A device and method for the negative pressure harvesting of agaric mushrooms

Abstract

The application discloses a wood ear negative pressure collecting device and a collecting method, and belongs to the technical field of wood ear collecting. In the prior art, wood ear is knocked off by a scraper, which is easy to cause damage to the wood ear, and the wood ear has a high breakage rate, so that the wood ear collecting cost is high. The wood ear negative pressure collecting device comprises a picking platform for placing a wood ear fungus stick, a centrifugal fan for generating negative pressure, a wood ear collecting box for collecting the wood ear, and a collecting pipe opening for collecting the wood ear. The wood ear negative pressure collecting device is arranged to collect the wood ear under negative pressure, can effectively reduce the damage of the collecting device to the wood ear, has a low wood ear collecting breakage rate, and thus reduces the wood ear collecting cost, facilitates popularization and use of a wood ear collecting machine, has a simple structure, is practical, and is feasible. The wood ear can be continuously collected, so that the work efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] This invention relates to a negative pressure harvesting device and harvesting method for wood ear mushrooms, belonging to the field of wood ear mushroom harvesting technology. Background Technology

[0002] Chinese Patent (Announcement No.: CN114051892B) discloses a production line type wood ear harvesting machine, including a frame, a feeding mechanism and a harvesting mechanism. Two harvesting mechanisms are symmetrically arranged on the upper part of the frame. A circular track concentric with the harvesting mechanism is arranged in the middle of the frame. The feeding mechanism is located in the middle of the frame. A circumferential feeding mechanism is evenly arranged on the conveyor belt. A mushroom stick positioning mechanism is arranged on the circumferential feeding mechanism. When the mushroom stick positioning mechanism moves to the meshing zone, the mushroom stick positioning mechanism performs a self-rotation motion on the base support plate, and at the same time, it performs a revolution motion around the harvesting cage under the action of the feeding mechanism, thus completing the harvesting of wood ear. When the mushroom stick positioning mechanism moves to the non-meshing zone, the circumferential feeding mechanism disconnects the power transmission from the feeding mechanism, does not perform a self-rotation motion, and only performs a linear motion under the action of the feeding mechanism, thus completing the loading and unloading of mushroom sticks.

[0003] The above method, which involves scraping the wood ear mushrooms to remove them, is prone to damaging the mushrooms, resulting in a high breakage rate and high harvesting costs, thus hindering the widespread use of wood ear mushroom harvesting machines.

[0004] The information disclosed in this background section is only for understanding the background of the inventive concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0005] To address the aforementioned problems or one of the aforementioned problems, the objective of this invention is to provide a negative pressure harvesting device for wood ear mushrooms that can effectively reduce damage to the wood ear mushrooms, resulting in a low breakage rate during harvesting, lowering harvesting costs, facilitating widespread use, having a simple and practical structure, and a feasible solution; and enabling continuous harvesting of wood ear mushrooms, thereby improving operational efficiency and reducing labor costs.

[0006] To address the aforementioned problems or one of them, the second objective of this invention is to provide a negative pressure harvesting device for wood ear mushrooms, equipped with a flexible brush device to assist in the detachment of the mushrooms, and an automatic harvesting control system composed of multiple stepper motors. This enables continuous harvesting of wood ear mushrooms, thereby improving operational efficiency, reducing labor costs, and effectively minimizing mechanical damage to the crop, resulting in a low breakage rate during harvesting. Consequently, it lowers the cost of harvesting wood ear mushrooms and facilitates the widespread adoption of this negative pressure harvesting device and method.

[0007] To achieve one of the above objectives, the first technical solution of the present invention is as follows:

[0008] A negative pressure harvesting device for wood ear fungus includes a harvesting platform for inserting wood ear fungus sticks, a fan for generating negative pressure, a wood ear fungus collection box for storing wood ear fungus, and a collection pipe for harvesting wood ear fungus.

[0009] The upper part of the harvesting platform is equipped with several fixing rods for inserting wood ear mushroom sticks and workstation trays for holding wood ear mushroom sticks. The lower part is equipped with a rotating component for driving the fixing rods to move in an arc, a self-rotating component for driving the fixing rods to rotate, and a lifting component for driving the self-rotating component to move up and down.

[0010] The fan extracts the gas from the fungus collection box, creating a negative pressure environment inside. The collection pipe is located on the fungus collection box and harvests the fungus using the negative pressure generated by the airflow, then transports it to the collection box.

[0011] Through continuous exploration and experimentation, this invention has developed a negative pressure harvesting device for wood ear mushrooms. This device effectively reduces damage to the mushrooms caused by the harvesting device, resulting in a low breakage rate and thus lowering harvesting costs. It also facilitates the widespread use of wood ear mushroom harvesting machines. The device is simple in structure, practical, and feasible. Furthermore, it enables continuous harvesting of wood ear mushrooms, thereby improving operational efficiency and reducing labor costs.

[0012] Furthermore, the collection port is a threaded pipe, a flexible hose, a cloth bag, a plastic pipe, or a metal pipe, and its shape is a tubular structure or a bag-like structure; the fan is a common centrifugal fan, a vacuum pump, or an air extractor, which is equipped with a ventilation pipe for connecting the cavity.

[0013] As a preferred technical measure:

[0014] The rotating assembly includes a chassis, a base, a chassis stepper motor, a chassis synchronous pulley, a chassis synchronous belt, and a chassis driven pulley;

[0015] The chassis is fixedly connected to the harvesting platform and is located above the base.

[0016] The base is fitted with a chassis stepper motor, chassis synchronous pulley, chassis synchronous belt and chassis driven pulley;

[0017] The chassis stepper motor drives the chassis timing belt to move via the chassis timing pulley. The chassis timing belt then drives the chassis driven wheel to rotate, and the chassis driven wheel then drives the chassis of the harvesting platform to rotate, thus realizing the arc-shaped movement of the fixed rod.

[0018] As a preferred technical measure:

[0019] The lifting assembly includes motor bracket 1, motor bracket 2, linear stepper motor, flange nut seat, and lifting platform;

[0020] Motor bracket one and motor bracket two are fixed to the base;

[0021] A self-rotating component is installed on the lifting platform;

[0022] A linear stepper motor is mounted on motor bracket two; when the linear stepper motor rotates, it drives the flange nut seat to rotate, thereby driving the lifting platform and the self-rotating component to move up and down.

[0023] As a preferred technical measure:

[0024] The self-rotating component includes a station stepper motor, a station synchronous pulley, a station synchronous belt, a station driven synchronous pulley, a drive mesh silicone, and a driven mesh silicone;

[0025] The driven mesh silicone can abut against the workstation tray;

[0026] The workstation stepper motor uses a workstation synchronous wheel, a workstation synchronous belt, a workstation driven synchronous wheel, and a drive mesh silicone to drive the driven mesh silicone to rotate. The driven mesh silicone comes into contact with the workstation tray under the drive of the lifting component, so that the two rotate synchronously.

[0027] As a preferred technical measure:

[0028] The collection pipe is equipped with one or more harvesting mechanisms.

[0029] The harvesting mechanism includes at least one harvesting head with a cavity, a harvesting head moving component for driving the harvesting head to move, and an auxiliary harvesting component for assisting the harvesting head in harvesting.

[0030] The picking head moving assembly includes a picking head lead screw stepper motor, lead screw, lead screw flange nut seat, nut seat retainer, and picking head slider;

[0031] The lead screw stepper motor for the picking head is fixed on the base of the picking platform;

[0032] The lead screw rotates, causing the lead screw flange nut seat to move up and down;

[0033] The screw flange nut seat and nut seat retainer are fixed to the picking head slider;

[0034] The picking head slider is guided by two optical shafts;

[0035] The optical axis component is fixed to the top cover of the picking platform and the base of the picking platform by the optical axis fixing bracket; the picking head is fixed to the picking head slider and moves up and down with the picking head slider.

[0036] Or / and, auxiliary harvesting components, equipped with a DC motor and flexible brush;

[0037] A DC motor is fixed to the picking head, and its shaft drives the flexible brush to rotate, which speeds up the detachment of the wood ear fungus and improves the efficiency of wood ear fungus picking.

[0038] As a preferred technical measure:

[0039] The collection box has two adapters, one of which is fitted with a ventilation duct adapter.

[0040] Another adapter is used to assemble a threaded pipe adapter;

[0041] Ventilation duct adapters are used to connect the collection box and the fan; threaded pipe adapters are used to connect the collection box and the collection pipe inlet.

[0042] The fan is a centrifugal fan, which is assembled with a ventilation duct adapter through a ventilation duct;

[0043] The collection pipe opening is a threaded pipe.

[0044] Or / and, it also includes a control unit, which controls the speed of the stepper motor by changing the pulse frequency and the pulse duty cycle;

[0045] The control unit is a microcontroller powered by 5V DC; the stepper motor is powered by 24V DC; the microcontroller is an STM32F103ZET6 core board, and the microcontroller's I / O port output signals control the stepper motor driver, thereby controlling the stepper motor.

[0046] Or / and, the centrifugal fan is mounted on the rear half of a trailer.

[0047] The mushroom collection box is mounted on the front half of the trailer;

[0048] The rear half of the trailer is connected to the front half of the trailer by a flexible nylon connecting strap to form a trailer;

[0049] The centrifugal fan is fixed to the rear half of the trailer via a gasoline engine shock absorber.

[0050] The trailer also includes a handle for pulling the trailer, eight 4-inch directional wheels mounted on the bottom of the trailer, a connecting belt fixing bracket, and a pointed steel bar fixing device.

[0051] To achieve one of the above objectives, the second technical solution of the present invention is as follows:

[0052] A negative pressure harvesting device for wood ear mushrooms includes a fan for generating negative pressure, a wood ear mushroom collection box for collecting wood ear mushrooms, and a collection pipe for harvesting wood ear mushrooms.

[0053] The fan extracts the gas from the fungus collection box, creating a negative pressure environment inside. The collection pipe is located on the fungus collection box and harvests the fungus using the negative pressure generated by the airflow, then transports it to the collection box.

[0054] Through continuous exploration and experimentation, this invention has developed a negative pressure harvesting device for wood ear mushrooms. This device effectively reduces damage to the mushrooms caused by the harvesting device, resulting in a low breakage rate and thus lowering harvesting costs. It also facilitates the widespread use of wood ear mushroom harvesting machines. The device is simple in structure, practical, and feasible. Furthermore, it enables continuous harvesting of wood ear mushrooms, thereby improving operational efficiency and reducing labor costs.

[0055] To achieve one of the above objectives, the third technical solution of the present invention is as follows:

[0056] A method for harvesting wood ear fungus under negative pressure, using the aforementioned negative pressure harvesting device, includes the following steps:

[0057] Step 1: First, start the centrifugal fan and place one or more mushroom spawn sticks on the workstation tray;

[0058] Step 2: The chassis stepper motor starts, and the rotating component aligns the fungus sticks with the harvesting head;

[0059] Step 3: Start the linear stepper motor to raise the flange nut seat and the lifting platform, so that the driving mesh silicone and the driven mesh silicone are finally attached and pressed together;

[0060] Step 4: The stepper motor at the workstation starts, and through the transmission mechanism, it drives the silicone mesh to rotate, which in turn drives the fungus stick to rotate at a constant speed.

[0061] Step 5: Start the stepper motor of the picking head screw, which drives the picking head slider to move up and down intermittently; so that the picking head is aligned with the target position of the wood ear fungus stick;

[0062] Step 6: Once the picking head is aligned with the target position of the wood ear mushroom stick, the DC motor starts and drives the flexible brush to rotate, assisting the wood ear mushroom to fall off;

[0063] Step 7: The centrifugal fan generates negative pressure, which draws the gas out of the fungus collection box through the ventilation pipe, making the fungus collection box a negative pressure state;

[0064] Step 8: The collection pipe on the fungus collection box is used to harvest fungus by relying on the negative pressure generated by the airflow and transport it into the collection box to complete the negative pressure harvesting of fungus.

[0065] This invention constructs a negative pressure harvesting method for wood ear mushrooms, which allows for negative pressure harvesting of wood ear mushrooms and includes a flexible brush device to assist in the detachment of the mushrooms. Simultaneously, it constructs an automatic harvesting control system composed of multiple stepper motors, enabling continuous harvesting of wood ear mushrooms. This improves operational efficiency, reduces labor costs, and effectively minimizes mechanical damage to the crop, resulting in a low breakage rate during harvesting. Therefore, it lowers the cost of harvesting wood ear mushrooms and facilitates the widespread use of wood ear mushroom harvesting machinery. Furthermore, it avoids pollution and losses caused by the crop falling to the ground.

[0066] As a preferred technical measure:

[0067] The chassis stepper motor uses a 57 stepper motor with a torque of 3.5nm, and the rotation angle is 360° for each intermittent rotation; the transmission ratio between the chassis synchronous pulley and the chassis driven pulley is 3:1;

[0068] The chassis stepper motor rotates 360° and the harvesting platform chassis rotates 120° to align the next mushroom stick with the harvesting head;

[0069] The linear stepper motor uses a 42 linear stepper motor with a torque of 0.55nm and a lead of 8mm. When the motor rotates once, the lifting platform moves 8mm. When the fungus stick is aligned with the picking head, the linear stepper motor rotates twice to press the driving mesh silicone and the driven mesh silicone together.

[0070] The stepper motor at the workstation uses a 57 stepper motor with a torque of 1.35nm; the transmission ratio between the workstation synchronous pulley and the workstation driven synchronous pulley is 1:1; the stepper motor at the workstation rotates continuously, driving the mushroom stick to move at a uniform speed;

[0071] The picking head lead screw stepper motor uses a 0.7nm 42 stepper motor, whose motor shaft is connected to an 8mm lead screw. The rotation of the motor drives the picking head slider to move up and down, and sequentially delivers the picking head to one or more picking points on the mushroom stick.

[0072] For example, if there are 6 picking spots, picking will be done at spots 1 and 4 simultaneously; spots 2 and 5 simultaneously; and spots 3 and 6 simultaneously.

[0073] A DC motor is installed inside the picking head, which drives a flexible brush to rotate, assisting in the removal of the wood ear mushrooms.

[0074] As a preferred technical measure:

[0075] By constructing a trapezoidal acceleration and deceleration model, the chassis stepper motor is controlled during the start-up and stop phases;

[0076] The trapezoidal acceleration and deceleration model, based on the trapezoidal velocity curve, controls the acceleration and deceleration process of the chassis stepper motor, ensuring a smooth speed transition, reducing vibration and noise, and guaranteeing motion accuracy. It includes the uniform acceleration phase, uniform deceleration phase, motion time, motion distance, total motion time, and total motion distance of the chassis stepper motor.

[0077] The uniform acceleration phase of the chassis stepper motor includes the following:

[0078] During the uniform acceleration phase, the acceleration of the chassis stepper motor is a, the motion time is t1, and the motion speed is v1. According to the formula for uniformly accelerated motion, we have:

[0079] v1 = at1 (1)

[0080] Where a is the acceleration and t1 is the time of uniform acceleration;

[0081] The uniform deceleration stage of the chassis stepper motor includes the following:

[0082] During the uniform deceleration phase, the deceleration of the chassis stepper motor is b, the motion time is t2, and the motion speed is v2. According to the formula for uniformly decelerated motion, we have:

[0083] v2 = v1 + bt2 (2)

[0084] Where b is the deceleration and t2 is the time of uniform deceleration;

[0085] The motion time of the chassis stepper motor includes the following:

[0086] The time t1 required for the chassis stepper motor to reach its maximum speed v1 from rest, and the time t2 required to decelerate from its maximum speed v1 back to rest, are calculated using the following formulas:

[0087] t1= (3)

[0088] t2= (4)

[0089] The travel distance of the chassis stepper motor includes the following:

[0090] The travel distances of the chassis stepper motor during the uniform acceleration and uniform deceleration phases are as follows:

[0091] s1= at1 2 (5)

[0092] s2 = v1t2 - bt2 2 (6)

[0093] Where s1 is the distance traveled during the uniform acceleration phase, and s2 is the distance traveled during the uniform deceleration phase;

[0094] The total motion time and total motion distance of the chassis stepper motor include the following:

[0095] T = 2t1 + t2 (7)

[0096] S = s1 + s2 (8)

[0097] Where T is the total motion time and S is the total motion distance;

[0098] The motion parameters of the chassis stepper motor under trapezoidal acceleration and deceleration control are calculated using formulas (1)-(8), thereby achieving precise motion control.

[0099] Compared with existing technical solutions, the present invention has the following beneficial effects:

[0100] Through continuous exploration and experimentation, this invention has developed a negative pressure harvesting device for wood ear mushrooms. This device effectively reduces damage to the mushrooms caused by the harvesting device, resulting in a low breakage rate and thus lowering harvesting costs. It also facilitates the widespread use of wood ear mushroom harvesting machines. The device is simple in structure, practical, and feasible. Furthermore, it enables continuous harvesting of wood ear mushrooms, thereby improving operational efficiency and reducing labor costs.

[0101] Furthermore, this invention incorporates a negative pressure harvesting device for harvesting wood ear mushrooms under negative pressure, along with a flexible brush device to assist in the detachment of the mushrooms. Simultaneously, it constructs an automatic harvesting control system composed of multiple stepper motors, enabling continuous harvesting of wood ear mushrooms. This improves operational efficiency, reduces labor costs, and effectively minimizes mechanical damage to the crop, resulting in a low breakage rate during harvesting. Consequently, it lowers harvesting costs and facilitates the widespread use of wood ear mushroom harvesting machines. Simultaneously, it avoids pollution and losses caused by crops falling to the ground. Attached Figure Description

[0102] Figure 1 This is an overall structural diagram of the negative pressure harvesting device for black fungus of the present invention;

[0103] Figure 2 This is a schematic diagram of the bottom trailer structure of the present invention;

[0104] Figure 3 This is a schematic diagram of the collection box structure of the present invention;

[0105] Figure 4 This is a schematic diagram of the harvesting platform structure of the present invention;

[0106] Figure 5 This is a structural block diagram of the motor control system of the present invention;

[0107] Figure 6 This is an overall structural diagram of the motor control process of the present invention;

[0108] Figure 7 This is a schematic diagram illustrating the relative positions of the mushroom stick and the harvesting head according to the present invention.

[0109] Figure 8 This is a schematic diagram of six harvesting points on the mushroom sticks of the present invention;

[0110] Figure 9 This is a schematic diagram of the harvesting head structure of the present invention.

[0111] Explanation of reference numerals in the attached figures:

[0112] 1. Rear half of the trailer; 2. Gasoline engine shock absorber one; 3. Front half of the trailer; 4. Nylon connecting belt; 5. Centrifugal fan; 6. Ventilation duct; 7. Harvesting platform; 8. Wood ear mushroom collection box; 9. Threaded pipe; 10. Directional wheel; 11. Pointed steel bar fixing device; 12. Gasoline engine shock absorber two; 13. Trailer handle; 14. Connecting belt fixing bracket; 15. Collection box outer frame; 16. Collection box drawer; 17. Ventilation duct adapter; 18. Threaded pipe adapter; 19. Handle; 20. Pull buckle fixing hook; 21. Pull buckle; 22. Workstation driven synchronous wheel; 23. Harvesting head slider; 24. Harvesting head; 25. Harvesting platform base; 26. Motor bracket two; 27. Motor bracket one; 28. Chassis stepper motor 29. Chassis synchronous belt; 30. Chassis synchronous pulley; 31. Chassis driven pulley; 32. Flange coupling; 33. Workstation pallet; 34. Pallet fixing rod; 35. Picking platform cover support plate; 36. Picking platform cover; 37. Black fungus spawn; 38. Picking platform chassis; 39. Driven mesh silicone; 40. Driven mesh silicone; 41. Workstation synchronous belt; 42. Workstation synchronous pulley; 43. Workstation stepper motor; 44. Lifting platform; 45. Flange nut seat; 46. Linear stepper motor; 47. Picking head screw stepper motor; 48. Screw flange nut seat; 49. Nut seat retainer; 50. Optical shaft component; 51. Frame flexible brush; 52. DC motor; 53. Optical shaft fixing frame. Detailed Implementation

[0113] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention.

[0114] Conversely, this invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the invention as defined in the claims. Furthermore, to provide a better understanding of the invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0115] It should be noted that when two components are "fixedly connected," "fixed," or "rotatably connected," the two components can be directly connected or there may be an intermediate component. Conversely, when an component is referred to as being "directly on" another component, there is no intermediate component. The terms "on," "below," and similar expressions used in this document are for illustrative purposes only.

[0116] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0117] A first specific embodiment of the negative pressure harvesting device for black fungus of the present invention:

[0118] A negative pressure harvesting device for wood ear mushrooms includes a fan for generating negative pressure, a wood ear mushroom collection box for collecting wood ear mushrooms, and a collection pipe for harvesting wood ear mushrooms. The fan draws gas out of the wood ear mushroom collection box, creating a negative pressure state inside the collection box. The collection pipe is located on the wood ear mushroom collection box and harvests wood ear mushrooms by relying on the negative pressure generated by the airflow, transporting them to the collection box.

[0119] A second specific embodiment of the negative pressure harvesting device for black fungus of the present invention:

[0120] A mushroom harvesting device includes a high-speed gasoline engine, a centrifugal fan, a negative pressure collection box, a harvesting platform, and a trailer fixed at the bottom. The high-speed gasoline engine drives the centrifugal fan to create negative pressure, drawing out the gas from the collection box and creating a negative pressure environment. A harvesting suction head on the harvesting platform is connected to the collection box, thus generating suction to pull the mushrooms off the substrate and into the collection box. This invention is suitable for mushroom cultivation areas in fields or outdoors where electricity is unavailable. This invention can improve the efficiency of manual mushroom harvesting and effectively address the key issue of "harvesting large mushrooms and leaving small ones."

[0121] The fungus mentioned includes black fungus, hairy fungus, white fungus, silver fungus, snow cedar fungus, jade fungus, etc.

[0122] like Figures 1-9 As shown, this is the third specific embodiment of the negative pressure harvesting device for wood ear mushrooms of the present invention:

[0123] A mushroom harvesting device includes a rear half of a trailer 1, a gasoline engine shock absorber 2, a front half of the trailer 3, a nylon connecting belt 4, a centrifugal fan 5, a ventilation pipe 6, a harvesting platform 7, a mushroom collection box 8, and a threaded pipe 9.

[0124] The rear half 1 of the trailer is connected to the front half 3 by a flexible nylon connecting strap 4. A centrifugal fan 5 is mounted on a gasoline engine shock absorber 2, which is in turn mounted on the rear half 1 of the trailer. A mushroom collection box 8 is mounted on the front half 3 of the trailer and is also mounted on the centrifugal fan 5, connected together via a ventilation pipe 6. A harvesting platform 7 is fixed to the mushroom collection box 8 and connected together via a threaded pipe 9.

[0125] A specific embodiment of the trailer structure of the present invention:

[0126] The trailer consists of two parts: the rear half 1 and the front half 3 are connected by a flexible nylon connecting strap 4. A mounting bracket for the gasoline engine shock absorber 2 (12) is used to secure the gasoline engine shock absorber 2. The trailer is equipped with eight 4-inch directional wheels 10 at the bottom. A connecting strap fixing bracket 14 is fixed to the front and rear trailer parts by the nylon connecting strap 4. A pointed rebar retainer 11 is used to secure pointed rebars inserted into the mud. To move the trailer, simply pull the trailer handle 13.

[0127] A specific embodiment of the collection box structure of the present invention:

[0128] The outer frame of the collection box is 15, which is 300. 500 The outer frame is made of 400mm steel. The drawer 16 is secured to the outer frame by eight latches 21 and latch hooks 20. A handle 19 is installed on the drawer for easy opening and closing. The drawer has two adapters: a ventilation duct adapter 17 for connecting the drawer to the ventilation duct 6; and a threaded pipe adapter 18 for connecting the drawer to the threaded pipe 9.

[0129] A specific embodiment of the harvesting platform structure of the present invention:

[0130] The purpose of the harvesting platform is to deliver the manually placed wood ear mushroom logs to the harvesting station, where the harvesting head will pick the wood ear mushrooms.

[0131] Motor bracket 1 27 and motor bracket 26 are fixed on the base 25 of the picking platform. The chassis stepper motor 28 drives the chassis synchronous belt 29 through the chassis synchronous pulley 30, which in turn drives the chassis driven pulley 31 and the picking platform chassis 38 to rotate; the adjacent chassis synchronous pulleys 30 are equipped with flange couplings 32.

[0132] Motor bracket 26 is used to fix the linear stepper motor 46. The rotation of the linear stepper motor 46 drives the flange nut seat 45, thereby moving the lifting platform 44 up and down. The workstation stepper motor 43 drives the workstation synchronous pulley 42, the workstation synchronous belt 41, the workstation driven synchronous pulley 22, and the driving mesh silicone 40, ultimately driving the driven mesh silicone 39 to rotate. The workstation tray 33 is locked to the driven mesh silicone 39, and the fungus sticks 37 are inserted into the tray fixing rod 34, fixing them to the workstation tray 33.

[0133] A specific embodiment of the harvesting head structure of the present invention:

[0134] The picking head lead screw stepper motor 47 is fixed on the base 25 of the picking platform.

[0135] The lead screw rotates, causing the lead screw flange nut seat 48 to move up and down. The lead screw flange nut seat 48 and the nut seat retainer 49 are fixed to the picking head slider 23. The picking head slider 23 is guided by two optical shafts 50. The optical shafts are fixed to the picking platform cover 36 and the picking platform base 25 by optical shaft fixing brackets 53. Two picking heads 24 are fixed to the picking head slider 23 and move up and down with the slider. A DC motor 52 is fixed to the picking head 24, and its shaft drives the flexible brush 51 to rotate.

[0136] A specific embodiment of the gas path connection and routing of the present invention:

[0137] Centrifugal fan 5 generates negative pressure, which draws gas out of the fungus collection box 8 through ventilation pipe 6, creating a negative pressure state in the fungus collection box 8. Threaded pipe 9 is connected to fungus collection box 8, and its end is fixed to harvesting platform 7. The fungus on the short sticks is harvested by the negative pressure generated by the airflow and transported to the collection box.

[0138] The first specific embodiment of the negative pressure harvesting method for black fungus of the present invention:

[0139] A negative pressure harvesting method for wood ear mushrooms, used for harvesting short-stick wood ear mushrooms, is as follows:

[0140] The short mushroom sticks are placed on an automated harvesting platform, a fully automatic system driven by four stepper motors. The platform's chassis, driven by a stepper motor, rotates the mushroom sticks to the harvesting station. The harvesting station, driven by a stepper motor, rotates. Simultaneously, the harvesting head, driven by a linear motor, moves intermittently up and down. The harvesting head uses the negative pressure generated by airflow to harvest the mushrooms and collect them in a container.

[0141] The negative pressure harvesting device for wood ear mushrooms uses negative pressure for harvesting short-stick wood ear mushrooms and incorporates a flexible brush device to assist in the detachment of the mushrooms. Simultaneously, an automatic harvesting control system composed of multi-stepper motors enables continuous harvesting of short-stick wood ear mushrooms, thereby improving operational efficiency and reducing labor costs. Secondly, this device reduces mechanical damage to the crop, preventing pollution and losses caused by the crop falling to the ground. The negative pressure harvesting technology for short-stick wood ear mushrooms is an innovative agricultural harvesting technique that can improve agricultural production efficiency and represents a significant trend in modern mechanized wood ear mushroom cultivation.

[0142] A second specific embodiment of the negative pressure harvesting method for black fungus of the present invention:

[0143] A method for harvesting wood ear mushrooms, including the following:

[0144] 1) First, start the centrifugal fan 5 and place 3 mushroom sticks 37 on the workstation tray 33.

[0145] 2) The chassis stepper motor 28 starts and aligns the fungus stick with the picking head 24 through the transmission mechanism.

[0146] 3) The linear stepper motor 46 starts, raising the flange nut seat 45 and the lifting platform 44, ultimately causing the driving mesh silicone 40 and the driven mesh silicone 39 to adhere and press together.

[0147] 4) The stepper motor at the workstation starts, and through the transmission mechanism, it drives the silicone mesh 40 to rotate, which in turn drives the fungus stick 37 to rotate at a constant speed.

[0148] 5) The stepper motor 47 of the picking head screw is started, driving the picking head slider 23 to move up and down intermittently. This aligns the picking head 24 with the target position of the wood ear fungus stick.

[0149] 6) Once the picking head is aligned with the target position of the wood ear mushroom stick, the DC motor 52 starts and drives the flexible brush 51 to rotate, assisting the wood ear mushroom to fall off.

[0150] A specific embodiment of the motor control method of the present invention:

[0151] This invention relates to four stepper motors and four DC motors. The motor control system uses a uniform 24V DC power supply. The motor control system controls the speed and rotation angle of the stepper motors by changing the pulse frequency and pulse duty cycle.

[0152] The chassis stepper motor 28 is a 57 stepper motor with a torque of 3.5nm, and the rotation angle is 360° for each interval. The transmission ratio between the chassis synchronous wheel 30 and the chassis driven wheel 31 is 3:1; therefore, when the chassis stepper motor rotates 360°, the harvesting platform chassis 38 rotates 120°, just enough to align the next mushroom stick with the harvesting head.

[0153] The linear stepper motor 46 is a 42 linear stepper motor with a torque of 0.55nm and a lead of 8mm. One rotation of the motor moves the lifting platform by 8mm. When the mushroom stick is aligned with the picking head, two rotations of the linear stepper motor are just enough to press the driving mesh silicone 40 and the driven mesh silicone 39 together.

[0154] The stepper motor 43 at the workstation uses a 57 stepper motor with a torque of 1.35 nm. The transmission ratio between the workstation synchronous pulley 42 and the workstation driven synchronous pulley 22 is 1:1. The stepper motor at the workstation rotates continuously, driving the mushroom sticks to move at a uniform speed.

[0155] The picking head lead screw stepper motor 47 uses a 0.7nm 42 stepper motor. The motor shaft is connected to an 8mm lead screw. The motor's rotation drives the picking head slider 23 to move up and down, sequentially delivering the picking head 24 to the six picking points on the mushroom log. Because the two picking heads are not in close contact, picking is done simultaneously at positions 1 and 4; positions 2 and 5; and positions 3 and 6. See the diagram showing the relative positions of the mushroom log and the picking head. Figure 7 The six locations are divided into three groups. Figure 8 .

[0156] The DC motor 52 is installed inside the picking head 24. After the equipment is turned on, the motor runs at full speed, driving the flexible brush 51 to rotate and assisting the wood ear mushrooms to fall off.

[0157] In terms of hardware, the STM32F103ZET6 core board is selected as the control unit. The microcontroller's I / O port outputs signals to control the stepper motor driver and thus control the stepper motor.

[0158] A specific embodiment of the chassis stepper motor control of the present invention:

[0159] The harvesting platform needs to hold three mushroom logs, each weighing approximately 1.5 kg. Including the platform's own weight, the total weight on the platform is about 6 kg.

[0160] Therefore, the chassis stepper motor experiences significant inertia during startup and shutdown. This control system employs a trapezoidal acceleration / deceleration model for the chassis stepper motor during startup and shutdown.

[0161] Based on a trapezoidal velocity curve, this model controls the acceleration and deceleration process of the stepper motor, ensuring a smooth speed transition, reducing vibration and noise, and guaranteeing the accuracy of the motion.

[0162] The model consists of the following parts:

[0163] Uniform acceleration phase:

[0164] During the uniform acceleration phase, the stepper motor's acceleration is *a*, the motion time is *t1*, and the velocity is *v1*. According to the formula for uniformly accelerated motion, we have:

[0165] v1 = at1 (1)

[0166] Where a is the acceleration and t1 is the time of uniform acceleration.

[0167] Uniform deceleration phase:

[0168] During the uniform deceleration phase, the stepper motor's deceleration is b, the motion time is t2, and the motion speed is v2. According to the formula for uniformly decelerated motion, we have:

[0169] v2 = v1 + bt2 (2)

[0170] Where b is the deceleration and t2 is the time of uniform deceleration.

[0171] Exercise time:

[0172] The time t1 required for a stepper motor to reach its maximum speed v1 from rest, and the time t2 required to decelerate from its maximum speed v1 back to rest, can be calculated using the following formulas:

[0173] t1= (3)

[0174] t2= (4)

[0175] Movement distance:

[0176] The distances traveled by the stepper motor during the uniform acceleration and uniform deceleration phases are as follows:

[0177] s1= at1 2 (5)

[0178] s2 = v1t2 - bt2 2 (6)

[0179] Where s1 is the distance traveled during the uniform acceleration phase, and s2 is the distance traveled during the uniform deceleration phase.

[0180] Total exercise time and total exercise distance:

[0181] The total motion time and total motion distance of the stepper motor are:

[0182] T = 2t1 + t2 (7)

[0183] S = s1 + s2 (8)

[0184] Where T is the total motion time and S is the total motion distance.

[0185] The above formula can be used to calculate the motion parameters of a stepper motor under trapezoidal acceleration and deceleration control, thereby achieving precise motion control.

[0186] An embodiment of a device applying the method of the present invention:

[0187] A computer device comprising:

[0188] One or more processors;

[0189] Storage device for storing one or more programs;

[0190] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-described method for harvesting black fungus under negative pressure.

[0191] An embodiment of a computer medium applying the method of the present invention:

[0192] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for harvesting black fungus under negative pressure.

[0193] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0194] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0195] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0196] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0197] In this application, the fixed connection method can be screwed, welded, riveted, plugged, or connected through a third component. Those skilled in the art can choose according to the actual situation.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A negative pressure harvesting device for wood ear mushrooms, characterized in that, It includes a harvesting platform for inserting the wood ear mushroom sticks, a fan for generating negative pressure, a wood ear mushroom collection box for storing the wood ear mushrooms, and a collection pipe for harvesting the wood ear mushrooms; The upper part of the harvesting platform is equipped with several fixing rods for inserting wood ear mushroom sticks and workstation trays for holding wood ear mushroom sticks. The lower part is equipped with a rotating component for driving the fixing rods to move in an arc, a self-rotating component for driving the fixing rods to rotate, and a lifting component for driving the self-rotating component to move up and down. The blower draws the gas out of the fungus collection box, creating a negative pressure state inside the fungus collection box; the collection pipe is set on the fungus collection box, which relies on the negative pressure generated by the airflow to harvest the fungus and transport it to the collection box. The rotating assembly includes a chassis (38), a base (25), a chassis stepper motor (28), a chassis synchronous pulley (30), a chassis synchronous belt (29), and a chassis driven pulley (31). The chassis (38) is fixedly connected to the picking platform and is located above the base; A chassis stepper motor (28), a chassis synchronous pulley (30), a chassis synchronous belt (29), and a chassis driven pulley (31) are assembled between the base (25) and the chassis (38). The chassis stepper motor (28) drives the chassis timing belt (29) to move through the chassis timing wheel (30), and the chassis timing belt then drives the chassis driven wheel (31) to rotate. The chassis driven wheel (31) then drives the chassis (38) of the picking platform to rotate, thereby realizing the arc movement of the fixed rod. The lifting assembly includes motor bracket one (27), motor bracket two (26), linear stepper motor (46), flange nut seat (45), and lifting platform (44). Motor bracket one (27) and motor bracket two (26) are fixed on the base (25); A self-rotating component is installed on the lifting platform; A linear stepper motor (46) is mounted on the motor bracket (26); the linear stepper motor (46) rotates, which drives the flange nut seat (45) to rotate, thereby driving the lifting platform (44) and the self-rotating component to move up and down; The self-rotating component includes a station stepper motor (43), a station synchronous pulley (42), a station synchronous belt (41), a station driven synchronous pulley (22), a drive mesh silicone (40), and a driven mesh silicone (39). The driven mesh silicone (39) can abut against the workstation tray; The station stepper motor (43) uses the station synchronous wheel (42), station synchronous belt (41), station driven synchronous wheel (22), and drive mesh silicone (40) to drive the driven mesh silicone (39) to rotate. The driven mesh silicone (39) comes into contact with the station tray (33) under the drive of the lifting component, so that the two rotate synchronously.

2. The negative pressure harvesting device for wood ear mushrooms as described in claim 1, characterized in that, The collection pipe is equipped with one or more harvesting mechanisms. The harvesting mechanism includes at least one harvesting head with a cavity, a harvesting head moving component for driving the harvesting head to move, and an auxiliary harvesting component for assisting the harvesting head in harvesting. The picking head moving assembly includes a picking head lead screw stepper motor (47), lead screw, lead screw flange nut seat (48), nut seat retainer (49), and picking head slider (23). The picking head lead screw stepper motor (47) is fixed on the base (25) of the picking platform; The lead screw rotates, causing the lead screw flange nut seat (48) to move up and down; The screw flange nut seat (48) and the nut seat retainer (49) are fixed on the picking head slider (23); The picking head slider (23) is guided by two optical shafts (50); The optical axis component is fixed to the top cover (36) of the picking platform and the base (25) of the picking platform by the optical axis fixing bracket (53); the picking head (24) is fixed on the picking head slider (23) and moves up and down with the picking head slider (23); Or / and, auxiliary picking components, equipped with a DC motor (52) and a flexible brush (51). A DC motor (52) is fixed on the picking head (24), and its shaft drives the flexible brush (51) to rotate.

3. A negative pressure harvesting device for wood ear mushrooms as described in any one of claims 1-2, characterized in that, The collection box has two adapters, one of which is equipped with a ventilation pipe adapter (17). Another adapter is used to assemble a threaded pipe adapter (18). Ventilation duct adapter (17) is used to connect the collection box and the fan; threaded pipe adapter (18) is used to connect the collection box and the collection pipe opening; The fan is a centrifugal fan, which is assembled with the ventilation pipe adapter (17) through the ventilation pipe (6); The collection pipe opening is a threaded pipe (9); Or / and, it also includes a control unit, which controls the speed of the stepper motor by changing the pulse frequency and pulse duty cycle; the control unit is a microcontroller powered by 5V DC; the stepper motor is powered by 24V DC. The microcontroller is an STM32F103ZET6 core board. The microcontroller's I / O port output signals control the stepper motor driver, and thus control the stepper motor. Or / and, the centrifugal fan is mounted on the rear half of a trailer. The mushroom collection box is mounted on the front half of the trailer; The rear half (1) of the trailer is connected to the front half (3) of the trailer by a flexible nylon connecting strap (4) to form a trailer; The centrifugal fan is fixed to the rear half of the trailer via a gasoline engine shock absorber. The trailer also includes a handle (13) for pulling the trailer, eight 4-inch directional wheels (10) mounted on the bottom of the trailer, a connecting belt fixing bracket (14) and a pointed steel bar fixing device (11).

4. A method for harvesting wood ear fungus under negative pressure, characterized in that, The application of the negative pressure harvesting device for wood ear mushrooms as described in any one of claims 1-3 includes the following steps: Step 1: First, start the centrifugal fan (5) and place one or more mushroom sticks (37) on the workstation tray (33); Step 2: The chassis stepper motor (28) is started, and the wood ear mushroom stick is aligned with the picking head (24) by rotating the component. Step 3: Start the linear stepper motor (46) to raise the flange nut seat (45) and the lifting platform (44), so that the driving mesh silicone (40) and the driven mesh silicone (39) are finally attached and pressed together; Step 4: The stepper motor at the workstation is started, and the drive mesh silicone (40) is rotated through the transmission mechanism, which in turn drives the fungus stick (37) to rotate at a constant speed. Step 5: Start the stepper motor (47) of the picking head screw, which drives the picking head slider (23) to move up and down intermittently; so that the picking head (24) is aligned with the target position of the wood ear fungus stick; Step 6: When the picking head is aligned with the target position of the wood ear fungus stick, the DC motor (52) is started to drive the flexible brush (51) to rotate, assisting the wood ear fungus to fall off; Step 7: The centrifugal fan (5) generates negative pressure and draws the gas out of the fungus collection box (8) through the ventilation pipe (6), so that the fungus collection box (8) is in a negative pressure state; Step 8: The collection pipe on the fungus collection box (8) is set up to collect fungus by relying on the negative pressure generated by the airflow and transport it to the collection box to complete the negative pressure harvesting of fungus.

5. The method for harvesting wood ear fungus under negative pressure as described in claim 4, characterized in that, The chassis stepper motor (28) is a 57 stepper motor with a torque of 3.5nm, and the rotation angle of each interval is 360°; the transmission ratio of the chassis synchronous wheel (30) and the chassis driven wheel (31) is 3:1; The chassis stepper motor rotates 360°. The picking platform chassis (38) rotates 120° to align the next wood ear mushroom stick with the picking head. The linear stepper motor (46) is a 42 linear stepper motor with a torque of 0.55nm and a lead of 8mm. When the motor shaft rotates once, the lifting platform moves 8mm. When the mushroom stick is aligned with the picking head, the linear stepper motor rotates twice to press the driving mesh silicone (40) and the driven mesh silicone (39) together. The workstation stepper motor (43) is a 57 stepper motor with a torque of 1.35nm; the transmission ratio of the workstation synchronous wheel (42) and the workstation driven synchronous wheel (22) is 1:1; the workstation stepper motor rotates continuously, driving the mushroom stick to move at a uniform speed; The picking head screw stepper motor (47) adopts a 0.7nm 42 stepper motor, and its motor shaft is connected to an 8mm screw. The motor rotation drives the picking head slider (23) to move up and down, and sequentially sends the picking head (24) to one or more picking points on the mushroom stick. A DC motor (52) is installed inside the picking head (24). The DC motor (52) drives the flexible brush (51) to rotate, which helps the wood ear fungus to fall off.

6. The method for harvesting wood ear fungus under negative pressure as described in claim 5, characterized in that, By constructing a trapezoidal acceleration and deceleration model, the chassis stepper motor is controlled during the start-up and stop phases; The trapezoidal acceleration and deceleration model, based on the trapezoidal velocity curve, controls the acceleration and deceleration process of the chassis stepper motor; it includes the uniform acceleration stage, uniform deceleration stage, motion time, motion distance, total motion time and total motion distance of the chassis stepper motor; The uniform acceleration phase of the chassis stepper motor includes the following: During the uniform acceleration phase, the acceleration of the chassis stepper motor is a, the motion time is t1, and the motion speed is v1. According to the formula for uniformly accelerated motion, we have: v1 = at1 (1) Where a is the acceleration and t1 is the time of uniform acceleration; The uniform deceleration stage of the chassis stepper motor includes the following: During the uniform deceleration phase, the deceleration of the chassis stepper motor is b, the motion time is t2, and the motion speed is v2. According to the formula for uniformly decelerated motion, we have: v2 = v1 + bt2 (2) Where b is the deceleration and t2 is the time of uniform deceleration; The motion time of the chassis stepper motor includes the following: The time t1 required for the chassis stepper motor to reach its maximum speed v1 from rest, and the time t2 required to decelerate from its maximum speed v1 back to rest, are calculated using the following formulas: t1= （3） t2= （4） The travel distance of the chassis stepper motor includes the following: The travel distances of the chassis stepper motor during the uniform acceleration and uniform deceleration phases are as follows: s1= at1 2 (5) s2 = v1t2- bt2 2 (6) Where s1 is the distance traveled during the uniform acceleration phase, and s2 is the distance traveled during the uniform deceleration phase; The total motion time and total motion distance of the chassis stepper motor include the following: T = 2t1 + t2 (7) S = s1 + s2 (8) Where T is the total motion time and S is the total motion distance; The motion parameters of the chassis stepper motor under trapezoidal acceleration and deceleration control are calculated using formulas (1)-(8), thereby achieving precise motion control.

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