Control method of full-automatic single-bag tying all-in-one machine for edible mushrooms

Abstract

The invention discloses a control method of a full-automatic single-bag tying all-in-one machine for edible mushrooms. The method comprises the following steps: step 1, making a bag; 2, bag moving and bag opening are carried out; step 3, bagging; after the clamping jaw assembly opens the fungus bag, the clamping jaw mechanism and the fungus bag are driven by a servo motor to move to the opening of the discharging barrel along the Y axis, at the moment, gaps between the two sides of the clamping jaw and the discharging barrel must be uniform and do not interfere with each other, then the clamping jaw drives the fungus bag to move to a bag removing position from the opening of the discharging barrel along the X axis, and at the moment, the bagging action is completed; 4, resetting the clamping jaw; after bagging is completed, the clamping jaw air cylinder retracts, meanwhile, the clamping jaw mechanism moves to the bag opening axis along the Y axis, and a rolling wheel on the movable clamping jaw moves to the outside of the discharging barrel along an annular ring on the discharging barrel assembly; step 5, bagging; and 6, tying the opening. The production line has the advantages of being high in automation degree, high in equipment applicability, good in produced mushroom stick quality, high in production efficiency, good in equipment stability, convenient to maintain and easy and convenient to operate.

Description

Technical Field

[0001] The invention relates to a control method for a fully automatic single-bag tying integrated machine for edible fungi. Background Art

[0002] In the process of edible fungi production, mushroom sticks need to be made as culture medium for edible fungi. In the production process of shiitake mushrooms, aluminum nails are used to tie the bags to ensure the sealing of the bags and prevent foreign bacteria from contaminating the materials. In the traditional production process of shiitake mushrooms, there are generally two ways to make sticks. One is to manually bag the materials and then tie the bags manually to make sticks. This method is time-consuming and labor-intensive, with extremely low efficiency, and the tying effect is unstable, which can easily cause the bags to be damaged, resulting in foreign bacteria contamination and failure to produce mushrooms, greatly affecting the fruiting rate and quality of mushrooms. The other is to rely on mechanical equipment to complete the heavy work of bagging, making sticks and tying the bags, but the common equipment is generally semi-automatic equipment, which requires manual assistance to complete the stick making, which greatly limits the production efficiency and industrial scale of shiitake mushrooms.

[0003] The edible fungus bagging and sealing equipment currently available on the market has the following shortcomings:

[0004] (1) The equipment has poor stability and high mechanical failure rate, making it difficult to ensure continuous production;

[0005] (2) The equipment has poor maintainability in terms of structure, and the maintenance cost and difficulty are both high;

[0006] (3) The equipment has poor applicability, and it is difficult to quickly and easily replace parts to produce other types of mushroom sticks;

[0007] (4) The quality of the mushroom sticks produced is poor and inconsistent, and the packing compactness, flatness, weight and length errors of the mushroom bags cannot meet the technical indicators at the same time;

[0008] (5) The degree of automation is low, the manpower investment is large, and automated production cannot be achieved;

[0009] (6) Low level of intelligence: ① It is impossible to remotely monitor the operation of the equipment and to remotely repair equipment failures; ② It is impossible to accurately detect the location of the failure during the production process, and the maintenance cycle is long, which increases the production and maintenance costs; ③ The user interface is complex and the operating system is not user-friendly, making it difficult for farmers to learn.

[0010] Therefore, it is necessary to develop a control method for a fully automatic single-bag sealing machine for edible fungi with high automation, strong equipment applicability, good quality of mushroom sticks, high production efficiency, good equipment stability, easy maintenance and simple operation. Summary of the invention

[0011] The purpose of the present invention is to provide a control method for a fully automatic single-bag tying integrated machine for edible fungi, which has high automation, strong equipment applicability, good quality of produced mushroom sticks, high production efficiency, good equipment stability, easy maintenance and simple operation.

[0012] In order to achieve the above object, the technical solution of the present invention is: a control method of a fully automatic single bag tying machine for edible fungi, characterized in that it comprises the following steps:

[0013] Prepare the corresponding model of edible fungus roll film bags and aluminum buckles, install the roll film bags and buckles as required, and connect the power and air source that meet the equipment requirements. First wait for the heating resistor on the integrated feeding, hot-cutting device to heat up, then press the origin button, and after each device returns to the origin in turn, turn the manual / automatic knob to manual, first press the upper and lower bagging buttons on the screen, complete the hot cutting of a fungus bag, and remove the fungus bag, then turn the manual / automatic knob to automatic, and then press the green start button, and the equipment starts fully automatic operation.

[0014] Step 1: Bag making;

[0015] The roll film will rotate with the roll film mounting plate of the bag feeding mechanism under the pull of the stepper motor of the bag making, supporting and bagging mechanism and put the bag. At this time, the counterweight block will be pulled up, and the roll film will pass through the transition optical axis, rotating drum and roll film slide plate in sequence. After the bag is delivered, the counterweight block will fall down under its own gravity and jam the roll film mounting plate to stop the rotation and prevent the roll film from dragging too long and causing jamming. Then the pressing cylinder on the integrated hot-steaming and cutting device will extend to complete the hot-steaming, and the bag cutting cylinder will retract to complete the bag cutting, and the bag making of the fungus bag is completed.

[0016] Step 2: Move the bag and support the bag;

[0017] When the pressing cylinder on the integrated feeding, hot-cutting device extends to press the mushroom bag, the suction cup opening and closing cylinder on the bag supporting and moving device also retracts at the same time, the upper and lower suction cups clamp the mushroom bag, and then the fan assembly is turned on, and at the same time, the vacuum breaking cylinder on the vacuum breaking valve assembly retracts, connecting the suction cup with the air intake of the fan, and the upper and lower suction cups begin to adsorb the upper and lower surfaces of the mushroom bag;

[0018] After the integrated feeding, hot-cutting and bag-cutting device completes bag cutting, the pressing cylinder on the integrated feeding, hot-cutting and bag-cutting device retracts, and then the bag-holding and bag-moving device moves the bag to the bag-holding position along the Y axis driven by the servo motor. During the movement, the upper and lower suction cups are opened by the suction cup opening and closing cylinder, and at the same time, the bag opening is pulled apart from the upper and lower sides to form a rectangular bag opening;

[0019] Then the clamp assembly moves to the bag-holding position along the X-axis driven by the servo motor and the transverse synchronous belt. At this time, the clamp is just inserted into the rectangular bag opening. After the clamp moves to the bag-holding position, it opens and holds the bag open immediately. Since the bag will fall off if the clamp has too little force when holding the bag, and the bag will burst if the force is too great, an opening and closing cylinder is connected to a pressure regulating valve to adjust the opening force of the clamp.

[0020] The above steps 1 and 2 constitute a cycle of bag making, bag transferring and bag supporting;

[0021] Step 3: Bagging;

[0022] After the gripper assembly opens the bag, the gripper mechanism and the bag are driven by the servo motor to move along the Y axis to the outlet of the discharge barrel. At this time, the gap between the two sides of the gripper and the discharge barrel must be uniform and non-interfering. Then the gripper moves along the X axis with the bag from the outlet of the discharge barrel to the bag removal position, and the bagging action is completed.

[0023] Step 4: Reset the jaws;

[0024] After bagging is completed, the clamping jaw cylinder retracts, and at the same time, the clamping jaw mechanism moves along the Y axis to the bag-supporting axis, and the roller on the movable clamping jaw moves along the annular ring on the discharge barrel assembly to the outside of the discharge barrel, and the clamping jaw is reset and closed under the action of the reset spring and the clamping jaw opening and closing cylinder;

[0025] The above steps 3 and 4 constitute a bagging cycle;

[0026] Step 5: Bag;

[0027] After the bagging is completed, the barrel holding device, driven by the main servo motor and the chain drive assembly, moves along the X-axis to the bagging start position; during this process, the support leg rollers on the barrel holding support device will move upward along the slide bar to the plane. At this time, the upper and lower half-walls of the barrel holding device are not completely closed. Then, the left and right brake claws on the brake device are pushed forward by the brake cylinder under the linkage of the barrel holding connecting rod to rotate, and the brake rollers are stuck in the tiger's mouth of the brake claws. At this time, the brake device completely closes the barrel holding device, and the support leg rollers are suspended in the air.

[0028] After the barrel holding device moves to the bagging start position, the stirring motor and the main motor on the feeding bagging mechanism start at the same time. The stirring motor drives the stirring shaft to rotate through the stirring chain, and stirs the fungus material in the silo to make the feeding more uniform. The main motor drives the auger feeding shaft assembly to rotate through the transmission belt, and the fungus material is rotated out of the silo assembly and the discharge barrel assembly along the X-axis by the auger main shaft and the auger shaft head assembly. (During the rotation process, the main servo motor will record the movement point of the barrel holding device and provide the bagging torque at the same time. It will provide different sizes of bagging torque in stages to ensure the overall compactness and flatness of the fungus bag.) When the barrel holding device reaches the bagging completion position, the rotation length is sufficient, the barrel holding device will stop briefly, the stirring motor will stop first, and then the main motor will stop at a reduced frequency under the control of the inverter, and then increase the frequency to reverse, and rotate the loose fungus material at the mouth of the fungus bag back (this time is the pressure holding time, which can determine the compactness of the mouth of the fungus bag). After the main motor reverses, it will stop at a reduced frequency again.

[0029] Then the tube holding device continues to move along the X-axis with the mushroom bag. At this time, the tube holding device begins to separate from the discharge tube. Before the support leg roller leaves the plane of the slide bar, the brake cylinder retracts, the brake claw separates from the brake roller, the upper and lower half tiles of the tube holding device open, and the support leg roller falls down and rolls on the plane of the slide bar. As the tube holding device continues to retreat to the bag drop position, the lower half tile of the tube holding device will open under the action of its own gravity, the gravity of the mushroom bag, the gravity of the tube holding support device and inertia, and the support leg roller will roll down along the oblique edge of the slide bar. At the same time, the mushroom bag will slide out of the tube holding device into the slide plate under the action of its own gravity and inertia.

[0030] The above step five is a bagging cycle;

[0031] Step 6: Tie the mouth;

[0032] After the mushroom bag slides down from the holding tube device, the first information received by the shooting sensor on the slide plate is transmitted to the PLC, and the PLC controls the solenoid valve to delay the start of the bag-standing cylinder to complete the bag-standing action. (Before preparing to receive the mushroom bag, the bag-standing buffer cylinder will enter the overflow valve pressure relief state, that is, the buffer state, in advance.) Before the bag-standing cylinder is started, the mushroom bag will first fall on the buffer pad of the cylinder buffer device, and the mushroom bag will quickly decelerate to zero. It is required that no material should be scattered during the falling process of the mushroom bag. When the bag-standing cylinder is started, the bag-standing buffer cylinder of the cylinder buffer device will also be started synchronously. After completing the buffering action, the bag-standing buffer cylinder is completely retracted, so that the height of the material mouth of each mushroom bag that slides down is consistent, ensuring the consistency of the height of the tying position;

[0033] After the mushroom bag stands up, it will be temporarily fixed vertically between the slide plate and the bag grabbing and blocking plate; this time, the electromagnetic sensor at the extended end of the bag standing cylinder receives the signal, the clamping cylinder is extended, the clamping mechanism completes the bag grabbing action, the double-stroke cylinder starts to drive the clamping mechanism to press down, and at the same time, the bag standing buffer cylinder of the cylinder buffer device pushes up the bottom of the bag, and the two complete the compaction of the mushroom material in the bag, making the bag further compacted;

[0034] After the downward pressure is completed, the double-stroke cylinder returns to the middle stroke position, and the bag-blocking cylinder of the bag-blocking device retracts at the same time. The bag-grabbing and bag-moving device completes the bag-moving action under the action of the clamping claw bag-moving cylinder. (In this process, until the bag is tied, the clamping claw mechanism will always hold the bag mouth.) At the same time, the bag-standing cylinder returns to its position, ready to receive the next bag.

[0035] After the bag is moved, the bag-blocking cylinder of the bag-blocking device extends out again. (The front end of the bag-blocking plate is beveled to prevent damage to the bag. It only rubs along the surface of the bag and then blocks the bag to prevent it from shaking.) When the bag-blocking plate is reset, it can limit the bag on three sides together with the bag-pushing plate of the bag-pushing device to prevent the bag from shaking left and right. At the same time, the bag-clamping plate of the bag-clamping and nail-pushing device clamps the bag mouth of the bag under the push of the bag-clamping plate cylinder. At this time, the bag-clamping plate, the clamping claw mechanism and the nail-pushing main board fix the bag mouth of the bag in five directions, and the middle section of the bag also has three-side limits, which can basically ensure that there is no large shaking when the bag mouth is tied. Then, the clamping claw mechanism is lifted up under the action of the double-stroke cylinder to tighten the bag mouth of the bag. After the double-stroke cylinder is lifted into place, the nail-pushing cylinder extends out. , the push nail connecting block drives the push nail tongue to move forward under its push, and the push nail tongue will push out the aluminum nail, and the two feet of the aluminum nail will just be stuck in the groove of the push nail main board and move, and finally the aluminum nail will complete the closing at the nailing module at the front end of the push nail main board; after the push nail cylinder retracts, the bag clamping plate will open first, and after the aluminum buckle of the mushroom bag is dragged out of the groove of the nailing module, the clamping claw mechanism will open and begin to reset under the action of the clamping claw bag moving cylinder (the clamping claw mechanism has an opening delay, which is slower than the opening of the bag clamping plate), and the mushroom bag will naturally fall to the bag landing platform of the bag discharge device, and the bag pushing device will wait for the mushroom bag to fall steadily and then delay the start to complete the bag pushing action, and the mushroom bag will fall sideways steadily onto the slope surface of the bag discharge device, and finally roll out along the slope surface and fall onto the conveyor belt; the tying of each mushroom bag will repeat this process;

[0036] The above is a tying cycle;

[0037] After the nail is pushed, the nail chain pressed by the clamping wheel will move along the nail chain guide plate and the nail rack by a distance of a nail width under the drive of the nail feeding gear (the running speed of the speed regulating motor can be adjusted through the speed regulating panel to adapt to the nail feeding rhythm under different working conditions). The nail chain guide plate and the nail chain guide block (the guide edge of the guide block is a tapered edge, narrow at the top and wide at the bottom, and the nail chain can be gradually adjusted along this edge) both play the role of following the nail to prevent the nail chain from deflecting and causing the nail to be stuck. This nail feeding process is performed once after each nail is pushed. The inductive nail chain proximity switch receives the signal of the nail chain, and automatically alarms when there is no nail, prompting the replacement of the nail buckle.

[0038] The lubricating oil filling is controlled by an electric lubricating oil pump. The lubricating oil is filled into the lower nail notch of the push nail mainboard every A minutes and the filling time is B seconds, which plays the role of lubricating the notch of the push nail mainboard and the push nail tongue, making the push nail and the tying more silky and smooth; (the oil filling interval time A and the oil filling time B can be adjusted independently)

[0039] After the nails are closed, the nails may get stuck in the module slots, so the clamp mechanism is designed to swing (such as Fig. 9 The jaw reset spring and the jaw mechanism's own gravity complete the reset, that is, when the nail-pushing cylinder extends to complete the nail-pushing, the jaw mechanism will swing and deviate from the vertical position as the mushroom bag is tied. When the bag clamping plate cylinder opens, the aluminum buckle of the mushroom bag will be dragged out of the slot of the nailing module by the jaw mechanism to prevent the mushroom bag from being stuck on the nailing module of the nail-pushing main board.

[0040] In summary, the fully automatic single-bag tying machine for edible fungi of the present invention is divided into bag making, bag moving and bag supporting cycles, bagging cycle, bagging cycle and tying cycle, and these four cycles are linked together to form a complete production process.

[0041] In the above technical scheme, it includes a main frame, a feeding and bagging mechanism, a bag supply mechanism, a bag making, supporting and bagging mechanism, a tube holding and moving mechanism and a tying mechanism;

[0042] The feeding and bagging mechanism, bag supplying mechanism, bag making, bag holding and bag covering mechanism, tube holding and movement mechanism and tying mechanism are all located in the main frame;

[0043] The feeding and bagging mechanism is located above the bag supply mechanism;

[0044] The bag making, bag holding and bagging mechanism is located above the bag supply mechanism and on the side of the feeding and bagging mechanism;

[0045] The tube holding and movement mechanism is located on the side of the feeding and bagging mechanism, and between the feeding and bagging mechanism and the closing mechanism;

[0046] A cylinder holding device is arranged on the cylinder holding and moving mechanism; an upper cylinder holding device and one end of a lower cylinder holding device of the cylinder holding and moving mechanism are movably connected through the cylinder holding device.

[0047] In the above technical solution, the barrel holding and motion mechanism includes a barrel holding motion mechanism frame, a barrel holding motion mechanism and a barrel holding device; the barrel holding device is installed on the barrel holding motion mechanism; the barrel holding motion mechanism is movably connected to the barrel holding motion mechanism frame; a brake device is arranged on the barrel holding device;

[0048] The tube holding device comprises an upper tube holding device and a lower tube holding device; the upper tube holding device is movably connected with the lower tube holding device;

[0049] The brake device includes a brake tube connecting rod, a brake clamping claw, a brake roller and a brake cylinder;

[0050] The barrel holding connecting rod is installed at the upper end of the rear side of the upper barrel holding device;

[0051] The brake clamp includes an outer brake claw and an inner brake claw; the outer brake claw and the inner brake claw are respectively hinged to the two ends of the barrel holding rod; brake rollers are installed on both side ends of the lower barrel holding device; the outer brake claw and the inner brake claw are respectively movably connected to the brake rollers located inside and outside the lower barrel holding device; the telescopic end of the brake cylinder is connected to the inner brake claw; the present invention adds a barrel holding brake device to ensure that the wheels can be suspended when the barrel moves in a closed state, the resistance is stable during the movement of the barrel, and the bagging effect is better; it avoids the uneven resistance caused by the accumulation of mushroom materials on the sliding rod under the barrel holding wheel to affect the torque control of the servo motor; it also ensures that the barrel can always remain in a closed state without opening during the bagging process, so that the thickness of the mushroom bag is consistent from head to tail.

[0052] In the above technical solution, the tube holding device also includes a tube holding mouth clamping ring, a silicone ring, a tube holding up and down adjustment screw, a tube holding vertical mounting plate, a tube holding horizontal mounting plate, a forward and reverse rotation adjustment screw, a support leg roller, a support leg directional shaft and a top screw;

[0053] The horizontal mounting plate of the holding tube is vertically connected to the vertical mounting plate of the holding tube; the vertical mounting plate of the holding tube is installed with the upper and lower adjusting screws of the holding tube; the top screw is set on the upper and lower adjusting screws of the holding tube; the horizontal mounting plate of the holding tube is connected to the top of the upper holding tube device; the supporting leg roller is connected to the lower end of the lower holding tube device through the forward and reverse rotation adjusting screw; the supporting leg directional shaft is installed on the forward and reverse rotation adjusting screw;

[0054] A silicone ring and a clamping ring for clamping the tube mouth are arranged at the front ends of the upper clamping device and the lower clamping device; and the clamping ring for clamping the tube mouth is located between the silicone rings.

[0055] In the above technical solution, the bag making, bag holding and bag covering mechanism includes a bag making, bag holding and bag covering mechanism frame, a bag holding and bag moving device, a feeding, hot cutting integrated device, a clamping claw assembly and a clamping claw rectangular motion device;

[0056] The bag-holding and bag-moving device, the integrated device for feeding, hot-cutting, the clamping jaw assembly and the rectangular clamping jaw movement device are all arranged on the bag-making, bag-holding and bag-covering mechanism frame;

[0057] The integrated feeding, hot-cutting device is movably connected to the bag-making, bag-supporting and bag-covering mechanism frame;

[0058] The clamping jaw assembly is movably mounted on the clamping jaw rectangular motion device;

[0059] The rectangular motion device of the clamping claw is movably connected with the frame of the bag making, supporting and covering bag mechanism.

[0060] In the above technical solution, the clamp assembly includes a main board of the bag holding clamp device, a clamp proximity sensor, a movable clamp mounting block, a movable clamp, a clamp reset guide wheel, an arc clamp, a fixed clamp and a clamp opening and closing cylinder;

[0061] The main board of the bag holding and clamping claw device is installed on the slide block;

[0062] The fixed clamping claw is fixedly installed on the upper end of the main board of the bag holding clamping claw device;

[0063] The movable clamp is connected to the movable clamp mounting block, and the movable clamp mounting block is movably connected to the main board of the bag holding clamp device; the clamp opening and closing cylinder is installed on the main board of the bag holding clamp device, and the telescopic end of the clamp opening and closing cylinder is connected to the movable clamp mounting block;

[0064] The upper ends of the fixed clamping jaw and the movable clamping jaw are both provided with arc-shaped clamping jaws; the arc-shaped clamping jaw on the fixed clamping jaw and the arc-shaped clamping jaw on the movable clamping jaw are arranged opposite to each other;

[0065] The clamping jaw resetting guide wheel is arranged on the movable clamping jaw;

[0066] The clamping jaw proximity sensor is located on the main board of the bag holding clamping jaw device and on the side of the movable clamping jaw mounting block.

[0067] In the above technical solution, the clamping jaw assembly also includes a movable clamping jaw rotating shaft and a clamping jaw reset spring;

[0068] The lower end of the movable clamping jaw is connected to the movable clamping jaw mounting block through the movable clamping jaw rotating shaft;

[0069] The clamping jaw return spring is respectively connected to the lower end of the movable clamping jaw and the mounting piece on the movable clamping jaw mounting block.

[0070] In the above technical solution, the tying mechanism includes a bag standing buffer device, a clamping claw bag moving device, a bag pushing device, a nail supply and oil supply device, a bag clamping nail pushing device, a bag blocking device and a bag discharging device;

[0071] The solenoid valve panel is installed on the closing mechanism frame;

[0072] The nail and oil supply device is located on the upper part of the tying mechanism frame;

[0073] The clamping claw bag moving device is located in the middle of the tying mechanism frame and on the side of the nail and oil supply device;

[0074] The bag pushing device is located at the lower part of the frame of the closing mechanism and below the side of the clamping claw bag moving device;

[0075] The bag clamping and nail pushing device is located in the middle of the tying mechanism frame and on the side of the clamping claw bag moving device;

[0076] The bag blocking device is installed in the middle of the tying mechanism frame and is located below the side of the clamping claw bag moving device;

[0077] The bag discharging device is located at the lower part of the frame of the closing mechanism and at the side of the bag pushing device;

[0078] The upright bag buffer device is located at the lower part of the tying mechanism frame and at the side of the bag pushing device;

[0079] A standing bag buffer cylinder is arranged on the standing bag buffer device; the present invention adds a cylinder buffer device (i.e., a standing bag buffer cylinder), and the cylinder of the buffer device will enter a pressure relief state when the standing bag mechanism falls down, that is, before the mushroom bag falls down. At this time, the cylinder shaft extends but the internal air pressure is in a compressible low-pressure state, which is similar to a soft compression spring and can effectively absorb the impact when the mushroom bag falls down, and the mushroom bag falls without spilling. The problem that the mushroom material at the mouth of the mushroom bag will be bounced up and spilled when the mushroom bag is connected to a hard plate is solved.

[0080] In the above technical solution, the stand-up bag buffer device includes a stand-up bag counter-shooting sensor, a bag stabilizing brush, a stand-up bag bottom plate, a stand-up bag rotating bearing seat, a stand-up bag cylinder mounting plate, a stand-up bag cylinder and a slide plate;

[0081] One end of the bag-standing cylinder is connected to the middle of the outer side of the slide plate, and the other end is connected to the bag-standing cylinder mounting plate;

[0082] The lower end of the outer side of the slide is connected to the bottom plate of the stand bag through the stand bag rotating bearing seat;

[0083] The cushion cylinder for the bag is located at the lower inner end of the slide;

[0084] The bag-standing sensors are located on both sides of the slide; the bag-standing sensors are connected to the solenoid valve panel;

[0085] The bag stabilizing brush is installed at the bottom of the cylinder of the cylinder buffer device. When the mushroom bag is moved to the pin pushing position, the bag standing mechanism falls down at the same time to prepare for the fall of the next mushroom bag. At the same time, the bag stabilizing brush at the bottom of the buffer cylinder will be tilted upward to support the bottom of the mushroom bag to prevent the mushroom bag from swinging too much. Then the bag blocking cylinder extends forward. When the mushroom bag swings less, the bag tying plate can just block the mushroom bag, thereby further preventing it from swinging back and forth. At the same time, the cylinder of the bag pushing device and the small brush on the bag discharging device can also limit the back and forth swing of the mushroom stick. Therefore, the mushroom bag that could only grasp the upper part of the mushroom bag mouth and the middle and lower parts were completely uncontrolled can be effectively controlled with the cooperation of various devices to prevent the mushroom bag from being damaged due to abnormal swinging and falling.

[0086] The present invention has the following advantages:

[0087] (1) High degree of automation, can realize automatic operation, only need to replenish mushroom bags and nail chain buckles from time to time, one person can take care of multiple machines;

[0088] (2) Optimize structural design to reduce mechanical failures. The key parts are streamlined and reliable, and special technical requirements are made to minimize the probability of failure. At the same time, corresponding structural optimization is also made to address various assembly and debugging difficulties. For example, the auger mechanism adds a disassembly channel to solve the problem of disassembly difficulties.

[0089] (3) Each motion mechanism adds a buffer device or sets a curve speed program to ensure that each motion mechanism moves smoothly without mechanical hard stops and shaking, with a low mechanical failure rate and higher stability of the whole machine; for example, the flexible control program adopted by the bag making, supporting and bagging mechanism of the present invention, the main mechanical movements are precisely driven by servo or stepper motors, without mechanical hard stops, no obvious motion deviation, and the probability of collision is infinitely close to zero; after the parameters are set in the present invention, the servo motor runs according to the program, the encoder can detect the point feedback position by itself, and the encoder can realize position partitioning, thereby controlling the running speed and acceleration and deceleration of the mechanism between the partitions, so as to More stable operation; the stepper motor can rotate a certain number of times at a predetermined speed in each operation cycle according to the setting, so as to control the length and speed of bag feeding; the flexible control program adopted by the barrel holding and motion mechanism of the present invention, the forward and backward movement of the barrel holding is accurately controlled by the servo motor, and the barrel holding speed changes in the form of a curve (the barrel holding forward speed gradually increases, increases to a certain degree and then maintains for a period of time, and then gradually decreases; in the process of control between the sections, the barrel holding and bagging backward speed gradually decreases, decreases to a certain degree and then gradually increases), the start and stop are smooth, there is no mechanical hard stop action, the operation is more stable, and the barrel holding operation point is accurate;

[0090] (4) Strong applicability. The present invention can quickly and conveniently produce mushroom sticks of other models by simply replacing some components. Compared with the one-machine-one-model model on the market, it greatly facilitates users who need to produce multiple models of mushroom sticks;

[0091] (5) Develop a PLC-based flexible servo drive control algorithm to better control and coordinate the torque and speed of the servo motor during bagging, so that the compactness of the mushroom stick can be controlled in sections according to the actual production situation, making the mushroom stick more compact, and the compactness of each section of the mushroom stick more consistent, so that the bagging effect is better, the compactness of each section of the mushroom stick is adjustable, and the surface flatness of the mushroom stick is higher;

[0092] (6) Optimize the whole machine control program, make each mechanical action as coherent as possible, maximize production efficiency, and achieve an hourly output of 750-800 sticks;

[0093] (7) High degree of intelligence;

[0094] ① Realize the intercommunication of IoT big data and support online viewing of real-time production status via mobile phones and computers;

[0095] ②Realize remote control of equipment. Technicians can remotely update programs and debug equipment to maintain continuous production;

[0096] ③ Each motion mechanism is equipped with magnetic sensors and proximity switches to monitor and control the operation of the mechanism. The intelligent control system can accurately identify the fault point and assist workers to troubleshoot in time to resume production;

[0097] ④It can detect whether the bagging is successful or not. If the bagging fails three times in a row, a "stop for inspection" warning will be issued;

[0098] ⑤ The operation interface is simple and the operating system is easy to understand. Ordinary workers can start work after simple training;

[0099] (8) The main body of the feeding and bagging mechanism, the frame of the bag making, supporting and covering mechanism and the frame of the tube holding movement mechanism of the present invention are all welded by tooling. During the debugging process, only simple mechanical alignment and determination of the positions of each sensor are required. There is no need for repeated alignment and debugging, which greatly shortens the debugging cycle and reduces the difficulty of debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] Figure 1 This is a schematic diagram of the overall structure of the fully automatic single bag tying system for edible fungi of the present invention;

[0101] Figure 2 It is a structural schematic diagram of the feeding and bagging mechanism of the present invention;

[0102] Figure 3 It is a schematic cross-sectional structure diagram of the feeding and bagging mechanism of the present invention;

[0103] Figure 4 It is a structural schematic diagram of the bag supply mechanism of the present invention;

[0104] Figure 5 It is a structural schematic diagram of the bag making, bag holding and bag covering mechanism of the present invention;

[0105] Figure 6 It is a structural schematic diagram of the holding tube and the motion mechanism of the present invention;

[0106] Figure 7 It is a structural schematic diagram of the barrel holding mechanism of the present invention;

[0107] Figure 8 It is a structural schematic diagram of the tying mechanism of the present invention;

[0108] Fig. 9 It is a structural schematic diagram of the clamping jaw bag moving device of the present invention;

[0109] Fig.10 It is a structural schematic diagram of the stand-up bag buffer device of the present invention;

[0110] Fig.11 It is a structural schematic diagram of the bag blocking device of the present invention;

[0111] Fig.12 It is a front structural schematic diagram of the nail and oil supply device of the present invention;

[0112] Fig.13 It is a schematic diagram of the reverse structure of the nail and oil supply device of the present invention;

[0113] Fig.14 It is a schematic structural diagram of the bag clamping and nail pushing device of the present invention.

[0114] Fig.15 It is a three-dimensional structural schematic diagram of the clamping claw assembly of the bag making, supporting and bagging mechanism of the present invention;

[0115] Fig.16 It is a front view of the clamping claw assembly of the bag making, supporting and covering bag mechanism of the present invention.

[0116] In the figure, 1, main frame, 2, feeding and bagging mechanism, 3, bag supply mechanism, 4, bag making, bag holding and bagging mechanism, 5, holding tube and movement mechanism, 6, tying mechanism, 20, stirring chain, 21, stirring motor, 22, auger feeding shaft assembly, 23, transmission belt, 24, feeding pipe, 25, silo assembly, 26, discharge barrel assembly, 27, feeding and bagging mechanism mainboard, 28 main motor, 220, auger mounting shaft, 221, stirring shaft, 222, auger main shaft, 223, auger shaft head assembly, 30, film rolling mounting plate, 31, tightening sleeve, 32, wrench, 33, rotating drum, 34, film rolling, 35, counterweight, 40, bag making, bag holding and bagging mechanism frame, 41, pressure regulating valve, 42, solenoid valve group, 43, fan assembly, 44, Vacuum breaking valve assembly, 45, sliding rod, 46, bag holding and moving bag device, 47, integrated feeding, hot cutting device, 48, clamping jaw assembly, 480, bag holding and clamping jaw device mainboard, 481, clamping jaw proximity sensor, 482, movable clamping jaw mounting block, 483, movable clamping jaw, 484, clamping jaw reset guide wheel, 485, arc clamping jaw, 486, fixed clamping jaw, 487, clamping jaw opening and closing cylinder, 488, movable clamping jaw rotating shaft, 489, clamping jaw reset spring, 49, film rolling slide, 50, holding tube movement mechanism frame, 51, holding tube optical axis, 52, chain drive assembly, 53, main servo motor, 54, holding tube device, 55, holding tube support device, 56, brake device, 540, holding tube mounting plate assembly, 541, holding tube up and down adjustment screw, 5 42. Upper and lower tightening screws of the clamping tube, 550. Support leg roller, 551. Support leg directional shaft, 552. Forward and reverse rotation adjustment screw, 560. Brake cylinder, 561. Brake roller, 562. Brake clamp, 563. Clamp connecting rod, 60. Closing mechanism frame, 61. Clamp bag transfer device, 62. Solenoid valve panel, 63. Stand-up bag buffer device, 64. Bag push device, 65. Overflow valve, 66. Nail supply and oil supply device, 67. Bag clamp and nail push device, 68. Bag blocking device, 69. Bag discharging device, 610. Clamp bag transfer cylinder, 611. Double-stroke cylinder, 612. Clamp cylinder, 613. Clamp mechanism, 614. Clamp mounting plate, 615. Clamp bag transfer main board, 616 Clamp reset spring, 630. Slide plate, 63 1. Stand-up bag cylinder, 632. Stand-up bag cylinder mounting plate, 633. Stand-up bag shooting sensor, 634. Stand-up bag buffer cylinder, 635. Stand-up bag mounting mainboard, 636. Stand-up bag bottom plate, 660. Plate buckle, 661. Electric lubricating oil pump, 662. Compression spring, 663. Speed ​​control panel, 664 Speed ​​control motor, 665. Nail chain approach switch, 666. Nail feeding gear, 667. Nail rack, 668. Nail chain guide plate, 669. Nail chain guide block, 6610. Pressure wheel, 670. Push nail cylinder, 671. Push nail mainboard, 672. Push nail tongue, 673. Nail module, 674. Bag clamping plate, 675. Push nail connecting block, 676. Bag clamping plate cylinder, 680. Bag tying plate, 681. Bag grabbing plate,682, bag stopper guide shaft, 683, bag stopper mounting plate, 684, bag stopper cylinder. DETAILED DESCRIPTION

[0117] The following is a detailed description of the implementation of the present invention in conjunction with the accompanying drawings, but they do not constitute a limitation of the present invention and are only given as examples. At the same time, the advantages of the present invention are made clearer and easier to understand through the description.

[0118] The present invention discloses a fully automatic single-bag tying integrated machine for edible fungi, which can complete the production of single-layer membrane mushroom sticks through the cooperation of a feeding bagging mechanism, a bag supplying mechanism, a bagging mechanism, a holding tube and its movement mechanism and a tying mechanism, and can directly liberate manpower, liberate workers from simple and repetitive labor, greatly improve production efficiency, shorten production cycle and reduce production cost.

[0119] The coordination relationship between the main devices of the fully automatic single bag tying machine for edible fungi of the present invention is introduced as follows:

[0120] The bag making, bag holding and bag putting mechanism 4 pulls the rolled film bag from the bag supply mechanism 3, and the integrated feeding, scalding and cutting device 47 completes the bag feeding, scalding and bag cutting. Then, the bag holding and moving device 46 moves the bag and opens the bag mouth, and then cooperates with the clamping jaw assembly 48 to complete the opening of the bag. Finally, the bag putting action is completed under the action of the servo motion mechanism of the clamping jaw assembly 48. After the bagging is completed, the holding tube and the motion mechanism 5 begin to cooperate with the feeding and bagging mechanism 2 to carry out bagging. The mushroom material is rotated out by the auger feeding shaft assembly 22 and the mushroom material is squeezed and compacted under the bagging torque of the main servo motor 53 to complete the bagging. Then the mushroom sticks fall into the slide plate in the bag-standing buffer device 63 of the tying mechanism 6, and the bag-standing action is completed under the action of the bag-standing buffer device 63. Then, the bag is grasped and moved to the tying mouth of the bag clamping and nail-pushing device 67 under the action of the claw bag-moving device 61, and then the bag clamping and nail-pushing device 67 completes the bag clamping and tying. Finally, under the bag pushing action of the bag pushing device 64, the mushroom bag is tilted onto the bag-dropping inclined plate of the bag-discharging device 69 to complete the bag discharge.

[0121] The working principle and control method of the fully automatic single bag tying machine for edible fungi described in the present invention are introduced as follows:

[0122] like Figure 1 As shown, the fully automatic single-bag tying machine for edible fungi of the present invention belongs to an integrated packaging equipment for edible fungi with fully automatic single-film tying. The equipment can replace manual work to complete the actions of taking bags, bagging, bagging and tying through the cooperation between the feeding and bagging mechanism, the bag supply mechanism, the bag making, bag supporting and bagging mechanism, the holding cylinder and the movement mechanism and the tying mechanism.

[0123] The present invention relates to motion in three dimensions. Figure 1 In the diagram, when looking directly at the device, the left-right direction is considered the X-axis direction, the front-back direction is considered the Y-axis direction, and the up-down direction is considered the Z-axis direction.

[0124] The origin position and status of each device are as follows:

[0125] ① The motors of the feeding and bagging mechanism 2 are all in standby mode;

[0126] ② The tube holding device 54 of the tube holding and movement mechanism 5 is in the bagging completion position, and the upper and lower halves are in the open state;

[0127] ③ The jaws of the jaw assembly 48 are closed and retracted, and stay in the bagging completion position;

[0128] ④ The pressing cylinder of the integrated hot-cutting and feeding device 47 is in the open state;

[0129] ⑤ The bag supporting and moving device 46 is in the open state and is aligned with the integrated feeding, hot-cutting device 47;

[0130] ⑥ The slide plate 630 of the bag-standing buffer device 63 falls down to receive the bag, and the bag-standing buffer cylinder 634 is in a buffering state;

[0131] ⑦ The clamp mechanism 613 on the clamp bag transfer device 61 is opened, and the double-stroke cylinder 611 is in the middle position;

[0132] ⑧ The bag blocking cylinder 684 of the bag blocking device 68 is in an extended state;

[0133] ⑨ The bag clamping plate 674 of the bag clamping and nail pushing device 67 is in an open state, and the nail pushing cylinder 670 is in a retracted state;

[0134] ⑩ The bag pushing cylinder of the bag pushing device 64 is in a retracted state;

[0135] The specific working process of the present invention is as follows:

[0136] Prepare the corresponding model of edible mushroom roll film bags and aluminum buckles, install the roll film bags and buckles as required, and connect the power supply and air source that meet the equipment requirements. First wait for the heating resistor on the integrated feeding, hot-cutting and cutting device 47 to heat up, then press the origin button, wait for each device to return to the origin in turn, turn the manual / automatic knob to manual, first press the lower bag button on the screen, complete the hot cutting of a mushroom bag, and remove the mushroom bag, then turn the manual / automatic knob to automatic, and then press the green start button, and the equipment starts full-automatic operation.

[0137] Bag making: The roll film 34 will rotate with the roll film mounting plate 30 of the bag supply mechanism 3 under the pull of the stepper motor of the bag making, supporting and bagging mechanism 4 and put the bag. At this time, the counterweight block 35 will be pulled up, and the roll film 34 will pass through the transition optical axis, the rotating drum 33 and the roll film slide 49 in sequence. After the bag is delivered, the counterweight block 35 will fall under its own gravity and jam the roll film mounting plate 30, playing a role of stopping rotation and preventing the roll film 34 from dragging too long and causing jamming. Then the pressing cylinder on the integrated hot-steaming and cutting device 47 extends to complete the hot-steaming of the bag, and the bag cutting cylinder retracts to complete the bag cutting.

[0138] Bag transfer and bag holding: When the pressing cylinder on the integrated feeding, hot-cutting and cutting device 47 extends to press the bag, the suction cup opening and closing cylinder on the bag holding and bag transferring device 46 also retracts at the same time, and the upper and lower suction cups clamp the bag, and then the fan assembly 43 is turned on, and the vacuum breaking cylinder on the vacuum breaking valve assembly 44 retracts at the same time, connecting the suction cup with the air intake of the fan, and the upper and lower suction cups begin to absorb the upper and lower surfaces of the bag. After the integrated feeding, hot-cutting and cutting device 47 completes bag cutting, the pressing cylinder on it retracts, and then the bag holding and bag transferring device 46 moves along the Y axis to the bag holding position under the drive of the servo motor. During the movement, the upper and lower suction cups are opened under the action of the suction cup opening and closing cylinder, and the bag opening is also pulled apart from the upper and lower sides to form a rectangular bag opening. Then the clamp assembly 48 moves along the X axis to the bag holding position under the drive of the servo motor and the transverse synchronous belt. At this time, the clamp is just inserted into the rectangular bag opening, and the clamp is immediately opened to hold the bag open after it moves to the bag holding position. Since the bag may fall off if the force of the clamping jaws is too weak when opening the bag, and the bag may be broken if the force is too strong, the opening and closing cylinder is connected to a pressure regulating valve 41, and the opening force of the clamping jaws can be adjusted.

[0139] The above is a cycle of bag making, bag transferring and bag supporting.

[0140] Bagging: After the jaw assembly 48 opens the bag, the jaw mechanism and the bag are driven by the servo motor to move along the Y axis to the mouth of the discharge barrel. At this time, the gap between the two sides of the jaw and the discharge barrel must be uniform and non-interfering. Then the jaw moves along the X axis from the mouth of the discharge barrel to the bag removal position with the bag, and the bagging action is completed; the jaw moves along the x axis from the mouth of the discharge barrel to the bag removal position with the bag, and if the distal sensor of the jaw proximity sensor 481 has a signal before the jaw moves to the bag removal position for x seconds (preset value), it means that the bagging is successful. If the signal is lost in advance (if the bag When the bag is on the clamp, the clamp will not open completely, and the distal sensor of the clamp proximity sensor 481 will have a signal. If there is no bag on the clamp, the clamp will open completely, the clamp exceeds the sensor sensing range, and the signal is lost, indicating that the clamp is separated from the bag; that is, the signal is lost in advance, and the bag falls off in advance), which means that the bagging has failed; if the bagging fails three times in a row, the control panel will issue a "stop inspection" warning, so as to accurately identify the fault point, assist workers to troubleshoot in time to resume production, improve the degree of intelligence, improve the quality of mushroom sticks, and improve production efficiency.

[0141] Jaw reset: After bagging is completed, the jaw cylinder retracts, and at the same time the jaw mechanism moves along the Y-axis to the bag support axis, and the roller on the movable jaw moves along the annular ring on the discharge barrel assembly 26 to the outside of the discharge barrel, and the jaw is reset and closed under the action of the reset spring and the jaw opening and closing cylinder.

[0142] The above is one bagging cycle.

[0143] Bagging: After bagging is completed, the barrel holding device 54 is driven by the main servo motor 53 and the chain drive assembly 52 to move along the X axis to the starting position of bagging. During this process, the support leg roller 550 on the barrel holding support device 55 will move upward along the slide bar 45 to the plane. At this time, the upper and lower half-walls of the barrel holding device 54 are not completely closed. Then, the left and right brake clamps 562 on the brake device 56 are pushed forward by the brake cylinder 560 under the linkage of the barrel holding connecting rod 563, and the brake roller 561 is stuck in the tiger's mouth of the brake clamp 562. At this time, the brake device 56 completely closes the barrel holding device 54, and the support leg roller 550 is suspended in the air.

[0144] After the barrel holding device 54 moves to the bagging start position, the stirring motor 21 and the main motor 28 on the feeding bagging mechanism 2 are started at the same time, and the stirring motor 21 drives the stirring shaft 221 to rotate through the stirring chain 20, stirring the fungus material in the silo to make the material discharge more uniform. The main motor 28 drives the auger feeding shaft assembly 22 to rotate through the transmission belt 23, and the fungus material is rotated out of the silo assembly 25 and the discharge barrel assembly 26 along the X-axis by the auger main shaft 222 and the auger shaft head assembly 223. (During the spinning process, the main servo motor 53 will record the movement point of the barrel holding device 54 and provide bagging torque at the same time. It will provide bagging torque of different sizes in stages to ensure the overall compactness and flatness of the mushroom bag.) When the barrel holding device 54 reaches the bagging completion position, the spinning length is sufficient, the barrel holding device 54 will stop briefly, the stirring motor 21 will stop first, and then the main motor 28 will reduce the frequency and stop under the control of the inverter, and then increase the frequency and reverse, to spin back the loose mushroom material at the mouth of the mushroom bag (this time is the pressure holding time, which can determine the compactness of the mouth of the mushroom bag) After the main motor 28 completes the reversal, it will reduce the frequency and stop again.

[0145] Then the tube holding device 54 continues to move along the X-axis with the mushroom bag. At this time, the tube holding device 54 begins to separate from the discharge barrel. Before the support leg roller 550 leaves the plane of the slide bar 45, the brake cylinder 560 retracts, the brake clamp 562 separates from the brake roller 561, and the upper and lower half tiles of the tube holding device 54 open. At the same time, the support leg roller 550 falls and rolls on the plane of the slide bar 45. As the tube holding device 54 continues to retreat to the bag-dropping position, the lower half tile of the tube holding device 54 will open under the action of its own gravity, the gravity of the mushroom bag, the gravity of the tube holding support device 55, and inertia. The support leg roller 550 will roll down along the oblique edge of the slide bar 45, and the mushroom bag will also slide out of the tube holding device 54 into the slide plate 630 under the action of its own gravity and inertia.

[0146] The above is a bagging cycle.

[0147] Closing: After the mushroom bag slides down from the holding tube device 54, the bag-standing sensor 633 will first receive the information and transmit it to the PLC, and the PLC will control the solenoid valve to delay the start of the bag-standing cylinder 631 to complete the bag-standing action. (Before preparing to receive the mushroom bag, the bag-standing buffer cylinder 634 will enter the overflow valve pressure relief state, that is, the buffer state, in advance.) Before the bag-standing cylinder 631 is started, the mushroom bag will first fall on the buffer pad of the cylinder buffer device, and the mushroom bag will quickly decelerate to zero. It is required that no material should be scattered during the falling process of the mushroom bag. When the bag-standing cylinder 631 is started, the bag-standing buffer cylinder 634 of the cylinder buffer device will also be started synchronously. After completing the buffering action, the bag-standing buffer cylinder 634 is completely retracted to keep the height of the mushroom bag material mouth consistent, thereby ensuring the consistency of the tying position height.

[0148] After the mushroom bag is erected, it will be temporarily fixed vertically between the slide plate 630 and the bag grabbing and bag blocking plate 681. This time, the electromagnetic sensor at the protruding end of the bag standing cylinder 631 receives the signal, the clamping cylinder 612 completes the extension, the clamping mechanism 613 completes the bag grabbing action, and the double-stroke cylinder 611 starts to drive the clamping mechanism 613 to press down, and at the same time, the bag standing buffer cylinder 634 of the cylinder buffer device pushes up the bottom of the bag, and the two complete the compaction of the mushroom material in the bag, making the bag further compacted. After the downward pressure is completed, the double-stroke cylinder 611 returns to the middle stroke position, and at the same time, the bag blocking cylinder 684 of the bag blocking device 68 retracts, and the bag grabbing and bag moving device 61 completes the bag moving action under the action of the clamping and bag moving cylinder 610 (in this process, until the bag is tied, the clamping mechanism 613 will always hold the bag mouth of the bag) At the same time, the bag standing cylinder 631 returns to its position, ready to receive the next bag.

[0149] After the bag is moved, the bag blocking cylinder 684 of the bag blocking device 68 extends out again. (The tying bag blocking plate 680 will not damage the mushroom bag because its front end is beveled. It will only rub along the surface of the mushroom bag and then block the mushroom bag to prevent it from shaking.) When the tying bag blocking plate 680 is reset, it can just limit the mushroom bag on three sides with the bag pushing plate of the bag pushing device 68 to prevent the mushroom bag from shaking left and right. At the same time, the bag clamping plate 674 of the bag clamping and nail pushing device 67 clamps the bag mouth of the mushroom bag under the push of the bag clamping plate cylinder 676. At this time, the bag clamping plate 674, the clamping claw mechanism 613 and the nail pushing main board 671 fix the bag mouth of the mushroom bag in five directions. The middle section of the mushroom bag is also limited on three sides, which can basically ensure that there is no significant shaking when the mouth of the mushroom bag is tied. Next, the clamping claw mechanism 613 is lifted up under the action of the double-stroke cylinder 611 to tighten the mouth of the mushroom bag. After the double-stroke cylinder is lifted into place, the nail pushing cylinder 670 extends out, and the nail pushing connecting block 675 drives the nail pushing tongue 672 to move forward under its push. The nail pushing tongue 672 will push the aluminum nail out, and the two feet of the aluminum nail are just stuck in the groove of the nail pushing main board 671 and move. Finally, the aluminum nail is closed at the nailing module 673 at the front end of the nail pushing main board 671. After the nail-pushing cylinder 670 is retracted, the bag clamping plate 674 opens first, and after the aluminum buckle of the mushroom bag is dragged out from the notch of the nailing module 673 (see the description for details), the clamping claw mechanism 613 opens and begins to reset under the action of the clamping claw bag-moving cylinder (the clamping claw mechanism 613 has a delay in opening, which is slower than the opening of the bag clamping plate 674), and the mushroom bag will naturally fall to the bag-dropping platform of the bag-discharging device 69, and the bag-pushing device 64 will wait for the mushroom bag to fall steadily and then start the bag-pushing action after a delay, and the mushroom bag will fall sideways steadily onto the slope surface of the bag-discharging device 69, and finally roll out along the slope surface and fall onto the conveyor belt. The tying of each mushroom bag will repeat this process.

[0150] The above is a tying cycle.

[0151] After the nail pushing is completed, the nail chain pressed by the clamping wheel 6610 will move a distance of a nail width along the nail chain guide plate 668 and the nail rack 667 under the drive of the nail feeding gear 666 (the running speed of the speed regulating motor 664 can be adjusted through the speed regulating panel 663 to adapt to the nail feeding rhythm under different working conditions). The nail chain guide plate 668 and the nail chain guide block 669 (the guide edge of the guide block is a tapered edge, narrow at the top and wide at the bottom, and the nail chain can be gradually adjusted along this edge) both play the role of following the nail to prevent the nail chain from deflecting and causing the nail to be stuck. This nail feeding process is performed once after each nail pushing is completed. The inductive nail chain proximity switch 665 receives the signal of the nail chain, automatically alarms when there is no nail, and prompts to replace the nail buckle.

[0152] The lubricating oil filling is controlled by the electric lubricating oil pump 661. The lubricating oil is filled into the lower nail notch of the nail pusher main board 671. The filling is done every A minutes and the filling time is B seconds. It plays the role of lubricating the notch of the nail pusher main board 671 and the nail pusher tongue 672, making the nail push and the tying more smooth and smooth. (The oil filling interval time A and the oil filling time B can be adjusted independently)

[0153] Note: After the nail is closed, the nail may get stuck in the module slot, so the clamp mechanism 613 is designed to swing (the structure can be seen Fig. 9 ) The jaw reset spring 616 and the jaw mechanism 613 are reset by their own gravity, that is, when the nail pushing cylinder 670 is extended to complete the nail pushing, the jaw mechanism 613 will swing and deviate from the vertical position following the process of tying the mushroom bag. After the bag clamping plate cylinder 676 is opened, the aluminum buckle of the mushroom bag will be dragged out of the slot of the nailing module 673 by the jaw mechanism 613 to prevent the mushroom bag from being stuck on the nailing module 673 of the nail pushing main board 671.

[0154] In summary, the fully automatic single-bag tying machine for edible fungi of the present invention is divided into bag making, bag moving and bag supporting cycles, bagging cycle, bagging cycle and tying cycle, and these four cycles are linked together to form a complete production process.

[0155] Other parts not described belong to the prior art.

Claims

1. A control method for a fully automatic single-bag tying machine for edible fungi, characterized in that: The following steps are included: Step 1: Bag making; The roll film (34) is driven by the stepper motor of the bag making, supporting and bagging mechanism (4) to rotate with the roll film mounting plate (30) of the bag supply mechanism (3) and place the bag. At this time, the counterweight (35) is pulled up, and the roll film (34) passes through the transition optical axis, the rotating drum (33) and the roll film slide plate (49) in sequence. After the bag is delivered, the counterweight (35) falls down under its own gravity and clamps the roll film mounting plate (30); then the pressing cylinder on the integrated hot-scalding and cutting device (47) extends to complete the hot-scalding of the bag, and at the same time the bag cutting cylinder retracts to complete the bag cutting, and the bag making of the fungus bag is completed; Step 2: Move the bag and support the bag; When the pressing cylinder on the integrated feeding, hot-cutting and cutting device (47) extends to press the mushroom bag, the suction cup opening and closing cylinder on the bag supporting and moving device (46) also retracts at the same time, and the upper and lower suction cups clamp the mushroom bag. Then the fan assembly (43) is turned on, and at the same time, the vacuum breaking cylinder on the vacuum breaking valve assembly (44) is retracted, connecting the suction cup with the air inlet of the fan, and the upper and lower suction cups begin to absorb the upper and lower surfaces of the mushroom bag. After the integrated feeding, hot-cutting and cutting device (47) completes bag cutting, the pressing cylinder on the integrated feeding, hot-cutting and cutting device (47) retracts, and then the bag-holding and moving device (46) moves the bag to the bag-holding position along the Y axis driven by the servo motor. During the movement, the upper and lower suction cups are opened by the suction cup opening and closing cylinder, and at the same time, the bag opening is pulled apart from the upper and lower sides to form a rectangular bag opening. Then the clamping jaw assembly (48) is driven by the servo motor and the transverse synchronous belt to move to the bag-supporting position along the X-axis, at which time the clamping jaw is just inserted into the rectangular bag opening, and the bag is immediately opened after the clamping jaw moves to the bag-supporting position; Step 3: Bagging; After the clamp assembly (48) opens the mushroom bag, the clamp mechanism together with the mushroom bag is driven by the servo motor to move along the Y axis to the outlet of the discharge barrel, and then the clamp moves along the X axis with the mushroom bag from the outlet of the discharge barrel to the bag removal position, at which time the bagging action is completed; Step 4: Reset the jaws; After bagging is completed, the clamping jaw cylinder retracts, and at the same time, the clamping jaw mechanism moves along the Y axis to the bag support axis, and the roller on the movable clamping jaw moves along the annular ring on the discharge barrel assembly (26) to the outside of the discharge barrel, and the clamping jaw is reset and closed under the action of the reset spring and the clamping jaw opening and closing cylinder; Step 5: Bag; After bagging is completed, the tube holding device (54) is driven by the main servo motor (53) and the chain transmission assembly (52) to move along the X axis to the bagging start position; Step 6: Tie the mouth; After the mushroom bag slides down from the holding tube device (54), the bag-standing sensor (633) will first receive the information and transmit it to the PLC, and the PLC will control the solenoid valve to delay the start of the bag-standing cylinder (631) to complete the bag-standing action. Before the bag-standing cylinder (631) is started, the mushroom bag first falls on the buffer pad of the cylinder buffer device, and the mushroom bag is quickly decelerated to zero. When the bag-standing cylinder (631) is started, the bag-standing buffer cylinder (634) of the cylinder buffer device is also started synchronously. After completing the buffering action, the bag-standing buffer cylinder (634) is completely retracted, so that the height of the material opening of each mushroom bag that slides down is consistent; After the mushroom bag is erected, it is temporarily fixed vertically between the slide plate (630) and the bag grabbing and blocking plate (681); this time, the electromagnetic sensor at the protruding end of the bag erecting cylinder (631) receives a signal, the clamping cylinder (612) is extended, the clamping mechanism (613) completes the mushroom bag grabbing action, the double-stroke cylinder (611) starts to drive the clamping mechanism (613) to press down, and at the same time, the bag erecting buffer cylinder (634) of the cylinder buffer device pushes up the bottom of the mushroom bag, and the two complete the compaction of the mushroom material in the mushroom bag, making the mushroom bag further compacted; After the downward pressure is completed, the double-stroke cylinder (611) returns to the middle stroke position, and at the same time, the bag-blocking cylinder (684) of the bag-blocking device (68) retracts, and the bag-grabbing and bag-moving device (61) completes the bag-moving action under the action of the clamping claw bag-moving cylinder (610), and at the same time, the bag-standing cylinder (631) returns to its position, ready to receive the next mushroom bag; After the bag transfer is completed, the bag-blocking cylinder (684) of the bag-blocking device (68) extends out again, and the bag-blocking plate (680) is reset, and the bag-pushing plate (680) of the bag-pushing device (68) limits the position of the mushroom bag on three sides. At the same time, the bag-clamping plate (674) of the bag-clamping and nail-pushing device (67) clamps the bag mouth of the mushroom bag under the push of the bag-clamping plate cylinder (676). At this time, the bag-clamping plate (674), the clamping claw mechanism (613) and the nail-pushing main board (671) fix the bag mouth of the mushroom bag in five directions. Then, the clamping claw mechanism (613) The double-stroke cylinder (611) is lifted up to tighten the mouth of the mushroom bag. After the double-stroke cylinder is lifted up to the right position, the nail-pushing cylinder (670) extends out, and the nail-pushing connecting block (675) drives the nail-pushing tongue (672) to move forward under its push. The nail-pushing tongue (672) pushes the aluminum nail out, and the two feet of the aluminum nail are just stuck in the groove of the nail-pushing main board (671) and move. Finally, the aluminum nail is closed at the nailing module (673) at the front end of the nail-pushing main board (671); After the nail pushing cylinder (670) is retracted, the bag clamping plate (674) is opened first, and after the aluminum buckle of the mushroom bag is dragged out from the notch of the nailing module (673), the clamping claw mechanism (613) is opened and begins to reset under the action of the clamping claw bag moving cylinder, and the mushroom bag naturally falls to the bag landing platform of the bag discharging device (69). The bag pushing device (64) waits for the mushroom bag to fall steadily and then starts to push the bag after a delay, and the mushroom bag falls steadily to the slope surface of the bag discharging device (69), and finally rolls out along the slope surface and falls onto the conveyor belt; After the nail pushing is completed, the nail chain compressed by the compression wheel (6610) is driven by the nail feeding gear (666) to move a distance of the width of a nail along the nail chain guide plate (668) and the nail rack (667).

2. The control method of the edible fungus fully automatic single bag tying machine according to claim 1, characterized in that: In step 5, during the process of the tube holding device (54) moving along the X-axis to the bagging start position, the support leg roller (550) on the tube holding support device (55) moves upward along the slide bar (45) to the plane. At this time, the upper and lower half-walls of the tube holding device (54) are not completely closed. Then, the left and right brake clamps (562) on the brake device (56) are pushed forward by the brake cylinder (560) under the linkage of the tube holding connecting rod (563) to rotate, and the brake roller (561) is clamped in the tiger's mouth of the brake clamp (562). At this time, the brake device (56) completely closes the tube holding device (54) and the support leg roller (550) is suspended in the air. After the barrel holding device (54) moves to the bagging start position, the stirring motor (21) and the main motor (28) on the feeding bagging mechanism (2) are started simultaneously, and the stirring motor (21) drives the stirring shaft (221) to rotate through the stirring chain (20) to stir the fungus material in the silo; the main motor (28) drives the auger feeding shaft assembly (22) to rotate through the transmission belt (23), and the fungus material is rotated out of the silo assembly (25) and the discharge barrel assembly (26) along the X-axis by the auger main shaft (222) and the auger shaft head assembly (223); when the barrel holding device (54) reaches the bagging completion position, the barrel holding device (54) stops briefly, the stirring motor (21) stops first, and then the main motor (28) will first stop at a reduced frequency under the control of the frequency converter, and then increase the frequency and reverse, so as to rotate the loose fungus material at the mouth of the fungus bag back, and the main motor (28) stops at a reduced frequency again after the reversal is completed; Then the tube holding device (54) continues to move along the X-axis with the mushroom bag. At this time, the tube holding device (54) begins to separate from the discharge tube. Before the supporting leg roller (550) leaves the plane of the slide bar (45), the brake cylinder (560) retracts, the brake clamping claw (562) separates from the brake roller (561), and the upper and lower half tiles of the tube holding device (54) open. At the same time, the supporting leg roller (550) falls down and rolls on the plane of the slide bar (45); as the tube holding device (54) continues to retreat to the bag dropping position, the lower half tile of the tube holding device (54) opens under the action of its own gravity, the gravity of the mushroom bag, the gravity of the tube holding support device (55) and inertia, and the supporting leg roller (550) rolls down along the oblique edge of the slide bar (45). At the same time, the mushroom bag will slide out of the tube holding device (54) into the slide plate (630) under the action of its own gravity and inertia.

3. The control method of the edible fungus fully automatic single bag tying machine according to claim 1 or 2, characterized in that: It comprises a main frame (1), a feeding and bagging mechanism (2), a bag supply mechanism (3), a bag making, supporting and bagging mechanism (4), a tube holding and moving mechanism (5) and a tying mechanism (6); The feeding and bagging mechanism (2), the bag supply mechanism (3), the bag making, supporting and covering mechanism (4), the tube holding and moving mechanism (5) and the tying mechanism (6) are all located in the main frame (1); The feeding and bagging mechanism (2) is located above the bag supply mechanism (3); The bag making, bag holding and bag putting mechanism (4) is located above the bag supply mechanism (3) and to the side of the feeding and bagging mechanism (2); The tube holding and moving mechanism (5) is located on the side of the feeding and bagging mechanism (2), and between the feeding and bagging mechanism (2) and the tying mechanism (6); A tube holding device (54) is arranged on the tube holding and moving mechanism (5); an upper tube holding device and one end of a lower tube holding device of the tube holding and moving mechanism (5) are movably connected via the tube holding device (54).

4. The control method of the edible fungus fully automatic single bag tying machine according to claim 3 is characterized in that: The barrel holding and movement mechanism (5) comprises a barrel holding movement mechanism frame (50), a barrel holding movement mechanism and a barrel holding device (54); The tube holding device (54) is installed on the tube holding movement mechanism; The barrel holding movement mechanism is movably connected to the barrel holding movement mechanism frame (50); A holding brake device (56) is provided on the holding tube device (54); The tube holding device (54) comprises an upper tube holding device and a lower tube holding device; the upper tube holding device is movably connected with the lower tube holding device; The brake device (56) comprises a brake cylinder (560), a brake roller (561), a brake clamping claw (562) and a brake cylinder connecting rod (563); The barrel holding connecting rod (563) is installed on the upper end of the rear side of the upper barrel holding device; The brake clamping claw (562) comprises an outer brake claw and an inner brake claw; the outer brake claw and the inner brake claw are respectively hinged to the two ends of the clamping tube connecting rod (563); brake rollers (561) are installed on both side ends of the lower clamping tube device; the outer brake claw and the inner brake claw are respectively movably connected to the brake rollers (561) located inside and outside the lower clamping tube device; and the telescopic end of the brake cylinder (560) is connected to the inner brake claw.

5. The control method of the edible fungus fully automatic single bag tying machine according to claim 4 is characterized in that: The tube holding device (54) further comprises a tube holding up and down adjustment screw (541), a forward and reverse rotation adjustment screw (552), and a support leg roller (550); The horizontal mounting plate of the holding tube is vertically connected to the vertical mounting plate of the holding tube; the vertical mounting plate of the holding tube is installed with the upper and lower adjusting screws (541); the supporting leg roller (550) is connected to the lower end of the lower holding tube device through the forward and reverse rotation adjusting screw (552); the supporting leg directional shaft is installed on the forward and reverse rotation adjusting screw (552); A silicone ring and a clamping ring for clamping the tube mouth are arranged at the front ends of the upper clamping device and the lower clamping device; and the clamping ring for clamping the tube mouth is located between the silicone rings.

6. The control method of the edible fungus fully automatic single bag tying machine according to claim 5, characterized in that: The bag making, supporting and covering bag mechanism (4) comprises a bag making, supporting and covering bag mechanism frame (40), a bag supporting and moving bag device (46), a feeding, hot cutting integrated device (47), a clamping claw assembly (48) and a clamping claw rectangular moving device; The bag-supporting and bag-moving device (46), the integrated feeding, hot-cutting device (47), the clamping claw assembly (48) and the rectangular clamping claw movement device are all arranged on the bag-making, bag-supporting and bag-covering mechanism frame (40); The integrated conveying, hot-cutting device (47) is movably connected to the bag-making, bag-supporting and bag-covering mechanism frame (40); The clamping jaw assembly (48) is movably mounted on the clamping jaw rectangular motion device; The rectangular movement device of the clamping claw is movably connected to the bag making, supporting and covering bag mechanism frame (40).

7. The control method of the edible fungus fully automatic single bag tying machine according to claim 6, characterized in that: The clamping jaw assembly (48) includes a bag-supporting clamping jaw device mainboard (480), a clamping jaw proximity sensor (481), a movable clamping jaw mounting block (482), a movable clamping jaw (483), a clamping jaw resetting guide wheel (484), an arc-shaped clamping jaw (485), a fixed clamping jaw (486) and a clamping jaw opening and closing cylinder (487); The mainboard (480) of the bag support clamping claw device is installed on the slide block; The fixed clamping claw (486) is fixedly mounted on the upper end of the main board (480) of the bag-supporting clamping claw device; The movable clamping jaw (483) is connected to the movable clamping jaw mounting block (482), and the movable clamping jaw mounting block (482) is movably connected to the main board (480) of the bag-supporting clamping jaw device; the clamping jaw opening and closing cylinder (487) is installed on the main board (480) of the bag-supporting clamping jaw device, and the telescopic end of the clamping jaw opening and closing cylinder (487) is connected to the movable clamping jaw mounting block (482); The upper ends of the fixed clamping jaw (486) and the movable clamping jaw (483) are both provided with arc-shaped clamping jaws (485); the arc-shaped clamping jaw (485) on the fixed clamping jaw (486) and the arc-shaped clamping jaw (485) on the movable clamping jaw (483) are arranged opposite to each other; The clamping jaw resetting guide wheel (484) is arranged on the movable clamping jaw (483); The clamping jaw proximity sensor (481) is located on the main board (480) of the bag-supporting clamping jaw device and on the side of the movable clamping jaw mounting block (482).

8. The control method of the fully automatic single-bag tying machine for edible fungi according to claim 7 is characterized in that: The clamping jaw assembly (48) further comprises a movable clamping jaw rotating shaft (488) and a clamping jaw return spring (489); The lower end of the movable clamping jaw (483) is connected to the movable clamping jaw mounting block (482) via a movable clamping jaw rotating shaft (488); The clamping jaw return spring (489) is respectively connected to the lower end of the movable clamping jaw (483) and the mounting plate on the movable clamping jaw mounting block (482).

9. The control method of the edible fungus fully automatic single bag tying machine according to claim 8, characterized in that: The tying mechanism (6) comprises a clamping claw bag moving device (61), a bag standing buffer device (63), a bag pushing device (64), a nail and oil supply device (66), a bag clamping nail pushing device (67), a bag blocking device (68) and a bag discharging device (69); The solenoid valve panel (62) is mounted on the closing mechanism frame (60); The nail and oil supply device (66) is located on the upper part of the tying mechanism frame (60); The clamping claw bag moving device (61) is located in the middle of the tying mechanism frame (60) and on the side of the nail and oil supply device (66); The bag pushing device (64) is located at the lower part of the closing mechanism frame (60) and at the lower side of the clamping claw bag moving device (61); The bag clamping and nail pushing device (67) is located in the middle of the closing mechanism frame (60) and on the side of the clamping claw bag moving device (61).

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