A fully automatic arranging machine for straightening and mushroom spawn, and its control method.

Abstract

The application discloses a righting mechanism and a full-automatic field arranging machine for agaric fungus sticks and a control method, and belongs to the technical field of agaric fungus planting equipment. The full-automatic field arranging machine for agaric fungus sticks is characterized by being provided with a material box, a material box lifting mechanism, a push rod mechanism, a spacing conveyor belt mechanism, a righting mechanism and a walking vehicle body, and can realize automatic field arranging of the agaric fungus sticks, improve the quality of the field arranging of the agaric fungus sticks, and further accurately control the front-to-back and left-to-right spacing between the agaric fungus sticks and the neatness of rows and columns, fill the current blank of full-automatic field arranging mechanization of the agaric fungus sticks, promote the automatic planting of the agaric fungus, and save a large amount of manpower and material resources. Furthermore, the application can solve the complicated procedures such as field transportation and field arranging of the agaric fungus sticks, realize integrated design of the field transportation and field arranging of the agaric fungus sticks, improve the field arranging efficiency, and according to the types of the mechanisms and motors that need to be controlled, select suitable control modes and control algorithms, and realize accurate and stable control of each mechanism of the field arranging machine.

Description

Technical Field

[0001] This invention relates to a fully automatic uprighting mechanism and a mushroom spawn distribution machine and control method, belonging to the technical field of mushroom cultivation equipment. Background Technology

[0002] The main cultivation techniques for black fungus in my country include ground cultivation and substrate cultivation. Ground cultivation, also a type of substrate cultivation, uses plastic bags. A substrate mixture, primarily composed of sawdust, straw, and corn cobs, is prepared, sealed in plastic bags to form cylindrical substrate logs, and then sterilized. Selected spawn is then inoculated into the logs to cultivate mycelium. After the logs are fully colonized with mycelium, they are placed in the field. After a few days, many small black dots appear at the opening, which are the black fungus primordia. Ground cultivation transforms black fungus cultivation from understory to open-field cultivation.

[0003] Currently, the placement of black fungus spawn logs is mainly done manually. The logs, after being perforated, are placed in the field, which is time-consuming and labor-intensive. Since the quality of the placement directly affects the light and water absorption of the black fungus, thus influencing yield, the placement of the logs generally requires adherence to specified standards. However, when placing them manually, it is difficult to precisely control the spacing between the logs and the neatness of their rows and columns.

[0004] Against the backdrop of rapidly rising labor costs and a steady increase in demand for black fungus, the development of intelligent agricultural equipment has attracted significant national attention. Compared to traditional manual labor methods, intelligent agricultural equipment can significantly reduce labor intensity, improve operational efficiency, and enhance product quality, thus helping to alleviate labor shortages.

[0005] Currently, there is a lack of research on control systems for automated black fungus spawn placement machines both domestically and internationally. Furthermore, there is a general lack of dedicated automated equipment in the domestic and international markets that can simultaneously meet the quality requirements for spawn placement. In addition, with the continuous improvement of modern precision agriculture, the research and design of fully automated black fungus spawn placement machines with control systems is an inevitable trend in the black fungus cultivation industry.

[0006] 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

[0007] To address the aforementioned problems or one of them, the present invention aims to provide a straightening mechanism that, by incorporating a telescopic component and a drive source, forms a telescopic channel for the mushroom logs to fall, allowing the mushroom logs falling from a height to stand upright on the ground. This enables automatic placement of the mushroom logs, improves the quality of placement, reduces labor costs, promotes the automation of black fungus cultivation, and saves significant manpower and resources. The solution is simple, practical, and feasible.

[0008] To address the aforementioned problems or one of them, the second objective of this invention is to provide a fully automatic mushroom spawning machine. By incorporating a material bin, a material bin lifting mechanism, a push rod mechanism, a spacing conveyor belt mechanism, a straightening mechanism, and a traveling vehicle, the machine can automatically arrange the mushroom spawn, improving the quality of spawn placement. Furthermore, it can precisely control the front-to-back, left-to-right spacing and the neatness of rows and columns between the spawn, filling the current gap in fully automated mechanized spawning of black fungus spawn, reducing labor costs, promoting the automation of black fungus cultivation, saving significant manpower and resources, and promoting the development of the black fungus cultivation industry.

[0009] To address the aforementioned problems or one of the aforementioned problems, the third objective of this invention is to provide a fully automatic arranging machine for mushroom spawn and a control method, which can solve the cumbersome procedures of spawn transportation and arranging in the field, realize the integrated design of spawn transportation and arranging, and improve arranging efficiency.

[0010] To achieve one of the above objectives, the first technical solution of the present invention is as follows:

[0011] A mushroom log straightening mechanism includes one or more telescopic components for straightening falling mushroom logs and a drive source capable of driving the telescopic components to extend or / and shorten.

[0012] The telescopic component has a cavity for accommodating the mushroom sticks, which can form a channel for the mushroom sticks to fall under the drive of the drive source.

[0013] Through continuous exploration and experimentation, this invention incorporates telescopic components and a drive source to create a telescopic channel for the mushroom logs to fall. This allows the mushroom logs falling from a height to stand upright on the ground, thereby achieving automatic placement of the logs. It also improves the quality of the placement, reduces labor costs, promotes the automation of black fungus cultivation, and saves a significant amount of manpower and resources. The solution is simple, practical, and feasible.

[0014] As a preferred technical measure:

[0015] The telescopic component is a telescopic bellows tube, a telescopic U-shaped tube, or a cloth bag;

[0016] Or / and, the drive source is a linear motor or a motor equipped with a lead screw structure, a hydraulic rod, or a pneumatic rod.

[0017] As a preferred technical measure:

[0018] The drive source is a servo motor; the telescopic component is a telescopic bellows tube.

[0019] The servo motor drives one or more telescopic bellows tubes to extend and retract via a lifting assembly, straightening the falling mushroom sticks so that they can stand upright on the ground.

[0020] The lifting assembly includes a downward support platform, an aluminum profile frame, a cylindrical linear guide rail, a synchronous belt, a trapezoidal screw, and a mushroom stick reversing device;

[0021] The servo motor is connected to the trapezoidal lead screw via a coupling, and drives the lifting and lowering of the pressure support platform through a synchronous belt and synchronous pulley structure.

[0022] Before the mushroom logs fall from the spacing conveyor belt, the pressure support platform descends, extending the telescopic accordion tube to form a falling channel. The mushroom logs then fall through the channel, preventing them from tipping over due to the impact of landing. Once the mushroom logs have landed steadily, the pressure support platform rises, and the uprighting mechanism moves forward as a whole, entering the next row of mushroom log placement process.

[0023] To achieve one of the above objectives, the second technical solution of the present invention is as follows:

[0024] A fully automatic arranging machine for wood ear mushroom logs includes: a material bin, a material bin lifting mechanism, a push rod mechanism, a spacing conveyor belt mechanism, a straightening mechanism, and a traveling vehicle;

[0025] The material box is equipped with several channels for loading mushroom sticks;

[0026] The material box lifting mechanism is a screw-servo motor lifting mechanism, which is used to realize the layer changing of the material box so that the push rod mechanism can push the mushroom sticks layer by layer.

[0027] The push rod mechanism is equipped with a push rod for pushing the mushroom sticks. The push rod moves along the square tube at the bottom of each layer of the material box to achieve the purpose of pushing the mushroom sticks.

[0028] After the mushroom logs are placed into the material box, the material box is raised and lowered to the same height as the layer to be placed and the push rod mechanism. The push rod mechanism then pushes the mushroom logs into the spacing conveyor belt mechanism.

[0029] The interval conveyor belt mechanism is equipped with an interval conveyor belt for synchronously conveying the mushroom sticks pushed out of the material box;

[0030] The straightening mechanism is the same as the one described above for straightening mushroom sticks;

[0031] The vehicle body is equipped with an electric motor or gasoline engine, which is used to load and transport the mushroom sticks to the field placement point before they are placed; when placing the mushroom sticks, it moves forward intermittently to control the placement distance of each row of mushroom sticks.

[0032] This invention, by incorporating a material bin, a material bin lifting mechanism, a push rod mechanism, a spacing conveyor belt mechanism, a straightening mechanism, and a traveling vehicle, enables automatic arrangement of mushroom logs, improving the quality of log placement. It also allows for precise control of the spacing between logs and the neatness of their rows and columns, filling the current gap in fully automated mechanized arrangement of black fungus logs. This reduces labor costs, promotes automation in black fungus cultivation, saves significant manpower and resources, and fosters the development of the black fungus cultivation industry.

[0033] As a preferred technical measure:

[0034] The width of the substrate box's mushroom log channel is 120mm, the height of the mushroom log channel baffle is 40mm, and the distance between adjacent mushroom log channels is 267mm. The substrate box is a box that runs from front to back, with at least eight layers. The bottom of each layer is supported by three crossbeams, and each layer has at least six mushroom log channels, each of which can hold mushroom logs.

[0035] Or / and, the screw-servo motor lifting mechanism includes: a lifting platform frame, a cylindrical linear guide rail, a lifting platform, a screw jack, a push rod suspension platform, and a motor commutator; the servo motor outputs two torques simultaneously to the left and right screw jacks through the commutator located at the bottom of the material box lifting mechanism, synchronously driving the screw jacks to rotate forward or reverse, thereby driving the lifting platform to rise or fall.

[0036] As a preferred technical measure:

[0037] The push rod mechanism includes: 40 series servo motor 1, reducer, gear, push rod, 40 series servo motor 2, and support base; the push rod has a left-right symmetrical structure, driven by 40 series servo motor 1 and 40 series servo motor 2, the gear moves on the rack, and under the guidance of the grooved rollers on the support base, the push rod moves along the square tube at the bottom of each layer of the material box to achieve the purpose of pushing the mushroom sticks.

[0038] Or / and, the spacing conveyor belt mechanism comprises a spacing conveyor belt, a mounting frame, a brushless DC motor, and a sprocket drive mechanism; the spacing conveyor belt is a 6-channel spacing conveyor belt capable of simultaneously conveying 6 rows of mushroom sticks, with partitions evenly distributed on each channel, and a maximum of 3 mushroom sticks can be loaded at the same time; the sprocket drive mechanism can simultaneously drive the 6 channels to rotate synchronously, serving as the power source for the rotation of the spacing conveyor belt; the spacing conveyor belt is used to synchronously convey the mushroom sticks pushed out of the material box, smoothly conveying the mushroom sticks to the downward pressing and piercing mechanism;

[0039] Or / and, the straightening mechanism includes: drive source, telescopic bellows tube, downward support platform, aluminum profile frame, cylindrical linear guide rail 2, synchronous belt, trapezoidal screw, mushroom stick reversing device;

[0040] The drive source is an 80 series servo motor, and the telescopic component is a telescopic organ pipe;

[0041] The 80 series servo motor is directly connected to the lead screw through a coupling, and drives the lower support platform to rise and fall through the synchronous belt and synchronous pulley structure; before the mushroom sticks fall from the spacing conveyor belt, the lower support platform descends, stretches the bellows tube to form a falling channel, and then the mushroom sticks fall from the channel;

[0042] The mobile vehicle includes: a vehicle body, a 48-volt lithium battery, an inverter, a six-phase asynchronous motor, a six-phase asynchronous motor driver, a photoelectric speed encoder, a speed control module, and a gear shifting module. Before the mushroom logs are placed, the mobile vehicle loads and transports them to the field placement point. During placement, its intermittent forward movement controls the placement distance of each row of mushroom logs. The mobile vehicle is driven by an electric motor or gasoline engine, with oil and electricity separated, allowing for manual operation or intelligent electric control via a microcontroller. The direction of the mobile vehicle is controlled by a steering wheel. The speed of the mobile vehicle is set via the speed control module. The travel distance of the placement machine is controlled by the microcontroller through feedback from the photoelectric encoder, thereby controlling the vehicle's travel time. After reaching a fixed distance, the vehicle brakes and stops, thus achieving a fixed-distance travel and precisely ensuring the row spacing of the mushroom logs.

[0043] As a preferred technical measure:

[0044] It also includes the control system of the display machine, which includes: main control cabinet, power cord, sensors, 485 communication bus, mobile APP and serial port screen;

[0045] One end of the 485 communication bus is connected to the main control cabinet, and the other end is connected to the servo motor driver.

[0046] One end of the power cord is connected to the main control cabinet, and the other end is connected to the motor; the power cord draws power from the chassis lithium battery through an inverter to drive the AC servo motors and related motors of each component to complete the operation of the fully automatic slab machine.

[0047] The sensors mainly include slotted photoelectric sensors, mechanical collision switches, and photoelectric encoders;

[0048] The hopper lifting mechanism is equipped with a slotted photoelectric sensor and a mechanical collision switch. A black baffle is fixed to the vertical profile frame of the hopper lifting mechanism. The slotted photoelectric sensor on the hopper lifting mechanism is used to detect the position of objects. During the lifting process, the slotted photoelectric sensor fixed to the hopper is lifted and lowered simultaneously. When the slot opening is blocked by the black baffle, the microcontroller system can capture the change in the voltage signal of the slotted photoelectric sensor, thus indicating that an object has entered or left the slot opening. Eight black baffles are fixed to the vertical profile frame, corresponding one-to-one with the layers of the hopper. When the slotted photoelectric sensor passes a certain black baffle, it means it has reached a corresponding hopper layer, used for precise layer switching during hopper operation. The mechanical collision switch of the hopper lifting mechanism is fixed to the frame of the traveling vehicle and is always located below the hopper, not connected to it. When the hopper descends, it stops descending when the bottom of the hopper hits this limit switch, at which point the hopper returns to its origin, the lowest point, completing the position reset.

[0049] For the push rod mechanism, the mechanical collision switch is fixed on the outer fixed frame of the push rod mechanism. When the push rod pushes all the mushroom sticks in a certain layer of the material box, the push rod needs to return to the outer fixed frame of the push rod mechanism when the material box is changed. When the push rod hits the mechanical collision switch, the microcontroller system immediately controls to stop the movement of the push rod, and the push rod completes the return to its position.

[0050] For the straightening mechanism, the mechanical collision switch is fixed on the upper part of the fixed frame profile of the straightening mechanism. The downward support platform descends during the downward straightening operation. When the downward support platform rises and hits the mechanical collision switch, the downward support platform stops rising, thus completing the return to its original position.

[0051] For the spacing conveyor belt mechanism, the mechanical collision switch is fixed on the fixed frame profile of the spacing conveyor belt mechanism. Since the spacing conveyor belt needs to accurately receive the mushroom sticks pushed down by the push rod mechanism and send the mushroom sticks into the straightening mechanism, it has the characteristic of stopping and starting at times. The spacing conveyor belt stops immediately after rotating one spacing. When the spacing conveyor belt rotates, the spacing baffle on it hits the mechanical collision switch, and the microcontroller system immediately controls the movement of the spacing conveyor belt to stop. Thus, the spacing conveyor belt completes the displacement of one spacing.

[0052] As a preferred technical measure:

[0053] The main control cabinet includes a host STM32 microcontroller controller, an optocoupler isolation module, a Bluetooth module, a stepless speed regulation device, and a relay module;

[0054] The host STM32 microcontroller controller is an STM32ZET6 microcontroller, used to control the rotation of servo motors. It includes servo motor control on the push rod mechanism, the straightening mechanism, and the material box lifting mechanism. It uses PWM pulse sending to control the movement and distance of the chassis walking mechanism. It controls the speed input interface of the motor driver by sending whether there is analog voltage, thereby controlling the start and stop of the motor.

[0055] Meanwhile, the STM32ZET6 microcontroller can be used to detect switch signals and reset the MCU using a reset circuit to initialize the control system.

[0056] The optocoupler isolation module ensures that there is no direct electrical connection between the two isolated circuit parts, preventing interference caused by electrical connection. The isolation effect occurs between the output signal of the servo motor driver and the microcontroller. The optocoupler isolation module also has a level conversion function, converting the 3.3V voltage output by the microcontroller into 5V output to the servo motor driver.

[0057] The Bluetooth module is used to enable serial communication between the mobile app and the microcontroller.

[0058] The stepless speed control device is used to adjust the speed of the brushless DC motor on the interval conveyor belt mechanism; the function is achieved by rotating the speed control module.

[0059] The relay module is used in conjunction with a microcontroller. The microcontroller outputs high and low levels to control the switching of the relay, thereby controlling the start and stop of the brushless DC motor.

[0060] The mobile app is used to control the operation of the food display machine in real time and to provide real-time feedback on the machine's status information; the mobile app also enables remote control.

[0061] The serial port screen communicates with the microcontroller via a serial port and with the servo motor driver via an RS485 interface. It is used to control the operation of the mushroom cultivation machine in real time and provide real-time feedback on its status. The serial port screen enables remote control, and its control interface includes all the functions of a mobile app. The serial port screen control interface also has read and write functions for operating the servo motor driver, and can monitor the servo motor's status information, including alarm information and / or parameter configuration information and / or the actual motor speed and / or pulse reception values. It can also control the speed of each motor by controlling the microcontroller. Furthermore, the serial port screen can display the operating information of the cultivation machine, including the number of mushroom sticks placed and the machine's travel speed.

[0062] Furthermore, this invention proposes a fully automated black fungus spawn placement machine, referred to as the placement machine. The placement machine uses an electric four-wheel chassis as its mobile platform, and an inverter draws power from the chassis's lithium battery to drive the AC servo motors and other motors of various components to complete the entire placement process. The total weight of the equipment is approximately 1500 kg, and the placement efficiency is 12 seconds per row. The spawn placement efficiency should reach 1800 spawns per hour, with a spawn tipping rate ≤5%, a spawn leakage rate ≤5%, and a spawn damage rate ≤5%.

[0063] To achieve one of the above objectives, the third technical solution of the present invention is as follows:

[0064] A fully automated method for controlling the arrangement of Auricularia auricula-judae spawn logs, applied to the aforementioned fully automated arrangement machine for Auricularia auricula-judae spawn logs, includes the following steps:

[0065] Step 1: Fill several mushroom sticks into the material hopper of the display machine;

[0066] Step 2: After driving the machine to the field, shift the machine to forward gear, straighten the steering wheel, switch the vehicle movement to automatic control, power on the microcontroller using the battery, open the emergency stop switch of the threshing machine to power on the whole machine, and press the power supply switch of the servo motor system; use the mobile phone Bluetooth debugger APP to connect to the microcontroller's Bluetooth.

[0067] Step 3: Use a mobile Bluetooth debugger APP or serial port screen to control the machine; press the material box reset and spacing conveyor belt reset buttons to return the material box and spacing conveyor belt to zero.

[0068] Step 4: Press the automatic button for the first layer. The placement machine will automatically place the mushroom sticks in the field from the top of the material box. After completion, the material box will automatically rise one layer to complete the material box layer change.

[0069] Step 5: After the material bin is replaced, press the automatic button for the next layer. After pressing the automatic button for the next layer N times, the entire truckload of mushroom sticks will be placed. The operator should then press the emergency stop button.

[0070] Therefore, this invention can solve the cumbersome processes of transporting and displaying mushroom sticks in the field, realize the integrated design of mushroom stick transportation and display, and the specially designed integrated material box can be replaced as a whole, which can improve the display efficiency; the selection of a suitable touch screen and mobile APP realizes human-machine dialogue, making the fully automatic display machine an intelligent tool; in terms of software control, for the mechanism that needs to be controlled and the type of motor it is equipped with, the appropriate control method and control algorithm are selected to achieve precise and stable control of each mechanism of the display machine.

[0071] As a preferred technical measure:

[0072] The method for placing a layer of mushroom logs in the field is as follows:

[0073] S1, the distance the push rod advances within the material box by two mushroom logs; the distance of the first mushroom log: the distance the push rod enters the material box, the distance of the first mushroom log: the distance the first row of mushroom logs is pushed into the spacing between the partitions of the conveyor belt;

[0074] S2. The spacing conveyor belt rotates one spacing, and the push rod advances one mushroom stick's distance. The second row of mushroom sticks is pushed into the spacing between the partitions of the spacing conveyor belt. The spacing conveyor belt rotates one spacing, and the push rod advances one mushroom stick's distance. The third row of mushroom sticks is pushed into the spacing between the partitions of the spacing conveyor belt.

[0075] S3. The lowering support platform of the straightening mechanism descends, allowing the sleeve on the straightening mechanism to extend completely; the spacing conveyor belt rotates one interval, transporting the mushroom sticks to the guide groove of the straightening mechanism; they fall vertically to the ground; the straightening mechanism rises back to its original position, and the sleeve on the straightening mechanism retracts under the drive of the lowering mechanism; the traveling vehicle automatically moves forward a short fixed distance.

[0076] S4. The push rod advances the distance of one mushroom stick, and the fourth row of mushroom sticks is pushed into the spacing between the partitions of the spacing conveyor belt.

[0077] S5, repeat S3;

[0078] S6. The push rod advances the distance of one mushroom stick, and the fifth row of mushroom sticks is pushed into the spacing between the partitions of the conveyor belt; then the push rod returns to the origin.

[0079] S7. Repeat S3 three times;

[0080] S8, the material bin rises one level.

[0081] Compared with existing technical solutions, the present invention has the following beneficial effects:

[0082] Through continuous exploration and experimentation, this invention incorporates telescopic components and a drive source to create a telescopic channel for the mushroom logs to fall. This allows the mushroom logs falling from a height to stand upright on the ground, thereby achieving automatic placement of the logs. It also improves the quality of the placement, reduces labor costs, promotes the automation of black fungus cultivation, and saves a significant amount of manpower and resources. The solution is simple, practical, and feasible.

[0083] Furthermore, by incorporating a material bin, a material bin lifting mechanism, a push rod mechanism, a spacing conveyor belt mechanism, a straightening mechanism, and a traveling vehicle, this invention enables automatic arrangement of mushroom logs, improving the quality of log placement. It also allows for precise control of the spacing between logs in all directions and the neatness of rows and columns, filling the current gap in fully automated mechanized arrangement of black fungus logs, reducing labor costs, promoting automation in black fungus cultivation, saving significant manpower and resources, and contributing to the development of the black fungus cultivation industry.

[0084] Furthermore, this invention solves the cumbersome processes of transporting and displaying mushroom sticks in the field, realizing an integrated design for mushroom stick transportation and display. The specially designed integrated material box can be replaced as a whole, which can improve the display efficiency. The use of a suitable touch screen and mobile APP enables human-machine interaction, making the fully automatic display machine an intelligent tool. In terms of software control, appropriate control methods and control algorithms are selected for the mechanisms that need to be controlled and the types of motors they are equipped with, so as to achieve precise and stable control of each mechanism of the display machine. Attached Figure Description

[0085] Figure 1 This is a schematic diagram of the overall structure of the display machine of the present invention.

[0086] Figure 2 This is a schematic diagram of the structure of a material box described in the present invention's display machine.

[0087] Figure 3 This is a schematic diagram of a pusher mechanism structure of the display machine of the present invention.

[0088] Figure 4 This is a schematic diagram of the material box lifting mechanism described in the present invention.

[0089] Figure 5 This is a schematic diagram of the conveyor belt mechanism described in the present invention's display machine.

[0090] Figure 6 This is a schematic diagram of the uprighting mechanism described in the present invention.

[0091] Figure 7 This is a schematic diagram of the chassis walking mechanism of the display machine of the present invention.

[0092] Figure 8 This is a schematic diagram of a control system for the display machine of the present invention.

[0093] Explanation of reference numerals in the attached figures:

[0094] 1. Material bin; 2. Push rod mechanism; 3. Material bin lifting mechanism; 4. Spacing conveyor belt mechanism; 5. Straightening mechanism; 6. Walking vehicle body; 21. 40 series servo motor one; 22. Reducer; 23. Gear; 24. Push rod; 25. 40 series servo motor two; 26. Support base; 31. Lifting platform frame; 32. Cylindrical linear guide one; 33. Lifting platform; 34. Screw jack; 35. Motor commutator; 41. Spacing conveyor belt; 42. Mounting frame; 43. Brushless DC motor; 54. 80 series servo motor; 53. Cylindrical linear guide two; 52. Aluminum profile frame; 51. Downward support platform; 55. Synchronous belt; 56. Trapezoidal screw; 57. Mushroom stick commutator; 58. Telescopic bellows tube; 59. Mushroom stick model. Detailed Implementation

[0095] 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.

[0096] 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.

[0097] It should be noted that 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.

[0098] A specific embodiment of the uprighting mechanism for the mushroom sticks of the present invention:

[0099] A mushroom log straightening mechanism includes one or more telescopic components for straightening falling mushroom logs and a drive source capable of driving the telescopic components to extend or / and shorten.

[0100] The telescopic component has a cavity for accommodating the mushroom sticks, which can form a channel for the mushroom sticks to fall under the drive of the drive source.

[0101] The telescopic component is a telescopic bellows tube, a telescopic U-shaped tube, or a cloth bag;

[0102] The drive source is a linear motor, a motor equipped with a lead screw structure, a hydraulic rod, or a pneumatic rod.

[0103] A first specific embodiment of the fully automatic mushroom cultivation machine of the present invention:

[0104] A fully automatic arranging machine for wood ear mushroom logs includes: a material bin, a material bin lifting mechanism, a push rod mechanism, a spacing conveyor belt mechanism, a straightening mechanism, and a traveling vehicle;

[0105] The material box is equipped with several channels for loading mushroom sticks;

[0106] The material box lifting mechanism is a screw-servo motor lifting mechanism, which is used to realize the layer changing of the material box so that the push rod mechanism can push the mushroom sticks layer by layer.

[0107] The push rod mechanism is equipped with a push rod for pushing the mushroom sticks. The push rod moves along the square tube at the bottom of each layer of the material box to achieve the purpose of pushing the mushroom sticks.

[0108] After the mushroom logs are placed into the material box, the material box is raised and lowered to the same height as the layer to be placed and the push rod mechanism. The push rod mechanism then pushes the mushroom logs into the spacing conveyor belt mechanism.

[0109] The interval conveyor belt mechanism is equipped with an interval conveyor belt for synchronously conveying the mushroom sticks pushed out of the material box;

[0110] The straightening mechanism is the same as the one described above for straightening mushroom sticks;

[0111] The vehicle body is equipped with an electric motor or gasoline engine, which is used to load and transport the mushroom sticks to the field placement point before they are placed; when placing the mushroom sticks, it moves forward intermittently to control the placement distance of each row of mushroom sticks.

[0112] like Figure 1-8 As shown, this is the second specific embodiment of the fully automatic black fungus spawn distribution machine of the present invention:

[0113] A fully automatic black fungus spawn stacking machine is used to realize the automatic stacking operation of black fungus spawn stacks. It mainly includes: a material box 1, a material box lifting mechanism 3, a push rod mechanism 2, a spacing conveyor belt mechanism 4, a straightening mechanism 5, and a traveling vehicle 6.

[0114] The function of material bin 1 is to load mushroom logs. Considering the characteristics of mushroom logs that cannot be stacked or compressed, the spacing requirements for mushroom log placement, and the processes of layer changing and pushing, and taking into account the size of the mushroom logs, the calculated width of the mushroom log channel in material bin 1 is 120mm, the height of the channel baffle is 40mm, and the distance between adjacent mushroom log channels is 267mm. Material bin 1 is a through-type box with eight layers. The bottom of each layer is supported by three crossbeams, and each layer has six mushroom log channels, each channel can hold 5 mushroom logs.

[0115] The material bin lifting mechanism 3 is a screw-servo motor lifting mechanism. Its main components include: a lifting platform frame 31, a cylindrical linear guide rail 32, a lifting platform 33, a screw jack 34, a push rod suspension platform, and a motor commutator 35. To achieve layer-by-layer changing in the material bin 1, allowing the push rod mechanism 2 to push the mushroom logs layer by layer, and considering the high inter-layer alignment accuracy required when the push rod mechanism 2 enters and exits the material bin 1, a lifting platform 33 driven by a screw jack 34 is designed. The servo motor, through the commutator at the bottom of the material bin lifting mechanism 3, simultaneously outputs two torques to the left and right screw jacks 34, synchronously driving the screw jacks 34 to rotate forward or reverse, thus raising or lowering the lifting platform 33.

[0116] Selection of motor and lead screw for material box lifting mechanism 3:

[0117] The formula for calculating the load torque when a motor drives a ball screw is as follows:

[0118]

[0119] Wherein: T L P is the torque of the load, Nm; F is the load in the running direction, N; B η is the lead of the ball screw, in meters (m); η is the efficiency, typically taken as 0.85–0.95; μ0 is the internal friction coefficient of the preload nut, typically taken as 0.1–0.3; F0 is the preload, its value is F / 3, in N; i is the reduction ratio; F A θ is the external force, N; θ is the tilt angle, °; g is the gravitational acceleration, m / s² 2 ; m is the total load on the lead screw nut seat and above, kg; μ is the coefficient of friction of the sliding surface.

[0120] In this application, the screw runs in a vertical direction, therefore θ = 90°. 0 Ball screw lead P B =0.006m, efficiency η is taken as 0.9, internal friction coefficient μ0 of preload nut is taken as 0.2, friction coefficient μ is taken as 0.015, F A =0, total load weight m = 800kg. The load F is calculated to be 8000N, therefore F0 = 2667N. The reduction ratio i = 19.5. The final calculated load torque T is... L =0.42Nm.

[0121] Considering the high precision requirements and heavy loads in practical applications, necessitating better structural self-locking, and to reduce costs, a trapezoidal lead screw is chosen as an alternative, with a servo motor as the power unit. The transmission efficiency of a trapezoidal lead screw is approximately 25%–50% of that of a ball screw; we'll take 25%. Given the significant efficiency loss in the overall system, the large torque required for motor start-up and shutdown, and the potential for increased load due to installation errors, the rated torque of the selected motor must be greater than the calculated load torque. Taking a safety factor of 9, the load torque T... L =15.12Nm. Based on the existing motor specifications in the laboratory, a 110AEA15030 servo motor was selected for this study, and a reducer with a reduction ratio of 3.25 was installed to meet the usage requirements.

[0122] The push rod mechanism 2 primarily pushes the mushroom logs. Its main components include: a 40 series servo motor 1 21, a reducer 22, a gear 23, a push rod 24, a 40 series servo motor 25, and a support base 26. Since the material box 1 needs to rise layer by layer, the push rod mechanism 2 cannot be fixed to the material box 1; it needs to be designed to be movable, allowing free entry and exit from the material box 1. The push rod 24 has a symmetrical structure. Driven by the 40 series servo motors 21 and 25 (each with a 1:3.25 ratio), the gear 23 moves on a rack. Guided by the grooved rollers on the support base 26, the push rod 24 moves along the square tube at the bottom of each layer of the material box 1, thus pushing the mushroom logs.

[0123] After the mushroom sticks are manually placed into the material box 1, the material box 1 is raised and lowered to the same height as the layer to be placed and the push rod mechanism 2. The push rod mechanism 2 pushes the mushroom sticks into the next part - the spacing conveyor belt mechanism 4.

[0124] The spacing conveyor belt mechanism 4 mainly consists of a spacing conveyor belt 41, a mounting frame 42, a brushless DC motor 43, and a sprocket drive mechanism. The spacing conveyor belt 41 is a 6-channel conveyor belt capable of simultaneously conveying 6 rows of mushroom logs. Each channel has evenly distributed partitions and can hold a maximum of 3 mushroom logs at a time. The sprocket drive mechanism simultaneously drives all 6 channels to rotate synchronously, providing the power source for the rotation of the spacing conveyor belt 41. The spacing conveyor belt 41 is used to synchronously transport the mushroom logs pushed out of the material bin 1, smoothly conveying them to the next mechanism—the downward pressing and piercing mechanism. Compared to a chute, this avoids high-speed sliding that could cause deformation of the mushroom logs and can adjust the falling trajectory to ensure the mushroom logs fall as vertically as possible into the downward pressing and piercing mechanism.

[0125] The main function of the uprighting mechanism 5 is to upright the falling mushroom logs, ensuring they stand upright on the ground. Its main components include: a downward support platform 51, an aluminum profile frame 52, a cylindrical linear guide rail 53, an 80-series servo motor 54, a synchronous belt 55, a trapezoidal lead screw 56, a mushroom log reversing device 57, and a telescopic bellows tube 58. The servo motor is directly connected to the lead screw via a coupling, and drives another lead screw through the synchronous belt 55 and synchronous pulley structure, thereby raising and lowering the downward support platform 51. Before the mushroom logs fall from the spacing conveyor belt 41, the downward support platform 51 descends, extending the telescopic bellows tube 58 to form a falling channel. The mushroom logs then fall through this channel, preventing tipping due to impact. Once the mushroom logs are stable, the downward support platform 51 rises, and the entire arrangement machine moves forward to begin the arrangement process for the next row of mushroom logs. The shape of the mushroom logs can be seen in the mushroom log model 59.

[0126] The mobile vehicle 6 consists mainly of: a vehicle body, a 48-volt lithium battery, an inverter, a six-phase asynchronous motor, a six-phase asynchronous motor driver, a photoelectric speed encoder, a speed control module, and a gear shifting module. The main functions of the mobile vehicle 6 are: loading and transporting mushroom sticks to the field placement point before placement; and controlling the placement distance of each row of mushroom sticks during placement by intermittently advancing. This mobile vehicle 6 can be driven by an electric motor or a gasoline engine, with separate oil and electricity, allowing for manual operation or intelligent electric control via a microcontroller. The direction of the mobile vehicle 6 is controlled by a steering wheel. The speed of the mobile vehicle 6 is set via the speed control module; the microcontroller controls the travel time of the vehicle through feedback from the photoelectric encoder, stopping after reaching a fixed distance, thus achieving a fixed-distance travel and precisely ensuring the row spacing of the mushroom sticks.

[0127] A specific embodiment of the control system of the display machine of the present invention:

[0128] The control system of the display machine of this invention mainly includes: main control cabinet, power cord, sensors, 485 communication bus, multiple motors, mobile APP and serial port screen.

[0129] One end of the 485 communication bus is connected to the main control cabinet, and the other end of the 485 communication bus is connected to the servo motor driver.

[0130] One end of the power cord is connected to the main control cabinet, and the other end is connected to the motor. The power cord draws power from the chassis lithium battery via an inverter to drive the AC servo motors and other motors of various components to complete the operation of the entire set-top machine.

[0131] The sensors mainly include slotted photoelectric sensors, mechanical collision switches, and photoelectric encoders.

[0132] The material box lifting mechanism 3 is equipped with a slotted photoelectric sensor and a mechanical collision switch. A black baffle is fixed to the vertical profile frame of the material box lifting mechanism 3. The slotted photoelectric sensor on the material box lifting mechanism 3 is used to detect the position of objects. During the lifting of the material box 1, the slotted photoelectric sensor fixed to the material box 1 is lifted and lowered simultaneously. When the slot opening is blocked by the black baffle, the microcontroller system can capture the change in the voltage signal of the slotted photoelectric sensor, thus indicating that an object has entered or left the slot opening. Eight black baffles are fixed to the vertical profile frame, corresponding one-to-one with the eight layers of the material box 1. When the slotted photoelectric sensor passes a certain black baffle, it means it has reached a corresponding layer of the material box 1, used for precise layer switching during the operation of the material box 1. The mechanical collision switch of the material box lifting mechanism 3 is fixed to the frame of the traveling vehicle 6, always located below the material box 1, and is not connected to the material box 1. When the material box 1 descends, it stops descending when its bottom touches this limit switch, at which point the material box 1 returns to its original position, the lowest point, completing the position reset.

[0133] For the push rod mechanism 2, the mechanical collision switch is fixed on the outer fixed frame of the push rod mechanism 2. When the push rod 24 pushes all the mushroom sticks in a certain layer of the material box 1, the push rod 24 needs to return to the outer fixed frame of the push rod mechanism 2 when the material box 1 changes layers. When the push rod 24 hits the mechanical collision switch, the microcontroller system immediately controls the movement of the push rod 24 to stop, and the push rod 24 completes the return of its position.

[0134] For the straightening mechanism 5, the mechanical collision switch is fixed on the upper part of the fixed frame profile of the straightening mechanism 5. When the downward support platform 51 is working, it descends. In order to avoid the downward support platform 51 knocking over the upright mushroom stick, the downward support platform 51 needs to rise to the initial higher position. When the downward support platform 51 rises and hits the mechanical collision switch, the downward support platform 51 stops rising, thus completing the return to the original position.

[0135] For the spacing conveyor belt mechanism 4, the mechanical collision switch is fixed to the fixed frame profile of the spacing conveyor belt mechanism 4. Since the spacing conveyor belt 41 needs to accurately receive the mushroom sticks pushed down by the push rod mechanism 2 and send the mushroom sticks into the straightening mechanism 5, it has the characteristic of stopping and starting at intervals, and the spacing conveyor belt 41 stops immediately after rotating one interval. When the spacing conveyor belt 41 rotates, the spacing baffle on it hits the mechanical collision switch, and the microcontroller system immediately controls the movement of the spacing conveyor belt 41 to stop, so that the spacing conveyor belt 41 completes the displacement of one interval.

[0136] The multiple motors include servo motors, brushless DC motors 43, and six-phase synchronous motors. Servo motors are installed on the material box lifting mechanism 3, the push rod mechanism 2, and the straightening mechanism 5; the spacing conveyor belt mechanism 4 is equipped with a brushless DC motor 43; and the traveling vehicle body 6 is equipped with a six-phase synchronous motor.

[0137] The main control cabinet includes a host STM32 microcontroller controller, an optocoupler isolation module, a Bluetooth module, a stepless speed regulation device, and a relay module.

[0138] The STM32ZET6 microcontroller can be used to control the rotation of servo motors, such as the servo motors on the push rod mechanism 2, the straightening mechanism 5, and the material box lifting mechanism 3, by sending PWM pulses; it can also be used to control the movement and distance of the chassis walking mechanism by sending analog voltage to control the speed input interface of the motor driver, thereby controlling the start and stop of the motor.

[0139] It can be used for detecting switch signals, mainly receiving external signals such as buttons, sensors, and alarm signals, such as photoelectric sensors, mechanical sensors, and photoelectric encoders on various mechanisms. Its power supply module provides the power required for the normal operation of all functions on the main control module, such as powering the Bluetooth module, photoelectric sensors, and mechanical sensors; the reset circuit can reset the MCU, realizing the initialization of the control system.

[0140] The optocoupler isolation module ensures that there is no direct electrical connection between the two isolated circuit parts, primarily preventing interference caused by electrical connections. The isolation occurs between the servo motor driver's output signal and the microcontroller's output signal. The optocoupler isolation module also performs level conversion, converting the 3.3V output voltage from the microcontroller to 5V for the servo motor driver.

[0141] The Bluetooth module is used to enable serial communication between the mobile app and the microcontroller.

[0142] The continuously variable speed control device is used to adjust the speed of the brushless DC motor 43 on the spacing conveyor belt mechanism 4. This function is achieved by rotating the speed control module.

[0143] The relay module is used in conjunction with a microcontroller. The microcontroller outputs high and low levels to control the switching of the relay, thereby controlling the start and stop of the brushless DC motor 43.

[0144] The mobile app is used to control the food preparation machine's operation in real time and provide real-time status feedback. The mobile app enables remote control, and its control interface includes the following main functions:

[0145] Push rod mechanism 2: Advances one mushroom stick distance and returns to the original position. Material box lifting mechanism 3: Material box 1 rises one layer and returns to the original position. Spacing conveyor belt mechanism 4: Rotates one partition spacing distance. Alignment mechanism 5: Presses down the support platform 51 to a certain distance at the lower end and returns to the top. Vehicle walking mechanism: Advances a fixed distance and stops. Restart: The control program software resets; when used in conjunction with other functions, it will interrupt the operation of other functions, and then the system will initialize. Automatic one-layer placement: The placement machine completes the field placement of one layer of mushroom sticks in material box 1. Automatic whole-box placement: The placement machine completes the field placement of the entire box of mushroom sticks in material box 1. In addition, the Bluetooth debugger APP has a communication receiving interface. The start and end status information of each motion mechanism will be printed to the Bluetooth APP via the microcontroller's serial port. The Bluetooth APP receiving interface displays and refreshes the information, allowing operators to monitor the operating status of the receiving interface anytime, anywhere, and make adjustments based on the current operating status of the placement machine.

[0146] The serial port display communicates with the microcontroller via a serial port and with the servo motor driver via an RS485 interface. It is used to control the mushroom cultivation machine's movements in real time and provide real-time status feedback. The serial port display enables remote control, and its control interface includes all the functions of a mobile app. The serial port display control interface also has read and write functions for operating the servo motor driver, allowing monitoring of the servo motor's status, such as alarm information, parameter configuration information, actual motor speed, pulse reception values, and other status information. It can also control the speed of individual motors by controlling the microcontroller. Furthermore, the serial port display can show the operating information of the cultivation machine, such as the number of mushroom sticks placed and the machine's travel speed.

[0147] Regarding the control algorithm, all servo motors of the display machine in this invention utilize position mode control and S-shaped acceleration / deceleration algorithms, ensuring stable operation and minimal impact during the operation of each servo motor-driven mechanism. Furthermore, the chassis walking mechanism employs a fuzzy PID control algorithm, which improves response speed, shortens the time required to advance a fixed distance, and guarantees the stability of the vehicle body during forward movement.

[0148] A specific embodiment of the fully automated arrangement control method for Auricularia auricula-judae spawn sticks according to the present invention:

[0149] A fully automated method for controlling the placement of Auricularia auricula-judae spawn, comprising the following steps:

[0150] Step 1: Fill 240 mushroom sticks into the material bin 1 of the display machine.

[0151] Step Two: After an operator drives the machine to the field, shifts the machine to forward gear, straightens the steering wheel, switches the machine's movement to automatic control, powers on the microcontroller (powered by battery), activates the emergency stop switch, and presses the power switch for the servo motor system. Connect the microcontroller's Bluetooth using a mobile Bluetooth debugger app.

[0152] Step 3: Use a mobile Bluetooth debugger APP or serial port screen to control the machine. Press the reset buttons for material bin 1 and spacing conveyor belt 41 to return the positions of material bin 1 and spacing conveyor belt 41 to zero.

[0153] Step 4: Press the automatic button, and the placement machine will automatically place the mushroom sticks in the field from the top of the material box 1. After completion, the material box 1 will automatically rise one layer, thus completing the layer change of material box 1.

[0154] Step 5: After the material bin 1 has finished changing layers, you can continue to press the automatic button for the next layer. After pressing the automatic button for the next layer 8 times, the placement of the entire truckload of mushroom sticks will be completed, and the operator should press the emergency stop button.

[0155] The automatic implementation of the aforementioned layer includes the following steps:

[0156] Step 1: Push rod 24 advances the distance of two mushroom logs inside the material bin 1. The distance of the first mushroom log: Push rod 24 enters the material bin 1. The distance of the first mushroom log: The first row of mushroom logs is pushed into the spacing between the partitions of the spacing conveyor belt 41.

[0157] Step 2: The spacing conveyor belt 41 rotates one spacing, and the push rod 24 advances one mushroom stick distance. The second row of mushroom sticks is pushed into the partition spacing of the spacing conveyor belt 41. The spacing conveyor belt 41 rotates one spacing, and the push rod 24 advances one mushroom stick distance. The third row of mushroom sticks is pushed into the partition spacing of the spacing conveyor belt 41.

[0158] Step 3: The lowering support platform 51 of the straightening mechanism 5 descends, allowing the sleeve on the straightening mechanism 5 to fully extend; the spacing conveyor belt 41 rotates one spacing, transporting the mushroom sticks into the guide groove of the straightening mechanism 5. The mushroom sticks fall vertically to the ground; the straightening mechanism 5 rises back to its original position, and the sleeve on the straightening mechanism 5 retracts under the action of the lowering mechanism; the traveling vehicle 6 automatically moves forward a short fixed distance.

[0159] Step 4: Push rod 24 advances one mushroom stick's distance, and the fourth row of mushroom sticks is pushed into the partition spacing of the spacing conveyor belt 41.

[0160] Step 5: Repeat step 3.

[0161] Step 6: Push rod 24 advances the distance of one mushroom log, pushing the fifth row of mushroom logs into the gap between the partitions of the spacing conveyor belt 41. Then push rod 24 returns to its original position.

[0162] Step 7: Repeat step 3 three times.

[0163] Step 8: Material bin 1 rises one layer.

[0164] 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 protection scope of the claims of the present invention.

Claims

1. A full-automatic wood ear fungus rod placing machine, characterized in that: it comprises: a material box (1), a material box lifting mechanism, a push rod mechanism (2), a spacing conveyor belt mechanism (4), a righting mechanism (5), and a walking vehicle body (6); the material box (1) is provided with a plurality of fungus rod channels for loading fungus rods; the material box lifting mechanism is a screw-servo motor lifting mechanism for realizing the layer changing of the material box (1) so that the fungus rods are pushed by the push rod mechanism (2) layer by layer; the push rod mechanism (2) is provided with a push rod (24) for pushing the fungus rods, and the push rod (24) moves along the square tube at the bottom of each layer of the material box (1) to achieve the purpose of pushing the fungus rods; after the fungus rods are put into the material box (1), the material box (1) is lifted to the same height as the push rod mechanism (2) at the layer to be placed, and the push rod mechanism (2) pushes the fungus rods into the spacing conveyor belt mechanism (4); the spacing conveyor belt mechanism (4) is provided with a spacing conveyor belt (41) for synchronously conveying the fungus rods pushed out from the material box (1); the righting mechanism (5) is a fungus rod righting mechanism; the walking vehicle body (6) is provided with a motor or a gasoline engine, which is used for loading and transporting the fungus rods to the placing point in the field before the fungus rods are placed, and intermittently advances to control the placing distance of each row of fungus rods when the fungus rods are placed; a fungus rod righting mechanism comprises one or more telescopic members for righting the falling fungus rods and a driving source capable of driving the telescopic members to lengthen or / and shorten; the telescopic member is provided with a cavity for accommodating the fungus rods, and can form a fungus rod falling channel under the driving of the driving source; the telescopic member is a telescopic organ pipe (58) or a telescopic U-shaped pipe or a cloth bag; the driving source is a servo motor; and the telescopic member is a telescopic organ pipe (58); the servo motor drives one or more telescopic organ pipes (58) to move telescopically through a lifting assembly to right the falling fungus rods, so that the fungus rods can stand upright on the land; the lifting assembly comprises a downward supporting platform (51), an aluminum profile frame (52), a cylindrical linear guide rail, a synchronous belt (55), a trapezoidal screw (56), and a fungus rod reverser (57); the servo motor is connected with the trapezoidal screw (56) through a coupling, and drives the downward supporting platform (51) to lift through a synchronous belt (55) and a synchronous wheel structure; before the fungus rods fall from the spacing conveyor belt (41), the downward supporting platform (51) is lowered to lengthen the telescopic organ pipe (58) to form a falling channel, and then the fungus rods fall from the channel to avoid falling over due to the impact of falling on the ground, and after the fungus rods fall stably, the downward supporting platform (51) is raised, and the righting mechanism (5) as a whole advances to enter the placing process of the next row of fungus rods. 2.A full-automatic wood ear fungus rod placing machine according to claim 1, characterized in that: the width of the fungus rod channel of the material box (1) is 120 mm, the height of the fungus rod channel baffle is 40 mm, and the interval distance between adjacent fungus rod channels is 267 mm; the material box (1) is a front-to-back through box, and has at least eight layers, the bottom of each layer is supported by three cross beams, and each layer has at least six fungus rod channels, and each fungus rod channel can load fungus rods. Or / and, screw-servo motor lifting mechanism includes: lifting platform (33) frame (31), cylindrical linear guide rail one (32), lifting platform (33), screw lifting machine (34), push rod hovering platform, motor commutator (35); servo motor through the commutator located at the bottom of the material box lifting mechanism, while outputting two torque to the left and right screw lifting machine (34), synchronous drive screw lifting machine (34) forward or reverse, driving lifting platform (33) to rise or fall.

3. The full-automatic wood ear fungus rod placing machine according to claim 1, characterized in that: The push rod mechanism (2) comprises a four-zero series servo motor one (21), a speed reducer (22), a gear (23), a push rod (24), a four-zero series servo motor two (25), and a support base (26). The push rod (24) is a left-right symmetrical structure, and the four-zero series servo motor one (21) and the four-zero series servo motor two (25) drive the gear (23) to walk on the rack. Under the guidance of the grooved rollers on the support base (26), the push rod (24) moves along the square tube at the bottom of each layer of the material box (1), so as to achieve the purpose of pushing the fungus rod; Or / and, the pitch conveyor belt mechanism (4) comprises a pitch conveyor belt (41), a mounting rack (42), a brushless DC motor (43), and a chain wheel transmission mechanism. The pitch conveyor belt (41) is a pitch conveyor belt (41) with six channels, which can simultaneously convey six columns of fungus rods, and each channel is uniformly distributed with a partition plate, and can simultaneously load up to three fungus rods. The chain wheel transmission mechanism can simultaneously drive six channels to rotate synchronously, and is used as the power source for rotating the pitch conveyor belt (41). The pitch conveyor belt (41) is used for synchronously conveying the fungus rods pushed out from the material box (1) and stably conveying the fungus rods to the hole punching mechanism; Or / and, the righting mechanism (5) comprises a driving source, an accordion tube (58), a pressing support platform (51), an aluminum profile frame (52), a cylindrical linear guide rail two (53), a synchronous belt (55), a trapezoidal screw (56), and a fungus rod commutator (57). The driving source is an eight-zero series servo motor (54), and the telescopic part is the accordion tube (58). The eight-zero series servo motor (54) is directly connected with the screw through a shaft coupling, drives the pressing support platform (51) to rise and fall through the synchronous belt (55) and the synchronous wheel structure. Before the fungus rod falls from the pitch conveyor belt (41), the pressing support platform (51) is lowered to lengthen the accordion tube to form a falling channel, and then the fungus rod falls from the channel. Or / and, the walking vehicle (6) comprises: a vehicle body, a 48-volt lithium battery, an inverter, a six-phase asynchronous motor, a six-phase asynchronous motor driver, an optical speed encoder, a speed regulation module, and a gear shifting module; the walking vehicle (6) loads and transports the agar rods to the field placement point before the agar rods are placed; the walking vehicle (6) controls the placement distance of each row of agar rods during intermittent forward movement when the agar rods are placed; the walking vehicle (6) is driven to walk by a motor or a gasoline engine, and the oil and electricity are separated, so that the walking vehicle (6) can be manually operated and controlled or controlled by a single-chip microcomputer to realize electric intelligent control; the direction of the walking vehicle (6) is controlled by a steering wheel; the speed of the walking vehicle (6) is set by the speed regulation module; the advancing distance of the field placing machine is fed back by the optical encoder, so that the single-chip microcomputer controls the advancing time of the vehicle body, and the vehicle body stops by braking after reaching a fixed distance, so as to realize the advancing of the vehicle body at a fixed distance, and further accurately ensure the row distance of the agar rod placement.

4. The full-automatic field placing machine for agar rods of the wood ear fungus according to claim 3, characterized in that: The control system of the field placing machine further comprises: a main control cabinet, a power line, a sensor, a 485 communication bus, a mobile phone APP, and a serial port screen; One end of the 485 communication bus is connected to the main control cabinet, and the other end is connected to the servo motor driver; One end of the power line is connected to the main control cabinet, and the other end is connected to the motor; the power line takes power from the bottom plate lithium battery through the inverter to drive the AC servo motor and the related motor of each part component to complete the operation of the full-automatic field placing machine; The sensor mainly comprises a slot photoelectric sensor, a mechanical collision switch, and an optical encoder; The slot photoelectric sensor and the mechanical collision switch are mounted on the material box lifting mechanism; the vertical profile rack of the material box lifting mechanism is fixed with black blocking pieces; the slot photoelectric sensor on the material box lifting mechanism is used to detect the position of the object; during the lifting process of the material box (1), the slot photoelectric sensor fixed on the material box (1) is lifted simultaneously; when the slot is blocked by the black blocking piece, the single-chip microcomputer system can capture the voltage signal change of the slot photoelectric sensor, so as to consider that the object enters or leaves the slot; there are eight black blocking pieces fixed on the vertical profile rack, which correspond to the layers of the material box (1) one by one; when the slot photoelectric sensor passes a certain black blocking piece, it means that it reaches a corresponding layer of the material box (1), which is used for accurate layer changing during the work of the material box (1); the mechanical collision switch of the material box lifting mechanism is fixed on the walking vehicle (6) rack and is always located below the material box (1) without being connected to the material box (1); when the material box (1) is lowered, the bottom of the material box (1) will stop the descent when it touches the limit switch; at this time, the material box (1) returns to the original position, that is, the lowest point, and completes the position reset; For the push rod mechanism (2), the mechanical collision switch is fixed on the outer fixed rack of the push rod mechanism (2); when the push rod (24) finishes pushing the agar rods in a layer of the material box (1), the push rod (24) needs to return to the outer fixed rack of the push rod mechanism (2) when the material box (1) changes layers; when the push rod (24) collides with the mechanical collision switch, the single-chip microcomputer system immediately controls the movement of the push rod (24) to stop, so that the push rod (24) completes the position return. For the righting mechanism (5), the mechanical collision switch is fixed on the upper part of the fixed frame section of the righting mechanism (5), and the lower pressing support platform (51) is lowered during the pressing work. When the lower pressing support platform (51) rises and hits the mechanical collision switch, the lower pressing support platform (51) stops rising, thereby completing the position regression; For the spacing conveyor belt mechanism (4), the mechanical collision switch is fixed on the fixed frame section of the spacing conveyor belt mechanism (4). Since the spacing conveyor belt (41) needs to accurately receive the mushroom sticks pushed down by the push rod mechanism (2) and send the mushroom sticks into the righting mechanism (5), it has the characteristics of stopping and running, and the spacing conveyor belt (41) stops immediately after rotating one spacing. When the spacing stopper on the spacing conveyor belt (41) hits the mechanical collision switch during rotation, the single-chip microcomputer system immediately controls the movement of the spacing conveyor belt (41) to stop, and the spacing conveyor belt (41) completes one spacing displacement.

5. The full-automatic mushroom stick placing machine according to claim 4, characterized in that: The main control cabinet includes a main machine STM32 single-chip microcomputer controller, an optical coupling isolation module, a Bluetooth module, a stepless speed regulation device, and a relay module; The main machine STM32 single-chip microcomputer controller is an STM32ZET6 single-chip microcomputer, which is used to control the rotation of the servo motor, including the push rod mechanism (2), the righting mechanism (5), and the servo motor control on the material box lifting mechanism. It controls the bottom chassis walking mechanism to advance and the distance of the advance by sending PWM pulses. It controls the speed input interface of the motor driver by sending analog voltage, and then controls the start and stop of the motor. Meanwhile, the STM32ZET6 single-chip microcomputer can be used for on-off signal detection and reset the MCU using the reset circuit to realize the initialization of the control system. The optical coupling isolation module has no direct electrical connection between the two isolated circuits, which is used to prevent interference caused by electrical connection. The isolation effect occurs between the output signal of the servo motor driver and the single-chip microcomputer. The optical coupling isolation module also has a level conversion function, which converts the 3.3V voltage output by the single-chip microcomputer to 5V output to the servo motor driver. The Bluetooth module is used to realize the serial communication between the mobile phone APP and the single-chip microcomputer. The stepless speed regulation device is used to realize the speed regulation of the brushless DC motor (43) on the spacing conveyor belt mechanism (4). The function is realized by rotating the speed regulation module. The relay module is used with the single-chip microcomputer. The single-chip microcomputer outputs high and low levels to control the opening and closing of the relay, and then controls the start and stop of the brushless DC motor (43). The mobile phone APP is used to control the action of the placing machine in real time and feedback the state information of the placing machine in real time. The mobile phone APP can realize remote control. The serial port screen communicates with the single-chip microcomputer through a serial port, communicates with the servo motor driver through an RS485 interface, and is also used to control the action of the field placing machine in real time and to feed back the state information of the field placing machine in real time. The serial port screen can realize remote control, and its control interface includes all the functions of the control interface of a mobile phone APP. The serial port screen control interface also has the functions of reading and writing of the servo motor driver, can monitor the state information of the servo motor, and the state information includes alarm information or / and parameter configuration information or / and the actual speed of the motor or / and the pulse receiving value. The serial port screen can also control the speed of each motor by controlling the single-chip microcomputer. In addition, the serial port screen can display the working information of the field placing machine, and the working information includes the number of placed sticks and the traveling speed of the machine.

6. A full-automatic field placing control method for agaric sticks, characterized in that: The full-automatic field placing machine for agaric sticks according to any one of claims 1-5 comprises the following steps: Step one, load a plurality of agaric sticks into the magazine (1) of the field placing machine, and the magazine (1) is provided with a plurality of agaric stick channels for loading agaric sticks; Step two, after the machine is opened in the field, the traveling gear is set to the forward gear, the steering wheel is set to the straight position, the traveling of the vehicle body is switched to automatic control, the single-chip microcomputer is powered on by using a battery, the emergency stop switch of the field placing machine is pulled to power on the whole machine, and the power supply switch of the servo motor system is pressed down; the single-chip microcomputer is connected with the mobile phone Bluetooth debugger APP through Bluetooth; Step three, the machine is controlled by using the mobile phone Bluetooth debugger APP or the serial port screen; the position of the magazine (1) and the interval conveyor belt (41) is reset to zero by pressing the magazine (1) reset button and the interval conveyor belt (41) reset button; Step four, press the one-layer automatic button, and the field placing machine automatically places agaric sticks from the uppermost layer of the magazine (1); after completion, the magazine (1) automatically rises by one layer to complete the layer changing of the magazine (1); Step five, after the layer changing of the magazine (1) is completed, continue to press the one-layer automatic button, and after the one-layer automatic button is pressed N times, the agaric stick placing of the whole vehicle is completed, and the operator presses the emergency stop.

7. The full-automatic field placing control method for agaric sticks according to claim 6, characterized in that: The method for placing agaric sticks in the field in one layer is as follows: S1, the push rod (24) advances by a distance of two agaric sticks in the magazine (1); the distance of the first agaric stick: the push rod (24) enters the inside of the magazine (1); the distance of the second agaric stick: the first row of agaric sticks is pushed into the interval between the partitions of the interval conveyor belt (41); S2, the interval conveyor belt (41) rotates by one interval, the push rod (24) advances by a distance of one agaric stick, the second row of agaric sticks is pushed into the interval between the partitions of the interval conveyor belt (41), the interval conveyor belt (41) rotates by one interval, the push rod (24) advances by a distance of one agaric stick, and the third row of agaric sticks is pushed into the interval between the partitions of the interval conveyor belt (41); ​ S3, the lower pressing support platform (51) of the righting mechanism (5) is lowered, the sleeve on the righting mechanism (5) is stretched to complete; the interval conveying belt (41) rotates an interval, and the stick is conveyed to the reversing guide groove of the righting mechanism (5); the stick falls vertically to the ground; the righting mechanism (5) rises back to the original position, and the sleeve on the righting mechanism (5) is contracted under the driving of the pressing mechanism; the walking vehicle body (6) automatically walks forward by a fixed distance; S4, the push rod (24) advances by a distance of one stick, and the fourth row of sticks is pushed into the interval between the partitions of the interval conveying belt (41); S5, repeat S3; S6, the push rod (24) advances by a distance of one stick, and the fifth row of sticks is pushed into the interval between the partitions of the interval conveying belt (41); then the push rod (24) returns to the original position; S7, repeat S3 three times; S8, the material box (1) rises by one layer.

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