Automatic mushroom slice taking device

Abstract

The present application provides an automatic picking device for Flammulina velutipes, comprising: a material frame conveying device for conveying the material frame from a growing workshop to a position to be picked; a positioning and clamping device arranged on the conveying device for positioning and clamping the material frame at the position to be picked; a first grabbing assembly comprising a pair of arc-shaped clamping jaws, the arc-shaped clamping jaws being opposite to clamp a cylindrical object and being capable of clamping the Flammulina velutipes and the culture medium apart; a second grabbing assembly comprising oppositely rotatable mechanical fingers, the mechanical fingers being capable of clamping a flaky cylinder to separate the cylindrical mushroom-containing piece from the Flammulina velutipes; and a mushroom-containing piece conveying device for conveying the separated cylindrical mushroom-containing piece to a storage and arrangement part. The device can automatically pick the cylindrical mushroom-containing piece from the bottle opening of the culture bottle and realize automatic picking, weight separation, harvesting and the like of the Flammulina velutipes, optimizes the operation process and helps to improve the growing efficiency.

Description

Technical Field

[0001] This invention relates to the field of processing and cultivation of slender mushrooms such as enoki mushrooms, and particularly to an automatic slice-taking device for tubular mushroom slices used for enoki mushrooms and slender mushrooms. Background Technology

[0002] In the field of mushroom cultivation, mushroom spawn is typically placed in culture bottles containing a culture medium to grow under suitable conditions. In the cultivation of slender mushrooms such as enoki mushrooms, existing techniques often use mushroom wrappers to form a cylindrical structure around the shoulder of the culture bottle, enclosing the enoki mushrooms and providing a suitable growth environment. Once the enoki mushrooms have reached maturity, the wrappers are removed for harvesting. Currently, enoki mushroom harvesting is mostly manual, involving manually opening the wrapper's fixing device (e.g., Velcro), removing the wrapper, collecting the mushrooms, and then manually weighing them according to requirements. However, this method of removing and weighing the wrappers has obvious problems. First, it requires a large amount of manual labor, resulting in high labor costs, while the efficiency of removing and weighing is too low. Second, the low-temperature environment required for enoki mushroom growth is not suitable for manual operation. Furthermore, the adhesive binding of existing wrappers introduces new contamination and costs into the cultivation process. How to automatically remove the mushroom slices and complete the sorting and harvesting, thereby improving the growth efficiency, reducing manual labor, and achieving automation, has become an urgent technical problem to be solved. Summary of the Invention

[0003] In view of this, the present invention aims to provide an automatic slice taking device for tubular mushroom slices.

[0004] This invention proposes an automatic slice-retrieving device for enoki mushrooms. The device is capable of removing and separating cylindrical mushroom slices from the mouth of a culture flask and transferring them to a storage section. The cylindrical mushroom slices are conical in shape, with a wider upper opening and a narrower lower opening. The device includes:

[0005] - A material frame conveying device is used to convey a material frame from the growth workshop to the position where the slice is to be picked. The material frame contains a culture bottle containing a culture medium and enoki mushrooms. The part of the enoki mushrooms that extends out of the mouth of the culture bottle is covered by the tubular mushroom-wrapping slice, which is placed over the mouth of the culture bottle.

[0006] - A positioning and locking device is provided on the material frame conveying device for positioning and locking the material frame at the position to be picked up;

[0007] - A first gripping component arranged vertically includes a pair of arc-shaped claws for gripping enoki mushrooms and tubular mushroom slices in the vertical direction, separating the enoki mushrooms and tubular mushroom slices from the culture bottle, and then conveying the separated enoki mushrooms and tubular mushroom slices to the second gripping component.

[0008] - A second gripping component arranged in the horizontal direction includes relatively rotatable mechanical fingers that grip the sheet-like cylinders to grip the cylindrical mushroom slices in the horizontal direction to separate them from the enoki mushrooms. The separated cylindrical mushroom slices are conveyed to the mushroom slice conveying device via a pivotable separation platform.

[0009] - A mushroom slice conveying device includes multiple rows of conveying components corresponding to the position of the cylindrical mushroom slices, and a conveyor belt arranged intersecting with the multiple rows of conveying components. The cylindrical mushroom slices separated by the second gripping component are conveyed to the storage section via the multiple rows of conveying components and the conveyor belt.

[0010] Preferably, a vibration component is provided below the conveying device to achieve neat stacking and storage of the mushroom slices.

[0011] Preferably, the vibration component is located at a position approximately 2 / 3 of the length from the end of the storage portion.

[0012] This invention also proposes an automatic slice-retrieving device for enoki mushrooms. The device is capable of removing and separating cylindrical mushroom slices from the mouth of a culture flask and transferring them to a collection and sorting section. The cylindrical mushroom slices are conical in shape with a smaller upper opening and a larger lower opening. The device includes:

[0013] - A material frame conveying device is used to convey a material frame from the growth workshop to the position where the slice is to be picked. The material frame contains a culture bottle containing a culture medium and enoki mushrooms. The part of the enoki mushrooms that extends out of the mouth of the culture bottle is covered by the tubular mushroom-wrapping slice, which is placed over the mouth of the culture bottle.

[0014] - A positioning and locking device is provided on the material frame conveying device for positioning and locking the material frame at the position to be picked up;

[0015] - A third gripping component arranged vertically includes relatively rotatable mechanical fingers that can grip the sheet-like cylinder to separate the cylindrical mushroom wrapper from the enoki mushroom in the vertical direction. The separated enoki mushroom and culture bottle are then conveyed to the fourth gripping component.

[0016] - A fourth gripping component arranged vertically includes a pair of arc-shaped claws for gripping enoki mushrooms vertically to separate the enoki mushrooms from the culture bottle;

[0017] - A mushroom slice conveying device for conveying the cylindrical mushroom slices separated by the third gripping component to the sorting and storage section;

[0018] In this process, after the cylindrical mushroom wrappers are grasped by the third gripping component, they are sent to the conveyor belt via the mushroom wrapper temporary storage section. A lever is provided in the moving direction of the conveyor belt to make the vertically standing mushroom wrapper cylinders lie horizontally and then be sequentially transported to the sorting and storage section.

[0019] Preferably, the mushroom slice temporary storage section is provided with multiple sections.

[0020] Preferably, the separated enoki mushrooms are sent to a weighing area, which is equipped with a vertical cutting blade assembly and a cutting baffle to weigh the enoki mushrooms according to a preset position.

[0021] Preferably, a transverse cutting blade assembly is also provided for removing the inedible roots of the enoki mushroom.

[0022] Preferably, the transverse cutting blade assembly further includes a blade holder and a blade, the blade being fixed on the blade holder and the blade holder being slidable.

[0023] The technical improvements provided by this invention solve the problems of low efficiency and unfavorable harvesting in the prior art, which require manual operation to remove the cylindrical mushroom wrappers and weigh enoki mushrooms. It simplifies the production line, greatly improves harvesting efficiency, ensures food safety during the growth process of enoki mushrooms, and effectively connects the growth, harvesting, and weighing processes with the subsequent sorting and cleaning of the mushroom wrappers, which helps to realize a fully automated solution. Attached Figure Description

[0024] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1 This is a schematic diagram of the automatic slice taking device for tubular mushroom slices provided in the first embodiment of the present invention;

[0026] Figure 2 This is a side view of a second partial position of the automatic slice taking device for tubular mushroom slices provided in the first embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the first partial position of the automatic slice taking device for tubular mushroom slices provided in the first embodiment of the present invention;

[0028] Figure 4 This is a side view of a third partial position of the automatic slice taking device for tubular mushroom slices provided in the first embodiment of the present invention;

[0029] Figure 5This is a schematic diagram of the fourth partial position of the automatic slice taking device for tubular mushroom slices provided in the first embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of the first grasping component provided in the first embodiment of the present invention;

[0031] Figure 7 A partial structural schematic diagram of the first grasping component provided in the first embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the structure of the first robotic arm in a clamping state according to the first embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the first robotic arm in a detached state according to the first embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of the second robotic arm in a clamping state according to the first embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the second robotic arm in a separated state according to the first embodiment of the present invention;

[0036] Figure 12 This is a schematic diagram of the structure of the mushroom slice conveying device provided in the first embodiment of the present invention;

[0037] Figure 13 This is a side view of the mushroom slice conveying device provided in the first embodiment of the present invention;

[0038] Figure 14 This is a schematic diagram of the structure of the automatic slice taking device for tubular mushroom slices provided in the second embodiment of the present invention;

[0039] Figure 15 This is a schematic diagram of another orientation of the automatic slice-taking device for tubular mushroom slices provided in the second embodiment of the present invention;

[0040] Figure 16 This is a schematic diagram of another orientation of the automatic slice-taking device for tubular mushroom slices provided in the second embodiment of the present invention;

[0041] Figure 17 This is a schematic diagram of the third robotic arm in a clamping state according to the second embodiment of the present invention;

[0042] Figure 18 This is a schematic diagram of the third robotic arm in a separated state according to the second embodiment of the present invention;

[0043] Figure 19This is a schematic diagram of the fourth robotic arm in a clamping state according to the second embodiment of the present invention;

[0044] Figure 20 This is a schematic diagram of the fourth robotic arm in a separated state according to the second embodiment of the present invention;

[0045] Figure 21 This is a schematic diagram of the structure of the fourth grasping component provided in the second embodiment of the present invention;

[0046] Figure 22 This is a schematic diagram of the structure of the mushroom slice conveying device provided in the second embodiment of the present invention;

[0047] Figure 23 This is a schematic diagram of the cutting and weighing device provided in the third embodiment of the present invention;

[0048] Figure 24 This is a schematic diagram of the cutting and weighing device provided in the third embodiment of the present invention from another direction.

[0049] Figure 25 This is a schematic diagram of the cutting action of the cutting and weighting device provided in the third embodiment of the present invention;

[0050] Figure 26 This is a photograph of enoki mushrooms with their roots cut off and ready for weighing, as shown in the third embodiment of the present invention.

[0051] Figure 27 These are photographs of the actual object taken during the experiment of the third embodiment of the present invention;

[0052] Figure 28 This is a schematic diagram illustrating the position calculation principle of the vertical cutting component in the third embodiment of the present invention.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1-Material frame conveying device; 11-Detection device; 2-Positioning and locking device; 21-Retractable positioning baffle; 22-Retractable cylinder; 3-First gripping assembly; 31-Frame assembly; 311-Outer support frame; 311a-Top surface; 311b-First end face; 311c-Second end face; 312-Inner support shaft; 313-Rotary motor; 314-Linkage assembly; 32-First robotic arm; 32a-First gripper; 32b-Second gripper; 4-Second gripping assembly; 41-First robotic arm fixing plate; 42-Second robotic arm; 42a-First finger; 42b-Second finger; 5-Separation table; 51-Table surface; 52-Top rod; 53-Top rod fixing plate; 54-Guide rod; 6-Mushroom slice conveying device; 61-Conveying assembly; 62-Conveyor belt; 63-Collection section; 64-Vibration assembly; 7-Third gripping assembly. 71-Second robotic arm fixing plate, 72-Third robotic arm, 72a-Third finger, 72b-Fourth finger, 8-Fourth gripping assembly, 812-Inner support shaft, 813-Rotary motor, 82-Fourth robotic arm, 82a-Third gripper, 82b-Fourth gripper, P1-Piece to be picked up position, P2-Piece to be separated position, p1-Piece picking position, p2-Separation position, 9-Piece to be separated weight area, 91-First cutting blade assembly, 911-First blade holder, 912-First blade, 92-Second cutting blade assembly, 921-Second blade holder, 922-Second blade, 93-Cutting baffle, 94-Vertical cutting blade assembly, 10-Second storage section, 1001-Mushroom slice temporary storage section, 1002-Lever, 1003-Conveyor belt, 1004-Motor, 1005-Slide rail, 1006-Baffle, 1007-Organizing and storage section. Detailed Implementation

[0055] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0056] In this embodiment, it should be noted that the terms "upper," "lower," "left," "right," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this embodiment, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this embodiment. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0057] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0058] This invention provides an automatic slice-retrieving device for tubular mushroom slices. This device is used in the harvesting stage of the cultivation process of slender mushrooms. The following examples all use the cultivation and harvesting of enoki mushrooms as examples. However, those skilled in the art should understand that the solution provided by this invention is also applicable to the cultivation and harvesting of other slender mushrooms.

[0059] After the cultivation of enoki mushrooms in the growth workshop is basically completed, tubular mushroom-wrapping sheets are placed over the shoulders of the culture bottles. The culture bottles contain culture medium and cultivated enoki mushrooms. During growth, the enoki mushrooms extend from the mouth of the culture bottle and continue to grow under the protection of the tubular mushroom-wrapping sheets until they reach the desired length or maturity. At this point, the culture bottles are transferred out of the growth workshop, and the removal of the tubular mushroom-wrapping sheets begins. Preferably, the culture bottles are placed in a material frame with predetermined culture bottle mounting positions to facilitate transfer, transportation, and various operations.

[0060] The tubular mushroom-wrapping slices can be cylindrical, but more commonly, they are conical. The orientation of the slices varies depending on the specific cultivation needs; they may be wider at the top and narrower at the bottom, or vice versa. Since the enoki mushrooms have already filled the tubular slices when they are removed, the removal method differs depending on the type of slice, which will be explained in detail below.

[0061] See Figures 1 to 5 This illustrates a preferred structure of the automatic slice-taking device for tubular mushroom slices provided in the first embodiment of the present invention.

[0062] This embodiment is suitable for cases where the top opening of the cylindrical mushroom package is large and the bottom opening is small. In this case, the conical cylindrical mushroom package is placed on the mouth of the culture bottle with the large opening facing upwards, making it impossible to remove the mushroom package directly. The package removal process is designed as a two-step process: first, at the position to be removed, the cylindrical mushroom package and the enoki mushrooms inside the sleeve are grabbed simultaneously to separate them from the culture bottle; after separation, the grabbed cylindrical mushroom package and the enoki mushrooms inside the sleeve are sent to the position to be separated, P2, to further perform the separation operation of separating the cylindrical mushroom package from the enoki mushrooms.

[0063] like Figure 1 As shown, the automatic slice-retrieving device for cylindrical mushroom slices provided by the present invention includes a material frame conveying device 1, a positioning and locking device 2, a first gripping component 3, a second gripping component 4, a separating table 5, and a mushroom slice conveying device 6. The material frame conveying device 1 can be, for example, a conveyor belt or other similar device, used to convey the material frame to the slice-retrieving position P1, awaiting gripping by the gripping component.

[0064] The position P1 to be picked up is set on the conveying path of the material frame conveying device 1. The material frame conveyed on the conveying path is positioned and locked at the position P1 by the positioning and locking device 2. The position P1 to be picked up is set to match the shape and size of the material frame. For example, the length of the position P1 to be picked up is equal to the length of the material frame, or equal to an integer multiple of the length of the material frame, and the width of the position P1 to be picked up is equal to the width of the material frame, or equal to the width of one or more columns of culture bottle mounting positions in the material frame.

[0065] The positioning and locking device 2 includes a retractable positioning baffle 21 arranged in the forward direction of the material frame conveying device 1, and one or more sets of retractable cylinders 22 arranged on both sides of the forward direction of the conveying device 1. Preferably, at least one set of retractable cylinders 22 is arranged on the left and right sides of each material frame at the position to be picked up P1 to ensure accurate positioning and locking of the material frame.

[0066] Each set of telescopic cylinders 22 can be configured to include two identical cylinders, whose positions are symmetrical about the left and right of the conveying path. The two cylinders receive commands to control and complete the telescopic movement. The telescopic time and distance of the two cylinders are set to be the same, so that the two move relative to each other at the same time, to ensure that the material frame is positioned in the middle of the conveyor belt and is locked.

[0067] Optionally, each set of telescopic cylinders 22 is configured to include a cylinder with a relatively fixed position on one side of the material frame, and a telescopic cylinder (not shown) on the other side of the material frame. The cylinder with the relatively fixed position receives an initialization command and performs a telescopic movement to a fixed position, where it remains for a period of time. The telescopic cylinder extends each time the material frame reaches the piece-to-be-picked position P1 to clamp and fix the material frame; and retracts after the first gripping component 3 completes its gripping action, allowing the conveying device 1 to continue conveying the material frame.

[0068] Optionally, each set of telescopic cylinders 22 may also be configured to include a stop fixed on one side of the material frame and a telescopic cylinder (not shown) on the other side of the material frame. The stop is fixed in position. When the material frame is conveyed to the position P1 to be picked up, the telescopic cylinder extends to work with the stop to clamp and fix the material frame. After the gripping component completes the gripping action, the telescopic cylinder retracts to allow the conveying device to continue conveying the material frame.

[0069] like Figure 2 As shown, detection devices 11 are also provided on both sides of the material frame conveying device 1. The detection device 11 is, for example, an infrared detection device or other similar device, which can detect the number of material frames passing through and send control signals to start and stop the positioning and locking device 2 according to the detected information.

[0070] The following is for reference. Figures 6 to 7The preferred structure of the first gripping component 3 provided in the embodiments of the present invention is introduced.

[0071] The first gripping component 3 includes a frame component 31, which is driven by a driving device (e.g., a cylinder or motor, not shown) and is capable of vertical movement and sliding along a slide rail component. Multiple first robotic arms 32 are integrated and mounted on the frame component 31, preferably arranged in a row. The positional arrangement of the first robotic arms 32 corresponds to the positional arrangement of the culture flask containing the slice to be retrieved at position P1. For example, ... Figure 1 , 6 As shown, the first gripping component 3 has 12 first robotic arms 32 in one column, which can grab the cylindrical mushroom slices and enoki mushrooms from the same column (a total of 12 bottles) of culture bottles in 3 material frames at one time.

[0072] The frame assembly 31 includes an elongated outer support frame 311, which includes an elongated top surface 311a and a first end surface 311b and a second end surface 311c located on both sides of the top surface 311a. An inner support shaft 312 is fixedly connected between the first end surface 311b and the second end surface 311c. A rotary motor 313 is also provided on the second end surface 311c. The rotary motor 313 is connected to and drives the inner support shaft 312 to rotate relative to the outer support frame 311 via a linkage assembly 314. Thus, by adjusting the input command of the rotary motor 313, the rotation amplitude and speed of the inner support shaft 312 relative to the outer support frame 311 can be controlled, thereby adjusting the rotation of the robot arm fixed on the inner support shaft 312.

[0073] On the side of the inner support shaft 312, the aforementioned first row of robotic arms 32 is installed, such as... Figures 8 to 9 As shown, each first robotic arm 32 includes a pair of arc-shaped grippers, referred to as the first gripper 32a and the second gripper 32b.

[0074] like Figure 1 As shown, after the positioning baffle 21 and the telescopic cylinder 22 complete the positioning and locking of the material frame, the first gripping component 3 is driven by the drive device to move to the piece-taking position p1, which is located directly above the piece-taking position P1. At this time, the first claw 32a and the second claw 32b of the first robotic arm 32 are in the vertical direction. The first gripping component 3 is driven to move downwards to near the piece-taking position P1, and the rotary motor 313 is controlled to drive the inner support shaft 312 to rotate. The first robotic arm 32, which is fixed on the inner support shaft 312, rotates accordingly. This causes the first claw 32a and the second claw 32b to rotate from the vertical direction to the horizontal direction and move closer to each other (e.g., ...). Figure 2As shown in the diagram, the first claw 32a and the second claw 32b grip the outer periphery of the cylindrical mushroom-wrapping sheet, completing the clamping operation on the cylindrical mushroom-wrapping sheet. Since the cylindrical mushroom-wrapping sheet is filled with enoki mushrooms, the entire bunch of enoki mushrooms inside the sleeve is also clamped accordingly.

[0075] After the aforementioned clamping operation is completed, the rotary motor 313 receives the instruction and rotates and swings, controlling the amplitude of the rotation and swing within 10 degrees, so that the cylindrical mushroom bag and enoki mushrooms clamped by the first claw 32a and the second claw 32b move relative to the culture medium in the culture bottle, thereby loosening and causing the enoki mushrooms to completely separate from the culture medium.

[0076] Subsequently, the first gripping component 3 grips the tubular mushroom slices and enoki mushrooms separated from the culture medium and moves along the slide rail component to the separation position p2.

[0077] like Figure 3 As shown, the separation position p2 corresponds to the position to be separated P2, and a separation platform is provided at the position to be separated P2. The rotary motor 313 of the first gripping component 3 receives a command and rotates 90 degrees, causing the first gripper 32a and the second gripper 32b to rotate to the vertical direction. Correspondingly, the cylindrical mushroom slices and enoki mushrooms held therein rotate to the horizontal direction.

[0078] Subsequently, the first gripping component 3 moves downwards to approach the separation platform 5, releases the first claw 32a and the second claw 32b and moves away, placing the cylindrical mushroom slices and enoki mushrooms on the separation platform 5.

[0079] like Figures 3 to 5 As shown, the separation platform 5 includes a platform 51 for temporarily placing cylindrical mushroom slices and enoki mushrooms. On one side of the separation platform 5, there is a row of top rods 52 corresponding to the positions of the cylindrical mushroom slices and enoki mushrooms placed on the separation platform 5, and a top rod fixing plate 53. The row of top rods 52 are all fixedly connected to the top rod fixing plate 53. The top rod fixing plate 53 is also provided with guide rods 54 for providing a movement track for the second gripping component 4.

[0080] like Figure 5 As shown, the second gripping component 4 includes a first robotic arm fixing plate 41 and a row of second robotic arms 42 fixed on the first robotic arm fixing plate 41. The positions of the row of second robotic arms 42 correspond to the positions of the column of cylindrical mushroom slices and enoki mushrooms that are gripped and placed. (Reference) Figures 10 to 11 As shown, each second robotic arm 42 includes two robotic fingers that can rotate relative to each other, referred to as the first finger 42a and the second finger 42b.

[0081] When the tubular mushroom slices and enoki mushrooms are placed on the separation table 5, the first robotic arm fixing plate 41 is driven by the driving device (not shown) and moves to one end of the tubular mushroom slice. The first finger 42a and the second finger 42b of the second robotic arm 42 rotate relative to each other and pinch the inner and outer surfaces of the tubular mushroom slice.

[0082] Afterwards, the first robotic arm fixing plate 41 retracts to its initial position. During the retraction process, due to the action of the push rod 52, the enoki mushrooms are left on the separation table 5, and only the cylindrical mushroom slices are gripped and retracted by the robotic arm fingers 42a and 42b.

[0083] Furthermore, the first gripping component 3 moves to the separation stage 5, where the first claw 32a and the second claw 32b grip the enoki mushrooms remaining on the separation stage 5, and moves them to the area to be weighed, waiting for weighing.

[0084] After the enoki mushrooms are picked up, the second gripping component 4 transfers the gripped tubular mushroom slices to the tubular mushroom slice sorting and storage area.

[0085] To further simplify the transfer process of tubular mushroom slices, the solution proposed in this invention is as follows: Figure 4 As shown, the platform 51 of the separation table 5 is pivotable. The pivoting of the platform 51 is controlled by a cylinder or similar component. After the enoki mushrooms are picked up, the second gripping component 4 sends the gripped cylindrical mushroom slices back to the platform 51 and puts them down. The platform 51 rotates downward, causing the returned cylindrical mushroom slices to slide down to the mushroom slice conveying device 6 below the platform.

[0086] like Figure 1 and Figure 12 As shown, the mushroom slice conveying device 6 includes multiple rows of conveying components 61, and partitions are provided between each row of conveying components. The position arrangement of the multiple rows of conveying components 61 corresponds to the position arrangement of the cylindrical mushroom slices that are grabbed and placed, so that the cylindrical mushroom slices that slide down with the rotation of the table 51 are directly transferred to the conveying components 61.

[0087] The mushroom slice conveying device 6 also includes a conveyor belt 62 that is intersected with the multi-row conveying assembly 61. The cylindrical mushroom slices from the multi-row conveying assembly 61 are sequentially transferred to the conveyor belt 62 and further conveyed to the cylindrical mushroom slice receiving part 63.

[0088] In the tubular mushroom slice storage section 63, multiple tubular mushroom slices are stacked one on top of the other for storage. For example... Figure 12 and Figure 13 As shown, in order to ensure that the cylindrical mushroom slices can be neatly stacked and stored, a vibration component 64 is also provided in the storage part 63.

[0089] The vibration component 64 is located below the conveying device and at a position approximately 2 / 3 of the length from the end of the storage section 63 (i.e., the total length of the storage section 63 is S, and the vibration component 64 is located approximately 2S / 3 of the length from the end of the storage section). The vibration component 64 provides power to cause the conveying device to vibrate slightly, so as to align the cylindrical mushroom slices during the vibration process and complete the stacking and storage.

[0090] The present invention also provides a second embodiment, which enables the removal of tubular mushroom slices with the larger end facing down. For cases where the conical tubular mushroom slice, with the larger end facing down (i.e., a smaller top opening and a larger bottom opening), is placed over the mouth of a culture bottle, the tubular mushroom slice can be directly removed from the desired location P1, and further, the enoki mushrooms can be separated from the culture bottle. Therefore, compared to the first embodiment provided by the present invention, only the configuration of the gripping component of the slice removal device needs to be modified; the structural details of the same parts will not be repeated.

[0091] like Figures 14 to 16 As shown, after the conveying device 1 positions the material frame at the position P1 to be picked up, the third gripping component 7 moves to the picking position p1. The picking position p1 corresponds vertically to the position P1 to be picked up. The third gripping component 7 has a similar structure to the aforementioned second gripping component 4, including a second robotic arm fixing plate 71 and its driving device, as well as multiple third robotic arms 72 fixed on the second robotic arm fixing plate 71. The number and arrangement of the third robotic arms 72 correspond to the number and arrangement of the culture bottles in the material frame to be picked up.

[0092] like Figure 17 and Figure 18 As shown, each third robotic arm 72 includes two relatively rotatable third fingers 72a and fourth fingers 72b. When the material frame is ready at the slice-to-be-picked position P1, the second robotic arm fixing plate 71 is driven by a driving device (not shown) and moved to a position close to the slice-to-be-picked position P1. The third fingers 72a and fourth fingers 72b of the third robotic arm 72 rotate relative to each other to grip the inner and outer surfaces of the cylindrical mushroom slice in a pinching manner. Afterward, the second robotic arm fixing plate 71 retracts to the initial position, completing the gripping of the cylindrical mushroom slice.

[0093] After the tubular mushroom bag is grasped, the remaining material in the container is the culture bottle and the enoki mushrooms growing in the culture bottle. At this time, the drive device (not shown) drives the fourth grasping component 8 to move to the slice-grabbing position p1, grasping the enoki mushrooms growing in the culture bottle and separating them from the culture bottle and culture medium. The fourth grasping component 8 has a similar structure to the aforementioned first grasping component 3, and includes multiple fourth robotic arms 82.

[0094] like Figures 19 to 21 As shown, each fourth robotic arm 82 includes a pair of arc-shaped third jaws 82a and fourth jaws 82b.

[0095] The fourth gripping component 8 moves downward to near the position P1 to be picked up, and the rotary motor 813 drives the inner support shaft 812 to rotate. The fourth robotic arm 82, which is fixed on the inner support shaft 812, rotates accordingly, causing the third claw 82a and the fourth claw 82b to rotate from the vertical direction to the horizontal direction and move closer to each other. Thus, the third claw 82a and the fourth claw 82b grip the outer periphery of the enoki mushroom, completing the clamping operation of the enoki mushroom.

[0096] Subsequently, the rotary motor 813 receives a command to rotate and swing, with the amplitude of the rotation and swing controlled within 10 degrees, so that the enoki mushrooms held by the third claw 82a and the fourth claw 82b move relative to the culture medium in the culture bottle, thereby loosening and causing the enoki mushrooms to separate from the culture medium.

[0097] See Figure 22 After the third gripping component 7 completes the gripping operation on the cylindrical mushroom slices, it returns to position p1 and moves to one side along the top slide rail, sending the cylindrical mushroom slices to the mushroom slice storage section 1001. The motor 1004 drives the baffle 1006 to slide along the slide rail 1005. Under the pushing force of the baffle 1006, the cylindrical mushroom slices are moved to the conveyor belt 1003. When the cylindrical mushroom slices pass the lever 1002, they change from standing vertically to lying horizontally, and then the cylindrical mushroom slices are sequentially conveyed along the conveyor belt to the sorting and storage section 1007. The sorting and storage section 1007 has the same structure as the storage section 63 (including the vibration component 64) in the first embodiment, and will not be described in detail here.

[0098] Furthermore, although not marked in the figures, those skilled in the art should understand that, in order to further improve the efficiency of collecting mushroom slices, one or more mushroom slice temporary storage sections can be provided, and correspondingly, mushroom slice conveying devices can be provided. As an example, this is designated as mushroom slice temporary storage section 1001'. Motor 1004' drives baffle 1006' to slide along slide rail 1005'. Under the thrust of baffle 1006', the cylindrical mushroom slices are moved to conveyor belt 1003'. When the cylindrical mushroom slices pass lever 1002', they change from standing vertically to lying horizontally, and are then sequentially conveyed along the conveyor belt to sorting and collecting section 1007'. The sorting and collecting section 1007' has the same structure as the collecting section 63 (including vibration component 64) in the first embodiment, and will not be described in detail here.

[0099] After the fourth grasping component 8 completes the grasping operation of the enoki mushrooms, it sends the grasped enoki mushrooms to the weighing area to wait for weighing.

[0100] The following is combined with Figures 23-28 The structure and principle of the cutting and weighing device for enoki mushrooms after the tubular mushroom slices have been removed are explained.

[0101] After the tubular mushroom package is removed, the enoki mushrooms are grasped by the first grasping component 3 (as described in the first embodiment) or by the fourth grasping component 8 (as described in the second embodiment) and sent to the weighing area 9. Figure 23 As shown. The weight-separating area 9 is equipped with a horizontal cutting blade assembly, a cutting baffle 93, and a vertical cutting blade assembly 94.

[0102] like Figure 24 As shown, the transverse cutting blade assembly includes a first cutting blade assembly 91 and a second cutting blade assembly 92 arranged on both sides of the cutting baffle 93. The first cutting blade assembly 91 includes a first blade holder 911 and a first blade 912, and the second cutting blade assembly 92 includes a second blade holder 921 and a second blade 922. The blade bodies of the first blade 912 and the second blade 922 are both kept in a horizontal direction and can be respectively clamped and fixed on the first blade holder 911 and the second blade holder 921. Alternatively, the first and second blades 912 and 922 can be integrated with the first and second blade holders 911 and 921 respectively.

[0103] Both the first tool holder 911 and the second tool holder 921 can slide along the bottom guide rail.

[0104] The blade of the vertical cutting blade assembly 94 is set vertically upward and located at the far end of the horizontal cutting blade assembly (based on the trajectory of the gripping assembly, the position that passes by earlier in time is defined as the near side, and the side that passes by later in time is defined as the far side).

[0105] The following further combines Figures 26-28 The principle and operation steps of the harvesting and weighing device for enoki mushrooms are explained.

[0106] Figure 26 The image shows enoki mushrooms after their growth cycle has been completed, wrapped in tubular mushroom bags, and are ready for weighing after root cutting. It can be seen that the enoki mushrooms have grown very evenly and densely. Extensive random weighing tests revealed that, due to identical growing conditions, the weight of each bottle of enoki mushrooms was almost identical. Figure 27 As shown, the average weight of each bunch of enoki mushrooms was 500g under a certain test environment.

[0107] During harvesting and weighing, the first robotic arm 32 (or the fourth robotic arm 82) grabs the enoki mushrooms to be cut and moves them to the left side of the cutting baffle 93 (e.g., ...). Figure 25 (As shown) and stop, the first blade holder 911 slides to the right along the bottom guide rail and approaches the cutting baffle 93. During the sliding process, the first blade 912 completes the cutting of the bottom of the enoki mushroom along the S1 trajectory and removes the inedible root.

[0108] Subsequently, the first robotic arm 32 (or the fourth robotic arm 82) grabs the remaining enoki mushrooms, moves them to the right side of the cutting baffle 93 and stops. The second blade holder 921 slides to the left along the bottom guide rail and approaches the cutting baffle 93. During the sliding process, the second blade 922 completes the cutting of the second bottom of the enoki mushroom (about 1cm-3cm long) along the trajectory S2 (not shown). The part cut off is the edible root of the enoki mushroom.

[0109] Finally, the first robotic arm 32 (or the fourth robotic arm 82) grabs the remaining enoki mushrooms whose roots have been removed and moves them above the vertical cutting blade assembly 94. After reaching the predetermined position, the first robotic arm 32 (or the fourth robotic arm 82) moves the enoki mushrooms downwards and through the vertical cutting blade assembly 94. The relative movement between the vertical cutting blade assembly 94 and the enoki mushrooms completes the root cutting and weight separation of the enoki mushrooms.

[0110] Figure 28 As an example, the relative position between the enoki mushrooms and the vertical cutting blade assembly 94 is shown: the circle in the figure represents the uniform, dense bottom cross-section of the enoki mushrooms, and the vertical line represents the vertical cutting blade of the vertical cutting blade assembly 94. As mentioned earlier, enoki mushrooms grow very uniformly and densely, so the position of the vertical cutting blade can be determined through simple mathematical calculations based on the weight of a bunch of enoki mushrooms and the weight of the enoki mushrooms to be packaged.

[0111] The above is just an example of setting up a single vertical cutting blade assembly 94. However, those skilled in the art will understand that the vertical cutting blade assembly 94 can be set up in multiple groups, that is, one or more vertical blades can be set up. The number of vertical cutting blades can be increased or decreased, and the position of the cutting blades can be calculated and adjusted according to different requirements for the weight of the package, so as to achieve precise weight division.

[0112] The above-described scheme is a preferred embodiment, featuring two transverse cutting blade assemblies. A first blade holder 911 and a second blade holder 921 are positioned on the left and right sides of the cutting baffle 93, respectively. A first blade 912 and a second blade 922 are positioned facing each other horizontally to cut the inedible and edible roots of the enoki mushroom, respectively. However, those skilled in the art will understand that when secondary cutting of the enoki mushroom roots is not required, either the first cutting blade assembly 91 or the second cutting blade assembly 92 can be omitted, and only one transverse cutting blade assembly is needed.

[0113] The height of the transverse cutting blade assembly can be set to a fixed value, and the relative position of the enoki mushroom root and the first blade 912 or the second blade 922 can be adjusted by controlling the movement of the robotic arm. However, those skilled in the art will understand that the height of the transverse cutting blade assembly can also be set to be adjustable, as long as the relative distance between the enoki mushroom root and the first blade 912 or the second blade 922 is the required cutting length.

[0114] In summary, the technical improvements provided by this invention solve the problem of designing an automated production line for extracting mushroom slices of different shapes, enabling rapid separation of the slices from the culture bottles and significantly improving production efficiency. The technical improvements also allow for a compact process of cutting the roots of harvested enoki mushrooms and other slender mushrooms, automatically weighing them, flexibly adjusting to meet various weighing requirements, and ensuring high weighing accuracy. Furthermore, the technical improvements eliminate the need for manual intervention, simplifying the harvesting line for slender mushrooms like enoki mushrooms after they leave the cultivation workshop and optimizing operational efficiency. This invention also solves the problems of low efficiency and low production capacity caused by manual separation of the mushroom slices in existing technologies, and addresses the potential contamination and low efficiency issues associated with manual weighing of enoki mushrooms. While simplifying the production line and significantly improving production efficiency, this invention also ensures food safety during the enoki mushroom cultivation process and effectively connects the enoki mushroom cultivation process with the sorting and cleaning of the mushroom slices, contributing to the realization of a fully automated solution.

[0115] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic slice-retrieving device for enoki mushrooms, the device being capable of removing and separating cylindrical slices of mushroom from the mouth of a culture flask and conveying them to a receiving section, the cylindrical slices being conical in shape with a wider upper opening and a narrower lower opening, the device comprising: - Material frame conveying device (1), used to convey the material frame from the growth workshop to the position to be picked up (P1), the material frame contains a culture bottle, the culture bottle contains culture medium and enoki mushrooms, the part of the enoki mushrooms extending out of the mouth of the culture bottle is covered by the tubular mushroom wrapping sheet, the tubular mushroom wrapping sheet is placed on the mouth of the culture bottle; - Positioning and locking device (2), which is set on the material frame conveying device (1) and is used to position the material frame at the position to be picked up (P1); - The first gripping component (3) is set vertically, including a pair of arc-shaped claws for gripping enoki mushrooms and tubular mushroom slices in the vertical direction, separating the enoki mushrooms and tubular mushroom slices from the culture bottle, and the separated enoki mushrooms and tubular mushroom slices are conveyed to the second gripping component. - A second gripping component (4) is set in the horizontal direction, including a mechanical finger that can rotate relative to each other. The mechanical finger grips the sheet-like cylinder relative to each other and is used to grip the cylindrical mushroom slices in the horizontal direction to separate them from the enoki mushrooms. The separated cylindrical mushroom slices are conveyed to the mushroom slice conveying device (6) via a pivotable separation platform. - The mushroom slice conveying device (6) includes multiple rows of conveying components corresponding to the position of the cylindrical mushroom slice, and a conveyor belt intersecting with the multiple rows of conveying components. The cylindrical mushroom slice separated by the second gripping component (4) is conveyed to the storage section via the multiple rows of conveying components and the conveyor belt.

2. The automatic film-taking device according to claim 1, characterized in that, Below the conveying device, there is a vibration component to achieve neat stacking and storage of the mushroom slices.

3. The automatic film-taking device according to claim 2, characterized in that, The vibration component is located at a position approximately 2 / 3 of the length from the end of the storage section.

4. An automatic slice-retrieving device for enoki mushrooms, the device being capable of removing and separating cylindrical slices of mushroom from the mouth of a culture flask and conveying them to a collection and sorting section, wherein the cylindrical slices are conical in shape with a smaller upper opening and a larger lower opening, the device comprising: - Material frame conveying device (1), used to convey the material frame from the growth workshop to the position to be picked up (P1), the material frame contains a culture bottle, the culture bottle contains culture medium and enoki mushrooms, the part of the enoki mushrooms extending out of the mouth of the culture bottle is covered by the tubular mushroom wrapping sheet, the tubular mushroom wrapping sheet is placed on the mouth of the culture bottle; - Positioning and locking device (2), which is set on the material frame conveying device (1) and is used to position the material frame at the position to be picked up (P1); - A third gripping component (7) is set vertically, including a mechanical finger that can rotate relative to each other. The mechanical finger can grip the sheet-like cylinder relative to each other and is used to grip the cylindrical mushroom-wrapping sheet in the vertical direction to separate it from the enoki mushroom. The separated enoki mushroom and culture bottle are then transferred to the fourth gripping component. - A fourth gripping component (8) is arranged vertically, including a pair of arc-shaped claws for gripping enoki mushrooms in the vertical direction to separate the enoki mushrooms from the culture bottle; - Mushroom slice conveying device (6), used to convey the cylindrical mushroom slices separated by the third gripping component (7) to the sorting and storage section; In this process, after the cylindrical mushroom wrappers are grasped by the third gripping component, they are sent to the conveyor belt via the mushroom wrapper temporary storage section. A lever is provided in the moving direction of the conveyor belt to make the vertically standing mushroom wrapper cylinders lie horizontally and then be sequentially transported to the sorting and storage section.

5. The automatic film-taking device according to claim 4, characterized in that, The mushroom slice temporary storage section is provided in multiple locations.

6. The automatic film-retrieving device according to any one of claims 1-5, characterized in that, After separation, the enoki mushrooms are sent to a weighing area, which is equipped with a vertical cutting blade assembly (94) and a cutting baffle (93) to weigh the enoki mushrooms according to a preset position.

7. The automatic film-taking device according to claim 6, characterized in that, It also includes a horizontal cutting blade assembly (91, 92) for removing the inedible roots of enoki mushrooms.

8. The automatic film-taking device according to claim 7, characterized in that, The transverse cutting blade assembly also includes a blade holder (911, 921) and blades (912, 922). The blades (912, 922) are fixed on the blade holders (911, 921), and the blade holders (911, 921) are slidable.

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