Automatic fine water injection machine for bacterial rod and working method thereof

Abstract

This invention relates to an automatic fine watering machine for mushroom spawn and its working method, belonging to the field of agricultural engineering technology. It includes a mushroom spawn moving mechanism, a mushroom spawn clamping mechanism, a mushroom spawn watering mechanism, and a mushroom rack assembly. The mushroom spawn moving mechanism includes a steel frame, a power system, sprockets, and a chain. The power system drives the chain to move up and down on the steel frame, which in turn drives the mushroom spawn clamping mechanism to move up and down, completing longitudinal movement. The mushroom rack assembly is used to hold the mushroom spawn. The mushroom spawn clamping mechanism is used to clamp the mushroom spawn from the mushroom rack assembly and place the watered mushroom spawn back onto the mushroom rack assembly. The mushroom spawn watering mechanism is used to automatically and finely water the mushroom spawn. This invention has a high degree of automation and can solve problems such as unstable water volume and low efficiency, effectively improving watering efficiency.

Description

Technical Field

[0001] This invention relates to an automatic precision watering machine for mushroom substrate and its working method, which is used to improve the efficiency and results of mushroom substrate cultivation technology and belongs to the field of agricultural engineering technology. Background Technology

[0002] Today, my country's edible fungi industry is developing rapidly and plays an extremely important role in the agricultural economy. With the continuous expansion of market demand for edible fungi, the mass production of mushroom sticks in factories requires more efficient and precise equipment to match the high efficiency and high economy of mushroom stick production.

[0003] In the past, watering mushroom spawn was done manually, which resulted in low efficiency, high costs, and unstable operation. To improve the efficiency of mushroom spawn watering and solve the problem of unstable water volume, there is an urgent need to develop an automatic fine watering machine for mushroom spawn, aiming to achieve integrated automated watering on a production line, thereby better meeting market demands. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes an automatic fine watering machine for mushroom sticks and its working method, comprising a mushroom stick movement mechanism, a mushroom stick clamping mechanism, a mushroom stick watering mechanism, and a mushroom rack assembly mechanism. The four mechanisms work together to achieve a high degree of automation, which can solve the problem of unstable water injection volume in mushroom sticks and effectively improve watering efficiency.

[0005] The present invention adopts the following technical solution:

[0006] On the one hand, the present invention provides an automatic fine watering machine for mushroom sticks, including a mushroom stick moving mechanism, a mushroom stick clamping mechanism, a mushroom stick watering mechanism, and a mushroom rack assembly mechanism;

[0007] The mushroom stick moving mechanism includes a steel frame, a power system, a sprocket and a chain. The power system drives the chain to move up and down on the steel frame, which in turn drives the mushroom stick clamping mechanism to move up and down, completing the longitudinal movement.

[0008] The mushroom rack assembly is used to hold mushroom sticks;

[0009] The mushroom stick clamping mechanism is used to clamp mushroom sticks from the mushroom rack assembly and place the water-filled mushroom sticks back onto the mushroom rack assembly.

[0010] The mushroom stick water injection mechanism is used to automatically and precisely inject water into the mushroom sticks.

[0011] Preferably, the sprocket and chain are mounted on a steel frame, and there are two power systems. Each power system includes a sprocket shaft, and a sprocket is fixedly mounted at both ends of each sprocket shaft to ensure the smoothness and efficiency of the transmission. The sprocket meshes with the chain. One of the power systems is equipped with a flange coupling, a servo motor and a planetary reducer. The planetary reducer is riveted to the servo motor, and the flange coupling coaxially connects the planetary reducer to the sprocket shaft.

[0012] Preferably, each sprocket shaft is provided with two bearing seats, which are coaxially connected to the sprocket shaft. The bearing seats are fixed to the top of the steel frame by riveting, and the two bearing seats are symmetrically matched to complete the installation of the transmission power system.

[0013] Preferably, the steel frame is provided with a vertical guide rail and a counterweight, wherein the counterweight is connected to one end of the chain by bolts, and a lifting component is provided on the counterweight for cooperating with the vertical guide rail. The lifting component is similar to a slider and is used to cooperate with the vertical guide rail to achieve up and down movement.

[0014] The mushroom stick clamping mechanism is fixedly connected to the other end of the chain, and the mushroom stick clamping mechanism is also equipped with a lifting component that cooperates with the vertical guide rail.

[0015] Preferably, the mushroom stick gripping mechanism includes an execution system frame, a pneumatic finger robotic arm, a push rod cylinder, and a transverse guide rail. Lifting components are located on both sides of the execution system frame to increase the stability of the mushroom stick gripping mechanism. The execution system frame, as the carrier of the mushroom stick gripping mechanism, moves longitudinally along the vertical guide rail via sprockets and chains, following the mushroom stick movement mechanism.

[0016] A transverse guide rail and a push rod are provided between the pneumatic finger robotic arm and the execution system frame. The push rod is driven by a push rod cylinder, which can drive the pneumatic finger robotic arm to move laterally relative to the execution system frame. After the push rod is fully extended, the pneumatic finger robotic arm clamps the mushroom stick. After the push rod retracts, the pneumatic finger robotic arm releases the mushroom stick, so that the mushroom stick is just on the support tray of the water injection platform.

[0017] Preferably, the pneumatic finger robotic arm includes a three-finger gripper, a telescopic cylinder, a rear baffle, a fixed bracket, a vertical connecting rod, and a U-shaped beam. The three-finger gripper can be tensioned to grip the mushroom stick. The fixed bracket is provided with a U-shaped beam and a telescopic cylinder at its rear end. The U-shaped beam is connected to a transverse guide rail and a push rod. Furthermore, the U-shaped beam is connected to the push rod through its middle section, and its two sides are connected to the transverse guide rail through sliders. The sliders cooperate with the transverse guide rail, and under the drive of the push rod, the pneumatic finger robotic arm can achieve the overall transverse movement of the pneumatic finger robotic arm.

[0018] The telescopic cylinder's telescopic rod is connected to the rear baffle. By controlling the extension and retraction of the telescopic rod, the rear baffle moves. There are multiple three-finger grippers, and a vertical connecting rod is fixedly connected above each of the three-finger grippers. The rear baffle has a hole, and one end of each vertical connecting rod is hinged to the hole in the rear baffle. The other end of each vertical connecting rod is rotatably connected to the bottom of the fixed bracket.

[0019] When the telescopic cylinder extends its telescopic rod, it pushes the rear baffle to move, causing one end of the vertical connecting rod to rotate along the hinge point. The other end of the vertical connecting rod also rotates along its hinge point. Since the vertical connecting rod is fixedly connected to the three-finger gripper, it in turn causes the three-finger gripper to rotate.

[0020] This invention uses the telescopic movement of a telescopic cylinder to drive the movement of the rear baffle, thus converting linear motion into synchronous rotation of all three-finger grippers.

[0021] Preferably, the mushroom sticks are removed from the mushroom rack by a pneumatic finger robotic arm and placed on a support tray for watering. After watering, the mushroom sticks are removed from the support tray by a three-finger gripper and moved back to the mushroom rack. The mushroom sticks are 400mm long and 100mm in diameter. The support tray is provided with a concave groove, and the upper edge of the concave groove is provided with a slope that is lower on the inside and higher on the outside. This design allows the three-finger gripper to easily extend into the concave groove and grasp the mushroom sticks by the action of the three-finger gripper cylinder.

[0022] The three-finger gripper has evenly distributed grippers, with adjacent grippers spaced 120° apart. The rotation of the three-finger gripper allows it to easily extend into the concave groove of the support tray. The three-finger gripper is equipped with a three-finger gripper cylinder, which is powered by an air source. The opening and closing motion of the three-finger gripper cylinder is converted into the opening and closing motion of the fingers, allowing for precise and effective gripping of the mushroom sticks within a compact space.

[0023] Preferably, the mushroom stick water injection mechanism includes a water injection frame, a water injection cylinder, a water injection platform, a water injection needle holder, a controller, and a water tank. A guide rail connector is fixedly installed on the water injection frame, and a guide rail is installed on the guide rail connector. Slider blocks that cooperate with the guide rail are installed at both ends of the water injection needle holder. The water injection cylinder is installed between the top of the water injection needle holder and the water injection frame. Driven by the water injection cylinder, the water injection frame can move up and down.

[0024] The water injection platform is fixed inside the execution system frame of the mushroom stick clamping mechanism and located below the pneumatic finger robotic arm. The water injection platform includes a support tray, and a gravity sensor is installed at the bottom of the support tray to determine the water injection volume. A liftable water tank is also installed at the bottom of the gravity sensor, and the water tank is driven by a displacement cylinder. The water tank located below the support tray and the gravity sensor is responsible for handling the water that overflows during the water injection process and preventing the water from flowing to the outside and affecting the environment.

[0025] Furthermore, multiple support trays and gravity sensors can be configured one-to-one. This allows the gravity sensors to sense the weight of the mushroom sticks on each support tray before and after watering, and to control the stop time of the corresponding water injection needles, thus precisely controlling the amount of water injected into each mushroom stick.

[0026] Preferably, the water injection needle holder is equipped with a water injection needle, and the water tank, which serves as the water source for water injection, is located on the side of the water injection machine frame. The water tank and the water injection needle are connected by a pipe, and a controller, an on / off solenoid valve, and a water pump are installed on the pipe. The controller can flexibly control the one-way valve and the water pump to inject water into or stop the water injection needle.

[0027] The water injection needle rack has two rows, front and back, with two water injection needles corresponding to each mushroom stick. The water injection needles are connected to the on / off solenoid valve and the water pump. The on / off solenoid valve is controlled by the controller. Water injection begins when the mushroom stick is in place.

[0028] Preferably, the mushroom rack assembly includes a mushroom rack, a rotating platform, and a connecting frame. The rotating platform is fixedly connected to the connecting frame by four screws at the top. The mushroom rack and the connecting frame are detachably connected, making it convenient to change the specifications of the mushroom rack. The mushroom rack is a mesh support frame that can hold multiple layers of mushroom sticks vertically. Multiple rows of mushroom sticks are placed side by side on each layer of mushroom sticks, and the number of rows is the same as the number of three-finger grippers.

[0029] For each layer of mushroom sticks, there are two rows, one inside and one outside. The rotation of the rotating platform enables the switching between the inner and outer mushroom sticks, allowing the pneumatic finger robotic arm to extend and grasp the mushroom sticks.

[0030] Furthermore, the rotating platform includes a rotary table servo motor, a worm gear, and a 180° rotating platform. After the mushroom stick clamping mechanism clamps a row of mushroom sticks, since the stroke of the push rod cylinder is fixed, the other row of mushroom sticks needs to rotate 180° to ensure successful clamping on the next time. The rotating platform is designed to allow the mushroom rack to rotate as a whole. The rotary table servo motor drives the worm gear transmission, which enables the 180° rotating platform to drive the mushroom rack.

[0031] A method for operating the above-mentioned automatic fine water injection machine for mushroom sticks includes the following steps:

[0032] When the machine starts, the servo motor of the mushroom stick movement mechanism works, and the chain drives the mushroom stick gripping mechanism to move to the side of the mushroom stick to be gripped. The telescopic cylinder extends and drives the three-finger gripper to rotate, so that one of the three-finger grippers is directly above the mushroom stick. At this time, the push rod cylinder of the mushroom stick gripping mechanism extends. The push rod is driven by the push rod cylinder to drive the pneumatic finger mechanical arm to move forward and laterally. Multiple three-finger grippers surround the corresponding mushroom stick, and the action of the three-finger gripper cylinder makes the three-finger gripper tightly grasp the mushroom stick.

[0033] The push rod cylinder retracts, while the displacement cylinder rises, positioning the water tank below the gravity sensor. Simultaneously, the three-finger gripper cylinder releases the mushroom stick and positions it within the concave groove of the support tray. The gravity sensor on the water injection platform performs a gravity assessment on the unwatered mushroom stick. Then, the water injection cylinder descends, driving the water injection frame to lower, positioning the water injection needle above the mushroom stick. The needle injects water into the stick. When the mushroom stick reaches its target weight, water injection stops, and the water injection frame rises again, driven by the water injection cylinder. The gravity sensor provides feedback to the controller: a "0" signal is received when the mushroom stick is properly positioned and not yet watered, initiating water injection; a "1" signal is received when the mushroom stick is not in the groove or has been fully watered, stopping water injection.

[0034] After water injection is completed, the water injection cylinder moves upward, the telescopic cylinder retracts, and drives the three-finger gripper to rotate, so that one of the grippers is at the bottom of the concave groove, which is convenient for gripping with the concave groove. The action of the three-finger gripper cylinder makes the three-finger gripper clamp the mushroom stick. The displacement cylinder descends, causing the water tank to move down. The push rod cylinder extends, driving the push rod to move the pneumatic finger mechanical arm forward and laterally. The action of the three-finger gripper cylinder makes the three-finger gripper release the mushroom stick. The push rod cylinder retracts, completing one automatic water injection of the mushroom stick.

[0035] Repeat the above steps until all mushroom logs have been filled with water.

[0036] Preferably, since the mushroom rack has two rows of mushroom sticks, after the inner mushroom sticks are filled with water, the rotating platform rotates the mushroom rack 180° to fill the outer mushroom sticks with water.

[0037] For any details not covered in this invention, please refer to the prior art.

[0038] The beneficial effects of this invention are as follows:

[0039] This invention achieves automated water injection of mushroom sticks through the coordinated operation of the mushroom stick moving mechanism, the mushroom stick clamping mechanism, the mushroom stick water injection mechanism, and the mushroom rack assembly mechanism, which greatly improves the water injection efficiency.

[0040] In the mushroom stick gripping mechanism of the present invention, the rapid gripping of mushroom sticks is achieved by setting a rotating mechanism and a three-finger gripper. The support tray on which the mushroom sticks are placed is provided with a concave groove, and the upper edge of the concave groove is provided with a slope. Through the cooperation of the concave groove, the slope and the rotating mechanism, the gripping is more accurate and convenient.

[0041] This invention uses a gravity sensor to sense the weight of the mushroom sticks and achieves precise control of water injection through weight feedback. Attached Figure Description

[0042] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0043] Figure 1 This is a schematic diagram of the overall structure of the automatic fine water injection machine for mushroom sticks in an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the specific structure of the mushroom stick movement mechanism in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the specific structure of the mushroom stick clamping mechanism in an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the specific structure of the mushroom stick water injection mechanism in an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the specific structure of the mushroom rack assembly in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the specific structure of the power system in an embodiment of the present invention;

[0049] Figure 7 This is a schematic diagram of the specific structure of the sprocket and chain in an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the specific structure of the pneumatic finger robotic arm in an embodiment of the present invention, where A represents state one and B represents state two;

[0051] Figure 9 This is a schematic diagram of the specific structure of the water injection platform in an embodiment of the present invention;

[0052] Figure 10 This is a schematic diagram of the specific structure of the water injection needle holder in an embodiment of the present invention;

[0053] Figure 11 This is a schematic diagram of the specific structure of the rotating platform in an embodiment of the present invention;

[0054] Figure 12 This is a schematic diagram of the rolling lifting component structure in an embodiment of the present invention;

[0055] Figure 13 This is a schematic diagram of the specific structure of the connecting frame in an embodiment of the present invention;

[0056] Figure 14 This is a schematic diagram of the specific structure of the execution framework in an embodiment of the present invention;

[0057] Figure 15 This is a schematic diagram of the working process of the automatic fine water injection machine for mushroom sticks in an embodiment of the present invention;

[0058] In the diagram, 1-mushroom stick movement mechanism; 11-power system; 12-steel frame; 13-vertical guide rail; 14-chain; 15-counterweight; 16-lifting component; 17-bearing seat.

[0059] 2-Mushroom stick gripping mechanism, 21-Actuation system frame, 22-Pneumatic finger robotic arm, 23-Push rod cylinder, 24-Horizontal guide rail;

[0060] 3-Water injection mechanism for mushroom sticks, 31-Water injection frame, 32-Water injection cylinder, 33-Water injection platform, 34-Water injection needle holder, 35-Controller, 36-Water tank, 37-Water pump, 38-Displacement cylinder;

[0061] 4-Mushroom rack assembly, 41-Mushroom rack, 42-Rotating platform, 43-Connecting frame;

[0062] 111-Servo motor, 112-Planetary reducer, 113-Flange coupling;

[0063] 141 - Sprocket, 142 - Sprocket shaft;

[0064] 221-Three-finger gripper cylinder, 222-U-shaped beam, 223-Fixed bracket, 224-Rear baffle, 225-Telescopic cylinder, 226-Vertical connecting rod, 227-Three-finger gripper;

[0065] 331-Support tray, 332-Gravity sensor, 333-Water tank;

[0066] 341-Guide rail connector, 342-Water injection needle;

[0067] 421 - Rotary table servo motor, 422 - Worm gear, 423 - 180° rotary platform. Detailed Implementation

[0068] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. However, this is not the only description; all aspects not described in detail herein are based on conventional techniques in the art.

[0069] Example 1

[0070] An automatic fine water injection machine for mushroom sticks, such as Figure 1 It includes a mushroom stick moving mechanism 1, a mushroom stick clamping mechanism 2, a mushroom stick water injection mechanism 3, and a mushroom rack assembly mechanism 4;

[0071] The mushroom stick moving mechanism 1 includes a steel frame 12, a power system 11, a sprocket 141 and a chain 14. The power system 11 drives the chain 14 to move up and down on the steel frame 12, which in turn drives the mushroom stick clamping mechanism 2 to move up and down, thus completing the longitudinal movement.

[0072] The mushroom rack assembly 4 is used to place the mushroom sticks;

[0073] The mushroom stick clamping mechanism 2 is used to clamp the mushroom sticks from the mushroom rack assembly mechanism 4 and place the water-filled mushroom sticks back onto the mushroom rack assembly mechanism 4;

[0074] The mushroom stick water injection mechanism 3 is used to automatically and precisely inject water into the mushroom sticks.

[0075] Example 2

[0076] An automatic fine water injection machine for mushroom sticks, as described in Example 1, except that, as Figure 2 As shown, the sprocket 141 and chain 14 are mounted on the steel frame 12, which is 1970mm long, 1550mm wide, 3300mm high, and 50mm thick.

[0077] There are two power systems 11. Each power system 11 includes a sprocket shaft 142. A sprocket 141 is fixedly installed at both ends of each sprocket shaft 142 to ensure the smoothness and efficiency of the transmission. The sprocket 141 meshes with the chain 14. One of the power systems is equipped with a flange coupling 113, a servo motor 111 and a planetary reducer 112. The planetary reducer 112 is riveted to the servo motor 111. The flange coupling 113 coaxially connects the planetary reducer 112 and the sprocket shaft 142.

[0078] During operation, double-row chain drives have a large contact area between the chain and sprockets, resulting in less vibration and impact, and thus smoother operation. This smooth transmission helps reduce water damage, wear, and malfunctions, extending its service life. Furthermore, double-row chains are easy to maintain, disassemble, and install. Wear on the chain and sprockets can be repaired by replacing parts without requiring a major overhaul of the entire transmission system, significantly reducing maintenance costs. Finally, double-row chain drives are highly adaptable, able to adapt to different working environments and transmission requirements. Whether in high-temperature, low-temperature, humid, or dry environments, double-row chain drives maintain stable transmission performance. Moreover, by adjusting the size and parameters of the chain and sprockets, different transmission ratios and speeds can be met. Considering these advantages, double-row chain drives are the preferred choice for power transmission.

[0079] Each sprocket shaft 142 is provided with two bearing seats 17. The two bearing seats 17 are coaxially connected to the sprocket shaft 142. The bearing seats 17 are fixed to the top of the steel frame by riveting. The two bearing seats 17 are symmetrically matched to complete the installation of the transmission power system.

[0080] This invention employs chain drive, which has the following advantages: accurate average transmission ratio, applicability to harsh environments, and the ability to work in harsh environments such as high temperature, humidity, dust, and pollution. It also has strong load-bearing capacity. As a flexible element, the chain can freely change its length by adding or removing chain links, allowing for more flexible selection of the center distance between the driving wheel and the driven wheel. This advantage is particularly pronounced when the center distance is large, resulting in greater load-bearing and transmission capacity.

[0081] Example 3

[0082] An automatic fine water injection machine for mushroom sticks, as described in Example 2, differs in that a vertical guide rail 13 and a counterweight 15 are provided on the steel frame 12. The counterweight 15 is connected to one end of a chain 14 by bolts. A lifting component 16 is provided on the counterweight 15 for cooperating with the vertical guide rail 13. The lifting component is similar to a slider and is used to cooperate with the vertical guide rail to achieve up and down movement. In this embodiment, the lifting component 16 is preferably a rolling lifting component, which can reduce the friction force of up and down movement.

[0083] The mushroom stick clamping mechanism 2 is fixedly connected to the other end of the chain 14, and the mushroom stick clamping mechanism 2 is also equipped with a lifting component that cooperates with the vertical guide rail.

[0084] Example 4

[0085] An automatic fine water injection machine for mushroom sticks, as described in Example 3, except that, as Figure 3 The mushroom stick gripping mechanism 2 includes an execution system frame 21, a pneumatic finger robotic arm 22, a push rod cylinder 23, and a transverse guide rail 24. Lifting components 16 are located on both sides of the execution system frame 21 to increase the stability of the mushroom stick gripping mechanism. The execution system frame 21 serves as the carrier of the mushroom stick gripping mechanism 2, and moves longitudinally along the vertical guide rail 13 via sprockets and chains, following the mushroom stick movement mechanism 1.

[0086] A transverse guide rail 24 and a push rod are provided between the pneumatic finger robotic arm 22 and the execution system frame 21. The push rod is driven by the push rod cylinder 23, which can drive the pneumatic finger robotic arm 22 to move laterally relative to the execution system frame 21. After the push rod is fully extended, the pneumatic finger robotic arm 22 clamps the mushroom stick. After the push rod retracts, the pneumatic finger robotic arm 22 releases the mushroom stick, so that the mushroom stick is just on the support tray of the water injection platform.

[0087] In this embodiment, a pneumatic finger robotic arm of model HFCY63 is selected. The length of the gripper is 240cm, and the radius of the circle formed when the gripper clamps and releases is 90mm and 110mm, respectively. This can effectively grasp the mushroom sticks without dropping them.

[0088] Example 5

[0089] An automatic fine water injection machine for mushroom sticks, as described in Example 4, except that, as Figure 8 The pneumatic finger robotic arm 22 includes a three-finger gripper 227, a telescopic cylinder 225, a rear baffle 224, a fixed bracket 223, a vertical connecting rod 226, and a U-shaped beam 222. The three-finger gripper 227 can be tensioned to grip the mushroom stick. The U-shaped beam 222 and the telescopic cylinder 225 are set at the rear end of the fixed bracket 223. The U-shaped beam 222 is connected to the transverse guide rail 24 and the push rod. Furthermore, the middle part of the U-shaped beam is connected to the push rod, and the two sides are connected to the transverse guide rail through sliders. The sliders cooperate with the transverse guide rail, and under the drive of the push rod, the pneumatic finger robotic arm can achieve the overall transverse movement of the pneumatic finger robotic arm.

[0090] The telescopic rod of the telescopic cylinder 225 is connected to the rear baffle. By controlling the extension and retraction of the telescopic rod, the rear baffle 224 is moved. There are 12 three-finger grippers 227, which can grip 12 mushroom sticks at the same time. A vertical connecting rod 226 is fixedly connected above each of the 12 three-finger grippers 227. The rear baffle 224 has a hole. One end of each vertical connecting rod 226 is hinged to the hole of the rear baffle, and the other end of each vertical connecting rod 226 is rotatably connected to the bottom of the fixed bracket 223.

[0091] When the telescopic rod of the telescopic cylinder 225 extends, it pushes the rear baffle 224 to move, and drives one end of the vertical connecting rod 226 to rotate along the hinge point. The other end of the vertical connecting rod also rotates along its hinge point. Since the vertical connecting rod 226 is fixedly connected to the three-finger gripper 227, it drives the three-finger gripper to rotate.

[0092] This invention uses the telescopic movement of a telescopic cylinder to drive the movement of the rear baffle, thus converting linear motion into synchronous rotation of all three-finger grippers.

[0093] Example 6

[0094] An automatic fine watering machine for mushroom sticks, as described in Example 5, differs in that the mushroom sticks are extracted from the mushroom rack by a pneumatic finger robotic arm 22 and placed on a support tray for watering. After watering, the mushroom sticks are extracted from the support tray by a three-finger gripper 221 and moved back to the mushroom rack. The mushroom sticks are 400mm long and 100mm in diameter. The support tray 331 is 400mm long, 120mm wide, and 60mm high on both sides. The support tray 331 is provided with a concave groove, and the upper edge of the concave groove is provided with a slope that is lower on the inside and higher on the outside. This design allows the three-finger gripper to easily extend into the concave groove and grasp the mushroom sticks through the action of the three-finger gripper cylinder.

[0095] The three-finger gripper has evenly distributed grippers, with adjacent grippers spaced 120° apart. The rotation of the three-finger gripper allows it to easily reach into the concave groove of the support tray. The three-finger gripper is equipped with a three-finger gripper cylinder, which is powered by an air source. The opening and closing motion of the three-finger gripper cylinder is converted into the opening and closing motion of the fingers, allowing for precise and effective gripping of the mushroom sticks within a compact space.

[0096] Example 7

[0097] An automatic fine watering machine for mushroom sticks, as described in Example 6, differs in that the mushroom stick watering mechanism 3 includes a watering frame 31, a watering cylinder 32, a watering platform 33, a watering needle holder 34, a controller 35, and a water tank 36. A guide rail connector is fixedly installed on the watering frame 31, and a guide rail is installed on the guide rail connector. Slider blocks that cooperate with the guide rail are installed at both ends of the watering needle holder. A watering cylinder is installed between the top of the watering needle holder and the watering frame. Driven by the watering cylinder, the watering frame can move up and down.

[0098] The water injection platform 33 is fixed inside the execution system frame of the mushroom stick clamping mechanism and located below the pneumatic finger robotic arm. The water injection platform 33 includes a support tray 331, and a gravity sensor 332 is set at the bottom of the support tray 331. The water injection volume is determined according to the gravity sensor 332. A liftable water tank 333 is also set at the bottom of the gravity sensor 332. The water tank 333 is driven by a displacement cylinder 38. The water tank set below the support tray and the gravity sensor is responsible for handling the water overflowing during the water injection process and preventing water from flowing to the outside and affecting the environment.

[0099] Multiple support trays and gravity sensors can be configured one-to-one. This allows the gravity sensors to sense the weight of the mushroom sticks on each support tray before and after watering, and to control the stop time of the corresponding water injection needles, thus precisely controlling the amount of water injected into each mushroom stick.

[0100] The water injection needle holder 34 is equipped with a water injection needle 342. The water tank 36 serves as the water source for water injection and is located on the side of the water injection machine frame. The water tank 36 and the water injection needle 342 are connected by a pipe. The pipe is equipped with a controller 35, an on / off solenoid valve, and a water pump 37. The controller 35 controls the on / off solenoid valve and the water pump to flexibly realize the water injection or stop of the water injection needle.

[0101] The water injection needle holder 34 has two rows, front and back, with each mushroom stick corresponding to two water injection needles 342. The water injection needles 342 are connected to the on / off solenoid valve and the water pump 37. The on / off solenoid valve is controlled by the controller mentioned above. When the mushroom stick is in place, water injection begins.

[0102] Example 8

[0103] An automatic fine water injection machine for mushroom sticks, as described in Example 7, except that, as Figure 5As shown, the mushroom rack assembly includes a mushroom rack 41, a rotating platform 42, and a connecting frame 43. The rotating platform 42 is fixedly connected to the connecting frame 43 by four screws on the upper part. The mushroom rack 41 and the connecting frame 43 are detachably connected to facilitate the replacement of mushroom rack specifications. The mushroom rack 41 is a mesh support frame that can hold multiple layers of mushroom sticks vertically. Multiple rows of mushroom sticks are placed side by side on each layer of mushroom sticks, and the number of rows is the same as the number of three-finger grippers.

[0104] For each layer of mushroom sticks, there are two rows, one inside and one outside. The rotation of the rotating platform 42 is used to switch between the inner and outer mushroom sticks, so that the pneumatic finger robotic arm can reach out and grab the mushroom sticks.

[0105] In this embodiment, the mushroom sticks are placed in multiple layers according to the needs of mushroom stick clamping and returning, with each mushroom stick spaced 127mm apart. Each column contains 12 mushroom sticks. The mushroom rack is 2239mm high, used for the clamping mechanism to clamp multiple layers vertically. It is 2110mm long and 720mm wide. The frame thickness is 40mm, and the 40mm x 40mm steel frame is sufficient to bear the overall stress.

[0106] Furthermore, the rotating platform 42 includes a rotary table servo motor 421, a worm gear 422, and a 180° rotating platform 423. After the mushroom stick clamping mechanism clamps a row of mushroom sticks, since the stroke of the push rod cylinder is fixed, the other row of mushroom sticks needs to be rotated 180° to ensure successful clamping in the next operation. The rotating platform is designed to allow the mushroom rack to rotate as a whole. The rotary table servo motor drives the worm gear transmission, which enables the 180° rotating platform to drive the mushroom rack.

[0107] Example 9

[0108] A working method of an automatic fine water injection machine for mushroom spawn, such as Figure 15 As shown, it includes the following steps:

[0109] When the machine starts, the servo motor 111 of the mushroom stick movement mechanism 1 operates, and the chain 14 drives the mushroom stick gripping mechanism 2 to move to the side of the mushroom stick to be gripped. The telescopic cylinder extends, driving the three-finger gripper to rotate, so that one of the three-finger grippers is directly above the mushroom stick. Figure 8 As shown in Figure B, at this time, the push rod cylinder of the mushroom stick clamping mechanism 2 extends, and the push rod is driven by the push rod cylinder 23 to drive the pneumatic finger mechanical arm 22 to move forward laterally. Multiple three-finger grippers 221 surround the corresponding mushroom sticks, and the action of the three-finger gripper cylinder makes the three-finger grippers 221 tightly grasp the mushroom sticks.

[0110] Push cylinder 23 retracts, while displacement cylinder rises, positioning water tank 333 below gravity sensor 332. Simultaneously, three-finger gripper cylinder actuates, releasing the mushroom stick and placing it within the concave groove of support tray 331. Gravity sensor on the water injection platform performs a gravity assessment on the unwatered mushroom stick. Subsequently, water injection cylinder descends, driving the water injection frame to lower, positioning the water injection needle above the mushroom stick. The needle injects water into the mushroom stick. Water injection stops when the mushroom stick reaches the target weight, and the water injection frame rises under the influence of the water injection cylinder. Feedback is sent to the controller via gravity sensor. When the mushroom stick is properly positioned and not yet watered, a "0" signal is received, initiating water injection. A "1" signal is received when the mushroom stick is not in the groove or after water injection is complete, stopping water injection.

[0111] After water injection is complete, the water injection cylinder moves upward, the telescopic cylinder retracts, and the three-finger gripper rotates, so that one of the grippers is positioned at the bottom of the concave groove. Figure 8 Figure A shows a gripper that can be easily gripped with a concave groove. The three-finger gripper cylinder moves to clamp the mushroom stick, the displacement cylinder 38 moves down to lower the water tank, the push rod cylinder extends, and the push rod drives the pneumatic finger mechanical arm to move forward and laterally. The three-finger gripper cylinder moves to release the mushroom stick, and the push rod cylinder moves back, completing one automatic water injection of the mushroom stick.

[0112] Repeat the above steps until all mushroom logs have been filled with water.

[0113] Preferably, since there are two rows of mushroom sticks placed on the mushroom rack, after the inner mushroom sticks are filled with water, the rotating platform 42 rotates the mushroom rack 180° to achieve water filling of the outer mushroom sticks.

[0114] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic fine water injection machine for mushroom sticks, characterized in that, This includes a mushroom stick moving mechanism, a mushroom stick clamping mechanism, a mushroom stick water injection mechanism, and a mushroom rack assembly mechanism; The mushroom stick moving mechanism includes a steel frame, a power system, a sprocket and a chain. The power system drives the chain to move up and down on the steel frame, which in turn drives the mushroom stick clamping mechanism to move up and down, completing the longitudinal movement. The mushroom rack assembly is used to hold the mushroom sticks; The mushroom stick clamping mechanism is used to clamp mushroom sticks from the mushroom rack assembly and place the water-filled mushroom sticks back onto the mushroom rack assembly. The mushroom stick water injection mechanism is used for automatic and precise water injection into the mushroom sticks; The sprockets and chains are mounted on a steel frame. There are two power systems, each including a sprocket shaft. A sprocket is fixedly mounted at both ends of each sprocket shaft. The sprockets mesh with the chain. One of the power systems is equipped with a flange coupling, a servo motor, and a planetary reducer. The planetary reducer is riveted to the servo motor. The flange coupling connects the planetary reducer to the sprocket shaft coaxially. Each sprocket shaft is equipped with two bearing seats, which are coaxially connected to the sprocket shaft. The mushroom stick gripping mechanism includes an execution system frame, a pneumatic finger robotic arm, a push rod cylinder, and a transverse guide rail. The lifting component is mounted on the execution system frame, which serves as the carrier of the mushroom stick gripping mechanism. The execution system frame moves longitudinally along the vertical guide rail via sprockets and chains, following the mushroom stick movement mechanism. A transverse guide rail and a push rod are provided between the pneumatic finger robotic arm and the execution system frame. The push rod is driven by a push rod cylinder, which can drive the pneumatic finger robotic arm to move laterally relative to the execution system frame. After the push rod is fully extended, the pneumatic finger robotic arm clamps the mushroom stick. After the push rod retracts, the pneumatic finger robotic arm releases the mushroom stick, so that the mushroom stick is just on the support tray of the water injection platform. The pneumatic finger robotic arm includes a three-finger gripper, a telescopic cylinder, a rear baffle, a fixed bracket, a vertical connecting rod, and a U-shaped beam. The three-finger gripper can be tensioned to grip the mushroom sticks. The fixed bracket is equipped with a U-shaped beam and a telescopic cylinder at its rear end. The U-shaped beam connects to a horizontal guide rail and a push rod. The telescopic cylinder's telescopic rod is connected to the rear baffle. By controlling the extension and retraction of the telescopic rod, the rear baffle moves. There are multiple three-finger grippers, and a vertical connecting rod is fixedly connected above each of the three-finger grippers. The rear baffle has a hole, and one end of each vertical connecting rod is hinged to the hole in the rear baffle. The other end of each vertical connecting rod is rotatably connected to the bottom of the fixed bracket. When the telescopic cylinder extends, it pushes the rear baffle to move, and drives one end of the vertical connecting rod to rotate along the hinge point. The other end of the vertical connecting rod also rotates along its hinge point. Since the vertical connecting rod is fixedly connected to the three-finger gripper, it drives the three-finger gripper to rotate. The mushroom stick is 400mm long and 100mm in diameter. The support tray is provided with a concave groove and the upper edge of the concave groove is provided with a slope. The three-finger grippers are evenly distributed, with adjacent grippers spaced 120° apart. The rotation of the three-finger grippers facilitates insertion into the concave groove of the support tray. A three-finger gripper cylinder is provided on the three-finger gripper, which drives the opening and closing of the three-finger gripper. The mushroom stick water injection mechanism includes a water injection frame, a water injection cylinder, a water injection platform, a water injection needle holder, a controller, and a water tank. A guide rail connector is fixedly installed on the water injection frame, and a guide rail is installed on the guide rail connector. The two ends of the water injection needle holder are provided with sliders that cooperate with the guide rail. The water injection cylinder is installed between the top of the water injection needle holder and the water injection frame. Driven by the water injection cylinder, the water injection frame can move up and down. The water injection platform is fixed inside the execution system frame of the mushroom stick clamping mechanism and located below the pneumatic finger robotic arm; the water injection platform includes a support tray, a gravity sensor is set at the bottom of the support tray, the water injection volume is determined according to the gravity sensor, and a liftable water tank is also set at the bottom of the gravity sensor, the water tank is driven by a displacement cylinder. The water injection needle frame is equipped with water injection needles, and the water tank, which serves as the water source for water injection, is located on the side of the water injection machine frame. The water tank and the water injection needles are connected by a pipe, and a controller, an on / off solenoid valve, and a water pump are installed on the pipe. The water injection needle rack has two rows, front and back, with two water injection needles corresponding to each mushroom stick. The water injection needles are connected to an on / off solenoid valve and a water pump. The on / off solenoid valve is controlled by a controller. Water injection begins when the mushroom stick is in place.

2. The automatic fine watering machine for mushroom sticks according to claim 1, characterized in that, The steel frame is equipped with a vertical guide rail and a counterweight. The counterweight is connected to one end of the chain and has a lifting component for cooperating with the vertical guide rail. The mushroom stick clamping mechanism is fixedly connected to the other end of the chain, and the mushroom stick clamping mechanism is also equipped with a lifting component that cooperates with the vertical guide rail.

3. The automatic fine watering machine for mushroom sticks according to claim 2, characterized in that, The mushroom rack assembly includes a mushroom rack, a rotating platform, and a connecting frame. The rotating platform is fixedly connected to the connecting frame by four screws at the top. The mushroom rack and the connecting frame are detachably connected. The mushroom rack is a mesh support frame that can hold multiple layers of mushroom sticks vertically. Multiple rows of mushroom sticks are placed side by side on each layer of mushroom sticks, and the number of rows is the same as the number of three-finger grippers. For each layer of mushroom sticks, there are two rows, one inside and one outside. The rotation of the rotating platform enables the switching between the inner and outer mushroom sticks, allowing the pneumatic finger robotic arm to extend and grasp the mushroom sticks.

4. A method for operating the automatic fine watering machine for mushroom sticks as described in claim 3, characterized in that, Includes the following steps: When the machine starts, the servo motor of the mushroom stick movement mechanism works, and the chain drives the mushroom stick gripping mechanism to move to the side of the mushroom stick to be gripped. The telescopic cylinder extends and drives the three-finger gripper to rotate, so that one of the three-finger grippers is directly above the mushroom stick. At this time, the push rod cylinder of the mushroom stick gripping mechanism extends. The push rod is driven by the push rod cylinder to drive the pneumatic finger mechanical arm to move forward and laterally. Multiple three-finger grippers surround the corresponding mushroom stick, and the action of the three-finger gripper cylinder makes the three-finger gripper tightly grasp the mushroom stick. The push rod cylinder retracts, while the displacement cylinder rises, positioning the water tank below the gravity sensor. Simultaneously, the three-finger gripper cylinder actuates, releasing the mushroom log and placing it within the concave groove of the support tray. The gravity sensor on the water injection platform performs a gravity assessment on the unwatered mushroom log. Subsequently, the water injection cylinder descends, driving the water injection frame to lower, positioning the water injection needle above the mushroom log. The needle then injects water into the log. When the log reaches its target weight, water injection stops, and the water injection frame rises again, driven by the water injection cylinder. Feedback is sent to the controller via the gravity sensor. When the mushroom log is properly positioned and not yet watered, a "0" signal is received, and the mushroom log water injection mechanism begins water injection. When the mushroom log is not in the groove or has been fully watered, a "1" signal is received, and the water injection mechanism stops water injection. After water injection is completed, the water injection cylinder moves upward, the telescopic cylinder retracts, and drives the three-finger gripper to rotate, so that one of the grippers is at the bottom of the concave groove, which is convenient for gripping with the concave groove. The action of the three-finger gripper cylinder makes the three-finger gripper clamp the mushroom stick. The displacement cylinder descends, causing the water tank to move down. The push rod cylinder extends, driving the push rod to move the pneumatic finger mechanical arm forward and laterally. The action of the three-finger gripper cylinder makes the three-finger gripper release the mushroom stick. The push rod cylinder retracts, completing one automatic water injection of the mushroom stick. The action of the clamping cylinder causes the three-finger gripper to clamp the mushroom stick, the displacement cylinder rises to move the water tank down, the chain drives the mushroom stick clamping mechanism to move to the original position of the mushroom stick, the push rod cylinder rotates, driving the push rod to move the pneumatic finger mechanical arm forward and laterally, the rotation cylinder reverses, and the action of the clamping cylinder causes the three-finger gripper to release the mushroom stick, the push rod cylinder retracts, completing one automatic water injection of the mushroom stick; Repeat the above steps until all mushroom logs have been filled with water.

5. The working method of the automatic fine watering machine for mushroom sticks according to claim 4, characterized in that, Because the mushroom rack has two rows of mushroom sticks, after the inner mushroom sticks are filled with water, the rotating platform rotates the rack 180° to fill the outer mushroom sticks with water.

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