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Article(id=1324333612421751356, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1324333573712511176, articleNumber=null, orderNo=null, doi=10.12398/j.issn.2096-7217.2026.01.012, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1755878400000, receivedDateStr=2025-08-23, revisedDate=1758816000000, revisedDateStr=2025-09-26, acceptedDate=null, acceptedDateStr=null, onlineDate=1793675338130, onlineDateStr=2026-11-03, pubDate=1771084800000, pubDateStr=2026-02-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793675338130, onlineIssueDateStr=2026-11-03, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793675338130, creator=13701087609, updateTime=1793675338130, updator=13701087609, issue=Issue{id=1324333573712511176, tenantId=1146029695717560320, journalId=1319690209941618849, year='2026', volume='7', issue='1', pageStart='1', pageEnd='196', issueExtLink='null', onlineDate='null', pubDate='1771084800000', pubDateStr='2026-02-15', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1793675328901, creator='13701087609', updateTime=1793872389599, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1325160106287039215, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1324333573712511176, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1325160106287039216, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1324333573712511176, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=118, endPage=128, ext={EN=ArticleExt(id=1324333612576940605, articleId=1324333612421751356, tenantId=1146029695717560320, journalId=1319690209941618849, language=EN, title=Development and experiment of a recycling machine for waste black fungus sticks, columnId=null, journalTitle=Journal of Intelligent Agricultural Mechanization, columnName=null, runingTitle=null, highlight=null, articleAbstract=

To address the issues of high labor dependence, low operational efficiency, and high labor intensity in the collection and recycling of waste black fungus sticks, a self-propelled recycling machine was designed based on the characteristics of waste black fungus sticks remaining in the field and the agronomic requirements for recycling. Through the design and analysis of key components such as the needle roller, guide plate, and conveying device, the automation of the collection and recycling process of waste black fungus sticks was realized. In order to optimize the operational performance of the recycling machine, an orthogonal experiment with three factors and three levels was designed and conducted, taking the roller speed, machine forward speed, and roller installation height as the test factors, and the collection rate and breakage rate of waste black fungus sticks as the test indicators. The influence of each interaction factor on the picking performance indicators was analyzed. The results showed that when the forward speed was 0.28 m/s, the roller speed was 46 r/min, and the installation height was 41.3 cm, the collection rate of the recycling machine reached 96.4% and the breakage rate was 3.77%, which met the requirements of field collection operations for waste black fungus sticks. The developed self-propelled waste black fungus stick recycling machine realizes the automation and mechanization of the picking and transfer links in the recycling process of waste black fungus sticks, reduces labor demand and processing costs, and improves the efficiency of recycling and utilization of waste black fungus sticks. Moreover, the designed needle-roller mechanism can realize two different picking actions-piercing and pulling back-during the collection process. While ensuring the success rate of waste black fungus sticks collection, it also reduces the damage rate of waste black fungus sticks to a certain extent, and provides a reference for the research on realizing the automation of low-damage collection of field waste black fungus sticks.

, authors=Wei ZHAO1, Zhenhua YANG2, Jiqing LIN2, Chengjie JIANG1, Xianfa ZHU1, Xiaoqiang DU1, 3, authorsList=Wei ZHAO, Zhenhua YANG, Jiqing LIN, Chengjie JIANG, Xianfa ZHU, Xiaoqiang DU, authorCompany=null, correspAuthors=Xiaoqiang DU, authorNote=

ZHAO Wei, E-mail:

, correspAuthorsNote=
* DU Xiaoqiang, E-mail:
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针对黑木耳废菌棒捡拾回收作业人工依赖程度高、作业效率低、劳动强度大等问题，结合废菌棒田间存留特点与回收农艺要求，设计了一种自走式回收机。通过对扎针滚筒、引导板、输送装置等关键部件的设计与分析，实现了废菌棒捡拾回收过程的自动化。为使回收机获得最佳作业性能，以滚筒转速、机具前进速度及滚筒安装高度为试验因素，以废菌棒的收集率与破损率为试验指标，设计并开展了三因素三水平正交试验，分析了各交互因素对捡拾性能指标的影响。结果表明，当前进速度取0.28 m/s、滚筒转速取46 r/min、安装高度取41.3 cm时，回收机捡拾作业收集率为96.4%，破损率为3.77%，满足田间废菌棒捡拾作业要求。研制的自走式废菌棒回收机实现了废菌棒回收过程中，捡拾与传递环节的机械化及自动化，降低了人工需求与处理成本，提升了废菌棒回收利用效率。并且所设计的扎针滚筒机构能在进行捡拾工作时实现扎取和回拨两种不同的拾取动作，在保证废菌棒捡拾成功率的同时又一定程度地减少了废菌棒的破损率，为实现低损伤捡拾田间废菌棒自动化的研究提供了参考。

, authors=赵威1, 杨振华2, 林基清2, 姜程杰1, 朱先法1, 杜小强1, 3, *, *, authorsList=赵威, 杨振华, 林基清, 姜程杰, 朱先法, 杜小强, authorCompany=null, correspAuthors=杜小强, authorNote=

赵威，男，2000年生，湖南益阳人，硕士研究生；研究方向为农业机械设计。E-mail：

, correspAuthorsNote=
* 杜小强，男，1978年生，福建福清人，博士，教授；研究方向为农业机器人、农林装备设计等。E-mail：
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ZHAO Wei, E-mail:

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ZHAO Wei, E-mail:

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赵威，男，2000年生，湖南益阳人，硕士研究生；研究方向为农业机械设计。E-mail：

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黑木耳废菌棒回收机研制与试验
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赵威 1 , 杨振华 2 , 林基清 2 , 姜程杰 1 , 朱先法 1 , 杜小强 1, 3, *, *
智能化农业装备学报（中英文） | 2026,7(1): 118-128
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智能化农业装备学报（中英文） | 2026 , 7 (1) : 118 -128
黑木耳废菌棒回收机研制与试验
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赵威1 , 杨振华2, 林基清2, 姜程杰1, 朱先法1, 杜小强1, 3, *, *
作者信息
  • 1.浙江理工大学机械工程学院，浙江 杭州，310018
  • 2.龙泉市菇源自动化设备有限公司，浙江 龙泉，323700
  • 3.浙江省农业智能感知与机器人全省重点实验室，浙江 杭州，310018
通讯作者:
* 杜小强，男，1978年生，福建福清人，博士，教授；研究方向为农业机器人、农林装备设计等。E-mail：
作者简介:

赵威，男，2000年生，湖南益阳人，硕士研究生；研究方向为农业机械设计。E-mail：

Development and experiment of a recycling machine for waste black fungus sticks
Wei ZHAO1 , Zhenhua YANG2, Jiqing LIN2, Chengjie JIANG1, Xianfa ZHU1, Xiaoqiang DU1, 3
Affiliations
  • 1.School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
  • 2.Longquan Guyuan Automation Equipment Co., Ltd., Longquan 323700, China
  • 3.Zhejiang Provincial Key Laboratory of Agricultural Intelligent Sensing and Robotics, Hangzhou 310018, China
    • Corresponding Author:
    * DU Xiaoqiang, E-mail:

    ZHAO Wei, E-mail:

出版时间: 2026-02-15 doi: 10.12398/j.issn.2096-7217.2026.01.012
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摘要
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针对黑木耳废菌棒捡拾回收作业人工依赖程度高、作业效率低、劳动强度大等问题，结合废菌棒田间存留特点与回收农艺要求，设计了一种自走式回收机。通过对扎针滚筒、引导板、输送装置等关键部件的设计与分析，实现了废菌棒捡拾回收过程的自动化。为使回收机获得最佳作业性能，以滚筒转速、机具前进速度及滚筒安装高度为试验因素，以废菌棒的收集率与破损率为试验指标，设计并开展了三因素三水平正交试验，分析了各交互因素对捡拾性能指标的影响。结果表明，当前进速度取0.28 m/s、滚筒转速取46 r/min、安装高度取41.3 cm时，回收机捡拾作业收集率为96.4%，破损率为3.77%，满足田间废菌棒捡拾作业要求。研制的自走式废菌棒回收机实现了废菌棒回收过程中，捡拾与传递环节的机械化及自动化，降低了人工需求与处理成本，提升了废菌棒回收利用效率。并且所设计的扎针滚筒机构能在进行捡拾工作时实现扎取和回拨两种不同的拾取动作，在保证废菌棒捡拾成功率的同时又一定程度地减少了废菌棒的破损率，为实现低损伤捡拾田间废菌棒自动化的研究提供了参考。

黑木耳  /  废菌棒  /  捡拾装置  /  自动捡拾  /  扎针滚筒

To address the issues of high labor dependence, low operational efficiency, and high labor intensity in the collection and recycling of waste black fungus sticks, a self-propelled recycling machine was designed based on the characteristics of waste black fungus sticks remaining in the field and the agronomic requirements for recycling. Through the design and analysis of key components such as the needle roller, guide plate, and conveying device, the automation of the collection and recycling process of waste black fungus sticks was realized. In order to optimize the operational performance of the recycling machine, an orthogonal experiment with three factors and three levels was designed and conducted, taking the roller speed, machine forward speed, and roller installation height as the test factors, and the collection rate and breakage rate of waste black fungus sticks as the test indicators. The influence of each interaction factor on the picking performance indicators was analyzed. The results showed that when the forward speed was 0.28 m/s, the roller speed was 46 r/min, and the installation height was 41.3 cm, the collection rate of the recycling machine reached 96.4% and the breakage rate was 3.77%, which met the requirements of field collection operations for waste black fungus sticks. The developed self-propelled waste black fungus stick recycling machine realizes the automation and mechanization of the picking and transfer links in the recycling process of waste black fungus sticks, reduces labor demand and processing costs, and improves the efficiency of recycling and utilization of waste black fungus sticks. Moreover, the designed needle-roller mechanism can realize two different picking actions-piercing and pulling back-during the collection process. While ensuring the success rate of waste black fungus sticks collection, it also reduces the damage rate of waste black fungus sticks to a certain extent, and provides a reference for the research on realizing the automation of low-damage collection of field waste black fungus sticks.

black fungus  /  waste fungus sticks  /  picking device  /  automatic picking  /  needle roller
赵威, 杨振华, 林基清, 姜程杰, 朱先法, 杜小强. 黑木耳废菌棒回收机研制与试验. 智能化农业装备学报（中英文）, 2026 , 7 (1) : 118 -128 . DOI: 10.12398/j.issn.2096-7217.2026.01.012
Wei ZHAO, Zhenhua YANG, Jiqing LIN, Chengjie JIANG, Xianfa ZHU, Xiaoqiang DU. Development and experiment of a recycling machine for waste black fungus sticks[J]. Journal of Intelligent Agricultural Mechanization, 2026 , 7 (1) : 118 -128 . DOI: 10.12398/j.issn.2096-7217.2026.01.012
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  • 浙江省农业“双强”重点突破试点类项目
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2026年第7卷第1期
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doi: 10.12398/j.issn.2096-7217.2026.01.012
  • 接收时间：2025-08-23
  • 首发时间：2026-11-03
  • 出版时间：2026-02-15
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  • 收稿日期：2025-08-23
  • 修回日期：2025-09-26
基金
Key Breakthrough Pilot Projects for the“Technology & Machinery Empowerment” Initiative in Agriculture of Zhejiang Province
浙江省农业“双强”重点突破试点类项目
作者信息
    1.浙江理工大学机械工程学院，浙江 杭州，310018
    2.龙泉市菇源自动化设备有限公司，浙江 龙泉，323700
    3.浙江省农业智能感知与机器人全省重点实验室，浙江 杭州，310018

通讯作者:

* 杜小强，男，1978年生，福建福清人，博士，教授；研究方向为农业机器人、农林装备设计等。E-mail：
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2种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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