Agaricus bisporus treatment integrated system

Abstract

The invention provides an agaricus bisporus treatment integrated system, which comprises a conveying mechanism, which is of a closed-loop track structure as a whole, and a plurality of mushroom clamping stations are arranged on the surface of the conveying mechanism at intervals and are used for bearing mushrooms to be conveyed from a first end to a second end and returning from the second end to the first end during no-load to form circulation; the root cutting mechanism is arranged close to the second end, the cutting face of the root cutting mechanism intersects with the axis of the conveyed mushroom stipe, and the root cutting mechanism is arranged below the conveying mechanism and used for cutting the mushroom stipe; the collecting mechanism is used for collecting the mushrooms and stipes after root cutting; the frame mechanism is used for supporting and installing the conveying mechanism, the root cutting mechanism and the collecting mechanism, and the frame mechanism further comprises a moving assembly; the control mechanism is used for coordinating actions of the conveying mechanism, the root cutting mechanism and the moving assembly, the structure is simple and novel, the multi-layer mushroom cultivation bed frame type cultivation mode can be adapted, and the man-machine compatibility of the system is high.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting equipment, and in particular to an integrated system for processing button mushrooms. Background Technology

[0002] With the continuous growth of the global population and the acceleration of urbanization, traditional agricultural models face numerous challenges, including limited land resources, low production efficiency, and increasing environmental pressure. Vertical farming, as an emerging agricultural model, effectively utilizes limited land resources and increases yield per unit area by planting multiple layers in a vertical space. With the development of agricultural modernization, factory-style mushroom cultivation using rack cultivation has become the main mode of button mushroom production, and its multi-layer planting structure significantly improves space utilization and yield. However, in the harvesting stage, the cutting and collection of mushroom roots currently rely heavily on manual labor. Several pain points exist: First, manual operation is labor-intensive and inefficient, making it difficult to meet the needs of large-scale production, especially since operation is inconvenient on high-rise mushroom cultivation beds; second, the quality of root cutting is inconsistent, with varying lengths of residual stipes and uneven cuts, and soil on the stipes affecting the quality of the finished product; third, existing automated equipment has obvious defects—a typical example is the conveyor belt root cutting device in CN219205876U, whose flat conveyor belt cannot prevent mushroom swaying during root cutting: the cap is easily displaced after the stipe is stressed, leading to root cutting failure, and the mushrooms are easily overturned and damaged during transportation. More importantly, such equipment is not adapted to multi-layer mushroom cultivation bed structures.

[0003] In factory environments, the growth density and posture of mushrooms vary significantly, making it difficult to rely entirely on automated machine harvesting. In actual production, manual harvesting is usually required for areas where machines failed to harvest (such as high-density areas or machine blind spots). This hybrid operation mode requires that subsequent root-cutting and collection devices be able to work well with manual operation to ensure the flexibility and integrity of the entire harvesting process.

[0004] Therefore, there is an urgent need to develop an automated mushroom root-cutting and collection device suitable for industrialized multi-layer mushroom cultivation bed system. This device needs to achieve highly efficient and automated root-cutting and collection, significantly reducing labor costs and intensity; it must be adaptable to the structure of multi-layer mushroom cultivation beds, facilitating movement on tracks; it must ensure high-quality and consistent root-cutting results; and crucially, it must possess operational compatibility, allowing it to work collaboratively with mushroom harvesting robots and also easily integrate with manual harvesting to meet the complex needs of actual production. Summary of the Invention

[0005] The purpose of this invention is to provide a novel integrated system for processing button mushrooms, which aims to solve the technical problems existing in the prior art, such as inability to adapt to multi-layer operations, poor mushroom cutting stability leading to inconsistent product quality, incompatibility of automated systems with manual processes, and difficulty in meeting the needs of complex production scenarios.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] An integrated system for processing button mushrooms includes: a conveying mechanism: an overall closed-loop track structure, with several mushroom clamping stations spaced apart on the surface of the conveying mechanism for conveying the mushrooms from a first end to a second end, and returning from the second end to the first end when unloaded, forming a cycle; a root-cutting mechanism: located near the second end, the cutting surface of the root-cutting mechanism intersecting the axis of the stipe of the transported mushroom for cutting the stipe; a collecting mechanism: used to collect the root-cut mushrooms and the stipes respectively; a frame mechanism: used to support and install the conveying mechanism, the root-cutting mechanism, and the collecting mechanism, the frame mechanism also including a moving component; and a control mechanism: coordinating the actions of the conveying mechanism, the root-cutting mechanism, and the moving component.

[0008] Furthermore, the conveying mechanism includes: a first transmission component disposed at the first end and a second transmission component disposed at the second end.

[0009] Furthermore, it also includes a conveyor belt.

[0010] Furthermore, the conveyor belt is wound around the outer periphery of the first transmission assembly and the second transmission assembly to form a closed-loop structure.

[0011] Furthermore, the first transmission assembly and / or the second transmission assembly are capable of driving and tensioning the conveyor belt.

[0012] Furthermore, the clamping station is equipped with clamping components for fixing the mushrooms and preventing them from moving during transport and root cutting.

[0013] Furthermore, the clamping member has a limiting structure adapted to the shape of the mushroom to ensure that the mushroom maintains a stable upright posture during the operation of the conveyor belt and avoids displacement or tipping due to external forces.

[0014] Furthermore, the clamping member includes a passage section: allowing the mushroom to pass smoothly when entering the clamping member, and to detach smoothly during unloading.

[0015] Furthermore, it also includes a clamp section: set at the root of the passage section, used to fix the mushroom stem and prevent the mushroom from shifting or falling off due to rotational force during the root cutting process.

[0016] Furthermore, the clamping member also includes: an anti-slip block: disposed at the top of the passage section.

[0017] Furthermore, the collecting mechanism is provided with the following components in sequence along the direction from the first end to the second end: a first collecting device for collecting the mycelial stipe after root cutting, which is located below the root cutting mechanism.

[0018] Furthermore, it also includes a second collecting device for collecting the mushrooms after the roots have been cut, disposed below the second end of the conveyor belt.

[0019] Furthermore, the transport mechanism also includes attitude adjustment components.

[0020] Furthermore, the axis of the attitude adjustment component is installed at an acute angle to the transport direction of the conveyor belt, for pushing the mushroom with its roots cut away from the clamp section and returning it to the passage section.

[0021] Furthermore, the frame mechanism includes: a suspension for fixing and supporting the conveying mechanism and the root cutting mechanism.

[0022] Furthermore, it also includes a moving component: mounted on the suspension to ensure that the integrated mushroom processing system can move along the side track of the mushroom cultivation bed, achieving synchronous movement with the harvesting robot.

[0023] Furthermore, the control mechanism includes: a follow signal group: used for real-time positioning and following of the external harvesting robot to ensure synchronization between the harvesting robot and the integrated mushroom processing system.

[0024] Furthermore, the control mechanism also includes a clamping station positioning group: used to control the stepping distance of the conveyor belt to ensure that the clamping station can be accurately positioned;

[0025] Furthermore, the control mechanism also includes a manual mode switching module: used to control the conveying mechanism to run continuously at low speed, compatible with the placement of mushrooms in manual operation mode.

[0026] Furthermore, the collection mechanism also includes a first guide plate disposed above the first collection device.

[0027] Furthermore, the collection mechanism also includes a second guide plate disposed above the second collection device.

[0028] With global population growth and shrinking arable land, vertical farming has rapidly developed as a new agricultural production model. Through tiered, three-dimensional cultivation, it achieves year-round, high-density crop production within a limited space, with yields per unit area reaching 10-15 times that of traditional farmland. Edible fungi (such as button mushrooms) have become a core category in vertical farming due to their shade-loving characteristics and high economic value, widely employing multi-layered cultivation racks (typically 4-8 layers, layer height ≤50cm) for factory-style cultivation. Traditional manual harvesting methods are inefficient, labor-intensive, and costly, making them unsuitable for modern factory-style production. In recent years, harvesting robot technology has made some progress in the field of harvesting automation; however, in the context of multi-layered, three-dimensional vertical farming, the bottleneck in the harvesting process is becoming increasingly prominent: manual harvesting is not only inefficient and costly, but also requires frequent climbing or bending when working on high or low mushroom beds, resulting in high labor intensity and a high risk of workplace injury, making it difficult to meet the requirements of large-scale, standardized production. In today's agricultural automation field, the overall development trend of automated harvesting systems is evolving towards higher efficiency, more accurate identification and execution, and greater operational flexibility.

[0029] This invention provides an integrated system for processing button mushrooms. Compared to existing technologies, its advantages are as follows: First, the system can adapt to multi-layer mushroom cultivation bed systems. By using wheels and guide wheels to move laterally along the tracks of the mushroom cultivation bed, each layer operates independently without interference, significantly improving space utilization and production efficiency. Second, the system has strong human-machine compatibility, working collaboratively with harvesting robots and in conjunction with manual labor. When the robot encounters blind spots or mushrooms with abnormal postures, manual intervention can immediately facilitate secondary harvesting, ensuring flexibility and completeness in the harvesting process. Furthermore, this system achieves adaptive posture adjustment at different workstations, exhibiting excellent cutting stability. It constrains the mushroom's posture throughout the process, and the mushroom clamping mechanism's structural design ensures the mushrooms do not sway during transport and root cutting. This avoids the problem of relative movement between the cap and conveyor belt caused by the contact force between the stipe and the root-cutting blade, thus improving the root-cutting effect and success rate. It also solves the problem of mushrooms flipping and colliding during conveyor belt transport. The post-root-cutting posture adjustment mechanism ensures that the root-cut mushrooms can smoothly detach from the clamping mechanism and enter the collection basket, achieving automatic separation of the stipe and finished product, further improving mushroom quality and collection efficiency. In summary, this invention has significant advantages in improving production efficiency, reducing labor intensity, reducing mushroom damage, thereby improving mushroom quality, and adapting to multi-layer mushroom cultivation bed systems. It has important practical application value and broad market prospects. Attached Figure Description

[0030] The above-described technical content of the present invention and the following detailed embodiments will be better understood when read in conjunction with the accompanying drawings. It should be noted that the drawings are merely examples of the claimed technical solutions. In the drawings, the same reference numerals represent the same or similar elements.

[0031] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings:

[0032] Figure 1 A three-dimensional schematic diagram of the integrated mushroom processing system;

[0033] Figure 2 This is a schematic diagram of the clamping component.

[0034] Figure 3 A partial enlarged schematic diagram of the root-cutting station in the integrated mushroom processing system;

[0035] Figure 4 This is a magnified view of a portion of the adjustment station in the integrated mushroom processing system.

[0036] Figure 5 A schematic diagram of the overall positioning of the integrated mushroom processing system and the harvesting robot;

[0037] Figure 6 Schematic diagram of the positioning of clamping components in an integrated mushroom processing system;

[0038] Figure 7 A front view diagram of the integrated mushroom processing system working in conjunction with a harvesting robot (rotated 90° counterclockwise);

[0039] Figure 8 A canometric view of the integrated mushroom processing system working in conjunction with a harvesting robot (rotated 90° counterclockwise);

[0040] Figure 9 Left view schematic diagram of the integrated mushroom processing system working in conjunction with the harvesting robot (rotated 90° counterclockwise);

[0041] Figure 10 A schematic diagram of the integrated mushroom processing system working in conjunction with manual labor (rotated 90° counterclockwise);

[0042] Figure 11 This is a schematic diagram of the integrated mushroom processing system working in conjunction with manual labor on a high-rise mushroom cultivation bed.

[0043] Figure 12 This is a diagram showing the state of the mushroom as it moves from the first end to the second end, reaching the cutting station.

[0044] Figure 13This is a schematic diagram showing the state of a mushroom after its roots have been cut, with the attitude adjustment component in effect.

[0045] Figure 14 This is a schematic diagram of abnormal operating conditions of mushroom cultivation.

[0046] The reference numerals in the attached figures are explained as follows:

[0047] Clamping component: 101

[0048] Blade: 102

[0049] Conveyor belt: 103

[0050] Drive unit: 104

[0051] Root cutting motor: 106

[0052] Crossbeam: 107

[0053] Bearing mounting plate: 108

[0054] Gripper positioning transmitter sensor: 109

[0055] Positioning hole: 110

[0056] Blade retaining sleeve: 121

[0057] First anti-slip block: 131

[0058] Second anti-slip block: 132

[0059] Screw: 133

[0060] Nut: 134

[0061] V-shaped opening structure: 136

[0062] Concave circular groove: 137

[0063] Assembly hole: 138

[0064] End face: 139

[0065] Suspension: 201

[0066] Component cabinet: 202

[0067] First guide wheel: 203

[0068] Second guide wheel: 204

[0069] First wheel mounting plate: 205

[0070] First traveling wheel: 206

[0071] Second travel wheel: 207

[0072] Wheel drive motor: 208

[0073] Second travel wheel mounting plate: 209

[0074] Second collecting device: 210

[0075] First collecting device: 212

[0076] First guide plate: 213

[0077] Second guide plate: 211

[0078] Attitude adjustment component: 221

[0079] Installation component: 222

[0080] Interference wheel: 223

[0081] First calibration signal receiving sensor: 240

[0082] Alignment signal receiving sensor: 241

[0083] Second calibration signal receiving sensor: 242

[0084] Gripper positioning receiver sensor: 250

[0085] Mushroom A: 301

[0086] Mushroom B: 302

[0087] Mushroom C: 303

[0088] Mushroom D: 304

[0089] Harvesting Robot: 400

[0090] Follow signal transmission sensor: 401

[0091] Suction cup: 402

[0092] Artificial scaffold: 900

[0093] First end: X

[0094] Second end: Y

[0095] Blade rotation direction: M

[0096] Mushroom cap: Q

[0097] Stem: R Detailed Implementation

[0098] The detailed features and advantages of this application are described below in the specific embodiments. The content of this description is sufficient to enable any person skilled in the art to understand the technical content of this application and implement it accordingly. Based on the specification, claims and drawings disclosed in this specification, a person skilled in the art can easily understand the related objectives and advantages of this application.

[0099] The invention will now be described with reference to the accompanying drawings, in which similar reference numerals denote similar elements. While specific structures and arrangements are discussed, it should be understood that this is done merely for illustrative purposes. Those skilled in the art will recognize that other structures and arrangements can be used without departing from the spirit and scope of the invention. It will be apparent to those skilled in the art that the invention can also be used in a variety of other applications.

[0100] In this specification and claims, several terms will be used, and unless otherwise indicated, these terms will be defined to have the following meanings:

[0101] The singular forms “a” and “the” include their corresponding plural forms. “At least one” means one or more, and “more” means two or more. “At least one of the following” or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be expressed as: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0102] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0103] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is usually placed during use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0104] Unless otherwise indicated, the following abbreviations have the following meanings, and any other abbreviations used herein but not defined have their generally accepted standard meanings:

[0105] All other terms used herein for special definition are intended to have the general meaning understood by one of ordinary skill in the art, in particular meaning that one of ordinary skill in the art, upon reading the claims, specification and drawings of this patent, can directly and without doubt determine how the technical solution of this patent can be implemented.

[0106] Even if there are incomplete descriptions, omissions, or ambiguities in the grammar, words, punctuation, graphics, symbols, etc. of the claims, specification, and drawings of this patent, a person skilled in the art can still arrive at the only correct understanding by reading the claims, specification, and drawings as a whole without extensive reasoning or experimentation, and effectively exclude various incorrect interpretations that are not aimed at achieving the purpose of this patent.

[0107] Those skilled in the art would first choose to read the claims, specification, and drawings of this patent to reasonably interpret the terms; secondly, they would choose to refer to the relevant definitions in other documents published by the applicant before the filing date to reasonably interpret the terms; thirdly, they would choose the references cited in this patent to reasonably interpret the terms; and finally, they would choose to combine the technical dictionaries, technical manuals, reference books, textbooks, national or industry technical standards, etc., commonly used by those skilled in the art to reasonably interpret the terms.

[0108] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0109] Integrated system structure for processing button mushrooms

[0110] See Figure 1 This is an integrated mushroom processing system structure, which includes: a conveying mechanism, a collecting mechanism, a root-cutting mechanism, a frame mechanism, and a control mechanism.

[0111] Conveying Mechanism: The conveying mechanism has a tracked structure and includes a conveyor belt 103, which has a closed-loop structure. Its two ends are respectively fitted onto a first transmission assembly and a second transmission assembly, ensuring the conveyor belt 103 is tensioned and forms a stable closed-loop structure. A crossbeam 107 serves as a support structure for the conveying mechanism, providing a stable mounting base for its various components. A first transmission assembly is located at the first end of the conveyor belt 103, and a second transmission assembly is located at the second end of the conveyor belt 103. The first and / or second transmission assemblies provide power for the directional cyclic operation of the conveyor belt 103. Optionally, taking the first transmission assembly as the driving component and the second transmission assembly as the driven component as an example, the specific power process of the conveyor belt is as follows: The first transmission assembly is set at the first end and includes a first pulley. It is fixedly installed on the crossbeam 107 via a key, shaft, bearing, and bearing mounting plate 108. The shaft of the first pulley is fixedly connected to the output shaft of the drive device 104 via a coupling. When the drive device 104 starts, its output power is transmitted to the first pulley via the coupling, thereby driving the conveyor belt 103 to circulate at a predetermined speed and direction. The second transmission assembly is set at the second end of the conveyor belt 103. The second transmission assembly includes a second pulley and is fixedly installed on the crossbeam 107 via a key, shaft, bearing, and bearing mounting plate 108. The second pulley rotates passively under the drive of the conveyor belt 103, which plays the role of tensioning the conveyor belt 103 and assisting in conveying, further improving the stability and reliability of the operation of the conveyor belt 103. It is easy to understand that the mounting of the first and second pulleys to the crossbeam 107 via the bearing assembly is a standard assembly design in the mechanical field, designed to ensure smooth rotation of the first and second pulleys. Therefore, the specific details of the key, shaft, and bearing components will not be elaborated further. Furthermore, the first and / or second transmission components are driving components; that is, at least one transmission component is the driving component, and the other is the driven component, requiring only a drive connection to the drive device 104.

[0112] The outer surface of the conveyor belt 103 is provided with several clamping stations. Each clamping station is detachably and fixedly connected with a clamping element 101 for fixing and supporting the mushrooms, ensuring the stability of the mushrooms during transportation and root cutting. See details below. Figure 2Each clamping member 101 is generally Y-shaped, with a passage section at one end. A clamping section is machined at the root of the passage section, and a first anti-slip block 131 and a second anti-slip block 132 are fixedly installed at the top of the passage section to provide auxiliary anti-detachment protection. Specifically, the passage section can be a V-shaped opening structure 136, which has a transition between wide and narrow sections. The mushroom can easily pass through and be unloaded in the wider section, and can be clamped and restrained in the narrower section. When the mushroom is clamped on the clamping member 101, the mushroom cap may optionally contact the first anti-slip block 131 and the second anti-slip block 132. During transport before entering the root-cutting station, if the mushroom is vibrated or carried away by the blade, it may fall through the V-shaped opening. That is, if the mushroom is accidentally displaced due to external force and tends to detach from the V-shaped opening, the mushroom cap will first contact the first anti-slip block 131 and / or the second anti-slip block 132. The anti-slip blocks can, to a certain extent, prevent the mushroom from falling through the V-shaped opening. By providing mechanical interference and frictional resistance, the anti-slip blocks are configured to suppress further displacement of the mushroom when the accident occurs, thereby preventing it from completely detaching from the V-shaped opening and ensuring the continuity and reliability of the root-cutting operation. Furthermore, it is engaged in the V-shaped opening structure 136. This structural design not only effectively fixes the mushroom and prevents it from falling during root cutting, but also adapts to mushrooms of different sizes, improving the versatility and flexibility of the device. The clamping component has an assembly hole 138 and is detachably mounted on the nut 134 on the conveyor belt 103 by screws 133, making the replacement and maintenance of each clamping component more convenient. During operation, the clamping component 101 moves synchronously with the conveyor belt 103, accurately transporting the mushrooms from the picking position to the root cutting station, and then to the collection station.

[0113] It is easy to understand that, under ideal conditions where the mushroom is properly clamped and there is no significant external force interference, the mushroom stem is mainly positioned by the V-shaped opening and the concave arc groove at the bottom. At this time, the mushroom cap and the first anti-slip block 131 or / and the second anti-slip block 132 can be in contact or not in contact.

[0114] Alternatively, the clamp 101 can be secured not only by bolts and nuts, but also by any common fastening method, such as magnetic attraction or snap fasteners. This versatility in fastening further enhances the flexibility and applicability of the clamp, enabling it to better adapt to different working environments and operational needs.

[0115] Frame mechanism: Used to enable the entire system to follow the movement of the mushroom cultivation bed frame track and to support other components in the system. The frame mechanism includes suspension 201 and moving components; see [link to documentation]. Figure 1 , Figures 7-10Specifically, the frame mechanism allows the entire system to be suspended from the side onto the mushroom cultivation bed track. The moving component includes a first traveling wheel 206 and a second traveling wheel 207, respectively located at the first and second ends. The first traveling wheel and / or the second traveling wheel 207 can be driving wheels; specifically, the example of the first traveling wheel 206 as the driving wheel and the second traveling wheel 207 as the driven wheel will be described below. The first traveling wheel 206 is fixedly mounted on the top of the suspension 201 via a first traveling wheel mounting plate 205. The first traveling wheel 206 is connected to a traveling wheel drive motor 208, which provides power to drive the first traveling wheel 206 to rotate, thereby moving the entire device along the mushroom cultivation bed track. The second traveling wheel 207 is mounted on the top of the suspension via a second traveling wheel mounting plate 209, maintaining a horizontal position with the first traveling wheel 206. As a driven wheel, the second traveling wheel 207 rotates following the movement of the first traveling wheel 206, serving as an auxiliary support and stabilizing device. Through the cooperation of the driving and driven wheels, the system can flexibly move along the mushroom cultivation bed frame track, adapting to different working positions and needs. Furthermore, the horizontal installation design of the first traveling wheel 206 and the second traveling wheel 207, distributed at both ends, ensures stability during movement and reduces swaying and vibration caused by uneven tracks or device tilt. Optionally, the first traveling wheel 206 and the second traveling wheel 207 are U-shaped wheels; the U-shaped grooves can be embedded in the lateral tracks of the mushroom cultivation bed frame, making the movement more stable. Optionally, the moving assembly also includes a first guide wheel 203 and a second guide wheel 204. The first guide wheel cooperates with the first traveling wheel 206. The first guide wheel 203 contacts the side of the track through its rim, preventing lateral deviation during movement and improving the operating accuracy and stability of the device. The second guide wheel 204 also contacts the side of the track through its rim, providing additional lateral support for the second traveling wheel 207 and preventing swaying or deviation during movement. The component cabinet 202 is mounted on the suspension 201 and is used to house necessary auxiliary components such as batteries and control circuit boards.

[0116] Root cutting mechanism: See Figure 3 This is a partially enlarged schematic diagram of the root-cutting mechanism, which is used to cut mushroom stems. Specifically, it includes a root-cutting motor 106, a blade 102, and a blade fixing sleeve 121. The blade fixing sleeve 121 is fixedly mounted on the shaft of the root-cutting motor 106 to support and fix the blade 102. The blade 102, driven by the root-cutting motor 106, forms a horizontal cutting surface to perform the cutting action on the mushroom. The root-cutting motor 106 is fixedly connected to the crossbeam 107.

[0117] The collecting mechanism includes a first collecting device 212, a first guide plate 213, a second collecting device 210, and a second guide plate 211. The first collecting device 212 is located below the root-cutting mechanism and is used to collect the cut mushroom stems. The second collecting device 210 is located at the second end and is used to collect the mushrooms after root cutting. The first guide plate is located above the first collecting device, and the second guide plate is located above the second collecting device, which can guide and buffer the falling material. The first collecting device 212 and the second collecting device 210 are placed sequentially on the suspension bracket 201 along the direction from the first end to the second end.

[0118] The integrated mushroom processing system works in conjunction with the harvesting robot.

[0119] When used in conjunction with the harvesting robot 400, this integrated mushroom processing system starts and stops synchronously with the harvesting robot. This is achieved through a follow signal group controlled by the mechanism. The follow signal group includes a follow signal transmitting sensor 401, a first calibration signal receiving sensor 240, an alignment signal receiving sensor 241, and a second calibration signal receiving sensor 242. Specifically, synchronous movement and alignment are achieved by relying on the follow signal transmitting sensor 401 mounted on the harvesting robot 400 and the first calibration signal receiving sensor 240, alignment signal receiving sensor 241, and second calibration signal receiving sensor 242 sequentially mounted on the suspension bracket 201. All of the aforementioned follow signal transmitting sensor 401, first calibration signal receiving sensor 240, alignment signal receiving sensor 241, and second calibration signal receiving sensor 242 are on the same horizontal plane. The follow signal transmitting sensor 401 is on the same straight line as the suction cup 402. Figure 5 As shown. When the alignment signal receiving sensor 241, located in the middle, receives a signal from the follow signal transmitting sensor 401, it indicates that the harvesting robot 400 and the integrated mushroom processing system are aligned, and the two can begin to work together. If the first calibration signal receiving sensor 240 receives a signal from the follow signal transmitting sensor 401, it indicates that the integrated mushroom processing system is lagging behind the harvesting robot 400. In this case, the walking wheel drive motor 208 will drive the first walking wheel 206 to accelerate and rotate forward, allowing the system to move forward quickly to catch up with the harvesting robot. Conversely, if the second calibration signal receiving sensor 242 receives a signal from the follow signal transmitting sensor 401, it means that the integrated mushroom processing system is ahead of the harvesting robot 400. In this case, the walking wheel drive motor 208 will drive the first walking wheel 206 to decelerate or reverse, allowing the system to retreat to align with the harvesting robot. By using several adjacent signal receiving sensors, the integrated mushroom processing system and the harvesting robot can maintain synchronous movement and precise alignment.

[0120] After the integrated mushroom processing system and the harvesting robot 400 are aligned, the follow signal transmitting sensor 401, the suction cup 402, and the alignment signal receiving sensor 241 are located in the same plane. Then, the clamping component is positioned; specifically, see [link to documentation]. Figure 5 , Figure 6 The clamping station positioning group includes a clamping component positioning transmitter sensor 109 and a clamping component positioning receiver sensor 250. The clamping component positioning transmitter sensor 109 is mounted on the crossbeam, and the clamping component positioning receiver sensor 250 is mounted on the suspension 201, both arranged vertically and collinearly. When the clamping component positioning transmitter sensor 109, the clamping component positioning receiver sensor 250, and the clamping component positioning hole 110 are collinear, the signal from the clamping component positioning transmitter sensor 109 can be transmitted to the clamping component positioning receiver sensor 250 through the clamping component positioning hole 110, completing the positioning of the clamping component. Since the clamping component positioning receiver sensor 250 and the alignment signal receiver sensor 241 are located in the same plane, the above two rounds of positioning actions achieve the positioning of the suction cup 402 and the clamping component 101. After positioning, the suction cup is positioned above the clamping component, the harvesting robot 400 shuts off the air supply, and the mushroom A301 on the suction cup 402 falls onto the clamping component 101, completing one feeding cycle. Subsequently, the drive unit 104 is activated, driving the conveyor belt 103 and the gripper 101 to move a distance A. Distance A is preset based on the width of each gripper 101, ensuring that the next empty gripper 101 can accurately move to the position of the harvesting robot 400. This operation gradually moves the gripper 101, which is already holding a mushroom, towards the second end to the root-cutting station, while simultaneously moving the next empty gripper 101 to the position of the harvesting robot 400, ready to receive the next mushroom. Specifically, the drive unit 104 is a stepper motor. If, after the gripper 101 has moved a distance A, the gripper positioning receiving sensor 250 does not receive a signal from the gripper positioning transmitting sensor 109, the drive unit 104 is activated again for fine-tuning until the gripper positioning receiving sensor 250 receives a signal from the gripper positioning transmitting sensor 109, completing the positioning of the gripper 101.

[0121] Working process of integrated mushroom processing system

[0122] The mushroom root-cutting and collection integrated system of this invention achieves fully automated operation from conveying and root-cutting to collection through a series of cooperating mechanisms. The detailed working process is as follows:

[0123] Harvesting and Location: See Figure 5Taking the use of a suction cup in a harvesting robot as an example: After the harvesting robot uses suction cup 402 to pick up mushroom A301, the follow signal group of the control mechanism first ensures the alignment of the integrated mushroom processing system with the suction cup, and then the clamping station positioning group aligns the clamping member 101 with the gripper positioning receiving sensor 250, thus completing the alignment of the suction cup and the clamping member. The harvesting robot then turns off the air supply and places mushroom A into the V-shaped opening structure 136 of the clamping member 101. At this time, the mushroom cap is located at the upper part of the clamping member 101, and the stem extends to the lower part of the clamping member. Then, the drive device 104 starts, driving the conveyor belt 103 and the clamping member 101 on it to move along the second end by the width A of one clamping member 101, that is, moving the next empty clamping member 101 to the position where the next mushroom will be placed on the suction cup 402. During the conveying process, the mushroom cap is located at the upper part of the clamping member 101, and the stem is located at the lower part of the clamping member, ensuring the upright stability of the mushroom during the conveying process. The conveyor belt 103 moves continuously toward the second end until mushroom A is transported to the root cutting station. The root cutting motor 106 starts. In this operating mode, the root cutting motor 106 starts when the collection system starts working and begins to rotate at a constant speed. During the operation of the collection system, the root cutting motor 106 rotates at a constant speed until the collection system completes all operations and stops working. The root cutting motor 106 drives the blade 102 to rotate, cutting off the stipe located below the rotating surface of the blade. The cut stipe slides along the first guide plate 213 into the first collection device 212 under the action of gravity, completing the collection of waste roots.

[0124] Transportation and Cutting: The mushroom cap contacts the upper surface of the clamp 101, while the stem is securely engaged within the V-shaped opening structure 136 of the clamp. The concave arc groove 137 of the clamp 101 and the first anti-slip block 131 and second anti-slip block 132 on the top further ensure the stability of the mushroom and prevent it from falling during transportation. The output shaft of the drive unit 104 is fixedly connected to the axle of the first pulley via a coupling. When the drive unit 104 is started, its output power is transmitted to the drive pulley shaft via the coupling, thereby driving the first pulley to rotate. The first pulley, through the meshing force with the conveyor belt 103, drives the conveyor belt 103 to circulate at a predetermined speed and direction. This, in turn, drives the clamp and the mushroom to be transported synchronously at a predetermined speed and direction. During the root cutting process, since the common cutting blades are round blades, they rotate horizontally under the drive of the root cutting motor. Therefore, see... Figure 3 as well as Figure 12At the root-cutting station, the mushroom is subjected to the rotational force of the blade 102 twice. Specifically, when the mushroom moves to the root-cutting station (i.e., the position of mushroom B302) with the conveyor belt 103, the stem of mushroom B is cut off as it passes the rotating blade 102. The bottom surface of the stem of mushroom B after the root is cut off is still in contact with the upper surface of the rotating blade 102. Due to the friction between the blade 102 and the stem, the mushroom is first driven into the concave arc groove 137 at the root of the V-shaped opening structure under the action of friction. When the mushroom moves to the position of mushroom C303, the mushroom pushed into the concave arc groove 137 is protected by the end face 139 at the front end of the concave arc groove 137 and the first and second anti-slip blocks. Even though it is subjected to the frictional force of the blade, mushroom C303 will not be flung out of the clamp by the rotating blade again. This structural design ensures unidirectional mushroom movement, guaranteeing that the mushroom remains stably held in the clamp during stem cutting and does not fall off due to rotation of the cutting blade. It also ensures stability and consistency during stem cutting, preventing displacement or falling due to rotational force, thereby improving cutting accuracy and success rate, and ensuring consistent product quality. See also Figure 14 This refers to an abnormal working condition that may occur during the application of an undesigned ordinary clamping device. When mushroom B302 moves to the root cutting station, the counterclockwise rotating blade 102 will push mushroom B to the root of the ordinary clamping device due to the cutting force on the stem. As the mushroom is transported to mushroom C303, without the constraint of the concave arc groove 137, end face 139, first anti-slip block and second anti-slip block, mushroom C will be directly carried away by the blade 102 due to the friction between the bottom of the stem and the upper surface of the blade 102, thus making it impossible to collect the mushroom.

[0125] Adjustment and Collection: After root cutting, the mushrooms continue to move with conveyor belt 103 to the adjustment station, where a fixed attitude adjustment component 221 is installed. The installation axis of the attitude adjustment component 221 is installed at an acute angle to the direction of the conveyor belt, and the attitude adjustment component 221 is equipped with a protruding interference wheel 223. As the mushrooms move towards the second end, they will come into contact with the interference wheel 223. (See [reference]). Figure 13 Because the posture adjustment component 221 is fixedly installed, it can overcome the clamping force of the concave arc groove 137, thereby pushing the mushroom out of the concave arc groove 137 and pushing the mushroom to a position with a larger opening width of the V-shaped opening structure 136. This ensures that when the mushrooms with their roots cut move to the lower surface of the conveyor belt 103, they are ready to be placed in a suitable position. Figure 4Mushroom D304, after adjustment and manipulation, continues to move with conveyor belt 103 to the collection station, where it will slide into the second collection device 210 along the second guide plate 211 under gravity. Specifically, the attitude adjustment component 221 is a cantilever structure, fixedly installed on the crossbeam 107. The interference wheel 223 is installed on the attitude adjustment component 221 via mounting component 222. The interference wheel is a rotating wheel structure that can prevent the mushroom cap from being damaged while applying a pushing force to the mushroom. Through the setting of attitude adjustment component 221 and interference wheel 223, the mushroom is pushed out of the concave arc groove 137 and successfully detached, ensuring that mushroom D304 is safely collected during its journey. Figure 4 In the inverted state shown, the mushroom stalks can smoothly fall into the second collection device under gravity, ensuring accurate collection. This design effectively avoids the problem of mushroom stalks getting stuck in the concave arc groove and unable to fall under their own weight at the collection station, significantly improving collection efficiency. The unloaded clamping component returns from the second end to the first end under the drive of the conveyor belt, completing one cycle.

[0126] See Figures 10-11 This integrated mushroom processing system can work in conjunction with harvesting robots and also with manual operation. Through the manual mode switching module, the system can easily switch to manual mode to adapt to different work scenarios and needs. When manual operation is required, the operator can switch the system to manual mode through the manual mode switching module in the control mechanism. At this time, the system's drive unit 104 will enter continuous operation, driving the conveyor belt 103 and the clamping member 101 to move continuously, providing a stable platform for manual harvesting and placement of mushrooms. In manual mode, workers can enter the mushroom cultivation bed and manually harvest mature mushrooms. The harvested mushrooms can be directly placed onto the slowly moving clamping member 101. The through section design of the clamping member 101 allows the mushrooms to enter smoothly, while the clamping section ensures that the mushrooms remain stable during conveying and root cutting, preventing displacement or detachment due to external forces. The root cutting mechanism then completes the root cutting, and the collection mechanism completes the collection of mushrooms and waste roots; the post-processing is consistent with that of the harvesting robot. When harvesting mushrooms from the upper shelves, workers can stand on a manual platform to work with the device to harvest, feed, and trim the mushrooms. Through a manual mode switching module, the system can flexibly switch to manual mode to adapt to areas that the harvesting robot cannot fully cover or specific work scenarios. This design not only improves the system's versatility and flexibility but also ensures seamless manual intervention when the harvesting robot cannot complete the harvesting, guaranteeing the continuity of the harvesting work. For example, for mushrooms growing in machine blind spots or areas with significant density variations, manual harvesting can serve as an effective supplement, ensuring that all mature mushrooms are harvested and processed in a timely manner.

[0127] Industrial application

[0128] This invention provides an integrated system for processing button mushrooms. Compared to existing technologies, its advantages are as follows: First, the system can adapt to multi-layer mushroom cultivation bed systems. Using wheels and guide wheels, it moves along the tracks of the mushroom cultivation bed, ensuring that each layer operates independently without interference, significantly improving space utilization and production efficiency. Second, the system has strong human-machine compatibility, working collaboratively with harvesting robots and in conjunction with manual labor. Especially when machines cannot completely harvest the mushrooms, manual labor can perform a second harvest of unharvested mushrooms. These second-harvested mushrooms can then be integrated into the automatic root-cutting and collection process, ensuring both flexibility and completeness in the harvesting process. Furthermore, the device exhibits excellent cutting stability, maintaining the mushrooms' posture throughout the process. The structural design of the mushroom clamps ensures that the mushrooms do not sway during transport and root cutting, preventing relative movement between the cap and the conveyor belt caused by the contact force between the stipe and the root-cutting blade. This improves the root-cutting effect and success rate, and solves the problems of mushrooms flipping and colliding during conveyor belt transport. The design of mushroom-pulling pulleys ensures that the root-cut mushrooms can smoothly detach from the clamps and enter the collection device, further improving mushroom quality and collection efficiency. In summary, this invention has significant advantages in improving production efficiency, reducing labor intensity, enhancing mushroom quality, and adapting to multi-layer mushroom cultivation bed systems, possessing significant practical application value and broad market prospects.

[0129] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0130] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0131] In this specification, references to "an embodiment" or "a specific implementation" mean that a particular feature, structure, or characteristic described in connection with that embodiment / specific implementation is included in at least one embodiment / specific implementation of the invention.

[0132] Therefore, the phrase "in one embodiment / specification" appearing in various places in this specification does not necessarily refer to the same embodiment / setting, but rather to possible. Furthermore, specific features, structures, or characteristics may be combined in one or more embodiments / settings in any suitable manner, as may be understood by those skilled in the art from this disclosure.

[0133] Similarly, it should be understood that in the above description of exemplary embodiments / specific implementations of the invention, various features of the invention are sometimes combined in a single embodiment / specific implementation or its figures and description, with the aim of simplifying the disclosure and aiding in the understanding of one or more of the various aspects of the invention. However, the method of description in this patent should not be construed as reflecting an intention that the claimed features of the invention are more than those expressly stated in each claim, except where explicitly stated otherwise or in obvious technical contradiction or exclusion. Rather, the inventive aspect reflected in the claims lies in not all the features of a single foregoing disclosed embodiment / specific implementation. Therefore, the claims following the detailed description are expressly incorporated herein by reference, each claim existing independently as a separate embodiment / specific implementation of the invention.

[0134] Furthermore, while some embodiments / specific implementations described herein include, but are not limited to, other features included in other embodiments / specific implementations, combinations of features from different embodiments / specific implementations are intended to be within the scope of the invention and form different embodiments / specific implementations, as will be understood by those skilled in the art. For example, in the following claims, embodiments / specific implementations of any claim can be used in any combination.

[0135] The terms and expressions used in this specification are for illustrative purposes and not for limitation. In using these terms and expressions, it is not intended to exclude any equivalents of the features or portions thereof shown and described, but rather to recognize that various modifications may be possible within the scope of the invention.

[0136] Therefore, it should be understood that although the invention has been specifically disclosed through preferred embodiments, exemplary embodiments and optional features, those skilled in the art may take variations or modifications of the concepts disclosed herein, and such variations and modifications are therefore considered to be within the scope of the invention as defined by the appended claims.

[0137] The specific embodiments given in this specification are examples of useful implementations of the present invention. It will be apparent to those skilled in the art that the present invention can be implemented using many variations of the devices, device components, and method steps disclosed in this specification.

[0138] The foregoing description of specific embodiments has fully disclosed the general features of the invention, enabling others to easily modify and / or adapt such embodiments for various applications by applying knowledge within the scope of the art, without excessive experimentation and without departing from the general conception of the invention. Therefore, based on the teachings and guidance provided herein, it is intended that such modifications and alterations be included within the meaning and scope of equivalents of the disclosed embodiments. It should be understood that the wording or terminology used herein is for descriptive purposes and is not intended to be limiting; thus, the wording or terminology in this specification will be interpreted by those skilled in the art based on the foregoing teachings and guidance.

[0139] Furthermore, the scope of the invention should not be limited to any of the exemplary embodiments described above, but only to the appended claims and their equivalents.

Claims

1. An integrated system for processing button mushrooms, characterized in that, include: Conveying mechanism: The whole is a closed-loop track structure. Several mushroom clamping stations are arranged at intervals on the surface of the conveying mechanism to carry the mushrooms from the first end to the second end. When unloaded, the mushrooms return from the second end to the first end, forming a cycle. Root cutting mechanism: disposed near the second end, the cutting surface of the root cutting mechanism intersects with the axis of the stipe of the mushroom being transported, and is used to cut the stipe; Collection mechanism: used to collect the mushrooms and their stems after the roots have been cut off; Frame mechanism: for supporting and mounting the conveying mechanism, the root cutting mechanism and the collecting mechanism, the frame mechanism also includes a moving component; Control mechanism: coordinates the actions of the conveying mechanism, the root cutting mechanism, and the moving components.

2. The integrated system for processing button mushrooms according to claim 1, characterized in that, The conveying mechanism includes: First transmission component: disposed at the first end; second transmission component: disposed at the second end; conveyor belt: wound around the outer periphery of the first transmission component and the second transmission component to form a closed loop structure, wherein the first transmission component and / or the second transmission component can drive and tension the conveyor belt.

3. The integrated system for processing button mushrooms according to claim 2, characterized in that, The clamping station is equipped with: Clamping component: Used to fix the mushroom and prevent it from moving during conveying and root cutting. The clamping component has a limiting structure that adapts to the contour of the mushroom to ensure that the mushroom maintains a stable upright posture during the operation of the conveyor belt and avoids displacement or tipping due to external forces.

4. The integrated system for processing button mushrooms according to claim 3, characterized in that, The clamping element includes: Through section: Allows the mushroom to pass smoothly when entering the clamping member, and to detach smoothly during unloading; Clamping section: Located at the base of the passing section, used to fix the mushroom stem and prevent the mushroom from shifting or falling off due to rotational force during the root cutting process.

5. The integrated system for processing button mushrooms according to claim 4, characterized in that, The clamping element further includes: Anti-slip block: Located at the top of the passage section.

6. The integrated system for processing button mushrooms according to claim 5, characterized in that, The collection mechanism is arranged sequentially along the direction from the first end to the second end as follows: First collecting device: used to collect the mycelial stipe after root cutting, and disposed below the root cutting mechanism; Second collecting device: for collecting the mushrooms after root cutting, disposed below the second end of the conveyor belt.

7. The integrated system for processing button mushrooms according to claim 6, characterized in that, The conveying mechanism also includes a posture adjustment component: the axis of the posture adjustment component is installed at an acute angle to the conveying direction of the conveyor belt, and is used to push the mushrooms with cut roots away from the clamp section and return them to the passage section.

8. The integrated system for processing button mushrooms according to claim 7, characterized in that, The framework structure includes: Suspension: Used to fix and support the conveying mechanism and the root cutting mechanism; Moving component: mounted on the suspension to ensure that the integrated mushroom processing system can move along the side track of the mushroom cultivation bed frame, achieving synchronous movement with the harvesting robot.

9. The integrated system for processing button mushrooms according to any one of claims 1-8, characterized in that, The control mechanism includes: Follow signal group: used for real-time positioning and following of the external harvesting robot to ensure synchronization between the harvesting robot and the integrated mushroom processing system; Clamping station positioning group: used to control the stepping distance of the conveyor belt to ensure that the clamping station can be accurately positioned; Manual mode switching module: used to control the conveying mechanism to run continuously at low speed, compatible with the placement of mushrooms in manual operation mode.

10. The integrated system for processing button mushrooms according to claim 6, characterized in that, The collection mechanism further includes a first guide plate disposed above the first collection device and a second guide plate disposed above the second collection device.

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