CN113348977A - Mushroom clamping mechanism, picking device and using method - Google Patents

Abstract

The mechanism comprises a fixed seat, at least two notches are arranged on one side of the fixed seat at intervals in the horizontal direction, clamping arms are arranged on the fixed seat in pairs and comprise a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are arranged on the fixed seat through rotating shafts and can rotate around the axis of the rotating shafts, the rotating directions of the first clamping arm and the second clamping arm are opposite, a pushing block capable of moving is arranged on the fixed seat, the reciprocating movement of the pushing block can simultaneously push the first clamping arm and the second clamping arm to rotate, and the first clamping arm and the second clamping arm are respectively close to the side walls of the notches after rotating so as to clamp mushroom stems of mushrooms. The mechanism can simultaneously clamp and pick the mushrooms on the mushroom tray fruiting system in rows at the same time, so that the production efficiency of the mushrooms is improved.

Description

Mushroom clamping mechanism, picking device and using method

Technical Field

The invention belongs to the technical field of edible mushroom production, and particularly relates to a mushroom clamping mechanism, a picking device and a using method.

Background

The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

When mushrooms are produced and picked in a production workshop, a mushroom fruiting unit 500 is generally formed by a mushroom cultivation basket 502 and a basket bearing frame 503 covered on the mushroom cultivation basket, as shown in fig. 14; the mushroom fruiting units 500 are placed on the tray 504 in a stacking manner in multiple layers, two rows and multiple columns to form a mushroom tray fruiting system, as shown in fig. 15. In the production process, the tray 504 is taken as a unit, the whole tray is transported and mushroom fruiting management is carried out, when the mushroom fruiting body 501 grows up and meets the picking condition, the mushroom on the mushroom tray mushroom fruiting system needs to be manually picked, so that the working efficiency is low, the workload is large, and a mechanized mushroom picking device is urgently needed to replace manual mushroom picking.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides the mushroom clamping mechanism, the picking device and the using method.

The embodiment of the invention provides a mushroom clamping mechanism which comprises a fixed seat, wherein at least two notches are arranged on one side of the fixed seat at intervals in the horizontal direction, clamping arms are installed on the fixed seat in pairs, each clamping arm comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are arranged on the fixed seat through rotating shafts and can rotate around the axes of the rotating shafts, the rotating directions of the first clamping arm and the second clamping arm are opposite, a pushing block capable of moving is arranged on the fixed seat, the reciprocating movement of the pushing block can push the first clamping arm and the second clamping arm to rotate simultaneously, and the first clamping arm and the second clamping arm are close to the side walls of the notches respectively after rotating so as to clamp mushroom stems of mushrooms.

Furthermore, the first clamping arm and the second clamping arm are both arc-shaped structures, and the push block is provided with a first arc-shaped surface in contact fit with the first clamping arm and a second arc-shaped surface in contact fit with the second clamping arm.

Furthermore, the end parts of the first clamping arm and the second clamping arm are bent downwards to form aligning ends, aligning surfaces which can be parallel to the side wall surfaces of the notch after the clamping arms rotate are arranged on the aligning ends, and the aligning surfaces are sawtooth surfaces.

Furthermore, the clamping arm is connected with the fixed seat through a spring, and the clamping arm can stretch the spring when rotating.

The embodiment of the invention provides a mushroom picking device, which comprises a tray transmission mechanism and a picking mechanism for transmitting a mushroom tray fruiting system, wherein the tray transmission mechanism traverses the picking mechanism, the picking mechanism on two sides of the tray transmission mechanism is provided with a horizontal support piece and a lifting base, the horizontal support piece can move up and down in the lifting base along the vertical direction, the horizontal support piece is provided with a sliding piece capable of moving back and forth towards the direction of the tray transmission mechanism, the sliding piece is connected with a fixed seat in a mushroom clamping mechanism through a supporting rod, the horizontal support piece is connected with a mushroom temporary storage bin, the mushroom temporary storage bin is provided with a feeding hole, the initial position of a clamping arm is positioned at the top of the feeding hole, when the clamping arm on the fixed seat clamps the mushroom stem part of mushroom, the mushroom stem root of the mushroom is separated from a mushroom cultivation material through the back and forth movement of the sliding piece, and the mushroom is conveyed to the upper part of the feeding hole of the temporary storage bin, the push plate retracts, the clamping arm rotates and resets under the action of the tensile force of the spring, and the clamped mushroom falls into the mushroom temporary storage bin from the notch.

Furthermore, the lifting base is provided with a vertical lead screw, the vertical lead screw is provided with a vertical lead screw nut, the top of the lifting base is provided with a lead screw motor for driving the vertical lead screw to rotate, and the vertical lead screw nut is connected with the horizontal support piece.

Furthermore, a space area for the tray transmission mechanism to pass through is arranged between the two lifting bases, a top beam for connecting the tops of the two lifting bases is arranged above the space area, and a basket pressing piece is arranged on the top beam and can move up and down and is used for fixing a mushroom fruiting unit on the uppermost layer of the mushroom tray fruiting system.

Further, horizontal support piece's bottom is equipped with two vertical decurrent cantilever bars, connects the pivot between two cantilever bars, connects the arc in the pivot, the perpendicular to surface of arc the pivot, and the arc is connected with the front end of mushroom temporary storage storehouse bottom plate, is equipped with the bottom plate couple on the lateral wall face of mushroom temporary storage storehouse bottom plate rear end, is equipped with the curb plate couple on the curb plate of mushroom temporary storage storehouse, is connected through the extension spring between bottom plate couple and the curb plate couple be equipped with the piece of hindering on the mobile base, horizontal support piece when descending, the arc with the piece of hindering contacts to the front end that drives mushroom temporary storage storehouse is rotatory round the pivot, and tensile extension spring realizes mushroom temporary storage storehouse bottom plate rear end and the curb plate phase separation in mushroom temporary storage storehouse.

Furthermore, the support rod is detachably connected with a fixing seat in the mushroom clamping mechanism, and the support rod can be provided with a water gap clamp type mushroom clamping mechanism and a soft finger clamp type mushroom clamping mechanism.

The embodiment of the invention provides a using method of a shiitake mushroom picking device, which comprises the following steps:

the method comprises the following steps: when the tray transmission mechanism conveys the mushroom tray fruiting system to a position between the horizontal supporting pieces on the two sides, the mushroom tray fruiting system stops;

step two: the horizontal supporting piece is moved to the plane where the mushroom fruiting unit at the bottommost layer is located, the sliding piece is controlled to move, the notch in the fixing seat is moved to the end portion of each row of mushroom groups on the mushroom fruiting unit, so that a first pair of mushroom stems at the end portion of each row of mushroom groups are embedded into the notch, the push block is controlled to move forwards, the clamping arms are close to the side walls of the notch, and the mushroom stems of the first pair of mushrooms in each row of mushroom groups are clamped; separating the root of the mushroom stem from the cultivation material through the reciprocating movement of the sliding piece;

step three: the clamping arms are controlled to move to the top of a feeding hole of the mushroom temporary storage bin, the push block is controlled to move backwards, the clamping arms are far away from the side wall of the notch, clamped mushrooms fall into the mushroom temporary storage bin from the notch to be stored, and therefore mushrooms on the mushroom fruiting unit at the bottommost layer are all picked into the mushroom temporary storage bin through the reciprocating movement of the sliding piece;

step four: and (4) moving the horizontal supporting piece upwards by the height of the mushroom fruiting unit, and repeating the second step and the third step to completely pick mushrooms on the multi-layer mushroom fruiting unit.

The invention has the following beneficial effects:

according to the mushroom picking device provided by the invention, the mushroom temporary storage bin is arranged at the bottom of the horizontal supporting piece, and meanwhile, the sliding piece can reciprocate towards the direction of the central line of the tray transmission mechanism, so that when the clamping arm of the fixing seat and the side wall of the notch are close to each other to clamp the mushroom stem part of the mushroom, the reciprocating movement of the sliding piece can realize the separation of the mushroom stem root part of the mushroom from the cultivation material, and meanwhile, the clamping arm is controlled to move to the top of the mushroom temporary storage bin, the mushroom can directly fall into the mushroom temporary storage bin from the notch on the fixing seat for storage, the automatic picking and storage of the mushroom are realized, and the production efficiency of the mushroom is improved.

Drawings

Fig. 1 is a schematic overall structure diagram of a mushroom picking mechanism provided in embodiment 1 of the present invention;

fig. 2 is a schematic structural view of a holding unit in the mushroom holding mechanism according to embodiment 1 of the present invention;

fig. 3 is a schematic structural view of a first holding arm in the mushroom holding mechanism according to embodiment 1 of the present invention;

fig. 4 is a schematic structural view of a push block in the mushroom picking mechanism provided in embodiment 1 of the present invention;

fig. 5 is a schematic structural view of a fixing seat in a mushroom picking mechanism according to embodiment 1 of the present invention;

fig. 6 is a schematic view of a nozzle clamp type mushroom picking mechanism provided in embodiment 2 of the present invention;

FIG. 7 is a schematic view of a soft finger-clip type mushroom picking mechanism provided in embodiment 2 of the present invention;

fig. 8 is a schematic view of the overall structure of a shiitake mushroom picking device according to embodiment 3 of the present invention;

fig. 9 is a schematic structural diagram of a picking mechanism in the shiitake mushroom picking apparatus according to embodiment 3 of the present invention;

fig. 10 is a schematic structural view of a horizontal support in the shiitake mushroom picking apparatus according to embodiment 3 of the present invention;

fig. 11 is a schematic structural view of a mushroom temporary storage bin in the mushroom picking device provided in embodiment 3 of the present invention;

fig. 12 is a schematic bottom view of a horizontal support in a shiitake mushroom picking apparatus according to embodiment 3 of the present invention;

fig. 13 is a schematic structural view of a lifting base in the shiitake mushroom picking apparatus according to embodiment 3 of the present invention;

FIG. 14 is a schematic structural diagram of a mushroom fruiting unit provided by the embodiment of the present invention;

fig. 15 is a schematic structural view of a mushroom tray fruiting system provided by the embodiment of the invention.

In the figure: 100. a fixed seat 101, a notch 102, a first clamping arm 1021, an alignment end 1022, a connection end 1023, a middle inclined part 1024, an alignment surface 103, a second clamping arm 104, a push block 1041, a left arc surface 1042, a right arc surface 105, a telescopic cylinder 106, a rotating shaft 107, a spring 111, a soft finger clamp clamping arm 112, a nozzle clamp clamping arm 200, a tray transmission mechanism 300, a lifting base 301, a vertical screw rod 302, a screw motor 303, a vertical guide rod 304, a top beam 305, a fixed plate 306, a basket pressing guide rod 307, a basket pressing plate 308, a basket pressing frame 309, a frame pressing cylinder 400, a horizontal support 4001, a cantilever rod 4002, a rotating shaft 4003, an arc plate 401, a sliding part 402, a transverse screw rod 403, a guide rod 404, a mushroom storage bin 4041, a feed inlet, 4042, a bottom plate hook, a side plate 4043, a hook 4044, a tension spring, 4045. the mushroom cultivation device comprises a support part, 405, a support rod, 500, a mushroom fruiting unit, 501, mushroom fruiting bodies, 502, a cultivation basket, 503, a bearing frame, 504 and a tray.

Detailed Description

Example 1:

as shown in fig. 1, an embodiment of the present invention provides a mushroom picking mechanism, which includes a fixing base 100, wherein 5 notches 101 are provided at an edge of the fixing base 100 in a horizontal direction, the 5 notches 101 respectively correspond to 5 groups of mushroom fruiting bodies 501 on a mushroom fruiting unit 500 in fig. 14, each group of mushroom fruiting bodies 501 includes two rows, and the 5 notches 101 can each accommodate a pair of first mushroom fruiting bodies 501 at an end of each group of mushroom fruiting bodies 501.

As shown in fig. 1, 2 and 5, five pairs of clamping arms are respectively mounted on the fixing base 100, each pair of clamping arms comprises a first clamping arm 102 and a second clamping arm 103, each pair of clamping arms is arranged at a position close to the middle position of the notch 101, the ends of the first clamping arm 102 and the second clamping arm 103 are arranged on the fixing base 100 through a rotating shaft 106, the clamping arms can rotate around the center line of the rotating shaft 106, and the rotating directions of the first clamping arm 102 and the second clamping arm 103 are opposite.

A telescopic cylinder 105 is arranged behind the first clamping arm 102 and the second clamping arm 103 on the fixed seat 100, wherein the end part of the telescopic rod of the telescopic cylinder 105 is also connected with a push block 104, when the push block 104 moves forwards, the two clamping arms can be simultaneously pushed to rotate, and the clamping arm is provided with an alignment surface 1024 close to two side wall surfaces of the notch 101, thus, the notch 101 of the fixing base 100 can be placed at the end of each group of the mushroom fruiting body 501 in figure 14, so that the mushroom fruit body 501 at the end among the first row of mushroom fruit bodies 501 and the second row of mushroom fruit bodies 501 is placed in the notch 101, the first and second grasping arms 102 and 103 may be placed between the first and second rows of mushroom fruit bodies 501 and 501, the first mushroom fruit body 501 in the two rows of mushroom fruit bodies 501 can be simultaneously nipped by pushing of the pushing block 104.

In order to realize that the push block 104 in this embodiment can be smoothly pushed to make the first clamping arm 102 and the second clamping arm 103 rotate simultaneously, as shown in fig. 4, a left arc-shaped surface 1041 and a right arc-shaped surface 1042 are arranged at an end portion of the push block 104 in this embodiment, an outer wall surface of the first clamping arm 102 and an outer wall surface of the second clamping arm 103 in this embodiment are also arc-shaped, wherein the left arc-shaped surface 1041 at the end portion of the push block 104 is in profile modeling with the outer wall surface of the first clamping arm 102, the right arc-shaped surface 1042 at the end portion of the push block 104 is in profile modeling with the outer wall surface of the second clamping arm 103, when the push block 104 is in contact with the clamping arms, the arc-shaped surfaces of the push block 104 can be respectively in contact with the wall surfaces of the first clamping arm 102 and the second clamping arm 103, so that the rotation of the clamping arms can be smoothly pushed by the movement of the push block 104.

It should be noted that the first holding arm 102 and the second holding arm 103 of the present embodiment are not symmetrical with respect to the center line of the pushing block 104, but the second holding arm 103 is located forward from the first holding arm 102, because as shown in fig. 14, two rows of mushroom fruiting bodies 501 in each group on the mushroom fruiting unit 500 are grown alternately, which saves the floor space of the tray 504 while ensuring the growth space of the mushroom fruiting bodies 501. Therefore, in order to simultaneously pick up the positions of two rows of the mushroom fruit bodies 501 in each group, the second pick-up arm 103 is positioned forward.

Of course, when the mushroom fruiting bodies 501 of two rows of some mushroom fruiting units 500 are located on the same horizontal line, the first holding arm 102 and the second holding arm 103 can be placed symmetrically left and right about the center line of the push block 104.

Further, considering that the holding arm of the present invention is installed on the upper surface of the fixing base 100, that is, the holding arm is not in the same horizontal plane with the notch 101, so that the holding arm cannot be abutted with the side wall surface of the notch 101 after rotating, in order to avoid the above problem, as shown in fig. 3, the front portion and the rear portion of the holding arm in this embodiment are connected by a downward inclined angle, that is, the first holding arm 102 and the second holding arm 103 are not horizontal holding plates, the holding arm is composed of an alignment end 1021 and a connection end 1022, wherein the alignment end 1021 is disposed in the notch 101 of the fixing base 100, the connection end 1022 is disposed on the upper surface of the fixing base 100, and the alignment end 1021 and the connection end are connected by an intermediate inclined portion, so that the alignment face 1024 of the alignment end 1021 can be close to the side wall surface of the notch 101 during the rotation of the holding arm, this can hold the stem of the mushroom fruiting body 501.

Of course, in other embodiments, the clamping arm in this embodiment may also be a horizontal clamping arm, and the edge of the notch formed in the fixing base 100 is bent upward instead of bending, so that the clamping arm can naturally abut against the side wall surface of the notch 101 when rotating, but this is more difficult to manufacture than bending the clamping arm directly.

Alternatively, in other embodiments, the holding arm and the fixing base 100 are not bent, but an alignment surface 1024 that fits with the side wall surface of the notch 101 of the fixing base 100 is formed downward at the bottom of the front end of the holding arm, so that the stem of the mushroom fruit body 501 can be held.

As shown in FIG. 3, the aligning surface 1024 of the holding arm of the present embodiment, which is rotated and brought close to the side surface of the notch 101, is formed as a serrated surface so as to hold the stem of the mushroom fruit body 501.

In other embodiments, the holding arms and the side surfaces of the notch 101 are arranged to be tapered in a rotating manner and close to the surface, that is, in a common scissors shape, so as to cut the stem of the mushroom fruiting body 501, but the mounting precision is higher than that of the saw-toothed surface, and the root of the stem is easy to rot and generate mold when the mushroom is grown in the next mushroom, which affects the yield of the mushroom.

Further, as shown in fig. 2, in this embodiment, the tail portions of the first holding arm 102 and the second holding arm 103 are connected to the fixing base 100 through a spring 107, so that the holding arms can stretch the spring 107 during the rotation process, and when the pushing block 104 is retracted, the holding arms will return to the original position under the pulling force of the spring 107, thereby facilitating the next holding of the mushroom entity 501.

As shown in fig. 1, each holder 100 of the present embodiment is provided with five pairs of holding arms, each pair of holding arms can simultaneously grip two mushroom fruiting bodies 501, so that when the holder 100 moves to the front of the mushroom fruiting unit 500, 10 mushroom fruiting bodies 501 can be gripped at one time.

Of course, the grasping mechanism in the present invention is not limited to the five pairs of grasping arms in the present example, and may be more than five pairs, and is determined according to the number of groups of the mushroom fruiting body 501 of the mushroom fruiting unit 500.

Therefore, the mushroom picking mechanism provided by the embodiment arranges the notch 101 on the edge of the fixed seat 100 in the horizontal direction, this allows the notch 101 to be fitted to the starting end of two rows of the mushroom fruit body 501, the first holding arm 102 and the second holding arm 103 to be placed at a distance between the first row of the mushroom fruit body 501 and the second row of the mushroom fruit body 501, the first clamping arm 102 and the second clamping arm 103 are driven to rotate simultaneously by the movement of the push block 104, two rows of mushroom fruiting bodies 501 on the mushroom fruiting unit 500 can be clamped simultaneously by the mutual approach of the alignment surface 1024 of the clamping arms and the side wall surface of the notch 101, then the fixing base 100 moves back and forth to separate the root of the stem of the fruiting body 501 of shiitake mushroom from the cultivation material, the structure is simpler, the two clamping arms can rotate by moving one push block 104, the two mushroom fruiting bodies 501 are clamped simultaneously, and the control is simpler.

Example 2:

as shown in fig. 6-7, the present embodiment further provides a mushroom clamping mechanism, which includes a fixing base 100, wherein a plurality of notches and a plurality of protrusions are provided on an edge of the fixing base 100, and the notches and the protrusions are arranged at intervals, a pair of same clamping arms is provided on each notch and each protrusion, and clamping of the mushroom stem of the mushroom fruiting body 501 can be achieved through combination and separation of each pair of clamping arms.

The clamping arm can be a nozzle clamp clamping arm 112 as shown in fig. 6, or a soft finger clamp clamping arm 111 as shown in fig. 7, wherein the soft finger clamp clamping arm 111 comprises a left soft finger clamping arm and a right soft finger clamping arm, the two soft finger clamping arms are plastic bodies, the interiors of the two soft finger clamping arms are hollow, an air hole is respectively connected with the two soft finger clamp clamping arms, the left soft finger clamp clamping arm and the right soft finger clamp clamping arm can be separated and opened by sucking air into the air hole, the fixing base 100 moves to drive the soft finger clamp clamping arms to reach the mushroom stem position of the mushroom fruit body 501, the left soft finger clamp clamping arm and the right soft finger clamp clamping arm can be combined by inflating the air hole, and then the mushroom stem of the mushroom fruit body 501 is clamped, so that mushroom picking is realized.

Example 3:

the embodiment provides a mushroom picking device, as shown in fig. 8, the device comprises a tray conveying mechanism 200 and a picking mechanism for conveying a mushroom tray fruiting system, the tray conveying mechanism 200 traverses the middle area of the picking mechanism, the tray conveying mechanism 200 comprises two conveying chains arranged at intervals, the picking mechanism comprises a lifting base 300 and a horizontal support 400 capable of reciprocating up and down on the lifting base 300, and the horizontal support 400 is arranged at two sides of the tray conveying mechanism 200.

As shown in fig. 10, the horizontal support 400 is provided with a sliding member 401, the sliding member 401 can move back and forth in a direction perpendicular to the rotation direction of the conveying chain, the sliding member 401 is connected with the fixing base 100 in embodiments 1 and 2 through a support rod 405, specifically, the fixing base 100 and the support rod 405 are provided with bolt holes corresponding to each other, the shiitake picking apparatus in this example can be provided with the shiitake picking mechanism in embodiment 1 or the shiitake picking mechanism in embodiment 2, and the fixing base 100 can be driven by the sliding member 401 to move back and forth.

As shown in fig. 10, a transverse lead screw 402 is disposed on the horizontal support 400 along the moving direction of the sliding member 401, and a transverse lead screw nut matched with the transverse lead screw 402 is disposed on the sliding member 401 and fixedly connected to the sliding member 401, so that the rotation of the transverse lead screw 402 can be converted into the linear movement of the sliding member 401.

Further, in order to ensure the stability of the sliding member 401 during the movement, guide rods 403 are further disposed on the horizontal support 400 on both sides of the transverse lead screw 402, and penetrate through the sliding member 401, so that the stability of the sliding member 401 during the movement can be ensured.

In this embodiment, the bottom of the horizontal support 400 is provided with a mushroom temporary storage bin 404, as shown in fig. 11, a top surface of an end portion of the mushroom temporary storage bin 404 close to the tray conveying mechanism 200 is provided with a feed inlet 4041, so that when the sliding member 401 moves backwards, the fixing base 100 also moves backwards, the holding arm on the fixing base 100 stops when moving to the top of the feed inlet 4041 of the mushroom temporary storage bin 404, at this time, since the mushroom entity 501 held between the holding arm on the fixing base 100 and the sidewall of the notch 101 is located between the two, and then the holding arm is controlled to rotate to separate from the sidewall of the notch 101, the held mushrooms can fall into the mushroom temporary storage bin 404 for storage.

Further, as shown in fig. 9, the lifting base 300 in this embodiment is provided with a vertical screw 301, the vertical screw 301 passes through the horizontal support 400, a vertical screw nut matched with the vertical screw 301 is arranged on the horizontal support 400, the vertical screw nut is fixedly connected with the horizontal support 400, and meanwhile, a screw motor 302 for driving the vertical screw 301 to rotate is arranged on the lifting base 300, so that the vertical screw 301 is driven to move up and down the horizontal support 400, when a plurality of mushroom fruiting units 500 are stacked together, mushrooms on the multi-layer mushroom fruiting unit 500 can be completely picked up by the up and down movement of the horizontal support 400 and the horizontal movement of the slider 401.

Meanwhile, in order to ensure stability during the up-and-down movement of the horizontal support 400, a vertical guide bar 303 is also provided on the lifting base 300, and also passes through the horizontal support 400.

As shown in fig. 9, in this embodiment, the tops of the lifting bases 300 at two sides of the conveying chain are connected together through two top beams 304, a basket pressing member is arranged at the middle position of the two top beams 304, the basket pressing member includes a fixing plate 305, a basket pressing guide 306 is arranged at the bottom of the periphery of the fixing plate 305, a frame pressing cylinder 309 is connected in the middle, the ends of the frame pressing cylinder 309 and the basket pressing guide 306 are connected with a basket pressing plate 307, and a plurality of pairs of pressing frames 308 for pressing the topmost bearing frame 503 of the mushroom tray fruiting system are arranged on the basket pressing plate 307, so that when the mushroom picking mechanism picks mushrooms, the mushroom fruiting units 500 at the topmost layer of the mushroom tray fruiting system are pressed through the pressing frames 308, thereby ensuring the stability of the mushroom tray fruiting system.

In order to take out the mushrooms in the temporary mushroom storage bin 404, as shown in fig. 12-13, in this example, the bottom of the horizontal support 400 is further provided with two cantilever rods 4001 which are vertically placed, a rotating shaft 4002 is connected between the two cantilever rods, a vertical arc plate 4003 is connected to the middle portion of the rotating shaft 4002, it is assumed that one end of the arc plate 4003 close to the feeding port 4041 of the temporary mushroom storage bin 404 is a front end, one end far from the feeding port 4041 is a rear end, the front end is lower than the rear end, and the top of the rear end is provided with a plane through which the plane is connected with the bottom plate of the temporary mushroom storage bin 404.

Further, one end of the bottom plate of the mushroom temporary storage bin 404, which is far away from the feeding hole 4041, is the rear end of the bottom plate, two sides of the rear end of the bottom plate are provided with bottom plate hooks 4042, meanwhile, two side wall surfaces of the mushroom temporary storage bin 404 are respectively provided with a side plate hook 4043, the bottom plate hook 4042 and the side plate hook 4043 are connected by a tension spring 4044, and it should be noted that, in this embodiment, the bottom plate of the mushroom temporary storage bin 404 and the side plate of the mushroom temporary storage bin 404 are not fixedly connected together, but separated, and at the same time, the bottom of the lifting base 300 is provided with a support stopping piece 4045, so that when the horizontal support piece 400 descends to the front end of the arc-shaped plate 4003 at the bottom and contacts with the support stopping piece 4045, the bottom plate of the mushroom temporary storage bin 404 rotates clockwise along the rotating shaft 4002 at the moment, the tension spring 4044 is stretched, the rear end of the bottom plate is opened, thus, the mushroom fruiting body 501 in the mushroom temporary storage bin 404 slides out along the bottom plate and falls into a mushroom collecting device such as a transfer basket.

Example 4:

the following describes in detail a method for using a shiitake mushroom picking apparatus provided based on example 3, the method including the steps of:

firstly, the mushroom tray fruiting system is transmitted between the two side lifting bases 300 through the tray transmission mechanism 200, and then the transmission is stopped; meanwhile, the pressing basket frame 308 on the lifting base 300 is controlled to fall down and is pressed on the basket bearing frame 503 on the uppermost layer of the tray fruiting system, and the horizontal supporting member 400 is controlled to move to the position of the bottommost mushroom fruiting unit 500;

next, if the mushroom picking mechanism of example 1 is employed: controlling the sliding member 401 on the horizontal supporting member 400 to move, moving the notch 101 on the fixing base 100 to the end of each row of the mushroom fruiting body 501 group on the mushroom fruiting unit 500, so that the mushroom stem of the first pair of mushroom fruiting bodies 501 at the end of each row of the mushroom fruiting body 501 group is embedded into the notch 101, then controlling the push block 104 on the fixing base 100 to move forward, clamping the mushroom stem of the first pair of mushroom fruiting bodies 501 in each row of the mushroom fruiting body 501 group by the clamping arm approaching to the side wall of the notch, and then separating the root of the mushroom stem of the mushroom fruiting body 501 from the cultivation material by the reciprocating movement of the sliding member 401;

if the mushroom picking mechanism of example 2 is adopted: controlling the sliding member 401 on the horizontal supporting member 400 to move so that the first pair of mushrooms at the end of each row of the group of mushroom fruiting bodies 501 are inserted between each pair of holding arms on the fixing base 100, and inflating the air holes of the holding arms to cause the holding arms to hold the stems of the mushroom fruiting bodies 501, and then separating the stem roots of the mushroom fruiting bodies 501 from the cultivation material by the reciprocating movement of the sliding member 401;

finally, the holding arm on the fixing base 100 is controlled to move to the top of the feeding hole of the mushroom temporary storage bin 404, and for the mushroom picking mechanism in embodiment 1, the holding arm is controlled to rotate to be separated from the side wall of the notch 101, so that the held mushroom entity 501 falls from the notch 101 into the mushroom temporary storage bin 404 for storage; with the mushroom picking mechanism according to embodiment 2, the two holding arms on the holder 100 are released by stopping the air inflation or suction of the holding arms, and the picked mushroom entity 501 is dropped into the mushroom temporary storage bin 404 for storage;

the above operation is repeated to pick up all the mushroom fruiting bodies 501 on the bottommost mushroom fruiting unit 500, after all the mushroom fruiting bodies 501 on the bottommost mushroom fruiting unit 500 are picked up, the horizontal support 400 is controlled to move upwards by the height of one mushroom fruiting unit 500, and the mushroom fruiting body 501 picking operation on the second mushroom fruiting unit 500 is started, so that all the mushroom fruiting bodies 501 on the mushroom tray fruiting system are picked up into the mushroom temporary storage bin 404 by the reciprocating movement of the slide 401 and the up-and-down reciprocating movement of the horizontal support 400.

Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (10)

1. The utility model provides a mechanism is got to mushroom clamp, its characterized in that, this mechanism includes the fixing base, and the interval is equipped with two at least breachs on one side horizontal direction of fixing base, installs the centre gripping arm in pairs on the fixing base, the centre gripping arm includes first centre gripping arm and second centre gripping arm, and first centre gripping arm and second centre gripping arm all set up on the fixing base through the pivot, and can rotate around the axis of pivot, and first centre gripping arm and second centre gripping arm direction of rotation are opposite, are equipped with the ejector pad that can remove on the fixing base, and the reciprocating motion of ejector pad can promote first centre gripping arm and second centre gripping arm simultaneously and rotate, thereby first centre gripping arm and second centre gripping arm are close to the mushroom stem portion with the lateral wall of breach respectively after rotatory.

2. The mushroom picking mechanism as claimed in claim 1, wherein the first holding arm and the second holding arm are both arc-shaped, and the pushing block is provided with a first arc-shaped surface contacting and cooperating with the first holding arm and a second arc-shaped surface contacting and cooperating with the second holding arm.

3. The mushroom picking mechanism as claimed in claim 1, wherein the end portions of the first holding arm and the second holding arm are bent downward to form aligning ends, the aligning ends are provided with aligning surfaces which can be parallel to the side wall surfaces of the notch after the holding arms rotate, and the aligning surfaces are sawtooth surfaces.

4. The mushroom picking mechanism as claimed in claim 1, wherein the holding arm is connected to the holder by a spring, and the holding arm is capable of stretching the spring when rotating.

5. A mushroom picking device is characterized by comprising a tray conveying mechanism and a picking mechanism which are used for conveying a mushroom tray fruiting system, wherein the tray conveying mechanism traverses the picking mechanism, horizontal supporting pieces and a lifting base are arranged on the picking mechanisms on two sides of the tray conveying mechanism, the horizontal supporting pieces can move up and down in the lifting base along the vertical direction, sliding pieces which can move back and forth towards the direction of the tray conveying mechanism are arranged on the horizontal supporting pieces, the sliding pieces are connected with a fixed seat in a mushroom clamping mechanism according to any one of claims 1-4 through supporting rods, a mushroom temporary storage bin is connected onto the horizontal supporting pieces, the mushroom temporary storage bin is provided with a feeding hole, the initial position of a clamping arm is positioned at the top of the feeding hole, when the clamping arm on the fixed seat clamps mushroom stem parts of mushrooms, the mushroom stem roots of the mushrooms are separated from mushroom cultivation materials through the back and forth movement of the sliding pieces, and the mushroom is conveyed to the upper part of the feeding hole of the temporary storage bin, the push plate retracts, the clamping arm rotates and resets under the action of the tensile force of the spring, and the clamped mushroom falls into the mushroom temporary storage bin from the notch.

6. A shiitake mushroom picking device as claimed in claim 5, wherein the lifting base is provided with a vertical screw, the vertical screw is provided with a vertical screw nut, the top of the lifting base is provided with a screw motor driving the vertical screw to rotate, and the vertical screw nut is connected with the horizontal support.

7. A mushroom picking device according to claim 6, wherein a space area for the tray conveying mechanism to pass through is arranged between the two lifting bases, a top beam for connecting the tops of the two lifting bases is arranged above the space area, and a basket pressing member is arranged on the top beam and can move up and down for fixing the mushroom fruiting unit at the uppermost layer of the mushroom tray fruiting system.

8. A mushroom picking device according to claim 5, characterized in that the bottom of the horizontal support is provided with two cantilever rods which are vertically downward, a rotating shaft is connected between the two cantilever rods, an arc plate is connected to the rotating shaft, the surface of the arc plate is perpendicular to the rotating shaft, the arc plate is connected with the front end of the bottom plate of the mushroom temporary storage bin, a bottom plate hook is arranged on the side wall surface of the rear end of the bottom plate of the mushroom temporary storage bin, a side plate hook is arranged on the side plate of the mushroom temporary storage bin, the bottom plate hook is connected with the side plate hook through a tension spring, a blocking piece is arranged on the movable base, and when the horizontal support descends, the arc plate is in contact with the blocking piece, so that the front end of the bottom plate of the mushroom temporary storage bin is driven to rotate around the rotating shaft, the tension spring is stretched, and the rear end of the bottom plate of the mushroom temporary storage bin is separated from the side plate of the temporary storage bin.

9. A shiitake mushroom picking device as claimed in claim 5, wherein the support rod is detachably connected with a fixed seat in the shiitake mushroom picking mechanism, and the support rod can be provided with a water gap clamp type shiitake mushroom picking mechanism and a soft finger clamp type shiitake mushroom picking mechanism.

10. A use method of a shiitake mushroom picking device based on any one of claims 5 to 8, characterized in that,

the method comprises the following steps: the tray transmission mechanism stops when the mushroom tray fruiting system is conveyed to a position between the horizontal supporting pieces on the two sides;

step two: moving the horizontal supporting piece to a plane where the mushroom fruiting unit at the bottommost layer is located, controlling the sliding piece to move, moving the notch on the fixing seat to the end part of each row of mushroom groups on the mushroom fruiting unit, enabling a first pair of mushrooms at the end part of each row of mushroom groups to be embedded into the notch, controlling the push block to move forwards, enabling the clamping arms to be close to the side walls of the notch, and clamping mushroom stems of the first pair of mushrooms in each row of mushroom groups; separating the root of the mushroom stem from the cultivation material through the reciprocating movement of the sliding piece;

step three: the clamping arms are controlled to move to the top of a feeding hole of the mushroom temporary storage bin, the push block is controlled to move backwards, the clamping arms are far away from the side wall of the notch, clamped mushrooms fall into the mushroom temporary storage bin from the notch to be stored, and therefore mushrooms on the mushroom fruiting unit at the bottommost layer are all picked into the mushroom temporary storage bin through the reciprocating movement of the sliding piece;

step four: and (4) moving the horizontal supporting piece upwards by the height of the mushroom fruiting unit, and repeating the second step and the third step to completely pick mushrooms on the multi-layer mushroom fruiting unit.

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