Full-automatic bagging machine for edible mushrooms

Abstract

The utility model discloses a full-automatic bagging machine for edible mushrooms. The device comprises a frame assembly, a clamping jaw assembly, an upper bag suction device, a lower bag suction device, a bag box device and a fan assembly, the clamping jaw assembly and the upper bag suction device are both located on the upper portion of the frame assembly and are in sliding connection with the frame assembly. The lower bag suction device and the bag box device are both located in the middle of the frame assembly. The fan assembly is located on the lower portion of the frame assembly. The fan assembly is connected with the upper bag suction device and the lower bag suction device. The clamping jaw assembly comprises a clamping jaw air cylinder, an inner clamping jaw, an outer clamping jaw, an outer clamping jaw reset spring and a clamping jaw mechanism installation main plate. The inner clamping jaw is connected with the telescopic end of the clamping jaw air cylinder. The outer clamping jaw is mounted on the clamping jaw mechanism mounting main plate; the outer clamping jaw reset spring is connected with the outer clamping jaw; and the inner clamping jaw and the outer clamping jaw are oppositely arranged. The automatic bagging machine has the advantages of being high in bagging success rate, high in bagging production efficiency, good in equipment stability, capable of detecting fault occurrence positions, short in debugging period and low in debugging difficulty.

Description

Technical Field

[0001] This utility model relates to a fully automatic bagging machine for edible fungi. Background Technology

[0002] In the production of edible fungi, mushroom logs need to be made as a culture medium. Traditionally, there are two methods for making these logs: one is manual, which is time-consuming, labor-intensive, and extremely inefficient; the other relies on machinery to complete the arduous task of bagging and log making. Among these, the semi-automatic mushroom bagging machine is the most widely used and prevalent packaging equipment. However, this machine still requires manual labor to complete the entire bagging process, making it impossible to achieve unmanned automated bagging production. This significantly extends the production cycle of edible fungi and limits production volume and scale.

[0003] The existing fully automatic bagging machines for edible fungi have the following shortcomings: (1) low bagging success rate, which greatly limits production efficiency; (2) poor equipment stability, serious shaking of the whole machine, and easy to cause various accidental accidents such as machine collision; (3) low level of intelligence, unable to detect the location of the fault, and unable to intelligently detect whether the bagging is successful; (4) high debugging difficulty and high maintenance cost, the bagging mechanism needs to be precisely debugged, and maintenance is difficult in actual production.

[0004] Therefore, it is necessary to develop a fully automatic bagging machine for edible fungi with high bagging success rate, high bagging production efficiency, good equipment stability, ability to detect the location of faults, short debugging cycle, and low debugging difficulty. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automatic bagging machine for edible fungi, which has a high bagging success rate, high bagging production efficiency, good equipment stability, can detect the location of faults, has a short debugging cycle, and is easy to debug.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows: a fully automatic bagging machine for edible fungi, characterized in that it includes a frame assembly, a gripper assembly, an upper bag suction device, a lower bag suction device, a bag box device, and a fan assembly;

[0007] The gripper assembly, upper suction bag device, lower suction bag device, bag box device, and fan assembly are all mounted on the frame assembly;

[0008] Both the gripper assembly and the upper suction bag device are located on the upper part of the frame assembly and are slidably connected to the frame assembly;

[0009] Both the lower suction bag device and the bag box device are located in the middle of the frame assembly;

[0010] The fan assembly is located at the lower part of the frame assembly; the fan assembly is connected to the upper suction bag device and the lower suction bag device respectively;

[0011] The gripper assembly includes a gripper cylinder, an inner gripper, an outer gripper, an outer gripper return spring, and a gripper mechanism mounting main board; the gripper mechanism mounting main board is mounted on the frame assembly; the gripper cylinder is mounted on the gripper mechanism mounting main board; the inner gripper is connected to the telescopic end of the gripper cylinder; the outer gripper is mounted on the gripper mechanism mounting main board; and the outer gripper return spring is connected to the outer gripper.

[0012] Both the inner and outer grippers have arc-shaped ends; the inner and outer grippers are positioned opposite each other; the inner and outer grippers are combined to form a cylindrical structure, which facilitates the bag-opening and bag-covering actions.

[0013] In the above technical solution, the gripper assembly also includes a gripper telescopic rodless cylinder, a gripper telescopic rodless cylinder mounting plate, an inner gripper mounting plate, a gripper telescopic rodless cylinder hydraulic damper, a gripper telescopic rodless cylinder proximity switch, a gripper mechanism connecting block, a gripper opening and closing proximity switch, a gripper X-axis motion connecting block, and a magnetic induction mounting plate; the gripper telescopic rodless cylinder is mounted on the gripper telescopic rodless cylinder mounting plate; the inner gripper is mounted on the inner gripper mounting plate; the gripper telescopic rodless cylinder hydraulic damper is mounted on the gripper telescopic rodless cylinder to buffer the movement of the rodless cylinder. The system includes: a proximity switch for the telescopic rodless cylinder with grippers installed on the mounting plate to detect whether the gripper mechanism has extended to its full position; a proximity switch for the opening and closing of the grippers installed on the mounting plate to detect whether the gripper bag has opened to its full position; a connecting block for the gripper mechanism welded to the mounting plate and connected to the linear bearing of the gripper lateral movement mechanism; a connecting block for the gripper X-axis movement connected to the rodless cylinder of the gripper lateral movement mechanism to realize the X-axis movement of the gripper assembly; and a magnetic induction mounting plate installed on the mounting plate to detect whether the gripper mechanism has retracted to its full position.

[0014] In the above technical solution, the gripper assembly also includes a gripper lateral movement rodless cylinder mounting plate, a gripper lateral movement proximity switch, a gripper lateral movement rodless cylinder hydraulic damper, a gripper lateral movement mechanism guide shaft mounting seat, a gripper lateral movement mechanism linear bearing, a gripper lateral movement mechanism guide shaft, and a gripper lateral movement mechanism rodless cylinder; the gripper lateral movement mechanism rodless cylinder is mounted on the gripper lateral movement rodless cylinder mounting plate; the gripper lateral movement proximity switch is mounted on the gripper lateral movement rodless cylinder mounting plate to detect whether the gripper assembly has moved to the bagging completion position; the gripper lateral movement rodless cylinder hydraulic damper is mounted at both ends of the cylinder to buffer and decelerate; the gripper lateral movement mechanism guide shaft mounting seat is mounted on the frame and connected to the gripper lateral movement mechanism guide shaft.

[0015] In the above technical solution, the lower suction bag device includes a lower suction bag mushroom bag support plate, a lower suction box, a lower suction box air pipe, a lower suction box connecting plate, a lower suction bag floating joint, a lower suction bag slider rail assembly, a lower suction bag cylinder mounting plate, a lower suction bag cylinder, a lower suction bag rail mounting block, and a lower suction bag mounting plate.

[0016] The lower suction bag slide rail mounting block is installed on the lower suction bag mounting plate, and the lower suction bag slider slide rail assembly and the lower suction bag cylinder mounting plate are both installed on the lower suction bag slide rail mounting block.

[0017] The lower suction bag cylinder is mounted on the lower suction bag cylinder mounting plate;

[0018] The lower suction box connecting plate is installed on the lower suction bag slider rail assembly and is connected to the telescopic end of the lower suction bag cylinder;

[0019] The lower suction box is located between the lower suction bag substrate and the lower suction box connecting plate; the lower suction box air tube is connected to the lower suction box.

[0020] In the above technical solution, the bag box device includes a bag box body, a bag length limiting plate, a bag middle width limiting plate, a bag head width limiting plate, a middle adjusting screw, a head adjusting screw, a first bag box mounting plate, and a second bag box mounting plate.

[0021] The main body of the bag box has a groove-shaped structure with an opening at the top;

[0022] The length limiting plate, the width limiting plate in the middle of the mushroom bag, and the width limiting plate at the head of the mushroom bag are respectively installed on the inner wall of the bag box body;

[0023] The intermediate adjusting screw passes through the side wall of the bag box body and connects to the width limiting plate in the middle of the mushroom bag;

[0024] The head adjustment screw passes through the side wall of the bag box body and connects to the width limiting plate at the head of the mushroom bag.

[0025] The first bag holder mounting plate and the second bag holder mounting plate are respectively installed on the adjacent outer side walls of the bag holder body.

[0026] In the above technical solution, the frame assembly includes a main frame, lifting rings, air circuit mounting plate, foot, frame connecting rod, lower suction bag adjusting screw, solenoid valve group, and frame connecting block;

[0027] The main frame is fitted with lifting rings at the top and feet at the bottom.

[0028] The gas line mounting plate is located in the middle of the main frame;

[0029] The frame connecting rods are installed on the side of the main frame;

[0030] The lower suction bag adjusting screw is located in the middle of the main frame and above the solenoid valve assembly;

[0031] The solenoid valve assembly is installed in the middle of the main frame;

[0032] The frame connecting block is located on the main frame.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] (1) The present invention is a fully automatic bagging machine for edible fungi, which is a bagging equipment for edible fungi adapted to a semi-automatic bagging machine for edible fungi. The equipment can replace the workers to complete the continuous actions of picking up bags, bagging and starting the bagging process through the cooperation of rodless cylinders, upper and lower suction cups and various sensors. It has a high degree of automation and can realize automated operation. Only the mushroom bags need to be replenished. One person can control multiple fully automatic bagging machines for edible fungi. It can directly liberate manpower, free workers from simple and repetitive labor, reduce labor costs, greatly improve production efficiency, shorten the production cycle and reduce production costs.

[0035] (2) Optimize the structural design and add a multi-stage buffer device (multi-stage buffering is set at both ends of each rodless cylinder with hydraulic buffers), the movement of each motion mechanism is smooth without mechanical hard stop and shaking, the overall stability is higher, and the probability of collision is infinitely close to zero.

[0036] (3) Add an intelligent control system. Add magnetic sensors and proximity switches to each motion mechanism to monitor and control the operation of the mechanism. The intelligent control system can warn the location of the fault and assist workers in troubleshooting to ensure production. It can also detect whether bagging is successful. If bagging fails three times in a row, a "stop and check" warning will be issued to assist workers in troubleshooting more quickly and accurately to ensure production.

[0037] (4) The gripper structure is optimized, resulting in high gripper stability, high bagging success rate, and high bagging efficiency, reaching 700-800 bags / hour; it adopts rodless cylinder drive to accurately complete bag picking, bag supporting and bagging actions with small operational accuracy error; and it has a more reasonable suction cup structure for more stable bag suction.

[0038] (5) The frame of the fully automatic bagging machine for edible fungi of this utility model is welded with tooling, and the positions of each mechanism are accurate. During the debugging process, it is only necessary to determine the position of each sensor. There is no need to repeatedly perform mechanical debugging, which greatly shortens the debugging cycle and reduces the debugging difficulty. Attached Figure Description

[0039] Figure 1 This is a schematic diagram showing the combination of the fully automatic bagging machine and the semi-automatic bagging machine for edible fungi of this utility model.

[0040] Figure 2 This is a diagram showing the location of the main components of the fully automatic bagging machine for edible fungi of this utility model;

[0041] Figure 3 This is a structural diagram of the frame assembly of the fully automatic bagging machine for edible fungi of this utility model;

[0042] Figure 4 This is a structural diagram of the gripper extension and opening / closing device of the gripper assembly of this utility model;

[0043] Figure 5This is a structural diagram of the gripper bag-collecting motion device of the gripper assembly of this utility model;

[0044] Figure 6 This is a structural diagram of the suction bag device of this utility model;

[0045] Figure 7 This is a structural diagram of the suction bag device of this utility model;

[0046] Figure 8 This is a structural diagram of the bag-box device of this utility model.

[0047] The diagram shows: 1. Semi-automatic bagging machine for edible fungi; 2. Fully automatic bagging machine for edible fungi; 3. Frame assembly; 4. Gripper assembly; 5. Upper suction bag device; 6. Lower suction bag device; 7. Pressure regulating valve; 8. Oil mist separator; 9. Bag box device; 10. Fan assembly; 30. Main frame; 31. Lifting ring; 32. Air passage mounting plate; 33. Foot; 34. Frame connecting rod; 35. Lower suction bag adjusting screw; 36. Solenoid valve assembly; 37. Frame connecting block; 40. Gripper telescopic rodless cylinder; 41. Gripper telescopic rodless cylinder mounting plate. 42. Gripper cylinder; 43. Inner gripper mounting plate; 44. Inner gripper; 45. Outer gripper; 46. Outer gripper return spring; 47. Gripper mechanism mounting main board; 48. Gripper telescopic rodless cylinder hydraulic damper; 49. Gripper telescopic rodless cylinder proximity switch; 410. Gripper mechanism connecting block; 411. Gripper opening and closing proximity switch; 412. Gripper X-axis motion connecting block; 413. Magnetic induction mounting plate; 414. Gripper lateral movement rodless cylinder mounting plate; 415. Gripper lateral movement proximity switch; 416. Gripper lateral movement rodless cylinder... 417. Hydraulic damper for the gripper, 418. Guide shaft mounting base for the gripper lateral movement mechanism, 419. Linear bearing for the gripper lateral movement mechanism, 420. Guide shaft for the gripper lateral movement mechanism, 50. Rodless cylinder for the gripper lateral movement mechanism, 51. Proximity switch for the upper suction box bag support, 52. Air pipe for the upper suction box, 53. Tail end of the upper suction box, 54. Hydraulic damper for the rodless cylinder of the upper suction bag, 55. Mounting plate for the rodless cylinder of the upper suction bag, 56. Upper proximity switch for the upper suction bag, 57. Head of the upper suction box, 58. Rodless cylinder for the upper suction bag, 60. Lower proximity switch for the upper suction bag. 61. Mushroom bag support plate; 62. Lower suction box; 63. Lower suction box air pipe; 64. Lower suction box connecting plate; 65. Lower suction bag floating joint; 66. Lower suction bag slider rail assembly; 67. Lower suction bag cylinder mounting plate; 68. Lower suction bag cylinder; 69. Lower suction bag rail mounting block; 90. Lower suction bag mounting plate; 91. Bag body; 92. Mushroom bag length limiting plate; 93. Mushroom bag middle width limiting plate; 94. Mushroom bag head width limiting plate; 95. Middle adjusting screw; 96. Head adjusting screw; 97. Bag mounting plate 1; 98. Bag mounting plate 2. Detailed Implementation

[0048] The following detailed description, in conjunction with the accompanying drawings, illustrates the implementation of this utility model. However, these descriptions do not constitute a limitation of the present utility model and are merely illustrative. Furthermore, the advantages of this utility model will become clearer and easier to understand through this description.

[0049] Since the fully automatic edible mushroom bagging machine 2 of this utility model needs to be used in combination with the semi-automatic edible mushroom bagging machine 1, it is necessary to fix the two together and adjust their positions to a suitable state before starting the bagging operation. Figure 1 As shown, the two are fixedly connected by frame connecting block 37 and frame connecting rod 34.

[0050] When bagging begins, the blower assembly 10 starts, the upper suction bag device 5 draws air and first picks up the mushroom bag from the bag box device 9. The upper suction box, carrying the mushroom bag, moves to the upper suction bag proximity switch 55. The lower suction bag device 6 extends from the lower suction box 61, and at the same time, the upper suction bag device 5 moves downward until the two are closed. At this time, the lower suction box 61 begins to draw air, and at the same time, the upper suction box bag-opening proximity switch 50 receives the signal that the upper and lower suction boxes are closed. The upper suction bag device 5 begins to move upward to the upper suction bag proximity switch 55, and the upper and lower suction boxes simultaneously suck up the upper and lower sides of the mushroom bag to complete the bag-opening action. At this time, the gripper mechanism on the gripper assembly 4 moves along the X-axis. After the grippers insert into the mushroom bag, they open to complete the gripper bag-opening action. Then the gripper extends along the Y-axis to the discharge cylinder of the bagging machine. At this time, the upper suction bag device 6 starts the suction cycle of the next mushroom bag. At the same time, the gripper mechanism moves in the opposite direction along the X-axis to complete the bagging action. The bagging machine starts bagging. After the mushroom bag is started, the gripper returns to its original position. After the upper and lower suction cups have finished supporting the bag, the gripper moves along the X-axis to the supporting position again to start the next bagging cycle.

[0051] The working principle and control method are as follows:

[0052] like Figure 1 As shown, this utility model of a fully automatic edible fungus bagging machine belongs to a type of edible fungus packaging equipment adapted to a semi-automatic edible fungus bagging machine. This equipment can replace workers in completing the continuous actions of picking up bags, bagging, and starting the bagging process through the cooperation of rodless cylinders, upper and lower suction cups, and various sensors.

[0053] This utility model relates to motion in three dimensions. (Front view) Figure 1 In this system, when the fully automatic bagging machine for edible fungi is combined with the semi-automatic bagging machine for edible fungi, the left and right directions are considered the X-axis, the front and back directions are considered the Y-axis, and the up and down directions are considered the Z-axis.

[0054] The origin positions and states of each device are as follows:

[0055] ①The fan in fan assembly 10 is in standby mode;

[0056] ②The grippers of gripper assembly 4 close and retract, and the grippers are in the bagging completion position on the X-axis;

[0057] ③ The upper suction bag device 5 is positioned at the proximity switch 55 on the upper suction bag;

[0058] ④ The lower suction bag cylinder 67 of the lower suction bag device 6 is in the retracted state;

[0059] The specific work process is as follows:

[0060] First, fill the bag box with the mushroom bags, connect the power and air supply to the equipment, and check that the power and air supply meet the requirements. Then, press the origin button and wait for each device to return to the origin in sequence. Turn the manual / automatic knob to automatic, and then press the start button. The equipment will then begin fully automatic operation.

[0061] First, the fan in the fan assembly 10 starts running, but neither the upper suction box air pipe 51 nor the lower suction box air pipe 62 is connected to the fan inlet; the fan inlet is open to the atmosphere. Driven by the upper suction bag rodless cylinder 57, the upper suction bag device 5 moves downward along the Z-axis to the upper surface of the mushroom bag in the bag box device 9. At this time, the upper suction box bag support proximity switch 50 receives a signal that the upper suction box has contacted the mushroom bag. The signal is sent to the fan assembly 10, causing the air vent valve connected to the upper suction bag device 5 to close, connecting the upper suction box air pipe 51 and the fan inlet. The upper suction box then begins to adhere to the upper surface of the mushroom bag. Then, the upper suction bag device 5 begins to move upward along the Z-axis to the upper suction bag proximity switch 55. At this point, a signal is sent to the lower suction bag device 6, and the lower suction bag cylinder 67 begins to extend. After extension, the suction bag device 5 begins to move downward to the already extended lower suction box 61. At this time, the upper suction box head 56 and the lower suction box 61 press the mushroom bag in the middle. Simultaneously, the upper suction box bag-supporting proximity switch 50 receives a signal again, causing the air-breaking valve connected to the lower suction bag device on the blower assembly 10 to close. The upper and lower suction cups simultaneously adsorb the upper and lower surfaces of the mushroom bag. After the suction bag delay, the upper suction bag device 5 moves upward again to the upper suction bag proximity switch 55, and the mushroom bag is pulled open by the upper and lower suction cups. At this time, one bag-removing cycle is completed. After the mushroom bag is opened by the gripper assembly 4 and moved to the outlet of the discharge cylinder to begin bagging, the next bag-removing cycle begins immediately.

[0062] When the mushroom bag is pulled open by the upper and lower suction cups, the proximity switch 55 on the upper suction bag receives a signal again. The gripper extension and opening / closing device on the gripper assembly 4 begins to move along the X-axis to the bag-supporting position under the action of the rodless cylinder 420 of the gripper lateral movement mechanism. At this time, the closed gripper is inserted into the opening of the pulled-open mushroom bag. Then, the inner gripper 44 moves along the X-axis under the drive of the gripper cylinder 42, while the outer gripper remains vertical under the action of the limit block. The inner gripper 44 and the outer gripper 45 cooperate to complete the bag-supporting action. At this time, the blower assembly 10 simultaneously opens the air-breaking valves of the upper suction bag device 5 and the lower suction bag device 6, and the blower air inlet is connected to the atmosphere, so the upper and lower suction cups no longer suck air. At the same time, the gripper opening and closing proximity switch 411 receives the gripper opening signal, and the gripper telescopic rodless cylinder 40 starts to drive the gripper mechanism to extend to the discharge cylinder opening of the semi-automatic edible fungus bagging machine 1. Then, the gripper telescopic rodless cylinder proximity switch 49 senses the signal, and the gripper telescopic and opening / closing device, together with the fungus bag, begins to move in the opposite direction of the X-axis to the bagging completion position under the action of the gripper lateral movement mechanism rodless cylinder 420, that is, the bagging action has been completed at this time.

[0063] When the gripper lateral movement proximity switch 415 receives the bagging completion signal, it starts the bagging process of the semi-automatic edible mushroom bagging machine 1. After bagging begins, the mushroom bag will automatically detach from the gripper under the push of the mushroom material. The inner gripper 44 and outer gripper 45 will automatically open under the action of the gripper cylinder 42. At this time, the gripper opening and closing proximity switch 411 loses the signal, the gripper extension rodless cylinder 40 begins to retract, and the outer gripper 45 begins to rotate along the wall of the discharge cylinder under the action of the rotating shaft to detach from the discharge cylinder. After detachment, it completes the reset under the action of the outer gripper reset spring 46 and waits for the next mushroom bag to be pulled open by the upper and lower suction cups. At this time, one bagging cycle is completed.

[0064] At this point, the two cycles form a closed loop: first, the bag-removing cycle is performed, and then the bag-putting cycle is performed, forming a complete bag-removing and bag-putting cycle workflow.

[0065] All other unspecified parts belong to the prior art.

Claims

1. A fully automatic bagging machine for edible fungi, characterized in that: It includes a frame assembly (3), a gripper assembly (4), an upper suction bag device (5), a lower suction bag device (6), a bag box device (9), and a fan assembly (10); The gripper assembly (4), upper suction bag device (5), lower suction bag device (6), bag box device (9) and fan assembly (10) are all mounted on the frame assembly (3); The gripper assembly (4) and the upper suction bag device (5) are both located on the upper part of the frame assembly (3) and are slidably connected to the frame assembly (3); The lower suction bag device (6) and the bag box device (9) are both located in the middle of the frame assembly (3); The fan assembly (10) is located at the lower part of the frame assembly (3); the fan assembly (10) is connected to the upper suction bag device (5) and the lower suction bag device (6) respectively; The gripper assembly (4) includes a gripper cylinder (42), an inner gripper (44), an outer gripper (45), an outer gripper return spring (46), and a gripper mechanism mounting plate (47); the gripper mechanism mounting plate (47) is mounted on the frame assembly (3); the gripper cylinder (42) is mounted on the gripper mechanism mounting plate (47); the inner gripper (44) is connected to the telescopic end of the gripper cylinder (42); the outer gripper (45) is mounted on the gripper mechanism mounting plate (47); the outer gripper return spring (46) is connected to the outer gripper (45); The inner gripper (44) and the outer gripper (45) are arranged opposite to each other.

2. The fully automatic bagging machine for edible fungi according to claim 1, characterized in that: The gripper assembly (4) also includes a gripper telescopic rodless cylinder (40), a gripper telescopic rodless cylinder mounting plate (41), an inner gripper mounting plate (43), a gripper telescopic rodless cylinder hydraulic buffer (48), a gripper telescopic rodless cylinder proximity switch (49), a gripper mechanism connecting block (410), a gripper opening and closing proximity switch (411), a gripper X-axis motion connecting block (412), a magnetic induction mounting plate (413), and a gripper lateral movement mechanism linear bearing (418); the gripper telescopic rodless cylinder (40) is mounted on the gripper telescopic rodless cylinder mounting plate (41); the inner gripper (44) is mounted on the inner gripper mounting plate (43); the gripper telescopic rodless cylinder hydraulic buffer The punch (48) is installed on the gripper telescopic rodless cylinder (40); the gripper telescopic rodless cylinder proximity switch (49) is installed on the gripper telescopic rodless cylinder mounting plate (41) to detect whether the gripper mechanism has extended to the correct position; the gripper opening and closing proximity switch (411) is installed on the gripper telescopic rodless cylinder mounting plate (41); the gripper mechanism connecting block (410) is welded to the gripper telescopic rodless cylinder mounting plate (41) and connected to the gripper transverse movement mechanism linear bearing (418); the gripper X-axis motion connecting block (412) is connected to the gripper transverse movement mechanism rodless cylinder (420); the magnetic induction mounting plate (413) is installed on the gripper telescopic rodless cylinder mounting plate (41).

3. The fully automatic bagging machine for edible fungi according to claim 1, characterized in that: The gripper assembly (4) also includes a gripper lateral movement rodless cylinder mounting plate (414), a gripper lateral movement proximity switch (415), a gripper lateral movement rodless cylinder hydraulic damper (416), a gripper lateral movement mechanism guide shaft mounting seat (417), a gripper lateral movement mechanism guide shaft (419), and a gripper lateral movement mechanism rodless cylinder (420); the gripper lateral movement mechanism rodless cylinder (420) is mounted on the gripper lateral movement rodless cylinder mounting plate (414); the gripper lateral movement proximity switch (415) is mounted on the gripper lateral movement rodless cylinder mounting plate (414) to detect whether the gripper assembly (4) has moved to the bag-covering position; the gripper lateral movement rodless cylinder hydraulic damper (416) is mounted at both ends of the cylinder; The gripper traverse mechanism guide shaft mounting base (417) is mounted on the frame and connected to the gripper traverse mechanism guide shaft (419).

4. The fully automatic bagging machine for edible fungi according to claim 3, characterized in that: The lower suction bag device (6) includes a lower suction bag mushroom bag support plate (60), a lower suction box (61), a lower suction box air pipe (62), a lower suction box connecting plate (63), a lower suction bag slider rail assembly (65), a lower suction bag cylinder mounting plate (66), a lower suction bag cylinder (67), a lower suction bag rail mounting block (68), and a lower suction bag mounting plate (69). The lower suction bag slide rail mounting block (68) is mounted on the lower suction bag mounting plate (69), and the lower suction bag slider slide rail assembly (65) and the lower suction bag cylinder mounting plate (66) are both mounted on the lower suction bag slide rail mounting block (68); The lower suction bag cylinder (67) is mounted on the lower suction bag cylinder mounting plate (66); The lower suction box connecting plate (63) is installed on the lower suction bag slider rail assembly (65) and connected to the telescopic end of the lower suction bag cylinder (67); The lower suction box (61) is located between the lower suction bag substrate plate (60) and the lower suction box connecting plate (63); the lower suction box air tube (62) is connected to the lower suction box (61).

5. The fully automatic bagging machine for edible fungi according to claim 4, characterized in that: The bag box device (9) includes a bag box body (90), a bag length limiting plate (91), a bag middle width limiting plate (92), a bag head width limiting plate (93), a middle adjusting screw (94), a head adjusting screw (95), a first bag box mounting plate (96), and a second bag box mounting plate (97). The main body of the bag box (90) has a groove-shaped structure with an opening at the top; The length limiting plate (91), the width limiting plate (92) in the middle of the mushroom bag, and the width limiting plate (93) at the head of the mushroom bag are respectively installed on the inner wall of the bag box body (90); The intermediate adjusting screw (94) passes through the side wall of the bag box body (90) and is connected to the middle width limiting plate (92) of the mushroom bag; The head adjustment screw (95) passes through the side wall of the bag box body (90) and is connected to the head width limiting plate (93) of the mushroom bag; The first bag box mounting plate (96) and the second bag box mounting plate (97) are respectively installed on the outer side wall of the bag box body (90).

6. The fully automatic bagging machine for edible fungi according to claim 5, characterized in that: The frame assembly (3) includes a main frame (30), lifting ring (31), air circuit mounting plate (32), foot (33), frame connecting rod (34), lower suction bag adjusting screw (35), solenoid valve group (36), and frame connecting block (37); The main frame (30) is fitted with lifting rings (31) at the upper end and foot anchors (33) at the lower end; The gas line mounting plate (32) is located in the middle of the main frame (30); The frame connecting rod (34) is installed on the side of the main frame (30); The lower suction bag adjusting screw (35) is located in the middle of the main frame (30) and above the solenoid valve assembly (36); The solenoid valve assembly (36) is installed in the middle of the main frame (30); The frame connecting block (37) is located on the main frame (30).

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