Automatic root cutting and discharging device and method for agaricus bisporus

Abstract

The invention belongs to the technical field of agricultural robots, and particularly relates to an agaricus bisporus automatic root cutting and discharging device and method.The agaricus bisporus automatic root cutting and discharging device comprises a clamping assembly, a cutting assembly and an overturning assembly, the clamping assembly comprises a clamping base, a fixing arm and a clamping arm, and the overturning assembly is used for driving the clamping base to rotate in the first direction; the clamping arm is driven to rotate along a first direction, so that the agaricus bisporus in the clamping cavity gets close to the closed end under the action of gravity, then the clamping arm rotates to get close to the fixed arm to clamp the stipe, and the clamping seat is driven to rotate along a second direction opposite to the first direction, so that the agaricus bisporus slides down from the open end under the action of self gravity after the clamping arm loosens the clamping of the stipe; according to the device, a clamping structure of the fixed arm and the rotatable clamping arm is used for clamping stipes, damage to pileus in the root cutting process is avoided, the double-stage overturning design of outer side overturning falling prevention and inner side overturning discharging is combined, the operation stability and the discharging efficiency are both considered, manual root cutting is replaced with automatic root cutting, and the root cutting efficiency is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural robot technology, specifically relating to an automatic root-cutting and unloading device and method for button mushrooms. Background Technology

[0002] With the large-scale development of button mushroom factory cultivation, the level of automation in its post-harvest processing has become a key bottleneck restricting the improvement of industry efficiency. Currently, the root cutting operation of button mushrooms in the industry is mainly done manually, with automated cutting as an auxiliary method.

[0003] When operating manually, the mushrooms must be held by hand and the roots must be cut with a knife. This is labor-intensive, dangerous, and the efficiency is far from meeting the needs of large-scale production. Furthermore, the lack of standardization in controlling the force applied manually can easily lead to deformation of the cap and breakage of the stem due to holding the mushroom too tightly, or cause excessively long roots and damage to the mushroom body due to deviations in the cutting angle, which directly affects the commercial value of the mushrooms.

[0004] Regarding the automated processing of button mushrooms, there are still many limitations in the equipment. Chinese patent CN216505342U discloses a fully automatic shiitake mushroom stem cutting machine. It uses a first electric telescopic rod to extend and drive the cutter to cut the mushroom stem below the through hole. The cut stem falls into the mushroom stem collection bin. Then, a second electric telescopic rod extends and drives the pusher plate to move. The pusher plate pushes the mushroom cap into the mushroom cap collection bin. However, the through hole in this application cannot be adapted to mushrooms of different sizes, resulting in unstable cutting and easy damage to the mushrooms. At the same time, some stems remain in the through hole after cutting. During the movement of the pusher plate to push the mushroom cap, the stems interfere with the through hole, which can easily damage the mushrooms. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: in order to solve the problems of high labor intensity and high risk caused by manual root cutting of button mushrooms in the prior art, and easy damage to mushrooms by automated root cutting, an automatic root cutting and unloading device for button mushrooms is provided.

[0006] The technical solution adopted by this invention to solve its technical problem is: an automatic root-cutting and unloading device for button mushrooms, comprising: The clamping assembly includes a clamping base, a fixed arm fixedly installed at the bottom of the clamping base, and a clamping arm rotatable toward or away from the fixed arm. A clamping cavity for clamping the fungal stem is formed between the fixed arm and the clamping arm. One end of the clamping cavity near the clamping base is a closed end, and the other end is an open end. The cutting assembly includes a blade that is rotatably disposed at the bottom of the clamp; The unit includes a flipping component for rotating the clamping seat in a first direction so that the button mushrooms in the clamping cavity move closer to the closed end under gravity, and the clamping arm rotates closer to the fixing arm to clamp the stipe in the clamping cavity. The unit also rotates the clamping seat in a second direction opposite to the first direction so that after the clamping arm releases the clamping arm from the stipe, the button mushrooms slide down from the open end under their own gravity and are unloaded.

[0007] Furthermore, an arc-shaped clamping groove is provided on the side of the fixed arm near the clamping arm.

[0008] Furthermore, the clamping assembly includes a blade plate spaced apart from the fixed arm and a plurality of connecting posts connecting the fixed arm and the blade plate. The blade plate and the clamping part of the fixed arm are matched in shape, and a clearance space is formed between them to avoid the blade.

[0009] Furthermore, it also includes a tilting drive mechanism, which includes a base, a tilting power source mounted on the base, a driving pulley connected to the output end of the tilting power source, a driven pulley, a synchronous belt wound around the driving pulley and the driven pulley, and a rotating shaft passing through the base and connected to the driven pulley, wherein the rotating shaft is connected to a clamp.

[0010] Furthermore, the clamp includes a left column, a right column spaced apart from the left column, a front cover plate for connecting the left column and the right column to form the closed end, and a column fixing cover covering the left column and the right column. A limiting cavity for circumferentially limiting the rotating shaft is formed between the left column and the right column and the column fixing cover, respectively.

[0011] Furthermore, the base includes a left side plate, a right side plate spaced apart from the left side plate, and a mounting plate for connecting the left side plate and the right side plate. Both the left side plate and the right side plate have mounting cavities for mounting the rotating shaft.

[0012] Furthermore, it also includes a displacement mechanism for driving the base to reciprocate along the X-axis and Y-axis directions.

[0013] Furthermore, the amplitude of rotation of the clamp along the first direction is smaller than the amplitude of rotation of the clamp along the second direction.

[0014] Furthermore, it also includes a cutting power source installed in the clamp for driving the blade to rotate and a clamping power source for driving the clamping arm to move closer to or away from the fixed arm.

[0015] Furthermore, an operating method for an automatic root-cutting and unloading device for button mushrooms includes the following steps: a) Initial positioning: The harvesting robot smoothly moves the button mushroom to be cut into the clamping cavity. At this time, one side of the cap rests on the fixing arm and the other side rests on the clamping arm, completing the initial positioning; b) Anti-fall flipping and clamping: Start the flipping power source, drive the clamping seat to flip at a small angle in the first direction through the rotating shaft, and the button mushroom moves towards the closed end of the clamping cavity under the action of gravity to prevent it from falling. Then start the clamping power source, drive the clamping arm to rotate and approach the fixed arm to clamp the button mushroom stem located between the two. c) Precise root cutting: Drive the cutting power source to rotate the blade to smoothly cut the root of the button mushroom; the cut root falls into the root collection area below; d) Tilting and unloading: Start the displacement mechanism to move the base to the button mushroom collection area. Then start the tilting power source to drive the clamp to tilt at a large angle in the second direction through the rotating shaft. The clamping power source drives the clamping arm back to the initial position. At this time, the stipe is released and the button mushroom slides down from the clamping cavity under the action of gravity and falls smoothly into the collection area, completing the unloading action.

[0016] The beneficial effects of this invention are: 1. Ensure mushroom integrity and reduce processing damage risk: Utilizing a "fixed arm + rotatable clamping arm" clamping structure, the fixed arm's arc-shaped clamping groove matches the shape of the mushroom stem, while the clamping arm applies force only to the stem, avoiding the squeezing damage caused by direct contact with the cap in traditional equipment. The clamping angle can be preset according to the diameter of the button mushroom, and the clamping force is set to ensure the stem does not wobble or deform, adapting to button mushrooms at different growth stages. During root cutting, a "fixed arm - blade plate support" provides stable support for the root. The blade's rotation plane is precisely limited within the longitudinal gap between the blade plate and the fixed arm, cutting only the root without damaging the main stem, effectively reducing mushroom damage. 2. Adaptable to factory settings, enhancing operational flexibility and collaboration: Utilizing the translation function of the displacement mechanism, Y-axis translation flexibly avoids scaffold columns without requiring modifications to the existing scaffold layout; X / Y-axis coordinated translation accurately follows the real-time operating trajectory of the harvesting robot, achieving seamless integration of "robot feeding - device processing" and avoiding losses from manual handling. The device adopts a modular design, requiring only bolt fixation to the displacement mechanism for use, eliminating reliance on a specific moving platform and adapting to different layout requirements of factory production lines and small-to-medium-sized processing plants.

[0017] 3. Achieve automated continuous operation and improve processing efficiency: Integrate the entire process of "positioning-feeding-anti-dropping-clamping-root cutting-unloading-resetting" without manual intervention, reducing the connection loss of discrete processes; the displacement mechanism can adjust the X / Y position according to the empty space in the collection area to achieve uniform stacking of button mushrooms, avoid downtime caused by accumulation in the collection area, and meet the continuous operation requirements of large-scale processing.

[0018] 4. Achieve automatic separation and recycling of waste materials, reducing resource waste and labor input: After the roots are cut, they fall into the preset collection area under the fixed arm and blade plate, automatically separating the "mushroom body-root" and making the roots recyclable; eliminating the need for manual sorting and cleaning processes, reducing labor input, and avoiding the accumulation of waste materials that affect the working environment.

[0019] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is an isometric view of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 This is an isometric view of the present invention after removing the displacement component; Figure 4 This is an exploded view of the present invention after the displacement component has been removed; Figure 5 This is a front view of the clamping component and the cutting component in this invention; Figure 6 This is a top view of the clamping component and the cutting component in this invention; Figure 7 This is an exploded view of the clamping component and the cutting component in this invention; Figure 8 This is a top view of the fixed arm of the present invention; Figure 9 This is an isometric view of the flipping component of the present invention; Figure 10 This is an exploded view of the flipping component of the present invention; Figure 11 This is a schematic diagram showing the division of the root collection area and the button mushroom collection area in this invention; Figure 12 This is a schematic diagram of the workflow (a) "Initial Positioning" of the present invention; Figure 13 This is a schematic diagram of the workflow (b) of the present invention, "Anti-drop, Tilting and Clamping"; Figure 14 This is a schematic diagram of the workflow (c) "precise root cutting" of the present invention; Figure 15 This is a schematic diagram of the workflow (d) "tilting unloading" of the present invention; Figure 16 This is a rendering of the present invention; Figure 17 This is a rendering of the device after removing the displacement component according to the present invention.

[0022] In the picture: 1. Clamping assembly; 101. Clamping base; 1011. Left column; 1012. Right column; 1013. Front cover; 1014. Column fixing cover; 102. Fixing arm; 1021. Clamping groove; 1022. Clamping part; 103. Clamping arm; 104. Blade plate; 105. Connecting column; 106. Clamping power source; 2. Cutting assembly; 201. Blade; 202. Cutting power source; 203. Flange; 3. Tilting assembly; 301. Base; 3011. Left side plate; 3012. Right side plate; 3013. Mounting plate; 302. Tilting power source; 303. Drive pulley; 304. Driven pulley; 305. Synchronous belt; 306. Shaft; 4. Displacement components; 5. Agaricus bisporus; 501. Stem; 6. Harvesting robotic arm; D1, Root Collection Area; D2, Button Mushroom Collection Area. Detailed Implementation

[0023] The invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention in a schematic manner. Therefore, they only show the components relevant to the invention. Orientations and references (e.g., up, down, left, right, etc.) are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be restrictive, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0024] like Figures 1-17 As shown, an automatic root-cutting and unloading device for button mushrooms includes: The clamping assembly 1 includes a clamping base 101, a fixing arm 102 fixedly installed at the bottom of the clamping base 101, and a clamping arm 103 rotatably moving closer to or away from the fixing arm 102. A clamping cavity for clamping the stipe 501 is formed between the fixing arm 102 and the clamping arm 103. The upper end surfaces of the fixing arm 102 and the clamping arm 103 are used to receive the cap of the button mushroom 5. One end of the clamping cavity near the clamping base 101 is a closed end, and the other end is an open end. In the initial state, the open end is larger, and the button mushroom 5 can smoothly enter the clamping cavity. At this time, one side of the cap of the button mushroom 5 naturally rests on the upper end surface of the fixing arm 102, and the other side rests on the upper end surface of the clamping arm 103. As the clamping arm 103 gradually moves closer to the fixing arm 102, the clamping cavity gradually decreases, thereby clamping the stipe 501 of the button mushroom 5. Cutting assembly 2 includes a blade 201 that is rotatably disposed at the bottom of the clamp 101; The flipping component 3 is used to drive the clamping seat 101 to rotate in the first direction, so that after the button mushroom 5 in the clamping cavity moves closer to the closed end under the action of gravity, the clamping arm 103 rotates closer to the fixing arm 102 to clamp the stipe 501 located in the clamping cavity, and drives the clamping seat 101 to rotate in the second direction opposite to the first direction, so that after the clamping arm 103 releases the clamp on the stipe 501, the button mushroom 5 slides down from the open end under its own gravity to be unloaded.

[0025] This embodiment utilizes a clamping structure of "fixed arm + rotatable clamping arm" to clamp the stipe and avoid damage to the cap during the root cutting process. It also incorporates a two-stage flipping design of "outer flipping to prevent falling + inner flipping for unloading" to balance operational stability and unloading efficiency. Furthermore, it replaces manual root cutting with automated root cutting, greatly improving root cutting efficiency.

[0026] In some examples, the fixing arm 102 has an arc-shaped clamping groove 1021 on the side near the clamping arm 103. The shape of the clamping groove 1021 matches the shape of the stipe 501 to ensure the fit of the stipe 501 when clamped, thereby better confining the stipe 501 in the clamping cavity and preventing the stipe 501 from slipping out of the clamping cavity during the clamping process of the clamping arm 103.

[0027] In some examples, the clamping assembly 1 includes a blade plate 104 spaced apart from the fixed arm 102 and a plurality of connecting posts 105 connecting the fixed arm 102 and the blade plate 104. The blade plate 104 and the clamping portion 1022 of the fixed arm 102 are matched in shape, and a clearance space is formed between them to avoid the blade 201. The side of the blade plate 104 and the clamping portion 1022 of the fixed arm 102 away from the clamping arm 103 is arc-shaped to adapt to the shape of the blade 201. The connecting posts 105 are distributed as far away from the clamping arm 103 as possible on the side of the fixing arm 102 to form as large a clearance space as possible to avoid collision with the blade 201, thereby allowing the blade 201 to obtain a larger stroke, providing sufficient cutting space for the cutting work, and ensuring that the root is completely cut off without residue. The blade plate 104 effectively increases the thickness of the fixed arm 102. During the cutting process of the blade 201, the thicker fixed arm 102 abuts against the stipe 501, increasing the contact area and thus improving the support for the stipe 501. This enhances the stability of the stipe 501 during cutting, and the resulting clearance allows the blade 201 to enter, ensuring that the rotation trajectory of the blade 201 lies between the fixed arm 102 and the blade plate 104. During the cutting process, the upper part of the stipe 501 being cut is supported by the fixed arm 102, and the lower part is supported by the blade plate 104. This root-cutting structure of "fixed arm 102 - blade plate 104 support + precise positioning of blade 201" provides stable support for the root, achieving smooth and residue-free root removal. Furthermore, when the device is not in operation, the fixed arm 102 and blade plate 104 act as a sheath for the blade 201, allowing it to be stored internally and preventing scratches. In some examples, a flipping drive mechanism is also included, which includes a base 301, a flipping power source 302 mounted on the base 301, a driving pulley 303 connected to the output end of the flipping power source 302, a driven pulley 304, a synchronous belt 305 wound around the driving pulley 303 and the driven pulley 304, and a rotating shaft 306 passing through the base 301 and connected to the driven pulley 304. The rotating shaft 306 is connected to the clamp 101. The flip power source 302 can be a motor. When the flip power source 302 is started, the drive pulley 303 is driven to rotate. The drive pulley 303 drives the driven pulley 304 to rotate through the synchronous belt 305, which in turn drives the clamp 101 to rotate through the rotating shaft 306. The fixed arm 102 and the clamping arm 103 mounted on the rotating shaft 306 rotate synchronously.

[0028] In some examples, the clamp 101 includes a left column 1011, a right column 1012 spaced apart from the left column 1011, a front cover 1013 for connecting the left column 1011 and the right column 1012 to form the closed end, and a column fixing cover 1014 covering the left column 1011 and the right column 1012. The column fixing cover 1014 is fixed to the left column 1011 and the right column 1012 by bolts. The fixing arm 102 at the bottom is equivalent to the base plate of the clamp 101, and its two ends are fixed to the left column 1011 and the right column 1012 respectively. The front cover 1013 extends backward to form two flanges, and the two flanges are fixed to the left column 1011 and the right column 1012 respectively by bolts. The left column 1011 and the right column 1012 respectively form a limiting cavity between themselves and the column fixing cover 1014 to circumferentially limit the rotating shaft 306. The shape of the limiting cavity can be, but is not limited to, various regular or irregular shapes such as square or elliptical. Correspondingly, the part of the rotating shaft 306 located in the limiting cavity matches the shape of the limiting cavity. The shape only needs to satisfy the requirement of circumferentially limiting the rotating shaft 306. When the rotating shaft 306 rotates, it can drive the clamping assembly 1 to rotate synchronously, accurately realize the operation angle adjustment and flipping unloading action, effectively prevent the clamping assembly 1 from shifting or rotating relative to each other during the flipping and cutting process, and improve the structural stability.

[0029] In some examples, the base 301 includes a left side plate 3011, a right side plate 3012 spaced apart from the left side plate 3011, and a mounting plate 3013 for connecting the left side plate 3011 and the right side plate 3012. The left side plate 3011 and the right side plate 3012 each form a mounting cavity for mounting the rotating shaft 306. A bearing is installed between the cavity wall and the rotating shaft 306. The mounting plate 3013 is the basic support component of the flipping assembly 3. The left side plate 3011 and the right side plate 3012 are located outside the left column 1011 and the right column 1012.

[0030] In some examples, a displacement mechanism is also included to drive the base 301 to reciprocate along the X-axis and Y-axis. The displacement mechanism can be a sliding table module, which can precisely adjust the overall position of the device by coordinating translation along the X-axis and Y-axis according to the real-time working trajectory of the harvesting robot 6, avoiding obstacles such as scaffold columns, ensuring precise docking with the working position of the harvesting robot 6, and driving the entire device to reciprocate between the root collection area and the button mushroom 5 collection area. Before cutting, the entire device is moved above the root collection area so that the cut roots can fall into it. After cutting, the entire device and the button mushrooms 5 on it are moved to the button mushroom 5 collection area to collect the button mushrooms 5 after the roots are removed, thereby achieving uniform stacking of the button mushrooms 5 after the roots are cut and reducing the subsequent sorting process in the collection area.

[0031] In some examples, the clamp 101 rotates less in the first direction than in the second direction. The angle of rotation in the first direction is approximately 5° and the angle of rotation in the second direction is approximately 90°. The dual-stage flipping design of "small-angle outer flipping to prevent falling + large-angle inner flipping for unloading" is used to balance operational stability and unloading efficiency.

[0032] In some examples, the device also includes a cutting power source 202 installed in the clamping seat 101 for driving the blade 201 to rotate and a clamping power source 106 for driving the clamping arm 103 to move closer to or away from the fixed arm 102. Both the cutting power source 202 and the clamping power source 106 can be motors, and they are arranged in front of and behind each other to avoid interference. The blade 201, clamping arm 103 and other vulnerable parts can be disassembled and replaced by bolts or flanges 203, and there is no need to disassemble the whole device for maintenance.

[0033] In some examples, the operation method of an automatic root-cutting and unloading device for Agaricus bisporus includes the following steps: a) Initial positioning: The displacement mechanism adjusts the overall position of the device precisely by coordinating the translation of the X-axis and Y-axis according to the real-time working trajectory of the harvesting robot 6, avoiding obstacles such as the scaffolding columns, and ensuring precise docking with the working position of the harvesting robot 6. Then the harvesting robot 6 smoothly moves the button mushroom 5 to be cut into the clamping cavity. At this time, the clamping arm 103 is in the initial state facing the left front side of the fixed arm 102. The opening end of the clamping cavity is large, and the button mushroom 5 can enter the clamping cavity smoothly. One side of the cap rests on the fixed arm 102, and the other side rests on the clamping arm 103. b) Anti-drop flipping and clamping: When the harvesting robot 6 releases the button mushroom 5, it starts the flipping power source 302. Through the cooperation of the active pulley 303, the driven pulley 304 and the synchronous belt 305, the rotating shaft 306 is driven to rotate, which in turn drives the clamping seat 101 to flip at a small angle in the first direction. Under the action of gravity, the button mushroom 5 moves towards the closed end of the clamping cavity to fit tightly against the clamping arm 103 and the fixed arm 102 to prevent it from falling. Then, the clamping power source 106 is started to drive the clamping arm 103 to rotate and approach the fixed arm 102 to clamp the stem 501 of the button mushroom 5 located between the two. The clamping force is such that the stem 501 does not shake and does not deform, to ensure clamping stability and mushroom integrity. c) Precise root cutting: After clamping, drive the cutting power source 202 to rotate the blade 201. The root of the button mushroom 5 is stably supported by the fixing arm 102 and the blade plate 104. The rotating plane of the blade 201 is located between the fixing arm 102 and the blade plate 104, precisely aligning with the part to be cut at the lower end of the stipe 501, and smoothly cutting off the root of the button mushroom 5. The cut root falls into the root collection area D1 below. d) Unloading by flipping: After the root is cut, the displacement mechanism is activated to move the base 301 smoothly to the collection area of ​​button mushroom 5. According to the real-time empty space in the collection area, the X-axis and Y-axis positions are precisely adjusted to determine the stacking position to avoid local accumulation that may cause squeezing damage to the mushrooms. Then, the flipping power source 302 is activated, and the clamping seat 101 is flipped at a large angle along the second direction through the rotating shaft 306. The clamping power source 106 drives the clamping arm 103 to rotate in the opposite direction back to the initial position. At this time, the stipe 501 is released, and the button mushroom 5 slides down from the clamping cavity under the action of gravity and falls smoothly into the button mushroom collection area D2, completing the unloading action. e) Mechanism reset: After unloading, the cutting power source 202 drives the blade 201 back to the initial position; at the same time, the flipping power source 302 drives the clamping assembly 1 to rotate back to the initial working angle; the displacement mechanism translates through the X and Y axes, driving the device back to the next working position, and the device enters the next cycle of operation to achieve continuous processing.

[0034] The above description, based on the preferred embodiments of the present invention, provides inspiration. Those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification but must be determined according to the claims.

Claims

1. An automatic root-cutting and unloading device for button mushrooms, characterized in that: include: The clamping assembly (1) includes a clamping base (101), a fixing arm (102) fixedly installed at the bottom of the clamping base (101), and a clamping arm (103) rotatable toward or away from the fixing arm (102). A clamping cavity for clamping the stalk (501) is formed between the fixing arm (102) and the clamping arm (103). One end of the clamping cavity near the clamping base (101) is a closed end, and the other end is an open end. The cutting assembly (2) includes a blade (201) that is rotatably disposed at the bottom of the clamp (101); The flipping component (3) is used to drive the clamping seat (101) to rotate in the first direction so that the button mushroom (5) in the clamping cavity moves closer to the closed end under the action of gravity. Then, the clamping arm (103) rotates closer to the fixing arm (102) to clamp the stipe (501) located in the clamping cavity, and drives the clamping seat (101) to rotate in the second direction opposite to the first direction so that after the clamping arm (103) releases the clamp on the stipe (501), the button mushroom (5) slides down from the open end under its own gravity to be unloaded.

2. The automatic root-cutting and unloading device for button mushrooms according to claim 1, characterized in that: The fixed arm (102) has an arc-shaped clamping groove (1021) on the side near the clamping arm (103).

3. The automatic root-cutting and unloading device for button mushrooms according to claim 1, characterized in that: The clamping assembly (1) includes a blade plate (104) spaced apart from the fixed arm (102) and a plurality of connecting posts (105) connecting the fixed arm (102) and the blade plate (104). The blade plate (104) and the clamping part (1022) of the fixed arm (102) are matched in shape and a clearance space for avoiding the blade (201) is formed between them.

4. The automatic root-cutting and unloading device for button mushrooms according to claim 1, characterized in that: The flipping assembly (3) includes a base (301), a flipping power source (302) mounted on the base (301), a driving pulley (303) connected to the output end of the flipping power source (302), a driven pulley (304), a synchronous belt (305) wound around the driving pulley (303) and the driven pulley (304), and a rotating shaft (306) passing through the base (301) and connected to the driven pulley (304). The rotating shaft (306) is connected to the clamp (101).

5. The automatic root-cutting and unloading device for button mushrooms according to claim 4, characterized in that: The clamp (101) includes a left column (1011), a right column (1012) spaced apart from the left column (1011), a front cover (1013) for connecting the left column (1011) and the right column (1012) to form the closed end, and a column fixing cover (1014) covering the left column (1011) and the right column (1012). The left column (1011) and the right column (1012) respectively form a limiting cavity between themselves and the column fixing cover (1014) for circumferentially limiting the rotating shaft (306).

6. The automatic root-cutting and unloading device for button mushrooms according to claim 4, characterized in that: The base (301) includes a left side plate (3011), a right side plate (3012) spaced apart from the left side plate (3011), and a mounting plate (3013) for connecting the left side plate (3011) and the right side plate (3012). Both the left side plate (3011) and the right side plate (3012) have mounting cavities for mounting the rotating shaft (306).

7. The automatic root-cutting and unloading device for button mushrooms according to claim 4, characterized in that: It also includes a displacement mechanism for driving the base (301) to reciprocate along the X-axis and Y-axis directions.

8. The automatic root-cutting and unloading device for button mushrooms according to claim 1, characterized in that: The clamp (101) rotates less in the first direction than it rotates in the second direction.

9. The automatic root-cutting and unloading device for button mushrooms according to claim 1, characterized in that: It also includes a cutting power source (202) installed in the clamp (101) for driving the blade (201) to rotate and a clamping power source (106) for driving the clamping arm (103) to move closer to or away from the fixed arm (102).

10. The operating method of the automatic root-cutting and unloading device for button mushrooms according to claims 1-9, characterized in that: Includes the following steps: a) Initial positioning: The harvesting robot (6) smoothly moves the button mushroom (5) to be cut into the clamping cavity. At this time, one side of the cap of the button mushroom (5) rests on the fixing arm (102) and the other side rests on the clamping arm (103), completing the initial positioning. b) Anti-drop flipping and clamping: Start the flipping power source (302), drive the clamping seat (101) to flip at a small angle along the first direction through the rotating shaft (306), and the button mushroom (5) moves towards the closed end of the clamping cavity under the action of gravity to prevent it from falling. Then start the clamping power source (106), drive the clamping arm (103) to rotate and approach the fixed arm (102) to clamp the stem (501) of the button mushroom (5) located between the two. c) Precise root cutting: Drive the cutting power source (202) to rotate the blade (201) to smoothly cut the root of the button mushroom (5); the cut root falls into the root collection area (D1) below. d) Unloading by flipping: Start the displacement mechanism to move the base (301) to the button mushroom collection area (D2). Then start the flipping power source (302) to drive the clamp (101) to flip at a large angle along the second direction through the rotating shaft (306). The clamping power source (106) drives the clamping arm (103) back to the initial position. At this time, the stipe (501) is released and the button mushroom (5) slides down from the clamping cavity under the action of gravity and falls steadily into the button mushroom collection area (D2), completing the unloading action.

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