Edible fungus frame stacking device for cultivating edible fungus by using kudzu residue medium

Abstract

The application discloses a kind of edible fungi frame stacking devices for cultivating edible fungi by using kudzu residue culture medium, and relates to the technical field of stacking machine, including mechanical arm, the one end of the mechanical arm is fixedly connected with connecting shaft, the connecting shaft bottom is provided with grab hand, the grab hand bottom is provided with stacking mechanism, by setting stacking mechanism, the process that fungus frame is fixed block and is clamped, along the inclined surface of fixed block vertically rises upwards, so that in subsequent stacking, fungus frame can be stably vertically placed, avoid the deviation of fungus frame when the conventional grab hand is hooked into fungus frame and is opened, will cause the problem of the offset of fungus frame, lead to the problem of inaccurate stacking position occurs, simultaneously fungus frame can slide above inclined slide plate, since inclined slide plate is relatively narrow sheet, so fungus frame moves on inclined slide plate, friction is low, fungus frame will not appear the problem of obstruction when grab hand clamps, guarantee the stability of clamping smooth, improve work efficiency.

Description

Technical Field

[0001] This invention relates to the field of stacker technology, specifically to a stacking device for edible fungi frames that uses kudzu residue culture medium to cultivate edible fungi. Background Technology

[0002] Palletizing refers to the neat stacking of goods. Palletizing can be operated by machines and is mainly used for stacking goods in factories. For example, in industries such as food, beverage, beer, chemicals, feed, and grain and oil, cases or packages of goods produced need to be stacked according to certain arrangement rules. For heavy objects that are difficult to move manually, palletizing machines can replace manual operation, reducing labor and labor intensity.

[0003] The edible mushroom frame palletizing device described in patent application CN116692494A further includes a self-locking mechanism and a clamping mechanism; the edible mushroom cap has a first central hole, the edible mushroom frame has a second central hole, the first central hole and the second central hole are coaxially arranged, the gripper opening of the industrial robot matches the first central hole, and the air pump is connected to the gripper opening; the self-locking mechanism includes a pre-tightening rod, the edible mushroom cap has a transverse hole that communicates with a through hole, the edible mushroom frame has a transverse groove that is the same size as the transverse hole, and the pre-tightening rod is located in the transverse hole;

[0004] Currently, when stacker cranes grab and stack edible mushroom frames, the frames are prone to unstable clamping when the gripper inserts the frame into the gap and lifts it up. During the movement, the frames sway from side to side, causing the stacking position to be unstable due to shaking, and requiring adjustment. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a mushroom stacking device that utilizes kudzu residue culture medium to cultivate edible fungi, thereby solving the aforementioned problems.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: an edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium, comprising a robotic arm, one end of which is fixedly connected to a connecting shaft, a gripper is provided at the bottom of the connecting shaft, and a stacking mechanism is provided at the bottom of the gripper;

[0007] The palletizing mechanism includes:

[0008] The fixing block is a triangular block structure. The bottom of the fixing block is fixedly connected to the gripper, and an inclined plate is fixedly connected to one side of the fixing block. The fixing block is used to support the mushroom frame.

[0009] The limiting plate is a plate-shaped structure and is used to vertically limit the bacterial frame. The inclined plate and the top of the fixing block are fixedly connected to an inclined sliding plate, which is a rectangular plate-shaped structure.

[0010] Preferably, a fixing sleeve is fixedly connected to one end of the inclined plate, and a fixing shaft is fixedly connected to the inner wall of the fixing sleeve.

[0011] Preferably, a rotating sleeve is rotatably connected to the outer wall of the fixed shaft, and the bottom of the rotating sleeve is fixedly connected to the top of the limiting plate.

[0012] Preferably, the bottom of the limiting plate is provided with an observation mechanism, the observation mechanism including a counterweight, one side of which is fixedly connected to one side of the limiting plate.

[0013] Preferably, a connecting plate is fixedly connected to one side of the counterweight, and an elastic strip is fixedly connected to one side of the connecting plate. The elastic strip is made of rubber.

[0014] Preferably, the inner wall of the limiting plate has a groove, and a lifting block is slidably connected to the inner wall of the groove.

[0015] 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.

[0016] Preferably, the inner wall of the groove is provided with a graduated groove, and the elastic rope is used to limit the pulling of the lifting block.

[0017] This invention provides a mushroom stacking device for cultivating edible fungi using kudzu residue culture medium, belonging to the technical field of food industrial processing and intelligent manufacturing equipment, and has the following beneficial effects:

[0018] 1. The present invention sets up a palletizing mechanism so that the mushroom frame rises vertically upward along the inclined surface of the fixing block during the process of being held and clamped by the fixing block. This allows the mushroom frame to be stably and vertically lowered during subsequent palletizing and lowering, avoiding the problem of inaccurate palletizing position caused by the conventional gripper shifting and flipping the mushroom frame when it is opened after hooking into it.

[0019] 2. By setting up a stacking mechanism, the mushroom frame slides above the inclined slide plate when it moves along the fixed block and the inclined plate. Since the inclined slide plate is a narrow plate, the friction is low when the mushroom frame moves on the inclined slide plate, and there will be no problem of blockage when the gripper holds the mushroom frame, which ensures stable and smooth gripping and improves work efficiency.

[0020] 3. By setting up a palletizing mechanism, the limiting plate has the function of counterweight. Therefore, when the limiting plate is attached to the outer wall of the mushroom frame, it can suppress the left and right swaying amplitude of the mushroom frame during movement. This facilitates the palletizing accuracy of the mushroom frame and improves work efficiency. At the same time, it provides a certain swaying amplitude to avoid the problem of compression of the mushroom frame structure caused by sudden stops and starts when it is fully clamped and moved, which would lead to its deformation.

[0021] 4. By setting up an observation mechanism, when the mushroom frame swings, the counterweight at the bottom of the limiting plate, the connecting plate, and the elastic strip will fit against the outer wall of the mushroom frame. The counterweight ensures the stable vertical state of the limiting plate, thereby ensuring the mushroom frame can maintain a stable vertical and horizontal state and preventing the problem of left and right tilting due to loose clamping.

[0022] 5. By setting up an observation mechanism, the outer wall of the mushroom frame and the connecting plate will offset each other vertically during swaying, creating a certain friction. The elastic strip increases the friction with the outer wall of the mushroom frame, so that the offset and the friction generated by the elastic strip can generate a certain resistance to the swaying, preventing excessive swaying amplitude, suppressing swaying offset, and ensuring the speed and accuracy of stacking mushroom frames.

[0023] 6. By setting up an observation mechanism, the elasticity of the elastic rope can pull the lifting block upwards a certain distance. By observing the position of the elastic rope on the scale groove, it is possible to clearly and quickly determine whether the mushroom frame is offset and the specific angle of the offset, which is convenient for staff to make timely judgments and take corresponding adjustment measures. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the gripper structure of the present invention;

[0026] Figure 3 For the present invention Figure 2 Enlarged view of point A;

[0027] Figure 4 This is a schematic diagram of the palletizing mechanism of the present invention;

[0028] Figure 5 This is a schematic diagram of the structural movement of the palletizing mechanism of the present invention. Figure 1 ;

[0029] Figure 6 This is a schematic diagram of the structural movement of the palletizing mechanism of the present invention. Figure 2 ;

[0030] Figure 7 This is a schematic diagram of the structural movement of the palletizing mechanism of the present invention. Figure 3 ;

[0031] Figure 8 This is a schematic diagram of the observation mechanism of the present invention. Figure 1 ;

[0032] Figure 9 This is a schematic diagram of the observation mechanism of the present invention. Figure 2 ;

[0033] Figure 10 For the present invention Figure 8 Enlarged view of point B.

[0034] In the diagram: 1. Robotic arm, 2. Connecting shaft, 3. Stacking mechanism, 301. Fixing block, 302. Inclined plate, 303. Fixing sleeve, 304. Fixing shaft, 305. Rotating sleeve, 306. Limiting plate, 308. Inclined sliding plate, 4. Observation mechanism, 401. Counterweight, 402. Connecting plate, 403. Elastic strip, 404. Groove, 405. Lifting block, 406. Elastic rope, 407. Scale groove, 5. Gripper. Detailed Implementation

[0035] Example 1: Please refer to Figure 1-3 The present invention provides a technical solution: an edible fungus frame stacking device for cultivating edible fungi using kudzu residue culture medium, including a robotic arm 1, a connecting shaft 2 fixedly connected to one end of the robotic arm 1, a gripper 5 provided at the bottom of the connecting shaft 2, and a stacking mechanism 3 provided at the bottom of the gripper 5;

[0036] Palletizing mechanism 3 includes:

[0037] The fixing block 301 is a triangular block structure. The bottom of the fixing block 301 is fixedly connected to the gripper 5. An inclined plate 302 is fixedly connected to one side of the fixing block 301. The fixing block 301 is used to support the mushroom frame.

[0038] The limiting plate 306 is a plate-shaped structure and is used to vertically limit the mushroom frame. The inclined plate 302 and the top of the fixing block 301 are fixedly connected to the inclined slide plate 308, which is a rectangular plate-shaped structure.

[0039] When in use, start the robotic arm 1 to control the connecting shaft 2 and the gripper 5 to rotate and move. The gripper 5 is used to grip larger mushroom frames. The tip of the gripper 5 is inserted into the gap of the frame to hold it. The gripper 5 is used to control the connecting shaft 2 and the gripper 5 to move to the designated position and put it down for stacking.

[0040] When the tip of the gripper 5 is inserted into the mushroom frame, the gap in the mushroom frame will slide and rise along the inclined surface above the fixing block 301 and the inclined plate 302. When it reaches a certain position, the gripper 5 stops clamping inward. At this time, the mushroom frame stops on the fixing block 301 and the clamping work is completed. This clamping method will make the mushroom frame rise vertically upward along the inclined surface of the fixing block 301 during the process of being held and clamped by the fixing block 301. Therefore, when the mushroom frame is stacked and lowered in the subsequent process, it can be stably and vertically lowered. This avoids the problem of the conventional gripper 5 causing the mushroom frame to shift and flip when it is opened after hooking into the mushroom frame, resulting in inaccurate stacking position.

[0041] Example 2: Please refer to Figure 1-7 Based on Embodiment 1, the present invention provides a technical solution: Currently, there are still many problems in the operation of mushroom basket handling equipment:

[0042] On the one hand, existing handling equipment, when gripping mushroom frames, experiences increased friction due to the large contact area between the clamping device and the frame. This can easily lead to blockages as the frames move along a specific track, affecting the stability and smoothness of the gripping. For example, in some edible mushroom factories using traditional clamping handling robots, excessive clamping force or friction on the contact surface often causes the frames to jam during movement, requiring manual intervention to continue. This not only wastes manpower but also disrupts the continuity of the production line.

[0043] On the other hand, when handling and stacking mushroom frames, the frames tend to sway significantly from side to side when the robotic arm controls the gripper to move them rapidly, resulting in decreased stacking accuracy. Furthermore, to prevent the frames from falling during movement, the gripper often excessively clamps them, causing compression and deformation of the frame structure during sudden stops and starts, affecting subsequent use. Therefore, a fixing sleeve 303 is fixedly connected to one end of the inclined plate 302, and a fixing shaft 304 is fixedly connected to the inner wall of the fixing sleeve 303.

[0044] A rotating sleeve 305 is rotatably connected to the outer wall of the fixed shaft 304, and the bottom of the rotating sleeve 305 is fixedly connected to the top of the limiting plate 306.

[0045] When the mushroom frame moves along the fixed block 301 and the inclined plate 302, it will slide above the inclined slide plate 308. Since the inclined slide plate 308 is a narrow plate, the friction is low when the mushroom frame moves on the inclined slide plate 308, and there will be no blockage when the gripper 5 clamps the mushroom frame, ensuring stable and smooth clamping and improving work efficiency.

[0046] When the gripper 5 pushes the mushroom frame into the air and uses the fixing 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, as one side of several limiting plates 306 is in contact with the outer wall of the mushroom frame, when the robotic arm 1 controls the connecting shaft 2 and the gripper 5 to move, because the limiting plate 306 has the function of counterweight, when the limiting plate 306 is in contact with the outer wall of the mushroom frame, it can suppress the left and right swaying amplitude of the mushroom frame during movement, which facilitates the stacking accuracy of the mushroom frame and improves work efficiency. At the same time, it gives it a certain swaying amplitude to avoid the problem of squeezing the mushroom frame structure and causing deformation when it is fully clamped and moved by sudden stops and starts.

[0047] Example 3: Please refer to Figure 1-10 Based on Embodiment 1 and Embodiment 2, the present invention provides a technical solution: During the handling of mushroom baskets, when the mushroom baskets are prone to swaying due to factors such as vibration during equipment operation and inertia of robotic arm movement, the existing limiting devices have limited effectiveness in suppressing the swaying amplitude.

[0048] Meanwhile, when clamping the mushroom baskets, uneven clamping force or equipment precision issues may cause the baskets to be out of vertical position, making it difficult for staff to detect and adjust them in time. This can lead to uneven gaps and uneven stacking between baskets during the palletizing process, affecting not only the aesthetics of the palletizing but also posing safety hazards for subsequent storage and transportation. Therefore, an observation mechanism 4 is provided at the bottom of the limiting plate 306. The observation mechanism 4 includes a counterweight 401, one side of which is fixedly connected to one side of the limiting plate 306.

[0049] A connecting plate 402 is fixedly connected to one side of the counterweight 401, and an elastic strip 403 is fixedly connected to one side of the connecting plate 402. The elastic strip 403 is made of rubber.

[0050] The inner wall of the limiting plate 306 has a groove 404, and a lifting block 405 is slidably connected to the inner wall of the groove 404.

[0051] 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.

[0052] The inner wall of the groove 404 is provided with a scale groove 407, and the elastic rope 406 is used to limit the pulling of the lifting block 405.

[0053] When the mushroom frame sways, the counterweight 401 at the bottom of the limiting plate 306, along with the connecting plate 402 and the elastic strip 403, will adhere to the outer wall of the mushroom frame. The counterweight 401 ensures the stable vertical position of the limiting plate 306, thereby ensuring the mushroom frame remains stable in a vertical and horizontal state and preventing lateral tilting due to loose clamping. Simultaneously, the swaying caused by the movement will cause the connecting plate 402, counterweight 401, and limiting plate 306 to swing synchronously. The swing of the connecting plate 402 is centered on the fixed axis 304. The rotation of the mushroom frame is centered on the pivot point on the inclined slide plate 308. The circles are not concentric, so when the frame swings, the outer wall of the frame and the connecting plate 402 will offset each other vertically, creating a certain friction. The elastic strip 403 increases the friction with the outer wall of the frame, so that the offset and the friction generated by the elastic strip 403 can generate a certain resistance to the swing, preventing the swing amplitude from being too large, suppressing the swing offset problem, and ensuring the speed and accuracy of stacking the mushroom frames.

[0054] If the mushroom frame is not perpendicular due to clamping offset, the mushroom frame, the limiting plate 306, and the counterweight 401 will all shift together. At this time, the counterweight 401 and the balance plate 306 cannot straighten the mushroom frame. The offset of the limiting plate 306 will cause the lifting block 405 in the groove 404 on the inner wall of the limiting plate 306 to be not in the middle position of the several scale grooves 407. Due to the tilt of the limiting plate 306, the lifting block 405 is supported by a certain force from the inner wall of the groove 404. The elasticity of the elastic rope 406 can pull the lifting block 405 upward a certain distance. By observing the positional relationship of the elastic rope 406 on the scale grooves 407, it is possible to clearly and quickly determine whether the mushroom frame is offset and by what angle, so that the staff can make timely judgments and take corresponding adjustment measures.

[0055] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An edible mushroom frame stacking device for cultivating edible mushrooms using kudzu residue medium, comprising a mechanical arm (1), one end of the mechanical arm (1) being fixedly connected with a connecting shaft (2), the bottom of the connecting shaft (2) being provided with a gripper (5), characterized in that: The bottom of the grabber (5) is provided with a stacking mechanism (3); The stacking mechanism (3) comprises: A fixed block (301) is a triangular block structure, the bottom of the fixed block (301) is fixedly connected to the grabber (5), one side of the fixed block (301) is fixedly connected with an inclined plate (302), and the fixed block (301) is used to support the fungus frame; A limiting plate (306) is a plate structure, the limiting plate (306) is used to vertically limit the fungus frame, the inclined plate (302) and the top of the fixed block (301) are fixedly connected with an inclined sliding plate (308), and the inclined sliding plate (308) is a rectangular plate structure; One end of the inclined plate (302) is fixedly connected with a fixed sleeve (303), and the inner wall of the fixed sleeve (303) is fixedly connected with a fixed shaft (304); The outer wall of the fixed shaft (304) is rotatably connected with a rotating sleeve (305), and the bottom of the rotating sleeve (305) is fixedly connected with the top of the limiting plate (306); The bottom of the limiting plate (306) is provided with an observation mechanism (4), and the observation mechanism (4) comprises a counterweight block (401), one side of the counterweight block (401) is fixedly connected with one side of the limiting plate (306).

2. The edible mushroom frame stacking device for cultivating edible mushrooms using kudzu residue medium according to claim 1, characterized in that: One side of the counterweight block (401) is fixedly connected with a connecting plate (402), one side of the connecting plate (402) is fixedly connected with an elastic strip (403), and the elastic strip (403) is made of rubber.

3. The edible mushroom frame stacking device for cultivating edible mushrooms using kudzu residue medium according to claim 2, characterized in that: A recess (404) is formed in the inner wall of the limiting plate (306), and a lifting block (405) is slidably connected to the inner wall of the recess (404).

4. The edible mushroom frame stacking device for cultivating edible mushrooms using kudzu residue medium according to claim 3, characterized in that: The top of the lifting block (405) is fixedly connected with a spring rope (406), and one end of the spring rope (406) is fixedly connected with the top of the inner wall of the recess (404).

5. The edible mushroom frame stacking device for cultivating edible mushrooms using kudzu residue medium according to claim 4, characterized in that: A scale groove (407) is formed in the inner wall of the recess (404), and the spring rope (406) is used to limit the lifting of the lifting block (405).

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