An automatic telescopic device for transporting and packing fruits and vegetables

Abstract

The present invention relates to an automatic telescopic device for handling and packing fruits and vegetables, belonging to the technical field of the structure of grasping devices. It includes an XY automatic telescopic module that can expand or retract simultaneously in the X direction and the Y direction. Below the XY automatic telescopic module, there is a fruit and vegetable anti-collision module. A grasping device connecting piece for grasping the fruit and vegetable anti-collision module is installed on the XY automatic telescopic module. The XY automatic telescopic module includes X-axis automatic telescopic modules arranged in parallel and a Y-axis automatic telescopic module for driving the X-axis automatic telescopic modules to expand or retract relative to each other. A plurality of X-axis limit blocks that can expand or retract relative to each other are installed at the bottom of each X-axis automatic telescopic module, and a suction cup assembly is installed at the bottom of each X-axis limit block. The automatic telescopic device for handling and packing fruits and vegetables with a clever structural design of the present invention can avoid direct contact between fruits and vegetables, reduce the bad fruit rate, and has high working efficiency. Dozens of fruits and vegetables can be grasped and transported at one time, and after grasping, the spacing is reduced and directly packed into boxes, greatly improving the post-treatment capacity of fruits and vegetables.

Description

Technical Field

[0001] The present invention relates to an automatic telescopic fruit and vegetable handling and packing device, belonging to the technical field of the structure of grasping devices. Background Art

[0002] With the substantial improvement of the economic level, the demand for fruits and vegetables is increasing year by year, and correspondingly, the total amount of post-harvest processing of fruits and vegetables is also continuously increasing. In the past, these handling operations were mainly completed manually, with many handling times, high work intensity, and it was easy for workers to get fatigued and have accidents after long-term work. Moreover, the work efficiency was low and the time span was long, which was not conducive to the preservation of fruits and vegetables, seriously restricting the improvement of the added value of Chinese fruit and vegetable products. In the traditional fruit and vegetable packaging process, due to the direct contact of fruits and vegetables throughout the packing process, the collision was serious, and the bad fruit rate was more than 20%. With the development of agricultural machinery automation, there is an urgent market demand for a high-efficiency and anti-collision fruit and vegetable handling device. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies existing in the above-mentioned prior art, and provide an automatic telescopic fruit and vegetable handling and packing device with a clever structural design, which can avoid direct contact of fruits and vegetables, reduce the bad fruit rate, and has high work efficiency. Dozens of fruits and vegetables can be grasped and handled at one time, and after grasping, the spacing is reduced and directly packed, greatly improving the post-harvest processing capacity of fruits and vegetables.

[0004] An automatic telescopic fruit and vegetable handling and packing device is characterized in that it includes an XY automatic telescopic module 4-1 that can be simultaneously deployed or retracted in the X direction and the Y direction. A fruit and vegetable anti-collision module is provided below the XY automatic telescopic module 4-1. A grasping device connecting member 4-3 for grasping the fruit and vegetable anti-collision module 4-2 is installed on the XY automatic telescopic module 4-1. The XY automatic telescopic module 4-1 includes X-axis automatic telescopic modules 2-2 arranged in parallel and a Y-axis automatic telescopic module 2-1 for driving the X-axis automatic telescopic modules 2-2 to deploy or retract from each other. A plurality of X-axis limit blocks that can be deployed or retracted from each other are installed at the bottom of each X-axis automatic telescopic module 2-2, and a suction cup assembly 1-2 is installed at the bottom of each X-axis limit block;

[0005] The number of the Y-axis automatic telescopic modules 2-1 is two and they are arranged in parallel. A plurality of X-axis automatic telescopic modules 2-2 are installed at intervals along the length direction of the bottom of the Y-axis automatic telescopic modules 2-1. A plurality of X-axis limit blocks are on the same straight line and are connected by an X-axis synchronous belt 1-7. The X-axis synchronous belt 1-7 has a fixed point at the bottom of each X-axis limit block. A plurality of Y-axis connecting blocks that can expand or fold with each other are installed at the bottom of the Y-axis automatic telescopic modules 2-1. The bottom of each Y-axis connecting block is connected to an X-axis automatic telescopic module 2-2. A plurality of X-axis automatic telescopic modules 2-2 are connected by a Y-axis synchronous belt 2-7. The Y-axis synchronous belt 2-7 has a fixed point at the top of each X-axis automatic telescopic module 2-2;

[0006] The plurality of X-axis automatic telescopic modules 2-2 are grouped in threes and each group includes an X-axis intermediate guide rail slider assembly 1-3 installed at the middle position of the X-axis fixed beam 1-23. X-axis end guide rail slider assemblies 1-4 are installed at both the left and right ends of the X-axis fixed beam 1-23. In each group, an X-axis actuator is installed on each of the front and back sides of the X-axis fixed beam 1-23 of the middle X-axis automatic telescopic module 2-2. The two X-axis actuators drive the X-axis end guide rail slider assemblies 1-4 of the three X-axis automatic telescopic modules 2-2 to extend or fold simultaneously;

[0007] The X-axis intermediate guide rail slider assembly 1-3 includes an X-axis intermediate linear guide rail 1-10 and a plurality of X-axis intermediate sliders 1-11. An X-axis intermediate limit block 1-13 is installed below each X-axis intermediate slider 1-11. A suction cup assembly 1-2 is installed at the bottom of each X-axis intermediate limit block 1-13. The X-axis end guide rail slider assembly 1-4 includes an X-axis upper slider 1-14 installed at the top on the X-axis fixed beam 1-23. The bottom of the X-axis upper slider 1-14 is slidably installed on an X-axis upper guide rail 1-15. An X-axis lower guide rail 1-17 is installed at the bottom of the X-axis upper guide rail 1-15. A plurality of X-axis lower sliders 1-19 are installed on the X-axis lower guide rail 1-17. An X-axis end limit block 1-18 is installed at the bottom of each X-axis lower slider 1-19. A suction cup assembly 1-2 is installed at the bottom of each X-axis end limit block 1-18. The X-axis intermediate limit block 1-13 and the X-axis end limit block 1-18 both belong to the X-axis limit blocks. The X-axis intermediate limit block 1-13 and the X-axis end limit block 1-18 are on the same straight line and are connected by an X-axis synchronous belt 1-7. The X-axis synchronous belt 1-7 has a fixed point at the bottom of each limit block, and the length of the synchronous belt between each adjacent limit block is the same;

[0008] The suction cup assembly 1-2 includes a U-shaped suction cup connecting piece 1-8 installed at the bottom of the X-axis intermediate limit block 1-13 and the X-axis end limit block 1-18, and a suction cup 1-9 installed on the suction cup connecting piece 1-8;

[0009] The upper X-axis guide rail 1-15 and the lower X-axis guide rail 1-17 are installed as a whole through the X-axis intermediate fixing plate 1-16. On the upper surface of one end of the X-axis intermediate fixing plate 1-16 away from the X-axis intermediate linear guide rail 1-10, an X-axis cylinder connecting block 1-22 and an X-axis oil buffer top block 1-21 are installed. On the lower surface, an X-axis end fixing block 1-20 is installed. A linkage rod 1-27 is inserted into the X-axis end fixing block 1-20, and adjacent X-axis end fixing blocks 1-20 are connected through the linkage rod 1-27, so that three X-axis automatic telescopic modules 2-2 are linked in a group;

[0010] Equal-length intermediate contact arms 1-25 are provided in the front, rear, left, and right of the X-axis intermediate limit block 1-13. One end of the X-axis end limit block 1-18 close to the X-axis intermediate limit block 1-13 is provided with an end contact arm 1-26 of the same length as the intermediate contact arm 1-25;

[0011] One Y-axis actuator is installed on each of the two Y-axis automatic telescopic modules 2-1. The driving directions of the two Y-axis actuators are opposite. The Y-axis automatic telescopic module 2-1 includes a Y-axis intermediate guide rail slider assembly 2-4 installed at the middle position of the Y-axis fixed beam 2-14. Y-axis end guide rail slider assemblies 2-5 are installed at both the left and right ends of the Y-axis fixed beam 2-14. The Y-axis actuator drives the Y-axis end guide rail slider assembly 2-5 to extend or retract;

[0012] The Y-axis intermediate guide rail slider assembly 2-4 includes a Y-axis intermediate linear guide rail 2-9 and a Y-axis intermediate fixing block 2-15 installed at the middle position of the Y-axis intermediate linear guide rail 2-9. Equal numbers of Y-axis intermediate sliders 2-10 are provided on both the left and right sides of the Y-axis intermediate fixing block 2-15. A Y-axis intermediate connecting block 2-12 is installed below each Y-axis intermediate slider 2-10 and the Y-axis intermediate fixing block 2-15. The bottom of each Y-axis intermediate connecting block 2-12 is connected to an X-axis automatic telescopic module 2-2;

[0013] The Y-axis end guide slider assembly 2-5 includes a Y-axis upper slider 2-16 mounted on the top of the Y-axis fixed beam 2-14. The bottom of the Y-axis upper slider 2-16 is slidably mounted on the Y-axis upper guide rail 2-17. The Y-axis upper guide rail 2-17 is provided with a Y-axis lower guide rail 2-19 through a Y-axis intermediate fixing plate 2-18. A plurality of Y-axis lower sliders 2-20 are mounted on the Y-axis lower guide rail 2-19. Each Y-axis lower slider 2-20 is provided with a Y-axis end connecting block 2-21 at the bottom. Each Y-axis end connecting block 2-21 is connected to an X-axis automatic telescopic module 2-2. The end of the Y-axis lower guide rail 2-19 is provided with a Y-axis end connecting block 2-22. The bottom of the Y-axis end connecting block 2-22 is connected to an X-axis automatic telescopic module 2-2. The upper surface of one of the Y-axis end connecting blocks 2-22 of the Y-axis end guide slider assembly 2-5 is provided with a Y-axis cylinder connecting block 2-24 and a Y-axis oil buffer top block 2-23;

[0014] The X-axis actuator includes an X-axis cylinder assembly 1-1 mounted on the X-axis fixed beam 1-23. The end of the X-axis cylinder push rod 1-24 in the X-axis cylinder assembly 1-1 is fixed to the X-axis cylinder connecting block 1-22. The Y-axis actuator includes a Y-axis cylinder assembly 2-3 mounted on the Y-axis fixed beam 2-14. The end of the Y-axis cylinder push rod 2-13 in the Y-axis cylinder assembly 2-3 is fixed to the Y-axis cylinder connecting block 2-24;

[0015] The X-axis intermediate limit block 1-13 is connected to the X-axis intermediate slider 1-11 through an X-axis limit block vertical plate 1-12. The Y-axis intermediate slider 2-10 is connected to the Y-axis intermediate connecting block 2-12 through a Y-axis limit block vertical plate 2-11;

[0016] The X-axis fixed beam 1-23 and the Y-axis fixed beam 2-14 are provided with an X-axis oil buffer assembly 1-5 and a Y-axis oil buffer assembly 2-6 that cooperate with the X-axis oil buffer top block 1-21 and the Y-axis oil buffer top block 1-23;

[0017] The X-axis synchronous belt 1-7 is mounted at the bottom of the X-axis intermediate limit block 1-13 and the X-axis end limit block 1-18 through an X-axis synchronous belt pressing block 1-6 to form the fixed points. The Y-axis synchronous belt 2-7 is mounted on the X-axis automatic telescopic module 2-2 through a Y-axis synchronous belt pressing block 2-8 to form the fixed points;

[0018] The fruit and vegetable anti-collision module 4-2 is a lower module 3-2 that matches the shape of the fruit and vegetable box opening. The lower module 3-2 includes a lower outer frame 3-19 and a mesh structure 3-20 installed in the lower outer frame 3-19. A cloth bag 3-21 made of flexible material is installed under each mesh of the mesh structure 3-20. The cloth bag 3-21 is opened at the top and bottom and is provided with a bend in the height direction. The gripping device connecting part 4-3 includes an upper module 3-1 that can be mutually attracted with the lower module 3-2. The upper module 3-1 is installed on the two outer X-axis automatic telescopic modules 2-2. The upper module 3-1 includes a frame 3-4 extending vertically downward. The frame 3-4 and the lower outer frame 3-19 are mutually attracted and connected through an electromagnet mechanism. A relay 3-7 for controlling the attraction or separation of the electromagnet mechanism is installed on the upper module 3-1.

[0019] The mesh structure 3-20 is a mesh structure formed by a plurality of iron wires connected in an interlaced manner, and the mesh holes formed are used for passing fruits and vegetables;

[0020] The electromagnet mechanism includes two electromagnet floating components 3-5 installed on the lower surface of the frame 3-4 and two electromagnet suction pieces 3-18 installed on the upper surface of the lower outer frame 3-19;

[0021] The electromagnet floating assembly 3-5 includes an electromagnet upper connecting part 3-9 installed on the frame 3-4, two equal-height screws 3-12 are screwed on the lower surface of the electromagnet upper connecting part 3-9, the bottoms of the two equal-height screws 3-12 are installed on the electromagnet connecting part 3-10, and springs 3-13 are sleeved on the outside of the two equal-height screws 3-12, the top of the spring 3-13 is in contact with the electromagnet upper connecting part 3-9, and the bottom is in contact with the electromagnet connecting part 3-10, and the electromagnet connecting part 3-10 is provided with a accommodating chamber 3-22 for accommodating the equal-height screws 3-12, and a limit opening 3-23 is provided on the top of the accommodating chamber 3-22, and the bottom of the electromagnet connecting part 3-10 is connected to the electromagnet 3-11;

[0022] The lower surface of the frame 3-4 is installed with a positioning pin assembly 3-6, and the upper surface of the lower outer frame 3-19 is installed with a positioning pin sleeve 3-17 used in conjunction with the positioning pin assembly 3-6. The positioning pin assembly 3-6 is located between the two electromagnet floating assemblies 3-5, and the positioning pin sleeve 3-17 is located between the two electromagnet suction pieces 3-18;

[0023] The positioning pin assembly 3-6 includes a positioning pin connector 3-14 installed on the frame 3-4, a universal head 3-15 is installed below the positioning pin connector 3-14, and a positioning pin 3-16 is installed at the bottom of the universal head 3-15;

[0024] The frame 3-4 is a frame assembled from aluminum profiles, and the connection between adjacent aluminum profiles is reinforced by aluminum profile connectors 3-8.

[0025] The structural design of the automatic telescopic fruit and vegetable handling and packing device of the present invention is ingenious. When it is necessary to grasp fruits and vegetables, the Y-axis automatic telescopic module 2-1 drives multiple X-axis automatic telescopic modules 2-2 to open. Specifically, the Y-axis cylinder assembly 2-3 pushes the Y-axis end guide rail slider assembly 2-5 to extend outward, so that the Y-axis connecting blocks are opened, thereby driving the X-axis automatic telescopic module 2-2 to open, and the Y-axis synchronous belt 2-7 is tensioned. At the same time, the two X-axis end guide rail slider assemblies 1-4 are respectively driven by the X-axis actuator to move horizontally in the opposite direction, so that the upper guide rail 1-15 and the lower guide rail 1-7 of the X-axis extend outward synchronously, so that the X-axis end limit block 1-18 moves outward. Since the X-axis end limit block 1-18 and the X-axis middle limit block 1-13 are connected by the X-axis synchronous belt 1-7, the outward-moved X-axis end limit block 1-18 pulls the X-axis middle limit block 1-13 to unfold. Since the lengths of the synchronous belts between each adjacent limit block are the same, the distances between adjacent limit blocks are the same after being fully unfolded. The fruits and vegetables are grasped by the suction cup assembly 1-2. When packing is required, the Y-axis actuator drives the Y-axis end guide rail slider assembly 2-5 to close, so that the adjacent Y-axis connecting blocks are in contact with each other. The X-axis actuator drives the X-axis end guide rail slider assembly 1-4 to close, so that the adjacent limit blocks 1-13 are in contact with each other. Since the front, rear, left, and right ends of the X-axis middle limit block 1-13 are provided with intermediate contact arms 1-25 of equal length, and one end of the X-axis end limit block 1-18 close to the X-axis middle limit block 1-13 is provided with an end contact arm 1-26 of the same length as the intermediate contact arm 1-25, so that the fruits and vegetables can be placed in the box at equal intervals. When packing, the upper module 3-1 and the lower module 3-2 are docked through the electromagnet mechanism. The suction force of the electromagnet mechanism is greater than the gravity of the lower module 3-2. After docking, they are put into the box together with the fruits and vegetables. The gravitational potential energy of the falling fruits and vegetables is converted into kinetic energy. The kinetic energy of the fruits and vegetables can be reduced by the cloth bag 3-21 with a bend, playing a role in slow descent. After the fruits and vegetables have fallen, after the external fruit and vegetable grasping device drives the fruit and vegetable anti-collision device to the designated position, the electromagnet mechanism is controlled to separate through the relay 3-7. Since the positioning pin assembly 3-6 is provided, it can prevent the upper module 3-1 and the lower module 3-2 from moving horizontally relative to each other, improving the reliability. To sum up, the XY-axis equally spaced automatic telescopic handling device of the present invention can move in two directions, grasp a large number of fruits and vegetables at one time, has high working efficiency, equally spaced telescoping, is structurally compact, has high precision, and is simpler and more reliable in structure on the premise of ensuring the function, and the working efficiency is greatly improved. Description of the Drawings

[0026] Figure 1 : Schematic structural diagram of an automatic telescopic fruit and vegetable handling and packing device of the present invention;

[0027] Figure 2 : Schematic structural diagram when the XY automatic telescopic module is closed;

[0028] Figure 3 : Structural schematic diagram of the XY automatic telescopic module after expansion;

[0029] Figure 4 : Structural schematic diagram of the X-axis automatic telescopic module;

[0030] Figure 5 : Structural schematic diagram of the X-axis automatic telescopic module in state 1 when the X-axis synchronous belt is sagging;

[0031] Figure 6 : Structural schematic diagram of the X-axis automatic telescopic module in state 2 when the X-axis synchronous belt is sagging;

[0032] Figure 7 : Structural schematic diagram of the suction cup assembly;

[0033] Figure 8 : Structural schematic diagram of the X-axis intermediate guide rail slider assembly;

[0034] Figure 9 : Structural schematic diagram of the X-axis end guide rail slider assembly;

[0035] Figure 10 : Structural schematic diagram of the Y-axis intermediate guide rail slider assembly;

[0036] Figure 11 : Structural schematic diagram of the Y-axis end guide rail slider assembly;

[0037] Figure 12 : Diagram of the Y-axis automatic telescopic module in the retracted state;

[0038] Figure 13 : Diagram of the Y-axis automatic telescopic module in the expanded state;

[0039] Figure 14 : Diagram of the installation position of the Y-axis synchronous belt of the Y-axis automatic telescopic module;

[0040] Figure 15 : Structural schematic diagram of a group of X-axis automatic telescopic modules;

[0041] Figure 16 : Structural schematic diagram of the fruit and vegetable anti-collision module;

[0042] Figure 17 : Structural schematic diagram of the electromagnet floating assembly;

[0043] Figure 18 : Structural schematic diagram of the positioning pin assembly;

[0044] Figure 19 : Structural schematic diagram of the lower module;

[0045] Figure 20 : Structural schematic diagram of the cloth bag.

[0046] In the figure: 1-1, X-axis cylinder assembly; 1-2, suction cup assembly; 1-3, X-axis intermediate guide rail slider assembly; 1-4, X-axis end guide rail slider assembly; 1-5, X-axis hydraulic buffer assembly; 1-6, X-axis synchronous belt pressing block; 1-7, X-axis synchronous belt; 1-8, suction cup connecting piece; 1-9, suction cup; 1-10, X-axis intermediate linear guide rail; 1-11, X-axis intermediate slider; 1-12, X-axis limit block vertical plate; 1-13, X-axis intermediate limit block; 1-14, X-axis upper slider; 1-15, X-axis upper guide rail; 1-16, X-axis intermediate fixing plate; 1-17, X-axis lower guide rail; 1-18, X-axis two-end limit block; 1-19, X-axis lower slider; 1-20, X-axis end fixing block; 1-21, X-axis hydraulic buffer top block; 1-22, X-axis cylinder connecting block; 1-23, X-axis fixed beam; 1-24, X-axis cylinder push rod; 1-25, intermediate contact arm; 1-26, end contact arm; 1-27, linkage rod.

[0047] 2-1, Y-axis automatic telescopic module; 2-2, X-axis automatic telescopic module; 2-3, Y-axis cylinder assembly; 2-4, Y-axis intermediate guide rail slider assembly; 2-5, Y-axis end guide rail slider assembly; 2-6, Y-axis hydraulic buffer assembly; 2-7, Y-axis synchronous belt; 2-8, Y-axis synchronous belt pressing block; 2-9, Y-axis intermediate linear guide rail; 2-10, Y-axis intermediate slider; 2-11, Y-axis limit block vertical plate; 2-12, Y-axis intermediate connecting block; 2-13, Y-axis cylinder push rod; 2-14, Y-axis fixed beam; 2-15, Y-axis intermediate fixing block; 2-16, Y-axis upper slider; 2-17, Y-axis upper guide rail; 2-18, Y-axis intermediate fixing plate; 2-19, Y-axis lower guide rail; 2-20, Y-axis lower slider; 2-21, Y-axis end connecting block; 2-22, Y-axis end connecting block; 2-23, Y-axis hydraulic buffer top block; 2-24, Y-axis cylinder connecting block.

[0048] 3-2, lower module; 3-4, frame; 3-5, electromagnet floating assembly; 3-6, positioning pin assembly; 3-7, relay; 3-8, aluminum profile connecting piece; 3-9, electromagnet upper connecting piece; 3-10, electromagnet connecting piece; 3-11, electromagnet; 3-12, equal-height screw; 3-13, spring; 3-14, positioning pin connecting piece; 3-15, universal joint; 3-16, positioning pin; 3-17, positioning pin sleeve; 3-18, electromagnet attracting piece; 3-19, lower outer frame; 3-20, mesh structure; 3-21, cloth bag; 3-22, accommodating chamber; 3-23, limiting port.

[0049] 4-1, XY automatic telescopic module; 4-2, fruit and vegetable anti-collision module; 4-3, grasping device connecting piece. Specific embodiments

[0050] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] Embodiment 1

[0052] An automatic telescopic fruit and vegetable handling and boxing device in this embodiment is shown in Figure 1-20 , and includes an XY automatic telescopic module 4-1 that can be simultaneously expanded or retracted in the X and Y directions. A fruit and vegetable anti-collision module is provided below the XY automatic telescopic module 4-1. A grasping device connecting piece 4-3 for grasping the fruit and vegetable anti-collision module 4-2 is installed on the XY automatic telescopic module 4-1. The XY automatic telescopic module 4-1 includes X-axis automatic telescopic modules 2-2 arranged in parallel and a Y-axis automatic telescopic module 2-1 for driving the X-axis automatic telescopic modules 2-2 to expand or retract relative to each other. A plurality of X-axis limiting blocks that can expand or retract relative to each other are installed at the bottom of each X-axis automatic telescopic module 2-2. A suction cup assembly 1-2 is installed at the bottom of each X-axis limiting block. Since it can be opened in the X and Y directions, it is convenient to grasp multiple rows and columns of fruits and vegetables from the outside, improving work efficiency. Since it can be retracted in the X and Y directions, it is convenient to box the fruits and vegetables after grasping.

[0053] The specific structures of the Y-axis automatic telescopic module 2-1 and the X-axis automatic telescopic module 2-2 are as follows: The number of Y-axis automatic telescopic modules 2-1 is 2 and they are arranged in parallel. A plurality of X-axis automatic telescopic modules 2-2 are installed at intervals along the length direction of the bottom of the Y-axis automatic telescopic module 2-1. A plurality of X-axis limiting blocks are on the same straight line and are connected by an X-axis synchronous belt 1-7. The X-axis synchronous belt 1-7 has a fixed point at the bottom of each X-axis limiting block. A plurality of Y-axis connecting blocks that can expand or retract relative to each other are installed at the bottom of the Y-axis automatic telescopic module 2-1. The bottom of each Y-axis connecting block is connected to an X-axis automatic telescopic module 2-2. A plurality of X-axis automatic telescopic modules 2-2 are connected by a Y-axis synchronous belt 2-7. The Y-axis synchronous belt 2-7 has a fixed point at the top of each X-axis automatic telescopic module 2-2;

[0054] In order to save space and increase the packing density of fruits and vegetables, three X-axis automatic telescopic modules 2-2 are grouped together, and the three X-axis automatic telescopic modules 2-2 share one X-axis actuator. It includes an X-axis intermediate guide rail slider assembly 1-3 installed at the middle position of the X-axis fixed beam 1-23. X-axis end guide rail slider assemblies 1-4 are installed at both the left and right ends of the X-axis fixed beam 1-23. In each group, on the front and back sides of the X-axis fixed beam 1-23 of the middle X-axis automatic telescopic module 2-2, one X-axis actuator is installed on each side. The two X-axis actuators drive the X-axis end guide rail slider assemblies 1-4 of the three X-axis automatic telescopic modules 2-2 to extend or retract simultaneously;

[0055] The specific structure of the X-axis intermediate guide rail slider assembly 1-3 is as follows: The X-axis intermediate guide rail slider assembly 1-3 includes an X-axis intermediate linear guide rail 1-10 and multiple X-axis intermediate sliders 1-11. An X-axis intermediate limit block 1-13 is installed below each X-axis intermediate slider 1-11, and a suction cup assembly 1-2 is installed at the bottom of each X-axis intermediate limit block 1-13. The X-axis end guide rail slider assembly 1-4 includes an X-axis upper slider 1-14 installed at the top on the X-axis fixed beam 1-23. The bottom of the X-axis upper slider 1-14 slides on the X-axis upper guide rail 1-15. The X-axis lower guide rail 1-17 is installed at the bottom of the X-axis upper guide rail 1-15. Multiple X-axis lower sliders 1-19 are installed on the X-axis lower guide rail 1-17. An X-axis end limit block 1-18 is installed at the bottom of each X-axis lower slider 1-19, and a suction cup assembly 1-2 is installed at the bottom of each X-axis end limit block 1-18. The X-axis intermediate limit block 1-13 and the X-axis end limit block 1-18 both belong to the X-axis limit blocks. The X-axis intermediate limit block 1-13 and the X-axis end limit block 1-18 are on the same straight line and are connected by an X-axis synchronous belt 1-7. The X-axis synchronous belt 1-7 has a fixed point at the bottom of each limit block, and the length of the synchronous belt between each adjacent limit block is the same;

[0056] The specific structure of the suction cup assembly 1-2 is as follows: The suction cup assembly 1-2 includes a U-shaped suction cup connecting piece 1-8 installed at the bottom of the X-axis intermediate limit block 1-13 and the X-axis end limit block 1-18, and a suction cup 1-9 installed on the suction cup connecting piece 1-8;

[0057] In order to achieve linkage, the X-axis upper guide rail 1-15 and the X-axis lower guide rail 1-17 are installed as a whole through an X-axis intermediate fixing plate 1-16. An X-axis cylinder connecting block 1-22 and an X-axis oil buffer top block 1-21 are installed on the upper surface of one end of the X-axis intermediate fixing plate 1-16 away from the X-axis intermediate linear guide rail 1-10, and an X-axis end fixing block 1-20 is installed on the lower surface. A linkage rod 1-27 is inserted into the X-axis end fixing block 1-20, and adjacent X-axis end fixing blocks 1-20 are connected through the linkage rod 1-27, so that the three X-axis automatic telescopic modules 2-2 are linked in a group;

[0058] To achieve equal spacing, intermediate contact arms 1-25 of equal length are provided in front of, behind, to the left, and to the right of the X-axis intermediate limit block 1-13. At one end of the X-axis end limit block 1-18 close to the X-axis intermediate limit block 1-13, an end contact arm 1-26 of the same length as the intermediate contact arm 1-25 is provided.

[0059] The specific structure of the Y-axis automatic telescopic module 2-1 is as follows: One Y-axis actuator is installed on each of the two Y-axis automatic telescopic modules 2-1, and the driving directions of the two Y-axis actuators are opposite. The Y-axis automatic telescopic module 2-1 includes a Y-axis intermediate guide rail slider assembly 2-4 installed at the middle position of the Y-axis fixed beam 2-14. Y-axis end guide rail slider assemblies 2-5 are installed at both the left and right ends of the Y-axis fixed beam 2-14. The Y-axis actuator drives the Y-axis end guide rail slider assembly 2-5 to extend or retract.

[0060] The specific structure of the Y-axis intermediate guide rail slider assembly 2-4 is as follows: The Y-axis intermediate guide rail slider assembly 2-4 includes a Y-axis intermediate linear guide rail 2-9 and a Y-axis intermediate fixed block 2-15 installed at the middle position of the Y-axis intermediate linear guide rail 2-9. An equal number of Y-axis intermediate sliders 2-10 are provided on both the left and right sides of the Y-axis intermediate fixed block 2-15. A Y-axis intermediate connecting block 2-12 is installed below each Y-axis intermediate slider 2-10 and the Y-axis intermediate fixed block 2-15. The bottom of each Y-axis intermediate connecting block 2-12 is connected to an X-axis automatic telescopic module 2-2.

[0061] The specific structure of the Y-axis end guide rail slider assembly 2-5 is as follows: The Y-axis end guide rail slider assembly 2-5 includes a Y-axis upper slider 2-16 installed at the top on the Y-axis fixed beam 2-14. The bottom of the Y-axis upper slider 2-16 is slidably installed on the Y-axis upper guide rail 2-17. The Y-axis upper guide rail 2-17 is provided with a Y-axis lower guide rail 2-19 through a Y-axis intermediate fixing plate 2-18. A plurality of Y-axis lower sliders 2-20 are installed on the Y-axis lower guide rail 2-19. The bottom of each Y-axis lower slider 2-20 is installed with a Y-axis end connecting block 2-21. Each Y-axis end connecting block 2-21 is connected to an X-axis automatic telescopic module 2-2. A Y-axis end connecting block 2-22 is installed at the end of the Y-axis lower guide rail 2-19. The bottom of the Y-axis end connecting block 2-22 is connected to an X-axis automatic telescopic module 2-2. On the upper surface of one of the Y-axis end connecting blocks 2-22 of the Y-axis end guide rail slider assembly 2-5, a Y-axis cylinder connecting block 2-24 and a Y-axis oil buffer top block 2-23 are installed.

[0062] The specific structure of the actuator is as follows: The X-axis actuator includes an X-axis cylinder assembly 1-1 mounted on the X-axis fixed beam 1-23. The end of the X-axis cylinder push rod 1-24 in the X-axis cylinder assembly 1-1 is fixed to the X-axis cylinder connection block 1-22. The Y-axis actuator includes a Y-axis cylinder assembly 2-3 mounted on the Y-axis fixed beam 2-14. The end of the Y-axis cylinder push rod 2-13 in the Y-axis cylinder assembly 2-3 is fixed to the Y-axis cylinder connection block 2-24;

[0063] For the convenience of connection, the X-axis intermediate limit block 1-13 is connected to the X-axis intermediate slider 1-11 through the X-axis limit block vertical plate 1-12. The Y-axis intermediate slider 2-10 is connected to the Y-axis intermediate connection block 2-12 through the Y-axis limit block vertical plate 2-11;

[0064] To achieve a better buffering effect when the execution component is working, X-axis oil buffer assemblies 1-5 and Y-axis oil buffer assemblies 2-6 that cooperate with the X-axis oil buffer top block 1-21 and the Y-axis oil buffer top block 1-23 are installed on the X-axis fixed beam 1-23 and the Y-axis fixed beam 2-14;

[0065] The X-axis synchronous belt 1-7 is installed at the bottom of the X-axis intermediate limit block 1-13 and the X-axis end limit block 1-18 through the X-axis synchronous belt pressing block 1-6 to form the fixed point. The Y-axis synchronous belt 2-7 is installed on the X-axis automatic telescopic module 2-2 through the Y-axis synchronous belt pressing block 2-8 to form the fixed point;

[0066] The lower module 3-2 of the fruit and vegetable anti-collision module 4-2 is matched with the shape of the fruit and vegetable box opening. The lower module 3-2 includes a lower outer frame 3-19 and a mesh structure 3-20 installed inside the lower outer frame 3-19. A cloth bag 3-21 made of flexible material is installed below each mesh hole of the mesh structure 3-20. The cloth bag 3-21 is open at both the top and the bottom and has a bend in the height direction. The grasping device connecting piece 4-3 includes an upper module 3-1 that can be mutually attracted to the lower module 3-2. The upper module 3-1 is installed on the two outer X-axis automatic telescopic modules 2-2. The upper module 3-1 includes a frame 3-4 extending vertically downward. The frame 3-4 and the lower outer frame 3-19 are mutually attracted and connected through an electromagnet mechanism. A relay 3-7 for controlling the attraction or separation of the electromagnet mechanism is installed on the upper module 3-1;

[0067] The mesh structure 3-20 is a mesh structure formed by intersecting several iron wires, and the formed mesh holes are used for passing fruits and vegetables;

[0068] The electromagnet mechanism includes two electromagnet floating components 3-5 installed on the lower surface of the frame 3-4 and two electromagnet attracting sheets 3-18 installed on the upper surface of the lower outer frame 3-19;

[0069] The electromagnet floating assembly 3-5 includes an upper electromagnet connecting member 3-9 mounted on the frame 3-4. Two equal-height screws 3-12 are screwed on the lower surface of the upper electromagnet connecting member 3-9. The bottoms of the two equal-height screws 3-12 are mounted on the electromagnet connecting member 3-10. Springs 3-13 are sleeved outside the two equal-height screws 3-12. The top of the spring 3-13 is in contact with the upper electromagnet connecting member 3-9, and the bottom is in contact with the electromagnet connecting member 3-10. An accommodation chamber 3-22 for accommodating the equal-height screws 3-12 is provided on the electromagnet connecting member 3-10. A limiting port 3-23 is provided at the top of the accommodation chamber 3-22. The bottom of the electromagnet connecting member 3-10 is connected to an electromagnet 3-11. During the docking process, the electromagnet floating assembly 3-5 can have an activity range of 1 cm, which can avoid the situation that the electromagnet cannot be attracted due to the non-parallelism of the upper module 3-1 and the lower module 3-2.

[0070] A positioning pin assembly 3-6 is mounted on the lower surface of the frame 3-4, and a positioning pin sleeve 3-17 that cooperates with the positioning pin assembly 3-6 is mounted on the upper surface of the lower outer frame 3-19. The positioning pin assembly 3-6 is located between the two electromagnet floating assemblies 3-5, and the positioning pin sleeve 3-17 is located between the two electromagnet attracting plates 3-18. Due to the provision of the positioning pin assembly 3-6, the mutual movement of the upper module 3-1 and the lower module 3-2 in the horizontal direction can be prevented, improving the reliability. The positioning pin assembly 3-6 includes a positioning pin connecting member 3-14 mounted on the frame 3-4. A universal joint 3-15 is mounted below the positioning pin connecting member 3-14, and a positioning pin 3-16 is mounted at the bottom of the universal joint 3-15. The positioning pin assembly 3-6 is equipped with a universal joint 3-15, which can avoid the situation that the positioning pin cannot be inserted due to the non-concentricity of the positioning pin and the positioning pin sleeve during the docking process.

[0071] Working principle: When it is necessary to grasp fruits and vegetables, the Y-axis automatic telescopic module 2-1 drives multiple X-axis automatic telescopic modules 2-2 to open. Specifically, the Y-axis cylinder assembly 2-3 pushes the Y-axis end guide rail slider assembly 2-5 to extend outward, so that the Y-axis connecting blocks are opened to drive the X-axis automatic telescopic module 2-2 to open, and the Y-axis synchronous belt 2-7 is tensioned. At the same time, the two X-axis end guide rail slider assemblies 1-4 are respectively driven by the X-axis actuator to move horizontally in the opposite direction, so that the upper guide rail 1-15 and the lower guide rail 1-7 of the X-axis extend outward synchronously, so that the X-axis end limit block 1-18 moves outward. Since the X-axis end limit block 1-18 and the X-axis middle limit block 1-13 are connected by the X-axis synchronous belt 1-7, the outward-moving X-axis end limit block 1-18 pulls the X-axis middle limit block 1-13 to expand. Since the lengths of the synchronous belts between each adjacent limit block are the same, the distances between adjacent limit blocks are the same after full expansion. The fruits and vegetables are grasped by the suction cup assembly 1-2. When boxing is required, the Y-axis actuator drives the Y-axis end guide rail slider assembly 2-5 to retract, so that the adjacent Y-axis connecting blocks are in contact with each other. The X-axis actuator drives the X-axis end guide rail slider assembly 1-4 to retract, so that the adjacent limit blocks 1-13 are in contact with each other. Since the front, rear, left, and right ends of the X-axis middle limit block 1-13 are provided with intermediate contact arms 1-25 of equal length, and one end of the X-axis end limit block 1-18 close to the X-axis middle limit block 1-13 is provided with an end contact arm 1-26 of the same length as the intermediate contact arm 1-25, the equal-spacing boxing placement of fruits and vegetables can be realized. When boxing, the upper module 3-1 and the lower module 3-2 are butted through the electromagnet mechanism. The suction force of the electromagnet mechanism is greater than the gravity of the lower module 3-2. After the docking is completed, it is put into the box together with the fruits and vegetables. The gravitational potential energy of the falling fruits and vegetables is converted into kinetic energy. The kinetic energy of the fruits and vegetables can be reduced by the cloth bag 3-21 with a bend, playing a role in slow descent. After the fruits and vegetables have fallen, after the external fruit and vegetable grasping device drives the fruit and vegetable anti-collision device to the specified position, the electromagnet mechanism is controlled to separate through the relay 3-7. Due to the positioning pin assembly 3-6, the horizontal movement between the upper module 3-1 and the lower module 3-2 can be prevented, improving the reliability.

[0072] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made in these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic telescopic device for transporting and packing fruits and vegetables, characterized in that It includes an XY automatic telescopic module that can be simultaneously deployed or retracted in the X and Y directions. There is a fruit and vegetable anti-collision module below the XY automatic telescopic module. A grasping device connecting piece for grasping the fruit and vegetable anti-collision module is installed on the XY automatic telescopic module. The XY automatic telescopic module includes X-axis automatic telescopic modules arranged in parallel and a Y-axis automatic telescopic module for driving the X-axis automatic telescopic modules to deploy or retract from each other. A plurality of X-axis limit blocks that can deploy or retract from each other are installed at the bottom of each X-axis automatic telescopic module, and a suction cup assembly is installed at the bottom of each X-axis limit block. The number of the Y-axis automatic telescopic modules is 2 and they are arranged in parallel. A plurality of X-axis automatic telescopic modules are installed at intervals along the length direction of the bottom of the Y-axis automatic telescopic module. A plurality of X-axis limit blocks are on the same straight line and are connected by an X-axis synchronous belt. The X-axis synchronous belt has a fixed point at the bottom of each X-axis limit block. A plurality of Y-axis connecting blocks that can deploy or retract from each other are installed at the bottom of the Y-axis automatic telescopic module. The bottom of each Y-axis connecting block is connected to an X-axis automatic telescopic module. A plurality of X-axis automatic telescopic modules are connected by a Y-axis synchronous belt. The Y-axis synchronous belt has a fixed point at the top of each X-axis automatic telescopic module. The plurality of X-axis automatic telescopic modules are grouped in threes and each group includes an X-axis intermediate guide rail slider assembly installed at the middle position of the X-axis fixed beam. X-axis end guide rail slider assemblies are installed at both the left and right ends of the X-axis fixed beam. In each group, an X-axis actuator is installed on each of the front and back sides of the X-axis fixed beam of the X-axis automatic telescopic module in the middle. The two X-axis actuators drive the X-axis end guide rail slider assemblies of the three X-axis automatic telescopic modules to extend or retract simultaneously. The X-axis intermediate guide rail slider assembly includes an X-axis intermediate linear guide rail and a plurality of X-axis intermediate sliders. An X-axis intermediate limit block is installed below each X-axis intermediate slider, and a suction cup assembly is installed at the bottom of each X-axis intermediate limit block. The X-axis end guide rail slider assembly includes an X-axis upper slider installed at the top on the X-axis fixed beam. The bottom of the X-axis upper slider slides on the X-axis upper guide rail. An X-axis lower guide rail is installed at the bottom of the X-axis upper guide rail. A plurality of X-axis lower sliders are installed on the X-axis lower guide rail. An X-axis end limit block is installed at the bottom of each X-axis lower slider, and a suction cup assembly is installed at the bottom of each X-axis end limit block. The X-axis intermediate limit block and the X-axis end limit block both belong to the X-axis limit block. The X-axis intermediate limit block and the X-axis end limit block are on the same straight line and are connected by an X-axis synchronous belt. The X-axis synchronous belt has a fixed point at the bottom of each limit block, and the length of the synchronous belt between each adjacent limit block is the same. The X-axis upper guide rail and the X-axis lower guide rail are installed as a whole through an X-axis intermediate fixing plate. An X-axis cylinder connecting block and an X-axis oil buffer top block are installed on the upper surface of one end of the X-axis intermediate fixing plate away from the X-axis intermediate linear guide rail. An X-axis end fixing block is installed on the lower surface. A linkage rod is inserted into the X-axis end fixing block, and adjacent X-axis end fixing blocks are connected through the linkage rod, so that the X-axis automatic telescopic modules are grouped in threes and linked.

2. The automatic telescopic device for transporting and packing fruits and vegetables according to claim 1, characterized in that The front, rear, left, and right sides of the X-axis middle limit block are each provided with intermediate contact arms of equal length, and one end of the X-axis end limit block close to the X-axis middle limit block is provided with an end contact arm of the same length as the intermediate contact arm.

3. The automatic telescopic device for transporting and packing fruits and vegetables according to claim 1, characterized in that One Y-axis actuator is installed on each of the two Y-axis automatic telescopic modules. The driving directions of the two Y-axis actuators are opposite. The Y-axis automatic telescopic module includes a Y-axis middle guide rail slider assembly installed at the middle position of the Y-axis fixed beam. Y-axis end guide rail slider assemblies are installed at both the left and right ends of the Y-axis fixed beam. The Y-axis actuator drives the Y-axis end guide rail slider assembly to extend or retract. The Y-axis middle guide rail slider assembly includes a Y-axis middle linear guide rail and a Y-axis middle fixed block installed at the middle position of the Y-axis middle linear guide rail. Equal numbers of Y-axis middle sliders are provided on both the left and right sides of the Y-axis middle fixed block. A Y-axis middle connecting block is installed below each Y-axis middle slider and the Y-axis middle fixed block. The bottom of each Y-axis middle connecting block is connected to an X-axis automatic telescopic module.

4. The automatic telescopic device for transporting and packing fruits and vegetables according to claim 3, characterized in that The Y-axis end guide rail slider assembly includes a Y-axis upper slider installed at the top on the Y-axis fixed beam. The bottom of the Y-axis upper slider is slidably installed on the Y-axis upper guide rail. The Y-axis upper guide rail is provided with a Y-axis lower guide rail through a Y-axis middle fixing plate. A plurality of Y-axis lower sliders are installed on the Y-axis lower guide rail. A Y-axis end connecting block is installed at the bottom of each Y-axis lower slider. Each Y-axis end connecting block is connected to an X-axis automatic telescopic module. A Y-axis end connecting block is installed at the end of the Y-axis lower guide rail. The bottom of the Y-axis end connecting block is connected to an X-axis automatic telescopic module. A Y-axis cylinder connecting block and a Y-axis oil buffer top block are installed on the upper surface of one of the Y-axis end connecting blocks of the Y-axis end guide rail slider assembly.

5. The automatic telescopic device for transporting and packing fruits and vegetables according to claim 1, characterized in that The fruit and vegetable anti-collision module is a lower module matching the shape of the fruit and vegetable box opening. The lower module includes a lower outer frame and a mesh structure installed inside the lower outer frame. A cloth bag made of flexible material is installed below each mesh hole of the mesh structure. The cloth bag is open at both the top and bottom and is bent in the height direction. The grasping device connecting piece includes an upper module capable of mutually attracting with the lower module. The upper module is installed on the two outer X-axis automatic telescopic modules. The upper module includes a frame extending vertically downward. The frame and the lower outer frame are mutually attracted and connected through an electromagnet mechanism. A relay for controlling the attraction or separation of the electromagnet mechanism is installed on the upper module.

6. The automatic telescopic device for transporting and packing fruits and vegetables according to claim 5, characterized in that The electromagnet mechanism includes two electromagnet floating components installed on the lower surface of the frame and two electromagnet suction sheets installed on the upper surface of the lower outer frame. The electromagnet floating component includes an electromagnet upper connecting piece installed on the frame. Two equal-height screws are screwed on the lower surface of the electromagnet upper connecting piece. The bottoms of the two equal-height screws are installed on the electromagnet connecting piece. Springs are sleeved outside both of the two equal-height screws. The top of the spring is in contact with the electromagnet upper connecting piece, and the bottom is in contact with the electromagnet connecting piece. A receiving chamber for accommodating the equal-height screws is opened on the electromagnet connecting piece. A limiting port is provided at the top of the receiving chamber. The bottom of the electromagnet connecting piece is connected to an electromagnet.

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