Needle mushroom picking mechanism

Abstract

The utility model discloses a flammulina velutipes picking mechanism which comprises the components of a supporting arm of which one end rotates on a movable block which is controlled to lift and the middle part is fixedly connected with a fixed block; the two sides of the fixing block are perpendicular to the supporting arms and form a cross-shaped structure. The clamping component is mounted at the other end of the supporting arm and is configured to clamp the peripheral side of the needle mushroom bag; the steering component comprises a steering part which is located below the fixing block and is driven to rotate in the circumferential direction; the jacking part comprises a jacking rod connected to the steering part; wherein the upper end of the ejector rod is higher than the lower end of the fixing block, the upper end of the ejector rod periodically abuts against the lower ends of the two sides of the fixing block along with rotation of the steering piece, and during abutting, the supporting arm rotates by a certain angle around the axis. The needle mushroom bag loosening device is simple and compact in structure, under the condition that a needle mushroom bag is clamped, loosening between the needle mushroom bag and a culture medium is achieved, the needle mushroom bag is pulled out more easily, it is guaranteed that the needle mushroom bag keeps integrity when pulled out, and damage to hyphae and stipes is reduced.

Description

Technical Field

[0001] The utility model relates to an edible mushroom picking technology, belongs to the field of mechanical arms, and specifically relates to an edible mushroom picking mechanism. Background Art

[0002] Enoki mushrooms are nutritious edible fungi. When growing them, the strains need to be inoculated into nutrient bottles or other suitable growth media, and a certain temperature, humidity, and ventilation environment must be maintained to promote the germination of mycelium and colonization at the bottom of the bottle to form white hair-like substances, namely "mycorrhizae", so that the mycelium of Enoki mushrooms can extend toward the bottle wall and penetrate into it to form a strong stipe structure.

[0003] After the enoki mushrooms mature, they enter the harvesting stage. Manual harvesting cannot meet the harvesting needs. For example, the indoor environment of enoki mushrooms must maintain a certain humidity and temperature. Staying in such an environment for a long time will cause human discomfort. Some people use robotic arms to harvest enoki mushrooms in nutrient bottles. The main method is to fix the nutrient bottle, first clamp the enoki mushroom stems with a clamping hand, and then pull the enoki mushroom stems upward as a whole. This method has the following problems: directly picking upwards will cause damage to the enoki mushrooms, that is, the mycelium and stipes of enoki mushrooms are relatively fragile. Directly pulling upwards will directly disconnect the connection between the enoki mushrooms and the culture medium, which may cause the mycelium to break or even damage the mushroom body, affecting the yield and quality of the enoki mushrooms. Summary of the Invention

[0004] The utility model aims to provide a enoki mushroom picking mechanism with a simple and compact structure. When the enoki mushroom bag is clamped, the enoki mushroom bag and the culture medium are loosened, making it easier to pull out, ensuring that the enoki mushroom bag maintains its integrity when being pulled out, and reducing damage to the mycelium and stipe.

[0005] To achieve the above purpose, the present invention provides a mechanism for picking golden needle mushrooms, comprising:

[0006] The support arm has one end that rotates on a movable block that is controlled to rise and fall, and a fixed block is fixedly connected in the middle; the two sides of the fixed block are perpendicular to the support arm and form a cross structure;

[0007] a clamping member mounted on the other end of the support arm and configured to clamp the circumference of the enoki mushroom package;

[0008] The steering component comprises: a steering member, which is located below the fixed block and is driven to rotate circumferentially;

[0009] The jacking component includes: a jack connected to the steering member;

[0010] Among them, the upper end of the push rod is higher than the lower end of the fixed block. As the steering member rotates, the upper end of the push rod periodically presses on the lower ends of both sides of the fixed block, and when pressing, the support arm rotates a certain angle around the axis.

[0011] In some examples of the present invention, the upper end of the steering member is a ring;

[0012] The ring body is provided with a through groove which penetrates radially and is for the fixing block to be embedded in, and the lifting component is located in the through groove;

[0013] When the fixing block is in a horizontal arrangement, the upper end of the ring body is not higher than the lower end of the fixing block.

[0014] In some examples of the present invention, a first arc surface is used for smooth transition between the upper end of the ring body and the through groove;

[0015] The fixing blocks are located at the lower ends of both sides of the support arm in the axial direction and adopt a second arc surface for smooth transition.

[0016] Furthermore, the lifting component further includes:

[0017] A sleeve is fixedly connected to the through-groove;

[0018] An elastic member is sleeved on the push rod and located in the sleeve, with one end contacting the middle of the push rod;

[0019] The push rod slides and passes through the sleeve, and the upper end can be elastically pressed on the fixed block.

[0020] Furthermore, the lifting component further includes:

[0021] An adjusting block is coaxially threadedly mounted on the lower end of the sleeve, and an upper end of the adjusting block contacts the elastic member;

[0022] The middle part of the push rod is threadedly connected with an adjusting ring, and the lower end of the adjusting ring is in contact with the elastic part.

[0023] In some examples of the present invention, the lifting components are a pair and are correspondingly located on both sides of the through slot;

[0024] In the non-pressing state, the push rod in one of the lifting components is higher than the push rod in the other lifting component.

[0025] In some examples of the present invention, the clamping member includes:

[0026] A pair of clamping plates, the middle parts of which are mounted on the support arms and rotate together to form an X-shaped structure;

[0027] One end of the clamping plate extends away from the support arm and is used to act on the circumference of the enoki mushroom package;

[0028] The driving member is a telescopic dual-output structure with the output axis perpendicular to the axis of the support arm, and each output end is movably connected to the other end of the clamping plate through a connecting rod; or the driving member is a telescopic single-output structure with the output axis aligned with the axis of the support arm, one end of a pair of connecting rods is rotatably connected to one end of a pair of clamping plates, and the other end is rotatably connected to the output end of the electric cylinder;

[0029] Among them, a pair of connecting rods are arranged in an "eight" shape.

[0030] Furthermore, a clamping cover is provided at one end of the clamping plate extending outward;

[0031] The clamping cover is an arc-shaped shell structure that is wide at the bottom and narrow at the bottom, and a spring is provided between the clamping cover and the clamping plate.

[0032] In some examples of the present invention, the support arm is provided with a first slotted hole in the axial direction and a second slotted hole in the radial direction at the position of the driving member;

[0033] The second slot is communicated with the first slot, so that the lead of the driving member is led out from one side of the movable block.

[0034] In some examples of the present invention, the movable block slides up and down on the fixed member via a slide rail assembly;

[0035] The cylinder is installed on the fixed part, and the telescopic end is connected to the movable block.

[0036] Compared with the prior art, the present invention provides a vellum picking mechanism with a steering member driven to rotate circumferentially below the fixed block. As the steering member rotates, the upper end of the push rod periodically presses against the lower ends of both sides of the fixed block. Therefore, when the vellum bag is clamped, when the steering member rotates one circle, the push rod presses against the two ends of the fixed block in turn, and the support arm rotates clockwise / counterclockwise around the axis, respectively, which can loosen the connection between the vellum bag and the culture medium to make it easier to pull out, thereby ensuring that the vellum bag remains intact when being pulled out and reducing damage to the mycelium and stipe.

[0037] Since the upper end of the ring body and the through-groove adopt a first arc surface for smooth transition, and the lower end of the fixed block adopts a second arc surface for transition, when the steering member rotates, the push rod smoothly cuts in / out of the lower end of the fixed block, and the fixed block smoothly cuts in / out of the through-groove, which not only avoids dead points in the cutting-in / cut-out action, but also makes the rotation of the support arm smoother, and the enoki mushroom bag is swung left and right with "flexibility", loosening the connection between the enoki mushroom bag and the culture medium, avoiding the loss of the enoki mushroom bag caused by rigid swing;

[0038] Since the lifting component includes an elastic part mounted on the push rod, when the push rod contacts the two sides of the fixed block in turn, the push rod can appropriately compress the spring downward according to the force, so as to appropriately reduce the swing amplitude of the fixed block and realize flexible swing of the enoki mushroom bag; in addition, the adjusting block can adjust the initial elastic force of the elastic part, and the adjusting ring can adjust the protruding length of the upper end of the push rod. By adjusting the elastic force of the elastic part and the protruding length of the push rod, it is suitable for different picking environments of the enoki mushroom bag. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is the overall front view of the utility model;

[0040] Figure 2 It is an overall top view of the utility model;

[0041] Figure 3 It is an overall schematic diagram of the utility model (ignoring the fixed cover and the movable block);

[0042] Figure 4 It is a schematic diagram of the support arm in the utility model;

[0043] Figure 5 It is a schematic diagram of the steering member in the present utility model;

[0044] Figure 6 This is the front view of the assembly of the lifting component and the steering component in the utility model;

[0045] Figure 7 This is a left view of the present invention showing the clamping component swinging clockwise / counterclockwise under the rotation of the steering member;

[0046] In the figure: 10, support arm, 11, fixing block, 12, first slot, 13, second slot;

[0047] 21. Clamping plate, 22. Clamping cover, 23. Driving member, 24. Connecting rod;

[0048] 31. Fixed cover, 32. Motor;

[0049] 40. Fixing piece, 41. Strip groove, 42. Slide rail assembly;

[0050] 50. Steering member, 51. Through-groove, 52. First arc surface, 53. Ring body;

[0051] 60. Lifting component, 61. Push rod, 62. Sleeve, 63. Adjusting block, 64. Elastic member, 65. Adjusting ring;

[0052] 71. Cylinder, 72. Movable block. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the specific embodiments of the present invention. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the specification and claims of the present utility model patent application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "a" or "an" do not necessarily indicate a quantity limitation. Words such as "include" or "comprising" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0055] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 As shown, the present invention provides a mechanism for picking golden needle mushrooms, comprising:

[0056] The support arm 10 has one end that rotates on the movable block 72 that is controlled to rise and fall, and a fixed block 11 is fixedly connected to the middle; both sides of the fixed block 11 extend perpendicular to the axial direction of the support arm 10;

[0057] A clamping member, mounted on the other end of the support arm 10 and configured to clamp the circumference of the enoki mushroom package;

[0058] The steering component includes a steering member 50, which is located below the fixed block 11 and is driven to rotate circumferentially;

[0059] The lifting component 60 includes: a lifting rod 61 connected to the steering member 50;

[0060] The upper end of the push rod 61 is higher than the lower end of the fixed block 11. As the steering member 50 rotates, the upper end of the push rod 61 periodically presses against the lower ends of both sides of the fixed block 11. When pressing, the support arm 10 rotates around the axis by a certain angle.

[0061] Specifically, the support arm 10 can be made of a steel pipe structure, one end of which is rotatably mounted on the movable block 72 through a bearing. The movable block 72 can be mounted on the robotic arm to achieve movement and rotation in the x, y, and z axis directions in space, that is, to ensure the positioning of the support arm 10 within the spatial range; the fixed block 11 is a strip-shaped structure and can be welded or bolted to the middle of the support arm 10. The fixed block 11 and the support arm 10 form a cross structure;

[0062] A clamping component, used for clamping the enoki mushroom package, which can adopt a traditional structure;

[0063] The steering component is used to support the arm 10 to rotate. The middle part of the steering component 50 can be connected to the motor 32. The motor 32 can be a servo motor and can be controlled by the controller to rotate accurately. Figure 1 As shown, the steering component may also include a fixed cover 31, which is arranged on the outside of the steering member 50 and the fixed block 11 to protect them;

[0064] When the golden needle mushroom picking mechanism is in use, the nutrient bottles containing golden needle mushroom packages are transported one by one in a conveying device, for example, the conveying device includes a plurality of rollers arranged side by side and a pair of belts arranged at intervals; the pair of belts form a channel for the nutrient bottles to pass through, and each belt is wound around the outside of a roller arranged vertically and contacts the nutrient bottles to transport them on the rollers;

[0065] like Figure 7 As shown, the clamping component approaches the enoki mushroom bag and clamps it circumferentially, the steering member 50 is driven to rotate, and the push rod 61 on the steering member 50 rotates circumferentially. When the steering member 50 rotates and presses one end of the fixed block 11, that is, one end of the fixed block 11 is raised, the support arm 10 rotates clockwise around the axis by a certain angle. When the steering member 50 rotates and presses the other end of the fixed block 11, the other end of the fixed block 11 is raised, and the support arm 10 rotates counterclockwise around the axis by a certain angle. When the steering member 50 rotates and does not contact the fixed block 11, the fixed block 11 is in a horizontal state.

[0066] When the enoki mushroom bag is clamped, the steering member 50 rotates one circle, so that the push rod 61 presses against the two ends of the fixed block 11 respectively, and the support arm 10 rotates clockwise / counterclockwise around the axis respectively, which can loosen the connection between the enoki mushroom bag and the culture medium (left and right), making it easier to pull out, ensuring that the enoki mushroom bag maintains its integrity when being pulled out, and reducing damage to the mycelium and stipe;

[0067] Then the movable block 72 can be lifted to pull out the whole package of the golden needle mushroom; it is illustrated that the rotation angle of the support arm 10 around the axis should not be too large, and the rotation time of the turning part 50 should not be too short, so as to effectively avoid the left and right swing amplitude and frequency of the clamping part to the golden needle mushroom package.

[0068] In some examples of the utility model, as shown in Figure 5 The upper end of the turning part 50 is a ring body 53;

[0069] The ring body 53 is provided with a through groove 51 for embedding the fixed block 11, and the jacking part 60 is located in the through groove 51;

[0070] When the fixed block 11 is arranged horizontally, the upper end of the ring body 53 is not higher than the lower end of the fixed block 11;

[0071] Specifically, when the initial jack rod 61 does not press the fixed block 11, the upper end of the ring body 53 is slightly lower than the lower end of the fixed block 11, which is used for supporting the fixed block 11 through the upper end of the ring body 53, so that the clamping part is in a horizontal clamping state, and the positioning of the clamping part to the golden needle mushroom package is more convenient;

[0072] When the jack rod 61 contacts one end of the fixed block 11 and the support arm 10 rotates, the other end of the fixed block 11 is embedded in the through groove 51, so as to avoid the interference of the ring body 53 to the fixed block 11 and ensure the left and right swing of the support arm 10.

[0073] Further, the first arc surface 52 is used for smoothly transitioning between the upper end of the ring body 53 and the through groove 51;

[0074] The lower end of the fixed block 11 on both sides of the axial direction of the support arm 10 is transitioned by the second arc surface;

[0075] Specifically, the ring body 53 and the through groove 51 are smoothly transitioned, so that the fixed block 11 can smoothly enter / exit the through groove 51; the two sides of the fixed block 11 are transitioned by the second arc surface, so that the upper end of the jack rod 61 smoothly presses the fixed block 11; therefore, when the turning part 50 rotates, the jack rod 61 smoothly cuts into / cuts out the lower end of the fixed block 11, and the fixed block 11 smoothly cuts into / cuts out the through groove 51, which not only avoids the dead point of the cutting-in / cutting-out action, but also makes the rotation of the support arm 10 more smooth, so as to swing the golden needle mushroom package in a "flexible" manner, loosen the connection between the golden needle mushroom package and the culture medium, and avoid the loss of the golden needle mushroom package caused by rigid swing.

[0076] In some examples of the utility model, as shown in Figure 6 The jacking part 60 further comprises:

[0077] The sleeve 62 is fixedly connected at the through groove 51;

[0078] The elastic member 64 is sleeved on the jacking rod 61 and located in the sleeve 62, and one end is in contact with the middle part of the jacking rod 61;

[0079] The jacking rod 61 slides and penetrates through the sleeve 62, and the upper end can be elastically pressed on the fixed block 11;

[0080] Specifically, the lower end of the sleeve 62 is closed and provided with an inner cavity, and the sleeve 62 is fixed on the steering member 50 through bolts;

[0081] The elastic member 64 can be a cylindrical spring, which is sleeved on the jacking rod 61,

[0082] When the steering member 50 rotates one circle, the jacking rod 61 is in contact with the two ends of the fixed block 11 in turn, and at the same time of contact, the jacking rod 61 can be appropriately compressed downward according to the force to appropriately reduce the swing amplitude of the fixed block 11, so as to realize the flexible swing of the enoki mushroom bag.

[0083] Further, the jacking assembly 60 further comprises:

[0084] The adjusting block 63 is coaxially and screwedly installed at the lower end of the sleeve 62, and the upper end of the adjusting block 63 is in contact with the elastic member 64;

[0085] The jacking rod 61 is screwedly connected with the adjusting ring 65 at the middle part, and the lower end of the adjusting ring 65 is in contact with the elastic member 64;

[0086] Specifically, the adjusting block 63 is screwedly connected with the sleeve 62, and the position of the adjusting block 63 on the axis of the sleeve 62 can be adjusted;

[0087] The middle part of the jacking rod 61 is provided with the adjusting ring 65, that is, the elastic member 64 is located between the adjusting ring 65 and the adjusting block 63, and the adjusting ring 65 and the adjusting block 63 are screwedly connected for position adjustment, that is, the adjusting block 63 can adjust the initial elastic force of the elastic member 64, for example, when the adjusting block 63 moves downward, the spring in the sleeve 62 is relatively elongated, and the jacking rod 61 is subjected to reduced spring force;

[0088] The adjusting ring 65 can adjust the extension length of the upper end of the jacking rod 61, for example, when the adjusting ring 65 moves upward, the adjusting ring 65 is limited by the sleeve 62, at this time, the extension length of the upper end of the jacking rod 61 is reduced, and the swing amplitude of the support arm 10 is reduced, so that the present example is suitable for different picking environments of the enoki mushroom bag through the adjustment of the elastic force of the elastic member 64 and the extension length of the jacking rod 61.

[0089] In some examples of the present application, the jacking assembly 60 is a pair and is located on the two sides of the through groove 51;

[0090] In a non-pressing state, the jacking rod 61 in one of the jacking assemblies 60 is higher than the jacking rod 61 in the other jacking assembly 60;

[0091] Specifically, the jacking component 60 with the higher top rod 61 is defined as A, and the jacking component 60 with the lower top rod 61 is defined as B;

[0092] The jacking component 60A is used for jacking and lifting the fixed block 11, and the jacking component 60B is used for limiting the fixed block 11, that is, in the initial state, the jacking component 60 is staggered with the fixed block 11, the upper end of the ring body 53 supports the fixed block 11 to ensure that the fixed block 11, the support arm 10 and the clamping component are in a horizontal state, the top rod 61A in the jacking component 60A is higher than the upper end of the ring body 53, the top rod 61B in the jacking component 60B is lower than the upper end of the ring body 53, when the top rod 61A contacts one end of the fixed block 11, the top rod 61A drives the fixed block 11 to be jacked and lifted, the other end of the fixed block 11 gradually approaches the top rod 61B downward, and is limited by the top rod 61B, so that the fixed block 11 is prevented from being embedded in the through groove 51 due to being too low, and the top rod 61B can control the jacking and lifting amount of the top rod 61A.

[0093] In some examples of the utility model, as shown in Figure 1 、 Figure 2 、 Figure 3 The clamping component comprises:

[0094] a pair of clamping plates 21, which are rotatably installed at the middle portions of the support arms 10 and form an X-shaped structure;

[0095] One end of each clamping plate 21 extends away from the support arm 10 and is used for acting on the side of the needle mushroom package;

[0096] The driving member 23 has a telescopic double-output structure and the output axis is perpendicular to the axis of the support arm 10, and each output end is movably connected to the other end of the clamping plate 21 through a connecting rod 24;

[0097] The pair of connecting rods 24 are arranged in the shape of an "8";

[0098] Preferably, the driving member 23 is an electric cylinder, the electric cylinder can have a double-output structure, the two ends of the connecting rod 24 are connected to the output ends of the driving member 23 and one end of the clamping plate 21 respectively, and the pair of connecting rods 24 arranged in the shape of an "8" can ensure the action of the clamping plate 21;

[0099] In this example, the electric cylinder is started, the output ends are elongated or contracted, the included angle between the pair of connecting rods 24 changes, and one end of the clamping plate 21 is driven to move closer to or away from each other, so that the other end of the pair of clamping plates 21 moves closer to or away from each other correspondingly, thereby realizing the clamping and releasing of the needle mushroom package;

[0100] In addition, the driving member 23 can also be a single-output electric cylinder. In this case, the output axis of the electric cylinder is consistent with the axis of the support arm 10, and a pair of connecting rods 24 are arranged in an "eight" shape. One end of the pair of connecting rods 24 is correspondingly connected to one end of a pair of clamping plates 21, and the other end is connected to the output end of the electric cylinder. Similarly, after the electric cylinder is started, the angle between the pair of connecting rods 24 is driven to change, so that one end of the clamping plates 21 approaches or moves away from each other, and the other end of the pair of clamping plates 21 approaches or moves away from each other accordingly, thereby realizing the clamping and lowering of the enoki mushroom bag.

[0101] Further, such as Figure 1 、 Figure 2 As shown, a clamping cover 22 is provided at one end of the clamping plate 21 extending outward;

[0102] The clamping cover 22 is an arc-shaped shell structure that is wide at the bottom and narrow at the bottom, and a spring is provided between the clamping cover 22 and the clamping plate 21;

[0103] Specifically, during the actual picking process, the lower end of the Enoki mushroom package is located in the nutrient bottle, and the upper end of the stem extends upward and outward, that is, the Enoki mushroom package as a whole is similar to a frustum structure;

[0104] A clamping cover 22 is provided at one end of each clamping plate 21. The clamping cover 22 can match the circumference of the enoki mushroom package. A spring is provided between the clamping cover 22 and the clamping plate 21 to effectively buffer the clamping.

[0105] In some examples of the present invention, Figure 4 As shown, the support arm 10 is provided with a first slot 12 in the axial direction and a second slot 13 in the radial direction at the position of the driving member 23;

[0106] The second slot 13 is connected to the first slot 12, so that the wire of the driving member 23 is led out from one side of the movable block 72;

[0107] Specifically, the wires of the driving member 23 are led out from the second slot 13 and the first slot 12 to the outside, so as to hide the circuit and make the overall appearance more beautiful; in addition, a third slot connected to the first slot 12 may be provided on the support arm 10, and the third slot is located at the fixed block 11. The wires of the motor 32 that drives the steering member 50 to rotate can be led out from the third slot and the first slot 12.

[0108] In some examples of the present invention, Figure 1 、 Figure 2 As shown, the movable block 72 slides up and down on the fixed member 40 through the slide rail assembly 42;

[0109] The cylinder 71 is mounted on the fixed member 40 and its telescopic end is connected to the movable block 72;

[0110] Specifically, when the clamping components clamp the enoki mushroom bag, the support arm 10 swings left and right, the air cylinder 71 is started to drive the support slider to slide upward, and the clamped enoki mushroom bag is moved upward and pulled out as a whole.

[0111] In addition, the fixing member 40 can be provided with a strip-shaped groove 41 for sliding of the support arm 10.

[0112] In the initial state, the top rod 61 in the jacking component 60 is staggered with the fixed block 11, at this time, the fixed block 11 can be supported by the ring body 53 at the upper end of the turning member 50, so as to ensure that the fixed block 11 and the support arm 10 are horizontal, and the clamping components can be positioned to clamp the enoki mushroom bag; when the driving member 23 is started, one end of the pair of clamping plates 21 is driven to approach each other, so that the other end of the pair of clamping plates 21 approaches each other correspondingly, completing the clamping of the enoki mushroom bag.

[0113] Subsequently, the turning member 50 can be driven to rotate one circle by the motor 32, and the top rod 61 on the turning member 50 is in turn pressed and lifted at both ends of the fixed block 11, that is, the support arm 10 is rotated in the clockwise direction / in the counterclockwise direction around the shaft, so as to loosen the connection between the enoki mushroom bag and the culture medium, so that the enoki mushroom bag is more easily pulled out, ensuring the integrity of the enoki mushroom bag when pulled out, and reducing the damage to the mycelium and the stipe.

[0114] Then, the movable block 72 moves upward under the action of the air cylinder 71 to pull out the enoki mushroom bag as a whole.

[0115] The above describes in detail the exemplary embodiment of the enoki mushroom picking mechanism according to the preferred embodiment, however, those skilled in the art can understand that various modifications and improvements can be made to the above specific embodiments without departing from the concept of the present application, and various technical features and structures of the present application can be combined without departing from the protection scope of the present application, and the protection scope of the present application is determined by the appended claims.

Claims

1. A mechanism for picking golden needle mushrooms, characterized in that: include: The support arm (10) has one end that rotates on a movable block (72) that is controlled to rise and fall, and a fixed block (11) is fixedly connected to the middle portion; both sides of the fixed block (11) are perpendicular to the support arm (10) and form a cross structure; A clamping component, mounted on the other end of the support arm (10) and configured to clamp the circumference of the enoki mushroom package; The steering component comprises: a steering member (50), the steering member (50) is located below the fixed block (11) and is driven to rotate circumferentially; A lifting component (60) includes: a lifting rod (61) connected to the steering member (50); The upper end of the push rod (61) is higher than the lower end of the fixed block (11). As the steering member (50) rotates, the upper end of the push rod (61) periodically presses against the lower ends of both sides of the fixed block (11), and when pressing, the support arm (10) rotates around the axis by a certain angle.

2. The enoki mushroom picking mechanism according to claim 1, characterized in that: The upper end of the steering member (50) is a ring body (53); The ring body (53) is provided with a through groove (51) which penetrates radially and is used for the fixing block (11) to be embedded, and the lifting component (60) is located in the through groove (51); When the fixing block (11) is in a horizontal arrangement, the upper end of the ring body (53) is not higher than the lower end of the fixing block (11).

3. The enoki mushroom picking mechanism according to claim 2, characterized in that: A first arc surface (52) is used to smoothly transition between the upper end of the ring body (53) and the through groove (51); The fixing blocks (11) are located at the lower ends of both sides of the axial direction of the support arm (10) and adopt a second arc surface for smooth transition.

4. The enoki mushroom picking mechanism according to claim 2, characterized in that: The lifting component (60) further includes: A sleeve (62) is fixedly connected to the through groove (51); An elastic member (64) is sleeved on the push rod (61) and is located in the sleeve (62), with one end contacting the middle of the push rod (61); The push rod (61) slides and passes through the sleeve (62), and the upper end can be elastically pressed on the fixed block (11).

5. The enoki mushroom picking mechanism according to claim 4, characterized in that: The lifting component (60) further includes: An adjusting block (63) is coaxially threadedly mounted on the lower end of the sleeve (62), and the upper end of the adjusting block (63) is in contact with the elastic member (64); The middle part of the push rod (61) is threadedly connected with an adjusting ring (65), and the lower end of the adjusting ring (65) is in contact with the elastic member (64).

6. The enoki mushroom picking mechanism according to any one of claims 2 to 5, characterized in that: The lifting components (60) are a pair and are correspondingly located on both sides of the through slot (51); In the non-pressing state, the push rod (61) in one of the lifting components (60) is higher than the push rod (61) in the other lifting component (60).

7. The enoki mushroom picking mechanism according to any one of claims 1 to 5, characterized in that: The clamping component comprises: A pair of clamping plates (21), the middle portions of which are rotatably mounted on the support arm (10) to form an X-shaped structure; One end of the clamping plate (21) extends in a direction away from the support arm (10) and is used to act on the circumference of the enoki mushroom package; The driving member (23) is a telescopic double-output structure, and the output axis is perpendicular to the axis of the support arm (10), and each output end is movably connected to the other end of the clamping plate (21) through a connecting rod (24); or the driving member (23) is a telescopic single-output structure, and the output axis is consistent with the axis of the support arm (10), one end of a pair of connecting rods (24) is correspondingly connected to one end of a pair of clamping plates (21), and the other end is connected to the output end of the electric cylinder; Wherein, a pair of connecting rods (24) are arranged in an "eight" shape.

8. The enoki mushroom picking mechanism according to claim 7, characterized in that: One end of the clamping plate (21) extending outward is provided with a clamping cover (22); The clamping cover (22) is an arc-shaped shell structure that is wide at the bottom and narrow at the bottom, and a spring is provided between the clamping cover and the clamping plate (21).

9. The enoki mushroom picking mechanism according to claim 7, characterized in that: The support arm (10) is provided with a first slotted hole (12) in the axial direction and a second slotted hole (13) in the radial direction at the position of the driving member (23); The second slot hole (13) is communicated with the first slot hole (12), so that the lead wire of the driving member (23) is led out from one side of the movable block (72).

10. The enoki mushroom picking mechanism according to any one of claims 1 to 5, characterized in that: The movable block (72) slides up and down on the fixed member (40) via the slide rail assembly (42); The cylinder (71) is mounted on the fixing member (40), and the telescopic end is connected to the movable block (72).

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