Root cutting device for mushrooms

Abstract

The utility model relates to a root cutting device for mushrooms. The technical problems that an existing root cutting device of an automatic agaricus bisporus picking robot is low in speed, and the root cutting reliability needs to be improved are solved. The device comprises a supporting plate, a driving motor, a sliding rail, a sliding block, a rack, a gear, a finger air cylinder, a first blade and a second blade, the driving motor is connected with the supporting plate, the sliding rail is connected with the supporting plate, the sliding block is connected with the sliding rail, the rack is connected with the sliding block, the gear is connected with an output shaft of the driving motor, the gear is meshed with the rack, and the finger air cylinder is connected with the rack. The finger air cylinder is provided with two fingers, and the first blade and the second blade are connected with the two fingers of the finger air cylinder respectively. The agaricus bisporus root cutting machine is widely applied to agaricus bisporus root cutting treatment.

Description

Technical Field

[0001] This utility model relates to the technical field, and more specifically, to a root-cutting device for mushrooms. Background Technology

[0002] Button mushroom (scientific name: Agaricus bisporus) is a common edible fungus. Button mushroom has extremely high nutritional and medicinal value and can be processed into various foods, health products, and even medicines, making it very economically valuable.

[0003] Button mushroom cultivation has achieved large-scale factory production. Factory-style mushroom houses allow for production without seasonal limitations, enabling daily fruiting and year-round production with high yields and good economic benefits. Factory-style mushroom houses are typically 20-30 meters long, 6-10 meters wide, and 5-6 meters high. Inside, 2-4 rows of multi-tiered mushroom beds can be installed along the length of the house. The beds are mostly made of metal structural profiles, with a bed width of 1-1.6 meters, 5-6 tiers, and a tier spacing of 50-70 centimeters. The bottom tier is approximately 30 centimeters from the ground, and the top tier is more than 1 meter from the ceiling. The aisles between the beds are 80-100 centimeters wide, and the aisles between the beds and the walls are 40-80 centimeters wide.

[0004] The growth of button mushroom colonies exhibits significant randomness and unique growth characteristics. Firstly, it grows in colonies, existing as mycelium that can interconnect to form large communities. Under suitable conditions, the mycelium rapidly multiplies and spreads, forming a dense mycelial network. The mycelium intertwines and adheres tightly together, creating a staggered and overlapping growth pattern. Secondly, it produces spores; under appropriate conditions, button mushrooms can rapidly generate a large number of fruiting bodies, thus achieving rapid population dispersal. These growth characteristics determine that button mushroom communities form a compact, clustered growth pattern. The size, shape, and density of these communities vary greatly, and adjacent mushrooms often overlap.

[0005] Button mushroom cultivation is a labor-intensive industry. In recent years, labor costs have been rising, and the uneven size and 24-hour growth characteristics of button mushrooms place high demands on the harvesting skills and working hours of laborers. This has exacerbated the problem of high labor costs faced by button mushroom cultivation factories. Automated harvesting robots can save manpower, improve efficiency, and reduce costs. For information on the structure and operation of automated harvesting robots, please refer to the following patent applications: CN 113940239 A (Intelligent Harvesting System), CN217372374U (Mobile Button Mushroom Harvesting Robot), CN114847091A (Control System and Control Method for Button Mushroom Harvesting Device), and CN115474513A (Harvesting Device, End Actuator, Harvesting Frame, and Harvesting Method).

[0006] The aforementioned automated harvesting robot is equipped with a root-cutting device to cut off the mushroom roots of harvested button mushrooms. Its structure can be referenced in the utility model patent with authorization announcement number CN216018214U. However, the method of having the blade rotate at high speed at a fixed position, with the harvesting actuator carrying the harvested button mushroom a certain distance to the blade position for root cutting, suffers from technical problems such as slow speed and the need to improve the reliability of root cutting. Summary of the Invention

[0007] This application aims to solve the technical problems of slow speed and insufficient reliability of root cutting devices in existing automatic mushroom harvesting robots, and provides a root cutting device for mushrooms that can perform root cutting more quickly, accurately and reliably.

[0008] A first aspect of this disclosure provides a root-cutting device for mushrooms, comprising a support plate, a drive motor, a slide rail, a slider, a rack, a gear, a finger cylinder, a first blade, and a second blade. The drive motor is connected to the support plate, the slide rail is connected to the support plate, the slider is connected to the slide rail, the rack is connected to the slider, the gear is connected to the output shaft of the drive motor, the gear meshes with the rack, the finger cylinder is connected to the rack, the finger cylinder has two fingers, and the first blade and the second blade are respectively connected to the two fingers of the finger cylinder.

[0009] Preferably, the drive motor is a geared stepper motor.

[0010] Preferably, the root-cutting device for mushrooms further includes a magnet, a first magnetic sensor, and a second magnetic sensor. The magnet is connected to the rear end of the rack, the first magnetic sensor is connected to the rear end of the support plate, and the second magnetic sensor is connected to the front end of the support plate. When the magnet is directly below the first magnetic sensor, the first magnetic sensor generates a signal, and when the magnet is directly below the second magnetic sensor, the second magnetic sensor generates a signal.

[0011] Preferably, the root-cutting device for mushrooms further includes a fixing frame, which is fixedly connected to the support plate.

[0012] Preferably, the root-cutting device for mushrooms further includes a solenoid valve connected to a support plate.

[0013] Preferably, blade one and blade two are slender blades.

[0014] A second aspect of this disclosure provides an automated mushroom harvesting robot that includes the aforementioned mushroom root-cutting device.

[0015] The beneficial effect of this disclosure is that the mushroom root can be cut off directly while the harvested button mushroom is still being sucked or clamped by the harvesting device, which is faster, more accurate, more reliable, and more conducive to continuous automated operation.

[0016] Further features and aspects of this disclosure will be clearly described in the following detailed description with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is an isometric drawing of a root-cutting device used for mushrooms;

[0018] Figure 2 yes Figure 1 The front view of the mushroom root-cutting device shown;

[0019] Figure 3 yes Figure 1 The right view of the mushroom root-cutting device shown;

[0020] Figure 4 yes Figure 1 Left view of the mushroom root-cutting device shown;

[0021] Figure 5 yes Figure 1 A top view of a mushroom root-cutting device shown;

[0022] Figure 6 yes Figure 1 A bottom view of the mushroom root-cutting device shown;

[0023] Figure 7 yes Figure 1Another isometric view of the mushroom root-cutting device shown.

[0024] Figure 8 yes Figure 1 Another isometric view of the mushroom root-cutting device shown.

[0025] Explanation of symbols in the diagram:

[0026] 1. Support plate, 2. Geared stepper motor, 3. Slide rail, 4. Slider, 5. Rack, 6. Gear, 7. Finger cylinder, 8. Blade 1, 9. Blade 2, 10. Solenoid valve, 11. Magnet, 12. First magnetic sensor, 13. Second magnetic sensor, 14. Fixture. Detailed Implementation

[0027] The application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] The specific embodiments described below are merely preferred embodiments of this application, and the scope of protection of this application is not limited thereto. Those skilled in the art can make modifications or variations based on the principles, concepts, and spirit of this application, and the resulting technical solutions should all be covered within the scope of protection of this application.

[0029] like Figure 1-8 As shown, the mushroom root-cutting device includes a support plate 1, a deceleration stepper motor 2, a slide rail 3, a slider 4, a rack 5, a gear 6, a finger cylinder 7, a first blade 8, a second blade 9, a solenoid valve 10, a magnet 11, a first magnetic sensor 12, a second magnetic sensor 13, and a fixing frame 14. The deceleration stepper motor 2 is fixedly mounted on the support plate 1. The slide rail 3 is fixedly connected to the support plate 1. The slider 4 is connected to the slide rail 3. The rack 5 is fixedly connected to the slider 4. The gear 6 is connected to the output shaft of the deceleration stepper motor 2 and meshes with the rack 5. The finger cylinder 7 is fixedly connected to the rack 5. The finger cylinder 7 has two fingers. The first blade 8 and the second blade 9 are fixedly connected to the two fingers of the finger cylinder 7, respectively.

[0030] The solenoid valve 10 is fixedly mounted on the support plate 1. The mounting bracket 14 is fixedly connected to the support plate 1 by screws.

[0031] Magnet 11 is connected to the rear end of rack 5, first magnetic sensor 12 is connected to the rear end of support plate 1, and second magnetic sensor 13 is connected to the front end of support plate 1. Magnet 11 is located directly below first magnetic sensor 12.

[0032] The mushroom root-cutting device described above is mounted on the automatic mushroom harvesting robot via the mounting bracket 14. As shown in the figure, the mushroom root-cutting device is in its initial state, with the two fingers of the finger cylinder 7 closed, blades 8 and 9 closed, and magnet 11 located directly below the first magnetic sensor 12. When the automatic mushroom harvesting robot's harvesting end effector picks a mushroom, the mushroom root-cutting device is activated:

[0033] The two fingers of the finger cylinder 7 open, causing the two fingers to open blades 8 and 9. Then, the deceleration stepper motor 2 is started, driving the gear 6 to rotate. The rack 5 moves forward, which in turn moves the finger cylinder 7 forward, carrying blades 8 and 9 forward. When the magnet 11 moves with the rack 5 directly below the second magnetic sensor 13, the second magnetic sensor 13 generates a signal and sends it back to the controller. The controller then instructs the deceleration stepper motor 2 to stop, and blades 8 and 9 stop moving. Slice 29 is located on both sides of the mushroom root of the button mushroom; then, the two fingers of the finger cylinder 7 are closed, and blades 1 and 29 are closed, thus cutting off the root of the grinding roller; then the deceleration stepper motor 2 is reversed, and the rack 5 moves the finger cylinder 7 backward, and the finger cylinder 7 moves the blades 1 and 29 backward. When the magnet 11 moves with the rack 5 to directly below the first magnetic sensor 12, the first magnetic sensor 12 generates a signal and feeds it back to the controller. The controller commands the deceleration stepper motor 2 to stop, and blades 1 and 29 stop moving and return to the initial state.

[0034] Setting up magnet 11, first magnetic sensor 12 and second magnetic sensor 13 can more accurately control the position of blade 8 and blade 9, which is beneficial for cutting off the mushroom root more accurately.

[0035] It is evident that the mushroom root-cutting device can more effectively remove mushroom roots. Even when a button mushroom is still being sucked or clamped after being picked by the harvesting actuator, the root can be cut directly, resulting in faster, more accurate, and more reliable operation, which is more conducive to continuous automated work. Unlike existing technologies, it eliminates the need for the harvesting actuator to move the picked button mushroom a certain distance to the blade position for root cutting.

[0036] It should be noted that choosing a geared stepper motor 2 is a better specific choice for the drive motor.

[0037] Solenoid valve 10 is used to supply air to finger cylinder 7 to activate it.

[0038] It should be noted that the blade 8 and blade 9 shown in the attached diagram are slender blades, which is a better choice of specific structure.

Claims

1. A root-cutting device for mushrooms, characterized in that, The device includes a support plate, a drive motor, a slide rail, a slider, a rack, a gear, a finger cylinder, a first blade, and a second blade. The drive motor is connected to the support plate, the slide rail is connected to the support plate, the slider is connected to the slide rail, the rack is connected to the slider, the gear is connected to the output shaft of the drive motor, and the gear meshes with the rack. The finger cylinder is connected to the rack, and the finger cylinder has two fingers. The first blade and the second blade are respectively connected to the two fingers of the finger cylinder.

2. The root-cutting device for mushrooms according to claim 1, characterized in that, The drive motor is a geared stepper motor.

3. The root-cutting device for mushrooms according to claim 1 or 2, characterized in that, The mushroom root-cutting device further includes a magnet, a first magnetic sensor, and a second magnetic sensor. The magnet is connected to the rear end of the rack, the first magnetic sensor is connected to the rear end of the support plate, and the second magnetic sensor is connected to the front end of the support plate. When the magnet is directly below the first magnetic sensor, the first magnetic sensor generates a signal, and when the magnet is directly below the second magnetic sensor, the second magnetic sensor generates a signal.

4. The root-cutting device for mushrooms according to claim 1 or 2, characterized in that, The mushroom root-cutting device also includes a fixing frame, which is fixedly connected to the support plate.

5. The root-cutting device for mushrooms according to claim 1 or 2, characterized in that, The mushroom root-cutting device also includes a solenoid valve connected to a support plate.

6. The root-cutting device for mushrooms according to claim 1 or 2, characterized in that, Blade 1 and Blade 2 are slender blades.

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