A machine for harvesting agaric

Abstract

The application discloses a black fungus harvesting machine, comprising a vehicle frame, a picking device and a bin. A rotary drive is arranged on the vehicle frame. The picking device comprises a picking cylinder, a clamp assembly and a scraper. The picking device is configured to move up and down along the vehicle frame, to pick up or unload a fungus bag through the picking cylinder, and to clamp or release the fungus bag through the clamp assembly. The rotary drive is used to drive the fungus bag to rotate in transmission with the fungus bag in the picking cylinder. The scraper is configured to scrape off black fungus on the fungus bag during the rotation of the fungus bag. The bin is arranged on the vehicle frame and is used to accommodate the black fungus scraped off by the scraper. The black fungus harvesting machine has compact structure and high automation degree, can replace manual work to complete batch harvesting of black fungus, greatly reduces labor intensity, significantly improves black fungus harvesting efficiency, effectively avoids problems such as black fungus damage and incomplete harvesting caused by manual picking, and is suitable for large-scale black fungus planting and harvesting scenarios, and has high practicability and popularization.

Description

Technical Field

[0001] This application relates to the field of edible fungi harvesting machinery and equipment, specifically to a wood ear mushroom harvesting machine. Background Technology

[0002] As a mainstream cultivated edible fungus in my country, black fungus has a large planting scale and high market demand. Currently, most large-scale black fungus cultivation in China adopts the vertical cultivation model using mushroom bags. Mushroom bag cultivation of black fungus has the advantages of stable cultivation cycle, high yield, and controllable quality, and is widely used in major black fungus cultivation bases. The harvesting stage, as a key finishing step in black fungus cultivation and production, directly determines the quality of the finished product, harvesting efficiency, and cultivation and production costs.

[0003] Currently, most mushroom cultivation bases still rely primarily on manual harvesting, with a small number using simple handheld harvesting tools. During manual harvesting, workers must pick up each mushroom bag from the cultivation surface and manually peel off the mature mushrooms from the bag. This process is not only cumbersome and extremely labor-intensive, but also very inefficient, making it unsuitable for large-scale, high-volume mushroom harvesting. Furthermore, manual harvesting is highly subjective, easily leading to uneven harvesting, residual mature mushrooms, and torn or damaged mushrooms. This reduces the appearance and quality of the finished product and results in wasted production capacity. Long-term manual harvesting also significantly increases labor costs, severely hindering the development and quality improvement of the large-scale mushroom cultivation industry.

[0004] Existing wood ear mushroom harvesting machinery has a simple structural design and low degree of automation. Most of it only has a single scraping function and cannot achieve integrated operation of automatic bag picking, positioning, rotation harvesting, and material collection. During operation, existing equipment requires manual assistance to fix and move the bags, which does not fundamentally reduce human intervention and has limited effect on improving harvesting efficiency. Moreover, conventional harvesting equipment cannot achieve uniform rotation and scraping of the bags, which easily leads to incomplete harvesting of wood ear mushrooms in some areas. The harvesting accuracy and operational stability are poor, making it difficult to adapt to standardized and large-scale wood ear mushroom cultivation and harvesting scenarios.

[0005] In summary, current black fungus harvesting technologies generally suffer from numerous shortcomings, including low automation, high reliance on manual labor, poor harvesting efficiency, unstable quality of harvested products, and poor adaptability. The industry urgently needs a black fungus harvesting device that can achieve integrated operations of automatic bag removal, positioning and rotation, intelligent scraping, and automatic collection to address the many deficiencies of existing technologies. In view of the above, this application is hereby submitted. Summary of the Invention

[0006] To solve one of the above-mentioned technical problems, this application provides a wood ear harvesting machine.

[0007] This application provides the following technical solution: A wood ear mushroom harvesting machine, comprising: A frame, on which a traveling mechanism and a rotary drive component are mounted, the traveling mechanism being supported on a support surface; A harvesting device, comprising a harvesting cylinder, a clamping assembly, and a scraper, is configured to move up and down along the frame to pick up mushroom bags from a support surface via the harvesting cylinder, or to unload mushroom bags onto the support surface. The clamping assembly is configured to clamp or release mushroom bags. The rotary drive is configured to engage with the mushroom bags inside the harvesting cylinder when the harvesting device is raised to its maximum height to drive the mushroom bags to rotate. The scraper is configured to scrape off the wood ear mushrooms from the mushroom bags during their rotation. A hopper is provided on the vehicle frame and is used to hold the wood ear fungus scraped off by a scraper.

[0008] Optionally, the frame has a vertical guide rod and a vertical travel beam; The harvesting device includes a harvesting support and a lifting drive mechanism; The picking support is slidably connected to the vertical guide rod, and the picking cylinder, clamp assembly, scraper and lifting drive mechanism are all disposed on the picking support; The lifting drive mechanism and the vertical traveling beam are connected in transmission to drive the picking device to move up and down.

[0009] Optionally, the lifting drive mechanism includes a horizontal rotating shaft and a rotary drive assembly; The horizontal rotating shaft is rotatably mounted on the harvesting support, and lifting sprockets are respectively provided at both ends of the horizontal rotating shaft; A vertical chain is installed on the vertical traveling beam, and the lifting sprocket meshes with the vertical chain; The rotation drive assembly is mounted on the picking bracket, and the rotation drive assembly and the horizontal rotating shaft are in transmission cooperation.

[0010] Optionally, the harvesting device includes a harvesting support and a plurality of harvesting tubes, wherein each harvesting tube is arranged sequentially along the length of the harvesting support; The clamping assembly is disposed on the harvesting support. The clamping assembly includes multiple grippers, each gripper being disposed on the periphery of a corresponding harvesting tube. The wall of the harvesting tube has an clearance opening. The clamping assembly can drive each gripper to move radially along the corresponding harvesting tube to clamp or release the mushroom bag inside the harvesting tube.

[0011] Optionally, the gripper includes a first clamping member and a second clamping member; The first clamping member is movably connected to the harvesting bracket, and the second clamping member is movably connected to the harvesting tube; The clamping assembly includes a clamping drive mechanism, which is in transmission cooperation with the first clamping member and the second clamping member respectively, driving the first clamping member and the second clamping member to move closer to each other or move further away from each other in order to clamp or release the mushroom bag in the harvesting tube.

[0012] Optionally, the picking support is provided with a column corresponding to each of the picking cylinders; The clamping drive mechanism includes a long beam and a telescopic drive component; The first clamping member is rotatably mounted on the column; The second clamping member is movably disposed on the harvesting tube; The long beam extends along the arrangement direction of each of the picking tubes, and the long beam is in transmission cooperation with the second clamping member of each of the clamps; The long beams are respectively connected to the first clamping components of each clamp via transmission rods; The telescopic drive is hinged to the picking bracket and the long beam respectively. The telescopic drive moves the long beam to drive the first and second clamping parts of each clamp to move closer to each other or further away from each other.

[0013] Optionally, the first clamping member has a rotating sleeve and a clamping arm connected to the rotating sleeve; The rotating sleeve is provided with a toothed ring; A limiting cylinder is fitted onto the rotating sleeve, the limiting cylinder has a through groove, and the toothed ring is located inside the limiting cylinder. The transmission rod has a rack, which is disposed through the through groove, and the toothed ring meshes with the rack; The telescopic drive component's telescopic movement can drive the first clamping component to rotate via the transmission rod.

[0014] Optionally, the wood ear harvester includes a swing frame; The bottom of the harvesting tube has a sleeve opening; The swing frame is swayably mounted on the vehicle frame, and the swing of the swing frame can cover or open the sleeve opening.

[0015] Optionally, the swing frame includes a swing main frame, a lifting drive component, and a lifting frame; The swing main frame is swingably mounted on the vehicle frame; The lifting frame is movably mounted on the swing main frame, and the lifting frame is provided with a positioning plate corresponding to each of the picking cylinders; The lifting drive component is connected to the lifting frame and the swing main frame respectively, and can drive the lifting frame to move up and down relative to the swing main frame, so as to move each positioning plate closer to or away from the sleeve opening of the corresponding picking tube, so as to support or move away from the mushroom bag inside the picking tube.

[0016] Optionally, a material guide plate is arranged on the swing frame; When the swing frame swings to a state of shielding each of the sleeving openings, the material guide plate is located below the sleeving opening of each picking cylinder, and the material guide plate extends to the top opening of the silo.

[0017] By adopting the above technical solution, the present application has the following beneficial effects: The auricularia auricula harvesting machine provided by the present application has multiple advantages such as reasonable structural design, high automation degree, good harvesting effect, and strong adaptability, and effectively solves the technical defects in the existing auricularia auricula harvesting process, such as high manual dependence, high labor intensity, low harvesting efficiency, unstable finished product quality, and low equipment integration. The specific beneficial effects are as follows: First, the present application realizes the full-process automatic operation of auricularia auricula harvesting, which greatly reduces the manual labor intensity and production cost. This equipment realizes the autonomous movement of the whole machine through the frame traveling mechanism, cooperates with the liftable picking cylinder to complete the automatic sleeving and unloading of the fungus bags, and relies on the clamp assembly to realize the precise clamping and fixing of the fungus bags, without the need for manual picking, moving and fixing the fungus bags one by one, completely abandoning the traditional pure manual picking operation mode. The whole process only requires the equipment to independently complete the whole set of procedures of bag taking, positioning, rotary scraping, and material storage, which greatly reduces the manual participation links, significantly reduces the manual labor intensity, effectively saves the labor cost of large-scale planting, and is suitable for large-batch and continuous auricularia auricula harvesting operation scenarios.

[0018] Second, the present application greatly optimizes the harvesting quality of auricularia auricula, and reduces material loss and harvesting residue. In the present application, after the picking device rises to the limit height, the rotary driving member is precisely in transmission fit with the fungus bag to drive the fungus bag to rotate at a constant speed and stably, and the fixedly arranged scraper is used to perform uniform and comprehensive scraping operation on the auricularia auricula on the surface of the fungus bag. Compared with the problems of strong subjectivity, uneven picking force, easy tearing and damage, and residual auricularia auricula in manual picking, as well as the defects of traditional equipment that cannot rotate at a constant speed, incomplete harvesting, and easy to crush and damage auricularia auricula, this equipment can ensure that the harvesting of auricularia auricula in each bag is uniform and thorough, effectively reduce the situations of auricularia auricula damage, residue, and missed picking, greatly improve the appearance of finished auricularia auricula and the harvesting qualification rate, and avoid the waste of planting capacity.

[0019] Third, the equipment of the present application has high integration, good operation stability, strong practicability and popularization. The overall structure of the equipment is compact, which organically combines the frame traveling mechanism, the lifting picking structure, the rotary driving structure, the scraping structure and the material storage silo. All structures cooperate synergistically and operate in linkage, so the equipment runs stably and reliably with low failure rate. The auricularia auricula harvesting machine provided by the present application has strong versatility and adaptability, can be widely used in various large-scale auricularia auricula planting scenarios, effectively promotes the mechanization and automation upgrading of the auricularia auricula harvesting process, and contributes to the quality improvement, efficiency enhancement and large-scale development of the auricularia auricula planting industry. Brief Description of the Drawings

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application, but do not constitute an undue limitation of this application. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. Figure 1 This diagram illustrates the mushroom harvesting machine provided in this embodiment of the application in its working state; Figure 2 A partial structural schematic diagram of the mushroom harvesting machine provided in an embodiment of this application is shown; Figure 3 Show Figure 2 Enlarged view of section A in the middle; Figure 4 This diagram shows a partial structural schematic of the hidden harvesting tube in the harvesting device of the mushroom harvester provided in an embodiment of this application; Figure 5 This is a three-dimensional structural schematic diagram of the mushroom harvesting machine provided in an embodiment of this application; Figure 6 This illustration shows a schematic diagram of the swing frame in the mushroom harvester provided in an embodiment of this application; Figure 7 This is a cross-sectional schematic diagram of the harvesting cylinder in the mushroom harvesting machine provided in an embodiment of this application.

[0021] In the diagram: 1. Frame; 11. Traveling mechanism; 111. Traveling rod; 112. Roller; 12. Rotary drive component; 121. Rotary pressure head; 13. Hopper; 14. Vertical chain; 15. Swing motor; 2. Harvesting device; 21. Harvesting bracket; 211. Column; 22. Harvesting cylinder; 23. Clamp assembly; 231. First clamping component; 2311. Rotating sleeve; 23111. Gear ring; 2312. Clamping arm; 2313. Limiting cylinder; 232. Second clamping component; 2321. Swing rod; 232 2. Fixed block; 23221. Insert pin; 2323. Movable block; 233. Long beam; 234. Telescopic drive component; 235. Transmission rod; 2351. Rack; 24. Scraper; 241. Adjusting block; 242. Scraper rod; 243. Connecting rod; 25. Horizontal rotating shaft; 251. Lifting sprocket; 26. Rotation drive assembly; 3. Swing frame; 31. Swing main frame; 311. Swing sprocket; 312. Guide plate; 32. Lifting drive component; 33. Lifting frame; 331. Positioning plate; 4. Mushroom bag. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0023] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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.

[0024] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] like Figures 1 to 7 As shown in the illustration, this application provides a wood ear mushroom harvesting machine, including: a frame 1, a harvesting device 2, and a hopper 13. The frame 1 is equipped with a traveling mechanism 11 and a rotary drive 12, the traveling mechanism 11 being supported on a support surface (such as the ground). The harvesting device 2 includes a harvesting cylinder 22, a clamping assembly 23, and a scraper 24. The harvesting device 2 is configured to move up and down along the frame 1, using the harvesting cylinder 22 to pick up mushroom bags 4 from the support surface, or to unload mushroom bags 4 onto the support surface. The clamping assembly 23 is configured to clamp or release the mushroom bags 4. The rotary drive 12 is configured to engage with the mushroom bags 4 inside the harvesting cylinder 22 when the harvesting device 2 is raised to its maximum height, driving the mushroom bags 4 to rotate. The scraper 24 is configured to scrape off the wood ear mushrooms from the mushroom bags 4 during their rotation. The hopper 13 is located on the frame 1 and is used to contain the wood ear mushrooms scraped off by the scraper 24.

[0026] The frame 1 serves as the load-bearing mounting base for the entire harvester, providing stable installation support and operating benchmarks for all other functional components, ensuring the structural stability and operational reliability of the equipment. The frame 1 can adopt a rigid frame structure, featuring high strength, resistance to deformation, and good load-bearing capacity, adaptable to complex operating environments such as fields and greenhouses. The frame 1 is fixedly equipped with a walking mechanism 11 and a rotary drive component 12. The walking mechanism 11, as the mobile support structure of the entire machine, is directly supported on the ground, cultivation platform, or other operating support surfaces, enabling the entire machine to move autonomously and align itself at fixed points. This eliminates the need for manual equipment handling and allows for autonomous harvesting of the mushroom bags 4 at different cultivation locations, effectively improving the flexibility and adaptability of the equipment. The rotary drive component 12, as the core output component for the rotational power of the mushroom bags 4, is fixedly arranged at the matching position on the frame 1 corresponding to the maximum lifting height of the harvesting device 2. It provides rotational power specifically for harvesting operations, with power connection only occurring after the harvesting device 2 is in place, ensuring the orderly and safe operation.

[0027] The harvesting device 2 is installed inside the frame 1 and is designed to move vertically up and down along the frame 1. This lifting motion is used to pick up and unload the mushroom bags 4. The harvesting cylinder 22 is a hollow cylindrical structure with an inner diameter adapted to the maximum growth size of the mushroom bags and the overall outer diameter of the mushrooms, allowing it to be smoothly fitted onto the outside of the bags. During the lifting operation, the device can be directly fitted onto the outside of the mushroom bags 4 to be harvested on the support surface via a downward movement, achieving precise positioning and loading of the bags. After harvesting a single bag of mushrooms, the empty bag 4 can be automatically unloaded and reset by a downward reset movement, eliminating the need for manual contact or movement of the bags 4 and minimizing human intervention.

[0028] The clamping assembly 23 is the positioning and clamping mechanism for the mushroom bag 4. It is at least partially located in the harvesting cylinder 22 and is the core structure that ensures the stability of the mushroom bag 4 during the harvesting process. It is designed to automatically complete the bidirectional action of clamping and releasing. During the process of the harvesting cylinder 22 taking the mushroom bag 4 and rising with the harvesting device 2, the clamping assembly 23 automatically triggers the clamping action to stably clamp the upper or middle position of the mushroom bag 4, thereby fixing the mushroom bag 4 to the harvesting cylinder 22 and preventing the mushroom bag 4 from shifting, shaking, or falling off during the lifting and lowering operation. When the mushroom harvesting operation is completed and the harvesting device 2 drives the empty mushroom bag 4 down to reset to the support surface, the clamping assembly 23 automatically releases, releasing the mushroom bag 4, completing the reset of a single harvesting process, and preparing for the next harvesting operation. The automated switching is precise and reliable.

[0029] The rotary drive component 12 only forms a stable transmission relationship with the mushroom bag 4 clamped and fixed inside the harvesting cylinder 22 when the harvesting device 2 carries the mushroom bag 4 to the limit height position of the frame 1. At this time, the rotary drive component 12 outputs rotational power to precisely drive the mushroom bag 4 to rotate at a uniform speed around its own central axis. By limiting the transmission relationship at the limit height, the problems of power misconnection and mis-start during the lifting process can be effectively avoided, eliminating equipment failure and operational safety hazards. At the same time, it ensures that the mushroom bag 4 is completely detached from the support surface before rotation and harvesting, avoiding friction and obstruction of the cultivation platform that affect the harvesting effect.

[0030] The scraper 24 is the actuating component for scraping and harvesting wood ear mushrooms. It is fixedly arranged in a preset position inside the harvesting cylinder 22, maintaining a reasonable gap distance with the surface of the rotating mushroom bag 4. This gap can be flexibly adapted according to the thickness of the wood ear mushrooms, ensuring that wood ear mushrooms of the appropriate harvesting size are completely scraped off while preventing the scraper 24 from directly scraping the mushroom bag 4 body and damaging the wood ear mushroom seedlings growing on the mushroom bag 4. During the process of the rotating drive component 12 driving the mushroom bag 4 to rotate at a uniform speed, the mature wood ear mushrooms on the outer wall of the mushroom bag 4 continuously move relative to the scraper 24. Through the rigid scraping action of the scraper 24, the mature wood ear mushrooms attached to the surface of the mushroom bag 4 are scraped off as a whole and evenly, realizing the mechanized peeling and harvesting of wood ear mushrooms. Compared with manual harvesting, there is no tearing or residue, and the harvesting quality is more stable.

[0031] The hopper 13, serving as a storage structure for the wood ear mushrooms, is fixedly installed at a predetermined position on the frame 1, corresponding to the scraping and dropping area of ​​the scraper 24, precisely receiving the wood ear mushrooms scraped off by the scraper 24. After the scraper 24 completes the wood ear mushroom scraping operation, the detached wood ear mushrooms can fall directly or indirectly into the hopper 13 under the action of gravity, realizing integrated harvesting and collection operations. This eliminates the need for manual secondary collection of wood ear mushrooms, effectively simplifying the operation process, improving overall harvesting efficiency, and avoiding material waste caused by scattered wood ear mushrooms, thus ensuring the integrity of the harvested materials.

[0032] In summary, this application, through precise matching and coordinated operation of various structures, fully realizes a fully automated mushroom harvesting process, including autonomous equipment walking and positioning, automatic bag placement and positioning, lifting and conveying, high-level rotating scraping, automatic material collection, and bag resetting and unloading. The structure is compact and reasonable, and the operation is orderly. It solves the problems of high reliance on manual labor, low efficiency, and poor quality in traditional harvesting methods from the root of the structure.

[0033] In some possible implementations, the frame 1 has a vertical guide rod and a vertical traveling beam, and the picking device 2 includes a picking bracket 21 and a lifting drive mechanism. The picking bracket 21 is slidably connected to the vertical guide rod. The picking cylinder 22, the clamp assembly 23, the scraper 24 and the lifting drive mechanism are all disposed on the picking bracket 21. The lifting drive mechanism and the vertical traveling beam are in a transmission cooperation to drive the picking device 2 to move up and down.

[0034] The harvesting support 21 is slidably connected to the vertical guide rod of the frame 1. The vertical guide rod enables precise vertical sliding and limiting, effectively preventing horizontal deviation and swaying during the lifting and lowering of the harvesting device 2. The lifting drive mechanism forms a transmission cooperation with the vertical traveling beam of the frame 1. Relying on the transmission reference of the vertical traveling beam, it stably drives the entire harvesting device 2 to perform vertical lifting and reciprocating movements along the vertical guide rod, completing the picking and unloading switching operation of the mushroom bags 4 through precise lifting and lowering actions. Specifically, the harvesting cylinder 22 has a hollow cylindrical structure with an inner diameter adapted to the outer diameter of the conventional mushroom cultivation bags 4. During the lifting and lowering operation, it can be directly fitted onto the outside of the mushroom bags 4 to be harvested on the support surface through a downward movement, achieving precise loading and positioning of the mushroom bags 4. After harvesting a single bag of mushrooms, the empty mushroom bag 4 can be placed back on the support surface through a downward reset movement, achieving automatic unloading and reset of the mushroom bag 4. The entire process requires no manual contact or movement of the mushroom bags 4, completely reducing manual intervention.

[0035] In some possible implementations, such as Figure 5 As shown, the lifting drive mechanism includes a horizontal rotating shaft 25 and a rotary drive assembly 26. The horizontal rotating shaft 25 is rotatably mounted on the picking bracket 21. Lifting sprockets 251 are respectively provided at both ends of the horizontal rotating shaft 25. A vertical chain 14 is provided on the vertical traveling beam. The lifting sprockets 251 and the vertical chain 14 mesh with each other. The rotary drive assembly 26 is mounted on the picking bracket 21, and the rotary drive assembly 26 and the horizontal rotating shaft 25 are in a transmission cooperation.

[0036] Lifting sprockets 251 are symmetrically mounted at both ends of the horizontal rotating shaft 25. Correspondingly, a matching chain is fixedly mounted on the vertical travel beam of the frame 1 along its vertical length. The chain is vertically arranged and tensioned. The lifting sprockets 251 and the chain on the vertical travel beam mesh with each other to form a sprocket-chain transmission pair. The rotary drive assembly 26 for driving the horizontal rotating shaft 25 is fixedly mounted on the picking bracket 21, and the rotary drive assembly 26 forms a stable transmission connection with the horizontal rotating shaft 25, which can output rotational power to drive the horizontal rotating shaft 25 to rotate around its own axis. In this implementation scheme, relying on the meshing transmission principle of sprockets and fixed chains, the rotational power of the rotary drive assembly 26 is converted into the vertical lifting power of the picking bracket 21. The specific working logic is as follows: after the rotary drive assembly 26 starts, it drives the horizontal rotating shaft 25 to rotate synchronously. The lifting sprockets 251 at both ends of the horizontal rotating shaft 25 rotate synchronously with the shaft. Since the chain is fixed to the vertical traveling beam and cannot move, the sprockets roll vertically along the chain during rotation, thereby driving the entire picking bracket 21 and all the picking functional components mounted on it to perform precise and stable vertical lifting and reciprocating motions along the vertical guide rod. Through precise and controllable lifting and lowering actions, the picking and unloading switching operation of the mushroom bags 4 is completed. The rotary drive assembly 26 may include a motor and a gearbox. The input end of the gearbox is connected to the motor shaft, and the output end of the gearbox is connected to the horizontal rotating shaft 25. The gearbox is used for deceleration and changing the power transmission direction of the motor.

[0037] In some possible implementations, the harvesting device 2 includes a harvesting support 21 and a plurality of harvesting cylinders 22, each of the harvesting cylinders 22 being arranged sequentially along the length of the harvesting support 21. The clamping assembly 23 is disposed on the harvesting support 21, and the clamping assembly 23 includes a plurality of grippers, each gripper being disposed on the periphery of a corresponding harvesting cylinder 22. The cylinder wall of the harvesting cylinder 22 has an clearance opening. The clamping assembly 23 can drive each of the grippers to move radially along the corresponding harvesting cylinder 22 to clamp or release the mushroom bag 4 inside the harvesting cylinder 22.

[0038] To further improve harvesting volume and operational efficiency, and to meet the needs of simultaneous harvesting of multiple 4-sack culture bags on a large scale, this application optimizes and upgrades the overall structure of the harvesting device 2, specifically by setting up a multi-station simultaneous harvesting structure. The harvesting device 2 includes a harvesting support 21 and multiple harvesting cylinders 22. These cylinders are arranged and fixed evenly and at equal intervals along the overall length of the harvesting support 21, forming multiple independent harvesting stations. Each harvesting cylinder 22 has the same structural specifications and operates independently, simultaneously corresponding to multiple sets of 4-sack culture bags, achieving simultaneous harvesting of multiple bags in one operation. This significantly increases the single-cycle harvesting capacity of the equipment, addressing the shortcomings of traditional single-cylinder harvesting, which is characterized by low efficiency and inability to adapt to large-scale planting and harvesting.

[0039] In this embodiment, the clamping assembly 23 is integrally assembled on the harvesting support 21, corresponding to the workstation layout of multiple harvesting cylinders 22. The clamping assembly 23 is equipped with multiple independent grippers, each gripper corresponding to one harvesting cylinder 22. Each set of grippers is distributed on the periphery of the corresponding harvesting cylinder 22 to ensure uniform clamping points and symmetrical force distribution. To facilitate radial clamping action, each harvesting cylinder 22 has a through-hole on its wall. This through-hole is radially penetrating the wall of the harvesting cylinder 22, providing precise clearance space for the extension and retraction of the grippers, effectively preventing interference from the cylinder wall structure with the gripper's action, and ensuring smooth and uninterrupted clamping and releasing actions.

[0040] The clamping assembly 23 can drive each set of grippers to perform telescopic translational movements along the radial direction of the corresponding harvesting cylinder 22, realizing automated clamping and release switching. When the harvesting device 2 drives multiple sets of harvesting cylinders 22 to descend synchronously and respectively grab each mushroom bag 4 on the lower support surface, the clamping assembly 23 starts working, driving multiple sets of grippers on the periphery to move radially inward along the harvesting cylinder 22, passing through the cylinder wall clearance opening and clamping tightly against the outer periphery of the mushroom bag 4. The mushroom bag 4 is centered and fixed through a multi-point symmetrical clamping method, ensuring that each mushroom bag 4 is clamped firmly and has high coaxiality, providing structural protection for subsequent high-position uniform speed rotation scraping; when a single batch of wood ear mushrooms is harvested and the harvesting device 2 descends and resets, the clamping assembly 23 drives each set of grippers to retract radially outward and reset, detaching from the outer wall of the mushroom bag 4, smoothly releasing the harvested empty mushroom bag 4, completing multi-station synchronous unloading and reset. This multi-cylinder, multi-grip structure enables simultaneous picking, clamping, harvesting, and unloading of multiple bags, significantly improving the equipment's harvesting throughput and operational efficiency, and is suitable for large-scale batch harvesting operations in large-scale bases.

[0041] In some possible implementations, the gripper includes a first clamping member 231 and a second clamping member 232. The first clamping member 231 is movably connected to the harvesting support 21, and the second clamping member 232 is movably connected to the harvesting tube 22. The gripper assembly 23 includes a clamping drive mechanism, which is in transmission cooperation with the first clamping member 231 and the second clamping member 232 respectively, driving the first clamping member 231 and the second clamping member 232 to move closer to each other or move further away from each other to clamp or release the mushroom bag 4 in the harvesting tube 22.

[0042] Each gripper's second clamping component 232 can adopt a swing-type elastic composite clamping structure, which combines the functions of insertion positioning and elastic clamping. This effectively improves the clamping stability of the mushroom bag 4 and solves the problems of the insertion needle 23221 easily pulling the mushroom bag 4 and causing release jamming. Specifically, the second clamping component 232 includes a swing rod 2321, a fixed block 2322, and a movable block 2323. The top of the swing rod 2321 is hinged to the outside of the harvesting cylinder 22, allowing the entire clamping structure to achieve stable inward and outward swinging movements around the top hinge point, adapting to the stroke switching of clamping and releasing the mushroom bag 4. The bottom end of the swing rod 2321 is fixedly connected to the fixed block 2322, and the bottom position of the swing rod 2321 forms a hinged engagement with the clamping drive mechanism. The clamping drive mechanism provides the swinging torque, driving the swing rod 2321 to complete the swinging movements of clamping inward and releasing outward.

[0043] To achieve the elastic buffering and clamping function, a guide shaft is vertically mounted on the fixed block 2322, and the movable block 2323 is slidably sleeved on the outside of the guide shaft, allowing the movable block 2323 to slide smoothly back and forth along the axial direction of the guide shaft, ensuring precise sliding displacement without deviation. A compression spring is sleeved on the outside of the guide shaft, with the two ends of the spring corresponding to the inner end faces of the fixed block 2322 and the movable block 2323, respectively. Through the elastic pre-tightening effect of the spring, the movable block 2323 always has an elastic clamping force in the direction of the mushroom bag 4. During operation, it can elastically abut against and fit against the outer wall of the mushroom bag 4, achieving flexible clamping and avoiding rigid clamping that could crush or damage the mushroom bag 4. At the same time, it is suitable for mushroom bags 4 of different thicknesses and slight deformations, improving clamping adaptability.

[0044] To further enhance the clamping and positioning effect, a through groove is provided on the movable block 2323, and a corresponding pin 23221 is fixedly installed on the fixed block 2322. The pin 23221 passes through the through groove of the movable block 2323, allowing the pin 23221 to slide and extend relative to the through groove. During the process of the gripper swinging inward to clamp the mushroom bag 4, the movable block 2323 elastically fits and presses against the outer wall of the mushroom bag 4, and the end of the pin 23221 inserts into the surface of the mushroom bag 4. Precise positioning is achieved through mechanical insertion. Combined with the elastic pressing action of the movable block 2323, a dual fixing structure of "elastic fit and insertion positioning" is formed, which completely eliminates the problems of shaking, slipping, and deviation during the rotation of the mushroom bag 4, ensuring the uniformity of scraping and the stability of operation.

[0045] During the outward swing of the gripper to release the mushroom bag 4, the composite structure can assist in needle removal and smooth unloading, effectively preventing the mushroom bag 4 from being torn or pulled up when the needle 23221 is pulled out. The clamping drive mechanism drives the swing rod 2321 to swing outward, and the fixed block 2322 moves outward synchronously with the swing rod 2321, causing the needle 23221 to move outward and upward first, starting to detach from the mushroom bag 4; at this time, under the continuous elastic pushing action of the spring, the movable block 2323 always remains in a state of pressing against the outer wall of the mushroom bag 4, forming a limiting support for the mushroom bag 4, effectively counteracting the friction and pulling force when the needle 23221 is pulled out, assisting the needle 23221 to be smoothly pulled out and detached from the inside of the mushroom bag 4. After the needle 23221 is completely detached from the mushroom bag 4, the movable block 2323 continues to swing outward with the swing rod 2321, and finally completely moves away from the mushroom bag 4, realizing the complete release and reset of the mushroom bag 4. This structure, through its elastic push-assisted needle release design, not only ensures a high-strength positioning effect during clamping operation, but also solves the defects of easy jamming and damage to the mushroom bag 4 during unloading of plug-in clamping structures, thus greatly improving the operational stability of the equipment and the reusability of the mushroom bag 4.

[0046] In some possible implementation schemes, combined Figure 3 and Figure 4 As shown, the picking support 21 is provided with columns 211 corresponding to each of the picking cylinders 22. The clamping drive mechanism includes a long beam 233 and a telescopic drive member 234. The first clamping member 231 is rotatably disposed on the column 211, and the second clamping member 232 is movably disposed on the picking cylinder 22. The long beam 233 extends along the arrangement direction of each of the picking cylinders 22. The long beam 233 is in transmission cooperation with the second clamping member 232 of each clamp, such as being hinged to the swing arm 2321 of the second clamping member 232. The long beam 233 is in transmission cooperation with the first clamping member 231 of each clamp through the transmission rod 235. The telescopic drive member 234 is hinged to the picking support 21 and the long beam 233. The telescopic drive member 234 telescopic movement drives the long beam 233 to move, so as to drive the first clamping member 231 and the second clamping member 232 of each clamp to move closer to each other or move away from each other.

[0047] Each picking support 21 has a vertically arranged column 211 at the installation position of each picking tube 22. Each column 211 serves as the rotating mounting base for the first clamping member 231. The first clamping member 231 is rotatably mounted on the corresponding column 211 and can rotate and swing around the column 211 at a fixed point. The corresponding second clamping member 232 is movably mounted on the outer wall of the picking tube 22 and cooperates with the first clamping member 231 to form a single tube double-point clamping structure.

[0048] The clamping drive mechanism of this embodiment specifically includes a long beam 233 and a telescopic drive component 234. The long beam 233 extends horizontally along the overall length of the multiple picking cylinders 22, spanning all picking stations to form an integrated common transmission base. The long beam 233 also forms an independent transmission connection with the second clamping components 232 of each set of clamps. Specifically, the long beam 233 is hinged to the end of the swing arm 2321 of each second clamping component 232, so that the overall displacement of the long beam 233 can synchronously drive all the second clamping components 232 to complete the swinging motion. Simultaneously, the long beam 233 also forms a transmission connection with the first clamping component 231 of each station clamp through multiple sets of independent transmission rods 235, realizing synchronous linkage control of the displacement of the long beam 233 on the first clamping component 231.

[0049] The telescopic drive component 234 serves as the sole power source for the entire clamping mechanism. Its two ends are hinged to the side walls of the picking bracket 21 and the long beam 233, respectively. It can adaptively rotate relative to the picking bracket 21 and the long beam 233, effectively avoiding structural interference and angle jamming during telescopic movement. The entire drive mechanism adopts a centralized power input and distributed synchronous transmission structure. The telescopic drive component 234's reciprocating motion drives the entire long beam 233 to move horizontally. During this displacement, the long beam 233 directly pulls the swing arms 2321 of each group of second clamping components 232 to swing. Simultaneously, through each group of transmission rods 235, it synchronously pulls the first clamping component 231 of the corresponding workstation to rotate and swing, thereby enabling the first clamping component 231 and the second clamping component 232 of all workstations in the same batch to synchronously move closer together or further apart.

[0050] When the telescopic drive 234 extends and pushes the long beam 233 to move horizontally, it can drive the clamping structures on both sides to move closer together, so that the first clamping member 231 and the second clamping member 232 simultaneously press the sides of the mushroom bag 4. With the elastic pressing of the second clamping member 232 and the limiting structure of the insertion needle 23221, a stable clamping is completed. When the telescopic drive 234 retracts and pulls the long beam 233 to move horizontally in the opposite direction, it can drive the first clamping member 231 and the second clamping member 232 to move away from each other in the opposite direction, so that the mushroom bag 4 is released as a whole. With the spring pushing assisting the needle removal structure of the second clamping member 232, a smooth release and reset of the material is completed. This linkage drive structure only requires a single set of telescopic drive components 234 to achieve synchronous opening and closing clamping actions of multi-station clamps. Compared with the traditional single-cylinder independent drive scheme, the structure is simpler and more compact, effectively reducing equipment manufacturing costs and completely solving the problems of asynchronous actions and inconsistent clamping tightness in multiple stations. It ensures that the clamping accuracy and clamping force of each set of mushroom bags are highly uniform, further improving the consistency and stability of multiple batches of harvesting operations.

[0051] In some possible implementations, the first clamping member 231 has a rotating sleeve 2311 and a clamping arm 2312 connected to the rotating sleeve 2311. A toothed ring 23111 is provided on the rotating sleeve 2311, and a limiting cylinder 2313 is sleeved on the rotating sleeve 2311. The limiting cylinder 2313 has a through groove, and the toothed ring 23111 is located inside the limiting cylinder 2313. The transmission rod 235 has a rack 2351, which is disposed through the through groove, and the toothed ring 23111 and the rack 2351 mesh with each other. The telescopic drive member 234 can drive the first clamping member 231 to rotate through the transmission rod 235 during telescopic movement.

[0052] This application refines and optimizes the rotational transmission structure of the first clamping member 231 by limiting and preventing detachment. It employs a gear ring and rack meshing transmission combined with a limiting sleeve 2313 constraint structure to ensure precise rotation, stable transmission, and no risk of tooth detachment failure for the first clamping member 231. Specifically, the first clamping member 231 is equipped with a rotating sleeve 2311 and a clamping arm 2312 fixedly connected to the outside of the rotating sleeve 2311, forming an integrated clamping and rotating structure. The rotating sleeve 2311 can be rotatably fitted onto the outside of the column 211 of the harvesting support 21, achieving fixed-point rotational installation. The clamping arm 2312 rotates synchronously with the rotating sleeve 2311, completing the actions of approaching and releasing the mushroom bag 4. A gear ring 23111 is fixedly provided on the outer circumferential surface of the rotating sleeve 2311. The gear ring 23111 has teeth evenly distributed along the circumference of the rotating sleeve 2311, forming a gear meshing transmission base.

[0053] To achieve precise meshing between the gear ring 23111 and the rack 2351 without disengagement or deviation during long-term operation, this design includes a limiting sleeve 2313 fitted on the outside of the rotating sleeve 2311. The limiting sleeve 2313 serves as a limiting and constraining component, with a through groove on its side wall. The limiting sleeve 2313 completely covers the outside of the gear ring 23111, ensuring the gear ring 23111 is fully contained within the inner cavity of the limiting sleeve 2313. Correspondingly, the bottom end of the transmission rod 235, used to connect the long beam 233 and the first clamping member 231, is equipped with a rack 2351 structure. The rack 2351 is assembled corresponding to the through groove penetrating the limiting sleeve 2313. The rack 2351 can perform small-amplitude reciprocating sliding and displacement adaptation within the through groove, while the through groove simultaneously constrains the left-right and up-down positions of the rack 2351. After assembly, the toothed ring 23111 inside the limiting sleeve 2313 and the penetrating rack 2351 form a precise meshing relationship, constituting a stable gear and rack 2351 transmission pair.

[0054] To achieve axial positioning and prevent component movement and tooth dislodgement, the outer side of the rotating sleeve 2311 is integrally formed with an outer flange structure. The toothed ring 23111 is specifically fixedly arranged on the annular end face of the outer flange, and the limiting cylinder 2313 is correspondingly sleeved and assembled on the outside of the outer flange. Through the stepped limiting structure of the outer flange, the vertical movement and sliding of the limiting cylinder 2313 along the central axis of the rotating sleeve 2311 can be effectively restricted, ensuring that the installation position of the limiting cylinder 2313 remains fixed, thereby locking the meshing reference position of the toothed ring 23111 and the rack 2351. By relying on the surrounding limit of the limiting sleeve 2313 and the guiding constraint of the through groove, the meshing position of the rack 2351 and the gear ring 23111 can be limited and fixed in all directions, effectively avoiding the rack 2351 offset, gear ring 23111 misalignment, meshing disengagement and other faults that occur during long-term vibration and reciprocating transmission of the equipment, and completely preventing the problem of gear rack 2351 disengagement failure, greatly improving the stability and service life of the transmission structure.

[0055] When the telescopic drive component 234 telescopically moves the long beam 233 horizontally, the long beam 233 pulls the corresponding transmission rod 235 of each workstation to move. The rack 2351 on the transmission rod 235 moves back and forth along the through groove of the limiting cylinder 2313. Through the meshing transmission action of the rack 2351 and the toothed ring 23111, the rotating sleeve 2311 is driven to rotate around the column 211 at a fixed point, which in turn drives the clamping arm 2312 to swing synchronously, ultimately achieving the precise rotation of the first clamping component 231. Combined with the synchronous swinging action of the second clamping component 232, the synchronous clamping and release of the mushroom bags 4 at each workstation can be stably completed. This meshing transmission structure has high transmission accuracy, small return gap, and strong limiting reliability, which can effectively ensure the uniformity and accuracy of the clamping action at multiple workstations.

[0056] In some possible implementation schemes, combined Figure 5 and Figure 6 As shown, the wood ear harvester includes a swing frame 3, and the bottom of the harvesting cylinder 22 has a sleeve opening. The swing frame 3 is swingably mounted on the frame 1, and the swing of the swing frame 3 can cover or open the sleeve opening.

[0057] Optionally, the swing frame 3 includes a swing main frame 31, a lifting drive component 32, and a lifting frame 33. The swing main frame 31 is swingably mounted on the vehicle frame 1, and the lifting frame 33 is movably mounted on the swing main frame 31. The lifting frame 33 is provided with a positioning plate 331 corresponding to each of the picking cylinders 22. The positioning plate 331 is rotatably mounted. The lifting drive component 32 is connected to the lifting frame 33 and the swing main frame 31 respectively, and can drive the lifting frame 33 to move up and down relative to the swing main frame 31, so as to move each positioning plate 331 closer to or away from the opening of the corresponding picking cylinder 22, so as to support or move away from the mushroom bag 4 inside the picking cylinder 22.

[0058] The mushroom harvester is equipped with a swing frame 3 structure. Each harvesting cylinder 22 has a through-hole at its bottom for the mushroom bags 4 to pass through, serving as a bottom channel for the mushroom bags 4 to enter and exit the harvesting cylinder 22. The swing frame 3 is mounted on the frame 1 in a swingable manner, and can swing around a preset swing axis. The swinging motion allows for switching between two working states: blocking and fully opening the through-holes at the bottom of each harvesting cylinder 22. The structure is simple to switch between and the operation is reliable.

[0059] In the specific optional structural configuration, the swing frame 3 mainly consists of a swing main frame 31, a lifting drive component 32, and a lifting frame 33, integrating a multi-functional structure for swinging, lifting, and rotational positioning. The lifting frame 33 is equipped with rotatable positioning discs 331 corresponding to the number of workstations and the spacing of all harvesting cylinders 22 in the equipment. Each positioning disc 331 can rotate freely around its own central axis without any rotational jamming constraint. The lifting drive component 32 can be a push cylinder, with its two ends respectively connected and fixed to the swing main frame 31 and the lifting frame 33, providing power output for the vertical displacement of the lifting frame 33. It can stably drive the lifting frame 33 to perform reciprocating lifting and lowering motion relative to the swing main frame 31, thereby causing each set of positioning discs 331 to synchronously approach or move away from the insertion opening at the bottom of the corresponding harvesting cylinder 22, achieving support and repositioning of the bottom of the mushroom bag 4 inside the harvesting cylinder 22.

[0060] During the routine picking, lifting, and resetting processes of the equipment, the swing frame 3 remains in the swing-out state, fully opening the bottom openings of all picking cylinders 22 to prevent the bottom structure from interfering with the picking and lowering of the mushroom bags 4. This ensures that the picking cylinders 22 can smoothly pick up the mushroom bags 4 from below or reset them downwards to place the mushroom bags 4, without affecting the routine loading and unloading process of the equipment.

[0061] After the harvesting cylinder 22 successfully cradles the mushroom bag 4 and rises to its maximum harvesting height along with the harvesting device 2, the entire machine enters the scraping preparation position. At this time, the swing frame 3 swings towards the harvesting cylinder 22 for alignment, ensuring that the positioning plates 331 at each position are precisely coaxial and concentric with the corresponding harvesting cylinder 22 above, thus completing the precise alignment of the bottom support structure. After the structure is aligned, the grippers that were originally clamping and fixing the mushroom bag 4 are simultaneously released and loosened from the side wall of the mushroom bag 4, releasing the lateral clamping limit. Then, the lifting drive 32 drives the lifting frame 33 to rise upwards, causing each positioning plate 331 to extend from bottom to top into the inner side of the piercing opening at the bottom of the harvesting cylinder 22, so that the upper end face of the positioning plate 331 stably supports and abuts against the bottom end face of the mushroom bag 4. As the lifting frame 33 continues to rise slightly, the mushroom bag 4 is pushed upward, so that the top end face of the mushroom bag 4 is stably pressed against the output end of the rotary drive component 12 on the top of the frame 1, realizing a two-way positioning structure of power connection at the top and flexible support at the bottom of the mushroom bag 4.

[0062] At this point, the top of the mushroom bag 4 is limited and connected by the rotary drive component 12, and the bottom is supported by the rotatable positioning plate 331, forming an assembly structure that is top-to-bottom and can rotate freely. When the top rotary drive component 12 starts high-speed rotation, it can stably drive the mushroom bag 4 and the bottom contacting and fitting positioning plate 331 to rotate synchronously at high speed and coaxially. The positioning plate 331 rotates passively with the mushroom bag 4 without relative sliding friction. This not only preserves the free rotation motion characteristics of the mushroom bag 4, but also completely solves the problems of the mushroom bag 4 having no support at the bottom, unstable center of gravity, eccentric swaying, and bouncing when it is suspended and rotating.

[0063] The addition of a bottom-mounted, swing-and-lift support structure ensures that the mushroom bag 4 maintains high coaxiality and stability throughout the high-speed scraping process. The smooth rotation of the mushroom bag 4 without radial runout ensures a uniform gap between the inner scraper 24 and the outer wall of the mushroom bag 4, significantly improving the uniformity and thoroughness of mushroom removal and effectively reducing missed harvesting, incomplete scraping in certain areas, and excessive damage to the mushroom bag 4. Simultaneously, the swing-type storage design completely avoids workstations during loading and unloading, without affecting the equipment's original automatic bag-picking and unloading processes. Its strong structural compatibility and high degree of automation further enhance the overall harvesting accuracy and operational stability.

[0064] The rotary drive component 12 may include a rotary motor, a spring, and a rotary pressure head 121. A support plate is provided in the middle of the rotating shaft of the rotary motor. The rotary pressure head 121 is slidably sleeved on the end of the rotating shaft of the rotary motor. The spring is sleeved on the rotating shaft of the rotary motor, and its two ends abut against the support plate and the rotary pressure head 121, respectively.

[0065] Combination Figures 2 to 4 As shown, in another preferred embodiment of this application, the rotary drive component 12 used to drive the mushroom bag 4 to rotate at the top is structurally optimized, adopting an elastic floating compression rotary structure. This structure can adaptively adapt to mushroom bags 4 of different heights and compression allowances, ensuring reliable top power connection and appropriate compression, avoiding rigid compression that could damage the mushroom bag 4 or excessive gaps that could cause slippage and idle rotation. Specifically, the rotary drive component 12 comprises three elastic floating structures: a rotary motor, a spring, and a rotary pressure head 121. The rotary motor serves as the rotational power source, and a support plate is fixedly mounted at the middle of its output shaft. The support plate remains relatively fixed to the shaft, and the upper end of the spring abuts against a limiting base. The rotary pressure head 121, as a pressure-bearing transmission component that directly contacts and connects with the top of the mushroom bag 4, is slidably sleeved on the end of the rotary motor shaft, allowing the rotary pressure head 121 to generate adaptive extension and retraction displacement along the axial direction of the shaft. The spring is sleeved on the outside of the rotating motor shaft. The upper and lower ends of the spring elastically abut and limit the lower end face of the support plate and the upper end face of the rotating pressure head 121, forming a continuous downward elastic preload pressure.

[0066] When the bottom positioning plate 331 pushes the mushroom bag 4 upward, causing the top of the mushroom bag 4 to fit against the rotating pressure head 121, the rotating pressure head 121 can automatically retract the compression spring upward according to the actual height of the mushroom bag 4. Relying on the elastic force of the spring, it adaptively presses the upper surface of the mushroom bag 4, achieving flexible pressing transmission. This ensures that the upper end of the mushroom bag 4 is always in close contact with the rotating pressure head 121 without transmission gap, ensuring reliable torque transmission and preventing slippage or loss of rotation at high speed. It also effectively avoids excessive pressure from the rigid top structure, which could crush or damage the upper end of the mushroom bag 4, ensuring the structural integrity of the mushroom bag 4 and facilitating its subsequent secondary cultivation and reuse. At the same time, when the rotary motor is working, it drives the rotating pressure head 121 to rotate synchronously at high speed through the rotating shaft. Then, relying on the friction of the end face, it drives the mushroom bag 4 to rotate coaxially as a whole. In conjunction with the bottom rotatable positioning plate 331, it achieves a stable and flexible clamping and rotation condition for both the upper and lower ends of the mushroom bag 4.

[0067] Meanwhile, this application features an adjustable optimization design for the assembly structure of the scraper 24, enabling fine-tuning of its radial position and precise positioning and locking. This adapts to the scraping requirements of different mushroom bag diameters and varying mushroom growth thicknesses, significantly improving the equipment's versatility and harvesting adaptability. Specifically, an adjustment block 241 is fixedly mounted on the harvesting support 21. The scraper 24 consists of a scraper rod 242 and a connecting rod 243. The scraper rod 242 is the actual scraping component, vertically arranged inside the harvesting cylinder 22 and extending along its central axis. This ensures that the scraping operation can be completed by the scraper rod 242 throughout the entire lifting and rotation of the mushroom bag 4, providing complete coverage without any blind spots. The connecting rod 243 serves as a lateral connection for transmission and adjustment. One end is fixedly connected to the upper end of the scraper rod 242, while the other end is detachably and adjustablely mounted on the adjustment block 241.

[0068] The harvesting support 21 can generate radial displacement relative to the adjusting block 241 and complete positioning and locking. Its adjustment and movement direction is strictly along the radial direction of the harvesting cylinder 22, thereby precisely changing the radial distance between the scraper rod 242 and the central axis of the harvesting cylinder 22. In actual operation, the staff can precisely fine-tune the radial position of the scraper rod 242 according to the outer diameter of the mushroom bag 4 and the difference in the thickness of the wood ear fungus, and flexibly adjust the fit gap between the scraper 24 and the outer wall of the mushroom bag 4: a larger gap can be used to harvest thick layers of wood ear fungus, avoiding the scraper 24 from pressing too deeply and damaging the mushroom bag 4; a smaller gap can be used to finely scrape away thin layers of residual wood ear fungus, improving the cleanliness of the harvest. After adjustment, the position is locked by fasteners to ensure that the scraper 24 does not shift, shake, or change position during high-speed scraping, ensuring consistent scraping accuracy.

[0069] To further enhance the assembly rigidity and overall stability of the scraper rod 242 at its bottom and prevent the lower end of the scraper rod 242 from being suspended in the air or deforming under high-speed force, this application provides an assembly opening at the bottom of the harvesting cylinder 22 to achieve through-type fixed assembly of the scraper rod 242 at its bottom. A first fixing plate is fixedly installed on one side outside the opening, and a second fixing plate is fixedly installed on the bottom end of the scraper rod 242 away from the adjusting block 241. The second fixing plate extends outward corresponding to the opening at the bottom of the harvesting cylinder 22, so that the second fixing plate is fitted and assembled against the first fixing plate. The two are locked and fixedly connected by fasteners.

[0070] In some possible implementations, a guide plate 312 is provided on the swing frame 3. When the swing frame 3 swings to block each of the sleeve openings, the guide plate 312 is located below the sleeve opening of each picking cylinder 22, and the guide plate 312 extends to the top opening of the hopper 13.

[0071] In some possible implementations, this application further integrates and optimizes the functional structure of the swing frame 3, adding a flow guiding and material collection structure to achieve directional flow and concentrated material drop of the scraped wood ear mushrooms, completely solving the problems of wood ear mushroom scattering, material deviation, and incomplete collection. Specifically, a guide plate 312 is fixedly mounted on the swing frame 3. The guide plate 312, as an integrated material collection and flow guiding component, swings synchronously with the entire swing frame 3, aligns and avoids obstacles, without the need for an additional independent drive mechanism, resulting in high structural integration, low cost, and strong linkage.

[0072] When the swing frame 3 swings to the working state of blocking the bottom sleeve opening of each picking cylinder 22, the guide plate 312 is precisely positioned directly below the sleeve opening of all picking cylinders 22, completely covering the material dropping area of ​​each station. At the same time, the guide plate 312 adopts an inclined extension structure, with its plate body extending outward and downward from the bottom material dropping area of ​​the picking cylinder 22 until the end of the plate body extends directly above the top opening of the material bin 13 of the frame 1, forming a closed directional flow channel from the material dropping point of each picking cylinder 22 to the inlet of the material bin 13.

[0073] During the rotating scraping operation of the mushroom bag 4, the wood ear mushroom material scraped off by the scraper 24 falls smoothly from the bottom opening of the harvesting cylinder 22 and directly onto the surface of the guide plate 312 arranged below. Relying on the guiding effect of the inclined slope of the guide plate 312, the scattered wood ear mushrooms can slide and be conveyed continuously along the slope of the plate by their own gravity, without any spillage or retention, and are finally accurately guided into the top opening of the hopper 13, completing the automated directional collection and storage. Compared with traditional equipment without a guide structure, this structure can completely avoid the problems of wood ear mushrooms splashing everywhere, scattering into the gaps between the frames, and uneven material drop during multi-station scraping, which leads to material waste, greatly improving the material collection rate and reducing harvesting losses.

[0074] like Figure 6As shown, the lifting frame 33 is provided with multiple shafts, each shaft passing through the swing main frame 31, and each positioning plate 331 is connected to the corresponding shaft. The guide plate 312 can be provided on the swing main frame 31, and each shaft can slide through the guide plate 312.

[0075] The mushroom harvester also includes a swing motor 15, and a swing sprocket 311 is provided on the swing frame 3. The shaft of the swing motor 15 is connected to the drive sprocket, and a chain is sleeved between the drive sprocket and the swing sprocket 311 for transmission.

[0076] The traveling mechanism 11 includes a traveling rod 111 and multiple rollers 112, each roller 112 being rotatably connected to the frame 1. Some of the rollers 112 are equipped with sprockets. The traveling rod 111 is rotatably mounted on the frame 1, with sprockets at both ends. The sprockets at both ends and the sprockets on the corresponding rollers 112 are driven by a chain. A traveling drive device is mounted on the frame 1, and the traveling drive device is in a driving engagement with the traveling rod 111, driving the traveling rod 111 to rotate. The traveling drive device can be a motor, and the traveling drive device and the traveling rod 111 can be driven by a chain.

[0077] The following describes the workflow of the mushroom harvesting machine described in this application.

[0078] Step 1: The equipment is positioned and moved downwards, and the 22 sets of harvesting cylinders are used to pick up 4 mushroom bags and complete the composite clamping: The equipment is aligned via the traveling mechanism 11 of the frame 1, ensuring that each picking cylinder 22 is aligned with the mushroom bags 4 on the supporting surface below. Subsequently, the lifting drive mechanism is activated, and the rotary drive component 26 drives the horizontal rotating shaft 25 and the lifting sprockets 251 at both ends to rotate. Relying on the meshing transmission between the lifting sprockets 251 and the vertical traveling beam chain, the entire picking device 2 is driven vertically downwards along the vertical guide rod of the frame 1. During the downward movement of the picking device 2, the clamping assembly 23 remains open, meaning that the first clamping member 231 and the second clamping member 232 at each station are kept in opposite directions and far apart, completely avoiding the internal space of the picking cylinder 22 and preventing interference with the mushroom bag 4 retrieval operation.

[0079] The harvesting device 2 continues to descend, so that the harvesting cylinder 22 completely covers the outside of the mushroom bag 4 below, completing the precise loading and positioning of the mushroom bag 4. Subsequently, the telescopic drive component 234 retracts, driving the long beam 233 to move. Through the meshing transmission of the transmission rod 235 rack 2351 and the rotating sleeve 2311 gear ring 23111, and the hinge transmission of the long beam 233 and the swing rod 2321, the first clamping component 231 and the second clamping component 232 at each station are driven to move towards each other, realizing the overall folding and clamping of the clamping assembly 23.

[0080] During the clamping process, the movable block 2323 of the second clamping member 232 first adheres to and presses against the outer wall of the mushroom bag 4 under the elastic action of the spring, forming a flexible pre-tightening limit. The pin 23221 on the fixed block 2322 passes through the through groove of the movable block 2323 and inserts into the surface of the mushroom bag 4, forming a dual fixing structure of "elastic pressure and insertion limit", ensuring that the mushroom bag 4 is clamped in the center, stable and without slippage.

[0081] Step 2: The harvesting device 2 moves upward, and the mushroom bag 4 is precisely aligned with the top rotating drive component 12. After the mushroom bag 4 is clamped and fixed, the lifting drive mechanism reverses its rotation, driving the horizontal rotating shaft 25 and the lifting sprocket 251 to rotate in opposite directions, causing the entire harvesting device 2 to move vertically upward along the vertical guide rod, smoothly lifting the clamped and fixed mushroom bag 4. When the harvesting device 2 rises to the limit height position of the frame 1, the upper surface of the mushroom bag 4 just makes slight contact with the rotating pressure head 121 of the top rotating drive component 12, and the equipment pauses its upward movement, completing the high-level harvesting preparatory alignment. At this time, the rotating drive component 12 enters the standby state, only starting the rotation operation after the bottom support and positioning of the mushroom bag 4 is completed, avoiding the problems of idling and accidental start.

[0082] Step 3: Align and support the swing frame 3 to complete the coaxial pressing and positioning of the mushroom bag 4. After the harvesting device 2 is in place, the side swing frame 3 of the vehicle frame 1 swings towards the harvesting cylinder 22, so that each positioning plate 331 on the swing frame 3 precisely aligns with the bottom sleeve opening of each harvesting cylinder 22, achieving concentric and coaxial alignment of the positioning plate 331, the harvesting cylinder 22, and the mushroom bag 4, and locking them in an emergency stop. At this time, the clamping assembly 23 simultaneously opens slightly, releasing the lateral clamping limit state of the mushroom bag 4. Subsequently, the lifting drive component 32 on the swing frame 3 is activated, driving the lifting frame 33 to move vertically upward relative to the swing main frame 31, causing each rotatable positioning plate 331 to extend into the bottom sleeve opening of the harvesting cylinder 22 and push the mushroom bag 4 from bottom to top.

[0083] The mushroom bag 4 moves upward with the positioning plate 331 and presses against the top rotating pressure head 121. The rotating pressure head 121 adaptively moves upward along the axis of the rotating motor shaft to compress the spring. The spring's elastic preload achieves flexible clamping, ultimately making the mushroom bag 4 stably clamped between the top rotating pressure head 121 and the bottom positioning plate 331, forming an assembly structure that is top-to-bottom aligned, coaxially centered, and freely rotatable, completely eliminating the problems of mushroom bag 4 rotational eccentricity, shaking, and jumping.

[0084] Step 4: High-speed rotating scraper completes the automated peeling, harvesting, and material collection of wood ear mushrooms. After alignment and compaction, the top rotary motor starts running at high speed, driving the rotating pressure head 121 to rotate at high speed via the rotating shaft. Relying on the end-face friction, the mushroom bag 4 rotates synchronously and coaxially, and the bottom positioning plate 331 passively rotates coaxially with the mushroom bag 4. During the high-speed rotation of the mushroom bag 4 inside the cylinder, the mature wood ear mushrooms on the outer wall continuously rub against the scraper rod 242 fixed inside the harvesting cylinder 22. Relying on the rigid scraping action of the scraper rod 242, the large-sized mature wood ear mushrooms on the surface of the mushroom bag 4 are evenly and completely scraped off, achieving non-destructive mechanized harvesting.

[0085] The scraped wood ear mushrooms fall from the bottom of the harvesting cylinder 22 through the opening. At this time, the swing frame 3 is in the working position that blocks the through opening. The guide plate 312 is precisely arranged below each through opening and extends obliquely to the top opening of the hopper 13. The fallen wood ear mushrooms fall directly onto the surface of the guide plate 312 and slide directionally along the inclined slope of the guide plate 312 under the action of gravity, and are all guided into the hopper 13 of the frame 1. This achieves automated collection and storage without scattering or waste, ensuring simultaneous scraping and collection at multiple workstations, and excellent harvesting continuity and integrity.

[0086] Step 5: Harvesting complete, repositioning, secondary clamping of the fixture, and disengagement of the bottom support structure: After the mature wood ear mushrooms on the surface of the mushroom bag 4 have been completely scraped off and harvested, the clamping assembly 23 retracts and clamps again, firmly securing the outer wall of the mushroom bag 4 and locking its position. Then, the lifting drive 32 of the swing frame 3 drives the lifting frame 33 downwards, causing the positioning plate 331 to detach from the bottom of the mushroom bag 4 and exit the opening of the harvesting cylinder 22. Simultaneously, the main motor drives the swing frame 3 to swing in the opposite direction, causing the positioning plate 331, the lifting frame 33, and the guide plate 312 to swing out of their positions, completely avoiding the working area below the harvesting cylinder 22, and returning to their initial standby position. During this process, the guide plate 312 retracts synchronously with the swing frame 3, completely avoiding the lifting and lowering path of the mushroom bag 4.

[0087] Step 6: The harvesting device 2 descends, and the mushroom bag 4 is returned to its original support surface. After the bottom support structure is fully reset, the lifting drive mechanism starts to operate in the forward direction again, driving the harvesting device 2 to descend vertically and smoothly lower the clamped and fixed empty mushroom bag 4 to the original support cultivation position. After the mushroom bag 4 has completely landed and is in place, the clamp assembly 23 opens and releases as a whole, and the first clamping part 231 and the second clamping part 232 move away in opposite directions simultaneously, completely detaching from the outer wall of the mushroom bag 4, completing the automatic unloading and reset of the mushroom bag 4.

[0088] Step 7: Harvesting device 2 moves upwards to avoid obstacles, completing the single-row, single-harvest process: After the mushroom bag 4 is placed, the lifting drive mechanism reverses again, driving the picking device 2 to move vertically upward, so that the picking cylinder 22 is completely removed from the height area of ​​the mushroom bag 4, completely avoiding the mushroom bag 4 below, completing the complete automated harvesting process of a single group and a single row of mushroom bags 4, and the equipment enters the standby and workstation switching state.

[0089] Step 8: The whole machine moves around to change work stations, and the harvesting operation is carried out in a continuous cycle.

[0090] After harvesting a single row, the machine's traveling mechanism 11 is activated, driving the entire machine smoothly to align with the next row of mushroom bags 4 to be harvested. This process repeats the entire workflow of alignment, bagging, clamping, high-level docking, rotating scraping, guiding and collecting material, and resetting the bags. Through this cyclical, automated operation, the harvesting of entire sections and rows of mushroom bags 4 can be completed continuously with minimal human intervention. The operation is continuous, stable, and efficient, making it suitable for the batch harvesting needs of large-scale mushroom cultivation bases.

[0091] This application's black fungus harvesting machine is not only suitable for automated batch harvesting of mature black fungus, but also leverages the advantages of its own walking and positioning mechanism, multi-station synchronous clamping, and precise bag placement to adapt to the orderly placement of mushroom bags in the initial stage of black fungus cultivation. This achieves multi-purpose functionality and significantly improves equipment utilization and the overall mechanization level of the cultivation process. Specifically, multiple sets of harvesting cylinders on the harvesting frame are arranged equidistantly in an array along the length of the frame. The spacing, arrangement accuracy, and working width of each harvesting cylinder are designed to adapt to standardized harvesting conditions, providing fixed and precise workstation array dimensions. Based on this structural characteristic, in the bag placement process after black fungus cultivation and bagging, the harvesting mechanism of this machine can be used to automatically pick up and place the mushroom bags at designated points. The equipment relies on the walking mechanism to move and align precisely. In conjunction with the lifting and lowering of the harvesting device and the synchronous clamping and releasing of the clamping components, the disorderly piled mushroom bags are arranged one by one, in rows, and at equal intervals according to the array size specifications preset by the harvesting mechanism. This makes the mushroom bags in the field form a standard matrix arrangement with horizontal and vertical lines, uniform spacing, and aligned rows and columns.

[0092] The automated matrix bag placement system completely replaces manual bag placement, effectively solving problems such as messy spacing, uneven rows and columns, inconsistent density, and low placement efficiency associated with manual bag placement. Furthermore, the uniform matrix-style bag layout in the initial planting stage perfectly matches the walking distance, harvesting tube station spacing, and alignment trajectory of the automated harvesting equipment in the later stages. This standardizes the planting placement specifications and mechanical harvesting parameters, eliminating the need for manual rearrangement and spacing adjustments later on. This significantly reduces the alignment difficulty of subsequent mechanized harvesting, ensuring smooth operation of automatic bagging, precise scraping, and synchronous harvesting processes. From the source of cultivation, this enhances the standardization and normalization of large-scale mushroom cultivation and mechanized harvesting.

[0093] The preferred embodiments disclosed above are merely illustrative of this application. These preferred embodiments do not exhaustively describe all details, nor do they limit the application to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this application, thereby enabling those skilled in the art to better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

1. A wood ear mushroom harvesting machine, characterized in that, include: A frame, on which a traveling mechanism and a rotary drive component are mounted, the traveling mechanism being supported on a support surface; A harvesting device, comprising a harvesting cylinder, a clamping assembly, and a scraper, is configured to move up and down along the frame to pick up mushroom bags from a support surface via the harvesting cylinder, or to unload mushroom bags onto the support surface. The clamping assembly is configured to clamp or release mushroom bags. The rotary drive is configured to engage with the mushroom bags inside the harvesting cylinder when the harvesting device is raised to its maximum height to drive the mushroom bags to rotate. The scraper is configured to scrape off the wood ear mushrooms from the mushroom bags during their rotation. A hopper is provided on the vehicle frame and is used to hold the wood ear fungus scraped off by a scraper.

2. The wood ear harvesting machine according to claim 1, characterized in that, The frame has vertical guide rods and vertical travel beams; The harvesting device includes a harvesting support and a lifting drive mechanism; The picking support is slidably connected to the vertical guide rod, and the picking cylinder, clamp assembly, scraper and lifting drive mechanism are all disposed on the picking support; The lifting drive mechanism and the vertical traveling beam are connected in transmission to drive the picking device to move up and down.

3. The wood ear harvesting machine according to claim 2, characterized in that, The lifting drive mechanism includes a horizontal rotating shaft and a rotary drive assembly; The horizontal rotating shaft is rotatably mounted on the harvesting support, and lifting sprockets are respectively provided at both ends of the horizontal rotating shaft; A vertical chain is installed on the vertical traveling beam, and the lifting sprocket meshes with the vertical chain; The rotation drive assembly is mounted on the picking bracket, and the rotation drive assembly and the horizontal rotating shaft are in transmission cooperation.

4. The wood ear harvesting machine according to claim 1, characterized in that, The harvesting device includes a harvesting support and multiple harvesting tubes, with each harvesting tube arranged sequentially along the length of the harvesting support; The clamping assembly is disposed on the harvesting support. The clamping assembly includes multiple grippers, each gripper being disposed on the periphery of a corresponding harvesting tube. The wall of the harvesting tube has an clearance opening. The clamping assembly can drive each gripper to move radially along the corresponding harvesting tube to clamp or release the mushroom bag inside the harvesting tube.

5. The wood ear harvesting machine according to claim 4, characterized in that, The gripper includes a first clamping element and a second clamping element; The first clamping member is movably connected to the harvesting bracket, and the second clamping member is movably connected to the harvesting tube; The clamping assembly includes a clamping drive mechanism, which is in transmission cooperation with the first clamping member and the second clamping member respectively, driving the first clamping member and the second clamping member to move closer to each other or move further away from each other in order to clamp or release the mushroom bag in the harvesting tube.

6. The wood ear harvesting machine according to claim 5, characterized in that, Each of the harvesting tubes is provided with a column on the harvesting support; The clamping drive mechanism includes a long beam and a telescopic drive component; The first clamping member is rotatably mounted on the column; The second clamping member is movably disposed on the harvesting tube; The long beam extends along the arrangement direction of each of the picking tubes, and the long beam is in transmission cooperation with the second clamping member of each of the clamps; The long beams are respectively connected to the first clamping components of each clamp via transmission rods; The telescopic drive is hinged to the picking bracket and the long beam respectively. The telescopic drive moves the long beam to drive the first and second clamping parts of each clamp to move closer to each other or further away from each other.

7. The wood ear harvesting machine according to claim 6, characterized in that, The first clamping member has a rotating sleeve and a clamping arm connected to the rotating sleeve; The rotating sleeve is provided with a toothed ring; A limiting cylinder is fitted onto the rotating sleeve, the limiting cylinder has a through groove, and the toothed ring is located inside the limiting cylinder. The transmission rod has a rack, which is disposed through the through groove, and the toothed ring meshes with the rack; The telescopic drive component's telescopic movement can drive the first clamping component to rotate via the transmission rod.

8. The wood ear harvesting machine according to claim 1, characterized in that, The wood ear harvesting machine includes a swing frame; The bottom of the harvesting tube has a sleeve opening; The swing frame is swayably mounted on the vehicle frame, and the swing of the swing frame can cover or open the sleeve opening.

9. The wood ear harvesting machine according to claim 8, characterized in that, The swing frame includes a swing main frame, a lifting drive component, and a lifting frame; The swing main frame is swingably mounted on the vehicle frame; The lifting frame is movably mounted on the swing main frame, and the lifting frame is provided with a positioning plate corresponding to each of the picking cylinders; The lifting drive component is connected to the lifting frame and the swing main frame respectively, and can drive the lifting frame to move up and down relative to the swing main frame, so as to move each positioning plate closer to or away from the sleeve opening of the corresponding picking tube, so as to support or move away from the mushroom bag inside the picking tube.

10. The wood ear harvesting machine according to claim 8 or 9, characterized in that, The swing frame is equipped with a guide plate; When the swing frame swings to block each of the sleeve openings, the guide plate is located below the sleeve openings of each picking cylinder, and the guide plate extends to the top opening of the hopper.

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