CN110973667A - Multi-station collybia albuminosa automatic root cutting device - Google Patents
Multi-station collybia albuminosa automatic root cutting device Download PDFInfo
- Publication number
- CN110973667A CN110973667A CN201911321598.3A CN201911321598A CN110973667A CN 110973667 A CN110973667 A CN 110973667A CN 201911321598 A CN201911321598 A CN 201911321598A CN 110973667 A CN110973667 A CN 110973667A
- Authority
- CN
- China
- Prior art keywords
- clutch
- collybia albuminosa
- clamping device
- termitomyces albuminosus
- chipped
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/04—Devices for topping fruit or vegetables
- A23N15/045—Devices for topping mushrooms
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a multi-station collybia albuminosa automatic root cutting device, which comprises: the conveying belt is used for conveying the collybia albuminosa to be chipped one by one; the camera is arranged above the conveying belt and is used for shooting the collybia albuminosa to be chipped one by one so as to obtain the size and the shape of the collybia albuminosa; the device comprises a sorting mechanism, a conveying belt and a control mechanism, wherein the to-be-chipped termitomyces albuminosus is conveyed to the sorting mechanism from the conveying belt, and the posture of the to-be-chipped termitomyces albuminosus is adjusted by the sorting mechanism so that the root of the to-be-chipped termitomyces albuminosus is vertically downward; the execution robot is provided with a grabbing manipulator, grabs the collybia albuminosa to be chipped which is arranged on the arranging mechanism, and places the collybia albuminosa on the rotary station platform; the rotary station platform is provided with a plurality of clamping devices, and a screwing clutch is arranged above the rotary station platform; and the cutting device is positioned below the rotary station platform, and is in contact with the root of the termitomyces albuminosus and finishes root cutting. The invention improves the precision of the root cutting efficiency, reduces the waste and realizes the automation of the collybia root cutting.
Description
Technical Field
The invention relates to the technical field of collybia albuminosa root cutting, in particular to a multi-station collybia albuminosa root automatic cutting device.
Background
The termitomyces albuminosus industry in China has become the biggest producing country and export country of the termitomyces albuminosus in the world after 30 years of high-speed development. In recent years, with the rapid development of the termitomyces albuminosus industry and the enhancement of the quality safety consumption consciousness of consumers, the termitomyces albuminosus production mode in China realizes transformation and upgrade, and part of the traditional workshop type family cultivation is replaced by the standardized and industrialized production mode. The professional cooperative societies establish a benefit connection mechanism effective with the mycoderm through standardization self, and realize standardized production.
Since the termitomyces albuminosus is cultivated in the soil, in order to guarantee the taste, the mud roots and old roots need to be removed within 5 hours of picking. However, the high-grade mushroom is more than 20 times of the value of the common mushroom, and the root nutrient content is highest, so the root cannot be cut off and discarded, and the conical cutting is adopted. At present, the root cutting in the market can be finished only by a manual cutting mode. The manual root cutting not only has high labor intensity, low cutting efficiency and serious collybia albuminosa waste, but also has high requirement on the proficiency of workers, and the most important difficulty is that the root cutting cannot be carried out by a plurality of people along with the gradual increase of the production quantity of collybia albuminosa. Therefore, it is urgent to develop a root cutting machine to improve the root cutting efficiency, reduce the cost, reduce the number of workers, and satisfy the demand for increasing the yield.
Disclosure of Invention
In view of the above, the present invention provides an automatic multi-station termitomyces albuminosus root cutting device for realizing automatic cutting, which improves root cutting efficiency and precision and reduces waste.
The technical scheme provided by the invention is that the invention provides a multi-station collybia albuminosa automatic root cutting device with the following structure, which comprises:
the conveying belt is used for conveying the collybia albuminosa to be chipped one by one;
the camera is arranged above the conveying belt and is used for shooting the collybia albuminosa to be chipped one by one from top to bottom so as to obtain the size and the shape of the collybia albuminosa;
the device comprises a sorting mechanism, a conveying belt and a control mechanism, wherein the to-be-chipped termitomyces albuminosus is conveyed to the sorting mechanism from the conveying belt, and the posture of the to-be-chipped termitomyces albuminosus is adjusted by the sorting mechanism so that the root of the to-be-chipped termitomyces albuminosus is vertically downward;
the execution robot is provided with a grabbing manipulator, grabs the collybia albuminosa to be trimmed on the trimming mechanism, and places the collybia albuminosa on a clamping device of the rotary station platform;
the rotary station platform is provided with a plurality of clamping devices, and a screwing clutch is arranged above the rotary station platform and used for screwing and loosening the clamping devices;
and the cutting device is positioned below the rotary station platform, clamps the clamping device for cutting the termitomyces albuminosus, and contacts with the root of the termitomyces albuminosus and finishes root cutting when rotating to the cutting device.
Optionally, it includes screws up clutch, one-level clutch, second grade clutch and tertiary clutch to revolve wrong clutch, it is used for screwing up the clamping device to screw up the clutch to screw up, one-level clutch, second grade clutch and tertiary clutch are used for right the clamping device is loosened, rotatory extremely be provided with corresponding collection box under the clamping device of one-level clutch, second grade clutch and tertiary clutch department, according to the size and the shape of termitomyces albuminosus are selected corresponding clutch and are loosened the clamping device lets the termitomyces albuminosus that cuts fall into corresponding collection box, and corresponding clutch resets.
Optionally, the automatic root cutting device of multistation collybia albuminosa still includes vibration dish 1, contain collybia albuminosa 2 in the vibration dish, through vibration work of vibration dish 1 is with on the conveyer belt 3 of one by one feeding of collybia albuminosa 2.
Optionally, the sorting mechanism includes an upper left inclined plane sorting belt, an upper right inclined plane sorting belt, a lower left inclined plane sorting belt and a lower right inclined plane sorting belt, the upper left inclined plane sorting belt and the lower left inclined plane sorting belt are located on a first plane, the upper right inclined plane sorting belt and the lower right inclined plane sorting belt are located on a second plane, the first plane and the second plane incline inwards from top to bottom, and a through groove for accommodating the mushroom stem is formed below.
Optionally, the clamping device includes a clamping device inter-tooth portion, a clamping device trapezoidal tooth, a plurality of pinions, a base and a slip ring, the base is provided with an annular track, the slip ring is sleeved on the annular track, an inner ring of the slip ring is an inner ring gear, the pinions are engaged with the inner ring gear, each pinion is axially connected with the special-shaped claw, the inner ring gear of the slip ring is driven to drive the pinions to rotate, so that the rotation of the special-shaped claw is realized, and the clamping and loosening actions of the special-shaped claw to the middle are completed.
Optionally, the tightening clutch, the first-stage clutch, the second-stage clutch and the third-stage clutch respectively comprise a clutch tooth space part and clutch trapezoidal teeth, and the clutch tooth space part and the clutch trapezoidal teeth are respectively matched with the clamping device trapezoidal teeth and the clamping device tooth space part of the clamping device and used for driving the inner gear ring of the clamping device to rotate.
Optionally, the clamping device further comprises an electromagnet, the electromagnet is attached to the outer edge of the slip ring, and the slip ring is attracted by electrifying the electromagnet so as to realize the positioning of the slip ring.
Optionally, during cutting, the mushroom stems of the collybia albuminosa are clamped by the special-shaped claws of the clamping device, and the camera obtains the diameter of a certain collybia albuminosa mushroom stem, so that the rotating angle of the screwing clutch is determined, the pinion is controlled to rotate by a corresponding angle, and the special-shaped claws can clamp the collybia albuminosa; after the collybia albuminosa is clamped, the electromagnet is electrified to attract the sliding ring, so that the sliding ring is kept still at the position.
Compared with the prior art, the structure of the invention has the following advantages: the conveying of the termitomyces albuminosus on the conveying belt is utilized, the camera is used for shooting to identify the size and shape information of the termitomyces albuminosus, the termitomyces albuminosus is sorted through the sorting mechanism, the root of the termitomyces albuminosus is downward, the execution robot uses the grabbing manipulator to grab the termitomyces albuminosus to be chipped and moves to the rotary station platform, and after the termitomyces albuminosus is clamped by the clamping device, the termitomyces albuminosus is screwed down and unscrewed by the screwing clutches, so that the termitomyces. The invention improves the precision of the root cutting efficiency, reduces the waste and realizes the automation of the collybia root cutting.
Drawings
FIG. 1 is a schematic structural view of a multi-station collybia albuminosa automatic root cutting device according to the present invention;
FIG. 2 is a schematic structural diagram of the collating mechanism;
FIG. 3 is a schematic view of a screw clutch;
FIG. 4 is a schematic structural view of the clamping device;
FIG. 5 is a schematic view of the internal structure of the clamping device;
FIG. 6 is a schematic structural view of a base;
FIG. 7 is a schematic structural view of a slip ring;
FIG. 8 is a schematic view of the engagement of the pinion with the shaped pawl;
FIG. 9 is a schematic structural view showing the mushroom stem clamped by the special-shaped claws;
FIG. 10 is a schematic structural view of a clamping state of the special-shaped claw;
fig. 11 is a structural schematic diagram of a special-shaped claw in a loosening state.
Shown in the figure: 1: a vibrating pan; 2: termitomyces albuminosus; 3: a conveyor belt; 4: a camera; 5: a push rod; 6: a sorting mechanism; 6-1: a left upper bevel order belt; 6-2: a right upper bevel order belt; 6-3: a left lower slope order tape; 6-4: a lower right oblique order tape; 7: a manipulator; 8-1: a primary clutch; 8-1-1: a clutch land; 8-1-2: clutch trapezoidal teeth; 8-2: a secondary clutch; 8-3: a tertiary clutch; 8-4: screwing down the clutch; 9: a clamping device; 9-1: clamping the inter-tooth part of the device; 9-2: the clamping device is provided with trapezoidal teeth; 9-3: a pinion gear; 9-4: an electromagnet; 9-5: a base; 9-6: a slip ring; 9-7: an annular track; 9-8: an annular groove; 9-9: a connecting shaft; 9-10: a special-shaped claw; 9-11: a throwing hole; 10: rotating the station platform; 11: a cutting device.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention is not limited to only these embodiments. The invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention.
In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in simplified form and are not to precise scale, which is only used for convenience and clarity to assist in describing the embodiments of the present invention.
As shown in FIG. 1, the structure of the multi-station termitomyces albuminosus automatic root cutting device of the invention is illustrated.
The invention relates to a multi-station collybia albuminosa automatic root cutting device, which comprises:
a conveyor belt 3 for conveying termites to be chipped one by one;
the camera 4 is arranged above the conveying belt and is used for shooting the termites to be chipped one by one so as to obtain the size and the shape of the termites;
the arranging mechanism 6 is used for conveying the collybia albuminosa to be chipped to the arranging mechanism from the conveying belt, and the arranging mechanism is used for adjusting the posture of the collybia albuminosa to be chipped so that the root of the collybia albuminosa to be chipped is vertically downward;
the execution robot is provided with a grabbing manipulator 7, grabs the collybia albuminosa to be chipped which is arranged on the arranging mechanism, and places the collybia albuminosa on a clamping device of the station platform;
the rotary station platform 10 is provided with a plurality of clamping devices 9, and a screwing clutch is arranged above the rotary station platform 10 and used for screwing and loosening the clamping devices 9;
and the cutting device 11 is positioned below the rotary station platform 10, clamps the clamping device 9 for cutting the termitomyces albuminosus, and when the cutting device 11 rotates, the cutting device 11 is contacted with the root of the termitomyces albuminosus and finishes root cutting.
The automatic root cutting device for the multi-station collybia albuminosa further comprises a vibration disc 1, collybia albuminosa 2 is contained in the vibration disc, and the collybia albuminosa 2 is fed onto a conveying belt 3 one by one through vibration work of the vibration disc 1.
The collybia albuminosa 2 reaches the conveying belt 3 from the vibration disc 1, the camera 4 shoots the collybia albuminosa 2, and a small amount of malformed collybia albuminosa (the diameter of the mushroom stem and the mushroom root is larger than that of the mushroom umbrella, the mushroom stem is bent and the like) and weak collybia albuminosa are removed through the push rod 5. The termitomyces albuminosus 2 reaches the arrangement mechanism 6 from the conveyor belt 3, and the arrangement mechanism 6 enables the mushroom cap of the termitomyces albuminosus 2 to face upwards and the mushroom root to face downwards. The manipulator 7 grabs the collybia albuminosa 2 and puts the collybia albuminosa into the clamping device 9. After the collybia albuminosa reaches the next station, the screwing clutch 8-4 descends, is matched with the clamping device 9, and screws the clamping device 9 with the collybia albuminosa 2, so that the clamping device can clamp the collybia albuminosa tightly. After the collybia albuminosa reaches the cutting station, the cutting device 11 rises to finish the conical root cutting of the collybia albuminosa 2. The rotary station platform 10 continues to rotate, if the termitomyces albuminosus 2 is judged to be a first-level termitomyces albuminosus by the camera 4, the clamping device clamping the termitomyces albuminosus stops after reaching the position under the first-level clutch 8-1, the first-level clutch 8-1 descends, and the clamping device 9 is loosened, so that the termitomyces albuminosus falls into a first-level material box (the first-level material box is arranged under the rotary station platform under the first-level clutch, the second-level material box is arranged under the rotary station platform under the second-level clutch, and the rest is done by analogy. The distance by which the cutting device 11 is raised is related to the length of the termitomyces albuminosus stem, and the camera takes a picture of the termitomyces albuminosus 2, determines the root size and length, and determines the distance by which the cutting device 11 is raised.
As shown in fig. 2, the structure of the collating mechanism is illustrated. The sorting mechanism 6 comprises an upper left inclined sorting belt 6-1, an upper right inclined sorting belt 6-2, a lower left inclined sorting belt 6-3 and a lower right inclined sorting belt 6-4, the upper left inclined sorting belt 6-1 and the lower left inclined sorting belt 6-3 are located on a first plane, the upper right inclined sorting belt 6-2 and the lower right inclined sorting belt 6-4 are located on a second plane, the first plane and the second plane incline inwards from top to bottom, and a through groove for accommodating a mushroom stem to pass through is formed below the first plane and the second plane. The speed of the left lower inclined surface sorting belt 6-3 is the same as that of the right lower inclined surface sorting belt 6-4; the speed of the upper left oblique finishing belt 6-1 and the upper right oblique finishing belt 6-2 is the same, but is different from that of the lower left oblique finishing belt 6-3 and the lower right oblique finishing belt 6-4. The width between the lower parts of the left lower oblique sorting belt 6-3 and the right lower oblique sorting belt 6-4 is larger than the mushroom stem and smaller than the mushroom umbrella, so that the collybia albuminosa is in a state shown in figure 2. If the collybia albuminosa falls into the arranging mechanism 6, the collybia albuminosa covers downwards, the collybia albuminosa stems upwards, the collybia albuminosa will fall from the upright state inevitably due to the different speeds of 6-1(6-2) and 6-3 (6-4), and at the moment, the collybia albuminosa will be in the state shown in figure 2 inevitably because the diameter of the collybia stems is smaller than the distance between the lower parts of 6-3 and 6-4. All of the termites are in the state shown in fig. 2 by the arrangement mechanism 6, i.e., the cap is facing upward and the stem is facing downward.
As shown in FIG. 3, the structure of the screw clutch is illustrated, taking the first clutch 8-1 as an example.
The screwing clutch comprises a screwing clutch 8-4, a first-stage clutch 8-1, a second-stage clutch 8-2 and a third-stage clutch 8-3, the screwing clutch 8-4 is used for screwing a clamping device 9, the first-stage clutch 8-1, the second-stage clutch 8-2 and the third-stage clutch 8-3 are used for loosening the clamping device 9, corresponding recycling boxes are arranged right below the clamping device 9 in the positions where the first-stage clutch 8-1, the second-stage clutch 8-2 and the third-stage clutch 8-3 rotate, and according to the size and the shape of the Collybia albuminosa, the corresponding clutch is selected to loosen the clamping device 9, so that the cut Collybia albuminosa falls into the corresponding recycling boxes, and the corresponding clutch is reset.
The national standard, the industrial standard or the self-calibration can be adopted for grading, when the termitomyces albuminosus is the first-level termitomyces albuminosus of the national standard, the first-level clutch 8-1 descends and rotates, the clamping device 9 is reversely rotated, the termitomyces albuminosus falls into the first-level bin, and the termitomyces albuminosus of the corresponding grade falls into the corresponding bin by the second-level clutch 8-2 and the third-level clutch 8-3 in the same way. The structures of the second-stage clutch 8-2, the third-stage clutch 8-3 and the tightening clutch 8-4 are completely the same as those of the first-stage clutch 8-1.
As shown in fig. 4, the structure of the clamping device is illustrated. The clamping device 9 comprises a clamping device tooth space part 9-1, clamping device trapezoidal teeth 9-2, a plurality of small gears 9-3, a base 9-5 and a sliding ring 9-6, an annular track 9-7 is arranged on the base 9-5, the sliding ring 9-6 is sleeved on the annular track 9-7, an inner ring is arranged on an inner ring of the sliding ring 9-6, the small gears 9-3 are meshed with the inner ring, each small gear 9-3 is axially connected with a special-shaped claw 9-10, the inner ring of the sliding ring 9-6 is driven to drive the small gears 9-3 to rotate, so that the special-shaped claws 9-10 rotate, and clamping and loosening actions of the special-shaped claws 9-10 towards the middle are completed.
The tightening clutch 8-4, the first-stage clutch 8-1, the second-stage clutch 8-2 and the third-stage clutch 8-3 respectively comprise a clutch tooth space part and clutch trapezoidal teeth, and the clutch tooth space part and the clutch trapezoidal teeth are respectively matched with the clamping device trapezoidal teeth 9-2 and the clamping device tooth space part 9-1 of the clamping device 9 and used for driving the inner gear ring of the clamping device 9 to rotate. The clamping device 9 further comprises an electromagnet 9-4, the electromagnet 9-4 is attached to the outer edge of the slip ring 9-6, and the slip ring 9-6 is attracted by electrifying the electromagnet 9-4 so as to position the slip ring 9-6.
As shown in fig. 5 and 6, the internal structure and the base structure of the clamping device are illustrated. The slip ring 9-6 is made of magnetic materials, when the slip ring 9-6 rotates to a set position, the electromagnet 9-4 is electrified to adsorb the slip ring 9-6, so that the slip ring 9-6 keeps the set position, and the positioning and the keeping are released after the power is off. Figure 7 illustrates that the slip ring 9-6 is provided with an annular groove 9-8 such that 9-8 is in line with the annular track 9-7, thereby allowing rotation of 9-6 on 9-5.
As shown in fig. 8, the structure of the pinion and the shaped pawl is illustrated. Each pinion 9-3 is axially connected with a special-shaped claw 9-10, and an inner gear ring of the slip ring 9-6 is driven to drive the pinions 9-3 to rotate, so that the special-shaped claws 9-10 rotate, and clamping and loosening actions of the special-shaped claws 9-10 towards the middle are completed.
As shown in fig. 9, the structure of the special-shaped claw when it is clamped is illustrated. During cutting, the mushroom stems 2-2 of the termitomyces albuminosus are clamped by the special-shaped claws 9-10 of the clamping device 9, the camera 4 obtains the diameter of a certain termitomyces albuminosus stem, and therefore the rotating angle of the tightening clutch 8-4 is determined, the corresponding rotating angle of the pinion is controlled, and the special-shaped claws 9-10 can clamp the termitomyces albuminosus; after the Collybia albuminosa is clamped, the electromagnet 9-4 is electrified to attract the sliding ring 9-6, so that the sliding ring 9-6 is kept still at the position.
As shown in fig. 10, the structure of the special-shaped claw in the clamped state is illustrated. In the situation shown in fig. 10, the profiled claw 9-10 is in the initial position. At the moment, the electromagnet 9-4 is electrified to attract the slip ring 9-6, so that the slip ring 9-6 is ensured to be kept in the position. In this position, the stem of the collybia albuminosa can pass through the inlet openings 9-11, while the cap cannot.
As shown in fig. 11, the state in which the shaped claw is released is illustrated. The special-shaped claws 9-10 are in the extreme positions, and the collybia albuminosa falls down from the clamping device 9 at the moment. The mushroom cover 2-1 is smaller than the throwing hole 9-11. If the situation is that the first-stage collybia albuminosa is at the moment, the first-stage clutch 8-1 acts to drive the pinion to reversely rotate to the limit position, the collybia albuminosa is ensured to fall from the throwing hole 9-11, then the first-stage clutch 8-1 positively rotates, the gear special-shaped disc is restored to the initial position (shown in figure 10), meanwhile, the electromagnet 9-4 is electrified to attract the sliding ring 9-6, and therefore the sliding ring 9-6 is ensured to be kept still at the position.
In addition, the cutting device 11 of the present invention has various implementation manners, and can be used for precise cutting by combining a robot with a machine vision, and can also be used for realizing cutting by setting and controlling a traveling track of a machine blade.
Although the embodiments have been described and illustrated separately, it will be apparent to those skilled in the art that some common techniques may be substituted and integrated between the embodiments, and reference may be made to one of the embodiments not explicitly described, or to another embodiment described.
The foregoing is illustrative of the preferred embodiments of the present invention only and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to vary. In general, all changes which come within the scope of the invention as defined by the independent claims are intended to be embraced therein.
Claims (8)
1. The utility model provides an automatic root device of cutting of multistation collybia albuminosa, includes:
the conveyer belt (3) is used for conveying the collybia albuminosa to be chipped one by one;
the camera (4) is arranged above the conveying belt and is used for shooting the termites to be chipped one by one so as to obtain the size and the shape of the termites;
the device comprises a sorting mechanism (6), wherein the collybia albuminosa to be chipped is conveyed to the sorting mechanism from a conveying belt, and the posture of the collybia albuminosa to be chipped is adjusted by the sorting mechanism so that the root of the collybia albuminosa to be chipped is vertically downward;
the execution robot is provided with a grabbing manipulator (7), grabs the collybia albuminosa to be chipped which is arranged on the arranging mechanism, and places the collybia albuminosa on a clamping device of the rotary station platform;
the rotary station platform (10) is provided with a plurality of clamping devices (9), and a screwing clutch is arranged above the rotary station platform (10) and used for screwing and loosening the clamping devices (9);
the cutting device (11) is positioned below the rotary station platform (10), clamps the clamping device (9) of the collybia albuminosa to be chipped, and when the cutting device (11) rotates, the cutting device (11) is in contact with the root of the collybia albuminosa and finishes chipping.
2. The multi-station termitomyces albuminosus automatic root cutting device according to claim 1, wherein: the screwing clutch comprises a screwing clutch (8-4), a first-stage clutch (8-1), a second-stage clutch (8-2) and a third-stage clutch (8-3), the screwing clutch (8-4) is used for screwing a clamping device (9), the first-stage clutch (8-1), the second-stage clutch (8-2) and the third-stage clutch (8-3) are used for loosening the clamping device (9), rotate to the positions of the first-stage clutch (8-1), the second-stage clutch (8-2) and the third-stage clutch (8-3) under the clamping device (9) and are provided with corresponding recycling boxes, according to the size and the shape of the Collybia albuminosa, the corresponding clutches are selected to loosen the clamping device (9), and the cut Collybia albuminosa falls into the corresponding recycling boxes, the corresponding clutch is reset.
3. The multi-station termitomyces albuminosus automatic root cutting device according to claim 1 or 2, wherein: the automatic root cutting device for the multi-station collybia albuminosa further comprises a vibration disc (1), collybia albuminosa (2) is contained in the vibration disc, and the collybia albuminosa (2) is fed onto the conveying belt (3) one by one through vibration work of the vibration disc (1).
4. The multi-station termitomyces albuminosus automatic root cutting device according to claim 1, wherein: the sorting mechanism (6) comprises an upper left inclined surface sorting belt (6-1), an upper right inclined surface sorting belt (6-2), a lower left inclined surface sorting belt (6-3) and a lower right inclined surface sorting belt (6-4), the upper left inclined surface sorting belt (6-1) and the lower left inclined surface sorting belt (6-3) are located on a first plane, the upper right inclined surface sorting belt (6-2) and the lower right inclined surface sorting belt (6-4) are located on a second plane, the first plane and the second plane are inwards inclined from top to bottom, and a through groove for accommodating a mushroom stem to pass through is formed below.
5. The multi-station termitomyces albuminosus automatic root cutting device according to claim 1 or 4, wherein: the clamping device 9 comprises a clamping device tooth space part (9-1), clamping device trapezoidal teeth (9-2), a plurality of small gears (9-3), a base (9-5) and a slip ring (9-6), the base (9-5) is provided with an annular track (9-7), the slip ring (9-6) is sleeved on the annular track (9-7), an inner ring gear is arranged on an inner ring of the slip ring (9-6), the plurality of small gears (9-3) are meshed with the inner ring gear, each small gear (9-3) is axially connected with a special-shaped claw (9-10) to drive the inner ring gear of the slip ring (9-6) to drive the plurality of small gears (9-3) to rotate, thereby realizing the rotation of the special-shaped claws (9-10) and finishing the clamping and loosening actions of the special-shaped claws (9-10) towards the middle.
6. The multi-station termitomyces albuminosus automatic root cutting device according to claim 5, wherein: the tightening clutch (8-4), the first-stage clutch (8-1), the second-stage clutch (8-2) and the third-stage clutch (8-3) respectively comprise a clutch tooth space part and clutch trapezoidal teeth, and the clutch tooth space part and the clutch trapezoidal teeth are respectively matched with the clamping device trapezoidal teeth (9-2) and the clamping device tooth space part (9-1) of the clamping device (9) and used for driving the inner gear ring of the clamping device (9) to rotate.
7. The multi-station termitomyces albuminosus automatic root cutting device according to claim 5, wherein: the clamping device (9) further comprises an electromagnet (9-4), the electromagnet (9-4) is attached to the outer edge of the sliding ring (9-6), and the sliding ring (9-6) is attracted by electrifying the electromagnet (9-4) so as to realize the positioning of the sliding ring (9-6).
8. The multi-station termitomyces albuminosus automatic root cutting device according to claim 7, wherein: during cutting, the mushroom stems 2-2 of the termitomyces albuminosus are clamped by a plurality of special-shaped claws (9-10) of the clamping device (9), the camera (4) obtains the diameter of a certain termitomyces albuminosus mushroom stem, so that the rotating angle of the tightening clutch (8-4) is determined, the corresponding rotating angle of the pinion is controlled, and the special-shaped claws (9-10) can clamp the termitomyces albuminosus; after the Collybia albuminosa is clamped, the electromagnet (9-4) is electrified to attract the sliding ring (9-6), so that the sliding ring (9-6) is ensured to be kept still at the position.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920525835 | 2019-04-18 | ||
| CN2019205258357 | 2019-04-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110973667A true CN110973667A (en) | 2020-04-10 |
| CN110973667B CN110973667B (en) | 2021-06-29 |
Family
ID=70065729
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911321545.1A Expired - Fee Related CN111015702B (en) | 2019-04-18 | 2019-12-20 | Multi-station collybia albuminosa automatic root cutting method |
| CN201911321598.3A Expired - Fee Related CN110973667B (en) | 2019-04-18 | 2019-12-20 | Multi-station collybia albuminosa automatic root cutting device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911321545.1A Expired - Fee Related CN111015702B (en) | 2019-04-18 | 2019-12-20 | Multi-station collybia albuminosa automatic root cutting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN111015702B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112273687A (en) * | 2020-11-10 | 2021-01-29 | 连云港天颂工业设备研发有限公司 | Automatic edible mushroom root cutting device |
| CN113767757A (en) * | 2021-10-27 | 2021-12-10 | 山东农业大学 | Picking robot end effector with adjustable fruit postures and harvesting method |
| CN115721030A (en) * | 2022-11-30 | 2023-03-03 | 华南农业大学 | Conveyor belt type black-skin termitomyces albuminosus root cutting device |
| CN115736281A (en) * | 2022-11-30 | 2023-03-07 | 华南农业大学 | Carousel formula black skin collybia albuminosa cuts root device |
| CN115721030B (en) * | 2022-11-30 | 2024-07-02 | 华南农业大学 | Conveyor belt type black skin termitomyces albuminosus root cutting device |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102669803A (en) * | 2012-05-10 | 2012-09-19 | 北京工商大学 | Automatic root peeler for Pholiota nameko |
| CN105186794A (en) * | 2015-09-25 | 2015-12-23 | 中山市亚泰机械实业有限公司 | Multi-station rotor automatic end punching machine |
| CN205695574U (en) * | 2016-04-11 | 2016-11-23 | 陕西科技大学 | A kind of garlic rhizoma cutting machine |
| CN106262957A (en) * | 2016-07-13 | 2017-01-04 | 韩生银 | A kind of semi-automatic extracting red date stone tapping machine |
| CN107296290A (en) * | 2017-07-11 | 2017-10-27 | 范国隆 | A kind of capsicum is raised one's hat device |
| CN206883744U (en) * | 2017-05-08 | 2018-01-16 | 智耕股份有限公司 | The special slitting equipment of bamboo shoot process |
| CN108527432A (en) * | 2018-04-26 | 2018-09-14 | 成都立创创新科技有限公司 | A kind of clamping device for mechanical arm |
| CN207897559U (en) * | 2018-02-09 | 2018-09-25 | 烟台拓伟智能科技股份有限公司 | A kind of mushroom automatic processing system |
| CN207942463U (en) * | 2018-01-09 | 2018-10-09 | 傅峰峰 | A kind of dismountable processing unit of tool |
| CN108908388A (en) * | 2018-08-31 | 2018-11-30 | 四川晟实科技有限公司 | A kind of miniature gears gripper and its working method |
| CN109123694A (en) * | 2018-10-17 | 2019-01-04 | 广昌县兴莲机械制造有限公司 | A kind of lotus seed peeling machine |
| CN208543547U (en) * | 2018-05-30 | 2019-02-26 | 黄慧婵 | Drilling equipment for mobile phone shell drilling |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1008841C2 (en) * | 1998-04-08 | 1999-10-11 | Tno | Orientation mechanism. |
| CN202743967U (en) * | 2012-08-24 | 2013-02-20 | 南京恒昌轻工机械有限公司 | Steering conveyor line for article |
| CN204120186U (en) * | 2014-08-04 | 2015-01-28 | 正安县顶箐方竹笋有限公司 | A kind of bamboo shoots bottom surface clipping device |
| CN205701516U (en) * | 2016-04-29 | 2016-11-23 | 江苏佑风微电子有限公司 | Diode classifier |
-
2019
- 2019-12-20 CN CN201911321545.1A patent/CN111015702B/en not_active Expired - Fee Related
- 2019-12-20 CN CN201911321598.3A patent/CN110973667B/en not_active Expired - Fee Related
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102669803A (en) * | 2012-05-10 | 2012-09-19 | 北京工商大学 | Automatic root peeler for Pholiota nameko |
| CN105186794A (en) * | 2015-09-25 | 2015-12-23 | 中山市亚泰机械实业有限公司 | Multi-station rotor automatic end punching machine |
| CN205695574U (en) * | 2016-04-11 | 2016-11-23 | 陕西科技大学 | A kind of garlic rhizoma cutting machine |
| CN106262957A (en) * | 2016-07-13 | 2017-01-04 | 韩生银 | A kind of semi-automatic extracting red date stone tapping machine |
| CN206883744U (en) * | 2017-05-08 | 2018-01-16 | 智耕股份有限公司 | The special slitting equipment of bamboo shoot process |
| CN107296290A (en) * | 2017-07-11 | 2017-10-27 | 范国隆 | A kind of capsicum is raised one's hat device |
| CN207942463U (en) * | 2018-01-09 | 2018-10-09 | 傅峰峰 | A kind of dismountable processing unit of tool |
| CN207897559U (en) * | 2018-02-09 | 2018-09-25 | 烟台拓伟智能科技股份有限公司 | A kind of mushroom automatic processing system |
| CN108527432A (en) * | 2018-04-26 | 2018-09-14 | 成都立创创新科技有限公司 | A kind of clamping device for mechanical arm |
| CN208543547U (en) * | 2018-05-30 | 2019-02-26 | 黄慧婵 | Drilling equipment for mobile phone shell drilling |
| CN108908388A (en) * | 2018-08-31 | 2018-11-30 | 四川晟实科技有限公司 | A kind of miniature gears gripper and its working method |
| CN109123694A (en) * | 2018-10-17 | 2019-01-04 | 广昌县兴莲机械制造有限公司 | A kind of lotus seed peeling machine |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112273687A (en) * | 2020-11-10 | 2021-01-29 | 连云港天颂工业设备研发有限公司 | Automatic edible mushroom root cutting device |
| CN113767757A (en) * | 2021-10-27 | 2021-12-10 | 山东农业大学 | Picking robot end effector with adjustable fruit postures and harvesting method |
| CN115721030A (en) * | 2022-11-30 | 2023-03-03 | 华南农业大学 | Conveyor belt type black-skin termitomyces albuminosus root cutting device |
| CN115736281A (en) * | 2022-11-30 | 2023-03-07 | 华南农业大学 | Carousel formula black skin collybia albuminosa cuts root device |
| CN115721030B (en) * | 2022-11-30 | 2024-07-02 | 华南农业大学 | Conveyor belt type black skin termitomyces albuminosus root cutting device |
| CN115736281B (en) * | 2022-11-30 | 2024-07-02 | 华南农业大学 | Rotary disc type black skin termitomyces albuminosus root cutting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111015702B (en) | 2021-12-03 |
| CN110973667B (en) | 2021-06-29 |
| CN111015702A (en) | 2020-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110973667B (en) | Multi-station collybia albuminosa automatic root cutting device | |
| CN1973604B (en) | Automatic punching bagging and tying machine for mixed edible fungus material | |
| CN103348954A (en) | Automatic cocoon and pupa separating device | |
| CN104841953B (en) | turret lathe | |
| CN207125299U (en) | A kind of intelligent garlic automatic cutting root machine | |
| CN108575296A (en) | A kind of apple-picking device and its picking method | |
| CN102669803A (en) | Automatic root peeler for Pholiota nameko | |
| CN114145134A (en) | Strawberry picking and sorting all-in-one machine and picking and sorting method thereof | |
| CN110025029A (en) | Chicken fir root cutting device | |
| CN2359904Y (en) | Chilli Stem Cutter | |
| CN203843873U (en) | Cutting device for V-type joined belt | |
| CN205438692U (en) | Coconut automatic cutout assembly line | |
| CN209390665U (en) | A kind of four intermediate plate potted-seedling transplanting clamp device of pulley-type | |
| CN203378417U (en) | Automatic cocoon-pupa separating device | |
| CN215872707U (en) | Root cutting and harvesting device | |
| CN210841529U (en) | Termitomyces albuminosus root cutting device | |
| CN110279130B (en) | Collybia root cutting device | |
| CN115336504A (en) | Cultivation system and method for velvet antler mushroom | |
| CN113597880A (en) | Root cutting and harvesting device | |
| CN201186446Y (en) | Chilli stem cutter | |
| CN110720646B (en) | Centrifugal type automatic tea branch citrus peeling and fleshing device and method | |
| CN106069950A (en) | Full-automatic mussel opens shell method for fetching beads | |
| CN208394319U (en) | A kind of robot arm device for arranging and carrying for birds, beasts and eggs | |
| CN213468538U (en) | Full-automatic tea stalk removing device | |
| CN110214967A (en) | Chicken fir root cutting apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210629 Termination date: 20211220 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |