Automatic harvesting system and method for bag-type cultivated mushrooms including a container, a conveying unit, a first clamping claw mechanism, a cutting device, a multi-axle movement mechanism and a control unit
This invention discloses an automatic harvesting system for bag-type cultivated mushrooms. The automatic harvesting system includes containers, a conveying unit, a first clamping claw mechanism, a cutting device, a multi-axle movement mechanism and a control unit. The containers contain a plurality of flexible container bags for cultivating mature mushrooms, and mushroom bodies are exposed out of the top of each flexible container bag. A transfer mechanism transfers the containers to a cutting operation region one by one. The containers arriving at the cutting operation region are set on a plurality of to-be-cut positions corresponding to positions of all the flexible container bags. The control unit controls the multi-axle movement mechanism to carry and move the first clamping claw mechanism and the cutting device to each to-be-cut position to perform actions of clamping, grabbing and cutting a plurality of mushroom bodies. The multi-axle movement mechanism sequentially carries and moves the first clamping claw mechanism clamping and grabbing the plurality of mushroom bodies to a first conveying device, and then releases the first clamping claw mechanism to ensure that the plurality of mushroom bodies are put into the first conveying device and are conveyed out to be subsequently classified, packaged and utilized, so that the purpose of automatically cutting and harvesting the mushrooms may be achieved by automatically recognizing cutting positions, and furthermore, the manpower cost is effectively reduced.本發明揭露一種袋式栽培菇類自動化採收系統，其包括容裝器皿、輸送單元、第一夾爪機構、切割裝置、多軸移動機構及控制單元。容裝器皿容裝複數培育成菇的太空包，每一太空包頂部露出有菇體。取送機構將容裝器皿逐一取送至切割作業區。將抵達切割作業區該容裝器皿設定複數待割位置，複數待割位置與每一太空包所處位置對應。控制單元控制多軸移動機構載移第一夾爪機構與該切割裝置至每一待割位置進行夾抓切割複數菇體的動作。多軸移動機構依序將夾抓有複數菇體的第一夾爪機構載移至第一輸送裝置後釋放，使複數菇體放入至第一輸送裝置而被輸送出去，以供後續分級包裝利用，俾能藉由自動化辨識切割位置而實現自動化切割採收菇類之目的，進而有效降低人力成本。
