Self-propelled lightweight black fungus stick placing machine and black fungus stick placing method

Abstract

The present invention discloses a self-propelled lightweight black fungus stick placing machine and a method for placing black fungus sticks thereof. In the present invention, the support plate and the frame form a sliding pair in the vertical direction, and are driven to rise and fall by a lifting mechanism, and a plurality of circular holes arranged in an array are provided on the support plate, and a placing mechanism is provided on the frame directly above each circular hole; in the placing mechanism, the circular tube and the telescopic tube are coaxial and vertically arranged, the circular tube is fixed to the frame, and the two ends of the telescopic tube are fixed to the positions of the corresponding circular holes on the circular tube and the support plate, and two square holes arranged oppositely are provided in the middle of the circular tube, and a buffer component is provided. The present invention can realize the manual standing placement of black fungus sticks, replacing the process of manually bending over to place black fungus sticks, improving the placement efficiency, and reducing the labor intensity, and the present invention can replace the manual straightening of black fungus sticks, further improving the placement efficiency, and reducing the labor intensity.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a self-propelled lightweight black fungus stick placing machine and a black fungus stick placing method thereof. Background Art

[0002] my country is the first country in the world to cultivate black fungus, with a history of artificial cultivation of over 1,300 years. The placement of black fungus sticks is mostly done in September and October after the autumn harvest, which is highly seasonal, with short labor cycles and high intensity. Currently, the placement of black fungus sticks is mainly manual, requiring people to bend over and place the sticks one by one on the ground, and to manually align them, resulting in low placement efficiency and high labor intensity. Furthermore, the research and development of machinery for placing black fungus sticks is still in its infancy, with no standardized, automated, or readily available machines for this operation. Therefore, there is an urgent need for a device that can improve the placement efficiency of black fungus sticks, reduce labor intensity, and achieve the alignment of black fungus sticks. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the existing technology and to provide a self-propelled lightweight black fungus stick placing machine and a black fungus stick placing method.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The self-propelled lightweight black fungus stick placing machine of the present invention comprises a frame and wheels, and is characterized in that it also comprises a support plate, a lifting mechanism and a placing mechanism.

[0006] The four corners of the frame are hinged with wheels, and the two wheels at the rear are driven by their own hub motors; the horizontally arranged support plate and the frame form a vertical sliding pair, and are driven to rise and fall by a lifting mechanism, and the support plate is provided with multiple circular holes arranged in an array, and a placement mechanism is provided on the frame directly above each circular hole.

[0007] The placing mechanism includes a circular tube, a telescopic tube and a buffer assembly; the circular tube is coaxial with the telescopic tube and is vertically arranged, the upper end of the circular tube is fixed to the frame, and the lower end is fixed to the upper end of the telescopic tube, the lower end of the telescopic tube is fixed to the position of the corresponding circular hole on the support plate, and two square holes opposite to each other are opened in the middle of the circular tube; the buffer assembly includes a fixing clamp, an arc plate and a tension spring, the fixing clamp is fixed to the circular tube, the upper ends of the two arc plates symmetrically arranged with the convex surface facing inward are hinged to the two ends of the fixing clamp respectively through a hinge shaft, and a torsion spring is sleeved on the hinge shaft, the two ends of the torsion spring are fixed to the arc plate and the fixing clamp, the lower ends of the two arc plates are provided with an integrally formed connecting plate, one end of the two connecting plates is connected to the two ends of a tension spring, and the other end is connected to the two ends of another tension spring, and each arc plate is located at a square hole position.

[0008] Preferably, vertically arranged optical axes are fixed at both ends of the frame, and sliders are fixed at both ends of the support plate, and each slider and an optical axis constitute a sliding pair.

[0009] More preferably, a limit block is fixed on the optical axis.

[0010] Material toggling mechanism, its both ends are connected with the up-down knob.The two ends of two guide wheels are respectively connected to each other with a up-down knob.The guide wheels have the thermostatic function of sliding connection, and the two guide wheels are connected along the vertical direction of the piston rod.

[0011] More preferably, two connecting members arranged at intervals are fixed on the frame, and the two pressing rods are hinged to the two connecting members.

[0012] More preferably, two guide rails arranged at a distance from each other are fixed on the frame, and the two lifting rods and the two guide rails form a sliding pair.

[0013] The method for placing black fungus sticks of the self-propelled lightweight black fungus stick placing machine of the present invention is as follows:

[0014] In the initial state, the support plate is at the top, and the telescopic tubes of each placement mechanism are in a compressed state. First, the controller controls each hub motor to drive each wheel to drive the frame, support plate, lifting mechanism, and each placement mechanism to move to the black fungus stick placement position; then the lifting mechanism drives the support plate downward, and the support plate drives the telescopic tubes to stretch until the support plate moves to the bottom; then a black fungus stick is placed in each circular tube, and under the action of its own gravity, the black fungus stick falls from the circular tube into the telescopic tube, passes through the circular hole in the telescopic tube, and falls upright to the ground; finally, the lifting mechanism drives the support plate upward, and the support plate drives the telescopic tubes to compress until the support plate returns to its initial position, and the upper end of each black fungus stick is separated from the corresponding telescopic tube, thereby completing the placement of the black fungus sticks.

[0015] Among them, when the black fungus stick passes through the circular tube, both sides of the black fungus stick contact with the two curved plates and push the two curved plates to rotate outward, thereby driving the two tension springs to stretch, and the black fungus stick is decelerated by the force of the tension springs, thereby reducing the speed at which the black fungus stick falls to the ground, thereby reducing the impact force of the black fungus stick when it falls to the ground, until the black fungus stick is out of contact with the two curved plates, and the two curved plates rotate inward to their original position under the action of the tension springs and torsion springs; when the black fungus stick passes through the circular hole and falls to the ground, the upper end of the black fungus stick is still in the telescopic tube, and the telescopic tube straightens the black fungus stick so that the black fungus stick is placed upright on the ground.

[0016] Preferably, the speed at which the black fungus stick falls to the ground is designed to be less than a preset speed value, and the calculation process of the elastic coefficient value range of the tension spring is as follows:

[0017] According to the law of conservation of energy, when the black fungus stick falls to the ground, part of the gravitational potential energy of the black fungus stick is converted into kinetic energy, and the other part is converted into the elastic potential energy of the two tension springs, the elastic potential energy of the two torsion springs, and the work done by the black fungus stick to overcome the friction when it contacts the two arc plates. The kinetic energy of the black fungus stick when it falls to the ground is

[0018] E K =1 / 2mv 2

[0019] Where m is the weight of the black fungus stick, v is the speed of the black fungus stick when it falls to the ground;

[0020] The elastic potential energy of the two extension springs is

[0021] E P1 =2×1 / 2kx 2

[0022] Where k is the elastic constant of the extension spring, and x is the elongation of the extension spring;

[0023] The elastic potential energy of the two torsion springs is

[0024] E P2 =2×1 / 2cθ 2

[0025] Where c is the torsional stiffness of the torsion spring, θ is the torsional angle of the torsion spring, that is, the deflection angle of the arc plate;

[0026] The work done to overcome the friction when the black fungus stick contacts the two curved plates is

[0027] W=2×μFS

[0028] Where μ is the friction coefficient between the black fungus stick and the curved plate; F is the normal pressure on the black fungus stick, that is, the force exerted by the tension spring on the black fungus stick. According to Hooke's theorem, F = 2kx; S is the contact length between the black fungus stick and the curved plate, that is, the length of the black fungus stick.

[0029] The gravitational potential energy of the black fungus stick is

[0030] mgh=1 / 2mv 2 +2×1 / 2kx 2 +2×1 / 2cθ 2 +4×μkxS

[0031] Where h is the height of the black fungus stick from the ground before it falls, g is the acceleration due to gravity, and g = 9.81 m / s 2 ;

[0032] Assume that the speed of the black fungus stick when it falls to the ground is less than the preset speed value v1, then

[0033]

[0034] At the same time, when the black fungus stick falls through the buffer assembly, the gravitational potential energy of the black fungus stick cannot be fully converted into the elastic potential energy of the two tension springs, the elastic potential energy of the two torsion springs and the work done by the black fungus stick to overcome the friction when it contacts the two arc plates.

[0035] mgh0+mgS-2×1 / 2kx 2 -2×1 / 2cθ 2 -4×μkxS>0 (2)

[0036] Where h0 is the height difference between the position of the black fungus stick before it falls and the position where the curved plate just contacts the black fungus stick;

[0037] The length of the black fungus stick, the diameter of the black fungus stick, the weight m of the black fungus stick, the torsional stiffness c of the torsion spring, the friction coefficient μ between the black fungus stick and the arc plate, the torsional angle θ of the torsion spring, the height h of the black fungus stick from the ground before it falls, and the height h0 of the position where the arc plate just contacts the black fungus stick are all assumed to be known quantities. Then, the range of values ​​of the elastic coefficient k of the tension spring when the speed of the black fungus stick when it falls to the ground is less than the preset value v1 is obtained by combining equations (1) and (2).

[0038] The present invention has the following beneficial effects:

[0039] 1. The present invention can realize the manual standing placement of black fungus sticks, replacing the process of manually bending over to place the black fungus sticks, and the present invention can replace the manual straightening of the black fungus sticks. Specifically, when the present invention is used, the black fungus sticks are manually placed into the circular tube while standing, and the placement of the black fungus sticks is achieved through the guiding effect of the coaxially arranged circular tube and the telescopic tube, thereby improving the placement efficiency and reducing the labor intensity. After the black fungus sticks fall to the ground through the telescopic tube, the straightening effect of the telescopic tube allows the black fungus sticks to be placed upright on the ground, replacing the manual straightening process, further improving the placement efficiency and reducing the labor intensity.

[0040] 2. The present invention is provided with a buffer component, so that when the black fungus sticks pass through the circular tube, the buffering effect of the buffer component reduces the speed of the black fungus sticks when they fall to the ground, thereby reducing the impact force of the black fungus sticks when they fall to the ground, and preventing the black fungus sticks from affecting the puncture position of the black fungus sticks due to excessive impact force when they fall to the ground, thereby preventing the occurrence of a phenomenon in which the black fungus yield is affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention;

[0042] Figure 2 for Figure 1 Front view of

[0043] Figure 3 for Figure 1 Side view of

[0044] Figure 4 Schematic diagram of the structure of the buffer assembly in the present invention;

[0045] Figure 5 Schematic diagram of the structure of the connecting rod 1, the pressing rod and the locking assembly in the present invention;

[0046] Figure 6 It is a structural schematic diagram of the present invention in an initial state. DETAILED DESCRIPTION

[0047] The present invention will be further described below with reference to the accompanying drawings.

[0048] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, the self-propelled lightweight black fungus stick placing machine of the present invention includes a frame 1, wheels 2, a support plate 4, a lifting mechanism 5 and a placing mechanism 6.

[0049] Wheels 2 are hinged at the four corners of the frame 1. The two wheels 2 at the rear are driven by their own hub motors, which are powered by an electrical box 3 located on the frame 1. The horizontally arranged support plate 4 forms a vertical sliding pair with the frame 1 and is driven to rise and fall by a lifting mechanism 5. The support plate 4 is provided with a plurality of circular holes arranged in an array, and a placement mechanism 6 is provided on the frame 1 directly above each circular hole.

[0050] The placing mechanism 6 includes a circular tube 61, a telescopic tube 62 and a buffer assembly; the circular tube 61 is coaxial with the telescopic tube 62 and is vertically arranged, the upper end of the circular tube 61 is fixed to the frame 1, and the lower end is fixed to the upper end of the telescopic tube 62, the lower end of the telescopic tube 62 is fixed to the position of the corresponding circular hole on the support plate 4, and two square holes arranged opposite to each other are opened in the middle of the circular tube 61; the buffer assembly includes a fixing clamp 63, an arc plate 65 and a tension spring 66, the fixing clamp 63 is fixed to the circular tube 61, and the upper ends of the two arc plates 65 arranged symmetrically and with the convex surface facing inward are respectively hinged to the fixing clamp 63 through a hinge shaft, and a torsion spring 64 is sleeved on the hinge shaft, and the two ends of the torsion spring are fixed to the arc plate and the fixing clamp, and the lower ends of the two arc plates 65 are provided with an integrally formed connecting plate, one end of the two connecting plates is connected to the two ends of a tension spring 66, and the other end is connected to the two ends of another tension spring 66, and each arc plate 65 is located at a square hole position.

[0051] In this embodiment, the diameter of the wheel 2 is 25 cm, the voltage of the hub motor is 24 V, and the power is 500 W. The hub motor is controlled by a controller, and the control method adopts an adaptive PID (proportional-integral-differential) speed control method. This method uses a PWM (pulse width modulation) modulation wave to change the loading voltage on the three-phase inverter, which is suitable for speed control of permanent magnet synchronous motors in a DC environment. The control signal of the controller is calculated by the PID formula, which is:

[0052]

[0053] Where u(t) is the control signal output by the controller at time t (that is, the output of the controller), K p is the proportional coefficient (also known as proportional gain), K i is the integral coefficient (that is, the integral gain), Kd is the differential coefficient (that is, the differential gain), e(t) is the error between the input signal of the controller and the desired value, and de(t) / dt is the derivative of the error, that is, the rate of change of the error.

[0054] As a preferred embodiment, vertically arranged optical axes 7 are fixed at both ends of the frame 1 , and sliders 8 are fixed at both ends of the support plate 4 . Each slider 8 forms a sliding pair with one optical axis 7 .

[0055] More preferably, a limit block 9 is fixed to the lower end of the optical axis 7 , and the limit block 9 is used to limit the lowest height of the support plate 4 .

[0056] As a preferred embodiment, the lifting mechanism 5 includes a connecting rod 51, a pressing rod 52, a connecting rod 53, a lifting rod 54 and a locking assembly. The upper ends of the two pressing rods 52 arranged in parallel and at intervals are fixed to the two ends of the horizontally arranged connecting rod 51, and the middle parts form a rotating pair with the frame 1. The lower ends are hinged to one end of the two connecting rods 53, and the other ends of the two connecting rods 53 are hinged to the upper ends of the two lifting rods 54 arranged in parallel and at intervals. The lower ends of the two lifting rods 54 are fixed to the two ends of the support plate 4, and the two lifting rods 54 form a vertical sliding pair with the frame 1. The locking assembly includes a sliding shaft 55, a compression The spring 56, the buckle 57 and the locking plate 58, the two sliding shafts 55 parallel to the pressing rod 52 and arranged at intervals are fixed at the two ends of the connecting rod 2, and the connecting rod 2 is parallel to the connecting rod 1 51 and is located below the connecting rod 1 51. Each sliding shaft 55 and a pressing rod 52 on the same side form a sliding pair along the axial direction. A compression spring 56 is sleeved on each sliding shaft 55, and the two ends of the compression spring 56 are fixed to the sliding shaft 55 and the pressing rod 52. A buckle 57 is fixed on each sliding shaft 55. The locking plate 58 is horizontally fixed on the frame 1. The locking plate 58 is used to clamp the buckle 57 when in the locked state.

[0057] More preferably, two connecting members 59 arranged at intervals are fixed on the frame 1 , and the two pressing rods 52 are hinged to the two connecting members 59 .

[0058] More preferably, two guide rails 510 arranged at a distance from each other are fixed to the frame 1 , and the two lifting rods 54 and the two guide rails 510 form a sliding pair.

[0059] The method for placing black fungus sticks of the self-propelled lightweight black fungus stick placing machine of the present invention is as follows:

[0060] In the initial state, the support plate 4 is located at the uppermost position, and the telescopic tubes 62 of each placement mechanism 6 are in a compressed state. Figure 6First, the controller controls each wheel hub motor to drive each wheel 2 to drive the frame 1, support plate 4, lifting mechanism 5 and each placement mechanism 6 to move to the black fungus stick placement position; then the lifting mechanism 5 drives the support plate 4 to move downward, and the support plate 4 drives each telescopic tube 62 to stretch until the support plate 4 moves to the lowest position, as shown. Figure 2 As shown; then a black fungus stick is put into each circular tube 61, and the black fungus stick falls from the circular tube 61 into the telescopic tube 62 under the action of its own gravity, passes through the circular hole of the telescopic tube 62, and falls upright to the ground; finally, the lifting mechanism 5 drives the support plate 4 to move upward, and the support plate 4 drives each telescopic tube 62 to compress until the support plate 4 returns to its initial position, and the upper end of each black fungus stick is separated from the corresponding telescopic tube 62, thereby completing the placement of the black fungus sticks.

[0061] Among them, when the black fungus stick passes through the circular tube 61, the two sides of the black fungus stick contact with the two curved plates 65 and push the two curved plates 65 to rotate outward, thereby driving the two tension springs 66 to stretch, and the black fungus stick is decelerated by the force of the tension springs 66, thereby reducing the speed at which the black fungus stick falls to the ground, thereby reducing the impact force of the black fungus stick when it falls to the ground, playing a buffering role, until the black fungus stick is disengaged from the two curved plates 65, and the two curved plates 65 rotate inward to their original position under the action of the tension springs 66 and the torsion springs 64; when the black fungus stick passes through the circular hole and falls to the ground, the upper end of the black fungus stick is still in the telescopic tube 62, and the telescopic tube 62 straightens the black fungus stick so that the black fungus stick is placed upright on the ground.

[0062] Among them, the speed of the black fungus stick when falling to the ground is designed to be less than the preset speed value, and the calculation process of the elastic coefficient value range of the tension spring 66 is as follows:

[0063] According to the law of conservation of energy, when the black fungus stick falls to the ground, part of the gravitational potential energy of the black fungus stick is converted into kinetic energy, and the other part is converted into the elastic potential energy of the two tension springs 66, the elastic potential energy of the two torsion springs, and the work done by the black fungus stick to overcome the friction when it contacts the two arc plates 65. The kinetic energy of the black fungus stick when it falls to the ground is

[0064] E K =1 / 2mv 2

[0065] Where m is the weight of the black fungus stick, v is the speed of the black fungus stick when it falls to the ground;

[0066] The elastic potential energy of the two extension springs is

[0067] E P1 =2×1 / 2kx 2

[0068] Where k is the elastic constant of the extension spring, and x is the elongation of the extension spring;

[0069] The elastic potential energy of the two torsion springs is

[0070] E P2 =2×1 / 2cθ 2

[0071] Where c is the torsional stiffness of the torsion spring, θ is the torsional angle of the torsion spring, that is, the deflection angle of the arc plate;

[0072] The work done to overcome the friction when the black fungus stick contacts the two arc plates 65 is

[0073] W=2×μFS

[0074] Where μ is the friction coefficient between the black fungus stick and the curved plate; F is the normal pressure on the black fungus stick, that is, the force exerted by the tension spring on the black fungus stick. According to Hooke's theorem, F = 2kx; S is the contact length between the black fungus stick and the curved plate, that is, the length of the black fungus stick.

[0075] The gravitational potential energy of the black fungus stick is

[0076] mgh=1 / 2mv 2 +2×1 / 2kx 2 +2×1 / 2cθ 2 +4×μkxS

[0077] Where h is the height of the black fungus stick from the ground before it falls, g is the acceleration due to gravity, and g = 9.81 m / s 2 ;

[0078] Assume that the speed of the black fungus stick when it falls to the ground is less than the preset speed value v1, then

[0079]

[0080] At the same time, in order to ensure that the black fungus stick can pass through the buffer assembly, when the black fungus stick falls through the buffer assembly, the gravitational potential energy of the black fungus stick cannot be fully converted into the elastic potential energy of the two tension springs 66, the elastic potential energy of the two torsion springs and the work done by the black fungus stick to overcome the friction when it contacts the two arc plates 65.

[0081] mgh0+mgS-2×1 / 2kx 2 -2×1 / 2cθ 2 -4×μkxS>0 (2)

[0082] Where h0 is the height difference between the position of the black fungus stick before it falls and the position where the curved plate just contacts the black fungus stick;

[0083] In this embodiment, the black fungus stick is 230 mm in length, 110 mm in diameter, and weighs 3 kg. The torsional stiffness c of the torsion spring, the friction coefficient μ between the black fungus stick and the curved plate, the torsional angle θ of the torsion spring, the height h of the black fungus stick from the ground before it falls, and the height h0 of the position where the curved plate just contacts the black fungus stick are all set as known quantities. Among them, the friction coefficient μ between the black fungus stick and the curved plate and the torsional angle θ of the torsion spring can be measured through preliminary experiments. The torsional angle θ of the torsion spring is the angle. The deflection angle of the arc plate after the black fungus stick contacts the arc plate is measured by the sensor in the preliminary test. The height h0 of the position where the arc plate just contacts the black fungus stick can be calculated based on the diameter of the black fungus stick, the height of the center position of the arc plate and the radius of the arc plate. The elongation x of the tension spring is the difference between the diameter of the black fungus stick and the initial distance between the two arc plates. Then, the combination of equations (1) and (2) can be used to calculate the range of values ​​of the elastic coefficient k of the tension spring when the speed of the black fungus stick falling to the ground is less than the preset value v1.

Claims

1. A self-propelled lightweight black fungus stick placing machine, comprising a frame and wheels, characterized by: The machine frame also includes a support plate, a lifting mechanism, and a placement mechanism; the four corners of the frame are hinged with wheels, and the two wheels at the rear are driven by their own hub motors; the horizontally arranged support plate and the frame form a vertical sliding pair and are driven up and down by the lifting mechanism, and the support plate is provided with a plurality of circular holes arranged in an array, and a placement mechanism is provided on the frame directly above each circular hole; The placing mechanism includes a circular tube, a telescopic tube and a buffer assembly; the circular tube is coaxial with the telescopic tube and is vertically arranged, the upper end of the circular tube is fixed to the frame, and the lower end is fixed to the upper end of the telescopic tube, the lower end of the telescopic tube is fixed to the position of the corresponding circular hole on the support plate, and two square holes opposite to each other are opened in the middle of the circular tube; the buffer assembly includes a fixing clamp, an arc plate and a tension spring, the fixing clamp is fixed to the circular tube, the upper ends of the two arc plates symmetrically arranged with the convex surface facing inward are respectively hinged to the fixing clamp through a hinge shaft, and a torsion spring is sleeved on the hinge shaft, the two ends of the torsion spring are fixed to the arc plate and the fixing clamp, the lower ends of the two arc plates are provided with an integrally formed connecting plate, one end of the two connecting plates is connected to the two ends of a tension spring, and the other end is connected to the two ends of another tension spring, and each arc plate is located at a square hole position.

2. The self-propelled lightweight black fungus stick swinging machine according to claim 1, characterized in that: Both ends of the frame are fixed with vertically arranged optical axes, and both ends of the support plate are fixed with sliders, and each slider forms a sliding pair with an optical axis.

3. The self-propelled lightweight black fungus stick swinging machine according to claim 2, characterized in that: A limiting block is fixed on the optical axis.

4. The self-propelled lightweight black fungus stick swinging machine according to claim 1, characterized in that: Material toggling mechanism, its both ends are connected with the up-down knob.The two ends of two guide wheels are respectively connected to each other with the help of the spring and the control wheel, and the control wheel is in the rotation with the push of a button car.

5. The self-propelled lightweight black fungus stick swinging machine according to claim 4, characterized in that: Two connecting pieces arranged at intervals are fixed on the frame, and two pressing rods are hinged to the two connecting pieces.

6. The self-propelled lightweight black fungus stick swinging machine according to claim 4, characterized in that: Two guide rails arranged at intervals are fixed on the frame, and two lifting rods and the two guide rails form a sliding pair.

7. The method for placing black fungus sticks of the self-propelled lightweight black fungus stick placing machine according to any one of claims 1 to 6, characterized in that: The details are as follows: In the initial state, the support plate is at the uppermost position, and the telescopic tubes of each placing mechanism are in a compressed state; first, the controller controls each hub motor to drive each wheel to drive the frame, support plate, lifting mechanism and each placing mechanism to move to the black fungus stick placing position; then the lifting mechanism drives the support plate to move downward, and the support plate drives each telescopic tube to stretch until the support plate moves to the lowermost position; then a black fungus stick is placed in each circular tube, and the black fungus stick falls from the circular tube into the telescopic tube under the action of its own gravity, passes through the circular hole in the telescopic tube, and falls upright to the ground; finally, the lifting mechanism drives the support plate to move upward, and the support plate drives each telescopic tube to compress until the support plate returns to the initial position, and the upper end of each black fungus stick is separated from the corresponding telescopic tube, thereby completing the placement of the black fungus sticks; Among them, when the black fungus stick passes through the circular tube, both sides of the black fungus stick contact with the two curved plates and push the two curved plates to rotate outward, thereby driving the two tension springs to stretch, and the black fungus stick is decelerated by the force of the tension springs, thereby reducing the speed at which the black fungus stick falls to the ground, thereby reducing the impact force of the black fungus stick when it falls to the ground, until the black fungus stick is out of contact with the two curved plates, and the two curved plates rotate inward to their original position under the action of the tension springs and torsion springs; when the black fungus stick passes through the circular hole and falls to the ground, the upper end of the black fungus stick is still in the telescopic tube, and the telescopic tube straightens the black fungus stick so that the black fungus stick is placed upright on the ground.

8. The method for placing black fungus sticks of the self-propelled lightweight black fungus stick placing machine according to claim 7, characterized in that: If the speed at which the black fungus stick falls to the ground is less than the preset speed, the calculation process for the elastic coefficient value range of the tension spring is as follows: According to the law of conservation of energy, when the black fungus stick falls to the ground, part of the gravitational potential energy of the black fungus stick is converted into kinetic energy, and the other part is converted into the elastic potential energy of the two tension springs, the elastic potential energy of the two torsion springs, and the work done by the black fungus stick to overcome the friction when it contacts the two arc plates. The kinetic energy of the black fungus stick when it falls to the ground is AND K =1 / 2mv 2 Where m is the weight of the black fungus stick, v is the speed of the black fungus stick when it falls to the ground; The elastic potential energy of the two extension springs is E P1 =2×1 / 2kx 2 Where k is the elastic constant of the extension spring, and x is the elongation of the extension spring; The elastic potential energy of the two torsion springs is AND P2 =2×1 / 2cθ 2 Where c is the torsional stiffness of the torsion spring, and θ is the torsional angle of the torsion spring; The work done to overcome the friction when the black fungus stick contacts the two curved plates is W=2×μFS Where μ is the friction coefficient between the black fungus stick and the curved plate; F is the normal pressure on the black fungus stick, F = 2kx; S is the contact length between the black fungus stick and the curved plate, that is, the length of the black fungus stick; The gravitational potential energy of the black fungus stick is mgh=1 / 2mv 2 +2×1 / 2kx 2 +2×1 / 2cθ 2 +4×μkxS Where h is the height of the black fungus stick from the ground before it falls, and g is the acceleration due to gravity; Assume that the speed of the black fungus stick when it falls to the ground is less than the preset speed value v1, then At the same time, when the black fungus stick falls through the buffer assembly, the gravitational potential energy of the black fungus stick cannot be fully converted into the elastic potential energy of the two tension springs, the elastic potential energy of the two torsion springs and the work done by the black fungus stick to overcome the friction when it contacts the two arc plates. mgh0+mgS-2×1 / 2kx 2 -2×1 / 2cθ 2 -4×μkxS>0 (2) Where h0 is the height difference between the position of the black fungus stick before it falls and the position where the curved plate just contacts the black fungus stick; The length of the black fungus stick, the diameter of the black fungus stick, the weight m of the black fungus stick, the torsional stiffness c of the torsion spring, the friction coefficient μ between the black fungus stick and the arc plate, the torsional angle θ of the torsion spring, the height h of the black fungus stick from the ground before it falls, and the height h0 of the position where the arc plate just contacts the black fungus stick are all assumed to be known quantities. Then, the range of values ​​of the elastic coefficient k of the tension spring when the speed of the black fungus stick when it falls to the ground is less than the preset value v1 is obtained by combining equations (1) and (2).

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