Needle mushroom harvesting and root cutting integrated equipment and working method thereof

Abstract

The invention relates to needle mushroom harvesting and root cutting integrated equipment and a working method thereof.The needle mushroom harvesting and root cutting integrated equipment comprises a rack, a mushroom basket conveying line arranged on the rack and a needle mushroom conveying line arranged on the rack and located beside the mushroom basket conveying line; the carrying manipulator is arranged at the upper part of the rack and is positioned above the mushroom basket conveying line and the needle mushroom conveying line; the machine frame is further provided with a root cutting mechanism located beside the needle mushroom conveying line and a root conveying line arranged beside the needle mushroom conveying line and located under the root cutting mechanism, needle mushroom fungus baskets to be harvested and subjected to root cutting treatment are input through the fungus basket conveying line, firstly, needle mushrooms with roots in the needle mushroom fungus baskets are grabbed through the carrying mechanical arm, and then the needle mushrooms with the roots in the needle mushroom fungus baskets are grabbed through the root cutting mechanism; then the carrying manipulator moves the flammulina velutipes with roots into the root cutting mechanism, after the roots are cut by the root cutting mechanism, the roots of the flammulina velutipes are output through the root conveying line, and the flammulina velutipes without the roots are moved to the flammulina velutipes conveying line to be output by the carrying manipulator.

Description

Technical Field

[0001] The invention relates to the technical field of enoki mushroom harvesting, in particular to a conveying, harvesting and cutting device for bottle-grown enoki mushrooms and a working method thereof. Background Art

[0003] Flammulina velutipes has a tender, crisp texture, a fresh and elegant smell, and is rich in nutrients. It is a good health food and is deeply loved by consumers. With the increasing scale of factory production of Flammulina velutipes, the domestic and foreign markets for Flammulina velutipes are becoming increasingly broad.

[0004] In the process of factory production of Flammulina velutipes, the roots of the stipes of the fruiting bodies of Flammulina velutipes will be contaminated with the culture matrix, which is difficult to remove and will affect the commercial value of the Flammulina velutipes. Therefore, the stipes that are contaminated with the culture matrix will be removed during the harvesting process. In today's Flammulina velutipes production companies, the output of Flammulina velutipes is increasing, but the operation of removing the mushroom roots can only be done manually. Manual root cutting will result in an uneven cut surface, and the amount of roots cut off manually each time is inconsistent, resulting in waste. At the same time, there are certain risks in the operation, and the cut roots cannot be effectively collected and concentrated, resulting in a messy environment. In addition, the removed waste is easy to accumulate and cannot be handled in time, which is time-consuming and labor-intensive, and causes certain environmental pollution. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide an all-in-one device for harvesting and cutting root of Flammulina velutipes, which is easy to use, highly practical and has high operating efficiency, and a working method thereof.

[0007] The integrated equipment for harvesting and root cutting of enoki mushrooms of the present invention is characterized in that it comprises a frame, a mushroom basket conveying line arranged on the frame, a enoki mushroom conveying line arranged on the frame and located next to the mushroom basket conveying line, and a handling robot arranged on the upper part of the frame and located above the mushroom basket conveying line and the enoki mushroom conveying line; the frame is also provided with a root cutting mechanism located next to the enoki mushroom conveying line, and a root conveying line arranged next to the enoki mushroom conveying line and located directly below the root cutting mechanism; the enoki mushroom baskets to be harvested and root cut are input from the mushroom basket conveying line, the handling robot first grabs the enoki mushrooms with roots in the enoki mushroom baskets, and then the handling robot moves the enoki mushrooms with roots to the root cutting mechanism; after the roots are cut by the root cutting mechanism, the roots of the enoki mushrooms are output through the root conveying line, and the enoki mushrooms with roots removed are moved by the handling robot to the enoki mushroom conveying line for output.

[0008] Preferably, two guide rails are provided on the top of the frame and are parallel to and placed perpendicular to the mushroom basket conveying line. A gantry is slidably connected to the guide rails, and the transport robot is connected to the gantry.

[0009] Preferably, the above-mentioned handling robot includes a swing frame whose two side parts are rotatably connected to the lower part of the lifting frame, and a screw nut mechanism driven by a motor is provided on the lifting frame. The screw of the screw nut mechanism is vertically arranged on the lifting frame, and the nut of the screw nut mechanism is vertically lifted and lowered under the drive of the motor. The nut of the screw nut mechanism is connected to the first end of the connecting rod, and the second end of the connecting rod is rotatably connected to the middle part of the swing frame. The nut and the connecting rod are lifted and lowered under the drive of the motor, thereby driving the swing frame to swing in the horizontal or vertical direction. A lifting cylinder for driving the lifting frame to lift is installed on the gantry.

[0010] Preferably, at least one group of clamps for clamping the enoki mushrooms is installed on the above-mentioned swing frame, and each group of clamps includes two oppositely arranged clamping pieces, the tail ends of the two clamps are rotatably connected to the swing frame, the middle parts of the clamps are rotatably connected to the first end of the push rod, the second end of the push rod connected to the two clamps is connected to the two ends of a cross bar, the middle part of the cross bar is fixedly connected to the free end of the telescopic rod of the telescopic cylinder installed on the swing frame, when the telescopic rod of the telescopic cylinder is extended or shortened, the cross bar and the push rod are driven to extend and retract, and then the outer ends of the clamps are driven to close or expand, so as to clamp the enoki mushrooms.

[0011] Preferably, the root cutting mechanism is fixedly connected to a panel at the rear of the frame, and the root cutting mechanism includes a fixed lower knife seat, an upper knife seat that can be lifted and slid, and U-shaped grooves relatively arranged on the upper knife seat and the lower knife seat. After the upper knife seat is lowered, it is close to the lower knife seat, so that the relatively arranged U-shaped grooves form an annular cavity for clamping the enoki mushrooms to be root cut. The upper knife seat and the lower knife seat are provided with slots perpendicular to the annular cavity. A cutting cylinder for driving the felling rod to extend and retract is installed on the panel, and a tool that can be inserted into the slot is installed on the free end of the felling rod. The tool can cut the enoki mushrooms with roots clamped in the annular cavity, and the cut roots fall onto the root conveyor line due to gravity.

[0012] Preferably, after the enoki mushrooms are cut, a handling robot places the finished products onto the enoki mushroom conveyor line.

[0013] Preferably, a plurality of parallel limiting rods are provided directly above the above-mentioned mushroom basket conveyor line, and the mushroom basket is a rotating body with an inner concave ring portion on the upper part, and the inner concave ring portion of the mushroom basket is limited between two adjacent limiting rods, and the distance between the two adjacent limiting rods is smaller than the outer diameter of the mushroom basket and larger than the diameter of the inner concave ring portion, and these limiting rods are connected to the frame through a plurality of vertical rods.

[0014] Preferably, the above-mentioned mushroom basket conveyor line is formed by multiple synchronously rotating rollers, and a baffle rod driven by a cylinder that can be raised and lowered is provided near the entry end and the exit end of the mushroom basket conveyor line. The height difference between the baffle rod and the mushroom basket conveyor line is equal to half the height of the mushroom basket.

[0015] The working method of the Flammulina velutipes root harvesting and cutting integrated device of the present invention is characterized by comprising the following specific steps: (1) The basket conveyor line transports multiple baskets at the same time. The baskets move on the conveyor line and are clamped by the handling robot after reaching the designated position. Since the baskets are limited by two adjacent limit rods, the handling robot is lifted by the lifting cylinder and can pull the Enoki mushrooms out of the baskets; (2) After the enoki mushrooms are pulled out of the basket, the lifting frame and the swing frame move laterally along the guide rail with the gantry frame. When they move to the specified position, the swing frame swings so that the enoki mushrooms with roots clamped by the clamp are inserted into the U-shaped grooves corresponding to the upper knife seat and the lower knife seat. After that, the upper knife seat descends and approaches the lower knife seat to clamp the enoki mushrooms with roots. After that, the cutting rod driven by the cutting cylinder is extended, and the knife is vertically inserted into the annular cavity to cut off the roots of the enoki mushrooms. The roots of the enoki mushrooms fall into the root conveyor line due to gravity; (3) After the roots of the enoki mushrooms are cut off, the handling robot clamps them and places them on the enoki mushroom conveyor line for output.

[0016] Preferably, the two side parts of the swing frame are rotatably connected to the lower part of the lifting frame, and the middle part of the swing frame is connected to the nut of the screw nut mechanism through a connecting rod, so that the nut and the connecting rod are lifted and lowered under the drive of the motor, thereby driving the swing frame to swing in the horizontal or vertical direction. When the handling manipulator grabs the enoki mushrooms from the mushroom basket, the swing frame is in a horizontal position, and when the handling manipulator puts the enoki mushrooms into the U-shaped groove, the swing frame is in a vertical position. When the telescopic rod of the telescopic cylinder is extended or shortened, the cross bar and the push rod are driven to extend or retract, and then the outer ends of the clamping pieces are driven to close or expand, so as to clamp the enoki mushrooms.

[0017] The invention realizes mechanical harvesting and root cutting, replaces traditional manual harvesting and root cutting, reduces the labor cost, thereby improving the efficiency of the operation and reducing the cost of harvesting and root cutting of Flammulina velutipes.

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below through specific embodiments and related drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front-view azimuth stereogram of an embodiment of the present invention; Figure 2 It is a left-view stereogram of an embodiment of the present invention; Figure 3 is a schematic diagram of a rack according to an embodiment of the present invention; Figure 4 2 is a schematic diagram of the main structure of the root cutting mechanism according to an embodiment of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of a handling robot according to an embodiment of the present invention; Figure 6 is a schematic diagram of the side view structure of a handling robot according to an embodiment of the present invention; Figure 7 It is a partial three-dimensional structural schematic diagram of a handling robot according to an embodiment of the present invention; Figure 8 It is a schematic diagram of the structure of the clamping piece and the internal driving mechanism of the handling robot of the present invention (in the unfolded state); Fig. 9 It is a schematic diagram of the structure of the clamping piece and the internal driving mechanism of the handling robot of the present invention (tightened state); Fig.10 This is a schematic diagram of the three-dimensional structure of a mushroom basket conveying line according to an embodiment of the present invention; Fig.11 Schematic diagram of the position structure of the Flammulina velutipes basket, rollers and limit rods; Fig.12 It is a schematic diagram of the position structure of the baffle rod and the roller. DETAILED DESCRIPTION

[0021] like Figure 1 As shown, the integrated equipment for harvesting and root cutting of enoki mushrooms of the present invention comprises a frame 1, a mushroom basket conveyor line 2 arranged on the frame, and a enoki mushroom conveyor line 3 arranged on the frame and located next to the mushroom basket conveyor line 2. The mushroom basket conveyor line 2 and the enoki mushroom conveyor line 3 are arranged parallel to each other and can be at the same horizontal position.

[0022] A handling robot 4 is provided on the upper part of the frame 1 and above the mushroom basket conveyor line 2 and the enoki mushroom conveyor line 3. The handling robot 4 can move in the horizontal direction and perpendicular to the length direction of the mushroom basket conveyor line 2, and can also move vertically.

[0023] The frame 1 is also provided with a root cutting mechanism 5 located beside the enoki mushroom conveyor line, and a root conveyor line 6 located beside the enoki mushroom conveyor line and directly below the root cutting mechanism 5. The enoki mushroom basket 7 to be harvested and root cut is input from the basket conveyor line 2. First, the enoki mushrooms with roots in the enoki mushroom basket are grabbed by the transport robot 4, and then the enoki mushrooms with roots are moved to the root cutting mechanism 5 by the transport robot 4. After the roots are cut by the root cutting mechanism 5, the roots of the enoki mushrooms are output through the root conveyor line 6, and the enoki mushrooms with roots removed are moved by the transport robot to the enoki mushroom conveyor line 3 for output.

[0024] In order to realize the horizontal movement of the handling robot 4, two parallel guide rails 8 (parallel to the mushroom basket conveyor line and in the horizontal direction) and placed vertically to the mushroom basket conveyor line are arranged on the top of the above-mentioned frame. A gantry 9 is slidably connected to the guide rails 8. The gantry 9 slides on the guide rails 8. The power for its movement can come from the guide rail cylinder, etc. (the prior art will not be repeated here). The handling robot 4 is connected to the gantry.

[0025] Specifically, the handling robot 4 includes a swing frame 402 whose two sides are rotatably connected to the lower part of the lifting frame 401, and a lifting cylinder or an electric push rod 408 for driving the lifting frame 401 to rise and fall is installed on the gantry 9. Under the driving action of the lifting cylinder or the electric push rod 408, the lifting frame 401, the swing frame 402, etc. can be lifted and lowered; a screw nut mechanism 404 driven by a motor 403 is provided on the lifting frame 401, a screw 405 of the screw nut mechanism is vertically arranged on the lifting frame 401, and a nut 406 of the screw nut mechanism is vertically lifted and lowered under the drive of the motor 403, and the nut 406 of the screw nut mechanism is connected to the first end of the connecting rod 407, and the second end of the connecting rod 407 is rotatably connected to the middle part of the swing frame 402 (because the two side parts of the swing frame 402 are rotatably connected to the lower part of the lifting frame 401), and the nut and the connecting rod are lifted and lowered under the drive of the motor 403, thereby driving the swing frame to swing in the horizontal or vertical direction.

[0026] Specifically, the two sides of the swing frame 402 are respectively fixedly connected with the vertical plates 4021, and the first protrusion 4022 is provided on the vertical plate 4021. The two ends of a rotating shaft 4023 are fixedly connected to the through holes of the first protrusion 4022. Two second protrusions 4011 are provided at the lower part of the lifting frame 401, and the rotating shaft 4023 passes through the through holes of the second protrusions 4011 with a clearance fit. Therefore, the vertical plate 4021, the first protrusion 4022 and the swing frame 402 can rotate relative to the second protrusion 4011 and the lifting frame 401.

[0027] At least one group of clamping jaws 409 for clamping the enoki mushrooms is installed on the swing frame 402, and each group of clamping jaws includes two oppositely arranged clamping pieces 410, and the clamping pieces 410 are rectangular pieces. The tails of the two clamping pieces are rotatably connected to the swing frame 402, and the middle part of the clamping piece (or close to the tail part of the clamping piece) is rotatably connected to the first end of the push rod 411. The second end of the push rod 411 connected by the two clamping pieces 410 is connected to the two ends of a cross bar 412, and the middle part of the cross bar 412 is fixedly connected to the free end of the telescopic rod 414 of the telescopic cylinder 413 installed on the swing frame. When the telescopic rod of the telescopic cylinder is extended or shortened, the cross bar and the push rod are driven to extend and retract, and then the outer ends of the clamping pieces are driven to close or expand, so as to clamp the enoki mushrooms.

[0028] The root cutting mechanism 5 is fixedly connected to the panel 501 at the rear of the frame. The root cutting mechanism includes a fixed lower knife seat 502, an upper knife seat 503 that can be lifted and slid, and a U-shaped groove 504 arranged on the upper knife seat and the lower knife seat. The upper knife seat 503 can be driven to rise and fall by the electric push cylinder and the cylinder 510 located on both sides of the upper knife seat. After the upper knife seat is lowered, it is close to the lower knife seat, so that the relatively arranged U-shaped groove forms an annular cavity 505 for clamping the enoki mushroom to be root cut. The upper knife seat and the lower knife seat are provided with A slot perpendicular to the annular cavity, a cutting cylinder 507 for driving the cutting rod 508 to extend and retract is installed on the panel 501, and a tool 509 capable of being inserted into the slot is installed on the free end of the cutting rod. The tool 509 matches the shape of the slot 506, and the tool can cut the enoki mushrooms with roots clamped in the annular cavity, and the cut roots fall onto the root conveyor line 6 due to gravity; after the enoki mushrooms are cut, the finished products are placed on the enoki mushroom conveyor line 3 by a handling robot.

[0029] The U-shaped groove 504 on the lower knife seat can be designed to be flared, so as to facilitate the roots to fall with gravity after cutting; the thickness of the annular cavity 505 is 5-8 cm, and the slot is located at the middle of the thickness direction of the annular cavity 505. Since the roots of Flammulina velutipes are relatively flat and the height is within 1-5 cm, there is enough cutting space and it is conducive to the roots to fall with gravity.

[0030] In order to limit the upward, downward, left and right moving positions of the mushroom baskets transported on the mushroom basket conveyor line 2, a plurality of parallel limiting rods 10 are provided directly above the above-mentioned mushroom basket conveyor line 2. The mushroom basket 7 is a gyroscope with an inner concave ring portion 701 on the upper part. The gyroscope is a thin shell, which can be made of plastic or stainless steel. The inner concave ring portion of the mushroom basket is limited between two adjacent limiting rods 10. The distance between the two adjacent limiting rods is smaller than the outer diameter of the mushroom basket and larger than the diameter of the inner concave ring portion. These limiting rods are connected to the frame through a plurality of vertical rods 11.

[0031] In order to limit the mushroom baskets transported on the mushroom basket conveyor line 2, the above-mentioned mushroom basket conveyor line 2 is formed by multiple synchronously rotating rollers 201, and a barrier rod 202 driven by a cylinder and capable of being raised and lowered is provided near the entry end and the exit end of the mushroom basket conveyor line. The height difference between the barrier rod and the mushroom basket conveyor line is equal to half the height of the mushroom basket. A sprocket 203 is provided on the side of the roller 201, and the sprockets of each roller 201 are synchronously rotated by a chain, and the chain can be driven to rotate by the sprocket at the output end of the motor.

[0032] The working method of the Flammulina velutipes root harvesting and cutting device of the present invention comprises the following specific steps: (1) The basket conveyor line transports multiple baskets at the same time. The baskets move on the conveyor line and are clamped by the handling robot after reaching the designated position. Since the baskets are limited by two adjacent limit rods, the handling robot is lifted by the lifting cylinder and can pull the Enoki mushrooms out of the baskets; (2) After the enoki mushrooms are pulled out of the basket, the lifting frame and the swing frame move laterally along the guide rail with the gantry frame. When they move to the specified position, the swing frame swings so that the enoki mushrooms with roots clamped by the clamp are inserted into the U-shaped grooves corresponding to the upper knife seat and the lower knife seat. After that, the upper knife seat descends and approaches the lower knife seat to clamp the enoki mushrooms with roots. After that, the cutting rod driven by the cutting cylinder is extended, and the knife is vertically inserted into the annular cavity to cut off the roots of the enoki mushrooms. The roots of the enoki mushrooms fall into the root conveyor line due to gravity; (3) After the roots of the enoki mushrooms are cut off, the handling robot clamps them and places them on the enoki mushroom conveyor line for output.

[0033] Preferably, the two side parts of the swing frame are rotatably connected to the lower part of the lifting frame, and the middle part of the swing frame is connected to the nut of the screw nut mechanism through a connecting rod, so that the nut and the connecting rod are lifted and lowered under the drive of the motor, thereby driving the swing frame to swing in the horizontal or vertical direction. When the handling manipulator grabs the enoki mushrooms from the mushroom basket, the swing frame is in a horizontal position, and when the handling manipulator puts the enoki mushrooms into the U-shaped groove, the swing frame is in a vertical position. When the telescopic rod of the telescopic cylinder is extended or shortened, the cross bar and the push rod are driven to extend or retract, and then the outer ends of the clamping pieces are driven to close or expand, so as to clamp the enoki mushrooms.

Claims

1. An integrated device for harvesting and cutting roots of Flammulina velutipes, characterized in that: The invention comprises a frame, a mushroom basket conveying line arranged on the frame, a enoki mushroom conveying line arranged on the frame and located beside the mushroom basket conveying line, and a handling robot arranged on the upper part of the frame and located above the mushroom basket conveying line and the enoki mushroom conveying line; the frame is also provided with a root cutting mechanism located beside the enoki mushroom conveying line, and a root conveying line arranged beside the enoki mushroom conveying line and located directly below the root cutting mechanism; the enoki mushroom baskets to be harvested and root cut are input from the mushroom basket conveying line, the handling robot first grabs the enoki mushrooms with roots in the enoki mushroom baskets, and then the handling robot moves the enoki mushrooms with roots to the root cutting mechanism; after the roots are cut by the root cutting mechanism, the roots of the enoki mushrooms are output through the root conveying line, and the enoki mushrooms with roots removed are moved by the handling robot to the enoki mushroom conveying line for output.

2. The device for harvesting and root cutting Flammulina velutipes according to claim 1, characterized in that: Two guide rails are arranged on the top of the frame and are placed perpendicular to the mushroom basket conveying line. A gantry is slidably connected to the guide rails, and the transport robot is connected to the gantry.

3. The device for harvesting and root cutting of Flammulina velutipes according to claim 2, characterized in that: The handling robot includes a swing frame with two side portions rotatably connected to the lower part of the lifting frame. A screw-nut mechanism driven by a motor is provided on the lifting frame. The screw of the screw-nut mechanism is vertically arranged on the lifting frame. The nut of the screw-nut mechanism is vertically lifted and lowered under the drive of the motor. The nut of the screw-nut mechanism is connected to the first end of the connecting rod. The second end of the connecting rod is rotatably connected to the middle part of the swing frame. The nut and the connecting rod are lifted and lowered under the drive of the motor, thereby driving the swing frame to swing in the horizontal or vertical direction. A lifting cylinder for driving the lifting frame to lift is installed on the gantry.

4. The device for harvesting and root cutting Flammulina velutipes according to claim 3, characterized in that: At least one group of clamping jaws for clamping Enoki mushrooms is installed on the swing frame, and each group of clamping jaws includes two oppositely arranged clamping pieces, the tail ends of the two clamping pieces are rotatably connected to the swing frame, the middle part of the clamping piece is rotatably connected to the first end of the push rod, the second end of the push rod connected to the two clamping pieces is connected to the two ends of a cross bar, the middle part of the cross bar is fixedly connected to the free end of the telescopic rod of the telescopic cylinder installed on the swing frame, when the telescopic rod of the telescopic cylinder is extended or shortened, the cross bar and the push rod are driven to extend and retract, and then the outer ends of the clamping pieces are driven to close or expand, so as to clamp the Enoki mushrooms.

5. The device for harvesting and root cutting of Flammulina velutipes according to claim 4, characterized in that: The root cutting mechanism is fixedly connected to the panel at the rear of the frame, and includes a fixed lower knife seat, an upper knife seat that can be lifted and slid, and U-shaped grooves relatively arranged on the upper knife seat and the lower knife seat. After the upper knife seat is lowered, it is close to the lower knife seat, so that the relatively arranged U-shaped grooves form an annular cavity for clamping the enoki mushrooms to be root cut. The upper knife seat and the lower knife seat are provided with slots perpendicular to the annular cavity. A cutting cylinder for driving the telescopic cutting rod is installed on the panel, and a tool that can be inserted into the slot is installed on the free end of the cutting rod. The tool can cut the enoki mushrooms with roots clamped in the annular cavity, and the cut roots fall onto the root conveyor line due to gravity.

6. The device for harvesting and root cutting Flammulina velutipes according to claim 5, characterized in that: After the enoki mushrooms are cut, a handling robot places the finished products on the enoki mushroom conveyor line.

7. The device for harvesting and root cutting Flammulina velutipes according to claim 6, characterized in that: A plurality of parallel limiting rods are provided directly above the mushroom basket conveyor line. The mushroom basket is a rotating body with a concave ring portion on the upper part. The concave ring portion of the mushroom basket is limited between two adjacent limiting rods. The distance between the two adjacent limiting rods is smaller than the outer diameter of the mushroom basket and larger than the diameter of the concave ring portion. The limiting rods are connected to the frame through a plurality of vertical rods.

8. The device for harvesting and root cutting Flammulina velutipes according to claim 7, characterized in that: The mushroom basket conveyor line is formed by a plurality of synchronously rotating rollers. A baffle rod driven by a cylinder and capable of being raised and lowered is arranged near the entry end and the exit end of the mushroom basket conveyor line. The height difference between the baffle rod and the mushroom basket conveyor line is equal to half the height of the mushroom basket.

9. A working method of the Flammulina velutipes harvesting and root cutting device as claimed in claim 8, characterized in that: The specific steps include: (1) The basket conveyor line transports multiple baskets at the same time. The baskets move on the conveyor line and are clamped by the handling robot after reaching the designated position. Since the baskets are limited by two adjacent limit rods, the handling robot is lifted by the lifting cylinder and can pull the Enoki mushrooms out of the baskets; (2) After the enoki mushrooms are pulled out of the basket, the lifting frame and the swing frame move laterally along the guide rail with the gantry frame. When they move to the specified position, the swing frame swings so that the enoki mushrooms with roots clamped by the clamp are inserted into the U-shaped grooves corresponding to the upper knife seat and the lower knife seat. After that, the upper knife seat descends and approaches the lower knife seat to clamp the enoki mushrooms with roots. After that, the cutting rod driven by the cutting cylinder is extended, and the knife is vertically inserted into the annular cavity to cut off the roots of the enoki mushrooms. The roots of the enoki mushrooms fall into the root conveyor line due to gravity; (3) After the roots of the enoki mushrooms are cut off, the handling robot clamps them and places them on the enoki mushroom conveyor line for output.

10. The working method of the Flammulina velutipes root harvesting and cutting device according to claim 9, characterized in that: The two side parts of the swing frame are respectively rotatably connected to the lower part of the lifting frame, and the middle part of the swing frame is connected to the nut of the screw nut mechanism through a connecting rod, so that the nut and the connecting rod are lifted and lowered under the drive of the motor, thereby driving the swing frame to swing in the horizontal or vertical direction. When the handling manipulator grabs the enoki mushrooms from the mushroom basket, the swing frame is in a horizontal position, and when the handling manipulator puts the enoki mushrooms into the U-shaped groove, the swing frame is in a vertical position. When the telescopic rod of the telescopic cylinder is extended or shortened, the cross bar and the push rod are driven to extend or retract, and then the outer ends of the clamping pieces are driven to close or expand, so as to clamp the enoki mushrooms.

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