Edible mushroom frame stacking device for culturing edible mushrooms by using radix puerariae residue culture medium

Abstract

The invention discloses an edible mushroom frame stacking device for culturing edible mushrooms by using a kudzu residue culture medium, and relates to the technical field of stackers, the edible mushroom frame stacking device comprises a mechanical arm, one end of the mechanical arm is fixedly connected with a connecting shaft, the bottom of the connecting shaft is provided with a gripper, and the bottom of the gripper is provided with a stacking mechanism. According to the invention, the fixing block is arranged on the frame, so that the fungus frame vertically ascends upwards along the inclined surface of the fixing block in the process that the fungus frame is propped and clamped by the fixing block, and therefore, the fungus frame can be stably and vertically put down during subsequent stacking and putting down, and the problem of inaccurate stacking position caused by deviation and overturning of the fungus frame when a conventional gripper is opened after being hooked into the fungus frame is avoided; meanwhile, the fungus frame can slide above the inclined sliding plate, and the inclined sliding plate is in the shape of a narrow sheet, so that when the fungus frame moves on the inclined sliding plate, the friction force is low, the problem of blockage when the tongs clamp the fungus frame is solved, the stable and smooth clamping is ensured, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of stackers, in particular to an edible fungus frame stacking device for cultivating edible fungi using a kudzu residue culture medium. Background Art

[0002] Palletizing refers to the neat stacking of items. Palletizing can be performed by machines and is primarily used for stacking items in factories. For example, in industries such as food, beverages, beer, chemicals, feed, and grain and oil, boxes or packages of items produced need to be stacked according to specific arrangements. For heavy items that are difficult to move manually, palletizers can replace manual labor, reducing both labor intensity and labor costs. Patent application number CN116692494A discloses a stacking device for edible mushroom frames, further comprising a self-locking mechanism and a clamping mechanism. The edible mushroom cap is provided with a first central hole, the edible mushroom frame is provided with a second central hole, the first central hole and the second central hole are coaxially arranged, the clamp opening of the industrial robot matches the first central hole, and the air pump is connected to the clamp opening; the self-locking mechanism includes a pre-tightening rod, the edible mushroom cap is provided with a transverse hole, the transverse hole is connected to the through hole, the edible mushroom frame is provided with a transverse groove, the transverse groove and the transverse hole are of the same size, and the pre-tightening rod is located in the transverse hole; At present, when the stacker grabs and stacks the edible fungus frames, the frames are easily clamped unstable when the grippers are inserted into the gaps and lifted up, and they shake left and right during the movement, resulting in the frames being unstable in stacking position due to shaking when being grabbed and stacked, and requiring adjustment. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the present invention provides an edible fungus frame stacking device for culturing edible fungi using kudzu residue culture medium, thereby achieving the purpose of solving the above-mentioned problems.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a device for stacking edible fungi frames for culturing edible fungi using kudzu residue culture medium, comprising a robotic arm, one end of which is fixedly connected to a connecting shaft, a gripper provided at the bottom of the connecting shaft, and a stacking mechanism provided at the bottom of the gripper; The palletizing mechanism comprises: The fixed block is a triangular block structure, the bottom of the fixed block is fixedly connected to the gripper, and one side of the fixed block is fixedly connected to an inclined plate, and the fixed block is used to support the mushroom frame; The limiting plate is a plate-shaped structure, and is used to play the role of vertically limiting the bacteria frame. The inclined plate is fixedly connected to the top of the fixed block with an inclined slide, and the inclined slide is a rectangular plate-shaped structure.

[0005] Preferably, one end of the inclined plate is fixedly connected to a fixed sleeve, and the inner wall of the fixed sleeve is fixedly connected to a fixed shaft.

[0006] Preferably, the outer wall of the fixed shaft is rotatably connected to a rotating sleeve, and the bottom of the rotating sleeve is fixedly connected to the top of the limiting plate.

[0007] Preferably, an observation mechanism is provided at the bottom of the limiting plate, and the observation mechanism includes a counterweight block, and one side of the counterweight block is fixedly connected to one side of the limiting plate.

[0008] Preferably, one side of the counterweight is fixedly connected to a connecting plate, one side of the connecting plate is fixedly connected to an elastic strip, and the elastic strip is made of rubber.

[0009] Preferably, a groove is provided on the inner wall of the limiting plate, and a lifting block is slidably connected to the inner wall of the groove.

[0010] Preferably, an elastic rope is fixedly connected to the top of the lifting block, and one end of the elastic rope is fixedly connected to the top of the inner wall of the groove.

[0011] Preferably, a scale groove is provided on the inner wall of the groove, and the elastic rope is used to pull and limit the lifting block.

[0012] The present invention provides an edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium, which belongs to the technical field of food industrial processing and intelligent manufacturing equipment, and has the following beneficial effects: 1. The present invention provides a stacking mechanism, so that the mushroom frame rises vertically upward along the inclined surface of the fixed block when it is supported and clamped by the fixed block, so that the mushroom frame can be lowered stably and vertically when it is subsequently stacked and lowered, avoiding the problem of conventional grippers causing the mushroom frame to deflect and flip when it is opened after being hooked into the mushroom frame, resulting in inaccurate stacking position. 2. The present invention provides a stacking mechanism. When the mushroom frames move along the fixed block and the inclined plate, they slide on the inclined slide. Since the inclined slide is a narrow sheet, the friction force is low when the mushroom frames move on the inclined slide. This prevents the gripper from blocking the mushroom frames, ensuring stable and smooth gripping and improving work efficiency. 3. The present invention provides a stacking mechanism. Since the limiting plate has the function of a counterweight, when the limiting plate is in contact with the outer wall of the mushroom frame, the left and right swing amplitude of the mushroom frame during movement can be suppressed, which facilitates the stacking accuracy of the mushroom frame when it is lowered and stacked, and improves work efficiency. At the same time, a certain swing amplitude is given to it to avoid the problem of squeezing the mushroom frame structure and causing its deformation due to sudden stops and sudden movements during complete clamping and movement.

[0013] 4. The present invention provides an observation mechanism. When the mushroom frame swings, the counterweight block at the bottom of the limit plate, the connecting plate, and the elastic strip will fit with the outer wall of the mushroom frame. The counterweight of the counterweight block ensures the stable vertical state of the limit plate, thereby ensuring that the mushroom frame can maintain a stable vertical and horizontal state, and will not cause the problem of left and right tilting due to loose clamping.

[0014] 5. The present invention provides an observation mechanism, so that when the frame is swung, the outer wall of the frame and the connecting plate will be offset up and down, causing a certain amount of friction. The elastic strip increases the friction with the outer wall of the frame. When the frame is swung, the friction generated by the offset and the elastic strip can be used to generate a certain resistance to the swaying, thereby preventing the swaying amplitude from being too large, suppressing the swaying offset problem, and ensuring the speed and accuracy of stacking the frames.

[0015] 6. The present invention provides an observation mechanism. The elastic force of the elastic rope can pull the lifting block upward a certain distance. Through the position relationship of the elastic rope on the scale groove, it can be clearly and quickly judged whether the mushroom frame is offset at this time, and the specific angle of the offset is what it is, which is convenient for the staff to make timely judgments and take subsequent corresponding adjustment measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of the gripper of the present invention; Figure 3 For the present invention Figure 2 A magnified view of point A; Figure 4 It is a structural schematic diagram of the palletizing mechanism of the present invention; Figure 5 The structural motion diagram of the stacking mechanism of the present invention is shown in FIG. Figure 1 ; Figure 6 The structural motion diagram of the stacking mechanism of the present invention is shown in FIG. Figure 2 ; Figure 7 The structural motion diagram of the stacking mechanism of the present invention is shown in FIG. Figure 3 ; Figure 8 Schematic diagram of the structure of the observation mechanism of the present invention Figure 1 ; Figure 9 Schematic diagram of the structure of the observation mechanism of the present invention Figure 2 ; Figure 10 For the present invention Figure 8 Enlarged view of point B.

[0017] In the figure: 1 robotic arm, 2 connecting shaft, 3 stacking mechanism, 301 fixed block, 302 inclined plate, 303 fixed sleeve, 304 fixed shaft, 305 rotating sleeve, 306 limit plate, 308 inclined slide, 4 observation mechanism, 401 counterweight block, 402 connecting plate, 403 elastic strip, 404 groove, 405 lifting block, 406 elastic rope, 407 scale groove, 5 gripper. DETAILED DESCRIPTION

[0018] Example 1: Please refer to Figure 1-3 The present invention provides a technical solution: a stacking device for edible fungi frames for culturing edible fungi using kudzu residue culture medium, comprising a robotic arm 1, one end of which is fixedly connected to a connecting shaft 2, a gripper 5 is provided at the bottom of the connecting shaft 2, and a stacking mechanism 3 is provided at the bottom of the gripper 5; The palletizing mechanism 3 includes: The fixed block 301 is a triangular block structure. The bottom of the fixed block 301 is fixedly connected to the gripper 5. One side of the fixed block 301 is fixedly connected to the inclined plate 302. The fixed block 301 is used to support the mushroom frame. The limiting plate 306 is a plate-shaped structure. The limiting plate 306 is used to play the role of vertically limiting the bacteria frame. The inclined plate 302 is fixedly connected to the top of the fixed block 301 with an inclined slide 308. The inclined slide 308 is a rectangular plate-shaped structure. When in use, the robot arm 1 is started to control the connecting shaft 2 and the gripper 5 to rotate and move, and the gripper 5 is used to clamp the larger mushroom frame, and the tip of the gripper 5 is inserted into the air gap of the frame to clamp it, and the gripper 5 is used to control the connecting shaft 2 and the gripper 5 to move to the designated position and lower it for stacking; When the tip of the gripper 5 is inserted into the mushroom frame, the gap in the mushroom frame will start to slide and rise along the inclined surface above the fixed block 301 and the inclined plate 302. When it reaches a certain position, the gripper 5 stops clamping inwards, and the mushroom frame then stays on the fixed block 301 to complete the clamping work. This clamping method will make the mushroom frame rise vertically upward along the inclined surface of the fixed block 301 during the process of being supported and clamped by the fixed block 301, so that the mushroom frame can be stably and vertically lowered when it is subsequently stacked and lowered, avoiding the problem that the conventional gripper 5 will cause the mushroom frame to be offset and flipped when it is opened after being hooked into the mushroom frame, resulting in inaccurate stacking position. Example 2: Please refer to Figure 1-7 Based on the first embodiment, the present invention provides a technical solution: Currently, there are still many problems in the operation of the mushroom frame handling equipment: On the one hand, when existing handling equipment grasps mushroom frames, the large contact surface between the clamping device and the frames increases friction. When the frames move along a specific track, they are prone to blockage, affecting the stability and smoothness of the clamping. For example, in some edible mushroom factories, traditional clamping handling robots are used. When handling mushroom frames, they often get stuck due to excessive clamping force or excessive friction on the contact surface, requiring manual intervention to continue working. This not only wastes manpower but also affects the continuity of the production line. On the other hand, when transporting and palletizing mushroom frames, when the robot arm controls the gripper to move the mushroom frames quickly, the mushroom frames tend to swing left and right significantly, resulting in reduced palletizing accuracy. Moreover, to prevent the mushroom frames from falling during movement, the gripper often over-clamps the mushroom frames. During sudden stops and movements, this can squeeze the mushroom frame structure, causing deformation and affecting subsequent use. Therefore, a fixed sleeve 303 is fixedly connected to one end of the inclined plate 302, and a fixed shaft 304 is fixedly connected to the inner wall of the fixed sleeve 303.

[0019] The outer wall of the fixed shaft 304 is rotatably connected to a rotating sleeve 305, and the bottom of the rotating sleeve 305 is fixedly connected to the top of the limiting plate 306; When the mushroom frame moves along the fixed block 301 and the inclined plate 302, it slides on the inclined slide 308. Since the inclined slide 308 is a narrow sheet, the friction force is low when the mushroom frame moves on the inclined slide 308, and there will be no problem of blockage when the gripper 5 clamps the mushroom frame, ensuring stable and smooth clamping and improving work efficiency. When the gripper 5 pushes the mushroom frame into the air raid and uses the fixed block 301 to clamp and lift the mushroom frame, until one side of the limiting plate 306 contacts the outer wall of the mushroom frame, at this time, as one side of the limiting plates 306 is in contact with the outer wall of the mushroom frame, when the robot arm 1 controls the connecting shaft 2 and the gripper 5 to move, since the limiting plates 306 have the function of counterweight, when the limiting plates 306 are in contact with the outer wall of the mushroom frame, the left and right swing amplitude of the mushroom frame during movement can be suppressed, which is convenient for stacking the mushroom frames and improving the work efficiency. At the same time, a certain swing amplitude is given to avoid the problem of squeezing the mushroom frame structure and causing deformation due to sudden stops and sudden movements during full clamping and movement; Example 3: Please refer to Figure 1-10 Based on the first and second embodiments, the present invention provides a technical solution: during the transportation of the mushroom frames, due to factors such as vibration during equipment operation and inertia of the robotic arm movement, the mushroom frames are prone to swinging, and the existing limiting device has limited effect in suppressing the swing amplitude.

[0020] At the same time, when clamping the mushroom frames, due to uneven clamping force or equipment accuracy issues, the mushroom frames may not be positioned vertically, making it difficult for staff to detect and take corrective measures in time. This leads to uneven gaps between the mushroom frames and uneven stacking during the palletizing process, which not only affects the aesthetics of the palletizing but also poses a safety hazard during subsequent storage and transportation. Therefore, an observation mechanism 4 is provided at the bottom of the limit plate 306. The observation mechanism 4 includes a counterweight block 401, one side of which is fixedly connected to the side of the limit plate 306.

[0021] One side of the counterweight 401 is fixedly connected to a connecting plate 402 , and one side of the connecting plate 402 is fixedly connected to an elastic strip 403 , which is made of rubber.

[0022] A groove 404 is formed on the inner wall of the limiting plate 306 , and a lifting block 405 is slidably connected to the inner wall of the groove 404 .

[0023] An elastic rope 406 is fixedly connected to the top of the lifting block 405 , and one end of the elastic rope 406 is fixedly connected to the top of the inner wall of the groove 404 .

[0024] The inner wall of the groove 404 is provided with a scale groove 407, and the elastic rope 406 is used to pull and limit the lifting block 405; When the mushroom frame swings, the counterweight block 401 at the bottom of the limit plate 306, the connecting plate 402, and the elastic strip 403 will fit with the outer wall of the mushroom frame. The counterweight of the counterweight block 401 ensures the stable vertical state of the limit plate 306, so that the mushroom frame can maintain a stable vertical and horizontal state, and there will be no problem of left and right tilting due to loose clamping. At the same time, the swinging caused by the movement will cause the connecting plate 402, the counterweight block 401 and the limit plate 306 to swing synchronously. The swing of the connecting plate 402 is centered on the fixed axis 304. The swing of the mushroom frame is centered around the fulcrum on the inclined slide 308, and the circles are not concentric with each other. Therefore, when the mushroom frame swings, the outer wall of the mushroom frame and the connecting plate 402 will be offset from each other, causing a certain friction. The elastic strip 403 increases the friction with the outer wall of the mushroom frame, so that when the mushroom frame swings, the friction generated by the offset and the elastic strip 403 can generate a certain resistance to the swing, thereby preventing the swing amplitude from being too large, suppressing the swing offset problem, and ensuring the speed and accuracy of the mushroom frame stacking. Once the mushroom frame is not vertical due to the clamping offset, the mushroom frame, the limiting plate 306 and the counterweight block 401 will all be offset. At this time, when the counterweight block 401 and the limiting plate 306 are unable to straighten the mushroom frame, the offset of the limiting plate 306 will cause the lifting block 405 in the groove 404 opened on the inner wall of the limiting plate 306 to not be in the middle position of the several scale grooves 407. Since the limiting plate 306 is tilted, the lifting block 405 is supported by a certain force from the inner wall of the groove 404. The elastic force of the elastic rope 406 can pull the lifting block 405 upward by a certain distance. Through the position relationship of the elastic rope 406 on the scale groove 407, it is possible to clearly and quickly determine whether the mushroom frame is offset and the specific angle of the offset, so that the staff can make a timely judgment and take subsequent corresponding adjustment measures.

[0025] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A stacking device for edible fungi frames for culturing edible fungi using a kudzu residue culture medium, comprising a robotic arm (1), one end of the robotic arm (1) being fixedly connected to a connecting shaft (2), a gripper (5) being provided at the bottom of the connecting shaft (2), and characterized in that: A stacking mechanism (3) is provided at the bottom of the gripper (5); The stacking mechanism (3) comprises: A fixed block (301), the fixed block (301) is a triangular block structure, the bottom of the fixed block (301) is fixedly connected to the gripper (5), and one side of the fixed block (301) is fixedly connected to an inclined plate (302), and the fixed block (301) is used to support the mushroom frame; The limiting plate (306) is a plate-shaped structure, and the limiting plate (306) is used to play the role of vertically limiting the bacteria frame. The inclined plate (302) and the top of the fixed block (301) are fixedly connected with an inclined slide plate (308), and the inclined slide plate (308) is a rectangular plate-shaped structure.

2. The edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium according to claim 1, characterized in that: One end of the inclined plate (302) is fixedly connected to a fixed sleeve (303), and the inner wall of the fixed sleeve (303) is fixedly connected to a fixed shaft (304).

3. The edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium according to claim 2, characterized in that: The outer wall of the fixed shaft (304) is rotatably connected to a rotating sleeve (305), and the bottom of the rotating sleeve (305) is fixedly connected to the top of the limiting plate (306).

4. The edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium according to claim 3, characterized in that: An observation mechanism (4) is provided at the bottom of the limiting plate (306), and the observation mechanism (4) comprises a counterweight block (401), and one side of the counterweight block (401) is fixedly connected to one side of the limiting plate (306).

5. The edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium according to claim 4, characterized in that: One side of the counterweight (401) is fixedly connected to a connecting plate (402), and one side of the connecting plate (402) is fixedly connected to an elastic strip (403), and the elastic strip (403) is made of rubber.

6. The edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium according to claim 5, characterized in that: A groove (404) is provided on the inner wall of the limiting plate (306), and a lifting block (405) is slidably connected to the inner wall of the groove (404).

7. The edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium according to claim 6, characterized in that: An elastic rope (406) is fixedly connected to the top of the lifting block (405), and one end of the elastic rope (406) is fixedly connected to the top of the inner wall of the groove (404).

8. The edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium according to claim 7, characterized in that: The inner wall of the groove (404) is provided with a scale groove (407), and the elastic rope (406) is used to pull and limit the lifting block (405).

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