300 through a vertical guide structure. The lifting drive drives and connects the mounting frame 321 to drive the mounting frame 321 and the punching rod 322 thereon to rise and fall. When the station transmission line 310 transmits the mushroom bag 1 to the corresponding punching assembly 320, the lifting drive drives the punching rod 322 to descend, so that the punching rod 322 is inserted into the mushroom bag 1 to perform punching.

[0076] More specifically, a stripping plate 323 is further provided at the bottom of the mounting frame 321, and a spring 324 is provided between the mounting frame 321 and the stripping plate 323. Specifically, the mounting frame 321 is provided with a guide sleeve 3211, and a guide rod 3231 is provided on the stripping plate 323, and the guide rod 3231 is sleeved in the guide sleeve 3211 to achieve guidance in the vertical direction. The spring 324 is sleeved on the guide rod 3231 and abuts on the guide sleeve 3211. At the same time, a clearance hole corresponding to the punching drill 322 is provided on the stripping plate 323. During operation, the mounting frame 321 descends, and the stripping plate 323 first abuts on the mushroom bag 1. As the mounting frame 321 continues to descend, the punching drill 322 passes through the clearance hole of the stripping plate 323 and is inserted into the mushroom bag 1 to punch holes, and the spring 324 is in a compressed state. When disengaging, the mounting frame 321 and the punching rod 322 rise, and the stripping plate 323 will also abut on the mushroom bag 1 under the action of the spring 324 until the punching rod 322 is withdrawn. Then the whole moves up and disengages from the mushroom bag 1 to complete the punching.

[0077] The punching assembly 320 provided in this embodiment has the characteristics of simple structure, easy implementation and good punching precision, etc. Of course, in other embodiments, the structure of the punching assembly 320 is not limited to this.

[0078] Furthermore, the inoculation assembly 330 adopts an existing structure, such as a liquid inoculation machine for mushroom bags disclosed in CN214546161U. Of course, in order to better control the accuracy, in this embodiment, the telescopic cylinder used to drive the lifting in the liquid inoculation machine for mushroom bags (i.e., the telescopic cylinder 41 in the liquid inoculation machine for mushroom bags disclosed in CN214546161U) is replaced with an electric telescopic rod. By adopting the electric telescopic rod, the lifting control is more accurate. Of course, in other embodiments, the structure of the inoculation assembly is not limited to this.

[0079] Furthermore, in this embodiment, a secondary packaging machine (not shown) is further provided at the rear end of the inoculation mechanism 300 for repackaging the inoculated fungus bag 1. Specifically, the secondary packaging machine is a prior art.

[0080] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A fully automatic bacterial bag inoculation production line, characterized in that: include: Fully automatic unloading mechanism, positioning transmission mechanism and vaccination mechanism; The fully automatic unloading mechanism comprises a frame, a lifting platform arranged on the frame, and a material transmission line and a grabbing assembly arranged on the lifting platform. The material transmission line comprises a horizontal transmission line and a follower transmission line hinged at the end of the horizontal transmission line. The grabbing assembly is used to grab the mushroom bag on the material rack and place it on the horizontal transmission line. The mushroom bag is transmitted to the follower transmission line via the horizontal transmission line. A hydraulic lifting platform is also provided at the bottom of the transmission line of the material rack. When the lifting platform descends to the level of the follower transmission line, the lifting platform will not continue to descend, but the hydraulic lifting platform will be used to lift the material rack as a whole, so that the lower storage layer of the material rack corresponds to the lifting platform; The positioning transmission mechanism includes a transition conveyor line, a station stepping line located at the rear end of the transition conveyor line, a transition pick-and-place assembly located between the transition conveyor line and the station stepping line, and a rotation positioning assembly corresponding to the station stepping line; the end of the follower transmission line can be slidably abutted against the transition conveyor line, and the conveyor belt of the station stepping line is provided with equally spaced limiting stations, and the transition pick-and-place assembly is used to place the mushroom bags on the transition conveyor line into the limiting stations of the station stepping line in sequence; the rotation positioning assembly is used to locate the direction of the air holes of the mushroom bags; The inoculation mechanism is located at the rear end of the station stepping line to receive the bacterial bag output by the station stepping line and perform punching and inoculation; The rotary positioning assembly includes an image collector, a lifting driver and a rotary support unit; the image collector is located above the station stepping line to collect the image of the mushroom bag on the restricted station; the rotary support unit is arranged below the station stepping line, and the lifting driver is connected to the rotary support unit to drive the rotary support unit to move up and down; The rotating support unit comprises a connecting frame, a rotating driver, an active roller and a driven roller, wherein the active roller and the driven roller are arranged at intervals on the top of the connecting frame, and the rotating driver is fixed on the connecting frame and is connected to the active roller by transmission; the lifting driver is connected to the connecting frame, and the lifting driver drives the rotating support unit to lift until the active roller and the driven roller lift the mushroom bag on the limiting station; The transition pick-and-place assembly includes a horizontal transmission unit, a lifting transmission unit arranged on the horizontal transmission unit, and a suction cup arranged on the lifting transmission unit; the horizontal transmission unit drives the lifting transmission unit and the suction cup to switch between the transition conveying line and the station stepping line; the lifting transmission unit drives the suction cup to rise and fall to pick up and place the mushroom bag; The rear end of the station stepping line of the positioning transmission mechanism is also provided with a discharging and placing assembly; the inoculation mechanism includes a station transmission line, a punching assembly and an inoculation assembly, the station transmission line is provided with a support seat, and the discharging and placing assembly is used to transfer the bacteria bag output by the station stepping line to the support seat of the station transmission line; the punching assembly and the inoculation assembly correspond to the station transmission line respectively, the punching assembly punches holes in the bacteria bag on the support seat, and the inoculation assembly is located at the rear end of the punching assembly, and is used to inject bacteria into the bacteria bag; The punching assembly includes a lifting drive, a mounting frame and a punching rod mounted on the mounting frame. The mounting frame is mounted on the frame of the inoculation mechanism through a vertical guide structure. The lifting drive drives the mounting frame to drive the mounting frame and the punching rod thereon to lift and lower, so that the punching rod can be inserted into the mushroom bag to realize punching. A stripping plate is also provided at the bottom of the mounting frame, and a spring is provided between the mounting frame and the stripping plate. A clearance hole corresponding to the punching rod is provided on the stripping plate. During operation, the mounting frame descends, and the stripping plate first abuts against the mushroom bag. As the mounting frame continues to descend, the punching rod passes through the clearance hole of the stripping plate and is inserted into the mushroom bag to punch holes, and the spring is in a compressed state at this time. During disengagement, the mounting frame and the punching rod rise, and the stripping plate will still abut against the mushroom bag under the action of the spring until the punching rod is pulled out. Then the stripping plate moves upward as a whole to detach from the mushroom bag to complete the punching.

2. The fully automatic bacterial bag inoculation production line according to claim 1, characterized in that: The horizontal transmission line extends along the Y-axis direction, and the grabbing assembly can slide along the Y-axis direction on the lifting platform; the grabbing assembly includes an image collector and at least one group of grabbing units, the image collector is used to collect mushroom bags on the material rack; the grabbing unit includes a first telescopic driving arm and a second telescopic driving arm that can be telescoped in the X-axis direction, the end of the first telescopic driving arm is provided with a first laterally arranged first suction cup; the second telescopic driving arm is provided with a second downwardly arranged second suction cup.

3. The fully automatic bacterial bag inoculation production line according to claim 2 is characterized in that: A plurality of second suction cups are provided on the second telescopic driving arm, and the plurality of second suction cups are arranged along the X-axis direction.

4. The fully automatic bacterial bag inoculation production line according to claim 2 is characterized in that: The first telescopic driving arm and the second telescopic driving arm of the same group of grabbing units are arranged vertically.

5. The fully automatic bacterial bag inoculation production line according to claim 2, 3 or 4, characterized in that: The grabbing units are provided in two groups, and the two groups of grabbing units are arranged along the Y-axis direction.

6. The fully automatic bacterial bag inoculation production line according to claim 5, characterized in that: The grabbing assembly further comprises a spacing adjustment device, and the spacing adjustment device adjusts the spacing between the two groups of grabbing units.

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