Walking grabbing mechanism for edible mushroom basket unloading

Abstract

The utility model relates to a walking grabbing mechanism for a lower frame of an edible mushroom basket. The walking unit is arranged at the bottom of the shell, and the walking direction of the walking unit is perpendicular to the length direction of the shell; the clamping jaw assemblies extend out of the side face of the shell and are arranged at intervals in the length direction of the shell; the transmission shaft is rotationally arranged in the shell and penetrates through the multiple clamping jaw assemblies; the driving unit is arranged in the shell and used for driving the transmission shaft to drive the multiple sets of clamping jaw assemblies to be opened or closed at the same time. The walking unit is arranged at the bottom of the walking grabbing mechanism, the walking grabbing mechanism can automatically move to the cultivation frame to grab the fungus basket, the defect that the extension distance of a mechanical telescopic structure is insufficient is overcome, and the walking grabbing mechanism is also suitable for the cultivation frame with low floor height.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of edible mushroom production, especially a walking grabbing mechanism for edible mushroom basket unloading. BACKGROUND

[0002] Edible mushrooms contain many beneficial ingredients for the human body, so the planting industry of edible mushrooms has become an important part of China's planting industry; At present, in the production process of edible mushrooms, in order to facilitate transportation, multiple strains are placed in a mushroom basket, and then placed on a cultivation frame for cultivation; When the cultivation is completed, the mushroom basket is unloaded from the cultivation frame for transportation; The traditional unloading is completed by manual work, which not only reduces the production efficiency, increases the production cost, but also has high labor intensity and is prone to danger.

[0003] Although there are mushroom frame unloading machines on the market, such as a full-automatic bidirectional mushroom frame unloading machine previously applied by the unit, application number 201910494258.4, wherein the top of each layer of the storage layer is provided with a bidirectional grabbing manipulator that can grab the mushroom baskets on the two sides of the cultivation frame to the roller conveyor line; The bidirectional grabbing manipulator includes a bidirectional telescopic arm placed along the width direction of the storage layer, which can extend into the two sides of the cultivation frame, and a bidirectional grabbing mechanism provided at the output end of the bidirectional telescopic arm, which can grab the edge of the mushroom basket in both directions; However, the existing technology has the following problems:

[0004] 1. The bidirectional grabbing mechanism needs to be driven by the bidirectional telescopic arm to extend into the cultivation frame to grab the mushroom basket; Since the bidirectional telescopic arm adopts a multi-stage telescopic structure, it is limited by the width of the passage between the cultivation frames, so the extension distance is limited, and the grabbing range is limited.

[0005] 2. Since the bidirectional telescopic arm drives the bidirectional grabbing mechanism to extend into the cultivation frame to grab the mushroom basket, the bidirectional telescopic arm itself also enters the cultivation frame, so it is only suitable for cultivation frames with high layer height; If the cultivation frame has low layer height, the bidirectional telescopic arm cannot drive the bidirectional grabbing mechanism to extend into the cultivation frame, which limits the use. UTILITY MODEL CONTENTS

[0006] The utility model aims at overcoming the defects of the prior art and provides a walking grabbing mechanism for edible mushroom basket unloading.

[0007] To achieve the above-mentioned purpose, the utility model adopts the technical scheme: a walking grabbing mechanism for edible mushroom basket unloading, including a shell in the shape of a long strip, a walking unit arranged at the bottom of the shell and placed in the walking direction perpendicular to the length direction of the shell, at least two groups of clamping jaw assemblies extending from the side of the shell and placed along the length direction of the shell, a transmission shaft rotatably arranged in the shell and penetrating through the multiple groups of clamping jaw assemblies, and a driving unit arranged in the shell for driving the transmission shaft and simultaneously driving the multiple groups of clamping jaw assemblies to open or close.

[0008] Preferably, the walking unit comprises two walking rollers arranged along the length direction of the shell; the two walking rollers are arranged in a spaced manner, and at least one of the two walking rollers is a power-driven wheel.

[0009] Preferably, the front surface of the shell is provided with a trigger unit for controlling the walking unit and the driving unit; the trigger unit comprises a contact plate protruding from the front surface of the shell and a contact sensor arranged in the shell and having a detection end connected to the contact plate.

[0010] Preferably, the shell is provided with a clamping and opening sensing unit for sensing the opening and closing of the clamping jaw assembly; the clamping and opening sensing unit comprises two sensors arranged on the shell and two sensing pieces arranged on the transmission shaft and matched with the two sensors respectively; the two sensing pieces are arranged in a staggered manner in the circumferential direction, and the included angle thereof is equal to the clamping and opening angle of the clamping jaw assembly.

[0011] Preferably, the transmission shaft is formed by a plurality of connecting shafts and a plurality of supporting shafts connected in a detachable manner; the plurality of supporting shafts respectively pass through a plurality of clamping jaw assemblies; the two ends of the supporting shaft are respectively provided with a clamping portion with a non-circular cross section; the plurality of connecting shafts are respectively arranged between adjacent clamping jaw assemblies; the two ends of the connecting shaft are respectively provided with a clamping groove corresponding to the clamping portion; and the clamping groove extends to the side surface of the connecting shaft.

[0012] Preferably, the back surface of the shell is provided with at least two mounting holes arranged along the length direction of the shell.

[0013] Preferably, the shell is provided with at least two positioning guide seats arranged along the length direction of the shell; the positioning guide seat is provided with a positioning hole.

[0014] Preferably, the clamping jaw assembly comprises a U-shaped support frame arranged in the shell and sleeved on the transmission shaft, a support seat arranged on the two inner sides of the U-shaped support frame and sleeved on the transmission shaft, a plurality of lower clamping jaws sleeved on the transmission shaft, a clamping shaft arranged in parallel with the transmission shaft and having two ends connected with the two support seats, a plurality of upper clamping jaws sleeved on the clamping shaft, and a plurality of C-shaped connecting pieces having two ends hingedly connected with the upper clamping jaws and the lower clamping jaws; the plurality of lower clamping jaws, the upper clamping jaws and the C-shaped connecting pieces are arranged between the two support seats in a staggered manner.

[0015] Preferably, the clamping jaw assembly comprises a U-shaped support frame arranged in the shell and sleeved on the transmission shaft, a support seat arranged on the two inner sides of the U-shaped support frame and sleeved on the transmission shaft, a plurality of lower clamping jaws sleeved on the transmission shaft and arranged between the two support seats, a clamping shaft arranged in parallel with the transmission shaft and having two ends connected with the two support seats, a plurality of upper clamping jaws sleeved on the clamping shaft and arranged in a staggered manner with the lower clamping jaws, and a gear sleeved on the transmission shaft and the clamping shaft and engaged with each other.

[0016] By means of the technical scheme, the walking and grabbing mechanism has the following advantages compared with the prior art:

[0017] The walking unit arranged at the bottom of the walking and grabbing mechanism can automatically move to the cultivation frame to grab the fungus basket, so that the range of grabbing is greatly increased, and the cultivation frame with low height is also applicable. BRIEF DESCRIPTION OF DRAWINGS

[0018] The technical scheme of the utility model will be further described below in combination with the drawings and specific embodiments.

[0019] ATTACHED Figure 1 It is a front structure schematic view of the walking and grabbing mechanism according to the first embodiment of the utility model;

[0020] ATTACHED Figure 2 It is a structure schematic view after removing part of the shell in the first embodiment of the utility model;

[0021] ATTACHED Figure 3 It is a structure schematic view of the clamping jaw assembly in the first embodiment of the utility model;

[0022] ATTACHED Figure 4 It is a back structure schematic view of the first embodiment of the utility model;

[0023] ATTACHED Figure 5 It is a front structure schematic view of the walking and grabbing mechanism according to the second embodiment of the utility model;

[0024] ATTACHED Figure 6 It is a structure schematic view after removing part of the shell in the second embodiment of the utility model;

[0025] ATTACHED Figure 7 It is a structure schematic view of the clamping jaw assembly in the second embodiment of the utility model;

[0026] ATTACHED Figure 8 It is a structure schematic view of the connecting shaft in the second embodiment of the utility model;

[0027] ATTACHED Figure 9 It is Figure 6 A partial enlarged view;

[0028] ATTACHED Figure 10 It is a structure schematic view of the clamping jaw assembly in the third embodiment of the utility model. DETAILED DESCRIPTION

[0029] The utility model will be further described in detail below in combination with the drawings and specific embodiments.

[0030] Embodiment one:

[0031] For example, Figures 1-2As shown, the walking gripping mechanism for unloading edible mushroom baskets according to this utility model includes a long strip-shaped shell 1a, a walking unit 2a disposed at the bottom of the shell 1a and whose walking direction is perpendicular to the length direction of the shell 1a, two sets of gripper assemblies 3a extending out of the front of the shell 1a and spaced apart along the length direction of the shell 1a, a transmission shaft 4a rotatably disposed inside the shell 1a and passing through the two sets of gripper assemblies 3a, and a drive unit 5a disposed inside the shell 1a for driving the transmission shaft 4a and simultaneously driving the two sets of gripper assemblies 3a to open or close.

[0032] During operation: This walking gripping mechanism is installed on the existing unloading machine, specifically on one side of the roller conveyor line and placed along the conveying direction of the roller conveyor line; when unloading is required, this walking gripping mechanism is driven by the walking unit 2a, so that the walking gripping mechanism automatically moves towards the cultivation rack until it grabs the mushroom basket, and then the walking gripping mechanism moves in the opposite direction to drag the mushroom basket onto the roller conveyor line; when the walking gripping mechanism automatically moves towards the cultivation rack, the gripper assembly 3a is in the maximum open state under the drive of the drive unit 5a.

[0033] The walking gripping mechanism in this embodiment is particularly suitable for gripping a single mushroom basket because only two sets of gripper assemblies 3a are provided on the housing 1a. If multiple of these walking gripping mechanisms are installed on one side of the roller conveyor line of the existing unloading machine, it not only overcomes the insufficient extension distance of the mechanical telescopic structure, but also does not affect the unloading operation even if multiple baskets on the cultivation rack are not aligned. It is also suitable for cultivation racks with low layer height.

[0034] Although only two sets of gripper components 3a are provided in this embodiment and are placed symmetrically, the gripper components 3a are not limited to two sets, and can also have more than two sets, such as three or four sets. In practice, the number can be increased according to the size of the mushroom basket.

[0035] Furthermore, such as Figure 3 As shown, the gripper assembly 3a includes a U-shaped support frame 31a disposed within the housing 1a and loosely fitted onto the drive shaft 4a, support seats 32a respectively disposed on the two inner sides of the U-shaped support frame 31a and loosely fitted onto the drive shaft 4a, three lower grippers 33a fitted onto the drive shaft 4a, a gripper shaft 34a placed parallel to the drive shaft 4a and connected to the two support seats 32a at both ends, two upper grippers 35a fitted onto the gripper shaft 34a, and four C-shaped connecting pieces 36A with their ends hinged to the upper grippers 35a and the lower grippers 33a respectively; wherein the three lower grippers 33a, the two upper grippers 35a, and the four C-shaped connecting pieces 36A are all located between the two support seats 32a and are staggered; specifically, two C-shaped connecting pieces 36A are provided between two adjacent lower grippers 33a, and one upper gripper 35a is provided between two C-shaped connecting pieces 36A;

[0036] When working: Since the U-shaped support frame 31a and the support seat 32a are sleeved on the transmission shaft 4a, they do not rotate with the transmission shaft 4a; when the driving unit 5a drives the transmission shaft 4a to drive the three lower clamping jaws 33a to lift up, since the two ends of the four C-shaped connecting plates 36a are hinged with the upper clamping jaw 35a and the lower clamping jaw 33a respectively, and the upper clamping jaw 35a is sleeved on the clamping jaw shaft 34a, the upper clamping jaw 35a is driven to press down synchronously, so that the clamping jaw assembly 3a is closed.

[0037] Further, as shown in Figure 3 , the cross section of the transmission shaft 4a is polygonal, and the lower clamping jaw 33a is directly sleeved on the transmission shaft 4a, which is more convenient to install, and of course a key connection mode can also be used.

[0038] In this embodiment, as shown in Figure 2 , the driving unit 5a includes an opening and closing motor 51a arranged in the shell 1a, and a chain transmission 52a for connecting the driving shaft of the opening and closing motor 51a and the transmission shaft 4a; of course, a belt transmission, gear transmission and the like can be used, as long as the transmission shaft 4a is driven to rotate; the chain transmission 52a can protect the driving shaft from frequent impact, and the opening and closing motor 51a is preferably a motor with a brake.

[0039] Further, as shown in Figure 2 , the walking unit 2a includes two walking rollers 21a arranged along the length direction of the shell 1a; the two walking rollers 21a are arranged at intervals, and at least one of them is a power driven wheel; when working, the whole walking and grabbing mechanism is driven by the walking rollers 21a to move automatically on the cultivation frame.

[0040] In this embodiment, both are power driven wheels and rotate synchronously, and of course one of them can be a power driven wheel, and the other is connected with the power driven wheel through a chain, a belt or the like.

[0041] Further, the walking roller 21a is sleeved or wrapped with an antiskid sleeve, which can increase the friction and avoid slipping during walking; the antiskid sleeve can be made of rubber, silicone, polyurethane or other materials that can increase friction, and considering food safety, the silicone material is preferred.

[0042] Further, as shown in Figures 1-2As shown, the front of the shell 1a is provided with a trigger unit for controlling the walking unit 2a and the driving unit 5a; the trigger unit includes a contact plate 61a protruding from the front of the shell 1a, and a contact sensor 62a arranged in the shell 1a and having a detection end connected to the contact plate 61a; when the trigger unit contacts the mushroom basket, the contact plate 61a will retract into the shell 1a due to the active arrangement of the contact plate 61a on the front of the shell 1a, thereby triggering the contact sensor 62a, stopping the driving of the walking unit 2a, and starting the driving unit 5a to close the mushroom basket by the jaw assembly 3a.

[0043] Further, as shown in Figure 1 The trigger unit is symmetrically arranged with two groups, and is respectively located outside the two groups of jaw assemblies 3a; when the two groups of trigger units are triggered at the same time, it can ensure that the shell 1a is in full contact with the mushroom basket, and at this time, the two groups of jaw assemblies 3a can all grab the mushroom basket.

[0044] Further, as shown in Figure 2 The shell 1a is provided with a tension and closing sensing unit 7a arranged in the shell 1a for sensing the opening or closing of the jaw assembly 3a, which is convenient for control and avoids the situation that the walking and grabbing mechanism automatically moves to the cultivation frame to grab the material basket when the jaw assembly 3a is in the closed state.

[0045] Further, as shown in Figure 4 The back of the shell 1a is provided with two mounting holes 8a arranged along the length direction of the shell 1a; although the walking and grabbing mechanism has walking ability, it will be relatively slow to drag the mushroom basket to the roller conveying line, in order to improve the efficiency, the traction assembly can be used together, and the traction assembly is connected with the mounting hole 8a through a traction belt; after the walking and grabbing mechanism grabs the mushroom basket, the traction belt is tightened to pull the walking and grabbing mechanism together with the mushroom basket to the roller conveying line, and finally the mushroom basket is conveyed out by the roller conveying line.

[0046] Further, as shown in Figure 4 The back of the shell 1a is provided with two positioning guide seats 9a arranged along the length direction of the shell 1a; the positioning guide seat 9a is provided with a positioning hole 91a; in order to prevent the walking and grabbing mechanism from being displaced laterally when returning to the initial position, and also to play a position keeping role, avoid the displacement of the walking and grabbing mechanism during the transportation process of the unloading device, the positioning guide column can be correspondingly arranged on the existing temporary storage rack of the descending machine; when the traction assembly pulls the walking and grabbing mechanism to return to the initial position, the positioning guide column can be inserted into the positioning hole 91a of the positioning guide seat 9a.

[0047] Example two:

[0048] As shown in Figures 5-6The difference between the embodiment and the embodiment one is that the shell 1b, the walking unit 2b and the transmission shaft 4b are lengthened, and the gripper assembly 3b is provided with six groups, which can grab three mushroom baskets at a time. Compared with the embodiment one, although the unloading effect is slightly poor, the production cost is low, and the user can choose according to the alignment degree of the mushroom baskets on the cultivation frame. If the mushroom baskets are relatively neat when being loaded, the walking and grabbing mechanism in the embodiment two is used, which is more economical. If the mushroom baskets are not very neat when being loaded, the walking and grabbing mechanism in the embodiment one is used, which has good unloading effect.

[0049] Although the gripper assembly 3b in the embodiment is divided into three pairs, and each pair is provided with two groups, the actual number can be adjusted according to the length of the assembly line and the size of the mushroom basket. If the length of the assembly line is longer, the gripper assembly 3b can be divided into four pairs or more, and each pair is provided with two groups. However, if the mushroom basket is larger, the gripper assembly 3b can be divided into two pairs, and each pair is provided with three groups or more.

[0050] Further, as shown in the embodiment, Figure 6 The difference between the gripper assembly 3b and the embodiment one is that the C-shaped connecting piece 36A is replaced by gear transmission. Specifically, the mutually meshing gears 36b are respectively sleeved on the transmission shaft 4b and the gripper shaft 34b, and the upper gripper 35b is directly staggered with the lower gripper 33b. When the driving unit 5b drives the transmission shaft 4b to lift the three lower grippers 33b, the two gears 36b are driven to synchronously drive the two upper grippers 35b to press down, so as to realize the closing of the gripper assembly 3b.

[0051] The gripper assembly 3b can also use other existing technologies, as long as the transmission shaft 4b can drive the gripper assembly 3b to grab or release the mushroom basket. Of course, the gripper assemblies 3b in the embodiment one and the embodiment two can also be interchanged.

[0052] In the embodiment, as shown in the embodiment, Figure 6 One is a power-driven wheel, and the other is connected with the power-driven wheel through the belt transmission 22b.

[0053] Further, as shown in the embodiment, Figure 6 The difference between the driving unit 5b and the embodiment one is that the opening and closing motor 51b does not directly drive the transmission shaft 4b through the chain transmission 52a, but a rotating shaft 53b is arranged in the shell 1b and parallel to the transmission shaft 4b, a first chain transmission 52b for connecting the driving shaft of the opening and closing motor 51b and the rotating shaft 53b is arranged, and two groups of second chain transmissions 54b for connecting the rotating shaft 53b and the transmission shaft 4b are arranged. The length of the rotating shaft 53b is 1 / 3-1 / 2 of the length of the transmission shaft 4b, and the two groups of second chain transmissions 54b are respectively located at the two ends of the rotating shaft 53b.

[0054] Since the walking grabbing mechanism needs to grab multiple fungus baskets at one time, the transmission shaft 4b is relatively long, and thus the rotating shaft 53b is added; during operation: first, the opening and closing motor 51b drives the first chain transmission 52b to drive the rotating shaft 53b to rotate, and then the rotating shaft 53b drives the two groups of second chain transmissions 54b to drive the transmission shaft 4b to rotate, so that the transmission shaft 4b is more evenly stressed.

[0055] In this embodiment, as shown in Figure 7 , the cross section of the transmission shaft 4b is circular, and the lower clamping jaw 33b is connected to the transmission shaft 4b by a key, which serves as a circumferential limit.

[0056] In this embodiment, the transmission shaft 4b and the clamping jaw assembly 3b are connected by quick disassembly and assembly, including clamping, shaft sleeve connection, etc.

[0057] Specifically, as shown in Figures 6-8 , the transmission shaft 4b is composed of seven connecting shafts 41b and six supporting shafts 42b connected end to end and detachable, adopting a segmented structure, which is not only convenient for processing, but also convenient for installation and maintenance; the six supporting shafts 42b pass through the six groups of clamping jaw assemblies 3b respectively; the two ends of the supporting shaft 42b are respectively provided with a clamping part 43b with a non-circular cross section; five connecting shafts 41b are respectively arranged between adjacent clamping jaw assemblies 3b and connected with the six supporting shafts 42b, and the remaining two connecting shafts 41b are respectively arranged between the clamping jaw assemblies 3b and the shell 1b, used for connecting the supporting shaft 42b and rotatingly installed on the shell 1b; the two ends of the five connecting shafts 41b and one end of the outermost two connecting shafts 41b are respectively provided with a clamping groove 44b corresponding to the clamping part 43b; the clamping groove 44b extends to the side surface of the connecting shaft 41b;

[0058] During installation: first, the six supporting shafts 42b pass through the six groups of clamping jaw assemblies 3b respectively, and then the seven connecting shafts 41b are radially clamped with the six supporting shafts 42b through the clamping groove 44b and the clamping part 43b, which is very convenient; after the radial clamping of the clamping part 43b, it is located in the center of the connecting shaft 41b, so as to ensure that the seven connecting shafts 41b and the six supporting shafts 42b are coaxially placed after being connected, and in addition, the outermost two connecting shafts 41b are connected with the shell 1b through bearings.

[0059] In this embodiment, as shown in Figure 7 , the clamping part 43b is directly formed on the surface of the shaft by washing out two parallel planes, which is not only convenient for processing, but also convenient for installation.

[0060] Further, the connecting shaft 41b and the supporting shaft 42b can be radially clamped by transition and interference fit of the clamping groove 44b and the clamping part 43b, so that the clamping is not easy to loosen, and of course a jack screw can be installed on the surface of the connecting shaft 41b to fix it by abutting against the plane of the clamping part 43b.

[0061] Further, as shown in Figure 9 The opening and closing position sensors 71b and 72b are arranged on the housing 1b, and the opening and closing position sensing pieces 73b and 74b are arranged on the transmission shaft 4b and cooperated with the opening and closing position sensors 71b and 72b respectively; the opening and closing position sensing pieces 73b and 74b are staggered in the circumferential direction, and the included angle is equal to the opening and closing angle of the jaw assembly 3b.

[0062] In operation, when the opening position sensor 71b senses the opening position sensing piece 73b, the jaw assembly 3b is in the maximum opening position; when the closing position sensor 72b senses the closing position sensing piece 74b, the jaw assembly 3b is in the closed state.

[0063] Further, the difference between the first embodiment is that the housing 1b is lengthened, and a plurality of baskets are grabbed at a time, so that four mounting holes are arranged, i.e. the walking grabbing mechanism is pulled by four traction belts; of course, the number of mounting holes is not limited to four, and can be increased or decreased according to the length of the housing 1b.

[0064] Further, as shown in Figure 5 The difference between the first embodiment is that the positioning guide seat 9b is arranged on the top of the housing 1b, and the positioning guide seat 9b is close to the front of the housing 1b; after the traction assembly pulls the walking grabbing mechanism back to the initial position, the walking grabbing mechanism can be located on the side of the frame to the maximum extent, or even partially protrude from the frame under its own power, so as to leave more discharging space.

[0065] Embodiment three:

[0066] As shown in Figure 10 The difference between the first embodiment and the second embodiment is that the upper jaw 35c is provided with a soft clamping block 37c, which can better grip the basket rim and protect the basket rim from being damaged by compression.

[0067] The above is only a specific application example of the present application, and does not constitute any limitation on the protection scope of the present application. Any technical solution formed by equivalent transformation or equivalent replacement falls within the protection scope of the present application.

Claims

1. A walking and grabbing mechanism for unloading edible mushroom baskets, characterized in that it comprises: The shell is in a long strip shape, the walking unit is arranged at the bottom of the shell and placed perpendicularly to the length direction of the shell, at least two groups of clamping jaw assemblies are arranged on the side of the shell and placed along the length direction of the shell, the transmission shaft is arranged in the shell and passes through the groups of clamping jaw assemblies, and the driving unit is arranged in the shell and used for driving the transmission shaft and the groups of clamping jaw assemblies to open or close.

2. The walking and grabbing mechanism for removing the edible mushroom basket according to claim 1, characterized in that: The walking unit comprises two walking rollers arranged along the length direction of the shell; the two walking rollers are arranged in a spaced manner, and at least one of the two walking rollers is a power-driven wheel.

3. The walking and grabbing mechanism for removing the edible mushroom basket according to claim 1, characterized in that: The front surface of the shell is provided with a trigger unit used for controlling the walking unit and the driving unit; the trigger unit comprises a contact plate protruding from the front surface of the shell and a contact sensor arranged in the shell and having a detection end connected with the contact plate.

4. The walking and grabbing mechanism for removing the edible mushroom basket according to claim 1, characterized in that: The shell is provided with an opening / closing sensing unit used for sensing the opening or closing of the clamping jaw assemblies; the opening / closing sensing unit comprises two sensors arranged on the shell and two sensing pieces arranged on the transmission shaft and matched with the two sensors respectively; the two sensing pieces are arranged in a staggered manner in the circumferential direction, and the included angle of the two sensing pieces is equal to the opening / closing angle of the clamping jaw assemblies.

5. The walking and grabbing mechanism for removing the edible mushroom basket according to claim 1, wherein: The transmission shaft is formed by a plurality of connecting shafts and a plurality of supporting shafts which are detachably connected in a head-to-tail manner; the plurality of supporting shafts pass through the groups of clamping jaw assemblies respectively; the two ends of the supporting shaft are provided with non-circular clamping portions respectively; the plurality of connecting shafts are arranged between adjacent clamping jaw assemblies respectively; the two ends of the connecting shaft are provided with clamping grooves corresponding to the clamping portions respectively; and the clamping grooves extend to the side surface of the connecting shaft.

6. The walking and grabbing mechanism for removing the mushroom cultivation tray according to claim 1, wherein: The back surface of the shell is provided with at least two mounting holes arranged along the length direction of the shell.

7. The walking and grabbing mechanism for removing the mushroom cultivation pots according to claim 1, wherein: The shell is provided with at least two positioning guide seats arranged along the length direction of the shell; and the positioning guide seats are provided with positioning holes.

8. The walking and grabbing mechanism for removing the edible mushroom basket according to any one of claims 1-7, characterized in that: The clamping jaw assembly comprises a U-shaped support frame arranged in the shell and sleeved on the transmission shaft, support seats arranged on the two inner sides of the U-shaped support frame and sleeved on the transmission shaft, a plurality of lower clamping jaws sleeved on the transmission shaft, a clamping shaft arranged in parallel with the transmission shaft and connected with the two support seats at two ends respectively, a plurality of upper clamping jaws sleeved on the clamping shaft, and a plurality of C-shaped connecting pieces hingedly connected with the upper clamping jaws and the lower clamping jaws at two ends respectively; the plurality of lower clamping jaws, the upper clamping jaws and the C-shaped connecting pieces are arranged between the two support seats in a staggered manner.

9. The walking and grabbing mechanism for removing the edible mushroom basket according to any one of claims 1-7, characterized in that: The clamping jaw assembly comprises a U-shaped support frame arranged in the shell and sleeved on the transmission shaft, support seats arranged on the two inner sides of the U-shaped support frame and sleeved on the transmission shaft, a plurality of lower clamping jaws sleeved on the transmission shaft and arranged between the two support seats, a clamping shaft arranged in parallel with the transmission shaft and connected with the two support seats at two ends respectively, a plurality of upper clamping jaws sleeved on the clamping shaft and arranged in a staggered manner with the lower clamping jaws, and gears sleeved on the transmission shaft and the clamping shaft and engaged with each other.

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