| 摘要 |
The invention relates to a process and an installation for harvesting edible and therapeutical mushrooms cultivated on a germination bed consisting of a cylinder-shaped perforated bag filled with compost. According to the invention, the process also comprises the manipulation of a sporophore bag by a manipulation effector of a double portal robot with 5 axes which is digitally controlled, which also comprises another effector for the sporophore harvesting proper, the bag manipulated by the manipulating effector and harvesting effector being initially reciprocally positioned in preset coaxial and radial positions, further on, by a positive motion of the harvesting effector on the direction of the longitudinal axis of the bag, the sporophore cutting being achieved. The installation, as claimed by the invention, comprises a double portal robot with 5 axes with digital control, provided with some manipulation effectors and some harvesting effectors with coordinated action, the effector for the manipulation of a bag (1) having three electrically-actuated tanks (2), a mobile slide (3), a mobile carriage (4) on a cross member and on some mobile sledges (5.1 and 5.2), respectively, representing the vertical and horizontal positioning system, respectively, the harvesting effector having two electrically-actuated tanks (6), another mobile slide (7) and another mobile carriage (8) on the vertical positioning cross member. |
