[0035] The present invention will be described in further detail below with reference to the drawings.
[0036] Such as figure 1 , figure 2 As shown, the present invention as a whole is installed on the robot arm through a mechanically mechanical connection base plate 53, including a fruit bag device, a tilt device, a telescopic device, an upper sticky bag device, a lower sticky bag device, and a suction device, wherein the fruit bag device and the suction device The air device is directly fixed on the connecting bottom plate 53 of the mechanical arm, the tilt device is installed on the fruit bag device, the telescopic device is connected with the tilt device, and the tilt device is driven to swing around the tilt support shaft 5; the upper sticky bag device is connected to The output end of the telescopic device is driven by the telescopic device to expand and contract, and together with the telescopic device, it swings around the pitch support shaft 5. The upper sticky bag device has an electric heating sheet 36 for packaging the fruit bag; the lower sticky bag device is installed on the fruit bag device, And located below the upper sticky bag device, the lower sticky bag device has a heating pad 13 corresponding to the electric heating sheet 36; the upper sticky bag device and the lower sticky bag device have suction cups 37 for adsorbing the upper and lower layers of the fruit bag, and the suction device Two suction hoses 38 are respectively connected to the suction cups 37 on the upper and lower sticky bag devices.
[0037] The fruit bag device includes a bottom plate support 46, a bottom plate 48 and a baffle assembly. One end of the bottom plate 48 is fixed to the mechanical arm connecting bottom plate 53 through the bottom plate support 46. The other end and both sides of the bottom plate 48 are respectively provided with baffle assemblies; The baffle assembly of the embodiment includes a front baffle 47 and a side stop 49. The front baffle 47 and the side stop 49 are respectively located at the front and both sides of the bottom plate 48. There are four side stops 49, two on each side. Ensure that the fruit bag is in a fixed position in the fruit bag device.
[0038] Such as figure 1 , image 3 As shown, the pitch device includes pitch motor 1, pitch motor base 2, pinion gear 3, large gear 4, pitch support shaft 5, pitch flange 6, pitch bearing 7, pitch bearing end cover 8, Tilting side plate 9, tilting shaft sleeve 11, tilting support 12 and telescopic motor seat 10, wherein the tilting support 12 and the floor support 46 are fastened by bolts, and the tilting motor 1 is fixed by the tilting motor seat 2. On the pitch support 12, the output shaft of the pitch motor 1 is connected with a pinion 3; the pitch side plate 9 and the telescopic motor seat 10 are bolted together with the pitch flange 6, and the pitch support shaft 5 passes through in turn Over-pitch side plate 9, pitch flange 6, telescopic motor base 10, and use keys to cooperate with pitch flange 6, pitch support shaft 5 is installed on pitch support 12 through pitch bearing 7 rotation, and pitch The bearing end cover 8, the pitch shaft sleeve 11 ensure that the pitch support shaft 5 and the pitch side plate 9, the pitch flange 6, and the telescopic motor seat 10 through which the pitch support shaft 5 and the pitch support shaft 5 pass through do not undergo axial displacement; the large gear 4 It is located at the end of the pitch support shaft 5 close to the pitch motor 1 and meshes with the pinion 3. As the pitch device only uses a quarter of the teeth of the big gear 4 during the entire movement process, it is not necessary to save space and reduce weight. Interference occurs with the telescopic motor 13, so the large gear 4 is designed in a sector shape.
[0039] Such as figure 1 , Figure 4 As shown, the telescopic device includes a telescopic motor 13, a motor output flange 31, a connecting rod support shaft 30, a slider bearing 17, a connecting rod sleeve 29, a connecting rod 28, a slider support shaft 19, a slider bearing end cover 20, Telescopic shaft sleeve 25, slider shaft sleeve 26, slider 21, telescopic support seat 15, slide bearing 18, telescopic support fastener 14, guide rail guide seat 22, guide rail copper sleeve 23 and telescopic rod 24, of which telescopic motor 13 Fastened to the telescopic motor base 10, the output shaft of the telescopic motor 13 is connected to the motor output flange 31; one end of the connecting rod 28 is connected to the motor output flange 31 through the connecting rod support shaft 30 and the slider bearing 17, and the connecting rod sleeve 29. Ensure that its axial direction does not deviate. The other end of the connecting rod 28 is connected to the slider 21 through the slider bearing 17, the slider support shaft 19, and the slider bearing end cover 20 and the telescopic sleeve 25 ensure that the axial direction does not occur. Offset; the slider support shaft 19 is placed in the slideway 16 of the telescopic support base 15 on both sides through two slideway bearings 18, and one end of the telescopic support base 15 on each side is fastened to the back side by a telescopic support fastener 14 On the underside plate 9 and the telescopic motor seat 10, the other end of the telescopic support seat 15 on each side is fastened together by the guide rail guide seat 22; the guide rail copper sleeve 23 is embedded in the guide rail guide seat 22, and one end of the telescopic rod 24 is fixed to The other end of the slider 21 passes through the guide rail copper sleeve 23 and is connected to the sticky bag holder 32; in order to ensure that the telescopic rod 24 and the slider support shaft 19 can slide smoothly back and forth in the guide rail copper sleeve 23 and the slideway 16, the two sliding The axis of the channel 16 and the axis of the guide rail copper sleeve 23 must be in the same plane.
[0040] Such as Figure 5 As shown, the upper adhesive bag device includes an upper adhesive bag fixing seat 32, an upper adhesive bag connecting piece 33, an upper adhesive bag supporting plate 34, a cushion connecting piece 41, an electric heating sheet fixing seat 35 and an electric heating sheet 36, wherein the upper adhesive bag is fixed The seat 32 is fixed to the end of the telescopic rod 24 by a pin shaft. The upper sticky bag U-shaped fixing seat 32 is designed as a U-shape, on the one hand, the upper sticky bag device is firm and not deformed, and on the other hand, enough space is left for the fruit when setting the fruit; The upper sticky bag support plate 34 is connected to the upper sticky bag fixing seat 32 through two upper sticky bag connectors 33, the electric heating sheet fixing seat 35 is fixed on the upper sticky bag support plate 34 through two pad connectors 41, and the electric heating sheet 36 It is laid flat on the cross section of the electric heating sheet fixing seat 35 to heat the colloid in the fruit bag.
[0041] Such as Image 6 As shown, the lower adhesive bag device includes a lower adhesive bag fixing seat 39, a lower adhesive bag support plate 40, a cushion connecting piece 41, a cushion support seat 42, a heating pad 43 and a fruit blocking plate 44, and a lower adhesive bag fixing seat 39 It is Z-shaped, one end is fastened to the bottom plate 48 with a bolt, and the other end is connected to the lower sticky bag support plate 40; the cushion support seat 42 is fixed on the lower sticky bag support plate 40 through two cushion block connectors 41, and the heating cushion 43 Located in the groove of the cushion support seat 42, the top of the heating cushion 43 is higher than the top of the cushion support seat 42; the front end of the cushion support seat 42 is connected with a fruit blocking plate 44 located in the middle of the fruit blocking plate 44 The position is designed with a stem slide 45, and the width of the stem slide 45 gradually decreases from top to bottom, which is beneficial for the stem to slide down along the stem slide 45, and is convenient for sealing the fruit bag.
[0042] Such as figure 1 , figure 2 As shown, the suction device includes an air pump 50, a first solenoid valve 51, a second solenoid valve 52, a suction cup 37, and a suction hose 38. The air pump 50, the first solenoid valve 51 and the second solenoid valve 52 are respectively fixed on the machine The arm is connected to the bottom plate 53, the outlet of the air pump 50 is communicated with the inlets of the first solenoid valve 51 and the second solenoid valve 52 through the suction hose 38, and the outlet of the first solenoid valve 51 is connected to the lower adhesive bag through the suction hose 38. The suction cup 37 on the device is connected, and the outlet of the second solenoid valve 52 is connected to the suction cup 37 on the upper sticky bag device through the suction hose 38; the upper and lower sticky bag devices each have two suction cups 37, and each sticky bag device has two suction cups 37. The two suction cups 37 are fixed on the upper/lower sticky bag support plate 34/40, and the two suction cups on each sticky bag device are connected by a suction hose 38.
[0043] Such as Figure 7 As shown, the sucker 37 includes a sucker slider 55, a sucker base 56, a sucker nut 57, and a return spring 58. The sucker 37 is fixed on the upper/lower sticky bag support plate 34/40 through the sucker base 56 and the sucker nut 57 as a whole. 58 is sleeved on the suction cup slider 55, and the two ends respectively abut against the suction cup base 56 and the suction cup slider 55; there are three through holes inside the suction cup slider 55, and the through holes on both sides are the suction cup vent holes 59, which can be The suction cup hose needs to be connected or blocked, and the middle through hole is connected to the suction cup suction port 54; the suction cup suction port 54 contacts the fruit bag to suck up the fruit bag, the suction cup slider 55 slides up in the suction cup base 56 according to the work needs, and the return spring 58 The sucker slider 55 can be reset to meet the needs of work.
[0044] The working principle of the present invention is:
[0045] Put the fruit bag on the bottom plate 48 of the bagging mechanism, such as Figure 8 As shown, the pitch motor 1 in the pitch device is reversed, and the telescopic device and the sticky bag device move downward through the meshing of the large and small gears 4 and 3, and at the same time, for the electric heating sheet fixing seat 35 in the sticky bag device to move downwards. During the downward movement, it does not interfere with the front baffle 47 in the fruit bag device, the telescopic motor 13 in the telescopic device reverses, and the upper sticky bag device is driven to move backward through the connecting rod 28 and the slider 21 to directly move the upper sticky bag. The suction cup 37 in the device is in contact with the fruit bag; at this time, the air pump 50 works, the first solenoid valve 51 is closed, and the second solenoid valve 52 is opened. The suction cup 37 in the bag sticking device will generate suction to the upper layer of the fruit bag and pick up the fruit. bag.
[0046] Such as Picture 9 As shown, the tilt motor 1 and the telescopic motor 13 rotate forward, so that the upper and lower bag sticking devices move upward and forward, until the two suction cups 37 in the upper and lower bag sticking devices are aligned, and the tilt motor 1 reverses; Picture 10 As shown, the upper sticky bag device drives the two suction cups 37 to move downwards until they are in contact with the two suction cups 37 in the lower sticky bag device. At this moment, the first solenoid valve 51 is opened to generate a suction force on the lower layer of the fruit bag.
[0047] Such as Picture 11 As shown, the pitch motor 1 rotates forward and drives the two suction cups 37 in the upper sticky bag device to move upwards to separate the suction cups 37 in the upper and lower sticky bag devices. The upper and lower layers of the fruit bag are separated under the drive of the suction cup 37 to achieve For the purpose of supporting the fruit bag.
[0048] Put the fruit into the fruit bag along the stem slide 45 of the fruit blocking plate 44 in the lower bag sticking device. At this moment, the pitching motor 1 reverses to drive the upper bag sticking device to move downwards, and at the same time, the electric heating plate 36 is turned on. When the upper and lower layers of the fruit bag are in contact, the pitch motor 1 continues to reverse. At this time, the first solenoid valve 51 and the second solenoid valve 52 are closed, and the suction cups 37 in the upper and lower bag sticking devices squeeze each other to make the suction cups The suction cup slider 55 of 37 moves along the suction cup base 56 in the direction of force, such as Picture 12 As shown, the direct heating film 36 and the heating pad 43 squeeze the fruit bag. The heat generated by the electric heating film 36 melts the gel in the fruit bag. Under the action of the squeezing force, the melted gel presses the upper and lower sides of the fruit bag. The layers are glued together. During this process, the fruit stem moves downward along the fruit stem slide 45, which ensures that the fruit stem is fixed in the middle of the fruit bag. The return spring 58 on the suction cup 37 can change the length of the suction cup 37. During the bag holding process, the return spring 58 works. The suction cup suction ports 54 in the upper and lower sticking devices are in contact with each other, but the electric heating sheet 56 and the heating pad 43 are not Contact; in the process of sealing the bag, the return spring 58 is shortened under the squeezing force, and the electric heating sheet 56 is in contact with the heating pad 43 to generate a squeezing force.
[0049] Such as Figure 13 As shown, the pitch motor 1 rotates forward, the upper and lower bag sticking devices are separated from the fruit bag respectively, and the bagging is completed; in this way, continuous, reliable and safe bagging is realized.
