A collection device for edible mushroom harvesting

Abstract

The application relates to the technical field of edible mushroom harvesting, and discloses a collecting device for edible mushroom harvesting, which comprises a planting bed, a plurality of auxiliary plates are detachably arranged at equal intervals at the edge positions of the planting bed, a moving frame is connected to the auxiliary plates through a moving mechanism, the moving frames at the upper and lower positions are connected through connecting rods, the connecting rods are located at the four corner positions of the moving frames, a moving mechanism is connected to the moving frame at the lower position, walking movement on the planting bed can be realized, cooperative and synchronous movement with a harvesting robot can be realized, edible mushrooms harvested by the harvesting robot can be collected, the efficiency of collection is improved, the material frames can be clamped, a plurality of material frames can be clamped at the same time, the material frames can be continuously supplied, the material frames can be clamped and conveyed, the conveying efficiency of the material frames is ensured, the pushing device can move to the vicinity of the planting bed, and the pushing device can be hung on the planting bed.

Description

Technical Field

[0001] This invention belongs to the field of edible fungi harvesting technology, specifically a collection device for harvesting edible fungi. Background Technology

[0002] Edible fungi refer to large, edible mushrooms (macrofungi), commonly known as mushrooms. China has nearly 950 known species of edible fungi, most of which belong to the Basidiomycota. Common edible fungi include: shiitake mushrooms, straw mushrooms, button mushrooms, wood ear mushrooms, silver ear mushrooms, monkey head mushrooms, bamboo fungus, matsutake mushrooms, button mushrooms, red mushrooms, reishi mushrooms, cordyceps, truffles, white lingzhi mushrooms, and porcini mushrooms; a few belong to the Ascomycota, including: morels, saddle mushrooms, and truffles. These fungi grow in different regions and ecological environments.

[0003] Current edible mushroom collection devices cannot coordinate with harvesting robots during collection, nor can they clamp and transport the material frames, resulting in relatively low collection efficiency. Summary of the Invention

[0004] In view of the above situation and to overcome the defects of the prior art, the present invention provides a collection device for harvesting edible fungi, which effectively solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a collection device for harvesting edible fungi, comprising a planting bed, wherein several auxiliary plates are detachably installed at equal intervals along the edge of the planting bed, and a moving frame is connected to the auxiliary plates via a moving mechanism. The upper and lower moving frames are connected by a connecting rod located at the four corners of the moving frame. A moving mechanism is connected to the lower moving frame to facilitate the movement of the moving frame. An output mechanism is connected to the lower moving frame to output a material frame containing edible fungi. A receiving mechanism is connected to the lower moving frame to receive edible fungi conveyed by a harvesting robot conveyor belt. A support mechanism is provided on the lower moving frame to support the moving frame, which is supported on the auxiliary plates. A material frame clamping mechanism is provided on the lower moving frame to clamp the material frame. A material frame conveying mechanism is connected to the material frame clamping mechanism to convey the material frame.

[0006] Preferably, the motion mechanism includes a mounting frame fixedly connected to the lower motion frame, a motion fixing plate fixedly connected to the upper part of the mounting frame, an upper motion connecting block fixedly connected to the lower part of the motion fixing plate, one end of a first motion connecting rod symmetrically hinged to the upper motion connecting block, the other end of the first motion connecting rod hinged to a motion hinge block, a motion lead screw slidingly abutting between the motion hinge blocks, the motion lead screw being threadedly connected to a threaded sleeve, the threaded sleeve being fixedly installed on the motion hinge block, one end of a second motion connecting rod hinged to the motion hinge block, the other end of the second motion connecting rod hinged to a lower motion connecting block, the lower motion connecting block being fixedly installed on a motion lifting plate, a handle connector fixedly connected to one end of the motion lead screw, a handle being attached to the handle connector, fixed shaft mounting plates symmetrically fixedly connected to the motion lifting plate, a fixed shaft fixedly connected to the outer side of the fixed shaft mounting plate, the fixed shaft being within a sliding groove. The sliding mechanism includes a sliding groove on a connecting frame, which is symmetrically and fixedly connected to the outer surface of a rotating shaft. The rotating shaft is rotatably mounted on a mounting frame. A mounting block is symmetrically and fixedly connected to the bottom of the moving lifting plate. A rotating groove frame is rotatably connected to the mounting block. A moving wheel is hinged to the rotating groove frame. A horizontal plate is fixedly connected to the moving frame. A connecting plate is symmetrically and fixedly connected to the horizontal plate. A pushing groove block is hinged to the end of the connecting frame. One end of a push rod is fixedly connected to the pushing groove block. A second rotating shaft is fixedly connected to the other end of the push rod. One end of a rotating frame is hinged to both ends of the second rotating shaft. The rotating frame is symmetrically and fixedly mounted on the outer surface of a third rotating shaft. The third rotating shaft is rotatably mounted on a groove frame. The groove frame is fixedly mounted between the connecting plate and the moving frame. A moving plate is hinged to the inner side of the other end of the rotating frame. A moving shaft is symmetrically and rotatably connected between the moving plates. A moving column is fixedly connected to the outer surface of the moving shaft.

[0007] Preferably, the material frame clamping mechanism includes a fixed plate fixedly connected to the moving frame, clamping frames symmetrically fixedly connected to the upper part of the fixed plate, a plurality of mounting shafts uniformly and evenly fixedly connected between the clamping frames, mounting strips fixedly connected to the lower part of the mounting shafts, pawls symmetrically rotatably connected to the mounting shafts, an upper fixing rod fixedly connected to the outer surface of the pawls, a spring hanging between the upper fixing rod and the lower fixing rod, the lower fixing rod being fixedly installed on the outer surface of the mounting strips, and the material frame being clamped between the pawls.

[0008] Preferably, the material frame conveying mechanism includes a lifting frame fixedly connected to the upper part of the fixed plate on the outer side of the clamping frame; a lifting shaft rotatably connected to the lifting frame; the lifting shaft being poweredly connected to a lifting motor; the lifting motor being fixedly mounted on the lifting frame; a lifting drive pulley fixedly connected to the outer surface of the lifting shaft; the lifting drive pulley and the lifting driven pulley being connected and driven by a lifting belt; the lifting driven pulley being fixedly mounted on the outer surface of the lifting pulley shaft; the lifting pulley shaft being rotatably mounted on the lifting frame; a lifting slide plate fixedly connected to the outer surface of the lifting belt; the lifting slide plate being slidably connected to the lifting frame; connecting plates symmetrically fixedly connected to the outer surface of the lifting slide plate; a pulley shaft mounting plate fixedly connected to the end of the connecting plate; clamping pulley shafts symmetrically fixedly connected to the pulley shaft mounting plate; the clamping pulley shafts being poweredly connected to a clamping motor; and the clamping motor being fixedly mounted on the pulley shaft. On the mounting plate, a clamping pulley is fixedly connected to the end of the clamping pulley shaft. The clamping pulleys are connected and driven by a clamping belt. Two clamping moving blocks are fixedly connected to the clamping belt. One clamping moving block is located on the upper part of the clamping belt, and the other is located on the lower part of the clamping belt. A clamping frame is fixedly connected to the end of each clamping moving block. A fixed gripper is fixedly connected to the clamping frame. A movable gripper is slidably connected to the clamping frame below the fixed gripper. A connecting rod is fixedly connected to the lower part of the movable gripper. The lower end of the connecting rod is fixedly connected to a nut plate. The nut plate is slidably connected to the clamping frame. The clamping frame is threadedly connected to a lead screw. The lead screw is poweredly connected to a clamping motor. The clamping motor is fixedly mounted on the clamping frame. A slider is fixedly connected to the clamping frame. The slider is slidably connected to a slide rail. The slide rail is fixedly mounted on the pulley shaft mounting plate.

[0009] Preferably, the output mechanism includes fixed bars symmetrically fixedly connected to the motion frame, output blocks symmetrically fixedly connected to the fixed bars, output frames fixedly connected to the inner surface of the output blocks, output shafts symmetrically rotatably connected between the output frames, output pulleys fixedly connected to the outer surface of the output shafts, one of the output shafts being poweredly connected to an output motor, the output motor being fixedly mounted on the output frame, the output pulleys being connected and driven by an output conveyor belt, and a baffle fixedly connected to the output frame.

[0010] Preferably, the receiving mechanism includes a support frame symmetrically and fixedly connected to the fixing strip, a receiving cylinder mounting base plate fixedly connected to the upper part of the support frame, a receiving cylinder fixing frame fixedly connected to the upper part of the receiving cylinder mounting base plate, a receiving cylinder fixedly connected to the receiving cylinder fixing frame, the receiving cylinder communicating with the lower part of the receiving cylinder mounting base plate, the receiving cylinder having a plurality of receiving channels, a receiving box one connected to the receiving channel, a receiving box two fixedly connected to the receiving box one, the receiving box two and the receiving box one being located below the conveyor belt of the harvesting robot, a processing channel penetrating the receiving box two, and a discharge channel fixedly connected to the receiving cylinder mounting base plate at the lower part of the receiving box two.

[0011] Preferably, the moving mechanism includes a support block fixedly connected to the motion frame, a support wheel axle rotatably connected to the support block, a support wheel fixedly connected to the end of the support wheel axle, the support wheel being mounted on the auxiliary plate, a plurality of moving blocks fixedly connected to the motion frame, a moving shaft rotatably connected to each moving block, a moving wheel fixedly connected to one end of the moving shaft, a moving pulley fixedly connected to the other end of the moving shaft, adjacent moving pulleys being connected and driven by a moving belt, one of the moving shafts being extended at one end, a driven pulley fixedly connected to the extended end of the moving shaft, the driven pulley being connected and driven by a transmission belt, the driving pulley being fixedly mounted at the end of a drive shaft, the drive shaft being rotatably connected to a moving motor mounting plate, the moving motor mounting plate being fixedly mounted on the motion frame, the drive shaft being poweredly connected to a moving motor, and the moving motor being fixedly mounted on the moving motor mounting plate.

[0012] Preferably, the support mechanism includes a plurality of support groove blocks fixedly connected to the inner side of the motion frame, a support shaft rotatably connected to the support groove blocks, and a support cylinder fixedly connected to the outer surface of the support shaft.

[0013] Preferably, a control box is fixedly connected to the connecting rod.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. This invention provides a collection device for harvesting edible fungi, which can move on the planting bed and can move synchronously with a harvesting robot, facilitating the collection of edible fungi harvested by the harvesting robot and improving collection efficiency.

[0016] 2. This invention provides a collection device for harvesting edible fungi, which can clamp material frames and clamp multiple material frames simultaneously to facilitate continuous supply of material frames and to achieve clamping and conveying of material frames, ensuring the efficiency of material frame conveying.

[0017] 3. The present invention provides a collection device for harvesting edible fungi, which can be driven to move near the planting bed for easy mounting on the planting bed. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0019] In the attached diagram:

[0020] Figure 1 This is a schematic diagram of the first orientation of a combination of a mushroom harvesting and planting bed in this invention.

[0021] Figure 2 This is a schematic diagram of the second orientation of a combination of a mushroom harvesting and planting bed in this invention;

[0022] Figure 3 This is a third-dimensional structural diagram of a combination of a mushroom harvesting and planting bed in this invention.

[0023] Figure 4 This is a schematic diagram of the fourth-direction structure of a combination of a mushroom harvesting and planting bed in this invention.

[0024] Figure 5 This is a schematic diagram of the fifth direction structure of a combination of a mushroom harvesting and planting bed in this invention;

[0025] Figure 6 This is a schematic diagram of the first orientation of a collecting device for harvesting edible fungi according to the present invention;

[0026] Figure 7 This is a schematic diagram of the second direction structure of a collection device for harvesting edible fungi according to the present invention;

[0027] Figure 8 This is a third-dimensional structural diagram of a collection device for harvesting edible fungi according to the present invention;

[0028] Figure 9 This is a schematic diagram of the fourth direction structure of a collection device for harvesting edible fungi according to the present invention;

[0029] Figure 10 This is a schematic diagram of the fifth direction structure of a collection device for harvesting edible fungi according to the present invention;

[0030] Figure 11 This is a schematic diagram of the first direction structure of the combination of the material frame clamping mechanism and the material frame conveying mechanism in this invention;

[0031] Figure 12 This is a schematic diagram of the second direction structure of the combination of the material frame clamping mechanism and the material frame conveying mechanism in this invention;

[0032] Figure 13 This is a third-dimensional structural diagram of the combination of the material frame clamping mechanism and the material frame conveying mechanism in this invention;

[0033] Figure 14 This is a schematic diagram of the fourth direction structure of the combination of the material frame clamping mechanism and the material frame conveying mechanism in this invention;

[0034] Figure 15 This is a schematic diagram of the first direction structure of the motion mechanism in this invention;

[0035] Figure 16 This is a schematic diagram of the second direction structure of the motion mechanism in this invention;

[0036] Figure 17 This is a schematic diagram of the third-direction structure of the motion mechanism in this invention;

[0037] Figure 18 This is a schematic diagram of the fourth direction structure of the motion mechanism in this invention;

[0038] Figure 19 for Figure 11 A magnified structural diagram of point A in the middle.

[0039] In the diagram: 1-Planting bed, 2-Auxiliary plate, 3-Motion frame, 4-Connecting rod, 5-Receiving cylinder fixing frame, 6-Receiving cylinder mounting base plate, 7-Baffle, 8-Output conveyor belt, 9-Receiving cylinder, 10-Discharge channel, 11-Fixing strip, 12-Fixing plate, 13-Clamping frame, 14-Handle, 15-Control box, 16-Motion column, 17-Groove frame, 18-Push rod, 19-Pushing groove block, 20-Connecting plate, 21-Horizontal plate, 22-Mounting block, 23-Rotating groove frame, 24-Motion wheel, 25-Support wheel, 26-Support block, 27-Support 28-Axle, 29-Moving wheel, 30-Moving block, 31-Moving pulley, 32-Moving motor mounting plate, 33-Driven pulley, 34-Driving pulley, 35-Moving belt, 36-Receiver box one, 37-Receiver box two, 38-Drive shaft, 39-Moving rotating shaft, 40-Receiver channel, 41-Support groove block, 42-Support rotating shaft, 43-Support cylinder, 44-Connecting frame, 45-Mounting bracket, 46-Slide groove, 47-Fixed shaft, 48-Fixed shaft mounting plate, 49-Motion fixing plate, 50-Mounting strip, 51-Mounting shaft. 52-Output block, 53-Output frame, 54-Lifting frame, 55-Lifting motor, 56-Lifting shaft, 57-Lifting belt, 58-Pulley shaft mounting plate, 59-Clamping belt, 60-Clamping moving block, 61-Clamping pulley shaft, 62-Clamping pulley, 63-Clamping frame, 64-Fixed gripper, 65-Moving gripper, 66-Connecting rod, 67-Nut plate, 68-Clamping motor, 69-Screw screw, 70-Claw, 71-Slide rail, 72-Slider, 73-Support frame, 74-Lifting pulley shaft, 75-Lifting driven pulley, 76-Lifting Skateboard, 77-Connecting plate, 78-Handle connector, 79-Motion hinge block, 80-Motion lead screw, 81-Motion upper connecting block, 82-Motion connecting rod one, 83-Threaded sleeve, 84-Motion connecting rod two, 85-Rotating shaft three, 86-Rotating frame, 87-Motion lower connecting block, 88-Rotating shaft one, 89-Rotating shaft two, 90-Motion lifting plate, 91-Motion plate, 92-Motion rotating shaft, 93-Connecting shaft, 94-Output rotating shaft, 95-Output pulley, 96-Upper fixing rod, 97-Lower fixing rod, 98-Spring, 99-Lifting drive pulley. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] like Figure 1-19As shown, this invention provides a collection device for harvesting edible fungi, including a planting bed 1. Several auxiliary plates 2 are detachably installed at equal intervals along the edge of the planting bed 1. Motion frames 3 are connected to the auxiliary plates 2 via a moving mechanism. The upper and lower motion frames 3 are connected by connecting rods 4 located at the four corners of the motion frames 3. A motion mechanism is connected to the lower motion frame 3 to facilitate its movement. An output mechanism is connected to the lower motion frame 3 to output a material frame containing edible fungi. A receiving mechanism is connected to the lower motion frame 3 to receive edible fungi conveyed by a harvesting robot conveyor belt. A support mechanism is provided on the lower motion frame 3 to support the motion frame 3, which is supported on the auxiliary plates 2. A material frame clamping mechanism is provided on the lower motion frame 3 to clamp the material frame. A material frame conveying mechanism is connected to the material frame clamping mechanism to convey the material frame.

[0042] Advantageously, the motion mechanism includes a mounting bracket 45 fixedly connected to the lower motion frame 3. A motion fixing plate 49 is fixedly connected to the upper part of the mounting bracket 45, and a motion upper connecting block 81 is fixedly connected to the lower part of the motion fixing plate 49. One end of a motion connecting rod 82 is symmetrically hinged to the upper connecting block 81, and the other end of the motion connecting rod 82 is hinged to a motion hinge block 79. A motion lead screw 80 slides between the motion hinge blocks 79. The motion lead screw 80 is threadedly connected to a threaded sleeve 83, and the threaded sleeve 83 is fixedly installed on the motion frame 3. On the hinge block 79, one end of the second moving link 84 is hinged to the moving hinge block 79, and the other end of the second moving link 84 is hinged to the lower moving connecting block 87. The lower moving connecting block 87 is fixedly installed on the moving lifting plate 90. One end of the moving lead screw 80 is fixedly connected to a handle connector 78, and a handle 14 is hooked onto the handle connector 78. Fixed shaft mounting plates 48 are symmetrically fixedly connected to the moving lifting plate 90. A fixed shaft 47 is fixedly connected to the outside of the fixed shaft mounting plate 48. The fixed shaft 47 slides in the slide groove 46. A slide 46 is provided on a connecting frame 44, which is symmetrically fixedly connected to the outer surface of a rotating shaft 88. The rotating shaft 88 is rotatably mounted on a mounting frame 45. A mounting block 22 is symmetrically fixedly connected to the bottom of the moving lifting plate 90. A rotating groove frame 23 is rotatably connected to the mounting block 22. A moving wheel 24 is hinged to the rotating groove frame 23. A horizontal plate 21 is fixedly connected to the moving frame 3. A connecting plate 20 is symmetrically fixedly connected to the horizontal plate 21. A pushing groove block 19 is hinged to the end of the connecting frame 44. A push rod 1 is fixedly connected to the pushing groove block 19. At one end of the push rod 18, a rotating shaft 89 is fixedly connected to the other end of the push rod 18. A rotating frame 86 is hinged to one end of both ends of the rotating shaft 89. The rotating frame 86 is symmetrically fixedly installed on the outer surface of the rotating shaft 85. The rotating shaft 85 is rotatably installed on the groove frame 17. The groove frame 17 is fixedly installed between the connecting plate 20 and the moving frame 3. A moving plate 91 is hinged to the inner side of the other end of the rotating frame 86. A moving shaft 92 is symmetrically rotatably connected between the moving plates 91. A moving column 16 is fixedly connected to the outer surface of the moving shaft 92.

[0043] During operation, manually rotating the handle 14 causes the handle connector 78 to rotate, which in turn rotates the moving lead screw 80. The moving lead screw 80 is threadedly connected to the threaded sleeve 83, causing the moving hinge blocks 79 to move closer together. This causes the first moving link 82 to rotate, pushing the moving hinge block 79 downwards. Simultaneously, the second moving link 84 rotates, pushing the lower moving connecting block 87 downwards, which in turn pushes the moving lifting plate 90 downwards. This, in turn, causes the mounting block 22 to move downwards, which in turn causes the rotating groove frame 23 to move downwards, which in turn causes the moving wheel 24 to move downwards. When the moving lifting plate 90 moves downwards, it drives the fixed... The fixed-axis mounting plate 48 moves downward, thereby causing the fixed shaft 47 to slide within the slide groove 46, which in turn presses the connecting frame 44 to rotate, thereby pushing the pushing groove block 19 to move, which in turn drives the push rod 18 to move, which in turn drives the rotating shaft 89 to move, which in turn drives the rotating frame 86 to rotate, which in turn drives the connecting shaft 93 to move, which in turn drives the moving plate 91 to move, which in turn drives the moving rotating shaft 92 to move, which in turn drives the moving column 16 to move, so that the moving column 16 and the moving wheel 24 are on the same horizontal plane, which facilitates the movement of the moving frame 3 and pushes the moving frame 3 to move. The moving wheel 24 contacts the bottom surface of the moving column 16's movement area, which allows for better movement.

[0044] Advantageously, the material frame clamping mechanism includes a fixed plate 12 fixedly connected to the moving frame 3, a clamping frame 13 symmetrically fixedly connected to the upper part of the fixed plate 12, a plurality of mounting shafts 51 evenly and equally fixedly connected between the clamping frames 13, a mounting strip 50 fixedly connected to the lower part of the mounting shaft 51, a claw 70 symmetrically rotatably connected to the mounting shaft 51, an upper fixing rod 96 fixedly connected to the outer surface of the claw 70, a spring 98 hanging between the upper fixing rod 96 and the lower fixing rod 97, the lower fixing rod 97 fixedly installed on the outer surface of the mounting strip 50, and the claws 70 clamping the material frame between them;

[0045] During operation, the material frame is held between the claws 70. When the material frame moves downward, it presses the claws 70 to rotate, thereby causing the upper fixing rod 96 to move, which in turn pulls the spring 98 to extend. After the material frame moves past the claws 70, the spring 98 pulls the upper fixing rod 96 to reset, which in turn drives the claws 70 to reset.

[0046] Advantageously, the material frame conveying mechanism includes a lifting frame 54 fixedly connected to the upper part of the fixing plate 12 outside the clamping frame 13. A lifting shaft 56 is rotatably connected to the lifting frame 54. The lifting shaft 56 is poweredly connected to a lifting motor 55. The lifting motor 55 is fixedly mounted on the lifting frame 54. A lifting drive pulley 99 is fixedly connected to the outer surface of the lifting shaft 56. The lifting drive pulley 99 and the lifting driven pulley 75 are connected and driven by a lifting belt 57. The lifting driven pulley 75 is fixedly mounted on the lifting pulley shaft 74. On the outer surface, the lifting pulley shaft 74 is rotatably mounted on the lifting frame 54. A lifting slide plate 76 is fixedly connected to the outer surface of the lifting belt 57. The lifting slide plate 76 is slidably connected to the lifting frame 54. Connecting plates 77 are symmetrically fixedly connected to the outer surface of the lifting slide plate 76. A pulley shaft mounting plate 58 is fixedly connected to the end of the connecting plate 77. Clamping pulley shafts 61 are symmetrically fixedly connected to the pulley shaft mounting plate 58. The clamping pulley shafts 61 are poweredly connected to a clamping motor, which is fixedly mounted on the pulley shaft mounting plate 58. A clamping pulley 62 is fixedly connected to the end of the clamping pulley shaft 61. The clamping pulleys 62 are connected and driven by a clamping belt 59. Two clamping moving blocks 60 are fixedly connected to the clamping belt 59. One clamping moving block 60 is located on the upper part of the clamping belt 59, and the other clamping moving block 60 is located on the lower part of the clamping belt 59. A clamping frame 63 is fixedly connected to the end of the clamping moving block 60. A fixing jaw 64 is fixedly connected to the clamping frame 63. The clamping frame 63 slides upwards below the fixing jaw 64. A movable gripper 65 is movably connected, and a connecting rod 66 is fixedly connected to the lower part of the movable gripper 65. The lower end of the connecting rod 66 is fixedly connected to a nut plate 67. The nut plate 67 is slidably connected to the clamping frame 63. The clamping frame 63 is threadedly connected to a lead screw 69. The lead screw 69 is poweredly connected to a clamping motor 68. The clamping motor 68 is fixedly mounted on the clamping frame 63. A slider 72 is fixedly connected to the clamping frame 63. The slider 72 is slidably connected to a slide rail 71. The slide rail 71 is fixedly mounted on the pulley shaft mounting plate 58.

[0047] During operation, the clamping motor is activated, causing the clamping pulley shaft 61 to rotate, which in turn rotates the clamping pulley 62, thereby moving the clamping belt 59. This causes the lead screw 69 to move closer together, and consequently, the clamping frame 63 to move closer together. The slider 72 and the slide rail 71 increase the stability of the clamping frame 63's movement. When both sides of the material frame are between the moving jaws 65 and the fixed jaws 64, the clamping motor stops moving, and the clamping motor 68 is activated, causing the lead screw 69 to rotate. This causes the nut plate 67 to move, which in turn moves the connecting rod 66, causing the moving jaws 65 to move closer to the fixed jaws 64, thus clamping the material frame. The lifting frame 54 is activated, which drives the lifting shaft 56 to rotate, thereby driving the lifting drive pulley 99 to rotate. The lifting drive pulley 99 and the lifting driven pulley 75 are connected and driven by the lifting belt 57, thereby driving the lifting slide plate 76 to move downward, thereby driving the connecting plate 77 to move downward, thereby driving the pulley shaft mounting plate 58 to move downward, thereby driving the clamping moving block 60 to move downward, thereby driving the clamping frame 63 to move downward, thereby driving the fixed gripper 64 to move downward, thereby driving the material frame to move downward onto the output conveyor belt 8. The fixed gripper 64 and the moving gripper 65 release their grip on the material frame and then reset to perform the clamping of the next material frame.

[0048] Advantageously, the output mechanism includes a fixing bar 11 symmetrically fixedly connected to the motion frame 3, an output block 52 symmetrically fixedly connected to the fixing bar 11, an output frame 53 fixedly connected to the inner surface of the output block 52, an output shaft 94 symmetrically rotatably connected between the output frames 53, an output pulley 95 fixedly connected to the outer surface of the output shaft 94, one of the output shafts 94 being poweredly connected to an output motor, the output motor being fixedly mounted on the output frame 53, the output pulleys 95 being connected and driven by an output conveyor belt 8, and a baffle 7 fixedly connected to the output frame 53.

[0049] During operation, the output motor is started, which drives the output shaft 94 to rotate, which in turn drives the output pulley 95 to rotate. The output pulleys 95 are connected and driven by the output conveyor belt 8, which in turn drives the output conveyor belt 8 to move, thereby driving the material frame to move and stop at the lower part of the receiving cylinder 9.

[0050] Advantageously, the receiving mechanism includes a support frame 73 symmetrically and fixedly connected to the fixing strip 11. A receiving cylinder mounting base plate 6 is fixedly connected to the upper part of the support frame 73. A receiving cylinder fixing frame 5 is fixedly connected to the upper part of the receiving cylinder mounting base plate 6. A receiving cylinder 9 is fixedly connected to the receiving cylinder fixing frame 5. The receiving cylinder 9 is connected to the lower part of the receiving cylinder mounting base plate 6. The receiving cylinder 9 is provided with a plurality of receiving channels 40. A receiving box 36 is connected to the receiving channel 40. A receiving box 37 is fixedly connected to the receiving box 36. The receiving box 37 and the receiving box 36 are located at the lower part of the harvesting robot conveyor belt. A processing channel runs through the receiving box 37. A discharge channel 10 is fixedly connected to the receiving cylinder mounting base plate 6 at the lower part of the receiving box 37.

[0051] During operation, the edible fungi transported by the harvesting robot enter the receiving channel 40 through receiving box 36, pass through the receiving cylinder 9 and enter the material frame. The edible fungi sorted on the conveyor belt pass through receiving box 37 and finally enter the discharge channel 10, and are output through the discharge channel 10.

[0052] Advantageously, the moving mechanism includes a support block 26 fixedly connected to the motion frame 3, a support wheel axle 27 rotatably connected to the support block 26, a support wheel 25 fixedly connected to the end of the support wheel axle 27, the support wheel 25 being mounted on the auxiliary plate 2, a plurality of moving blocks 29 fixedly connected to the motion frame 3, a moving shaft 39 rotatably connected to each moving block 29, a moving wheel 28 fixedly connected to one end of the moving shaft 39, and a moving pulley 30 fixedly connected to the other end of the moving shaft 39, with adjacent moving pulleys 30... The transmission is connected by a movable belt 35. One of the movable shafts 39 is extended at one end. A driven pulley 33 is fixedly connected to the extended end of the movable shaft 39. The driven pulley 33 and the driving pulley 34 are connected by a transmission belt 32. The driving pulley 34 is fixedly installed at the end of the drive shaft 38. The drive shaft 38 is rotatably connected to the movable motor mounting plate 31. The movable motor mounting plate 31 is fixedly installed on the motion frame 3. The drive shaft 38 is poweredly connected to the movable motor. The movable motor is fixedly installed on the movable motor mounting plate 31.

[0053] During operation, the mobile motor is started, which drives the drive shaft 38 to rotate, thereby driving the drive pulley 34 to rotate. The drive pulley 34 and the driven pulley 33 are connected by the transmission belt 32, which drives the mobile shaft 39 to rotate, thereby driving the mobile pulley 30 to rotate. The mobile pulleys 30 are connected by the mobile belt 35, which drives the mobile shaft 39 to rotate, thereby driving the mobile wheel 28 to rotate. The mobile wheel 28 moves on the auxiliary plate 2, thereby driving the motion frame 3 to move on the auxiliary plate 2, and the speed of movement matches the speed of movement of the harvesting robot. The support wheel 25 increases the support stability of the movement.

[0054] Advantageously, the support mechanism includes a plurality of support groove blocks 41 fixedly connected to the inner side of the motion frame 3, a support shaft 42 rotatably connected to the support groove block 41, and a support cylinder 43 fixedly connected to the outer surface of the support shaft 42;

[0055] During operation, the support cylinder 43 contacts the auxiliary plate 2 for support. When the moving frame 3 moves, it drives the support groove block 41 to move, which in turn drives the support shaft 42 to move, which in turn drives the support cylinder 43 to move along the auxiliary plate 2, thereby increasing the stability of the movement of the moving frame 3.

[0056] Advantageously, a control box 15 is fixedly connected to the connecting rod 4, and the movement of the whole is controlled by the control box 15.

[0057] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0058] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A collecting device for harvesting edible fungi, characterized in that: The system includes a planting bed (1), on which several auxiliary plates (2) are detachably installed at equal intervals along the edges. Motion frames (3) are connected to the auxiliary plates (2) via a moving mechanism. The upper and lower motion frames (3) are connected by connecting rods (4) located at the four corners of the motion frames (3). A motion mechanism is connected to the lower motion frame (3) to facilitate its movement. An output mechanism is also connected to the lower motion frame (3) for discharging edible fungi. The material frame is output, and the lower moving frame (3) is connected to a receiving mechanism. The receiving mechanism is used to receive the edible fungi conveyed by the harvesting robot conveyor belt. The lower moving frame (3) is provided with a support mechanism. The support mechanism is used to support the moving frame (3) and is supported on the auxiliary plate (2). The lower moving frame (3) is provided with a material frame clamping mechanism. The material frame clamping mechanism is used to clamp the material frame. The material frame clamping mechanism is connected to a material frame conveying mechanism. The material frame conveying mechanism is used to convey the material frame. The motion mechanism includes a mounting bracket (45) fixedly connected to the lower motion frame (3). A motion fixing plate (49) is fixedly connected to the upper part of the mounting bracket (45). A motion upper connecting block (81) is fixedly connected to the lower part of the motion fixing plate (49). One end of a motion connecting rod (82) is symmetrically hinged to the upper connecting block (81). The other end of the motion connecting rod (82) is hinged to a motion hinge block (79). A motion lead screw (80) slides between the motion hinge blocks (79). The motion lead screw (80) is threadedly connected to a threaded sleeve (83). The threaded sleeve (83) is fixedly installed on the motion hinge block (79). On the upper part, the motion hinge block (79) is hinged to one end of the second motion link (84), and the other end of the second motion link (84) is hinged to the lower motion connecting block (87). The lower motion connecting block (87) is fixedly installed on the motion lifting plate (90). One end of the motion screw (80) is fixedly connected to a handle connector (78), and a handle (14) is attached to the handle connector (78). Fixed shaft mounting plates (48) are symmetrically fixedly connected to the motion lifting plate (90). A fixed shaft (47) is fixedly connected to the outside of the fixed shaft mounting plate (48). The fixed shaft (47) slides in the slide groove (46). The slide groove (46) is provided with On the connecting frame (44), the connecting frame (44) is symmetrically fixedly connected to the outer surface of the rotating shaft (88), the rotating shaft (88) is rotatably mounted on the mounting frame (45), the bottom of the moving lifting plate (90) is symmetrically fixedly connected to the mounting block (22), the mounting block (22) is rotatably connected to the rotating groove frame (23), the rotating groove frame (23) is hinged to the moving wheel (24), the moving frame (3) is fixedly connected to the horizontal plate (21), the horizontal plate (21) is symmetrically fixedly connected to the connecting plate (20), the end of the connecting frame (44) is hinged to the pushing groove block (19), the pushing groove block (19) is fixedly connected to the push rod (18) At one end of the push rod (18), a rotating shaft (89) is fixedly connected to the other end of the push rod (18). A rotating frame (86) is hinged to one end of both sides of the rotating shaft (89). The rotating frame (86) is symmetrically fixedly installed on the outer surface of the rotating shaft (85). The rotating shaft (85) is rotatably installed on the groove frame (17). The groove frame (17) is fixedly installed between the connecting plate (20) and the moving frame (3). A moving plate (91) is hinged to the inner side of the other end of the rotating frame (86). A moving shaft (92) is symmetrically rotatably connected between the moving plates (91). A moving column (16) is fixedly connected to the outer surface of the moving shaft (92).

2. The collecting device for harvesting edible fungi according to claim 1, characterized in that: The material frame clamping mechanism includes a fixed plate (12) fixedly connected to the moving frame (3), a clamping frame (13) symmetrically fixedly connected to the upper part of the fixed plate (12), a plurality of mounting shafts (51) evenly and equally fixedly connected between the clamping frames (13), an mounting strip (50) fixedly connected to the lower part of the mounting shaft (51), a chuck (70) symmetrically rotatably connected to the mounting shaft (51), an upper fixing rod (96) fixedly connected to the outer surface of the chuck (70), a spring (98) hanging between the upper fixing rod (96) and the lower fixing rod (97), the lower fixing rod (97) fixedly installed on the outer surface of the mounting strip (50), and the chucks (70) clamp the material frame between each other.

3. The collecting device for harvesting edible fungi according to claim 2, characterized in that: The material frame conveying mechanism includes a lifting frame (54) fixedly connected to the upper part of the fixing plate (12) outside the clamping frame (13). A lifting shaft (56) is rotatably connected to the lifting frame (54). The lifting shaft (56) is poweredly connected to a lifting motor (55). The lifting motor (55) is fixedly installed on the lifting frame (54). A lifting drive pulley (99) is fixedly connected to the outer surface of the lifting shaft (56). The lifting drive pulley (99) and the lifting driven pulley (75) are connected and driven by a lifting belt (57). The lifting driven pulley (75) is fixedly installed on the outer surface of the lifting pulley shaft (74). The lifting pulley shaft (74) is rotatably mounted on the lifting frame (54). A lifting slide plate (76) is fixedly connected to the outer surface of the lifting belt (57). The lifting slide plate (76) is slidably connected to the lifting frame (54). A connecting plate (77) is symmetrically fixedly connected to the outer surface of the lifting slide plate (76). A pulley shaft mounting plate (58) is fixedly connected to the end of the connecting plate (77). A clamping pulley shaft (61) is symmetrically fixedly connected to the pulley shaft mounting plate (58). The clamping pulley shaft (61) is poweredly connected to the clamping motor. The clamping motor is fixedly mounted on the pulley shaft mounting plate (58). (61) A clamping pulley (62) is fixedly connected to the end of the clamping belt (59), and the clamping pulleys (62) are connected and driven by a clamping belt (59). Two clamping moving blocks (60) are fixedly connected to the clamping belt (59). One clamping moving block (60) is located on the upper part of the clamping belt (59) on the upper side, and the other clamping moving block (60) is located on the lower part of the clamping belt (59) on the lower side. A clamping frame (63) is fixedly connected to the end of the clamping moving block (60). A fixed gripper (64) is fixedly connected to the clamping frame (63). A movable gripper is slidably connected to the clamping frame (63) below the fixed gripper (64). The movable gripper (65) is fixedly connected to a connecting rod (66) at its lower part. The lower end of the connecting rod (66) is fixedly connected to a nut plate (67). The nut plate (67) is slidably connected to the gripping frame (63). The gripping frame (63) is threadedly connected to a lead screw (69). The lead screw (69) is poweredly connected to a clamping motor (68). The clamping motor (68) is fixedly installed on the gripping frame (63). A slider (72) is fixedly connected to the gripping frame (63). The slider (72) is slidably connected to a slide rail (71). The slide rail (71) is fixedly installed on the pulley shaft mounting plate (58).

4. The collecting device for harvesting edible fungi according to claim 3, characterized in that: The output mechanism includes a fixed bar (11) symmetrically fixedly connected to the motion frame (3), an output block (52) symmetrically fixedly connected to the fixed bar (11), an output frame (53) fixedly connected to the inner surface of the output block (52), an output shaft (94) symmetrically rotatably connected between the output frames (53), an output pulley (95) fixedly connected to the outer surface of the output shaft (94), one of the output shafts (94) being poweredly connected to the output motor, the output motor being fixedly mounted on the output frame (53), the output pulleys (95) being connected and driven by the output conveyor belt (8), and a baffle (7) fixedly connected to the output frame (53).

5. A collecting device for harvesting edible fungi according to claim 4, characterized in that: The receiving mechanism includes a support frame (73) symmetrically fixedly connected to the fixing bar (11). A receiving cylinder mounting base plate (6) is fixedly connected to the upper part of the support frame (73). A receiving cylinder fixing frame (5) is fixedly connected to the upper part of the receiving cylinder mounting base plate (6). A receiving cylinder (9) is fixedly connected to the receiving cylinder fixing frame (5). The receiving cylinder (9) is connected to the lower part of the receiving cylinder mounting base plate (6). The receiving cylinder (9) is provided with several receiving channels (40). A receiving box one (36) is connected to the receiving channel (40). A receiving box two (37) is fixedly connected to the receiving box one (36). The receiving box two (37) and the receiving box one (36) are located at the lower part of the harvesting robot conveyor belt. A processing channel runs through the receiving box two (37). A discharge channel (10) is fixedly connected to the receiving cylinder mounting base plate (6) at the lower part of the receiving box two (37).

6. A collecting device for harvesting edible fungi according to claim 5, characterized in that: The moving mechanism includes a support block (26) fixedly connected to the motion frame (3), a support wheel axle (27) rotatably connected to the support block (26), a support wheel (25) fixedly connected to the end of the support wheel axle (27), the support wheel (25) being mounted on the auxiliary plate (2), a plurality of moving blocks (29) fixedly connected to the motion frame (3), a moving shaft (39) rotatably connected to each moving block (29), a moving wheel (28) fixedly connected to one end of the moving shaft (39), and a moving pulley (30) fixedly connected to the other end of the moving shaft (39), with adjacent moving pulleys (30) being connected between them. The transmission is connected by a moving belt (35), and one of the moving shafts (39) is extended at one end. A driven pulley (33) is fixedly connected to the extended end of the moving shaft (39). The driven pulley (33) and the driving pulley (34) are connected by a transmission belt (32). The driving pulley (34) is fixedly installed at the end of the drive shaft (38). The drive shaft (38) is rotatably connected to the moving motor mounting plate (31). The moving motor mounting plate (31) is fixedly installed on the motion frame (3). The drive shaft (38) is powered by the moving motor. The moving motor is fixedly installed on the moving motor mounting plate (31).

7. A collecting device for harvesting edible fungi according to claim 6, characterized in that: The support mechanism includes a plurality of support groove blocks (41) fixedly connected to the inner side of the motion frame (3), a support shaft (42) rotatably connected to the support groove block (41), and a support cylinder (43) fixedly connected to the outer surface of the support shaft (42).

8. A collecting device for harvesting edible fungi according to claim 7, characterized in that: A control box (15) is fixedly connected to the connecting rod (4).

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