Three-dimensional full-automatic planting machine for edible mushrooms

Abstract

The utility model discloses a three-dimensional full-automatic planting machine for edible mushrooms, which is characterized by further comprising two groups of frame components, each frame component comprises a support frame, a plurality of chain wheels and chains, the chain wheels are distributed on the support frame in a snakelike linear manner, and the chains are mounted on the chain wheels; the bearing frame is provided with a mushroom stick placing area; the driving assembly is used for driving the bearing frame to move; the bearing frame can move up and down in the Z direction and can also move up and down in the X direction along with the moving track of the snakelike line, compared with moving in the Z direction or moving in the X direction purely, the temperature and humidity borne by the mushroom sticks are more uniform, the cultivation effect and the production quality are better, and meanwhile the mushroom sticks can be placed on the bearing frame. The space is utilized to the greatest extent due to the arrangement of the snakelike line shape, so that more bearing frames can be placed in the same space, and the yield of the edible mushrooms is higher.

Description

Technical Field

[0001] This utility model belongs to the field of edible fungi production technology, and in particular relates to a three-dimensional fully automatic edible fungi planting machine. Background Technology

[0002] When cultivating edible fungi, the culture medium for artificial cultivation needs to be filled into a polyethylene or polypropylene plastic bag with openings at both ends to make mushroom logs. The mushroom logs are then placed in a tray and placed in a greenhouse for cultivation.

[0003] When cultivating in a greenhouse, trays are usually placed in multi-layered support frames. Since each layer of the support frame is at a different height, a ladder is needed to harvest the mycelium from the higher layers. Moreover, the position of each layer of mycelium remains stationary during the growth process. The multi-layered support frames result in different temperatures and humidity levels between the top and bottom layers, affecting the yield and quality of the mycelium. Summary of the Invention

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a fully automatic three-dimensional edible fungus cultivation machine, characterized in that it further includes:

[0005] A frame assembly, comprising a support frame, a plurality of sprockets arranged in a serpentine pattern on the support frame, and chains mounted on the sprockets; the frame assembly consists of two sets.

[0006] The support frame has an area for placing the mushroom sticks;

[0007] Drive assembly, used to drive the support frame to move;

[0008] The support frame is rotatably fixed between the chains of the two sets of frame components at both ends. The support frame is driven by the drive component to move the support frame in a serpentine trajectory in a periodic reciprocating motion. The sprocket is fixedly and rotatably mounted on the support frame.

[0009] Furthermore, the support frame has a high-level support structure and a low-level support structure, and a plurality of sprockets are distributed alternately on the high-level support structure and the low-level support structure.

[0010] Furthermore, the sprockets of the high-level support structure and the low-level support structure are both staggered in the X direction.

[0011] Furthermore, the driving component includes:

[0012] A power unit that has one output shaft;

[0013] A reduction gear unit is used to increase the torque of the power unit;

[0014] The output end of the power unit is fixedly connected to the input end of the reduction unit, and the output end of the reduction unit is fixedly connected to any one of the sprockets.

[0015] Furthermore, the power unit is a drive motor.

[0016] Furthermore, the reduction unit is a speed reducer.

[0017] Furthermore, the reducer is provided in two sets. The output shaft of the power unit is fixedly connected to the input end of one of the reducers, the output end of one reducer is fixedly connected to the input end of the other reducer, and the output end of the other reducer is fixedly connected to any one of the sprockets.

[0018] Furthermore, the support frame is provided in multiple sets, and both ends of the multiple sets of support frames are rotatably fixed between the chains of the two sets of frame components, with adjacent sets of support frames spaced apart.

[0019] The beneficial effects of this utility model are as follows:

[0020] 1. The support frame can move up and down in both the Z and X directions along the serpentine path. Compared to moving only in the Z or X directions, the mushroom logs are exposed to more uniform temperature and humidity, resulting in better cultivation and production quality. At the same time, the serpentine shape maximizes space utilization, allowing more support frames to be placed in the same space, thus increasing the yield of edible fungi. Attached Figure Description

[0021] Appendix Figure 1 This is a structural diagram of the present invention;

[0022] Appendix Figure 2 For the appendix Figure 1 Enlarged diagram of A in the middle;

[0023] Appendix Figure 3 For the appendix Figure 1 Side view;

[0024] Appendix Figure 4 This is a schematic diagram of the chain's running trajectory;

[0025] Appendix Figure 5 This is a construction diagram of the driving component;

[0026] Appendix Figure 6 This is a schematic diagram showing the disassembled drive unit and one of the reducers;

[0027] Appendix Figure 7 This is a schematic diagram showing the disassembly of another speed reducer and sprocket;

[0028] Appendix Figure 8 The structural diagram of this utility model after the addition of the auxiliary frame;

[0029] Appendix Figure 9 For the appendix Figure 8 Enlarged diagram of B in the middle;

[0030] Appendix Figure 10 This is a structural diagram of the support frame;

[0031] Appendix Figure 11 This is a side view of the support frame;

[0032] Appendix Figure 12 A schematic diagram showing the connections between the control computer, temperature control module, humidity control module, vision control module, and stroke control module;

[0033] Appendix Figure 13 A side view showing the automated mushroom harvesting component of this utility model;

[0034] Appendix Figure 14 An exploded view of the automated mushroom harvesting components;

[0035] Appendix Figure 15 Side view of the drive assembly mounted on the accessory frame;

[0036] Appendix Figure 16 This is a structural diagram of a tray;

[0037] Appendix Figure 17 The structural diagram of this utility model after the automated mushroom harvesting component has been installed; Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In the description of this application, it should be noted that the terminology used herein is only for describing specific implementations and is not intended to limit the exemplary implementations according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings indicate similar items, and therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0039] Three-dimensional mushroom cultivation machine

[0040] This embodiment proposes a conventional three-dimensional edible mushroom cultivation machine, which generally includes a machine body, several support frames 4 set in the machine body, and a drive component for driving the support frames 4 to move up, down, left, and right in the machine body. By placing the mushroom sticks in the support frames 4, and then driving the support frames 4 to move up, down, left, and right in the machine body, the temperature and humidity received by the mushroom sticks are uniform, thereby ensuring the cultivation effect of the mushroom sticks.

[0041] body

[0042] like Figure 1 , 2 As shown in Figure 3, the body includes a frame assembly. The structure of the frame assembly will be described in detail below, along with the characteristic parts of this utility model.

[0043] The frame assembly includes a support frame 1, several sprockets 2 arranged in a serpentine pattern on the support frame 1, and chains 3 mounted on the sprockets 2. For ease of explanation, the structural elements and orientation of the sprockets 2 and chain links are determined below when the sprockets are mounted on the support frame 1.

[0044] The frame assembly is provided in two sets. Several sprockets 2 are distributed in a serpentine line on the support frame 1 and are fixedly and rotatably connected to the support frame 1. Chains 3 are installed on the several sprockets 2. Multiple sets of spaced support frames 4 are provided between the chains 3 of the two sets of frame assemblies. Both ends of the support frames 4 are rotatably arranged between the chains 3 of the two sets of frame assemblies. A drive assembly for driving the support frames 4 to move is provided on the outside of the support frame 1.

[0045] Installation of sprockets and chains

[0046] like Figure 3 As shown, the support frame 1 has a high-level support structure 5 and a low-level support structure 6. Several sprockets 2 are distributed alternately on the high-level support structure 5 and the low-level support structure 6, and the sprockets 2 of the high-level support structure 5 and the sprockets 2 of the low-level support structure 6 are staggered in the X direction.

[0047] After the chain 3 is installed on several sprockets 2, it forms a serpentine shape. When the sprockets 2 rotate and drive the chain 3 to work, the chain 3 will drive the support frame 4 to move along the trajectory of the chain 3, that is, drive the support frame 4 to move along the serpentine trajectory. This causes the support frame 4 to continuously reciprocate in the Z direction between the upper support structure 5 and the lower support structure 6. Because it is a serpentine trajectory, the support frame 4 will also move in the X direction as it reciprocates in the Z direction between the upper support structure 5 and the lower support structure 6. This ensures that the mushroom sticks in the support frame 4 can obtain uniform temperature and humidity as the support frame 4 moves.

[0048] like Figure 4 As shown, the support frame 1 is also equipped with two return wheels 26. The chain has a starting point O27 and an ending point P28. After being installed with the chain 3, they are used to support the return of the bracket 4. After the two return wheels 26 are installed with the chain 3, they generate return points K29 and L30. When the drive component is started, it will drive the sprocket 2 to rotate, thereby driving the chain 3 to work. When the chain 3 is working, the bracket 4 will move from the starting point O27 along the serpentine trajectory toward the ending point P28. When the bracket 4 moves to the ending point P28, with the movement of the chain 3, the bracket will move toward the return point K29. After reaching the return point K29, it will move toward the return point L30. After reaching the return point L30, it will move toward the starting point O27 again, thus completing the cyclic movement of the bracket 4.

[0049] In summary, the movement trajectory of the support frame 4 on the chain 3 is: starting point O27 – ending point P28 – return point K29 – return point L30 – starting point O27 (periodic repetition). This allows the support frame 4 to move up and down in both the Z and X directions along the serpentine trajectory. Compared to moving only in the Z or X directions, the temperature and humidity of the mushroom logs are more uniform, resulting in better cultivation and production quality.

[0050] At the same time, the serpentine shape maximizes space utilization, allowing for a greater number of support racks 4 to be placed in the same space, resulting in higher yields of edible fungi.

[0051] Driver components

[0052] like Figure 1 , 2 As shown in Figures 5, 6, and 7, the drive assembly includes a power unit 9 and a reduction unit, wherein the reduction unit is divided into a first reduction unit 10 and a second reduction unit 11.

[0053] The power unit 9 has a drive shaft 31 for outputting torque, the first reduction unit 10 for changing the output of the power unit 9 from a first direction to a second direction, and the second reduction unit 11 for changing the output of the first reduction unit 10 from the second direction to a third direction.

[0054] The first reduction unit 10 includes a first reducer 13, which has a first worm input end 14 and a first worm wheel output end 15. The second reduction unit 11 includes a second reducer 16, which has a second worm input end 17 and a second worm wheel output end 18. The output end of the power unit 9, the input and output ends of the first reduction unit 10, and the input and output ends of the second reduction unit 11 are all provided with keyways 19 to facilitate connection through the keyways 19.

[0055] Both the first reducer 13 and the second reducer 16 are fixedly mounted on the support frame 1. The output end of the second reducer 16 is fixedly connected to a drive shaft 31, which passes through the support frame 1 and is driven by one of the sprockets 2.

[0056] At this time, a power unit 9 is also fixedly installed on the support frame 1. This power unit 9 is a drive motor 7. The output shaft of the drive motor 7 is fixedly connected to the input end of the first reducer 13, and the output end of the first reducer 13 is fixedly connected to the input end of the second reducer 16.

[0057] When sprocket 2 needs to be started, drive motor 7 is started. Drive motor 7 outputs through first reducer 13 and second reducer 16. Sprocket 2 connected to the output end of second reducer 16 is the driving sprocket 2, and the other sprockets 2 are the driven sprockets 2. After the second reducer 16 outputs, it will drive the driving sprocket 2 to rotate. The driving sprocket 2 drives the chain 3 to move. Then, the movement of chain 3 drives the other driven sprockets 2 to rotate, thus realizing the operation of the entire chain 3 and sprockets 2. This allows chain 3 to drive the support frame 4 to move along the serpentine trajectory.

[0058] Meanwhile, since the drive motor 7 outputs through the first reducer 13 and the second reducer 16, it can achieve a higher reduction ratio, enhance load-bearing capacity, reduce the load on a single reducer 8, and output greater torque, thereby enabling multiple support frames 4 to move and cope with high load conditions.

[0059] Expansion of planting machines

[0060] As attached Figure 8 , 9 As shown, if more support frames 4 are added to increase yield, the planting machine can be expanded.

[0061] The planting machine can be expanded by adding more auxiliary frames 20. The auxiliary frame 20 is also equipped with a second reduction unit 11, a support frame 4, a sprocket 2 and a chain 3. The second reduction unit 11, the support frame 4, the sprocket 2 and the chain 3 are installed on the auxiliary frame 20 in the same way as the support frame 1.

[0062] Among them, the second reduction unit 11 on the support frame 1 and the auxiliary frame 20 has an expansion interface 12 for repeatedly driving multiple second reduction units 11 in the second direction. The second reduction unit 11 is a second reducer 16. The two ends of the worm inside the second reduction unit 11 are located in the expansion interface 12 and the second worm input end 17, respectively.

[0063] After the auxiliary frame 20 is added, the second reduction unit 11 of the support frame 1 is still connected to the first reduction unit 10 and the power unit 9. The output end of the first reduction unit 10 is fixedly connected to the input end of the second reduction unit 11. The power unit 9 is a drive motor 7. The first reduction unit 10 and the second reduction unit 11 are the first reducer 13 and the second reducer 16, respectively. This allows the drive motor 7 of the support frame 1 to output power, which can drive the worm gear inside the second reducer 16 to rotate through the first reducer 13.

[0064] Before startup, the second reducer 16 of the support frame 1 and the second reducer 16 of the auxiliary frame 20 are connected by the connecting shaft 32. One end of the connecting shaft 32 extends into the expansion interface 12 of the second reducer 16 of the support frame 1 and is connected to the worm of the second reducer 16 of the support frame 1. The other end of the connecting shaft 32 extends into the second worm input end 17 of the second reducer 16 of the auxiliary frame 20 and is connected to the worm of the second reducer 16 of the auxiliary frame 20. After the drive motor 7 of the support frame 1 outputs, it can drive the worm in the second reducer 16 to rotate through the first reducer 13. The second reducer 16 of the support frame 1 can drive the worm in the second reducer 16 of the auxiliary frame 20 to rotate through the connecting shaft 32. This makes the second reducer 16 of the auxiliary frame 20 and the second reducer 16 of the support frame 1 operate in the same way. It can also drive the sprocket 2 and chain 3 of the auxiliary frame 20 to work, thereby driving the support frame 4 in the auxiliary frame 20 to move.

[0065] When multiple auxiliary frames 20 need to be added, since the second reducer 16 of the auxiliary frame 20 also has an expansion interface 12, the connection method between the auxiliary frames 20 and the auxiliary frame 20 is the same as the connection method between the support frame 1 and the auxiliary frame 20.

[0066] This design allows for the addition of multiple auxiliary frames 20 to accommodate more support frames 4. Furthermore, the support frames 4 within the auxiliary frames 20 can be moved synchronously by controlling the drive unit of the support frame 1. This eliminates the need for separate debugging of the additional auxiliary frames 20, making the design more convenient.

[0067] like Figure 15 As shown, in another embodiment, the position of the drive component is not limited to the support frame 1. That is, the position of the drive component can be located on the auxiliary frame 20. After adding multiple auxiliary frames 20, the position of the drive component can be adjusted and fixed on the auxiliary frame 20 near the middle of the whole. The connection method between the drive component and the auxiliary frame 20 is the prior art, which will not be described in detail here. The original position of the drive component on the support frame 1 is replaced by a second reducer 16. Then the drive component drives the whole to work through the connecting shaft 32. At this time, the drive component is located in the middle of the whole, so that the transmission load of the whole is more uniform.

[0068] support frame

[0069] like Figure 10 , 11As shown, the support frame 4 includes a placement rod 21 and a cantilever structure 22. The placement rod 21 is a slender rod, and the cantilever structure 22 is a cantilever end set on both sides of the placement rod 21. Multiple sets of cantilever structures 22 are provided, and the multiple sets of cantilever structures 22 are spaced apart. The cantilever structure 22 and the upper side of the placement rod 21 form a V-shaped placement groove 25.

[0070] When the mushroom sticks are placed, the V-shaped placement groove 25 can limit the position of the mushroom sticks. At the same time, since the placement rod 21 is a slender rod and the cantilever structure 22 is the cantilever end, the contact area with the mushroom sticks is small, which avoids the outer surface of the mushroom sticks being blocked. This allows the mushroom sticks to be placed stably while also allowing them to be exposed to the outside to a greater extent, resulting in more uniform temperature and humidity on the outer surface of the mushroom sticks and better cultivation results.

[0071] At the same time, the interval between the two sets of cantilever structures 22 is less than the length of the mushroom stick, so that the mushroom stick will come into contact with the two sets of cantilever structures 22 after it is placed in, making the mushroom stick more stable and preventing it from falling.

[0072] The two ends of the placement rod 21 are provided with hanging ends 23, which are hooks 24. When the placement rod 21 is installed in the machine body, both ends of the placement rod 21 are rotatably fixed between the chains 3 of the two sets of frame components through the hooks 24. The hooks 24 are hung on the chain links of the chain 3. At the same time, the setting of the hooks 24 also makes it convenient to remove the placement rod 21 as a whole during harvesting, so as to remove the entire support frame 4 for harvesting.

[0073] Information acquisition and control components

[0074] like Figure 12 As shown, the machine body also includes information acquisition and control components, including a controller, a temperature control module 34, a humidity control module 35, a vision control module 36, and a stroke control module 37 (all of which are commercially available products and are not modified, in order to make the technical solution complete).

[0075] The controller is a control computer 33 (not shown in the figure) that is fixedly installed on the outside of the support frame 1;

[0076] The temperature control module 34 consists of several evenly distributed temperature sensors 38, heating pipes, and several evenly distributed heating nozzles 39 (not shown in the figure), which are fixedly mounted on the support frame 1. The heating nozzles 39 are connected to the heating pipes.

[0077] The humidity control module 35 consists of several evenly distributed humidity sensors 40, a water supply pipe, and several evenly distributed water mist nozzles 41 (not shown in the figure), which are fixedly installed in the support frame 1. The water mist nozzles 41 are connected to the water supply pipe.

[0078] The vision control module 36 includes an industrial camera 42 (not shown) fixedly mounted on the upper end of the support frame 1.

[0079] The stroke control module 37 includes an encoder 43 (not shown) mounted on the second reduction unit 11 for better monitoring of the sprocket 2 connected to the output of the second reduction unit 11;

[0080] Among them, the temperature control module 34, humidity control module 35, vision control module 36 and stroke control module 37 are all electrically connected to the controller.

[0081] In actual use, the temperature sensor 38 and the humidity sensor 40 monitor the humidity and temperature at each location in real time. When the humidity or temperature is not up to standard, the corresponding heating nozzle 39 or water mist nozzle 41 will be turned on to drive the humidity or temperature at the corresponding location to meet the standard.

[0082] The vision control module 36 and the stroke control module 37 work together. First, a comparison template is established in the control computer 33. When a support frame 4 moves to the top of the support frame 1 and below the industrial camera 42, the control computer 33 will output a photo signal, so that the industrial camera 42 can capture images of the support frame 4 below and transmit them to the control computer 33. The control computer 33 can then compare and identify the mushroom sticks in the captured images of the support frame 4. If the mushroom sticks in the support frame 4 are suspected of having rotten sticks or uneven growth, a report will be output for the operator to review. Correspondingly, each support frame 4 has a number for identification.

[0083] The encoder 43 is used to transmit the motion signal of the sprocket 2. When the sprocket 2 rotates at a certain angle, that is, when it drives the next support 4 to enter under the industrial camera 42, the control computer 33 intermittently outputs the image signal through the signal of the encoder 43, so as to ensure that there is a support 4 under the industrial camera 42 every time the image signal is output.

[0084] Automated mushroom harvesting components

[0085] like Figure 13 , 14 As shown, in this embodiment, the automated mushroom picking component includes a mushroom picking frame 44 mounted on the outside of the support frame 1. A mushroom picking robot 45 is movably mounted on the mushroom picking frame 44. Several support frames 4 circulate back and forth under the mushroom picking robot 45. The mushroom picking robot 45 has an image acquisition device 46, which can be used to determine whether the mushrooms on the support frames 4 are mature. If they are mature, the mushrooms on the support frames can be picked up by the claws of the mushroom picking robot 45. Then, the mushroom picking robot 45 moves along the mushroom picking frame 44 with the picked mushrooms in its grip. After moving to the appropriate position, it releases the mushrooms and collects them, thus facilitating full automation.

[0086] like Figure 15 As shown, in the above embodiment including the automated mushroom picking component, a tray 47 is also included. The two sides of the tray 47 are inclined and are used to be placed in the support frame 4. In actual use, soil is poured into the inside of the tray 47 and a mushroom stick is placed on the soil. This can prevent the mushroom stick from growing downward and make it easier for the mushroom stick to grow upward, so that the robotic arm can pick the upward-growing mushroom.

[0087] The embodiments of this application have been described above with reference to the accompanying drawings. Unless otherwise specified, the embodiments and features described in this application specification can be combined with each other. This application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A fully automated three-dimensional edible fungi cultivation machine, characterized in that, Also includes: The frame assembly includes a support frame (1), a plurality of sprockets (2) arranged in a serpentine pattern on the support frame (1), and chains (3) mounted on the sprockets (2). The frame assembly consists of two sets. The support frame (4) is provided with a place for placing mushroom sticks; A drive assembly for driving the support frame (4) to move; The support frame (4) is fixedly mounted between the chains (3) of the two sets of frame components, and the support frame (1) drives the support frame (4) to move back and forth in a serpentine trajectory through the drive component. The sprocket (2) is fixedly mounted on the support frame (1). The driving component includes: The power unit (9) has an output shaft; A reduction unit is used to increase the torque of the power unit (9); The output end of the power unit (9) is fixedly connected to the input end of the deceleration unit, and the output end of the deceleration unit is fixedly connected to any one of the sprockets (2). The power unit (9) is a drive motor (7); The reduction unit is a speed reducer (8); The speed reducer (8) is provided in two sets. The output shaft of the power unit (9) is fixedly connected to the input end of one of the speed reducers (8), the output end of one of the speed reducers (8) is fixedly connected to the input end of the other speed reducer (8), and the output end of the other speed reducer (8) is fixedly connected to any one of the sprockets (2).

2. The fully automated three-dimensional edible fungi cultivation machine according to claim 1, characterized in that: The support frame (1) has a high-level support structure (5) and a low-level support structure (6), and a number of sprockets (2) are staggered on the high-level support structure (5) and the low-level support structure (6).

3. The fully automated three-dimensional edible fungi cultivation machine according to claim 2, characterized in that: The sprockets (2) of the high-level support structure (5) and the sprockets (2) of the low-level support structure (6) are both staggered in the X direction.

4. A fully automated three-dimensional edible fungi cultivation machine according to any one of claims 1-3, characterized in that: The support frame (4) is provided in multiple sets. Both ends of the multiple sets of support frames (4) are rotatably fixed between the chains (3) of the two sets of frame components, and the two adjacent sets of support frames (4) are spaced apart.

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