Assembly line type agaric picking machine

Abstract

The utility model relates to the technical field of agaric picking machines, and discloses an assembly line type agaric picking machine which can achieve automatic operation of fixing and picking of fungus bag strings and collection and picking of agaric through cooperation of a picking mechanism, an agaric recycling mechanism and a fungus bag holding and fixing mechanism. Through the cooperation of the reciprocating lifting motion of the picking head and the rotary transposition of the notch ring, the picking processing of the agaric on the fungus bag string can be efficiently completed, and through the cooperation of the special-shaped flexible picking rod and the flexible picking rod column, the agaric is flexibly wrapped, clamped and picked, so that the picking integrity of the agaric can be effectively improved; the fungus bag holding and fixing mechanism is of an automatic avoiding type structure, when the picking mechanism changes the position and moves upwards, a holding rod column can be overturned, opened and avoided, after the position changing is completed, overturning, closing and resetting of the holding rod column can be achieved, the whole working process is automatic, no extra driving structure or manpower participation is needed, and the working efficiency is improved. And a separating plate seat and a vibrator are arranged at the rear part of the agaric conveying belt, so that the agaric and the disintegrating slag can be separated.

Description

Technical Field

[0001] The utility model relates to the technical field of fungus picking machines, in particular to an assembly line type fungus picking machine. Background Art

[0002] Black fungus tastes delicious and is rich in nutrition. As one of the home-cooked dishes, it is deeply loved by people. my country has a huge output of black fungus. At present, there are two main methods of fungus cultivation: ground planting and greenhouse hanging bags. The traditional manual picking method has high labor intensity and low efficiency, which can no longer meet the harvesting needs of black fungus. Most of the picking machines studied for ground-planted fungus are patented model machines, such as the Chinese patent with announcement number CN109328886A disclosing a fungus picking machine, the Chinese patent with announcement number CN217884652U disclosing a portable fungus picking machine, and the Chinese patent with announcement number CN212487693U disclosing a portable fungus picking machine. The Chinese patent publication No. CN215683855U discloses an actuator clamping a fungus picking manipulator, and the Chinese patent publication No. CN114051892B discloses an assembly line fungus harvester. The fungus picking method of this type of equipment is mostly to rotate the mushroom bag, scrape the fungus on the mushroom bag with a picking scraper, and adjust the distance between the picking scraper and the mushroom bag to achieve the effect of "picking the big and leaving the small". Although the picking efficiency is improved compared with manual picking, the efficiency is still not ideal and the picking effect cannot meet expectations. Therefore, an assembly line fungus picking machine is proposed. Utility Model Content

[0003] The purpose of the utility model is to provide a production line type wood ear picking machine to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an assembly line type fungus picking machine, comprising a frame for picking fungus on the upper part of a mushroom bag string, a picking mechanism, a fungus recovery mechanism and a mushroom bag clamping and fixing mechanism, the picking mechanism is arranged in the middle of the frame, the picking mechanism is used for separating and picking fungus, and the picking mechanism comprises a lifting drive component, a picking telescopic component and a picking rotating component;

[0005] The fungus recovery mechanism is arranged at the lower part of the frame, and is used for recovering and conveying the fungus. The fungus recovery mechanism comprises a recovery bucket seat, a fungus conveyor belt and a separation plate seat. The fungus conveyor belt conveys the fungus in the recovery bucket seat to the upper part of the separation plate seat. The upper part of the separation plate seat is provided with a semicircular convex block and a slag leakage notch, and the lower part of the separation plate seat is provided with a vibrator;

[0006] The mushroom bag clamping and fixing mechanism is arranged on the front side of the frame, and the mushroom bag clamping and fixing mechanism is used for clamping and fixing the mushroom bag string. The mushroom bag clamping and fixing mechanism includes a clamping upper compression spring, an upper clamping sleeve, a lower clamping sleeve, a clamping rod column, a clamping lower torsion spring, a clamping shaft and a clamping drive motor. The clamping drive motor is installed at the lower part of the clamping shaft, the clamping upper compression spring and the clamping lower torsion spring are both installed at the upper part of the clamping shaft, the clamping rod column is installed at the upper part of the clamping shaft through the lower clamping sleeve, the upper clamping sleeve is unidirectionally clamped and installed at the upper part of the lower clamping sleeve, and a clamping rod support block is provided on the side of the upper clamping sleeve.

[0007] Preferably, the lifting drive assembly is used for the lifting drive of the picking rotating assembly, and the lifting drive assembly includes a lifting platform, a lifting servo motor and a lifting drive gear. Lifting slide rails are provided on both sides of the frame, and the lifting platform is slidably installed in the middle of the frame through the lifting slide rails. There are two lifting servo motors, and the two lifting servo motors are respectively fixedly installed on both sides of the lifting platform. The lifting drive gear is fixedly installed on the shaft end of the lifting servo motor. A lifting drive tooth groove is provided on the rear side of the frame, and the lifting drive gear is meshed and connected with the lifting drive tooth groove.

[0008] Preferably, the above-mentioned picking telescopic component is used for the telescopic sliding drive of the picking rotating component, and the picking telescopic component includes a driving connecting rod, a linear guide rail and a rocker motor. The rocker motor is fixedly installed on the upper part of the lifting platform, and one end of the driving connecting rod is installed on the rotating shaft end of the rocker motor through an eccentric turntable. The linear guide rail is installed on the middle side of the lifting platform, and the picking rotating component is movably installed on the front part of the lifting platform through the linear guide rail.

[0009] Preferably, the above-mentioned picking rotating assembly is used for the separation and picking of wood ear, and the picking rotating assembly includes a picking head, a notched ring, a picking rotating frame, a rotating motor, a picking drive motor, a special-shaped flexible picking stick and a flexible picking stick column. The picking rotating frame is horizontally slidably installed on the front part of the lifting platform through a bracket cooperating with a linear guide rail, and the other end of the driving connecting rod is hingedly installed on the rear part of the picking rotating frame.

[0010] Preferably, the notched ring is rotatably mounted in the middle of the front side of the picking rotating frame, the rotating motor is fixedly mounted on the rear part of the picking rotating frame, a rotating gear is fixedly mounted on the rotating shaft end of the rotating motor, a tooth groove is arranged on the outer peripheral side of the notched ring, the rotating gear is meshed with the tooth groove, a plurality of picking heads are provided, a mounting support is fixedly mounted on the upper part of the picking head by bolts, a plurality of the picking heads are evenly distributed in a circle on the lower part of the notched ring through the mounting support, and the clamping upper compression spring is mounted on the upper part of the upper sleeve.

[0011] Preferably, a connecting slider is provided on the upper part of the picking head, a connecting slot is provided on the side of the mounting support, the connecting slider is slidably fitted on the inner side of the connecting slot, a screw drive motor is fixedly installed on the rear part of the picking head, a driving screw is fixedly installed on the rotating shaft end of the screw drive motor, a driving screw hole is provided in the middle part of the rear side of the mounting support, the front end of the driving screw is threadedly connected to the inner side of the driving screw hole, and the special-shaped flexible picking stick and the flexible picking stick column are both rotatably mounted on the In the middle front part of the picking head, the picking drive motor is fixedly installed on the inner upper part of the picking head, and the rotating shaft end of the picking drive motor is fixedly installed with a picking motor gear. The rotating shaft ends of the special-shaped flexible picking stick and the flexible picking stick column are respectively installed with special-shaped picking stick gears and picking stick column gears, and a transmission gear is installed for meshing transmission between the picking motor gear and the special-shaped picking stick gear. The special-shaped picking stick gear is meshed with the lower part of the transmission gear, and the picking stick column gear is meshed and connected with the side of the special-shaped picking stick gear.

[0012] Preferably, the above-mentioned clamping shaft and clamping drive motor are each provided with two groups, the two groups of the clamping shaft are respectively rotatably installed on both sides of the front part of the frame, the clamping drive motor is fixedly installed on the side of the frame, the drive shaft of the clamping drive motor is fixedly connected to the bottom end of the clamping shaft, the upper clamping sleeve and the lower clamping sleeve are each provided with a plurality of them, the upper clamping sleeve and the lower clamping sleeve are both sleeved on the upper part of the clamping shaft, the upper clamping sleeve and the lower clamping sleeve are provided with a one-way clamping structure, the upper clamping sleeve and the lower clamping sleeve are engaged and clamped through the one-way clamping structure, the clamping lower torsion spring is installed at the lower part of the lower clamping sleeve, and the clamping rod column is fixedly installed on the side of the lower clamping sleeve.

[0013] Preferably, the upper parts of the upper ferrule and the lower ferrule are both provided with notch guide grooves, the upper part of the clamping shaft is provided with a fixing pin, the fixing pin is engaged and connected with the notch guide groove, the clamping rod expansion block is fixed to the rear side of the upper ferrule, both sides of the lifting platform are fixedly installed with clamping rod expansion top blocks, the clamping rod expansion top blocks correspond to the position of the clamping rod expansion blocks, both sides of the lifting platform are fixedly installed with clamping rod return top blocks, the side of the lower ferrule is provided with guide bearings, the clamping rod return top blocks correspond to the position of the guide bearings.

[0014] Preferably, the recovery bucket seat is fixedly installed on the lower part of the frame, the wood ear conveyor belt is installed on the side of the recovery bucket seat, the separation plate seat is obliquely docked and installed on the lower part of the side of the wood ear conveyor belt, the semicircular protrusions are evenly arranged on the upper part of the separation plate seat, the slag leakage groove is opened through the upper part of the separation plate seat, the slag leakage groove is located on the side of the semicircular protrusion, and the vibrator is fixedly installed on the middle part of the bottom side of the separation plate seat by bolts.

[0015] Preferably, the above-mentioned wood ear recovery mechanism also includes a debris collection box, which is supported and installed in an embedded manner on the upper part of a slot seat set at the rear part of the frame. The debris collection box is located directly below the separation plate seat, and a waste debris collection trough is set in the middle of the debris collection box.

[0016] Compared with the prior art, the utility model adopts the above technical solution and has the following technical effects:

[0017] 1. The utility model adopts an automated picking structure, and utilizes the cooperation of a picking mechanism, a fungus recovery mechanism and a mushroom bag clamping and fixing mechanism to realize the automated operations of fixing and picking mushroom bag strings and collecting and picking fungus. On the basis of the automatic bag hanging and automatic cultivation rack in the factory cultivation link, the automation of fungus picking operations can be realized without large manpower consumption, and the automated planting and picking of fungus can be realized.

[0018] 2. A lifting and rotating picking structure is adopted, and a lifting servo motor is used to lift and drive the lifting platform, and the picking head is rotatably installed through the picking rotating frame and the notched ring. During the picking operation, the clamping drive motor drives the clamping shaft to drive the clamping rod column to clamp and fix the mushroom bag string. There are multiple picking heads. The reciprocating lifting movement of the picking head and the rotation transposition of the notched ring can efficiently complete the picking process of the wood ear on the upper part of the mushroom bag string. Compared with similar equipment, it has higher picking efficiency. The special-shaped flexible picking stick is used in conjunction with the flexible picking stick column to flexibly clamp and pick the wood ear, which can effectively improve the picking integrity of the wood ear. The picking head is slidably installed through the slide structure. Under the cooperative drive of the screw drive motor and the driving screw, the lateral spacing of the picking head can be controlled and adjusted. The size of the picked wood ear can be controlled and adjusted by changing the contact spacing between the picking head and the mushroom bag string, which greatly improves the working flexibility of the device.

[0019] 3. The mushroom bag clamping and fixing mechanism adopts an autonomous avoidance structure. The clamping rod column is flipped and installed on the upper part of the clamping shaft through the lower clamping sleeve. The upper clamping sleeve and the lower clamping sleeve are connected by a one-way clamping structure, and the upper parts of the upper clamping sleeve and the lower clamping sleeve are provided with notched guide grooves. When the picking mechanism is shifted and moved upward, the one-way clamping structure can be unlocked by supporting and guiding the clamping rod support block and the clamping rod support block on the side of the upper clamping sleeve in conjunction with the fixing pin on the upper part of the clamping shaft. The drive of the torsion spring allows the clamping rod column to be flipped and opened to avoid. After the shift is completed, the clamping rod column can be flipped, closed and reset by supporting and guiding the clamping rod return block and the guide bearing on the side of the upper clamping sleeve. The structure is simple and the operation is reliable. The whole process is automatic without the need for additional drive structure and manpower participation, which greatly improves the operation convenience of the device.

[0020] 4. A separation plate seat and a vibrator are arranged at the rear of the fungus conveyor belt. A semicircular protrusion and a slag leakage notch are arranged on the upper part of the separation plate seat. The semicircular protrusion is used to block and gather the debris in the fungus, and the vibration of the vibrator makes the debris leak out from the slag leakage notch and fall into the debris collection box, so that the fungus and the debris can be separated. The structure is simple and the operation is reliable, which is conducive to the subsequent packaging of the fungus. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the overall front structure of the utility model;

[0023] Figure 2 It is a schematic diagram of the overall rear structure of the utility model;

[0024] Figure 3 For the utility model Figure 2 Schematic diagram of the structure of the middle A area;

[0025] Figure 4 This is a schematic diagram of the picking mechanism structure of the utility model;

[0026] Figure 5 This is a schematic diagram of the notched ring rotation drive structure of the utility model;

[0027] Figure 6 This is a schematic diagram of the structure of the picking head of the utility model;

[0028] Figure 7 This is a schematic diagram of the structure of the special-shaped flexible picking stick of the utility model;

[0029] Figure 8 This is a schematic diagram of the structure of the mushroom bag holding and fixing mechanism of the utility model;

[0030] Fig. 9 This is a schematic diagram of the ferrule installation structure of the utility model;

[0031] Fig.10 It is a schematic diagram of the upper structure of the separation plate seat of the utility model;

[0032] Fig.11 It is a schematic diagram of the lower structure of the separation plate seat of the utility model.

[0033] Explanation of reference numerals: 1. frame; 2. picking mechanism; 3. fungus recovery mechanism; 4. mushroom bag string; 5. mushroom bag clamping and fixing mechanism; 6. lifting servo motor; 7. lifting drive gear; 8. clamping rod return top block; 9. clamping rod open top block; 10. picking head; 11. driving connecting rod; 12. linear guide rail; 13. rocker motor; 14. notched ring; 15. picking rotating frame; 16. rotating motor; 17. rotating gear; 18. picking drive motor; 19. special-shaped flexible picking stick; 20. flexible picking stick column; 21. picking motor gear; 2 2. Transmission gear; 23. Special-shaped picking stick gear; 24. Picking stick column gear; 25. Hold the rod support block; 26. Hold the upper compression spring; 27. Upper ferrule; 28. Lower ferrule; 29. ​​Hold the rod column; 30. Hold the lower torsion spring; 31. Hold the rotating shaft; 32. Hold the drive motor; 33. Lifting drive tooth groove; 34. Mounting support; 35. Screw drive motor; 36. Drive screw; 37. Recovery bucket seat; 38. Fungus conveyor belt; 39. Separation plate seat; 40. Slag collection box; 41. Semicircular protrusion; 42. Slag leakage notch; 43. Vibrator. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0036] Example

[0037] See also Figure 1-11 The utility model provides a technical solution: an assembly line type fungus picking machine, comprising a frame 1 for picking fungus on the upper part of a mushroom bag string 4, a picking mechanism 2, a fungus recovery mechanism 3 and a mushroom bag holding and fixing mechanism 5, as shown in the attached Figure 1As shown, a plurality of independent mushroom bags are arranged on the upper part of the mushroom bag string 4, and the mushroom bags are vertically hoisted and distributed. The self-utilizing picking mechanism 2, the wood ear recovery mechanism 3 and the mushroom bag clamping and fixing mechanism 5 cooperate to realize the automated operations of fixing and picking the mushroom bag string 4 and collecting and picking the wood ear. On the basis of the automatic bag hanging and automatic cultivation rack in the factory cultivation link, the automation of the wood ear picking operation can be realized without large manpower consumption, and the automated planting and picking of wood ear can be realized.

[0038] As attached Figure 1 As shown, the picking mechanism 2 is movable and lifted and arranged in the middle of the front side of the frame 1. The picking mechanism 2 is used for separating and picking the fungus. The picking mechanism 2 includes a lifting drive component, a picking telescopic component and a picking rotating component. The lifting drive component is used for lifting and driving the picking rotating component. The lifting drive component includes a lifting platform, a lifting servo motor 6 and a lifting drive gear 7. Figure 2 As shown, in order to facilitate the lifting and sliding installation of the lifting platform, lifting rails are provided on both sides of the frame 1, and the lifting platform is slidably installed in the middle of the frame 1 through the lifting rails. The lifting servo motor 6 is used for the lifting and lowering drive of the lifting platform. The number of the lifting servo motors 6 is two, and the two lifting servo motors 6 are fixedly installed on both sides of the lifting platform, as shown in the attached Figure 3 As shown, in order to facilitate the lifting and lowering drive of the lifting platform, the lifting drive gear 7 is fixedly installed on the shaft end of the lifting servo motor 6. In order to be driven and connected with the lifting drive gear 7, a lifting drive tooth groove 33 is provided on the rear side of the frame 1. The lifting drive gear 7 is meshed and connected with the lifting drive tooth groove 33. Under the drive of the lifting servo motor 6, the vertical lifting and lowering movement of the lifting platform can be realized.

[0039] The picking telescopic assembly is used for the telescopic sliding drive of the picking rotating assembly. The picking telescopic assembly includes a driving connecting rod 11, a linear guide rail 12 and a rocker motor 13. Figure 4 As shown, the rocker motor 13 is fixedly installed on the upper part of the lifting platform, and the driving connecting rod 11 is a two-stage rod-column connecting rod structure. In order to connect and install with the driving connecting rod 11, an eccentric turntable is fixedly installed on the rotating shaft end of the rocker motor 13, and one end of the driving connecting rod 11 is installed on the rotating shaft end of the rocker motor 13 through the eccentric turntable. The linear guide rail 12 is used for the sliding guide of the picking rotating component, as shown in the attached Figure 4 As shown, the linear guide rail 12 is installed on the middle side of the lifting platform, and the picking rotation assembly is movably installed on the front of the lifting platform through the linear guide rail 12.

[0040] The picking rotating assembly is used for separating and picking the fungus, and the picking rotating assembly includes a picking head 10, a notched ring 14, a picking rotating frame 15, a rotating motor 16, a picking driving motor 18, a special-shaped flexible picking stick 19 and a flexible picking stick column 20, as shown in the attached Figure 4As shown, the picking rotating frame 15 is installed on the front part of the lifting platform by means of a bracket and a linear guide rail 12 for horizontal sliding. In order to drive the picking rotating frame 15 to slide, the other end of the driving connecting rod 11 is hingedly installed on the rear part of the picking rotating frame 15. When the rocker motor 13 cooperates with the driving connecting rod 11 to drive the picking rotating frame 15 to slide in the horizontal direction, as shown in the attached figure. Figure 4 As shown, the notch ring 14 is rotatably mounted on the front middle of the picking rotating frame 15. In order to drive the notch ring 14 to rotate, as shown in the attached Figure 5 As shown, the rotating motor 16 is fixedly installed on the rear part of the picking rotating frame 15. In order to rotationally transmit the picking rotating frame 15, a rotating gear 17 is fixedly installed on the rotating shaft end of the rotating motor 16. In order to transmit the rotating gear 17, a tooth groove is provided on the outer peripheral side of the notched ring 14, and the rotating gear 17 is meshed with the tooth groove.

[0041] As attached Figure 5 As shown, three picking heads 10 are provided. In order to install and connect the picking heads 10, a mounting bracket 34 is fixedly installed on the upper part of the picking heads 10 by bolts. The three picking heads 10 are evenly distributed in a circle and installed on the lower part of the notched ring 14 through the mounting bracket 34. Through the reciprocating lifting motion of the picking heads 10 and the rotation transposition of the notched ring 14, the picking process of the wood ear on the upper part of the mushroom bag string 4 can be completed efficiently, and compared with similar equipment, it has a higher picking efficiency. Figure 6 As shown in the figure, the special-shaped flexible picking stick 19 and the flexible picking stick column 20 are both rotatably installed on the front middle part of the picking head 10 through a rotating shaft. The special-shaped flexible picking stick 19 and the flexible picking stick column 20 are both made of flexible material. Figure 7 As shown, a picking piece is provided on the upper part of the special-shaped flexible picking stick 19. In order to rotationally drive the special-shaped flexible picking stick 19 and the flexible picking stick column 20, a picking drive motor 18 is fixedly installed on the inner upper part of the picking head 10. A picking motor gear 21 is fixedly installed on the rotating shaft end of the picking drive motor 18. A special-shaped picking stick gear 23 and a picking stick column gear 24 are respectively installed on the rotating shaft ends of the special-shaped flexible picking stick 19 and the flexible picking stick column 20. A transmission gear 22 is installed in meshing transmission between the picking motor gear 21 and the special-shaped picking stick gear 23. The special-shaped picking stick gear 23 is meshed with the lower part of the transmission gear 22. The picking stick column gear 24 is meshed and connected with the side of the special-shaped picking stick gear 23. The special-shaped flexible picking stick 19 cooperates with the flexible picking stick column 20 to flexibly clamp and pick the fungus, which can effectively improve the picking integrity of the fungus.

[0042] In order to control and adjust the size of the wood ear picking, a connecting slider is provided on the upper part of the picking head 10, and a connecting slide groove is provided on the side of the mounting support 34. The connecting slider is slidably fitted and installed on the inner side of the connecting slide groove, so that the picking head 10 can slide horizontally at the lower part of the mounting support 34. In order to slide and drive the picking head 10, as shown in the attached Figure 6 As shown, a screw drive motor 35 is fixedly installed at the rear of the picking head 10, and a driving screw 36 is fixedly installed at the rotating shaft end of the screw drive motor 35. A driving screw hole is opened in the middle of the rear side of the mounting support 34, and the front end of the driving screw 36 is threadedly connected to the inner side of the driving screw hole. Under the cooperative drive of the screw drive motor 35 and the driving screw 36, the lateral spacing of the picking head 10 can be controlled and adjusted. By changing the contact spacing between the picking head 10 and the mushroom bag string 4, the size of the picked wood ear can be controlled and adjusted, which greatly improves the working flexibility of the device.

[0043] As attached Figure 1 As shown, the mushroom bag clamping and fixing mechanism 5 is installed on both sides of the front part of the frame 1. The mushroom bag clamping and fixing mechanism 5 is used for clamping and fixing the mushroom bag string 4. The mushroom bag clamping and fixing mechanism 5 includes a clamping upper compression spring 26, an upper clamping sleeve 27, a lower clamping sleeve 28, a clamping rod column 29, a clamping lower torsion spring 30, a clamping shaft 31 and a clamping drive motor 32. Figure 2 As shown, two groups of clamping shafts 31 and clamping drive motors 32 are provided. The two groups of clamping shafts 31 are rotatably mounted on both sides of the front part of the frame 1, and the clamping drive motors 32 are used for rotating the clamping shafts 31. Figure 8 As shown, the clamping drive motor 32 is fixedly installed on the side of the frame 1, the drive shaft of the clamping drive motor 32 is fixedly connected to the bottom end of the clamping shaft 31, and the upper clamping sleeve 27 and the lower clamping sleeve 28 are both provided with a plurality of them. The upper clamping sleeve 27 and the lower clamping sleeve 28 are both sleeved on the upper part of the clamping shaft 31, and the clamping rod column 29 is installed on the upper part of the clamping shaft 31 through the lower clamping sleeve 28. Fig. 9 As shown, the clamping rod 29 is fixedly installed on the side of the lower clamping sleeve 28, and the mushroom bag string 4 can be clamped and fixed by the clamping rod 29 during the picking operation.

[0044] In order to limit the one-way clamping of the ferrule, as shown in the attached Fig. 9As shown, a one-way locking structure is provided on the upper clamping sleeve 27 and the lower clamping sleeve 28, and the upper clamping sleeve 27 and the lower clamping sleeve 28 are engaged and connected through the one-way locking structure. The lower clamping torsion spring 30 is installed at the lower part of the lower clamping sleeve 28, and the upper clamping compression spring 26 is installed at the upper part of the upper clamping sleeve 27. In order to realize the flipping drive of the upper clamping sleeve 27 and the rotational guide of the upper clamping sleeve 27 and the lower clamping sleeve 28, notch guide grooves are provided on the upper parts of the upper clamping sleeve 27 and the lower clamping sleeve 28. The notch guide groove on the upper part of the upper clamping sleeve 27 is an inclined groove shape, and the notch guide groove on the upper part of the lower clamping sleeve 28 is an inverted L-shaped. In order to engage with the notch guide groove, a fixing pin is provided on the upper part of the clamping shaft 31, and the fixing pin is engaged and connected with the notch guide groove. The clamping rod support block 25 is fixed to the rear side of the upper clamping sleeve 27, and the two sides of the lifting platform are fixedly installed with clamping rod support top blocks 9 The position of the clamping rod support block 9 corresponds to the position of the clamping rod support block 25. The lower parts of both sides of the lifting platform are fixedly installed with clamping rod return top blocks 8. The sides of the lower clamping sleeve 28 are provided with guide bearings. The clamping rod return top blocks 8 correspond to the positions of the guide bearings. An autonomous avoidance structure is adopted. When the picking mechanism 2 is shifted and moved upward, the one-way clamping structure can be unlocked by supporting and guiding the clamping rod support block 9 and the clamping rod support block 25 on the side of the upper clamping sleeve 27. The driving of the torsion spring allows the clamping rod column 29 to be flipped and opened to avoid. After the shifting is completed, the support and guidance of the clamping rod return top block 8 and the guide bearing on the side of the upper clamping sleeve 27 can be used to realize the flipping, closing and resetting of the clamping rod column 29. The structure is simple and the operation is reliable. The whole process is automatic without the need for additional driving structure and human participation, which greatly improves the operation convenience of the device.

[0045] As attached Figure 1 As shown, the fungus recovery mechanism 3 is installed at the lower part of the frame 1. The fungus recovery mechanism 3 is used for recovering and conveying the fungus. The fungus recovery mechanism 3 includes a recovery bucket seat 37, a fungus conveyor belt 38 and a separation plate seat 39. Figure 2 As shown, the recovery bucket seat 37 is fixedly installed at the lower part of the frame 1 for collecting the fallen fungus. The fungus conveyor belt 38 is installed at the side of the recovery bucket seat 37. The fungus conveyor belt 38 conveys the fungus in the recovery bucket seat 37 to the upper part of the separation plate seat 39. The separation plate seat 39 is installed at an angle and docked at the lower part of the side of the fungus conveyor belt 38. In order to facilitate the separation of the debris in the fungus, as shown in the attached Fig.10 As shown, a semicircular protrusion 41 and a slag leakage notch 42 are provided on the upper part of the separation plate seat 39. The semicircular protrusion 41 is evenly arranged on the upper part of the separation plate seat 39, and the slag leakage notch 42 is opened through the upper part of the separation plate seat 39. The slag leakage notch 42 is located on the side of the semicircular protrusion 41. In order to accelerate the falling of the fungus, as shown in the attached Fig.11As shown, a vibrator 43 is provided at the lower part of the separation plate seat 39. The vibrator 43 is an eccentric vibration structure, and a motor and an eccentric block are provided inside. Vibration is generated by eccentric rotation. The vibrator 43 is fixedly installed at the middle part of the bottom side of the separation plate seat 39 by bolts. The fungus recovery mechanism 3 also includes a debris collection box 40. The debris collection box 40 is used for collecting and storing debris, as shown in the attached Figure 2 As shown, the debris collection box 40 is supported and installed in an embedded manner on the upper part of the slot seat set at the rear part of the frame 1. The debris collection box 40 is located directly below the separation plate seat 39. A waste debris collection groove is set in the middle of the debris collection box 40. The semicircular protrusion 41 is used to block and gather the debris in the fungus. The vibration of the vibrator 43 makes the debris leak out from the debris leakage slot 42 and fall into the interior of the debris collection box 40, so as to realize the separation of the fungus and the debris. The structure is simple and the operation is reliable, which is conducive to the subsequent packaging and processing of the fungus.

[0046] According to the working principle or structural principle, when working, the two lifting servo motors 6 are started at the same time to lower the picking head 10 to the initial working position at the bottom of the frame 1, and at the same time, the mushroom bag string 4 reaches the designated working position of the picking machine through the conveying track, and then the clamping drive motor 32 is started, and the clamping rod column 29 is driven by the clamping shaft 31 to clamp and fix the mushroom bag on the upper part of the mushroom bag string 4, and then the motor stops, and the rocker motor 13 drives the picking rotating frame 15 through the connecting rod to drive the picking head 10 to move forward along the linear guide rail 12, so that The center of the notched ring 14 of the picking machine is aligned with the center of the mushroom bag, and then the rocker motor 13 stops, and then the three picking heads 10 start working under the drive of the picking drive motor 18. During work, the picking pieces of the special-shaped flexible picking stick 19 and the flexible picking stick column 20 rotate relative to each other, and the picking pieces of the special-shaped flexible picking stick 19 push the fungus toward the flexible picking stick column 20, and the two phases clamp the fungus and pick it off by relative rotation, and it falls along the dropping trough of the picking head 10 to the fungus recovery mechanism 3, and at the same time rises The descending servo motor 6 is started, and the picking head 10 moves upward at a uniform speed to pick the fungus. When the picking head 10 runs a distance of a mushroom bag, the lifting servo motor 6 stops, the rotating motor 16 starts, and the rotating gear 17 drives the notched ring 14 to rotate 40 degrees clockwise, then the rotating motor 16 stops, the lifting servo motor 6 starts, and the picking head 10 runs downward a distance of a mushroom bag, then the lifting servo motor 6 stops, the rotating motor 16 starts, and the rotating gear 17 drives the notched ring 14 to rotate 80 degrees counterclockwise, then the rotating motor 16 stops, the lifting servo motor 6 starts, and the picking head 10 runs upward a distance of a mushroom bag. When the last mushroom bag is picked, the three picking heads 10 rotate back to the initial position, and then the rocker motor 13 starts in the reverse direction to drive the picking rotating frame 15 to return to the initial position, until the lifting servo motor 6 drives the picking head 10 to descend to the lower initial working position of the frame 1, wait for the next mushroom bag string 4 to run to the working position, continue to repeat the picking of the next mushroom bag, and complete the picking operation;

[0047] Before the picking operation, the picking size of the picking machine is adjusted according to the growth of the fungus. During the adjustment, the screw drive motor 35 drives the drive screw 36 to drive the picking head 10 to slide as a whole, and the contact distance between the picking head 10 and the mushroom bag string 4 is controlled and adjusted by sliding, and the size of the picked fungus is controlled and adjusted by changing the distance size;

[0048] During the picking process, when the picking head 10 picks the mushroom bag held by the holding rod column 29, the holding rod open top block 9 pushes the holding rod open block 25 of the upper clamping sleeve 27 during the upward process of the picking head 10, and the upper clamping sleeve 27 moves upward along the notch guide groove on the upper clamping sleeve 27 by lifting, and rotates at the same time. During the process, the one-way locking structure between the upper and lower clamping sleeves 28 is loosened, and the unlocked lower clamping sleeve 28 opens the holding rod column 29 to make way for the picking head 10 under the action of the holding lower torsion spring 30. At the same time, it is subjected to the rotation effect, and the holding rod open block 25 on the upper clamping sleeve 27 rotates and slides out of the upper part of the holding rod open top block 9, and the upper clamping sleeve 27 moves along the upper clamping sleeve under the action of the holding upper compression spring 26. The guide notch groove on the sleeve 27 rotates back to its original position. When the picking head 10 continues to move up to pick the next mushroom bag after picking the current mushroom bag, the inclined surface on the returning top block 8 of the holding rod connected to the lower part of the picking head 10 presses against the bearing on the side of the lower clamping sleeve 28, so that the lower clamping sleeve 28 overcomes the torsion of the lower clamping torsion spring 30 and rotates into the one-way clamping structure between the upper clamping sleeve 27 and the lower clamping sleeve 28, and re-holds the mushroom bag, so as to give way to the work of the picking head 10. After the picking head 10 finishes picking all the mushroom bags on a mushroom bag string 4 at one time, the holding shaft 31 rotates under the drive of the holding drive motor 32 to drive the two sets of holding rod columns 29 to open, waiting for the next mushroom bag string 4 to be picked to enter the picking station;

[0049] During the picking process, when the fungus falls into the recovery bucket 37, it falls to the upper part of the separation plate seat 39 under the transportation of the fungus conveyor belt 38, and the vibrator 43 at the lower part of the separation plate seat 39 works to make the fungus fall and be discharged through vibration. At the same time, the debris mixed in the fungus that falls to the upper part of the separation plate seat 39 is blocked and gathered by the semicircular protrusion 41 and falls from the debris leakage groove 42 to the inside of the debris collection box 40, completing the separation and removal of the debris.

[0050] In summary, the utility model adopts the cooperation of the self-picking mechanism 2, the wood ear recovery mechanism 3 and the mushroom bag clamping and fixing mechanism 5 to realize the automated picking structure of the mushroom bag string 4, the fixing, picking and collection and picking of the wood ear, and the automation of the wood ear picking operation on the basis of the automatic bag hanging and automatic cultivation rack in the factory cultivation link, which can realize the automation of the wood ear picking operation without large manpower consumption, and can realize the automated planting and picking of the wood ear, adopts the lifting and rotating picking structure, utilizes the lifting servo motor 6 to lift and drive the lifting platform, and uses the picking rotating frame 15 to cooperate with the notched ring 14 to rotate the picking head 10, and during the picking operation, the clamping drive motor 32 drives the clamping shaft 31 to drive the clamping The rod column 29 clamps and fixes the mushroom bag string 4, and a plurality of picking heads 10 are provided. The reciprocating lifting motion of the picking head 10 cooperates with the rotation and displacement of the notched ring 14 to efficiently complete the picking process of the wood ear on the upper part of the mushroom bag string 4, and has a higher picking efficiency than similar equipment. The special-shaped flexible picking stick 19 cooperates with the flexible picking stick column 20 to flexibly clamp and pick the wood ear, which can effectively improve the picking integrity of the wood ear, and the picking head 10 is slidably installed through the slide groove structure. Under the cooperative drive of the screw drive motor 35 and the drive screw 36, the lateral spacing of the picking head 10 can be controlled and adjusted, and the picking of the wood ear can be achieved by changing the contact spacing between the picking head 10 and the mushroom bag string 4. The control and adjustment of the size greatly improves the working flexibility of the device. The mushroom bag holding and fixing mechanism 5 adopts an autonomous avoidance structure setting. The holding rod column 29 is turned over and installed on the upper part of the holding shaft 31 through the lower clamping sleeve 28. The upper clamping sleeve 27 and the lower clamping sleeve 28 are connected by a one-way clamping structure, and the upper parts of the upper clamping sleeve 27 and the lower clamping sleeve 28 are provided with a notch guide groove. When the picking mechanism 2 is shifted and moved upward, the holding rod support block 9 and the holding rod support block 25 on the side of the upper clamping sleeve 27 are supported and guided, so that the one-way clamping structure can be unlocked, and the holding rod column 29 can be turned over and opened to avoid it in cooperation with the drive of the torsion spring. After the shift is completed, the holding rod is used to return to its original position. The support and guidance of the top block 8 and the side guide bearings of the upper clamping sleeve 27 can realize the flipping, closing and resetting of the clamping rod column 29. The structure is simple and the operation is reliable. The operation is automatic throughout the process without the need for additional driving structure and human participation, which greatly improves the operating convenience of the device. A separation plate seat 39 and a vibrator 43 are arranged at the rear of the fungus conveyor belt 38. A semicircular protrusion 41 and a slag leakage groove 42 are arranged on the upper part of the separation plate seat 39. The semicircular protrusion 41 is used to block and gather the debris in the fungus. The vibration of the vibrator 43 makes the debris leak out of the slag leakage groove 42 and fall into the debris collection box 40, so as to realize the separation of the fungus and the debris. The structure is simple and the operation is reliable, which is beneficial to the subsequent packaging and processing of the fungus.

[0051] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All of these combinations and / or combinations fall within the scope of the present invention.

Claims

1. An assembly line type fungus picking machine, comprising a frame (1) for picking fungus from the upper part of a fungus bag string (4), a picking mechanism (2), a fungus recovery mechanism (3) and a fungus bag clamping and fixing mechanism (5), characterized in that: The picking mechanism (2) is arranged in the middle of the frame (1), and is used for separating and picking the fungus. The picking mechanism (2) comprises a lifting drive component, a picking telescopic component, and a picking rotating component; The fungus recovery mechanism (3) is arranged at the lower part of the frame (1), and is used for recovery and transportation of fungus. The fungus recovery mechanism (3) comprises a recovery bucket seat (37), a fungus conveyor belt (38) and a separation plate seat (39). The fungus conveyor belt (38) conveys the fungus in the recovery bucket seat (37) to the upper part of the separation plate seat (39). The upper part of the separation plate seat (39) is provided with a semicircular protrusion (41) and a slag leakage notch (42), and the lower part of the separation plate seat (39) is provided with a vibrator (43); The mushroom bag clamping and fixing mechanism (5) is arranged on the front side of the frame (1), and is used for clamping and fixing the mushroom bag string (4). The mushroom bag clamping and fixing mechanism (5) comprises a clamping upper compression spring (26), an upper clamping sleeve (27), a lower clamping sleeve (28), a clamping rod column (29), a clamping lower torsion spring (30), a clamping rotating shaft (31) and a clamping driving motor (32). The clamping driving motor (32) is installed on the lower part of the clamping shaft (31), the clamping upper compression spring (26) and the clamping lower torsion spring (30) are both installed on the upper part of the clamping shaft (31), the clamping rod column (29) is installed on the upper part of the clamping shaft (31) through the lower clamping sleeve (28), the upper clamping sleeve (27) is unidirectionally clamped and installed on the upper part of the lower clamping sleeve (28), and a clamping rod support block (25) is provided on the side of the upper clamping sleeve (27).

2. The assembly line fungus picking machine according to claim 1, characterized in that: The lifting drive assembly is used for lifting and driving the picking rotating assembly, and the lifting drive assembly comprises a lifting platform, a lifting servo motor (6) and a lifting drive gear (7). The sides of the frame (1) are provided with lifting slide rails, and the lifting platform is slidably installed in the middle of the frame (1) through the lifting slide rails. There are two lifting servo motors (6), and the two lifting servo motors (6) are respectively fixedly installed on the two sides of the lifting platform. The lifting drive gear (7) is fixedly installed on the rotating shaft end of the lifting servo motor (6). The rear side of the frame (1) is provided with a lifting drive tooth groove (33), and the lifting drive gear (7) is meshed and connected with the lifting drive tooth groove (33).

3. The assembly line fungus picking machine according to claim 2, characterized in that: The picking telescopic assembly is used for the telescopic sliding drive of the picking rotating assembly, and the picking telescopic assembly comprises a driving connecting rod (11), a linear guide rail (12) and a rocker motor (13); the rocker motor (13) is fixedly mounted on the upper part of the lifting platform; one end of the driving connecting rod (11) is mounted on the rotating shaft end of the rocker motor (13) through an eccentric rotating disk; the linear guide rail (12) is mounted on the middle side of the lifting platform; and the picking rotating assembly is movably mounted on the front part of the lifting platform through the linear guide rail (12).

4. The assembly line type fungus picking machine according to claim 3, characterized in that: The picking rotating assembly is used for separating and picking wood ear mushrooms. The picking rotating assembly comprises a picking head (10), a notched ring (14), a picking rotating frame (15), a rotating motor (16), a picking driving motor (18), a special-shaped flexible picking stick (19) and a flexible picking stick column (20). The picking rotating frame (15) is horizontally slidably mounted on the front part of the lifting platform through a bracket and a linear guide rail (12), and the other end of the driving connecting rod (11) is hingedly mounted on the rear part of the picking rotating frame (15).

5. The assembly line type fungus picking machine according to claim 4, characterized in that: The notched circular ring (14) is rotatably mounted in the middle of the front side of the picking rotating frame (15); the rotating motor (16) is fixedly mounted on the rear part of the picking rotating frame (15); a rotating gear (17) is fixedly mounted on the rotating shaft end of the rotating motor (16); a tooth groove is arranged on the outer peripheral side of the notched circular ring (14); the rotating gear (17) is meshedly connected with the tooth groove; a plurality of picking heads (10) are provided; a mounting support (34) is fixedly mounted on the upper part of the picking head (10) by bolts; a plurality of picking heads (10) are evenly distributed in a circumferential shape and mounted on the lower part of the notched circular ring (14) through the mounting support (34); and the clamping upper compression spring (26) is mounted on the upper part of the upper clamping sleeve (27).

6. The assembly line fungus picking machine according to claim 5, characterized in that: The upper part of the picking head (10) is provided with a connecting slide block, the side of the mounting support (34) is provided with a connecting slide groove, the connecting slide block is slidably mounted on the inner side of the connecting slide groove, the rear part of the picking head (10) is fixedly mounted with a screw drive motor (35), the rotating shaft end of the screw drive motor (35) is fixedly mounted with a driving screw (36), the middle part of the rear side of the mounting support (34) is provided with a driving screw hole, the front end of the driving screw (36) is threadedly connected to the inner side of the driving screw hole, the special-shaped flexible picking stick (19) and the flexible picking stick column (20) are both rotatably mounted on the front side middle part of the picking head (10) through the rotating shaft, The picking drive motor (18) is fixedly mounted on the inner upper part of the picking head (10); a picking motor gear (21) is fixedly mounted on the rotating shaft end of the picking drive motor (18); a special-shaped picking stick gear (23) and a picking stick column gear (24) are respectively mounted on the rotating shaft ends of the special-shaped flexible picking stick (19) and the flexible picking stick column (20); a transmission gear (22) is mounted in meshing transmission between the picking motor gear (21) and the special-shaped picking stick gear (23); the special-shaped picking stick gear (23) is meshed with the lower part of the transmission gear (22); and the picking stick column gear (24) is meshedly connected with the side of the special-shaped picking stick gear (23).

7. The assembly line fungus picking machine according to claim 6, characterized in that: The clamping shaft (31) and the clamping drive motor (32) are each provided with two groups, and the two groups of the clamping shaft (31) are rotatably mounted on both sides of the front part of the frame (1), respectively, and the clamping drive motor (32) is fixedly mounted on the side of the frame (1), and the drive shaft of the clamping drive motor (32) is fixedly connected to the bottom end of the clamping shaft (31), and the upper clamping sleeve (27) and the lower clamping sleeve (28) are each provided with a plurality of them, and the upper clamping sleeve (27) and the lower clamping sleeve (28) are both mounted on the upper part of the clamping shaft (31), and the upper clamping sleeve (27) and the lower clamping sleeve (28) are provided with a one-way locking structure, and the upper clamping sleeve (27) and the lower clamping sleeve (28) are engaged and locked through the one-way locking structure, and the clamping lower torsion spring (30) is installed at the lower part of the lower clamping sleeve (28), and the clamping rod column (29) is fixedly mounted on the side of the lower clamping sleeve (28).

8. The assembly line fungus picking machine according to claim 7, characterized in that: The upper parts of the upper clamping sleeve (27) and the lower clamping sleeve (28) are both provided with notched guide grooves, the upper part of the clamping shaft (31) is provided with a fixing pin, and the fixing pin is engaged with the notched guide groove. The clamping rod support block (25) is fixed to the rear side of the upper clamping sleeve (27), and the two sides of the lifting platform are fixedly installed with clamping rod support top blocks (9), and the position of the clamping rod support top blocks (9) corresponds to the position of the clamping rod support block (25). The lower parts of both sides of the lifting platform are fixedly installed with clamping rod return top blocks (8), and the sides of the lower clamping sleeve (28) are provided with guide bearings, and the position of the clamping rod return top blocks (8) corresponds to the position of the guide bearings.

9. The assembly line type fungus picking machine according to claim 1, characterized in that: The recovery bucket seat (37) is fixedly installed on the lower part of the frame (1), the wood ear conveyor belt (38) is installed on the side of the recovery bucket seat (37), the separation plate seat (39) is obliquely docked and installed on the lower part of the side of the wood ear conveyor belt (38), the semicircular protrusions (41) are evenly arranged on the upper part of the separation plate seat (39), the slag leakage notch (42) is opened through the upper part of the separation plate seat (39), the slag leakage notch (42) is located on the side of the semicircular protrusion (41), and the vibrator (43) is fixedly installed on the middle part of the bottom side of the separation plate seat (39) by bolts.

10. The assembly line type fungus picking machine according to claim 9, characterized in that: The wood ear recovery mechanism (3) also includes a debris collection box (40), which is supported and mounted on the upper part of a slot seat provided at the rear of the frame (1). The debris collection box (40) is located directly below the separation plate seat (39), and a waste residue collection slot is provided in the middle of the debris collection box (40).

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