CN210735194U

CN210735194U - Full-automatic bidirectional fungus frame racking machine

Info

Publication number: CN210735194U
Application number: CN201920855193.7U
Authority: CN
Inventors: 韩吉发; 陆广勤; 王世杰
Original assignee: Suzhou Rongshiji Automation Equipment Co ltd
Current assignee: Suzhou Rongshiji Automation Equipment Co ltd
Priority date: 2019-06-09
Filing date: 2019-06-09
Publication date: 2020-06-12
Anticipated expiration: 2029-06-09

Abstract

The utility model relates to a full-automatic bidirectional fungus frame unloading machine, which comprises a guide rail arranged on the ground of an incubation room and positioned between two incubation frames, a movable frame arranged on the guide rail, a temporary storage frame with a plurality of storage material layers, a lifting mechanism arranged on the movable frame and used for driving the temporary storage frame to lift, and a transition conveying line horizontally arranged on the lifting mechanism and corresponding to a discharge port of the highest storage layer; the temporary storage rack is provided with a roller conveying line at the bottom of each storage layer, and the tops of the temporary storage racks are provided with bidirectional material grabbing manipulators capable of grabbing the bacteria baskets on the cultivation racks on two sides onto the roller conveying lines; the bidirectional material grabbing manipulator comprises bidirectional telescopic arms which can respectively extend into the cultivation racks on two sides and a bidirectional grabbing mechanism which is arranged at the output end of the bidirectional telescopic arms and can grab the edges of the fungus baskets bidirectionally; the utility model discloses can take off the fungus basket from the culture rack of both sides automatically in constrictive passageway, not only improve work efficiency greatly, reduce intensity of labour, and safe and reliable.

Description

Full-automatic bidirectional fungus frame racking machine

Technical Field

The utility model relates to the field of edible mushroom production, in particular to a full-automatic bidirectional mushroom frame racking machine.

Background

The edible fungi contain various components beneficial to human bodies, so the planting industry of the edible fungi becomes an important part of the planting industry in China; in the production process of the current edible fungi, in order to carry the edible fungi conveniently, a plurality of strains are placed in a fungi basket and then placed on a culture rack for culture; after cultivation is finished, the cultivation frame is unloaded from the cultivation frame, and the traditional unloading is finished manually, so that the production efficiency is reduced, the production cost is improved, the labor intensity is high, and danger is easily caused; although a fungus frame placing machine is also available in the market, for example, a bidirectional placing machine for producing edible fungi is disclosed in the prior art 201810958843.0, and a bidirectional mechanical gripper device for producing edible fungi is disclosed in the prior art 201821352918.2.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a full-automatic bidirectional fungus frame undercarriage machine in order to overcome the not enough of prior art.

In order to achieve the above purpose, the utility model adopts the technical scheme that: a full-automatic bidirectional fungus frame unloading machine comprises a guide rail arranged on the ground of an incubation room and positioned between two incubation frames, a movable rack arranged on the guide rail, a temporary storage frame with multiple layers of storage layers, a lifting mechanism arranged on the movable rack and used for driving the temporary storage frame to lift, and a transition conveying line horizontally arranged on the lifting mechanism and corresponding to a discharge port of the highest storage layer; the temporary storage rack is provided with a roller conveying line at the bottom of each storage layer, and the tops of the temporary storage racks are provided with bidirectional material grabbing manipulators capable of grabbing the bacteria baskets on the cultivation racks on two sides onto the roller conveying lines; the bidirectional material grabbing manipulator comprises bidirectional telescopic arms and a bidirectional hand grab mechanism, wherein the bidirectional telescopic arms are placed along the width direction of the material storage layer and can respectively extend into the cultivation racks on the two sides, and the bidirectional hand grab mechanism is arranged at the output end of the bidirectional telescopic arms and can grab the edges of the fungus baskets in two directions.

Preferably, the bidirectional telescopic arm comprises a first-stage slide rail arranged at the top of the material storage layer and placed along the width direction of the material storage layer, a second-stage slide rail arranged at the bottom of the first-stage slide rail in a sliding manner, a third-stage slide rail arranged at the bottom of the second-stage slide rail in a sliding manner, a moving frame arranged at the bottom of the third-stage slide rail in a sliding manner, a second-stage rack arranged on the second-stage slide rail and placed along the length direction of the second-stage slide rail, a third-stage rack arranged on the third-stage slide rail and placed along the length direction of the third-stage slide rail, a first-stage gear arranged in the middle of the first-stage slide rail and meshed with the second-stage rack, a first-stage forward and reverse rotation motor arranged at the top of the material storage layer and driving the rotation of the first-stage gear, a fourth-stage gear arranged in, Two chains which are respectively arranged in the two annular grooves in a sliding way; two the chain all is C shape, and places on the contrary to the one end of every chain all with the one end bottom fixed connection of one-level slide rail, the other end and the one end top fixed connection of tertiary slide rail.

Preferably, two-way tongs mechanism includes along storage layer length direction sets up and removes the frame bottom and the cross-section is ∩ shape's casing, the breach that the multiunit set up on the casing along storage layer length direction interval, the two-way tongs subassembly that the multiunit set up in the casing and correspond with the breach, two are set up in the casing along storage layer length direction and are connected with a plurality of two-way tongs subassemblies respectively, the horizontal rotation is placed and is removed the pivot of putting up and arranging the casing top in, the driven gear of fixed setting in the pivot, the tongs motor of setting on removing the frame, set up at tongs motor output and with driven gear meshing's driving gear, set up respectively at pivot both ends and output speed reducer of placing down, the level sets up the crank at the speed reducer output, set up the gyro wheel between two connecting rods in the crank outer end.

Preferably, each group of the bidirectional gripper assemblies comprises two support frames which are arranged on two sides of the shell and correspond to the notches, a support shaft which is horizontally arranged on the support frames, an upper clamping jaw and a lower clamping jaw which are respectively sleeved on the support shaft, an upper gear which is sleeved on the support shaft and connected with the upper clamping jaw, a lower gear which is sleeved on the support shaft and connected with the lower clamping jaw, an upper rack with two ends respectively meshed with the two upper gears, and a lower rack with two ends respectively meshed with the two lower gears; the upper rack is fixedly connected with the two connecting rods respectively, and the lower rack is fixedly connected with the upper rack through a connecting block.

Preferably, the lifting mechanism comprises two groups of lifting rails which are respectively vertically arranged on the movable rack and positioned at two ends of the temporary storage rack, a hydraulic cylinder which is vertically arranged on the movable rack and is close to one of the lifting rails, two first guide wheels which are arranged on the movable rack and are respectively positioned below the two groups of lifting rails, and a second guide wheel which is arranged at the lower end of the hydraulic cylinder; the lifting rails comprise primary slideways fixed on the moving rack, secondary slideways arranged in the primary slideways in a vertically sliding manner, tertiary slideways arranged in the secondary slideways in a vertically sliding manner, primary rollers arranged at the upper ends of the primary slideways, secondary rollers arranged at the upper ends of the secondary slideways, tertiary rollers arranged at the upper ends of the tertiary slideways, primary steel ropes with one ends fixed at the lower ends of the secondary slideways and the other ends bypassing the primary rollers, secondary steel ropes with one ends fixed at the lower ends of the tertiary slideways and the other ends bypassing the secondary rollers and fixed at the upper ends of the primary slideways, and tertiary steel ropes with one ends fixed at the lower ends of the; wherein in the lifting track next to the pneumatic cylinder, the other end of one-level steel cable is fixedly connected with the output end of the pneumatic cylinder after bypassing the second guide wheel, and in another lifting track far away from the pneumatic cylinder, the other end of one-level steel cable is fixedly connected with the output end of the pneumatic cylinder after bypassing the two first guide wheels respectively.

Preferably, the movable rack comprises a rack body, a front wheel arranged at one end of the rack body and driven by a motor, and a rear wheel arranged at the other end of the rack body.

Preferably, the frame body is further provided with a leveling mechanism for adjusting the height of the rear wheel.

Preferably, the frame body is further provided with a manual hydraulic vehicle capable of lifting the front wheel at a position close to the front wheel.

Preferably, the transition conveying line is an unpowered roller conveying line.

Preferably, the number of the storage layers on the temporary storage frame is half of that on the cultivation frame.

Because of above-mentioned technical scheme's application, compared with the prior art, the utility model have the following advantage:

1. the utility model can automatically take down the fungus baskets from the cultivation frames at both sides in a narrow passage, thereby not only greatly improving the working efficiency and reducing the labor intensity, but also being safe and reliable;

2. the utility model can take the fungus basket off the cultivation frame on both sides by adopting the bidirectional telescopic arm and only one bidirectional gripper mechanism, thereby not only greatly reducing the production cost, but also reducing the whole width of the device;

3. the utility model discloses still be provided with levelling mechanism in rear wheel department, the accessible is adjusted the level degree that highly changes the frame of keeping in of rear wheel for keep in frame and culture rack parallel and level, be convenient for with the fungus basket from culture rack on snatch the storage layer.

Drawings

The technical scheme of the utility model is further explained by combining the attached drawings as follows:

FIG. 1 is a front view of the full-automatic bidirectional fungus frame racking machine of the present invention;

fig. 2 is a front view of a bidirectional material grabbing manipulator of the present invention;

FIG. 3 is a right side view of FIG. 2;

fig. 4 is a sectional view of the two-way gripper mechanism of the present invention;

fig. 5 is a top view of the two-way gripper assembly of the present invention;

FIG. 6 is a side view of the two-way telescopic boom of the present invention;

FIG. 7 is a schematic view of the two-way telescopic boom of the present invention after extending leftward;

FIG. 8 is a top view of FIG. 7;

FIG. 9 is a schematic view of the chain installation of the present invention;

fig. 10 is a schematic view of the lifting mechanism of the present invention after being lifted;

FIG. 11 is an enlarged view of a portion of the bottom of FIG. 10;

FIG. 12 is a schematic view of the operation of the utility model when grabbing the fungus basket on the left cultivation shelf;

FIG. 13 is a schematic view of the right side of the cultivation frame for picking up the fungus basket.

Wherein: 1. moving the frame; 11. a frame body; 12. a motor; 13. a front wheel; 14. a rear wheel; 2. a manual hydraulic vehicle; 3. a transition conveying line; 4. a bidirectional material grabbing manipulator; 41. a bidirectional telescopic arm; 410. a movable frame; 411. a first-stage positive and negative rotation motor; 412. a first-stage slide rail; 413. a secondary slide rail; 4131. a secondary rack; 4132. an annular groove; 414. a third-stage slide rail; 415. a four-stage positive and negative rotation motor; 416. a third-stage rack; 417. a four-stage gear; 418. a primary gear; 419. a chain; 42. a bidirectional gripper mechanism; 420. a gripper motor; 421. a driving gear; 422. a speed reducer; 423. a crank; 424. a roller; 425. a rotating shaft; 426. a notch; 427. a driven gear; 428. a housing; 429. a connecting rod; 43. a bi-directional gripper assembly; 431. an upper clamping jaw; 432. a lower jaw; 433. a lower rack; 434. connecting blocks; 435. an upper rack; 436. a lower gear; 437. a support frame; 438. an upper gear; 5. a temporary storage rack; 51. a material storage layer; 6. a lifting mechanism; 61. a lifting rail; 611. a first-level steel rope; 612. a first-stage slideway; 613. a first-stage roller; 614. a secondary steel rope; 615. a secondary slideway; 616. a secondary roller; 617. a third-level steel rope; 618. a third-stage slideway; 619. a third-stage roller; 62. a hydraulic cylinder; 63. a second guide wheel; 64. a first guide wheel; 7. a leveling mechanism; 8. roller transfer chain.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1-12 show a fully automatic bidirectional mushroom frame unloading machine according to the present invention, which comprises a guide rail disposed on the ground of the cultivation room and located between two cultivation shelves, a movable frame 1 disposed on the guide rail, a temporary storage shelf 5 having four storage layers 51, a lifting mechanism 6 disposed on the movable frame 1 for driving the temporary storage shelf 5 to lift, and a transition conveyor line 3 horizontally disposed on the lifting mechanism 6 and corresponding to the discharge port of the fourth storage layer 51; the temporary storage rack 5 is provided with a roller conveying line 8 at the bottom of each storage layer 51, and the tops of the temporary storage racks are provided with bidirectional material grabbing manipulators 4 capable of grabbing the bacteria baskets on the cultivation racks on two sides onto the roller conveying lines 8; the bidirectional material grabbing manipulator 4 comprises bidirectional telescopic arms 41 which can respectively extend into the cultivation racks on two sides and a bidirectional grabbing mechanism 42 which is arranged at the output end of the bidirectional telescopic arms 41 and can grab the edge of a bacteria basket in a bidirectional mode, wherein the bidirectional telescopic arms 41 are arranged along the width direction of a material storage layer 51; when the device works, the bidirectional gripping devices 42 on the four-layer material storage layer 51 are driven by the bidirectional telescopic arm 41 to extend into the lower half part of the corresponding area of the cultivation frame on one side and clamp the edge of a bacteria basket, then the bidirectional telescopic arm 41 drives the bidirectional gripping devices 42 to retract, the bacteria basket in the corresponding area of the cultivation frame is gripped onto the four-layer material storage layer 51, and the edge of the bacteria basket is loosened; at the moment, the fungus baskets on the fourth material storage layer 51 are conveyed by the roller conveyor line 8 and are sequentially placed on an external conveyor line through the transition conveyor line 3, after all the fungus baskets on the fourth material storage layer 51 are conveyed out, the temporary storage rack 5 is driven by the lifting mechanism 6 to move upwards by one layer, all the fungus baskets on the third material storage layer 51 are conveyed out, and the like is carried out until all the fungus baskets on the first material storage layer 51 are also conveyed out; then, grabbing the upper half of the fungus baskets in the corresponding area of the cultivation frame onto the four-layer material storage layer 51 according to the previous steps, driving the temporary storage frame 5 to move downwards by the lifting mechanism 6, sequentially transporting the fungus baskets from the first-layer material storage layer 51 to the fourth-layer material storage layer 51, and repeating the above steps, and then taking down the fungus baskets in the corresponding area of the cultivation frame on the other side; because the temporary storage rack 5 is limited in length and the cultivation racks are very long, when the device takes off the fungus baskets in the corresponding areas of the cultivation racks on the two sides, the device is driven by the movable rack 1 to move to the next area, then takes off the fungus baskets in the next area of the cultivation racks on the two sides, and so on until all the fungus baskets in the cultivation racks on the two sides are taken off; here, not only the baskets in the respective regions of the two side racks can be continuously removed in the automatic operation mode according to the above-mentioned operation process, but also the baskets in a certain region of the rack or a certain layer of the material storage layer 51 can be directly removed in the remote control operation mode or the manual operation mode.

Further, the number of piles of storage layer 51 on the frame 5 of keeping in is half of the upper number of piles of culture rack for the fungus basket in the corresponding district of culture rack just can be taken off twice about the frame 5 of keeping in, improves the efficiency of putting off the shelf.

Further, the bidirectional telescopic arm 41 comprises a first-stage slide rail 412 arranged at the top of the material storage layer 51 and arranged along the width direction of the material storage layer 51, a second-stage slide rail 413 arranged at the bottom of the first-stage slide rail 412 in a sliding manner, a third-stage slide rail 414 arranged at the bottom of the second-stage slide rail 413 in a sliding manner, a movable frame 410 arranged at the bottom of the third-stage slide rail 414 in a sliding manner, a second-stage rack 4131 arranged on the second-stage slide rail 413 and arranged along the length direction of the second-stage slide rail 413, a third-stage rack 416 arranged on the third-stage slide rail 414 and arranged along the length direction of the third-stage slide rail 414, a first-stage gear 418 arranged at the middle of the first-stage slide rail 412 and engaged with the second-stage rack 4131, a first-stage forward and reverse rotation motor 411 arranged at the top of the material storage layer 51 and driving the first-stage gear 418, Two annular grooves 4132 which are arranged on the secondary sliding rail 413 in parallel and are positioned at two sides of the secondary rack 4131, and two chains 419 which are respectively arranged in the two annular grooves 4132 in a sliding manner; the two chains 419 are both in a C shape and are oppositely arranged, one end of each chain 419 is fixedly connected with the bottom of one end of the first-stage slide rail 412, and the other end of each chain 419 is fixedly connected with the top of one end of the third-stage slide rail 414; when the automatic bacteria basket grabbing device works, when a bacteria basket in the left cultivation frame needs to be grabbed, the first-stage forward and reverse rotation motor 411 rotates clockwise, the first-stage gear 418 drives the second-stage rack 4131 to slide leftwards, one end of the chain 419 is fixedly connected with the bottom of one end of the first-stage sliding rail 412, the other end of the chain 419 is fixedly connected with the top of one end of the third-stage sliding rail 414, so that the second-stage rack 4131 can slide leftwards and simultaneously drive the third-stage sliding rail 414 to slide leftwards through one of the chains 419, then the fourth-stage forward and reverse rotation motor 415 rotates clockwise, and the fourth-stage gear 417 is meshed with the third-stage; when the fungus basket in the right side culture rack needs to be grabbed, the first-stage forward and reverse rotation motor 411 and the fourth-stage forward and reverse rotation motor 415 are controlled to rotate anticlockwise respectively, so that the movable rack 410 can slide rightwards and stretch into the right side culture rack, and therefore bidirectional stretching is achieved.

The bidirectional gripper mechanism 42 further comprises a housing 428 which is arranged at the bottom of the moving frame 410 along the length direction of the material storage layer 51 and has a ∩ -shaped cross section, a plurality of groups of notches 426 which are arranged on the housing 428 at intervals along the length direction of the material storage layer 51, a plurality of groups of bidirectional gripper assemblies 43 which are arranged in the housing 428 and correspond to the notches 426, two connecting rods 429 which are arranged in the housing 428 along the length direction of the material storage layer 51 and are respectively connected with the plurality of bidirectional gripper assemblies 43, a rotating shaft 425 which is horizontally and rotatably arranged on the moving frame 410 and is arranged above the housing 428, a driven gear 427 which is fixedly arranged on the rotating shaft 425, a gripper motor 420 which is arranged on the moving frame 410, a driving gear 421 which is arranged at the output end of the gripper motor 420 and is engaged with a driven gear 427, reducers 422 which are respectively arranged at the two ends of the rotating shaft 425 and are arranged downwards, cranks 423 which are horizontally arranged at the output end of the reducers 422, a roller 424 which is arranged at the outer end of the cranks 423 and is arranged between the two connecting rods 429, when the two gripping jaws, the two gripping basket 410 are moved to the left, two gripping basket, two gripping jaws are respectively engaged with an upper gripping rack wheel 431 and an upper gripping rack wheel 432, a lower rack wheel 432 which is arranged on the lower rack wheel 432, a rack wheel 432 which is arranged on the rack wheel 431 and a rack wheel 432, a rack wheel which is arranged on the rack wheel 431, a rack wheel which is arranged on the left side, a rack wheel which is arranged on the rack wheel, a rack wheel which is arranged on the rack wheel.

Further, the lifting mechanism 6 comprises two groups of lifting rails 61 which are respectively vertically arranged on the movable rack 1 and located at two ends of the temporary storage rack 5, a hydraulic cylinder 62 which is vertically arranged on the movable rack 1 and is close to one of the lifting rails 61, two first guide wheels 64 which are arranged on the movable rack 1 and are respectively located below the two groups of lifting rails 61, and a second guide wheel 63 which is arranged at the lower end of the hydraulic cylinder 62; the lifting rails 61 respectively comprise a first-stage slide rail 612 fixed on the movable rack 1, a second-stage slide rail 615 arranged in the first-stage slide rail 612 in a vertical sliding manner, a third-stage slide rail 618 arranged in the second-stage slide rail 615 in a vertical sliding manner, a first-stage roller 613 arranged at the upper end of the first-stage slide rail 612, a second-stage roller 616 arranged at the upper end of the second-stage slide rail 615, a third-stage roller 619 arranged at the upper end of the third-stage slide rail 618, a first-stage steel rope 611 with one end fixed at the lower end of the second-stage slide rail 615 and the other end bypassing the first-stage roller 613, a second-stage steel rope 614 with one end fixed at the lower end of the third-stage slide rail 618 and; wherein, in the lifting rail 61 close to the hydraulic cylinder 62, the other end of the first-stage steel rope 611 winds the second guide wheel 63 and then is fixedly connected with the output end of the hydraulic cylinder 62, while in the other lifting rail 61 far away from the hydraulic cylinder 62, the other end of the first-stage steel rope 611 winds the two first guide wheels 64 and then is fixedly connected with the output end of the hydraulic cylinder 62; when the device works, the hydraulic cylinder 62 simultaneously drives the other ends of the two primary steel ropes 611 to move upwards, the other ends of the primary steel ropes 611 pass around the primary rollers 613 and are fixed at the lower end of the secondary slide rail 615 to drive the secondary slide rail 615 to slide upwards along the primary slide rail 612, one end of the secondary steel ropes 614 is fixed at the lower end of the tertiary slide rail 618, the other end of the secondary steel ropes 614 passes around the secondary rollers 616 and is fixed at the upper end of the primary slide rail 612, the secondary slide rail 615 drives the tertiary slide rail 618 to slide upwards while sliding upwards, and one end of the tertiary steel ropes 617 is fixed at the lower end of the temporary storage frame 5, and the other end of the tertiary steel ropes 617 passes around the tertiary rollers 619 and is fixed at the upper end of the secondary slide rail 615; here, the number of the slides is not limited to three stages, and may be determined more according to the height of the cultivation shelves.

Further, the movable rack 1 comprises a rack body 11, a front wheel 13 arranged at one end of the rack body 11 and driven by a motor 12, and a rear wheel 14 arranged at the other end of the rack body 11; when the automatic fungus basket lifting machine works, the motor 12 is used for driving the front wheels 13 to roll on the guide rail, so that the bidirectional fungus basket lifting machine is driven to slide along the guide rail.

Further, still be provided with leveling mechanism 7 of adjusting the height of rear wheel 14 on the frame body 11, the accessible is adjusted the high levelness that changes temporary storage rack 5 of rear wheel 14 for temporary storage rack 5 and culture rack parallel and level are convenient for grab the fungus basket from culture rack on the storage layer 51.

Furthermore, a manual hydraulic vehicle 2 capable of lifting the front wheels 13 is further arranged on the rack body 11 close to the front wheels 13, so that the front wheels 13 can be manually lifted under the condition of power failure, and the bidirectional rack loading machine for the fungus baskets can be pushed to move.

Further, transition transfer chain 3 is unpowered cylinder transfer chain, plays the transition effect.

The above is only a specific application example of the present invention, and does not constitute any limitation to the protection scope of the present invention. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.

Claims

1. The utility model provides a full-automatic two-way fungus frame undercarriage machine which characterized in that: the device comprises a guide rail arranged on the ground of a culture room and positioned between two cultivation frames, a movable rack arranged on the guide rail, a temporary storage frame with multiple storage layers, a lifting mechanism arranged on the movable rack and used for driving the temporary storage frame to lift, and a transition conveying line horizontally arranged on the lifting mechanism and corresponding to a discharge port of the highest storage layer; the temporary storage rack is provided with a roller conveying line at the bottom of each storage layer, and the tops of the temporary storage racks are provided with bidirectional material grabbing manipulators capable of grabbing the bacteria baskets on the cultivation racks on two sides onto the roller conveying lines; the bidirectional material grabbing manipulator comprises bidirectional telescopic arms and a bidirectional hand grab mechanism, wherein the bidirectional telescopic arms are placed along the width direction of the material storage layer and can respectively extend into the cultivation racks on the two sides, and the bidirectional hand grab mechanism is arranged at the output end of the bidirectional telescopic arms and can grab the edges of the fungus baskets in two directions.

2. The fully automatic bidirectional fungus frame racking machine of claim 1, wherein: the bidirectional telescopic arm comprises a first-stage slide rail arranged at the top of the material storage layer and placed along the width direction of the material storage layer, a second-stage slide rail arranged at the bottom of the first-stage slide rail in a sliding manner, a third-stage slide rail arranged at the bottom of the second-stage slide rail in a sliding manner, a moving frame arranged at the bottom of the third-stage slide rail in a sliding manner, a second-stage rack arranged on the second-stage slide rail and placed along the length direction of the second-stage slide rail, and a third-stage rack arranged on the third-stage slide, the device comprises a primary gear, a primary positive and negative rotating motor, a four-stage gear, a four-stage positive and negative rotating motor, two annular grooves and two chains, wherein the primary gear is arranged in the middle of a primary sliding rail and meshed with a secondary rack, the primary positive and negative rotating motor is arranged at the top of a material storage layer and drives the primary gear to rotate, the four-stage gear is arranged in the middle of a moving frame and meshed with a tertiary rack, the four-stage positive and negative rotating motor is arranged on the moving frame and drives the four-stage gear to rotate, the two annular grooves are arranged; two the chain all is C shape, and places on the contrary to the one end of every chain all with the one end bottom fixed connection of one-level slide rail, the other end and the one end top fixed connection of tertiary slide rail.

3. The full-automatic bidirectional mushroom frame unloading machine according to claim 2, wherein the bidirectional gripper mechanism comprises a housing with ∩ -shaped cross section, a plurality of notches arranged on the housing at intervals along the length direction of the material storage layer, a plurality of bidirectional gripper assemblies arranged in the housing and corresponding to the notches, two connecting rods arranged in the housing along the length direction of the material storage layer and connected with the bidirectional gripper assemblies respectively, a rotating shaft horizontally and rotatably arranged on the moving frame and arranged above the housing, a driven gear fixedly arranged on the rotating shaft, a gripper motor arranged on the moving frame, a driving gear arranged at the output end of the gripper motor and meshed with the driven gear, reducers respectively arranged at two ends of the rotating shaft and with the output end facing downwards, a crank horizontally arranged at the output end of the reducer, and rollers arranged at the outer end of the crank and between the two connecting rods.

4. The fully automatic bidirectional fungus frame racking machine of claim 3, wherein: each group of bidirectional gripper assemblies comprises two support frames which are arranged on two sides of the shell and correspond to the notches, a support shaft horizontally arranged on the support frames, an upper clamping jaw and a lower clamping jaw which are respectively sleeved on the support shaft, an upper gear which is sleeved on the support shaft and connected with the upper clamping jaw, a lower gear which is sleeved on the support shaft and connected with the lower clamping jaw, an upper rack with two ends respectively meshed with the two upper gears, and a lower rack with two ends respectively meshed with the two lower gears; the upper rack is fixedly connected with the two connecting rods respectively, and the lower rack is fixedly connected with the upper rack through a connecting block.

5. The fully automatic bidirectional fungus frame racking machine of any one of claims 1-4, wherein: the lifting mechanism comprises two groups of lifting rails which are respectively vertically arranged on the movable rack and positioned at two ends of the temporary storage rack, a hydraulic cylinder which is vertically arranged on the movable rack and is close to one of the lifting rails, two first guide wheels which are arranged on the movable rack and are respectively positioned below the two groups of lifting rails, and a second guide wheel which is arranged at the lower end of the hydraulic cylinder; the lifting rails comprise primary slideways fixed on the moving rack, secondary slideways arranged in the primary slideways in a vertically sliding manner, tertiary slideways arranged in the secondary slideways in a vertically sliding manner, primary rollers arranged at the upper ends of the primary slideways, secondary rollers arranged at the upper ends of the secondary slideways, tertiary rollers arranged at the upper ends of the tertiary slideways, primary steel ropes with one ends fixed at the lower ends of the secondary slideways and the other ends bypassing the primary rollers, secondary steel ropes with one ends fixed at the lower ends of the tertiary slideways and the other ends bypassing the secondary rollers and fixed at the upper ends of the primary slideways, and tertiary steel ropes with one ends fixed at the lower ends of the; wherein in the lifting track next to the pneumatic cylinder, the other end of one-level steel cable is fixedly connected with the output end of the pneumatic cylinder after bypassing the second guide wheel, and in another lifting track far away from the pneumatic cylinder, the other end of one-level steel cable is fixedly connected with the output end of the pneumatic cylinder after bypassing the two first guide wheels respectively.

6. The fully automatic bidirectional fungus frame racking machine of claim 5, wherein: the movable rack comprises a rack body, front wheels and rear wheels, wherein the front wheels are arranged at one end of the rack body and driven by a motor, and the rear wheels are arranged at the other end of the rack body.

7. The fully automatic bidirectional fungus frame racking machine of claim 6, wherein: and the frame body is also provided with a leveling mechanism for adjusting the height of the rear wheel.

8. The fully automatic bidirectional fungus frame racking machine of claim 7, wherein: and a hand-operated hydraulic vehicle capable of lifting the front wheels is also arranged on the frame body and is close to the front wheels.

9. The fully automatic bidirectional fungus frame racking machine of claim 8, wherein: the transition conveying line is an unpowered roller conveying line.

10. The fully automatic bidirectional fungus frame racking machine of claim 9, wherein: the number of layers of the material storage layer on the temporary storage frame is half of that on the cultivation frame.