CN216982883U

CN216982883U - Plane edible fungus picking manipulator

Info

Publication number: CN216982883U
Application number: CN202220697817.9U
Authority: CN
Inventors: 马建群; 王志全
Original assignee: Beijing Xinger Health Technology Co ltd
Current assignee: Beijing Xinger Health Technology Co ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2022-07-19
Anticipated expiration: 2032-03-29

Abstract

A plane edible fungus picking manipulator is used for automatically picking edible fungus cultivated on a plane. The rotating shaft of the manipulator is supported on the frame. The rotating shaft is provided with a plurality of guide grooves, and a fixed clamping jaw is fixed on the side surface of each guide groove; a movable clamping jaw capable of sliding is arranged in the guide groove and is matched with the fixed clamping jaw on the side face to form a pair. One end of each movable clamping jaw is provided with a roller, and each roller is pressed on the working face of the end face cam on the rack under the pushing of the spring. When the machine works, the frame moves above edible fungus, the rotating shaft rotates simultaneously, and the movable clamping jaws are controlled by the cam to move back and forth, so that the clamping jaw fingers clamp and open, and the edible fungus is picked. The picking manipulator realizes continuous and automatic picking of planar edible fungus and simultaneously realizes picking of large edible fungus and small edible fungus. The manipulator breaks through the key difficulty restricting the industrialization of the production of the agaric, creates a new path for the technical change of the agaric industry, and has wide popularization prospect.

Description

Plane edible fungus picking manipulator

Technical Field

The invention relates to the field of agricultural machinery, in particular to a manipulator for picking agaric.

Background

Auricularia is a kind of edible fungus which is produced in large quantity, and the mainstream cultivation method is to adopt a material bag method. The material bag is filled with culture medium such as wood chips and the like, which is called as a fungus bag, and the commonly used fungus bags comprise a cylindrical fungus bag and a square fungus bag. The fungus strain is inoculated into a culture medium, an opening is formed in a plastic film on the surface of a fungus bag, and the fungus grows out from the opening under the conditions of proper temperature and moisture. For square fungus bags, the grown agaric is arranged on one surface of the fungus bag to form a plane, and the plane is called as plane cultivated agaric. The picking of the agaric is not completed once, ten times of picking is needed, only the big agaric needs to be picked and the small agaric needs to be reserved in each picking, so that the high yield can be ensured, but the workload is very large. At present, the picking of the edible fungus is performed manually, a large amount of labor force is used in the edible fungus picking season every year, and the method is a main obstacle of comprehensive mechanization and industrialization of an edible fungus production chain. At present, various mechanical picking technologies are envisaged, but the mechanical picking technologies have important defects, are not practical, and a new technical scheme is required to be searched.

Disclosure of Invention

The invention aims to create continuous picking equipment for plane edible fungus cultivated in square fungus bags, greatly improves picking efficiency while realizing picking size, and promotes comprehensive mechanization of an edible fungus production chain.

In order to realize the purpose, the technical scheme adopted by the invention is as follows:

this manipulator is picked to edible tree fungus mainly comprises frame, pivot, fixed clamping jaw, activity clamping jaw, compression spring, terminal surface cam disc etc. characterized by: the rotating shaft is rotatably supported on the frame, the rotating shaft is provided with a plurality of guide grooves, a fixed clamping jaw is fixed on the side surface of each guide groove, a movable clamping jaw is arranged in each guide groove in a sliding mode and matched with the fixed clamping jaws on the side surfaces of the guide grooves to form a pair, a movable clamping jaw stop block is arranged on each movable clamping jaw, one end of each movable clamping jaw is fixed with a roller shaft, a roller is rotatably sleeved on each roller shaft, an end face cam disc is fixed on the frame, and the working face of the cam is in contact with each roller.

The further characteristic is that the guide direction of each guide groove of the rotating shaft is parallel to the rotation axis of the rotating shaft.

The spring slot is arranged in each guide slot of the rotating shaft, the direction of the spring slot is the same as that of the guide slot, a compression spring is arranged in each spring slot, one end of each compression spring is propped against the end part of the spring slot, the other end of each compression spring is propped against the stop block of the movable clamping jaw, and the direction of the elastic force of each compression spring is that the roller on the movable clamping jaw is pressed against the working surface of the end cam.

The further characteristic is that each fixed clamping jaw is provided with a plurality of fixed clamping jaw fingers, and the fixed clamping jaw fingers are spaced at the same distance.

The clamp is further characterized in that a plurality of movable clamping jaw fingers are arranged on each movable clamping jaw, the spacing distance of each movable clamping jaw finger is the same as that of the fixed clamping jaw fingers, and each movable clamping jaw finger and the corresponding fixed clamping jaw finger form a pair of clamps.

The cam working surface of the end cam disc is in a circular ring shape, the circular ring shape is concentric with the rotating shaft, and the cam working surface consists of a cam top surface, a cam descending inclined surface, a cam bottom surface and a cam ascending inclined surface.

The edible fungus picking manipulator has the following working process:

the frame moves above the plane edible fungus in parallel to the surface of the edible fungus, and the fixed clamping jaws and the movable clamping jaws rotate along with the rotating shaft and enter the plane edible fungus clusters when a group of clamping jaw fingers rotate to the lowest point; at the moment, the axial distance (namely the distance parallel to the axis of the rotating shaft) between each movable clamping jaw finger and the matched fixed clamping jaw finger in the group is at the maximum, the clamping jaw fingers are in an open state, and the roller of the movable clamping jaw is pushed by the pressure of a spring and is pressed at the junction of the top surface of the cam and the descending inclined surface of the cam; along with the continuous movement of the rack and the continuous rotation of the rotating shaft, the roller is gradually contacted with the bottom surface of the cam along the descending inclined surface of the cam, the movable clamping jaw is pushed by the spring to move towards the direction of the end surface cam (called as the advancing of the movable clamping jaw), the axial distance between each clamping jaw finger on the movable clamping jaw and the paired fixed clamping jaw finger becomes the minimum value, and the clamping jaw fingers clamp the agaric between each pair of clamping jaw fingers; along with the continuous movement of the frame and the continuous rotation of the rotating shaft, the clamping jaw fingers clamp the edible fungus to rotate upwards, and the edible fungus is picked; along with the rotation of the rotating shaft, the roller of the movable clamping jaw reaches the cam ascending slope through the bottom surface of the cam; the lifting inclined plane pushes the movable clamping jaw through the roller, a movable clamping jaw stop dog on the clamping jaw compresses a spring, and the movable clamping jaw retreats; the axial distance between each clamping jaw finger on the movable clamping jaw and the matched fixed clamping jaw finger is gradually increased; when the roller of the movable clamping jaw reaches the top surface of the cam, the axial distance between the movable clamping jaw fingers and the matched fixed clamping jaw fingers reaches the maximum value, the clamping jaw fingers are loosened, and the picked edible fungus falls to the rear of the rotating shaft; as the frame continues to move and the rotating shaft continues to rotate, the pair of clamping jaws enter the front auricularia auricula cluster again to start the next picking process. The operation of one pair of jaws is described above, and the operation of the other pairs of jaws is the same. Therefore, the frame moves continuously, and the rotating shaft rotates continuously, so that the planar edible fungus is picked continuously and automatically. In the picking process, the distance between the center of the rotating shaft and the plane of the agaric is controlled, so that the clamping jaw fingers can only contact the higher big agaric and can not clamp the lower small agaric, and the purpose of picking big agaric and keeping small agaric can be achieved.

The invention has the following beneficial effects: the agaric picking manipulator realizes continuous and automatic picking of planar agaric, is high in efficiency, can replace a large amount of manual operation, and is remarkable in economic benefit; the picking quality requirement of picking large and small fruits is met by a simple structure; the key difficulty restricting the industrialization of the production of the agaric is broken through, a new path of the technical change of the agaric industry is created, and the method has wide popularization prospect.

Drawings

The structure of the invention is described in detail below with reference to the accompanying drawings:

FIG. 1 is a schematic diagram of a three-dimensional structure of an edible fungus picking manipulator.

Fig. 2 is a front view of the jelly fungus picking manipulator.

Fig. 3 is a cross-sectional view of section P-P in fig. 2.

Fig. 4 is a cross-sectional view of the Q-Q section of fig. 3.

Fig. 5 is a three-dimensional structure sketch of the fixed clamping jaw of the agaric picking manipulator.

Figure 6 is a schematic three-dimensional structure diagram of the movable clamping jaw and related parts of the agaric picking manipulator.

Fig. 7 is a three-dimensional structure diagram of an end face cam plate of the agaric picking manipulator.

Numbering in the drawings: the device comprises a frame 1, a rotating shaft 2, a guide groove 2.1, a spring groove 2.2, a fixed clamping jaw 3, a fixed clamping jaw finger 3.1, a movable clamping jaw 4, a movable clamping jaw finger 4.1, a movable clamping jaw stop 4.2, a roller 5, a roller shaft 6, an end face cam disc 7, a cam top face 7.1, a cam descending inclined face 7.2, a cam bottom face 7.3, a cam ascending inclined face 7.4 and a spring 8

Detailed Description

The following describes the specific structure of the present invention in detail with reference to the accompanying drawings. As shown in the attached drawing, a rotating shaft 2 of the agaric picking manipulator is rotatably supported on a frame 1, the rotating shaft 2 is provided with a plurality of guide grooves 2.1, a fixed clamping jaw 3 is fixed on the side surface of each guide groove 2.1, a movable clamping jaw 4 is slidably arranged in each guide groove 2.1 and matched with the fixed clamping jaw 3 on the side surface of the guide groove 2.1 to form a pair, each movable clamping jaw 4 is provided with a movable clamping jaw stop 4.2, one end of each movable clamping jaw 4 is fixed with a roller shaft 6, each roller shaft 6 is rotatably sleeved with a roller 5, an end face cam disc 7 is fixed on the frame 1, and the working face of the end face cam disc 7 is contacted with each roller 5. The guide direction of each guide groove 2.1 of the rotating shaft 2 is parallel to the rotation axis of the rotating shaft 2. Each guide groove 2.1 of the rotating shaft 2 is provided with a spring groove 2.2, the direction of the spring groove 2.2 is the same as that of the guide groove 2.1, each spring groove 2.2 is internally provided with a compression spring 8, one end of each compression spring 8 is propped against the end part of the spring groove 2.2, the other end of each compression spring 8 is propped against the movable clamping jaw stop 4.2, and the elastic force of each spring 8 is in a direction that the roller 5 on the movable clamping jaw 4 is pressed against the working surface of the end cam 7. Each fixed clamping jaw 3 is provided with a plurality of fixed clamping jaw fingers 3.1, and the fixed clamping jaw fingers 3.1 are spaced at the same distance. Each movable clamping jaw 4 is provided with a plurality of movable clamping jaw fingers 4.1, the spacing distance of each movable clamping jaw finger 4.1 is the same as that of the fixed clamping jaw finger 3.1, and each movable clamping jaw finger 4.1 and the corresponding fixed clamping jaw finger 3.1 form a pair of clamps. The cam working surface of the end face cam disc 7 is circular and concentric with the rotating shaft 2, and consists of a cam top surface 7.1, a cam descending inclined surface 7.2, a cam bottom surface 7.3 and a cam ascending inclined surface 7.4.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. The utility model provides a manipulator is picked to plane auricularia auriculajudae, mainly comprises frame, pivot, fixed clamping jaw, activity clamping jaw, compression spring, terminal surface cam disc etc. characterized by: the rotating shaft is rotatably supported on the frame, the rotating shaft is provided with a plurality of guide grooves, a fixed clamping jaw is fixed on the side surface of each guide groove, a movable clamping jaw is arranged in each guide groove in a sliding mode and matched with the fixed clamping jaws on the side surfaces of the guide grooves to form a pair, a movable clamping jaw stop block is arranged on each movable clamping jaw, one end of each movable clamping jaw is fixed with a roller shaft, a roller is rotatably sleeved on each roller shaft, an end face cam disc is fixed on the frame, and the working face of the cam is in contact with each roller.

2. The manipulator for picking planar edible fungus according to claim 1, wherein: the guide direction of each guide groove of the rotating shaft is parallel to the rotation axis of the rotating shaft.

3. The manipulator for picking planar edible fungus according to claim 1, wherein: each guide groove of the rotating shaft is provided with a spring groove, the direction of the spring groove is the same as that of the guide groove, a compression spring is arranged in each spring groove, one end of each compression spring is propped against the end part of the spring groove, the other end of each compression spring is propped against a stop block of the movable clamping jaw, and the direction of the elastic force of each compression spring is that a roller on the movable clamping jaw is pressed to the working surface of the end cam.

4. The manipulator for picking planar agaric according to claim 1, wherein: each fixed clamping jaw is provided with a plurality of fixed clamping jaw fingers, and the distance between the fixed clamping jaw fingers is the same.

5. The manipulator for picking planar edible fungus according to claim 1, wherein: each movable clamping jaw is provided with a plurality of movable clamping jaw fingers, the spacing distance of each movable clamping jaw finger is the same as that of the fixed clamping jaw fingers, and each movable clamping jaw finger and the corresponding fixed clamping jaw finger form a pair of clamps.

6. The manipulator for picking planar edible fungus according to claim 1, wherein: the cam working surface of the end surface cam disc is circular and concentric with the rotating shaft, and consists of a cam top surface, a cam descending inclined surface, a cam bottom surface and a cam ascending inclined surface.