CN116998363A - Edible mushroom picking device - Google Patents

Abstract

The application relates to the technical field of picking equipment, in particular to an edible mushroom picking device which comprises a manipulator, a mechanical claw, a collecting box, a turnover mechanism, a rotating mechanism, a cutting mechanism and a material guiding mechanism, wherein the turnover mechanism, the cutting mechanism and the material guiding mechanism are arranged on the manipulator and driven by the manipulator to move, the rotating mechanism is arranged on the turnover mechanism and driven by the turnover mechanism to turn over on a vertical surface, the mechanical claw is arranged on the rotating mechanism and driven by the rotating mechanism to rotate on a horizontal surface, the cutting mechanism is used for cutting mushrooms clamped by the upward-turning mechanical claw, and the material guiding mechanism is used for guiding mushrooms clamped by the upward-turning mechanical claw into the collecting box. The application can improve the picking efficiency of the mushrooms.

Description

Edible mushroom picking device

Technical Field

The application relates to the technical field of picking equipment, in particular to an edible mushroom picking device.

Background

The edible mushrooms are rich in nutrition and contain various nutritional ingredients such as protein, fat, sugar, crude fiber, polysaccharide, folic acid, nicotinic acid, carotene, vitamins and the like, along with the progress of technology, more and more mushrooms are planted mechanically, and the mushrooms are picked by a picking device in a matched manner, so that the picking efficiency can be improved, and the labor capacity of farmers is reduced.

At present, the edible mushrooms are picked by controlling a mechanical claw through a mechanical arm to pick off the mushrooms, cutting off the roots of the mushrooms through a cutter, and then controlling the mechanical claw to move through the mechanical arm so as to put the mushrooms into a collecting box for collection.

With respect to the related art in the above, the inventors found that the following drawbacks exist: the collection of each mushroom requires the gripper to move from the picking position to the collection box, and the gripper is quite time-consuming to move back and forth between the picking position and the collection box, which affects the mushroom picking efficiency, and therefore, improvement is needed.

Disclosure of Invention

The application provides an edible mushroom picking device for improving the picking efficiency of mushrooms.

The application provides an edible mushroom picking device, which adopts the following technical scheme: the utility model provides an edible mushroom picking device, including manipulator, gripper and collecting box, still include tilting mechanism, rotary mechanism, excision mechanism and guide mechanism, tilting mechanism, excision mechanism and guide mechanism locate on the manipulator and by manipulator drive motion, rotary mechanism locates on the tilting mechanism and drive on the vertical face upset by tilting mechanism, the gripper is located on the rotary mechanism and is driven by rotary mechanism and rotate on the horizontal plane, excision mechanism is used for excision the mushroom that the gripper of upwards overturning held, guide mechanism is used for guiding the mushroom that the gripper of upwards overturning held to the collecting box in.

Optionally, the gripper includes the roating seat that can be driven the rotation by rotary mechanism and is vertical setting's lift post, rotates on the roating seat and is connected with a plurality of clamping jaws that are the circumference setting around lift post axis, and the clamping jaw passes through first spring coupling in the lift post, and the lift post passes through first connecting element and goes up and down on the roating seat and drive first spring drive clamping jaw upset on vertical face.

Optionally, the rotary mechanism includes the upset seat that can be driven the upset by tilting mechanism and rotates around self axis and connect in the vertical axis of upset seat, and the vertical axis is located on the vertical axis to the rotary seat, and the vertical axis passes through the second connecting element and rotates on the upset seat.

Optionally, the tilting mechanism includes the fixing base of locating on the manipulator and winds the horizontal axis of self axis swivelling joint in the fixing base, and the tilting seat is located on the horizontal axis, and the horizontal axis passes through the rotation of third connecting element on the fixing base.

Optionally, the lifting column is slidingly connected to the rotating seat along the vertical direction, the first connecting unit comprises a first connecting rope connected to the lifting column, and a second spring connected to the lifting column and the rotating seat, and the second spring is vertically arranged; when the second spring is in its natural state, the gripper will be in its open state.

Optionally, the second connecting unit is including locating the epaxial first spacing ring of vertical, sliding the inboard second connecting rope of wearing to locate first spacing ring, connect in the first torsional spring of vertical and turnover seat, first connecting rope connects in the second connecting rope, and the required force of first torsional spring deformation takes place the required force of deformation more than the second spring.

Optionally, the third connecting unit includes the second spacing ring of locating on the cross axle, slides and wears to locate the inboard third connecting rope of second spacing ring, locates the electric jar on the fixing base, connects in the second torsional spring of cross axle and fixing base, and the third connecting rope is connected in the piston rod of second connecting rope and electric jar, and the required power of second torsional spring deformation takes place the required power of deformation and is greater than the required power of first torsional spring.

Optionally, be equipped with the ejector pad that is used for supplying the clamping jaw upset to contradict on the fixing base, when the clamping jaw upwards overturns to the excision mechanism department, the ejector pad will strut the clamping jaw.

Optionally, the excision mechanism is including locating motor, flange and the collection fill on the fixing base, coaxial coupling has the blade disc on the output shaft of motor, and the flange is located the limit portion of blade disc and has a breach that supplies fungus mushroom root to pass, and the upper end of collecting the fill is located the oblique below of breach, and the lower extreme intercommunication of collecting the fill has soft first guide tube.

Optionally, the guide mechanism is including locating the material collecting channel on the fixing base and locating the stock guide on the roating seat, and the stock guide is located the inboard of gripper and is used for leading the fungus mushroom that drops from the gripper to the material collecting channel in, and the material collecting channel is kept away from the second guide pipe that has soft in the one end intercommunication of stock guide, and the second guide pipe is kept away from the one end of material collecting channel and is stretched into in the collection box.

In summary, the application has the following beneficial technical effects:

1. when the electric cylinder pulls the third connecting rope to descend, the mechanical claws clamp the mushrooms, the vertical shafts enable the mechanical claws to unscrew the mushrooms from the fungus sections, and the horizontal shafts enable the mechanical claws to grab the mushrooms to the cutting mechanism and the material guiding mechanism for root cutting and mushroom blanking;

2. the mushroom passes through the notch and contacts with the cutter head when turning upwards, the cutter head cuts off the root of the mushroom in a rotating way, the mushroom root breaks away from the notch and falls into the collecting hopper, and the mushroom root in the collecting hopper rolls downwards and is discharged to a designated position through the first material guide pipe to be collected;

3. when the cutter head cuts off the mushroom root, the mechanical claws continue to turn upwards until the mechanical claws are in a vertical state, two clamping claws in the mechanical claws respectively prop against the two pushing blocks, the pushing blocks enable the two clamping claws to be propped open, and at the moment, the mushroom on the mechanical claws falls downwards;

4. the guide plate can guide the fungus mushrooms falling downwards into the collection channel, and the fungus mushrooms in the collection channel can be discharged downwards into the collection box through the second guide pipe for collection.

Drawings

FIG. 1 is a schematic view of the overall structure of an embodiment of the present application;

FIG. 2 is a schematic view of the structure of the gripper, the rotating mechanism and the turning mechanism in an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a gripper, a rotating mechanism, and a tilting mechanism in an embodiment of the application;

FIG. 4 is a schematic view of the structure of a gripper according to an embodiment of the present application;

FIG. 5 is a schematic view of a rotating mechanism according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a turnover mechanism according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of the fungus mushroom according to the embodiment of the present application during blanking.

Reference numerals: 1. a manipulator; 2. a mechanical claw; 21. a rotating seat; 22. lifting columns; 23. a standpipe; 24. a clamping jaw; 25. a first spring; 26. a first connection unit; 261. a first connecting rope; 262. a second spring; 3. a collection box; 4. a turnover mechanism; 41. a fixing seat; 42. a horizontal axis; 43. a pushing block; 44. a third connection unit; 441. a second limiting ring; 442. a third connecting rope; 443. an electric cylinder; 444. a second torsion spring; 5. a rotation mechanism; 51. turning over the seat; 52. a vertical axis; 53. a second connection unit; 531. a first stop collar; 532. a second connecting rope; 533. a first torsion spring; 6. a cutting mechanism; 61. a motor; 62. a flange; 63. a cutterhead; 64. a notch; 65. a collection bucket; 66. a first material guide pipe; 7. a material guiding mechanism; 71. a material guide plate; 72. an aggregate channel; 73. and a second material guiding pipe.

Detailed Description

The application is described in further detail below with reference to fig. 1-6.

The embodiment of the application discloses an edible mushroom picking device. As shown in fig. 1, the edible mushroom picking device comprises a manipulator 1, a mechanical claw 2, a collecting box 3, a turnover mechanism 4, a rotating mechanism 5, a cutting mechanism 6 and a material guiding mechanism 7, wherein the turnover mechanism 4, the cutting mechanism 6 and the material guiding mechanism 7 are arranged on the manipulator 1, the rotating mechanism 5 is arranged on the turnover mechanism 4, and the mechanical claw 2 is arranged on the rotating mechanism 5.

In the process of picking the mushrooms, the mechanical arm 1 controls the mechanical claw 2 to move so as to clamp the mushrooms; the rotating mechanism 5 drives the mechanical claw 2 to rotate on the horizontal plane, so that the root of the mushroom is separated from the fungus section in a rotating way; the turnover mechanism 4 drives the rotating mechanism 5 to turn over on the vertical surface, so that the mushrooms are turned over upwards to the cutting mechanism 6, and the root of the mushrooms is cut off by the cutting mechanism 6; the gripper 2 will then open and the mushrooms will drop into the guide mechanism 7, and the guide mechanism 7 will guide the mushrooms into the collection box 3 for collection. Therefore, the mechanical claw 2 does not need to move to the collecting box 3 for unloading after the mushrooms are picked, and the moving path of the mechanical claw 2 after each picking is shortened, so that the mushroom picking efficiency is improved.

As shown in fig. 2 to 4, the gripper 2 includes a rotating seat 21 horizontally disposed, a lifting column 22 vertically disposed is disposed below the rotating seat 21, a plurality of clamping jaws 24 circumferentially disposed around an axis of the lifting column 22 are rotatably connected to a lower surface of the rotating seat 21, in this embodiment, the number of the clamping jaws 24 is three, and the three clamping jaws 24 are all connected to a side wall of the lifting column 22 through a first spring 25, and the lifting column 22 is lifted on the rotating seat 21 through a first connection unit 26.

When the lifting column 22 is lifted by the first connecting unit 26, the lifting seat drives the clamping jaw 24 to turn over on the vertical surface by the first spring 25; that is, when the lifting seat is lifted, the three clamping jaws 24 will gather together so as to clamp the mushrooms; when the lifting base is lowered, the three jaws 24 will separate from each other to release the mushrooms.

It should be noted that, the arrangement of the first springs 25 makes the three clamping jaws 24 not only clamp mushrooms of different sizes, but also makes the clamping jaws 24 not easy to damage mushrooms.

The lower surface mounting of roating seat 21 has standpipe 23, and standpipe 23 slides along vertical direction and wears to locate the upper end of lifting column 22 for lifting column 22 only can go up and down, has realized the slip of lifting column 22 and roating seat 21 and has connected.

The first connecting unit 26 comprises a first connecting rope 261 which is slidably arranged on the inner side of the vertical pipe 23, the lower end of the first connecting rope 261 is connected with the upper end of the lifting column 22, and the upper end of the first connecting rope 261 is slidably arranged on the rotating seat 21 in a penetrating manner and extends out to the upper side of the rotating seat 21; the vertical pipe 23 is wound with a second spring 262 which is vertically arranged, and two ends of the second spring 262 are respectively and fixedly connected with the lifting column 22 and the rotating seat 21. When the second spring 262 is in the natural state, the gripper 2 will be in the open state; when the first connecting string 261 is pulled upward, the lifting column 22 will rise and the gripper 2 will be in the closed state.

As shown in fig. 2, 3 and 5, the rotating mechanism 5 includes a turnover seat 51 horizontally disposed and a vertical shaft 52 vertically disposed, the vertical shaft 52 is rotatably connected to the lower surface of the turnover seat 51 about its own axis, the rotating seat 21 is mounted on the lower end of the vertical shaft 52, and the vertical shaft 52 rotates on the turnover seat 51 through a second connection unit 53.

When the vertical shaft 52 rotates through the second connection unit 53, the vertical shaft 52 drives the rotating seat 21 and the mechanical claw 2 to rotate on the horizontal plane, so that the root of the mushroom is twisted off, the root of the mushroom is separated from the fungus section, and the picking of the mushroom is completed.

The second connection unit 53 comprises a first limiting ring 531 arranged on the side wall of the vertical shaft 52, a second connection rope 532 is arranged in the first limiting ring 531 in a sliding manner, the second connection rope 532 is wound on the vertical shaft 52, the lower end of the second connection rope 532 is connected to the upper end of the first connection rope 261, and the upper end of the second connection rope 532 is arranged in a sliding manner through the turnover seat 51 and extends out to the upper side of the turnover seat 51; the vertical shaft 52 and the turnover seat 51 are commonly connected with the same first torsion spring 533.

It should be noted that, the force required for the deformation of the first torsion spring 533 is greater than the force required for the deformation of the second spring 262, when the second connection rope 532 is pulled upwards, the second spring 262 will preferentially deform, the second connection rope 532 will slide on the side of the vertical shaft 52 and pull the lifting column 22 to rise, so that the mechanical claw 2 clamps the mushroom; then the first torsion spring 533 will deform, the second connecting rope 532 pulls the vertical shaft 52 to rotate, and the vertical shaft 52 will drive the rotating seat 21 and the mechanical claw 2 to rotate, so that the mushroom root is separated from the mushroom segment, and the mushroom picking is realized.

As shown in fig. 2, 3 and 6, the rotating mechanism 4 comprises a fixed seat 41 mounted on the manipulator 1, and the fixed seat 41 can be driven by the manipulator 1 to move so as to complete vertical, horizontal and longitudinal translation; the fixed seat 41 is provided with a horizontal shaft 42 horizontally arranged, the horizontal shaft 42 is rotatably connected to the fixed seat 41 around its own axis, the turnover seat 51 is mounted on the side wall of the horizontal shaft 42, and the horizontal shaft 42 rotates on the fixed seat 41 through a third connection unit 44.

When the cross shaft 42 rotates through the third connecting unit 44, the cross shaft 42 drives the turnover seat 51, the vertical shaft 52, the rotary seat 21 and the mechanical claw 2 to turn over on the vertical surface, so that the mushroom turns over upwards to be close to the cutting mechanism 6.

As shown in fig. 2 and 7, the cutting mechanism 6 comprises a motor 61, a flange 62 and a collecting hopper 65 which are mounted on the fixing seat 41, a cutter disc 63 is coaxially connected to an output shaft of the motor 61, the flange 62 is positioned at the edge of the cutter disc 63 and is provided with a notch 64, the upper end of the collecting hopper 65 is positioned obliquely below the notch 64, and the lower end of the collecting hopper 65 is communicated with a soft first material guide pipe 66.

The mushroom turned upwards passes through the notch 64 and contacts with the cutter 63, the motor 61 drives the cutter 63 to rotate to cut off the mushroom root, the flange 62 blocks the mushroom root and enables the mushroom root to fall on the upper surface of the cutter 63, the cutter 63 causes the mushroom root to be thrown off from the notch 64 and fall into the collecting hopper 65 in the rotating process, and the mushroom root in the collecting hopper 65 rolls downwards and is discharged to a designated position for collection through the first material guide pipe 66.

Two push blocks 43 are arranged on the fixed seat 41, when the cutter head 63 cuts off the mushroom root, the mechanical claw 2 continues to turn upwards until the mechanical claw is in a vertical state, two clamping claws 24 in the mechanical claw 2 respectively abut against the two push blocks 43, the push blocks 43 are provided with inclined guide surfaces, so that the two clamping claws 24 are spread, and at the moment, the mushroom on the mechanical claw 2 falls down to the position of the guide mechanism 7.

As shown in fig. 1 and 2, the material guiding mechanism 7 comprises a material guiding plate 71 fixed on the rotating seat 21 and a material collecting channel 72 fixed on the fixed seat 41, wherein the material guiding plate 71 is positioned at the inner side of the mechanical claw 2, and mushrooms falling from the mechanical claw 2 fall onto the upper surface of the material guiding plate 71; both sides of the material guide plate 71 are tilted upwards, so that the mushrooms are not easy to fall off from the side parts of the material guide plate 71; the height of the upper surface of the material guide plate 71 is gradually reduced from one end to the other end, so that the mushrooms on the material guide plate 71 slide to the lower end of the material guide plate 71; one end of the material collecting channel 72 is positioned at the lower end of the material guiding plate 71, so that the mushrooms on the material guiding plate 71 can slide downwards into the material collecting channel 72; the other end of the aggregate channel 72 is communicated with a soft second material guide pipe 73, one end of the second material guide pipe 73 far away from the aggregate channel 72 stretches into the collecting box 3, and the mushrooms in the aggregate channel 72 can be discharged downwards into the collecting box 3 through the second material guide pipe 73 for collection.

As shown in fig. 2 and 6, the third connection unit 44 includes a second limiting ring 441 mounted on a sidewall of the transverse shaft 42, a third connection rope 442 wound around the transverse shaft 42 is slidably provided inside the second limiting ring 441, and one end of the third connection rope 442 is connected to an upper end of the second connection rope 532; the fixed seat 41 is provided with an electric cylinder 443 which is vertically arranged, and a piston rod of the electric cylinder 443 is connected with the other end of the third connecting rope 442; the transverse shaft 42 and the fixed seat 41 are connected with the same second torsion spring 444.

It should be noted that, the force required for the second torsion spring 444 to deform is greater than the force required for the first torsion spring 533 to deform, when the electric cylinder 443 pulls the third connecting rope 442 to descend, the second spring 262 will preferentially deform, so that the gripper 2 clamps the mushroom, the second connecting rope 532 will slide on the vertical shaft 52, and the third connecting rope 442 will slide on the horizontal shaft 42; then the first torsion spring 533 will deform, so that the vertical shaft 52 drives the mechanical claw 2 to rotate to pick the mushrooms, and the third connecting rope 442 will continue to slide on the horizontal shaft 42; then the second torsion spring 444 will deform, the third connecting rope 442 will drive the cross shaft 42 to rotate, and the cross shaft 42 will drive the turnover seat 51, the vertical shaft 52, the rotary seat 21 and the mechanical claw 2 to turn upwards, so as to cut and discharge the mushrooms.

The embodiment of the application relates to an edible mushroom picking device, which comprises the following implementation principles: in the process of picking mushrooms, the mechanical arm 1 drives the mechanical claw 2 to move to the mushrooms, the electric cylinder 443 drives the third connecting rope 442 to descend, the third connecting rope 442 pulls the lifting column 22 to ascend through the second connecting rope 532 and the first connecting rope 261, and the lifting column 22 drives the clamping jaw 24 to clamp the mushrooms through the first spring 25.

Then the second connecting rope 532 drives the rotating seat 21 and the mechanical claw 2 to rotate through the vertical shaft 52, and the mechanical claw 2 unscrews the mushroom root from the fungus section; then the third connecting rope 442 drives the gripper 2 to turn over through the transverse shaft 42 and the vertical shaft 52, and the gripper 2 drives the mushroom to turn over upwards to the notch 64; the motor 61 drives the cutter 63 to rotate and cut off the mushroom roots, the mushroom roots are separated from the notch 64 and fall into the collecting hopper 65, and the mushroom roots in the collecting hopper 65 roll downwards and are discharged to a designated position for collection through the first material guide pipe 66.

Then the mechanical claw 2 will continue to overturn upwards until the mechanical claw 2 is in a vertical state, the two clamping claws 24 in the mechanical claw 2 will respectively collide with the two pushing blocks 43, the pushing plates will prop the two clamping claws 24 open, the mushrooms on the mechanical claw 2 will drop down onto the material guiding plate 71, the material guiding plate 71 will guide the mushrooms into the material collecting channel 72, and the mushrooms in the material collecting channel 72 will be discharged into the collecting box 3 through the second material guiding pipe 73 for collection.

Finally, the electric cylinder 443 drives the third connecting rope 442 to ascend, and the second torsion spring 444 gradually returns to the natural state and drives the transverse shaft 42 to rotate and reset, so that the mechanical claw 2 turns down to the initial position; the first torsion spring 533 will gradually return to the natural state and urge the vertical shaft 52 to rotate and return, so that the gripper 2 rotates to the initial state; the second spring 262 will gradually return to the natural state and urge the lifting column 22 to descend and return, so that the gripper 2 is re-opened.

In summary, the mechanical arm 1 and the electric cylinder 443 are controlled, so that quick picking of mushrooms, cutting of the roots of the mushrooms and separate collection of the cut mushrooms and the roots of the mushrooms can be realized, the mechanical claw 2 does not need to move to the collecting box 3 for unloading after picking the mushrooms for a second time, the moving path of the mechanical claw 2 after each picking is shortened, and accordingly the picking efficiency of the mushrooms is improved.

The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.

Claims (10)

1. The utility model provides an edible mushroom picking device, includes manipulator (1), gripper (2) and collection box (3), its characterized in that: still include tilting mechanism (4), rotary mechanism (5), excision mechanism (6) and guide mechanism (7), tilting mechanism (4), excision mechanism (6) and guide mechanism (7) are located on manipulator (1) and are driven the motion by manipulator (1), rotary mechanism (5) are located on tilting mechanism (4) and are driven by tilting mechanism (4) and overturn on the vertical face, gripper (2) are located on rotary mechanism (5) and are driven on the horizontal plane by rotary mechanism (5) and rotate, excision mechanism (6) are used for excision the fungus mushroom that gripper (2) held of upwards overturn, guide mechanism (7) are used for leading the fungus mushroom that gripper (2) held of upwards overturning to collection box (3).

2. An edible mushroom picking device according to claim 1, characterized in that: the mechanical claw (2) comprises a rotating seat (21) which can be driven to rotate by a rotating mechanism (5) and a lifting column (22) which is vertically arranged, a plurality of clamping claws (24) which are circumferentially arranged around the axis of the lifting column (22) are connected to the rotating seat (21) in a rotating mode, the clamping claws (24) are connected to the lifting column (22) through first springs (25), and the lifting column (22) is lifted on the rotating seat (21) through first connecting units (26) and drives the first springs (25) to drive the clamping claws (24) to overturn on a vertical surface.

3. An edible mushroom picking device according to claim 2, characterized in that: the rotating mechanism (5) comprises a turnover seat (51) capable of being driven to turn by the turnover mechanism (4) and a vertical shaft (52) rotationally connected to the turnover seat (51) around the axis of the turnover seat, the rotating seat (21) is arranged on the vertical shaft (52), and the vertical shaft (52) rotates on the turnover seat (51) through a second connecting unit (53).

4. A device for harvesting edible mushrooms according to claim 3, wherein: the turnover mechanism (4) comprises a fixed seat (41) arranged on the manipulator (1) and a transverse shaft (42) which is rotationally connected to the fixed seat (41) around the axis of the turnover mechanism, the turnover seat (51) is arranged on the transverse shaft (42), and the transverse shaft (42) rotates on the fixed seat (41) through a third connecting unit (44).

5. An edible mushroom picking device according to claim 4, wherein: the lifting column (22) is connected to the rotating seat (21) in a sliding manner along the vertical direction, the first connecting unit (26) comprises a first connecting rope (261) connected to the lifting column (22), and a second spring (262) connected to the lifting column (22) and the rotating seat (21), and the second spring (262) is vertically arranged; when the second spring (262) is in a natural state, the gripper (2) will be in an open state.

6. An edible mushroom picking device according to claim 5, wherein: the second connecting unit (53) comprises a first limiting ring (531) arranged on the vertical shaft (52), a second connecting rope (532) penetrating through the inner side of the first limiting ring (531) in a sliding mode, and a first torsion spring (533) connected to the vertical shaft (52) and the overturning seat (51), wherein the first connecting rope (261) is connected to the second connecting rope (532), and the force required by deformation of the first torsion spring (533) is larger than that required by deformation of the second spring (262).

7. An edible mushroom picking device according to claim 6, wherein: the third connecting unit (44) comprises a second limiting ring (441) arranged on the transverse shaft (42), a third connecting rope (442) penetrating through the inner side of the second limiting ring (441) in a sliding mode, an electric cylinder (443) arranged on the fixed seat (41), and a second torsion spring (444) connected to the transverse shaft (42) and the fixed seat (41), wherein the third connecting rope (442) is connected to a second connecting rope (532) and a piston rod of the electric cylinder (443), and the force required by deformation of the second torsion spring (444) is larger than that required by deformation of the first torsion spring (533).

8. An edible mushroom picking device according to claim 4, wherein: the fixed seat (41) is provided with a push block (43) for overturning and abutting the clamping jaw (24), and when the clamping jaw (24) is overturned to the cutting mechanism (6), the clamping jaw (24) is propped up by the push block (43).

9. An edible mushroom picking device according to claim 4, wherein: the cutting mechanism (6) comprises a motor (61), a flange (62) and a collecting hopper (65) which are arranged on a fixing seat (41), a cutter disc (63) is coaxially connected to an output shaft of the motor (61), the flange (62) is located at the edge of the cutter disc (63) and provided with a notch (64) for the root of the mushroom to pass through, the upper end of the collecting hopper (65) is located below the notch (64), and the lower end of the collecting hopper (65) is communicated with a soft first material guide pipe (66).

10. An edible mushroom picking device according to claim 4, wherein: the material guide mechanism (7) comprises a material collecting channel (72) arranged on the fixed seat (41) and a material guide plate (71) arranged on the rotating seat (21), wherein the material guide plate (71) is positioned on the inner side of the mechanical claw (2) and used for guiding mushrooms falling from the mechanical claw (2) into the material collecting channel (72), one end, far away from the material guide plate (71), of the material collecting channel (72) is communicated with a soft second material guide pipe (73), and one end, far away from the material collecting channel (72), of the second material guide pipe (73) extends into the collection box (3).