Self-propelled automatic combined harvester for ground-planting Auricularia auricula

Abstract

The invention discloses a self-propelled automatic combined harvester for ground-planting Auricularia auricula, which relates to the technical field of agricultural equipment and includes a traveling device, a profiling collection device, a sliding table, a multi-station electric claw device, a multi-station picking mechanism, a vibrating grading screen, a multi-station bag placing device, and a PLC computer control system; the profiling collection device is installed on the left side of the traveling device, the vibrating grading screen is installed above the traveling device, the multi-station picking mechanism is installed above the vibrating grading screen, the PLC computer control system is arranged on the right side of the multi-station picking mechanism, the sliding table is installed on the traveling device through a frame, and the multi-station electric claw mechanism and the multi-station bag placing device are arranged on the sliding table; the driving components are all electrically connected to the PLC computer control system. The invention can complete multiple operations such as picking up the Auricularia auricula fungus bags full of Auricularia auricula, picking, cleaning and grading the picked Auricularia auricula, and neatly placing the picked Auricularia auricula fungus bags in one pass of the field, improving the picking work efficiency and ensuring the picking quality.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and particularly to a self-propelled automatic combined harvester for ground-planting Auricularia auricula-judae. Background Art

[0002] At present, the picking of ground-planting Auricularia auricula-judae is mainly manual. The Auricularia auricula-judae bags are placed above a plastic bucket, and manual picking is used to make the Auricularia auricula-judae fall into the plastic bucket. After picking, the Auricularia auricula-judae bags are arranged properly. After the bucket is full, the Auricularia auricula-judae is poured into a transport vehicle. There is also a single Auricularia auricula-judae picking machine. Each person operates one machine. The machine is placed on the plastic bucket. One Auricularia auricula-judae bag is taken and put into the machine at a time, the power is turned on for picking, the power is turned off after picking, the bag is taken out and then the bag is arranged properly. There are also operating machines walking on the mushroom bed, but the mushroom bags are also manually grabbed and put into the machine for picking, and after picking, the mushroom bags are manually placed on the mushroom bed by humans. There is no automatic Auricularia auricula-judae harvesting machine integrating collection, picking, cleaning, and bag arranging.

[0003] How to develop a self-propelled automatic combined harvester for ground-planting Auricularia auricula-judae to be suitable for completing the combined harvesting operations of picking up, picking, cleaning, collecting, and bag arranging of ground-planting Auricularia auricula-judae at one time and changing the traditional harvesting method has become a technical problem urgently to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of the present invention is to provide a self-propelled automatic combined harvester for ground-planting Auricularia auricula-judae to solve the problems listed in the background art.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The self-propelled automatic combined harvester for ground-planting Auricularia auricula-judae of the present invention includes a traveling device, a profiling collection device, a sliding table, a multi-station electric claw device, a multi-station picking mechanism, a vibrating grading screen, a multi-station bag arranging device, and a PLC computer control system; the profiling collection device is movably installed on the left side of the traveling device, the vibrating grading screen is installed above the traveling device, the multi-station picking mechanism is installed above the vibrating grading screen, the PLC computer control system is arranged on the right side of the multi-station picking mechanism, the sliding table is installed on the traveling device through a frame and is higher than the multi-station picking mechanism, and the multi-station electric claw mechanism and the multi-station bag arranging device are movably arranged on the sliding table; the driving parts on the traveling device, the profiling collection device, the multi-station electric claw device, the multi-station picking mechanism, the vibrating grading screen, and the multi-station bag arranging device are all electrically connected to the PLC computer control system.

[0007] Preferably, the multi-station electric gripper mechanism includes a picking electric flexible gripper mechanism, a picking electric push rod and a picking servo motor, the picking servo motor is movably connected to the slide, the telescopic end of the picking electric push rod is connected to the picking electric flexible gripper mechanism, and the fixed end is connected to the picking servo motor, the picking servo motor is started to drive the picking electric flexible gripper mechanism to move horizontally on the slide, and the picking electric push rod drives the picking electric flexible gripper mechanism to complete the up and down lifting movement; the picking electric flexible gripper mechanism, the picking electric push rod and the picking servo motor are all electrically connected to the PLC computer control system.

[0008] Preferably, the multi-station bag swinging device includes a bag swinging servo motor, a bag swinging electric push rod and a bag swinging electric flexible gripper mechanism. The bag swinging servo motor is movably connected to the slide, the fixed end of the bag swinging electric push rod is connected to the bag swinging servo motor, and the telescopic end is connected to the bag swinging electric flexible gripper mechanism. The bag swinging servo motor is started to drive the bag swinging electric flexible gripper mechanism to move horizontally on the slide, and the bag swinging electric push rod drives the bag swinging electric flexible gripper mechanism to complete the up and down lifting movement; the bag swinging servo motor, the bag swinging electric push rod and the bag swinging electric flexible gripper mechanism are all electrically connected to the PLC computer control system.

[0009] Preferably, the multi-station picking mechanism comprises a picking assembly and an integral pressing device, and the picking assembly and the integral pressing device are arranged in parallel above the vibrating grading screen.

[0010] Preferably, the picking assembly includes multiple single picking devices, a picking rotation drive chain, a picking rotation passive sprocket, a straightening and picking servo motor, a picking rotation drive motor, a picking rotation active sprocket and a straightening and picking transmission component; multiple single picking devices are equidistantly arranged in a straight line, and adjacent single picking devices are meshed by gears; the straightening and picking servo motor is located on one side and is transmission-connected to one of the single picking devices on the edge through the straightening and picking transmission component, and two adjacent single picking devices are meshed and connected together; the picking rotation drive motor is arranged on the outside of the straightening and picking servo motor, and the picking rotation active sprocket is installed on the rotating shaft of the picking rotation drive motor, and a picking rotation passive sprocket is arranged at the bottom end of each single picking device, and the picking rotation active sprocket is connected to the picking rotation passive sprocket through the picking rotation drive chain; the straightening and picking servo motor and the picking rotation drive motor are both electrically connected to the PLC computer control system.

[0011] Preferably, the single-piece picking device includes a straightening picking knife device, a rotating gear disc, a single-piece picking machine frame, and a single-piece picking rotating device. The straightening picking knife device includes a flexible picking blade and a straightening picking knife shaft, and the flexible picking blade is fixed on the straightening picking knife shaft. The rotating gear disc is provided with a first guiding groove on its disc surface, and gear teeth for meshing connection are arranged on the outer peripheral edge of the rotating gear disc. The single-piece picking machine frame includes a fixed side plate, a fixed upper plate, and a fixed lower plate. Second guiding grooves are arranged on both the fixed upper plate and the fixed lower plate, and the second guiding grooves correspond to the first guiding grooves. The fixed side plate and the fixed lower plate are connected as a whole through the fixed side plate. The single-piece picking rotating device includes an auricularia auricula bacterial bag rotating shaft, an auricularia auricula bacterial bag seat disc, and a first bearing. The top of the auricularia auricula bacterial bag rotating shaft is conical. The auricularia auricula bacterial bag seat disc is connected to the middle of the auricularia auricula bacterial bag rotating shaft. The first bearing is connected to the middle of the auricularia auricula bacterial bag rotating shaft and is located below the auricularia auricula bacterial bag seat disc. A picking rotating driven sprocket is connected to the bottom end of the auricularia auricula bacterial bag rotating shaft. The single-piece picking rotating device is rotatably installed on the fixed lower plate through the first bearing. The rotating gear disc is respectively installed above the fixed upper plate and below the fixed lower plate. Both ends of the straightening picking knife shaft are embedded and connected in the first guiding groove and the second guiding groove.

[0012] Preferably, the straightening picking transmission assembly includes a straightening picking servo motor, a straightening picking driving gear, and a straightening picking driving gear shaft. The straightening picking driving gear is arranged at both ends of the straightening picking driving gear shaft. The straightening picking servo motor is connected to the straightening picking driving gear shaft, and the straightening picking driving gear meshes with the gear teeth on the rotating gear disc.

[0013] Preferably, the overall pressing device includes a pressing servo motor and a pressing device. The output shaft of the pressing servo motor is in transmission connection with the pressing device and drives the pressing device to turn over. The pressing device corresponds to the single-piece picking device one by one. The pressing servo motor is electrically connected to the PLC computer control system.

[0014] Preferably, the pressing device includes a pressing rotating shaft, a plurality of pressing rotating rods, a sleeve, a pressing adjusting shaft, an adjusting nut, an adjusting spring, a second bearing, and a pressing bowl; the end of the pressing rotating shaft is connected to the output shaft of the pressing servo motor; one ends of the plurality of pressing rotating rods are welded to the pressing rotating shaft in a straight line, and the other ends of the pressing rotating rods are welded to the sleeve; the pressing bowl is connected below the second bearing, the second bearing is connected to the lower end of the pressing adjusting shaft, the upper end of the pressing adjusting shaft passes through the sleeve and is positioned by threaded connection with the adjusting nut; the adjusting spring is sleeved on the pressing adjusting shaft, and two ends of the adjusting spring respectively abut against opposite surfaces of the sleeve and the second bearing; the position of the pressing bowl corresponds to that of the single-piece picking rotating device, and presses the auricularia auricula cultivation bag downward onto the auricularia auricula cultivation bag seat plate.

[0015] Preferably, the traveling device includes a chassis drive motor and a traveling chassis; the chassis drive motor is a dual servo motor; the traveling chassis adopts a crawler structure; and the chassis drive motor is electrically connected to the PLC computer control system.

[0016] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0017] 1) The self-propelled ground-planting auricularia auricula automatic combined harvester of the present invention includes a traveling device, a profiling collection device, a sliding table, a multi-station electric claw mechanism, a multi-station picking mechanism, a vibrating grading screen, a multi-station bag placing device, and a PLC computer control system; the traveling device uses a dual servo motor to drive a crawler-type traveling chassis, which has strong cross-country ability, large climbing ability, is not easy to sink, slip, or be affected by terrain on wet, muddy, or soft soil, has good passability, and can face more complex working conditions; the profiling collection device can better adapt to the terrain of the ground-planting auricularia auricula cultivation site, avoiding affecting the harvesting efficiency of ground-planting auricularia auricula due to terrain conditions; the PLC computer control system is electrically connected to each driving component to achieve automatic control, greatly saving labor costs.

[0018] 2) The picking and assembly unit includes multiple single picking devices, a picking rotary drive chain, a picking rotary driven sprocket, a righting picking servo motor, a picking rotary drive motor, a picking rotary driving sprocket, and a righting picking transmission component. The multiple single picking devices are arranged in a straight line, greatly accelerating the picking efficiency of auricularia auricula. The rotational power of the auricularia auricula cultivation bag is output by the picking rotary driving sprocket 22, and the chain drives multiple picking rotary driven sprockets to rotate simultaneously, thereby driving the rotation of the single picking rotary shaft assembly. The power of the righting picking knife is transmitted by the meshing of the righting picking drive gear and the rotary gear disk in the righting picking transmission component. When the rotary gear disk rotates, by controlling the rotation speed of the righting picking servo motor, the righting picking knife device moves uniformly along the through groove on the single picking frame towards the center of the single picking frame, enabling the picking of auricularia auricula from large to small, meeting the requirement of "picking the large ones and leaving the small ones", improving the consistency of the size of the picked auricularia auricula, and enhancing the picking quality.

[0019] Generally speaking, the present invention has a reasonable layout and a compact structure. It can complete multiple operations such as picking up the auricularia auricula cultivation bags covered with auricularia auricula, picking, cleaning and grading the picked auricularia auricula, and neatly arranging the picked auricularia auricula cultivation bags in one pass through the field. It is fully automated, effectively reducing manual labor, saving time and effort, improving the picking work efficiency, and ensuring the picking quality; it solves the problems of high cost and low efficiency in manual picking in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the drawings.

[0021] Figure 1 It is a schematic diagram of the overall structure of the automated in-situ auricularia auricula combined harvester provided by the present invention;

[0022] Figure 2 For the present invention Figure 1 Schematic diagram of the picking and assembly unit;

[0023] Figure 3 Schematic diagram of the single picking device of the present invention;

[0024] Figure 4 Schematic diagram of the righting picking knife device of the present invention;

[0025] Figure 5 Schematic diagram of the rotary gear disk of the present invention;

[0026] Figure 6 Schematic diagram of the single picking frame of the present invention;

[0027] Figure 7 Schematic diagram of the single picking rotary device of the present invention;

[0028] Figure 8 Schematic diagram of the righting picking transmission component of the present invention;

[0029] Figure 9 Schematic diagram of the rotating gear disk drive for the present invention;

[0030] Figure 10 Schematic diagram of the overall pressing device for the present invention;

[0031] Figure 11 Schematic diagram of a single pressing device for the present invention.

[0032] Description of reference numerals: 1, profiling collection device; 2, chassis drive motor; 3, picking electric flexible gripper mechanism; 4, picking electric push rod; 5, picking servo motor; 6, sliding table; 7, picking assembly; 8, overall pressing device; 9, bag-swinging servo motor; 10, bag-swinging electric push rod; 11, PLC computer control system; 12, bag-swinging electric flexible gripper mechanism; 13, vibration grading screen; 14, traveling chassis; 15, pressing servo motor; 16, pressing device; 17, single picking device; 18, picking rotation drive chain; 19, picking rotation passive sprocket; 20, upright picking servo motor; 21, picking rotation drive motor; 22, picking rotation active sprocket; 23, upright picking transmission component; 24, upright picking knife device; 2401, flexible picking blade; 2402, upright picking knife shaft; 25, rotating gear disk; 2501, first guide groove; 26, single picking machine frame; 2601, fixed side plate; 2602, fixed upper plate; 2603, fixed lower plate; 2604, second guide groove; 27, single picking rotation device; 2701, auricularia auricula bacterial bag rotation shaft; 2702, auricularia auricula bacterial bag seat plate; 2703, first bearing; 28, upright picking drive gear; 29, upright picking drive gear shaft; 30, pressing rotation shaft; 31, pressing rotation rod; 32, sleeve; 33, pressing adjustment shaft; 34, adjusting nut; 35, adjusting spring; 36, second bearing; 37, pressing bowl. Detailed implementation manners

[0033] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] As Figures 1-11As shown in the figure, the self-propelled automatic combined harvester for ground-planting Auricularia auricula includes a traveling device, a profiling collection device 1, a sliding table 6, a multi-station electric gripper device, a multi-station picking mechanism, a vibrating grading screen 13, a multi-station bag-swinging device, and a PLC computer control system; the profiling collection device 1 is movably installed on the left side of the traveling device, the vibrating grading screen 13 is installed above the traveling device, the multi-station picking mechanism is installed above the vibrating grading screen 13, the PLC computer control system is arranged on the right side of the multi-station picking mechanism, the sliding table 6 is installed on the traveling device through a frame and is higher than the multi-station picking mechanism, the multi-station electric gripper mechanism and the multi-station bag-swinging device are movably arranged on the sliding table 6, and the driving parts on the traveling device, the profiling collection device 1, the multi-station electric gripper device, the multi-station picking mechanism, the vibrating grading screen 13, and the multi-station bag-swinging device are all electrically connected to the PLC computer control system 11.

[0035] Specifically, the multi-station electric gripper mechanism includes a picking electric flexible gripper mechanism 3, a picking electric push rod 4, and a picking servo motor 5. The picking servo motor 5 is movably connected to the sliding table 6. The telescopic end of the picking electric push rod 4 is connected to the picking electric flexible gripper mechanism 3, and the fixed end is connected to the picking servo motor 5. When the picking servo motor 5 starts, it drives the picking electric flexible gripper mechanism 3 to move horizontally on the sliding table 6, and the picking electric push rod 4 drives the picking electric flexible gripper mechanism 3 to complete the up-and-down lifting movement; the picking electric flexible gripper mechanism 3, the picking electric push rod 4, and the picking servo motor 5 are all electrically connected to the PLC computer control system 11.

[0036] Specifically, the multi-station bag-swinging device includes a bag-swinging servo motor 9, a bag-swinging electric push rod 10, and a bag-swinging electric flexible gripper mechanism 12. The bag-swinging servo motor 9 is movably connected to the sliding table 6. The fixed end of the bag-swinging electric push rod 10 is connected to the bag-swinging servo motor 9, and the telescopic end is connected to the bag-swinging electric flexible gripper mechanism 12. When the bag-swinging servo motor 9 starts, it drives the bag-swinging electric flexible gripper mechanism 12 to move horizontally on the sliding table 6, and the bag-swinging electric push rod 10 drives the bag-swinging electric flexible gripper mechanism 12 to complete the up-and-down lifting movement; the bag-swinging servo motor 9, the bag-swinging electric push rod 10, and the bag-swinging electric flexible gripper mechanism 12 are all electrically connected to the PLC computer control system 11.

[0037] Specifically, the multi-station picking mechanism includes a picking assembly 7 and an overall pressing device 8, and the picking assembly 7 and the overall pressing device 8 are arranged in parallel above the vibrating grading screen 13.

[0038] As Figure 2As shown, the picking assembly 7 includes a plurality of individual picking devices 17, a picking rotation drive chain 18, a picking rotation passive sprocket 19, a straightening picking servo motor 20, a picking rotation drive motor 21, a picking rotation active sprocket 22 and a straightening picking transmission component 23; the plurality of individual picking devices 17 are equidistantly arranged in a straight line, and adjacent individual picking devices 17 are meshed by gears; the straightening picking servo motor 20 is located on one side and is transmission-connected to one of the individual picking devices 17 at the edge through the straightening picking transmission component 23, and two adjacent individual picking devices 17 are meshed by gears. The picking devices 17 are meshed and connected together; the picking rotation drive motor 21 is arranged on the outside of the straightening and picking servo motor 20, and the picking rotation active sprocket 22 is installed on the rotating shaft of the picking rotation drive motor 21, and the bottom end of each of the single picking devices 17 is arranged with a picking rotation passive sprocket 19, and the picking rotation active sprocket 22 is connected to the picking rotation passive sprocket 19 through the picking rotation drive chain 18; the straightening and picking servo motor 20 and the picking rotation drive motor 21 are both electrically connected to the PLC computer control system 11.

[0039] like Figures 3-7As shown, the single picking device 17 includes a straightening picking knife device 24, a rotating gear plate 25, a single picking frame 26 and a single picking rotating device 27, the straightening picking knife device 24 includes a flexible picking blade 2401 and a straightening picking knife shaft 2402, and the flexible picking blade 2401 is fixed on the straightening picking knife shaft 2402; a first guide groove 2501 is arranged on the surface of the rotating gear plate 25, and the outer peripheral edge of the rotating gear plate 25 is provided with gear teeth for meshing connection; the single picking frame 26 includes a fixed side plate 2601, a fixed upper plate 2602 and a fixed lower plate 2603, The fixed upper plate 2602 and the fixed lower plate 2603 are both provided with a second guide groove 2604, the second guide groove 2604 corresponds to the first guide groove 2501, the fixed side plate 2601 and the fixed lower plate 2603 are connected as a whole through the fixed side plate 2601; the single picking rotating device 27 comprises an agaric mushroom bag rotating shaft 2701, an agaric mushroom bag seat plate 2702 and a first bearing 2703, the top of the agaric mushroom bag rotating shaft 2701 is conical, the agaric mushroom bag seat plate 2702 is connected to the middle of the agaric mushroom bag rotating shaft 2701, and the first bearing 2703 is provided. 3 is connected to the middle of the wood ear mushroom bag rotating shaft 2701 and is located below the wood ear mushroom bag seat plate 2702. The bottom end of the wood ear mushroom bag rotating shaft 2701 is connected to the picking rotating passive sprocket 19; the single picking rotating device 27 is rotatably mounted on the fixed lower plate 2603 through the first bearing 2703, and the rotating gear plate 25 is respectively mounted above the fixed upper plate 2602 and below the fixed lower plate 2603. The two ends of the straightening and picking knife shaft 2402 are embedded and connected in the first guide groove 2501 and the second guide groove 2604. The rotation power of the wood ear mushroom bag The picking rotating active sprocket 22 drives eight picking rotating passive sprockets 19 to rotate at the same time through the picking rotating driving chain 18, thereby driving the single picking rotating device 27 to rotate. The power of the straightening and picking knife device 24 is meshed with the rotating gear plate 25 by the upper and lower straightening and picking driving gears 28 in the straightening and picking transmission assembly 23, so that the rotating gear plate 25 rotates. By controlling the rotation speed of the straightening and picking servo motor 20, the straightening and picking knife device 24 is made to move in a uniform straight line along the second guide groove 2604 on the single picking frame 26 toward the center of the single picking frame 26, so that the wood ear can be picked from large to small, which can meet the requirement of "picking the big and leaving the small" for the wood ear.

[0040] like Figures 8-9As shown, the straightening and picking transmission assembly includes a straightening and picking servo motor 20, a straightening and picking drive gear 28 and a straightening and picking drive gear shaft 29. The straightening and picking drive gear 28 is arranged at both ends of the straightening and picking drive gear shaft 29. The straightening and picking servo motor 20 is connected to the straightening and picking drive gear shaft 29. The straightening and picking drive gear 28 is meshed with the gear teeth on the rotating gear disk 25, realizing the control of multiple single picking devices. The straightening and picking drive gear 28 is meshed with the gear teeth on the first rotating gear disk 25. When the straightening and picking knife device 24 is located at the farthest end from the center, it is in the reset state. The straightening and picking drive gear 28 needs to rotate clockwise, the first rotating gear disk 25 rotates counterclockwise, the straightening and picking knife device 24 moves toward the center, the first and second rotating gear disks 25 are meshed, and the second rotating gear disk rotates clockwise. The first guide grooves 2501 of the first and second rotating gear plates 25 are centrally symmetrical patterns, and the third, fourth, ... rotating gear plates 25 are similar in shape.

[0041] like Figure 10 , 11 As shown, the integral clamping device 8 includes a clamping servo motor 15 and a clamping device 16. The output shaft of the clamping servo motor 15 is transmission-connected to the clamping device 16 and drives the clamping device 16 to flip. The clamping device 16 corresponds one-to-one to the single picking device 17. The clamping servo motor 15 is electrically connected to the PLC computer control system 11.

[0042] Specifically, the clamping device 16 includes a clamping rotating shaft 30, a plurality of clamping rotating rods 31, a sleeve 32, a clamping adjusting shaft 33, an adjusting nut 34, an adjusting spring 35, a second bearing 36 and a clamping bowl 37; the end of the clamping rotating shaft 30 is connected to the output shaft of the clamping servo motor 15, one end of the plurality of clamping rotating rods 31 is welded to the clamping rotating shaft 30 in a straight line, the other end of the clamping rotating rod 31 is welded to the sleeve 32, the clamping bowl 37 is connected below the second bearing 36, and the second bearing 36 is connected to the The lower end of the clamping adjustment shaft 33 and the upper end of the clamping adjustment shaft 33 pass through the sleeve 32 and are threadedly connected and positioned by the adjusting nut 34. The adjusting spring 35 is sleeved on the clamping adjustment shaft 33. The two ends of the adjusting spring 35 respectively abut against the opposite surfaces of the sleeve 32 and the second bearing 36. The position of the clamping bowl 37 corresponds one-to-one to the single picking rotating device 27, and it is flipped downward to press the wood ear mushroom bag onto the wood ear mushroom bag seat plate 2702, thereby realizing adjustable clamping control of wood ear mushroom bags of different volumes and ensuring stable positioning during the picking process.

[0043] Specifically, the walking device includes a chassis drive motor 2 and a walking chassis 14. The chassis drive motor 2 is a dual servo motor. The walking chassis 14 adopts a crawler structure, which has strong off-road capabilities, large climbing capabilities, is not prone to sinking on wet, muddy or soft soil, is not prone to slipping, is less affected by terrain, has good passability, and can face more complex working conditions. The chassis drive motor 2 is electrically connected to the PLC computer control system 11.

[0044] The working process of the present invention is as follows:

[0045] 1) The walking chassis 14 is crawler type and is driven by the chassis drive motor 2. The walking of the walking chassis 14 enables the auricularia auricula fungus bags to enter the profiling collection device 1.

[0046] 2) The picking servo motor 5 starts, driving the picking electric push rod 4 to run on the slide table 6. When the center of each picking electric flexible claw mechanism 3 aligns with the center of the profiling collection device 1, the picking electric push rod 4 extends, and the picking electric flexible claw mechanism 3 starts to grab the auricularia auricula fungus bags. After clamping the fungus bags, the picking electric push rod 4 shortens, and the picking servo motor 5 starts, driving the picking electric push rod 4 to run above the picking assembly 7 on the slide table. When the center of the picking electric flexible claw mechanism 3 aligns with the center of the picking assembly 7, the picking electric push rod 4 extends to put the auricularia auricula fungus bags into the picking assembly 7, and the picking electric flexible claw mechanism 3 releases. The picking servo motor 5 starts to repeat the previous program to pick the auricularia auricula fungus bags.

[0047] 3) The picking assembly 7 adopts eight single picking devices 17 arranged in parallel at equal intervals. When the auricularia auricula fungus bags enter the single picking device 17, after the straightening picking servo motor 20 starts to straighten the auricularia auricula fungus bags, the pressing servo motor 15 starts. The pressing device 16 uses the pressing servo motor 15 to drive the pressing rotating shaft 30 to rotate. Eight pressing devices 16 are welded to the pressing rotating shaft 30 at equal intervals. After the pressing rotating shaft 30 rotates 90 degrees, the pressing bowls 37 on the rotating pressing device 16 press the auricularia auricula fungus bags concentrically. Then, the straightening picking servo motor 20 and the picking rotating drive motor 21 start simultaneously. The picking rotating drive motor 21 drives the eight single picking devices 17 to work, making each auricularia auricula fungus bag rotate at a constant speed. At the same time, the straightening picking servo motor 20 drives the straightening picking knife device 24 in each single picking device 17 to move uniformly towards the center for auricularia auricula picking.

[0048] 4) After the picking is completed, the pressing servo motor 15 starts, and the pressing device 16 resets. The bag-swinging servo motor 9 starts and runs to the picking device 7. When the center of each bag-swinging electric flexible gripper mechanism 12 aligns with the center of the picking assembly 7, the bag-swinging electric push rod 10 extends, and the bag-swinging electric flexible gripper 12 starts to grab the Auricularia auricula fungus bags after picking. The bag-swinging electric push rod 10 shortens, the bag-swinging servo motor 9 starts, and moves backward to the bag-swinging position. The bag-swinging electric push rod 10 extends, places the fungus bags on the ground, the bag-swinging electric flexible gripper 12 releases the fungus bags, the bag-swinging electric push rod 10 shortens, and the bag-swinging servo motor 9 starts to repeat the previous program to grab the fungus bags.

[0049] 5) The picked Auricularia auricula enters the vibrating grading screen 13. Through the two layers of sieve plates of the vibrating grading screen, the picked Auricularia auricula can be divided into three grades: large, medium, and small, and the Auricularia auricula of different grades is stored in three storage hoppers arranged at the end of the sieve plates. When the storage hoppers are full, they are transported to the next process for sun drying. The specific transportation method can be manual or by conveyor belt. Specifically, the vibrating grading screen 13 is an existing device and will not be elaborated here.

[0050] Through the above operation steps, multiple operations such as picking up the Auricularia auricula fungus bags full of Auricularia auricula, picking, cleaning and grading the picked Auricularia auricula, and neatly placing the Auricularia auricula fungus bags after picking can be completed in one pass through the field. All the driving components (motors) in this automatic combined harvester are electrically connected to the PLC computer control system, realizing fully automated operation, effectively reducing manual labor, saving time and effort, improving the picking work efficiency, and ensuring the picking quality.

[0051] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0052] The embodiments described above are only descriptions of the preferred modes of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. Self-propelled automatic combined harvester for ground-planting Auricularia auricula, characterized in that: It includes a walking device, a profiling collection device (1), a sliding table (6), a multi-station electric gripper device, a multi-station picking mechanism, a vibrating grading screen (13), a multi-station bag placing device and a PLC computer control system; the profiling collection device (1) is movably installed on the left side of the walking device, the vibrating grading screen (13) is installed above the walking device, the multi-station picking mechanism is installed above the vibrating grading screen (13), the PLC computer control system is arranged on the right side of the multi-station picking mechanism, the sliding table (6) is installed on the walking device through a frame and is higher than the multi-station picking mechanism, and the multi-station electric gripper device and the multi-station bag placing device are movably arranged on the sliding table (6); the driving parts on the walking device, the profiling collection device (1), the multi-station electric gripper device, the multi-station picking mechanism, the vibrating grading screen (13), and the multi-station bag placing device are all electrically connected to the PLC computer control system (11); The multi-station bag placing device includes a bag placing servo motor (9), a bag placing electric push rod (10) and a bag placing electric flexible gripper mechanism (12). The bag placing servo motor (9) is movably connected to the sliding table (6). The fixed end of the bag placing electric push rod (10) is connected to the bag placing servo motor (9), and the telescopic end is connected to the bag placing electric flexible gripper mechanism (12). When the bag placing servo motor (9) starts, it drives the bag placing electric flexible gripper mechanism (12) to move horizontally on the sliding table (6), and the bag placing electric push rod (10) drives the bag placing electric flexible gripper mechanism (12) to complete the up and down lifting movement; the bag placing servo motor (9), the bag placing electric push rod (10) and the bag placing electric flexible gripper mechanism (12) are all electrically connected to the PLC computer control system (11); The multi-station picking mechanism includes a picking assembly (7) and an overall pressing device (8), and the picking assembly (7) and the overall pressing device (8) are arranged in parallel above the vibrating grading screen (13); The picking assembly (7) comprises a plurality of individual picking devices (17), a picking rotating drive chain (18), a picking rotating passive sprocket (19), a straightening picking servo motor (20), a picking rotating drive motor (21), a picking rotating active sprocket (22) and a straightening picking transmission assembly (23); the plurality of individual picking devices (17) are arranged equidistantly on a straight line, and adjacent individual picking devices (17) are meshed by gears; the straightening picking servo motor (20) is located on one side and is transmission-connected to one of the individual picking devices (17) at the edge through the straightening picking transmission assembly (23), and two adjacent individual picking devices (17) are connected to each other by a straightening picking servo motor (20). The picking devices (17) are meshed and connected together; the picking rotation drive motor (21) is arranged outside the straightening and picking servo motor (20); the picking rotation active sprocket (22) is installed on the rotating shaft of the picking rotation drive motor (21); the bottom end of each of the single picking devices (17) is arranged with a picking rotation passive sprocket (19); the picking rotation active sprocket (22) is connected to the picking rotation passive sprocket (19) through the picking rotation drive chain (18); the straightening and picking servo motor (20) and the picking rotation drive motor (21) are both electrically connected to the PLC computer control system (11).

2. The self-propelled automatic combined harvester for ground-planting Auricularia auricula as claimed in claim 1, wherein: The multi-station electric gripper device comprises a picking electric flexible gripper mechanism (3), a picking electric push rod (4) and a picking servo motor (5); the picking servo motor (5) is movably connected to the slide (6); the telescopic end of the picking electric push rod (4) is connected to the picking electric flexible gripper mechanism (3), and the fixed end is connected to the picking servo motor (5); the picking servo motor (5) is started to drive the picking electric flexible gripper mechanism (3) to move horizontally on the slide (6); the picking electric push rod (4) drives the picking electric flexible gripper mechanism (3) to complete the up and down lifting movement; the picking electric flexible gripper mechanism (3), the picking electric push rod (4) and the picking servo motor (5) are all electrically connected to the PLC computer control system (11).

3. The self-propelled automatic combined harvester for ground-planting Auricularia auricula-judae according to claim 1, characterized in that: The monomer picking device (17) includes a straightening picking knife device (24), a rotating gear disc (25), a monomer picking machine frame (26) and a monomer picking rotating device (27). The straightening picking knife device (24) includes a flexible picking blade (2401) and a straightening picking knife shaft (2402), and the flexible picking blade (2401) is fixed on the straightening picking knife shaft (2402); a first guiding groove (2501) is arranged on the surface of the rotating gear disc (25), and gear teeth for meshing connection are arranged on the outer peripheral edge of the rotating gear disc (25); the monomer picking machine frame (26) includes a fixed side plate (2601), a fixed upper plate (2602) and a fixed lower plate (2603), second guiding grooves (2604) are arranged on both the fixed upper plate (2602) and the fixed lower plate (2603), the second guiding grooves (2604) correspond to the first guiding grooves (2501), and the fixed side plate (2601) and the fixed lower plate (2603) are connected into one body through the fixed side plate (2601); the monomer picking rotating device (27) includes an auricularia auricula spawn bag rotating shaft (2701), an auricularia auricula spawn bag seat disc (2702) and a first bearing (2703), the top of the auricularia auricula spawn bag rotating shaft (2701) is conical, the auricularia auricula spawn bag seat disc (2702) is connected to the middle of the auricularia auricula spawn bag rotating shaft (2701), the first bearing (2703) is connected to the middle of the auricularia auricula spawn bag rotating shaft (2701) and is located below the auricularia auricula spawn bag seat disc (2702), and the bottom end of the auricularia auricula spawn bag rotating shaft (2701) is connected with the picking rotating driven sprocket (19); the monomer picking rotating device (27) is rotatably installed on the fixed lower plate (2603) through the first bearing (2703), the rotating gear disc (25) is respectively installed above the fixed upper plate (2602) and below the fixed lower plate (2603), and both ends of the straightening picking knife shaft (2402) are embedded and connected in the first guiding groove (2501) and the second guiding groove (2604).

4. The self-propelled automatic combined harvester for ground-planting Auricularia auricula according to claim 3, wherein: The straightening picking transmission assembly includes a straightening picking servo motor (20), a straightening picking driving gear (28) and a straightening picking driving gear shaft (29). The straightening picking driving gear (28) is arranged at both ends of the straightening picking driving gear shaft (29), the straightening picking servo motor (20) is connected with the straightening picking driving gear shaft (29), and the straightening picking driving gear (28) meshes with the gear teeth on the rotating gear disc (25).

5. The self-propelled automatic combined harvester for ground-planting Auricularia auricula according to claim 3, wherein: The overall pressing device (8) includes a pressing servo motor (15) and a pressing device (16). The output shaft of the pressing servo motor (15) is in transmission connection with the pressing device (16) and drives the pressing device (16) to flip. The pressing device (16) corresponds to the single picking device (17) one by one. The pressing servo motor (15) is electrically connected to the PLC computer control system (11).

6. The self-propelled automatic combined harvester for ground-planting Auricularia auricula according to claim 5, characterized in that: The pressing device (16) includes a pressing rotating shaft (30), a plurality of pressing rotating rods (31), a sleeve (32), a pressing adjusting shaft (33), an adjusting nut (34), an adjusting spring (35), a second bearing (36), and a pressing bowl (37). The end of the pressing rotating shaft (30) is connected to the output shaft of the pressing servo motor (15). One ends of the plurality of pressing rotating rods (31) are welded on the pressing rotating shaft (30) in a straight line, and the other ends of the pressing rotating rods (31) are welded to the sleeve (32). The pressing bowl (37) is connected below the second bearing (36), and the second bearing (36) is connected to the lower end of the pressing adjusting shaft (33). The upper end of the pressing adjusting shaft (33) passes through the sleeve (32) and is positioned by threaded connection with the adjusting nut (34). The adjusting spring (35) is sleeved on the pressing adjusting shaft (33), and both ends of the adjusting spring (35) respectively abut against the opposite surfaces of the sleeve (32) and the second bearing (36). The position of the pressing bowl (37) corresponds to the single picking rotating device (27), and presses the auricularia auricula bacterial bag downward on the auricularia auricula bacterial bag seat plate (2702).

7. The self-propelled automatic combined harvester for ground-planting Auricularia auricula according to claim 1, wherein: The traveling device includes a chassis drive motor (2) and a traveling chassis (14). The chassis drive motor (2) is a dual servo motor. The traveling chassis (14) adopts a crawler structure. The chassis drive motor (2) is electrically connected to the PLC computer control system (11).

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