JP3236888B2 - Automatic mushroom harvesting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic mushroom harvesting apparatus for automatically extracting growing mushrooms artificially cultivated from a cultivation bottle in the shape of a wide-mouthed bottle.

[0002]

2. Description of the Related Art For artificial cultivation of mushrooms such as shimeji mushrooms, for example, as shown in FIG. It is done in a way that lets you. Further, in order to adjust the shape of the mushroom extending from the opening of the cultivation bottle, the growth guide tube 2 having a shape whose diameter is increased at the top is fitted into the opening of the cultivation bottle 1 so that the mushroom a is extended therein. I have.

At the time of harvesting the mushrooms cultivated in this manner, the cultivation bottles are manually taken one by one, and the growth guide cylinder is pulled up, so that the mushrooms are separated from the culture medium in the cultivation bottle, and then the growth guide cylinder is separated. They are taken out from the inside, cut out of stones, housed one by one in containers for sale, and packed.

[0004]

In the conventional harvesting method as described above, the operation of extracting the growing mushrooms from the cultivation bottles is performed manually, which is inefficient and requires a lot of manpower. There is a problem that skill is required for efficient harvesting without damaging the rice.

[0005] In view of the above problems, the present invention provides a mushroom that can be automatically and highly efficiently harvested to separate mushrooms from a cultivation bottle while maintaining a constant quality without damaging the mushrooms. The purpose of the present invention is to provide an automatic harvesting device.

[0006]

SUMMARY OF THE INVENTION The features of the present invention for solving the above-mentioned conventional problems and achieving the initial object are as follows.
With fitting opening out upwards flared tubular growth guide tube is <br/> vignetting, gripping the plurality of cultivating bottle growing mushrooms is extended to the biological education guide cylinder fixed in position Bottle fixing means, a mushroom extraction gripping device having left and right open / close frames integrally provided with a plurality of paired holding tools on opposing surfaces, and the gripping device can be swung right and left around a horizontal axis. And a pull-out driving means for moving the hanging arm up, down, left and right, and holding the outside of a growth guide cylinder of a cultivation bottle gripped and fixed by the bottle fixing means. And the lifting arm is raised while swinging the suspension arm to the left and right to remove the growing mushroom together with the growth guide cylinder .

[0007] It is preferable that the growing bottles with growing mushrooms are intermittently transported into the bottle fixing means by the transport means comprising a conveyor.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 7 shows a cultivation state of a mushroom to be harvested by the apparatus of the present invention. A growth guide tube 2 having an enlarged diameter is provided at an opening of a cultivation bottle 1 having a wide-mouthed shape with an open top. The growing mushrooms a, such as shimeji, which have been fitted and expanded from the culture medium 3 are expanded along the growth guide cylinder 2 while correcting the spread.

FIG. 1 shows an outline of an apparatus according to the present invention. In the figure, reference numeral 10 denotes a mushroom extracting section for extracting a growing mushroom a together with a growing guide tube 2 from a cultivation bottle 1; This is a guide tube separating section for separating the growth guide tube 2 from the tube.

The mushroom extractor 10 has a belt conveyor 101 for sequentially transporting the growing bottles 1 to be harvested in which the growing mushrooms a are in an extended state. This conveyor 1
For example, when a large number of cultivation bottles are housed in a cultivation container on the cultivation container 01, the cultivation bottles 1 taken out of the container are sequentially conveyed one by one at regular intervals,
It stops at a predetermined position, that is, a growth mushroom extraction position.

[0012] On both sides of the draw-off position, the guide 102 and 103 for aligning the straight line multiple cultivation bottles 1,1 ...... sent at intervals is installed in their respective vertically disposed I have. And upper and lower guides 102, 103 on one side
Are arranged between the upper and lower guides 102, 103 on the other side so as to be reciprocally movable by an air cylinder 105, and the cultivation bottles 1, 1,... When stopped at the extraction position, the cultivation bottle fixing tools 104, 104,... Are pushed out, and the cultivation bottles are fixed by being pressed against the guide 102 on the other side.

Above the extracting position, there is a sampling and conveying device for extracting the growing mushroom a together with the growing guide tube 2 and transferring it to the next step. This device is provided on the outer surface of the growing guide tube 2 fitted to the growing bottle 1. Gripping device 107 for holding the gripper from left and right, and a pull-out driving means 1 for moving the gripping device.
08.

The extraction driving means 108 is composed of a two-axis servo unit and is installed on the upper frame 51 of the apparatus main body so that the gripping apparatus suspension arm 109 can be moved in the horizontal and vertical directions by a servo mechanism. Has become.

As shown in FIGS. 3 to 5, the extraction gripping device 107 is configured such that the main body 110 is
It is suspended so that it can swing left and right around 11,
Left and right operation shafts 112 and 113 which move in and out of the main body 110 in a horizontal direction by an air cylinder (not shown).
Are supported, and left and right open / close frames 114 and 115 are fixed to the distal ends of the respective operating shafts 112 and 113 via hanging arms.
A pair of holding devices 116 on the opposing surfaces of the open / close frames,
117 are protruded. In the drawing, reference numeral 118 denotes an electromagnetic type anti-sway device.

This sampling and transporting device is a belt conveyor 10
The cultivation bottle 1 fixed on the cultivation bottle fixing device 104 is lowered so that the growth mushroom a enters between the holding tools 116 and 117 with both the open / close frames 114 and 115 open, and the growth guide The descent is stopped at a height slightly below the upper edge of the cylinder 2, and then, as shown in FIG. 6A, the open / close frames 114, 115 are operated in the holding direction by the air cylinder, so that the left and right holding tools 116, 117 are held. Insert the growth guide tube 2 between them. Next, extraction drive means 1 comprising a two-axis servo unit
08 is operated to remove the growth mushroom a together with the growth guide cylinder 2. At this time, the lifting device 109 is lifted by slightly swinging the lifting device hanging arm 109 left and right by the extracting operation means 108. As a result, the extraction gripping device 107 is moved to the position shown in FIG.
(B) As shown in (c), the horizontal axis 111 for suspension rises while swinging left and right around the root portion of the growing mushroom a, and the growing mushroom a alternates from one side of the root portion. It is detached from the medium 3 and rises.

After the growth mushroom a is extracted in this manner, the growth mushroom a is moved to the guide tube separating portion 20 in the next step, the opening and closing frames 114 and 115 are opened at predetermined positions, the clamping is released, and the original position is returned. It waits until the next cultivation bottle 1 is carried in.

[0018]

Effects of the Invention] In the apparatus of the present invention as described above, the upper is expanded tubular growth guide tube is fitted outside the opening
Attached because, with a bottle fixing means for fixing in position to grip a plurality of cultivating bottle growing mushrooms in biological education guide cylinder is extended, a plurality of pincer paired with each other on the facing surface integral A mushroom extraction gripping device having left and right open / close frames,
A gripping device hanging arm that supports the gripping device so that it can swing left and right about a horizontal axis, and extraction drive means that moves the hanging arm up, down, left, and right, and is gripped by the bottle fixing means. The outside of the growth guide tube of the fixed cultivation bottle is gripped by the holding tool, and the hanging arm is raised while swinging the hanging arm to the left and right, so that the growth mushroom and the growth guide tube.
By the so withdrawn monitor, harvesting mushrooms, which was to be automatically performed efficiently, moreover, mushroom strains withdrawn from cultivation bottles, growth
With the guide cylinder, it is raised while being alternately tilted to the left and right with respect to the culture medium. Clean without damaging the mushrooms.

In addition, since the separation of the mushroom and the medium is always performed under constant conditions, the quality is stable, and damage to the mushroom during the sampling operation is prevented.

Further, by providing an automatic transporting means for intermittently transporting cultivation bottles in which growing mushrooms are extended by a transporting means comprising a conveyor into a bottle fixing means, supply of the harvested cultivation bottles to the apparatus. Is performed automatically and accurately.

[Brief description of the drawings]

FIG. 1 is a vertical sectional front view showing a schematic configuration of an embodiment of an apparatus according to the present invention.

FIG. 2 is a plan view of a cultivation bottle fixing device according to the first embodiment.

FIG. 3 is a front view of the extraction gripping device.

FIG. 4 is a side view of the extraction gripping device.

FIG. 5 is a sectional view taken along line AA in FIG. 3;

6 (a) to 6 (c) are front views showing a growing mushroom extracting operation by the device of the present invention.

FIG. 7 is a cross-sectional view showing a cultivation bottle in a mushroom growing state to be harvested by the apparatus of the present invention.

[Explanation of symbols]

 a Growth mushroom 1 Cultivation bottle 2 Growth guide cylinder 3 Culture medium 10 Mushroom extraction unit 101 Belt conveyor 102, 103 Guide 104 Cultivation bottle fixing tool 105 Air cylinder 107 Extraction gripping device 108 Extraction drive means 109 Gripping device Hanging arm 110 Main unit 111 Horizontal axis 112,113 Operating axis 114,115 Opening / closing frame 116,117 Clamping device 118 Sway stopper 20 Guide tube separation part 51 Upper frame

Claims (2)

(57) [Claims] 1. A opening out upwardly marked fitted is flared tubular growth guide tube to grips a plurality of cultivating bottle growing mushrooms is extended to the biological education guide cylinder fixed in position Bottle fixing means, a mushroom extraction gripping device having left and right open / close frames integrally provided with a plurality of paired holding tools on opposing surfaces, and the gripping device can be swung right and left around a horizontal axis. And a pull-out driving means for moving the hanging arm up, down, left and right, and holding the outside of a growth guide cylinder of a cultivation bottle gripped and fixed by the bottle fixing means. in is gripped, growing Guy the growing mushrooms is raised while swinging the hanging arm to the left and right
An automatic mushroom harvesting device characterized by the fact that it is extracted together with the dough tube . 2. The automatic mushroom harvesting apparatus according to claim 1, further comprising an automatic transport means for intermittently transporting the cultivation bottle in which the growing mushrooms are extended by the transport means comprising a conveyor into the bottle fixing means. .