Automatic mushroom collecting device

Abstract

The invention relates to an automatic collection device for mushrooms, and solves the technical problems that when an existing automatic collection device for agaricus bisporus is used for collecting picked agaricus bisporus, manpower is consumed, efficiency is low, and the collection quantity is small. The automatic collection device for agaricus bisporus comprises a main frame, a belt frame body and a mushroom containing box, and the belt frame body is fixedly connected to the main frame; the lower end of the belt frame body extends into the space of the main frame, the lower end of the belt frame body is connected with a driving belt wheel, the upper end of the belt frame body is connected with a driven belt wheel, a circulation motor used for driving the driving belt wheel to rotate is fixed to the main frame, and the driving belt wheel and the driven belt wheel are connected in a matched mode through a circulation synchronous belt; according to the mushroom collecting device, automatic operation of mushroom collecting is achieved, the automation level of the mushroom collecting device is higher than that of the prior art, the operation efficiency is further improved, mushrooms and mushroom roots can be synchronously collected, and the higher intelligent operation requirement is met.

Description

Technical Field

[0001] The invention relates to the technical field of automatic picking of Agaricus bisporus, and in particular to an automatic collecting device for mushrooms. Background Art

[0002] Agaricus bisporus is a common edible fungus. It has extremely high nutritional and medicinal value and can be processed into various foods, health products, and even medicines. It has considerable economic value.

[0003] Agaricus bisporus cultivation has achieved large-scale factory production. Factory-grown mushroom houses are not restricted by seasons, allowing for daily fruiting and year-round production, resulting in high yields and profitable returns. Factory-grown mushroom houses are typically 20-30 meters long, 6-10 meters wide, and 5-6 meters high. They can be equipped with two to four rows of multi-layered beds running the length of the house. These beds are typically made of metal structural profiles, 1-1.6 meters wide, with five to six layers, and 50-70 centimeters between them. The lowest bed is approximately 30 centimeters from the ground, while the highest is at least 1 meter from the roof. Passageways between the beds are 80-100 centimeters wide, and the passageways between the beds and the walls are 40-80 centimeters wide.

[0004] Agaricus bisporus cultivation is a labor-intensive industry. In recent years, labor costs have been rising. Furthermore, Agaricus bisporus has the biological characteristics of uneven size and 24-hour growth, which places high demands on labor picking skills and working hours. The high labor costs faced by Agaricus bisporus cultivation factories are becoming increasingly serious. Automatic picking and harvesting by automated picking robots can save manpower, improve efficiency, and reduce costs. For information on the structure and working method of the automatic picking robot, please refer to the invention application with publication number CN 113940239 A, entitled "Intelligent Picking System," and the utility model patent with authorization publication number "CN217372374U," entitled "A Mobile Agaricus Bisporus Picking Robot."

[0005] Since the environment in the factory mushroom house can be controlled automatically or semi-automatically, production is not restricted by seasons, the mushroom yield is high, and the benefits are good.

[0006] However, the existing automatic picking robots and collection devices have the following technical defects during operation: (1) Since the mushroom storage baskets filled with mushrooms are distributed circumferentially on the circulation chain, after the automatic picking robot completes the collection of mushrooms on the multi-layer bed frame, it is necessary to manually replace the mushroom storage baskets one by one, that is, to remove the mushroom storage baskets filled with mushrooms, dump the mushrooms and then put them back on the corresponding tray, resulting in low collection efficiency and a small collection quantity; (2) The roots of the mushrooms cut by the automatic picking robot fall directly on the ground of the mushroom house and are not effectively collected. They need to be manually cleaned, resulting in the automation level of the entire picking system needs to be improved. Summary of the Invention

[0007] The present application aims to solve the technical problems of existing automatic Agaricus bisporus collection devices in collecting picked Agaricus bisporus, such as labor-intensive, low efficiency and small collection quantity, and to provide an automatic mushroom collection device that improves collection efficiency, collects mushrooms and mushroom roots at the same time, and effectively improves the automation level of mushroom collection work.

[0008] The present invention provides an automatic mushroom collecting device, comprising a main frame, a belt frame and a mushroom accommodating box, the belt frame is fixedly connected to the main frame, the lower end of the belt frame extends into the space of the main frame, the lower end of the belt frame is connected to a main pulley, the upper end of the belt frame is connected to a slave pulley, a circulating motor for driving the main pulley to rotate is fixed on the main frame, the main pulley and the slave pulley are connected via a circulating synchronous belt; there are a plurality of mushroom accommodating boxes, the plurality of mushroom accommodating boxes are fixedly connected to the circulating synchronous belt along the circumferential direction, and the plurality of mushroom accommodating boxes are distributed at equal intervals on the circulating synchronous belt.

[0009] Preferably, the automatic collecting device for mushrooms further comprises an upper ramp plate, which is connected to the belt frame and is provided with a main channel corresponding to the opening of the mushroom containing box.

[0010] Preferably, the material receiving and feeding device further comprises a first-layer inclined plate, which is connected to the inner side of the main frame, and is provided with a first channel and / or a second channel.

[0011] Preferably, the automatic mushroom collecting device further comprises a plurality of root collecting hoppers, which are fixedly connected to the belt frame in a vertical direction.

[0012] Preferably, the automatic collecting device for mushrooms further comprises an upper ramp plate connected to the inner side of the root collecting hopper; the upper ramp plate is provided with a secondary channel corresponding to the opening of the root collecting hopper.

[0013] Preferably, a feeding pipe is connected to the bottom of the root system collecting hopper.

[0014] Preferably, the automatic collecting device for mushrooms further comprises a second set of transverse transmission mechanisms, which are connected to the main frame.

[0015] Preferably, the automatic collecting device for mushrooms further comprises a vertical reversing assembly, which is located inside the main frame.

[0016] Preferably, the belt frame is composed of multiple sections connected to each other by hinges, and adjacent sections are fixed by connecting fixing plates.

[0017] Preferably, a plurality of conductive devices are connected to one side of the belt frame, and the conductive devices include conductive contacts and a second displacement assembly.

[0018] The beneficial effect of the present invention is to greatly improve the collection efficiency, reduce manual intervention, reduce labor costs, and thus improve the harvesting efficiency of the entire system. The mushroom container is tilted downward to dump the mushrooms into the material basket, which can quickly cut and collect a large amount of mushrooms.

[0019] The automatic collection device can simultaneously collect and weigh the mushrooms and mushroom roots collected by the automatic picking robot to complete quantitative picking, further improving the automation and intelligence of the system; at the same time, the material basket delivery device, material basket transmission device and the second transport body in the automatic collection device cooperate to realize the automatic delivery and transmission of the material basket, replacing the traditional manual basket changing operation, and further improving the picking efficiency.

[0020] At the workstation at the end of the second track, workers receive baskets full of mushrooms and baskets full of mushroom roots delivered by the conveyor belt mechanism, which is easy to operate and reduces manpower consumption.

[0021] After the stacked basket groups in the front frame of the basket delivery device are used up, a new stacked basket group is automatically transferred to the front frame through the first conveyor belt mechanism and a row of driven rollers at the bottom of the main frame.

[0022] Further features and aspects of the present disclosure will be clearly described in the following description of the specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is an axonometric drawing of the structure of the automatic mushroom collecting device installed on a multi-layer bed frame;

[0024] Figure 2 yes Figure 1 In the structure shown, the structural diagram of the automatic mushroom collection system;

[0025] Figure 3 yes Figure 1 A schematic diagram of the partial structure of the connection between the automatic collecting device and the multi-layer bed frame in the structure shown;

[0026] Figure 4 This is a left view of the connection between the automatic collection device and the multi-layer bed frame;

[0027] Figure 5 It is an axonometric drawing of the automatic acquisition device;

[0028] Figure 6 This is the main view of the material receiving and feeding device;

[0029] Figure 7 It is a schematic diagram of the structure inside the main frame of the automatic mushroom collecting device;

[0030] Figure 8This is a partial schematic diagram of the main frame of the automatic mushroom collection device from another angle;

[0031] Figure 9 It is a partial schematic diagram of the upper end of the belt frame body in the present invention;

[0032] Figure 10 This is a schematic structural diagram of the connection between the conductive contact and the second displacement component in the present invention;

[0033] Figure 11 It is a structural schematic diagram of the first transport vehicle body and the second transport vehicle body in the present invention;

[0034] Figure 12 It is a left side view of the first transport vehicle body and the second transport vehicle body of the present invention;

[0035] Figure 13 It is a structural schematic diagram of the connection between the carbon brush and the first displacement assembly in the present invention;

[0036] Figure 14 It is a schematic diagram of the structure within the front frame of the present invention;

[0037] Figure 15 yes Figure 14 A schematic structural diagram of the structure shown from another angle;

[0038] Figure 16 It is a structural schematic diagram of the positioning clamping assembly and the basket centering assembly in the present invention;

[0039] Figure 17 This is a structural schematic diagram of the positioning clamping assembly and the basket centering assembly in the present invention from another angle;

[0040] Figure 18 It is a structural schematic diagram of the vertical reversing transmission component of the present invention;

[0041] Figure 19 It is a structural schematic diagram of the basket pushing mechanism in the present invention;

[0042] Figure 20 It is a structural diagram of the automatic picking robot;

[0043] Figure 21 It is a structural diagram of the vertical reversing transmission component;

[0044] Figure 22 It is a structural diagram of the vertical reversing transmission component;

[0045] Figure 23 This is another structural diagram of the belt rack.

[0046] Explanation of symbols in the figure:

[0047] 100. Automatic picking robot; 100-1. Discharge port; 200. Automatic collecting device; 201. First guide rail; 202. First frame; 203. First walking bottom wheel; 20301. First active walking bottom wheel; 20302. First driven walking bottom wheel; 204. First walking motor; 205. Front frame; 20501. Front vertical track; 20502. Rear vertical track; 206. First lifting mechanism; 207. First lifting plate; 208. Inner frame; 20801. Front roller; 20802. Rear roller; 209. Left clamping plate; 210. Right clamping plate; 211. Opposite clamping drive motor; 212. Driving gear; 213. Driven gear; 214. Active forward and reverse thread screw; 215. Driven forward and reverse tooth screw; 216, first toothed belt; 217, first left screw nut; 218, first right screw nut; 219, second left screw nut; 220, second right screw nut; 221, first connecting plate; 222, second connecting plate; 223, coupling; 224, main frame; 22401, first material receiving area; 22402, second material receiving area; 225, first floor ramp; 22501, first channel; 22502, second channel; 226, belt frame; 227, mushroom storage box; 228, root system receiving hopper; 229, upper ramp; 22901, main channel; 22902, slave channel; 230, main pulley; 231, slave pulley; 232, flow motor; 233, flow Synchronous belt; 234, feeding tube; 235, walking top wheel; 23501, third lifting mechanism; 23502, lifting frame; 23503, vertical sliding shaft; 23504, sliding block; 23505, spring member; 236, sliding wire; 237, carbon brush; 238, second lifting mechanism; 239, second lifting plate; 240, first translation mechanism; 241, translation plate; 242, pin; 243, conductive contact; 244, charging base; 245, conductive contact connecting bracket; 24501, guide groove; 246, electric push rod; 247, hinge joint; 24701, horizontal slider; 24702, hinge shaft; 248, swing arm; 24801, hinge part; 24802, arc groove; 249, second guide rail ; 250, second frame; 251, first conveyor belt mechanism; 252, second conveyor belt mechanism; 253, second travel motor; 254, second travel bottom wheel; 255, roller drive motor; 256, active step pulley; 257, driven roller; 258, slave synchronous pulley; 259, tensioning pulley; 260, second toothed belt; 261, positioning clamping drive motor; 262, bidirectional screw; 263, guide light axis; 264, front splint; 265, rear splint; 266, probe; 267, front nut seat; 268, front slider; 269, rear nut seat; 270, rear slider; 271, load-bearing frame; 272, lifting drive motor; 273, lifting screw; 274, lifting nut; 275, weighing plate;276. Weighing sensor; 277. Press plate; 278. Synchronous drive motor; 279. Transmission plate; 280. Left conveyor belt transmission mechanism; 281. Right conveyor belt transmission mechanism; 282. Side baffle; 283. Second light transmitting and receiving module; 284. Origin induction sensor; 285. Spring; 300. Multi-layer bed frame; 300-1. Slide; 301. Robot storage rack; 302. Robot transfer rack; 303. Slide; 304. Electric push rod; 305. Top pressure block; 306. Auxiliary track; 30601. Slide; 307. Rotating motor; 3 08, first crank; 309, second crank; 310, ball joint; 400, basket assembly; 1, second translation mechanism; 2, side push plate; 3, front and rear clamping drive motors; 4, clamping screw; 5, clamping optical axis; 6, front baffle; 7, rear baffle; 8, first nut seat; 9, second nut seat; 10, first slider; 11, second slider; 12, forward push drive motor; 13, fixed plate; 14, active rocker arm; 15, passive rocker arm; 16, forward push plate; 17, active shaft; 18, first passive shaft; 19, second passive shaft; 20, third passive shaft. DETAILED DESCRIPTION

[0048] The present application will be further described in detail below with reference to the accompanying drawings using specific embodiments.

[0049] The specific embodiments described below are merely preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto. Those skilled in the art may make some modifications or variations based on or in accordance with the principles, concepts, and spirit of the present application, and the technical solutions formed by such modifications or variations shall be included within the scope of protection of the present application.

[0050] like Figure 1 As shown, the automatic picking robot 100 is located on a certain layer of the multi-layer bed frame 300 , and the automatic collecting device 200 is installed on the outside of the multi-layer bed frame 300 .

[0051] like Figure 2 and 20 As shown, the automatic picking robot 100 includes a base, a walking mechanism, a picking actuator, an X-axis linear module, a Y-axis linear module, a conveying mechanism and a root cutting device, etc. The base is provided with a discharge port 100-1, and the conveying mechanism outputs mushrooms and mushroom roots from the discharge port 100-1.

[0052] like Figure 3 and Figure 4 As shown, the automatic collection device 200 includes a first transport body that moves forward synchronously with the automatic picking robot 100, a material basket delivery device located on the first transport body, a material basket transmission device and a material receiving and feeding device, and a second transport body for receiving the material basket output by the material basket transmission device and directional transfer of the material basket.

[0053] like Figure 11 As shown, the first transport vehicle body includes a first guide rail 201 and a first frame 202. The first guide rail 201 is installed on the ground of the factory. The first guide rail 201 is arranged parallel to the length direction of the multi-layer bed frame 300. The first walking bottom wheel 203 is connected to the bottom of the first frame 202. The bottom of the first frame 202 rolls in cooperation with the first guide rail 201 through the first walking bottom wheel 203, and a first walking motor 204 is fixed on the first frame 202 for driving the first walking bottom wheel 203 to rotate. Specifically, the first walking bottom wheel 203 includes a group of first active walking bottom wheels 20301 and multiple groups of first driven walking bottom wheels 20302. The groups of first active walking bottom wheels 20301 are connected by a long axis, and the long axis and the first walking motor 204 are connected by a synchronous belt transmission mechanism. The first walking motor 204 drives a group of first active walking bottom wheels 20301 to rotate through the long axis.

[0054] like Figure 14 and Figure 15 As shown, the basket delivery device includes a front frame 205, a first lifting mechanism 206, a first lifting plate 207, an inner frame 208 and an opposing clamping mechanism. The front frame 205 is fixed on the first frame 202, the first lifting mechanism 206 is fixed in the front frame 205 and is connected to the inner frame 208 via the first lifting plate 207. The first lifting mechanism 206 adopts a slide module, the slide module is provided with a slider, the first lifting plate 207 is fixedly connected to the slider, and the front frame 205 is fixed on the frame away from the slide module. There are a front vertical track 20501 and a rear vertical track 20502, and the outer side of the inner frame 208 is rotatably installed with a front roller 20801 that cooperates with the front vertical track 20501 and a rear roller 20802 that cooperates with the rear vertical track 20502; the first lifting mechanism 206 can also specifically adopt a vertical belt transmission method, and the first lifting plate 207 is fixed on the vertical belt through a connecting piece; the first lifting plate 207 rises or falls, driving the inner frame 208 and the opposite clamping mechanism to rise or fall in the front frame 205.

[0055] The opposing clamping mechanism includes a left clamping plate 209, a right clamping plate 210, an opposing clamping drive motor 211, a driving gear 212, a driven gear 213, an active forward and reverse screw 214 and a driven forward and reverse screw 215. The opposing clamping drive motor 211 is fixed to the first lifting plate 207, and the active forward and reverse screw 214 and the driven forward and reverse screw 215 are rotatably connected to the front and rear sides of the inner frame 208 through the bearing seat. One end of the active forward and reverse screw 214 is fixed with a driving gear 21 connected to the output end of the opposing clamping drive motor 211. 2. A driven gear 213 is fixed to one end of the driven forward and reverse screw 215, and the driven gear 213 and the driving gear 212 are connected through the first toothed belt 216. When the opposing clamping drive motor 211 is working, the driving gear 212, the first toothed belt 216, and the driven gear 213 can drive the active forward and reverse screw 214 and the driven forward and reverse screw 215 to rotate synchronously. It should be noted that the opposing clamping drive motor 211 can also drive the forward and reverse screw 214 and the driven forward and reverse screw 215 to rotate synchronously through other transmission mechanisms. The positive tooth side and the negative tooth side of the active positive and negative thread screw 214 are respectively connected with the first left thread screw nut 217 and the first right thread screw nut 218, and the positive tooth side and the negative tooth side of the driven positive and negative thread screw 215 are respectively connected with the second left thread screw nut 219 and the second right thread screw nut 220. The first left thread screw nut 217 and the second left thread screw nut 219 are connected via the first connecting plate 221. The left clamping plate 209 is fixed on the inner side of the first connecting plate 221. The first right thread screw nut 218 and the second right thread screw nut 220 are connected via the second connecting plate 222. Plate 210 is fixed on the inner side of the second connecting plate 222, and a rectangular area for wrapping the material basket is formed between the left clamping plate 209, the right clamping plate 210 and the front and rear frames of the inner frame 208; the active forward and reverse thread screw 214 / the driven forward and reverse thread screw 215 can be made of two screws with opposite thread directions connected by a coupling 223, or an integrally formed bidirectional screw can be directly selected; the operation of the opposite clamping drive motor 211 can make the left clamping plate 209 and the right clamping plate 210 move closer to or separate from each other, and realize the clamping function of the material basket when they move closer to each other.

[0056] The basket delivery device can adapt to baskets of different sizes, and the adaptability of the basket delivery device is enhanced. In addition, the process of placing new baskets stacked together into the basket delivery device is convenient and fast.

[0057] like Figure 5-Figure 8As shown, the material receiving and feeding device includes a main frame 224, a first-layer inclined plate 225, a belt frame 226, a mushroom holding box 227, a root collecting hopper 228 and an upper-layer inclined plate 229. The main frame 224 is fixed to one side of the front frame 205 and the main frame 224 is divided into a first material collecting area 22401 and a second material collecting area 22402 along the length direction. The first-layer inclined plate 225 is installed on the inner side of the main frame 224 and tilted toward the first layer of the multi-layer bed frame 300. The first-layer inclined plate 225 is divided into a first channel 22501 corresponding to the first material collecting area 22401 and a second material collecting area 22402 through the first-layer partition. The second channel 22502 corresponding to 22402, the belt frame 226 is fixed on the main frame 224 through the connecting frame, the lower end of the belt frame 226 extends to the first material receiving area 22401 and is rotatably connected to the main pulley 230, the upper end of the belt frame 226 extends to a position higher than the uppermost layer of the multi-layer bed frame 300 and is rotatably connected to the slave pulley 231, and a flow motor 232 for driving the main pulley 230 to rotate is fixed on the main frame 224, the main pulley 230 and the slave pulley 231 are connected through a flow timing belt 233, the mushroom accommodating box is provided with an opening, and there are multiple mushroom accommodating boxes 227, which are connected circumferentially. The connecting piece is fixed on the circulation synchronous belt 233, and the mushroom holding box 227 is turned over with the movement of the circulation synchronous belt 233 from the opening set upward on the far side of the belt bracket to the opening set downward on the near side of the belt bracket. There are multiple root collecting hoppers 228, which are fixed on the far side of the belt frame 226 vertically through transverse rods. The bottom of the root collecting hopper 228 is connected to a discharge pipe 234 set toward the second collecting area 22402. Each discharge pipe 234 is concentrically arranged in the vertical direction. The upper slope plate 229 is installed on the inner side of the root collecting hopper 228 and tilted toward the non-first layer of the corresponding multi-layer bed frame 300. Each upper slope plate 229 is inclined It is divided into a main channel 22901 corresponding to the opening of the mushroom holding box 227 and a slave channel 22902 corresponding to the opening of the root collecting hopper 228 through the upper partition. When the automatic picking robot 100 completely enters the first layer of the multi-layer bed frame 300, the automatic collecting device 200 is located at the initial position of the first track, and the discharge port 100-1 of the automatic picking robot 100 corresponds to the channel entrance of the first-layer slope plate 225. Similarly, when the automatic picking robot 100 is located on other layers of the multi-layer bed frame 300, the discharge port 100-1 of the automatic picking robot 100 corresponds to the channel entrance of the upper slope plate 229.

[0058] Each mushroom container 227 is evenly spaced on the circulation synchronous belt 233. The distance between the openings of adjacent mushroom containers 227 is the same as the distance between the openings of adjacent root collection hoppers 228. After the circulation motor 232 drives the circulation synchronous belt 233 to run the above distance, the next mushroom container 227 arrives at the same position as the previous mushroom container. At this time, the mushroom containers 227 and root collection hoppers 228 corresponding to each layer still maintain a one-to-one correspondence, ensuring the smooth progress of layer-changing picking. Figure 13 As shown, an origin sensing sensor 284 is installed on the connecting frame. When the mushroom holding box 227 reaches the sensing position of the origin sensing sensor 284, there is a mushroom holding box 227 at the lower end of the circulation synchronous belt 233 that is flipped and opened downward. The origin sensing sensor 284 sends a sensing signal, and the controller receives the sensing signal and controls the circulation motor 232 to stop for a few seconds. The mushrooms in the mushroom holding box 227 fall steadily into the material basket in the first material receiving area 22401.

[0059] In order to realize the synchronous advancement of the first transport vehicle body and the automatic picking robot, the moving speed of the first walking bottom wheel 203 is controlled to be the same as the moving speed of the walking mechanism 102 of the automatic picking robot 100, and the two move forward and stop synchronously. Figure 9 As shown, the upper end of the belt frame 226 is equipped with a walking top wheel 235 for cooperating with the multi-layer bed frame 300. The walking top wheel 235 is a passive rolling. Specifically, in order to facilitate the cooperation between the walking top wheel 235 and the multi-layer bed frame 300, a third lifting mechanism 23501 is provided between the walking top wheel 235 and the belt frame 226. The third lifting mechanism 23501 can adopt a slide module structure. The walking top wheel 235 is connected to the slider of the third lifting mechanism 23501 through the lifting frame 23502. The first walking bottom wheel 203 at the bottom of the first frame 202 is set on the first guide rail 201. The third lifting mechanism 23501 The top walking wheel 235 is driven to move downward and roll in contact with the upper surface of the multi-layer bed frame 300. In order to increase the tightness between the top walking wheel 235 and the multi-layer bed frame 300, two vertical sliding shafts 23503 arranged side by side are installed at the front end of the lifting frame 23502. A sliding block 23504 is installed on the vertical sliding shaft 23503. Spring parts 23505 are sleeved on the vertical sliding shaft 23503 between the upper surface of the sliding block 23504 and the lifting frame 23502, and on the vertical sliding shaft 23503 between the lower surface of the sliding block 23504 and the lifting frame 23502. The top walking wheel 235 is connected to the sliding block 23504 via the wheel axle.

[0060] The method of installing a portal shaft rotating motor 132 on the first-floor slope plate 225 / upper-floor slope plate 229 can be adopted, that is, the first-floor slope plate 225 and the main frame 224, and the upper-floor slope plate 229 and the root collecting hopper 228 are designed to be hingedly connected, and a rotating motor for driving the first-floor slope plate 225 / upper-floor slope plate 229 to rotate is installed on the outside of the main frame 224 and the root collecting hopper 228. In the initial state, the first-floor slope plate 225 / upper-floor slope plate 229 are set vertically.

[0061] like Figure 12 and Figure 13 As shown, a busbar 236 is arranged on the outside of the first guide rail 201, and a carbon brush 237 and a first displacement component that drives the carbon brush 237 to electrically contact the busbar 236 are provided on the first frame. Specifically, the first displacement component includes a second lifting mechanism 238, a second lifting plate 239, a first translation mechanism 240 and a translation plate 241. The second lifting mechanism 238 is fixed on the side of the first frame 202 close to the busbar 236, the first translation mechanism 240 is connected to the second lifting mechanism 238 via the second lifting plate 239, and the upper end of the translation plate 241 is connected to the first translation mechanism 240. The lower end of the translation plate 241 is connected to the carbon brush 237 through the pin 242 and the spring 285. The two pins 242 pass through the lower end of the translation plate 241 respectively. The two pins 242 can slide. The front ends of the two pins 242 are respectively connected to the carbon brush 237. There are two springs 285. The first spring 285 is sleeved on the first pin 242. The front end of the first spring 285 rests on the carbon brush 237, and the rear end of the first spring 285 rests on the lower end of the translation plate 241. Similarly, the second spring is sleeved on the second pin, the front end of the second spring rests on the carbon brush 237, and the rear end of the second spring rests on the lower end of the translation plate 241. The second lifting mechanism 238 and the first translation mechanism 240 adopt the structure of a slide module. The second lifting plate 239 is connected to the slider of the second lifting mechanism 238, and the translation plate 241 is connected to the slider of the first translation mechanism 240. The second lifting mechanism 238 and the first translation mechanism 240 move successively, causing the carbon brush 237 to first descend and then move backward until it is in close contact with the sliding contact line 236 with the cooperation of the pin 242 and the spring, and the carbon brush 237 is energized.

[0062] like Figure 9 and Figure 10As shown, the side of the belt frame 226 facing the multi-layer bed frame 300 is provided with a plurality of conductive contacts 243 electrically connected to the carbon brushes 237 and a second displacement component that drives each conductive contact 243 to electrically cooperate with the power input port on the base 101 of the automatic picking robot 100. The number of the second displacement components is the same as the number of layers of the multi-layer bed frame 300, and the installation position of each second displacement component corresponds one-to-one to the position of the automatic picking robot 100 in the multi-layer bed frame 300. The second displacement component includes The conductive contact connecting bracket 245, the electric push rod 246, the hinge joint 247 and the swing arm 248, the conductive contact connecting bracket 245 is horizontally fixed on the belt frame 226, the lower end of the swing arm 248 has a hinge portion 24801 hinged to the front end of the conductive contact connecting bracket 245, and the hinge portion 24801 is provided with an arc groove 24802 bent toward the multi-layer bed frame 300. The conductive contact 243 is fixed to the upper end of the swing arm 248 via the charging base 244. The electric push rod 246 is installed on the upper end of the swing arm 248. The conductive contact connecting bracket 245 has an output shaft of the electric push rod 246 connected to the rear end of the hinge joint 247. The outer side of the hinge joint 247 is engaged with the guide groove 24501 provided on the conductive contact connecting bracket 245 via the horizontal slider 24701. The front end of the hinge joint 247 is engaged with the arc groove 24802 via the hinge shaft 24702. In the initial state, the output shaft of the electric push rod 246 is in the extension mode, the hinge shaft 24702 is located at the lower end of the arc groove 24802, and the swing arm 248 is in the extension mode. In the vertical state, when the automatic robot completely enters the multi-layer frame, the electric push rod 246 contracts, driving the swing arm 248 from a vertical setting to a horizontal setting. At this time, the conductive contact 243 contacts the power input port on the base 101 of the automatic picking robot 100, completing the power supply of the automatic picking robot 100 by the external power supply, and continuously powers the picking robot during the synchronous movement of the first frame and the automatic picking robot 100 to reduce the power load of the battery of the automatic picking robot 100.

[0063] The material basket transmission device includes a transverse transmission mechanism and a vertical reversing transmission component. The first set of transverse transmission mechanisms is connected to the front frame 205, and the second set of transverse transmission mechanisms is connected to the main frame 224 below the second material receiving area 22402. The vertical reversing component is located in the main frame 224 and is arranged corresponding to one side of the second transport body.

[0064] like Figure 7 、 Figure 8As shown, the second transverse transmission mechanism includes a roller drive motor 255, a driven roller 257, a driving step pulley 256, and a slave synchronous pulley 258. Multiple driven rollers 257 are provided, which are mounted on the side panels at the bottom of the main frame 224 for rotation along their length via bearings. The slave synchronous pulley 258 is fixed to one end of the driven roller 257. The roller drive motor 255 is fixed to the main frame 224. The driving step pulley 256 is connected to the output end of the roller drive motor 255. The driving step pulley 256 is connected to the slave synchronous pulley 258 and the tensioning pulley 259 via the second toothed belt 260. To ensure the tension of the second toothed belt 260, a tensioning pulley 259 is rotatably connected to the side panels between adjacent slave synchronous pulleys 258. The tensioning pulley 259 is connected to the second toothed belt 260 together with the driving step pulley 256 and the slave synchronous pulley 258. The roller driving motor 255 is operated to rotate the plurality of driven rollers 257 .

[0065] The structure of the first set of transverse transmission mechanisms is the same as that of the second set of transverse transmission mechanisms. The first set of transverse transmission mechanisms includes a roller drive motor 255, multiple driven rollers 257, an active step pulley, a slave synchronous pulley, a first toothed belt, and a tensioning pulley. The multiple driven rollers 257 are rotatably connected to the front frame 205 through bearings, the slave synchronous pulley is fixed to one end of the driven roller, the active step pulley is connected to the output end of the roller drive motor, and the first toothed belt is connected to the slave synchronous pulley, the active step pulley, and the tensioning pulley.

[0066] The positioning clamping assembly is located below the left clamping plate 209 and the right clamping plate 210. The positioning clamping assembly includes a positioning clamping drive motor 261, a bidirectional screw 262, a guide light shaft 263, a front clamping plate 264 and a rear clamping plate 265. The two ends of the bidirectional screw 262 are rotatably mounted on the side plates below a row of driven rollers 257. The positioning clamping drive motor 261 is fixed to the bottom of the front frame 205. The output shaft of the positioning clamping drive motor 261 is connected to the middle of the bidirectional screw 262 through a synchronous belt transmission mechanism. There are two guide light shafts 263, which are symmetrically mounted on the bidirectional screw 2 On both sides of the basket 262, the upper portion of the front clamping plate 264 and the upper portion of the rear clamping plate 265 pass through the gap between the adjacent driven rollers 257 to form a clamping portion. A probe 266 for inserting into the perforated hole on the surface of the basket is installed on the clamping portion (the upper portion of the front clamping plate 264 is connected to the probe 266, and the upper portion of the rear clamping plate 265 is connected to the probe 266). The bottom of the front clamping plate 264 is connected to the front nut seat 267, which cooperates with the positive thread of the bidirectional screw 262. The bottom of the front clamping plate 264 is connected to the front slider 268 that slides in cooperation with the guide light shaft 263. The bottom of the rear clamping plate 265 is connected to the rear nut seat 269, which cooperates with the negative thread of the bidirectional screw 262. The bottom of the rear clamping plate 265 is connected to the rear sliders 270 that slide in cooperation with the guide light shaft 263 on both sides. When the positioning and clamping drive motor 261 is working, it drives the front clamping plate 264 and the rear clamping plate 265 to move closer to or away from each other. When the two roller drive motors 255 rotate forward, they drive the two rows of driven rollers 257 to rotate clockwise respectively. The material baskets located in the front frame 205 and pressed on a row of driven rollers 257 are transported one by one to the first material receiving area 22401 and the second material receiving area 22402 of the main frame 224. When the two roller drive motors 255 reverse, the material baskets entering the first material receiving area 22401 or the second material receiving area 22402 are transported to the front frame 205.

[0067] The vertical reversing transmission assembly includes two sets of steering transmission units, which are respectively located below the driven rollers 257 corresponding to the first material receiving area 22401 and the second material receiving area 22402. Figure 18As shown, each steering transmission unit includes a load-bearing frame 271, a lifting drive motor 272, a lifting screw 273, a lifting nut 274, a weighing plate 275, a weighing sensor 276, a pressure plate 277, a synchronous drive motor 278, a transmission plate 279, a left conveyor belt transmission mechanism 280 and a right conveyor belt transmission mechanism 281. The load-bearing frame 271 is fixed to the bottom of the main frame 224. There are two lifting screws 273, which are arranged vertically side by side and are rotatably mounted on the load-bearing frame 271 through a bearing bracket (the bearing bracket is a bracket with a bearing installed, the upper end of the lifting screw 273 is connected to the bearing, and the lower end of the lifting screw 273 is connected to the bearing). The lifting drive motor 272 is connected to the lower end of each lifting screw 273 through a synchronous belt transmission mechanism. Both ends of the weighing plate 275 are connected to the jacking screw 273 through the lifting nut 274. The sensor 276 is connected to the top of the weighing plate 275, the pressure plate 277 is connected to the weighing sensor 276, the two ends of the pressure plate 277 extend outward and are connected to the two transmission plates 279, the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 are respectively installed on the two transmission plates 279, and the synchronous drive motor 278 is fixed to the outside of any transmission plate 279 and is connected to the driving pulleys of the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 through the driving shaft. The left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 have the same structure, both of which are composed of a driving pulley rotatably mounted on the transmission plate 279, two driven pulleys, two tensioning pulleys and a synchronous conveyor belt connected to the driving pulley, the driven pulley and the tensioning pulley. The driving pulley and the two driven pulleys are arranged in an inverted triangle, and the tensioning pulley is located between the driving pulley and the driven pulley. The lifting drive motor 272 is activated, driving the transmission plate 279 and the conveyor belt transmission mechanism on the transmission plate 279 to move in and out of the gap between adjacent driven rollers 257, thereby lifting the material basket transmitted from the front frame 205, and the weighing sensor 276 senses the weight of the lifted material basket, weighs the mushrooms / mushroom roots collected in the material basket, and realizes quantitative collection.

[0068] like Figure 21 and Figure 22As shown, the first bearing bracket 286 is fixedly mounted on the load-bearing frame 271, and the second bearing bracket 287 is fixedly mounted on the load-bearing frame 271. The upper end of the first lifting screw 273 is rotatably connected to the upper portion of the first bearing bracket 286 via a bearing, and the lower end of the first lifting screw 273 is rotatably connected to the lower portion of the first bearing bracket 286 via a bearing. Similarly, the upper end of the second lifting screw 273 is rotatably connected to the upper portion of the second bearing bracket 287 via a bearing, and the lower end of the second lifting screw 273 is rotatably connected to the lower portion of the second bearing bracket 287 via a bearing. The lower end of the first lifting screw 273 is connected to a synchronous pulley, and the lower end of the second lifting screw 273 is connected to a synchronous pulley. The output shaft of the lifting drive motor 272 is connected to a synchronous pulley. The three synchronous pulleys are connected via a synchronous belt, thereby realizing the transmission of the power output of the lifting drive motor 272. As shown Figure 18 and Figure 21 As shown, the driving shaft 288 is connected to the output shaft of the synchronous driving motor 278. The synchronous driving motor 278 works to rotate the driving shaft 288. The right conveyor belt transmission mechanism 281 includes a connecting frame 281-6, a driving wheel 281-1, a driven wheel 1 281-2, a driven wheel 281-3, a tensioning wheel 1 281-4, a tensioning wheel 281-5, and a synchronous conveyor belt 281-6. The driving wheel 281-1 is connected to the driving shaft 288, and the connecting frame 281-6 is connected to the transmission plate 279. The left conveyor belt transmission mechanism 280 is fixedly connected to the right conveyor belt transmission mechanism 281, and includes a connecting frame, a driving pulley, a driven pulley 1, a driven pulley 2, a tensioning pulley 1, a tensioning pulley 2, and a synchronous conveyor belt. The connecting frame is fixedly connected to the corresponding transmission plate 279, and the driving pulley is connected to the driving shaft 288. The connection method is not further described.

[0069] like Figure 11As shown, the second transport vehicle body includes a second guide rail 249, a second frame 250, a first conveyor belt mechanism 251, a second conveyor belt mechanism 252 and a second travel motor 253. The second guide rail 249 is arranged parallel to the length direction of the multi-layer bed frame 300. The bottom of the second frame 250 rolls in cooperation with the second guide rail 249 via the second travel bottom wheel 254, and the second travel motor 253 for driving the second travel bottom wheel 254 to rotate is fixed on the second frame 250. The driving structure of the second travel bottom wheel 254 is the same as that of the first transport vehicle body, which is not repeated here. The first conveyor belt mechanism 251 and the second conveyor belt mechanism 252 are installed side by side on the surface of the second frame 250, corresponding to the first material receiving area 22401 and the second material receiving area 22402 respectively. The outside of the first conveyor belt mechanism 251 and the second conveyor belt mechanism 252 A side baffle 282 is fixed on the second frame to isolate the conveying areas of the two conveyor belt mechanisms; a first light sending and receiving module is installed on the first frame 202, and a second light sending and receiving module 283 is installed on the second body. The second light sending and receiving module 283 cooperates with the first light sending and receiving module to sense and complete the position docking of the second frame 250 and the first frame 202. At this time, the first conveyor belt mechanism 251 / the second conveyor belt mechanism 252 receives the material basket transmitted by the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 in each corresponding area, and under the forward drive of the second walking motor 253, the second frame 250 is transported along the second track to the collection station, and then the second walking motor 253 drives in reverse to bring the second frame 250 back to the position corresponding to the first frame 202.

[0070] like Figure 16 and Figure 17As shown, a material basket centering assembly is provided in the front frame 205, and the material basket centering assembly includes a second translation mechanism 1, a side push plate 2, a front and rear clamping drive motor 3, a clamping screw 4, a clamping optical axis 5, a front baffle 6 and a rear baffle 7. The second translation mechanism 1 is fixed in the front frame 205, and the side push plate 2 is connected to the second translation mechanism 1 and is arranged toward the proximal end of the horizontal transmission mechanism. Similarly, the second translation mechanism 1 adopts a slide module structure in this solution, and the side push plate 2 is fixed on the slider of the second translation mechanism 1. The two ends of the clamping screw 4 rotate The front and rear clamping drive motors 3 are fixed to the bottom of the front frame 205 and are connected to the middle of the clamping screw 4 through a synchronous belt transmission mechanism. There are two clamping optical axes 5, which are symmetrically installed on both sides of the clamping screw 4. The upper part of the front baffle 6 and the upper part of the rear baffle 7 pass through the gap between the adjacent driven rollers 257 to form a centering part. The length of the centering part extending out of the driven roller 257 is at least higher than the height of a single material basket. The bottom of the front baffle 6 is matched with the orthogonal thread of the clamping screw 4 through the first nut seat 8 and the front baffle is fixed to the bottom of the front frame 205 and is connected to the middle of the clamping screw 4 through a synchronous belt transmission mechanism. The bottom of the plate 6 has a first slider 10 on both sides that slides with the clamping optical axis 5, the bottom of the rear baffle 7 is matched with the anti-thread of the clamping screw 4 through the second nut seat 9, and the bottom of the rear baffle 7 has a second slider 11 on both sides that slides with the clamping optical axis 5. In this solution, there is one basket centering component in the main frame 224 and two positioning clamping components. The basket centering component is located at the center of the area between the left clamping plate 209 and the right clamping plate 210. The two positioning clamping components are symmetrically distributed on both sides of the basket centering component. The conveying belt mechanism 251 / the second conveying belt mechanism 252 transmits the stacked material basket group 400 into the main frame 224, and is transported to the front frame 205 under the reverse drive of the roller drive motor 255. The second translation mechanism 1 drives the side push plate 2 to move to the right, and the front and rear clamping drive motors 3 drive the front baffle 6 and the rear baffle 7 to approach each other, so that the material basket is located directly below the rectangular area formed by the left clamping plate 209, the right clamping plate 210 and the front and rear frames of the inner frame 208, for use by the subsequent material basket delivery device.

[0071] When the basket feeding device is empty (i.e., there is no stacked basket in the front frame 205), the pre-prepared stacked basket is first transported to the main frame 224 through the first conveyor belt mechanism 251 or the second conveyor belt mechanism 252, and then the stacked basket is transported to the front frame 205. In order to push the stacked basket group entering the main frame 224 away from the side of the main frame 224 and prevent the stacked basket group from interfering with the parts in the front frame 205 due to being too close to the frame side plate when entering the front frame 205, such as interfering with the probe 266 on the clamping part of the front clamping plate 264 and the rear clamping plate 265, as shown in FIG. Figure 7 and Figure 19As shown, a basket pushing mechanism is provided in the main frame 224, and the basket pushing mechanism includes a forward pushing drive motor 12, a fixed plate 13, an active rocker arm 14, a driven rocker arm 15 and a forward pushing plate 16. The fixed plate 13 is fixed to the inner side of the main frame 224, and the active rotating shaft 17 and the third driven rotating shaft 20 are installed in parallel on the outer side of the fixed plate 13 through two rear bearing seats, and the second driven rotating shaft 19 and the first driven rotating shaft 18 are installed in parallel on the inner side of the front pushing plate 16 through two front bearing seats (the two front bearing seats are fixedly connected to the inner side of the front pushing plate 16), and one end of the active rocker arm 14 is connected to the inner side of the front pushing plate 16. The active rotating shaft 17 is fixedly connected, the other end of the active rocker arm 14 is fixedly connected to the first driven rotating shaft 18, one end of the driven rocker arm 15 is fixedly connected to the third driven rotating shaft 20, and the other end of the driven rocker arm 15 is fixedly connected to the second driven rotating shaft 19. The front push plate 16, the fixed plate 13, the active rocker arm 14 and the driven rocker arm 15 constitute a parallel four-bar linkage mechanism. The front push drive motor 12 is fixed on the fixed plate 13 and the output shaft of the front push drive motor 12 is connected to the active rotating shaft 17. When the front push drive motor 12 is activated, it drives the front push plate 16 to move forward and backward. It should be noted that as long as the other end of the active rocker arm 14 is rotationally connected to the inner side of the front push plate 16, the other end of the driven rocker arm 15 is rotationally connected to the inner side of the front push plate 16, and one end of the driven rocker arm 15 is rotationally connected to the outer side of the fixed plate 13, it is sufficient. The front push plate 16 is displaced forward a certain distance to push the stacking baskets to a certain position, thereby preventing the stacking baskets from interfering with the probes 266 on the front and rear clamping plates 264 and 265 when entering the front frame 205; or the front push plate 16 is displaced forward to a specified position in advance, and the stacking baskets are transported to the main frame 224 by the first conveyor belt mechanism 251, whereupon they are blocked and limited by the front push plate 16, thereby preventing the stacking baskets from interfering with other parts when entering the front frame 205. In addition, the provision of a basket pushing mechanism allows the material receiving and feeding device to adapt to baskets of different sizes. The front push plate 16 of the basket pushing mechanism is displaced to the desired position, allowing the stacked baskets to be pressed against the front push plate 16 for limiting and positioning, thereby improving the adaptability of the material receiving and feeding device.

[0072] In order to further improve the automation level of the intelligent picking system, and to uniformly store and maintain the automatic picking robot 100, and to improve the complex design of the prior art in which each multi-layer bed frame 300 needs to be equipped with an automatic layer-changing device, the activity space in the mushroom room is liberated, such as Figure 1As shown, the system also includes a robot storage rack 301, a robot transfer rack 302, and a transfer forklift 500 for lifting the robot transfer rack 302. The robot storage rack 301 and the robot transfer rack 302 are provided with a slide 303 that cooperates with the walking mechanism 102 of the automatic picking robot 100. The transfer forklift 500 travels back and forth between the robot storage rack 301 and the multi-layer bed frame 300 where mushroom picking is required. The automatic picking robot 100 completes the transfer mode from the robot storage rack 301-robot transfer rack 302-multi-layer bed frame 300. The transfer forklift 500 raises and lowers the forklift plate on the outside of the multi-layer bed frame 300 to complete the layer changing operation of the automatic picking robot 100 on each multi-layer bed frame 300.

[0073] Typically, the robot transfer frame 302 is fixedly mounted on the lifting portion of the transfer forklift 500. As shown in the figure, to ensure the stability of the automatic robot during transfer by the transfer forklift 500, an electric push rod 304 is installed in the robot transfer frame 302. The output end of the electric push rod 304 is fixed with a push block 305 arranged toward the inner side of the track. When the automatic picking robot 100 fully enters the robot transfer frame 302, the electric push rod 304 moves, driving the push block 305 to extend, thereby pressing the inner side of the rotating roller of the walking mechanism 102 of the automatic picking robot 100 against the slideway 303 of the robot transfer frame.

[0074] The main working process of the above-mentioned collection device is described below:

[0075] An external power source energizes the busbar 236. The carbon brush 237 is electrically connected to the conductive contact 243 via an electric wire.

[0076] When the automatic picking robot 100 enters the first floor of the multi-layer bed frame 300, Figure 4 As shown, the first displacement component drives the carbon brush 237 to contact the busbar 236, and the external power supply supplies power to the material basket delivery device, the material basket transmission device and the material receiving and feeding device. The second displacement component corresponding to the first layer of the multi-layer bed frame 300 drives the conductive contact 243 to contact the power input port of the automatic picking robot 100, and the external power supply supplies power to the automatic picking robot 100. The first transport vehicle body and the automatic picking robot 100 move forward / stop synchronously.

[0077] The automatic picking robot 100 stays at a certain position for a period of time, and the picking actuator performs the picking operation. The conveying mechanism of the automatic picking robot 100 transfers the mushrooms and mushroom roots to the discharge port 100-1. At the same time, the stacking basket group 400 clamped by the left clamping plate 209 and the right clamping plate 210 is driven by the first lifting mechanism 206 to move down to a row of driven rollers 257 of the front frame 205. The positioning clamping drive motor 261 drives the front clamping plate 264 and the rear clamping plate 265 to move closer until the bottom of the stacking basket group 400 is completed. The square material basket (the first to last material basket) is clamped, and then the left clamping plate 209 and the right clamping plate 210 clamp the remaining material baskets again (clamp the second to last and third material baskets, at least clamp the second to last material basket) and move upward, and the first to last material basket remains on a row of driven rollers 257. Next, driven by the rotating roller driving motor, the first to last material basket on the driven roller 257 moves to the second material receiving area 22402 as the front material basket. Repeat the above-mentioned material basket placing operation and move the next material basket (the second to last material basket of the stacked material basket group 400) to the first material receiving area 22401 as the rear material basket. The lifting cylinder in the corresponding material receiving area lifts up the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 to support the above-mentioned corresponding rear material basket and front material basket. The mushrooms transported from the discharge port 100-1 to the first-floor inclined plate 225 fall into the rear material basket through the first channel 22501, and the mushroom roots fall into the front material basket through the second channel 22502. The weighing sensor 276 detects that the collected weight meets the specified requirements, and the synchronous drive motor 278 drives the material basket to be transported to the corresponding first conveyor belt mechanism 251 and the second conveyor belt mechanism 252. Then the second frame moves to the workstation at the end of the second track, and the worker stands in a fixed position to receive the fully loaded material basket transported by the conveyor belt mechanism. Finally, the second frame returns to the side of the first frame to continue the next round of material collection.

[0078] After the automatic picking robot completes the picking operation on the first layer of the multi-layer bed frame, the layer-changing device changes the layer of the robot and transfers the automatic picking robot to the second layer of the multi-layer bed frame 300. During the picking operation on the second layer, the mushrooms and mushroom roots output from the discharge port 100-1 slide onto the upper slope plate 229, and the mushrooms slide into the mushroom holding box 227 through the main channel 22901 (refer to Figure 7 As shown), the mushroom roots slide from the channel 22902 into the root collecting hopper 228, and the mushroom roots in the root collecting hopper 228 fall into the front material basket through the discharge pipe 234. After collecting for a period of time, the mushroom holding box 227 moves down with the flow synchronous belt 233, and the mushroom holding box located above reaches the second-layer position to continue collecting. The mushroom holding box that has collected full of mushrooms moves to the lower end of the flow synchronous belt 233 and turns over, and the mushrooms are dumped into the rear material basket.

[0079] When the baskets in the front frame 205 are used up, the second frame moves to the workstation at the end of the second track, and the worker places a new stacked basket group on the first conveyor belt mechanism 251. The second frame returns to the side of the first frame, and the first conveyor belt mechanism 251 transmits the new stacked basket group along the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 in the first material receiving area 22401 to the top of a row of driven rollers 257 in the main frame 224, and then the left conveyor belt transmission mechanism 280 and the right conveyor belt transmission mechanism 281 are used up. 1 descends, and the newly stacked material basket group is pressed on a row of driven rollers 257 in the main frame 224. Then, the row of driven rollers 257 in the main frame 224 rotates to move the newly stacked material basket group into the front frame 205. The newly stacked material basket group is pressed on the row of driven rollers 257 in the front frame 205. Under the joint action of the side push plate 2, the front baffle 6, and the rear baffle 7, the newly stacked material basket group is centered below the left clamping plate 209 and the right clamping plate 210, and the subsequent material basket delivery operation is continued.

[0080] It can be seen that the entire process does not require manual replacement of the material baskets one by one, and the automated operation of the material basket placement is realized. Its automation level is higher than that of the existing technology, the operating efficiency is further improved, and mushrooms and mushroom roots can be collected synchronously to meet higher intelligent operation requirements.

[0081] refer to Figure 23 The belt frame 226 can be divided into multiple sections, and two adjacent sections are connected by hinges 226-1. When the belt frame 226 composed of multiple sections forms a straight line in the vertical direction, the two adjacent sections of the belt frame are fixed by connecting fixing plates 226-2 to ensure that the entire belt frame is arranged in a straight line in the vertical direction. In the case where the height of the entire belt frame 226 is very high, when the length of the entire belt frame 226 needs to be shortened, the connecting fixing plates 226-2 are removed, the belt frame 226 is bent (the sections of the belt frame 226 are not in the same straight line), and the flow synchronous belt 233 is bent accordingly, thereby shortening the length of the entire belt frame 226. This is convenient for transporting the entire collection device between different factory workshops and is also convenient for storage in a warehouse when not in use.

Claims

1. An automatic mushroom collecting device, characterized in that: It includes a main frame, a belt frame and a mushroom accommodating box, the belt frame is fixedly connected to the main frame, the lower end of the belt frame extends into the space of the main frame, the lower end of the belt frame is connected to a main pulley, the upper end of the belt frame is connected to a slave pulley, a circulating motor for driving the main pulley to rotate is fixed on the main frame, the main pulley and the slave pulley are connected through a circulating synchronous belt; there are multiple mushroom accommodating boxes, multiple mushroom accommodating boxes are fixedly connected to the circulating synchronous belt along the circumferential direction, and multiple mushroom accommodating boxes are distributed at equal intervals on the circulating synchronous belt.

2. The automatic mushroom collecting device according to claim 1, characterized in that: The automatic mushroom collecting device further comprises an upper ramp plate connected to the belt frame, and the upper ramp plate is provided with a main channel corresponding to the opening of the mushroom accommodating box.

3. The automatic mushroom collecting device according to claim 1, characterized in that: The material receiving and feeding device further comprises a first-layer inclined plate, which is connected to the inner side of the main frame and is provided with a first channel and / or a second channel.

4. The automatic mushroom collecting device according to claim 1, characterized in that: The automatic mushroom collecting device further comprises a plurality of root collecting hoppers, which are vertically fixedly connected to the belt frame.

5. The automatic mushroom collecting device according to claim 4, characterized in that: The automatic mushroom collecting device further comprises an upper ramp plate connected to the inner side of the root collecting hopper; the upper ramp plate is provided with a secondary channel corresponding to the opening of the root collecting hopper.

6. The automatic mushroom collecting device according to claim 4, characterized in that: The bottom of the root system collecting hopper is connected with a feeding pipe.

7. The automatic mushroom collecting device according to claim 1, characterized in that: The automatic collecting device for mushrooms further comprises a second set of transverse transmission mechanisms, and the second set of transverse transmission mechanisms is connected to the main frame.

8. The automatic mushroom collecting device according to claim 1, characterized in that: The automatic mushroom collecting device further comprises a vertical reversing assembly, which is located inside the main frame.

9. The automatic mushroom collecting device according to claim 1, characterized in that: The belt frame body is composed of multiple sections connected to each other through hinged parts, and adjacent sections are fixed by connecting fixing plates.

10. The automatic mushroom collecting device according to claim 1, characterized in that: A plurality of conductive devices are connected to one side of the belt frame, and the conductive devices include conductive contacts and a second displacement component.

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