Full-automatic apple netting and boxing machine

Abstract

A full-automatic apple netting and boxing machine comprises a feeding device, an apple posture adjusting device, a netting device and a boxing device. The feeding device comprises a buffer uniform distribution mechanism, an apple pushing-out mechanism, a gear transmission mechanism, a first conveying mechanism and a shell. The feeding device is used to make the apples at the feeding inlet enter the apple posture adjusting device in turn according to the same interval. The apple posture adjusting device comprises a first-stage apple posture adjusting mechanism, a second-stage apple posture adjusting mechanism and a bad fruit removing mechanism. The apple posture adjusting mechanism is used to realize posture adjustment of the apples from the feeding device in two different forms, and transport the adjusted apples to the upper side of the netting device. The netting device comprises a net conveying mechanism, a net melting mechanism and a netting mechanism. The boxing device comprises a third conveying mechanism, a boxing mechanism and a packaging box placing mechanism. The boxing device is used to realize precise boxing of the apples with the net. The present application can replace manual work, realize apple automatic netting and boxing with high efficiency, and greatly reduce the fruit damage rate of the apples in the process of netting and boxing.

Description

TECHNICAL FIELD

[0001] The present application relates to the packaging technical field, in particular to a full-automatic apple netting and boxing machine. BACKGROUND

[0002] Apples are high in nutritional value, rich in minerals and vitamins, and rich in calcium.

[0003] According to the national apple industry technology system, the national apple planting area in 2020 was 3132.78 million mu, and the apple planting area and yield exceeded 50% of the world total. China has become the world's largest apple producer and consumer. However, during transportation, apples will be damaged due to factors such as collision, extrusion, friction, etc., affecting the economic benefits and sales value of apples.

[0004] The market apple outer buffer foam net cover is mostly made of polyethylene EPE, which has the characteristics of high strength, high toughness, strong air permeability, and high aesthetic appearance. Research shows that good boxing methods and covering the apple with a foam net cover before boxing can effectively reduce the damage to the apple during transportation. However, current apple netting and boxing mainly relies on manual labor, which requires a large number of laborers. This leads to the need for orchards to invest more costs, and manual netting and boxing is inefficient and can easily damage the apples during operation.

[0005] Most of the domestic research on apple netting and boxing robots is in the design scheme or prototype stage. For a few apple netting and automatic packaging machines on the market, although they can achieve automatic netting and packaging of apples, their size is too large and they only have netting function and cannot achieve automatic boxing. For small-scale apple growers, the economic output cost is too high and cannot be popularized. Therefore, apple producing areas urgently need machines to replace manual netting and boxing, and there is an urgent need to research full-automatic apple netting and boxing machines.

[0006] There are mainly two packaging forms of apple netting on the market today. The first is the vertical packaging method of apples, that is, the net cover completely covers the flesh of the apple, leaving the stem and flower bud slightly exposed. The second is the horizontal packaging method of apples, that is, the net cover completely covers the stem and flower bud of the apple, leaving the flesh of the apple exposed.

[0007] A kind of apple netting and packaging machine suitable for small-scale planting farmers disclosed in Chinese patent (CN113148288A) can solve the problem of apple collision on the conveyor belt, but cannot solve the problem of apple damage caused by mutual collision and collision with the machine during the falling process when a large number of disordered apples are poured into the feed inlet. The automatic apple netting and boxing machine disclosed in Chinese patent (CN108327989A) has the disadvantages of difficult apple alignment with the brush and low apple alignment efficiency.

[0008] In view of the above problems and the current situation of apple packaging market, it is necessary to provide a high-efficiency device capable of achieving two different netting methods, realizing accurate packing, reducing mechanical loss of apples during netting and packing, reducing labor cost and improving netting and packing efficiency. SUMMARY

[0009] The technical problem to be solved by the present application is to provide a full-automatic apple netting and packing machine capable of achieving two different netting methods, realizing accurate packing, reducing mechanical loss of apples during netting and packing, reducing labor cost and improving netting and packing efficiency.

[0010] To solve the above technical problems, the present application adopts the following technical means:

[0011] A full-automatic apple netting and packing machine, comprising a feeding device, an apple posture adjusting device, a netting device and a packing device; the feeding device comprises a buffer and uniform distribution mechanism, an apple pushing-out mechanism, a gear transmission mechanism, a shell and a first conveying mechanism, the buffer and uniform distribution mechanism is provided with spiral buffer blades, uniform distribution blades and an apple transport tray, the apple transport tray is arranged below the uniform distribution blades, the uniform distribution blades are arranged above the apple transport tray, the gear transmission mechanism drives the spiral buffer blades, the uniform distribution blades and the apple transport tray to rotate, the outer circumferential surface of the apple transport tray is provided with annular grooves arranged at equal intervals, and the annular grooves accommodate apples; the apple pushing-out mechanism pushes the apples in the annular grooves of the apple transport tray out of a discharge port; the gear transmission mechanism is provided with a motor and a gear set, and the motor drives the buffer and uniform distribution mechanism and the apple pushing-out mechanism through the gear set; the top of the shell is provided with an inlet, the bottom of the shell is provided with a bottom plate and a discharge port, the inside of the shell is provided with an apple leakage prevention partition plate above the discharge port, the bottom plate supports the buffer and uniform distribution mechanism and the apple pushing-out mechanism, and the first conveying mechanism is arranged at the discharge port; the first conveying mechanism is provided with a first conveying belt; the apples fall on the apple transport tray under the buffering action of the spiral buffer blades, and the apples above the apple transport tray are flattened into the annular grooves of the apple transport tray under the uniform distribution action of the uniform distribution blades; when a certain annular groove of the apple transport tray rotates to the discharge port, a roller moves to the convex part of the cam to push the apples out, and the apples fall on the first conveying mechanism and slide to the apple transport groove of the apple posture adjusting device through the apple sliding table under the driving of the first conveying mechanism;

[0012] The apple posture adjusting device comprises a first posture adjusting mechanism, a second posture adjusting mechanism, a bad fruit removing mechanism and a rotating apple posture adjusting disc; the first posture adjusting mechanism is provided with a chain plate and an apple posture adjusting groove; the chain plate drives the apple posture adjusting groove to move; the apple posture adjusting grooves are arranged at equal intervals along the direction of the chain plate transmission; the apple posture adjusting groove is in a bowl-shaped structure; the bottom of the apple posture adjusting groove is provided with a compressible spring one and a posture adjusting ball; the posture adjusting ball is installed on the compressible spring one; the first posture adjusting mechanism is provided with the rotating apple posture adjusting disc on both sides of the chain plate; the rotating apple posture adjusting discs are arranged in pairs and have the same rotating direction; each rotating apple posture adjusting disc comprises a gear shaft, a rotating disc, a compressible spring one and a posture adjusting telescopic rod; the rotating disc is connected to the gear shaft; the posture adjusting telescopic rods are arranged at equal intervals on the outer circumferential surface of the rotating disc; one end of the posture adjusting telescopic rod is connected to the rotating disc through the compressible spring one; the other end of the posture adjusting telescopic rod is provided with an arc surface to touch and push the apple; when the rotating apple posture adjusting disc rotates, the posture adjusting telescopic rod rotates, and the end part of the posture adjusting telescopic rod pushes the apple in the apple posture adjusting groove to make the apple rotate; the second posture adjusting mechanism is provided with an apple sucking mechanism and a cylinder; the apple sucking mechanism comprises an organ type suction disc, a vacuum generator and a rudder; the rudder is used to drive the vacuum generator to rotate; the organ type suction disc is fixedly installed on the vacuum generator and is used to suck the apple; the cylinder is arranged in the horizontal direction and the vertical direction and is used to drive the apple sucking mechanism in the horizontal direction and the vertical direction; when the organ type suction disc sucks the apple, the rudder rotates by 90°, and the apple also rotates by 90°; the apple adjusted by the first posture adjusting mechanism or the apple adjusted by the first posture adjusting mechanism and the second posture adjusting mechanism is driven by the cylinder to be transported to the upper side of the netting device in the state of being sucked by the organ type suction disc; after the first adjustment, the apple is in a vertical state, and one end of the handle is at the lower side; after the second adjustment, the apple is in a horizontal state, and the horizontal state is perpendicular to the vertical state of the first adjustment; the bad fruit removing mechanism comprises an OpenMV visual processing module and a bad fruit collecting box; the bad fruit removing mechanism completes the work under the cooperation of the apple sucking mechanism; the OpenMV visual processing module is used to identify the damaged apple; the bad fruit collecting box is installed below the apple sucking mechanism and is used to store the damaged apple; when the OpenMV visual processing module detects that the apple is a bad fruit, the apple sucking mechanism moves the damaged apple to the bad fruit collecting box; the apple posture adjusting device is used to realize two different forms of posture adjustment of the apple from the feeding device and transport the apple after the posture adjustment to the upper side of the netting device.

[0013] The netting device performs the netting operation on the apple whose posture has been adjusted.

[0014] The boxing device is used to realize the boxing of the apple from the netting device after the netting operation.

[0015] Compared with the prior art, the application has the prominent features that:

[0016] (1) The feeding device of the application is provided with a buffer uniform distribution mechanism, an apple pushing mechanism, a gear transmission mechanism, a shell and a first conveying mechanism, and the above-mentioned mechanism components cooperate with each other to feed, so that the feeding device of the application can prevent the apples from being squeezed, bumped, rubbed and scratched during feeding to the greatest extent, and the apples can enter the apple posture adjusting device in turn according to the same interval.

[0017] (2) The apple posture adjusting device of the application is provided with a first posture adjusting mechanism, a second posture adjusting mechanism, a bad fruit removing mechanism and a rotating apple posture adjusting disc; after being adjusted by the first posture adjusting mechanism, the apple is in a vertical standing state with the handle end downward; in this state, the net cover completely covers the flesh of the apple, and the handle and flower stalk of the apple are slightly exposed; if the apple needs to be packaged in a side-lying manner, the apple is adjusted by the second posture adjusting mechanism after being adjusted by the posture adjusting mechanism, and the apple is in a side-lying state perpendicular to the vertical standing state of the first adjustment; in this state, the net cover completely covers the handle and flower stalk of the apple, and the flesh of the apple is exposed; through the above-mentioned setting, the packaging method can be selected to meet different packaging needs.

[0018] (3) The first posture adjusting mechanism of the application is provided with a rotating apple posture adjusting disc, and the rotating apple posture adjusting disc is provided in pairs, and the rotating directions of the rotating apple posture adjusting discs are the same, the posture adjusting telescopic rod rotates, the end portion of the posture adjusting telescopic rod drives the apple in the apple posture adjusting groove to rotate, and the apple is more easily positioned with the handle side downward after rotating on the rotating disc.

[0019] (4) The apple posture adjusting device of the application is provided with a bad fruit removing mechanism, which can effectively remove bad fruits.

[0020] (5) The application is also provided with a net covering device and a boxing device, which cover the net and box after the posture adjusting device completes the posture adjustment, and complete the packaging.

[0021] Therefore, the application can adjust the two different postures of the apples to complete two different net covering methods, realize accurate boxing, reduce the mechanical loss of the apples during the net covering and boxing process, reduce the labor cost, and improve the net covering and boxing efficiency.

[0022] Further preferred technical solutions are as follows:

[0023] The apple pushing mechanism is provided with an apple pusher, a connecting rod, a roller and a cam.

[0024] By setting the connecting rod, the roller and the cam, the roller is driven by the cam, so that the apple pusher can be sequentially pushed in the work to push the corresponding apple out. The uniform and stable fruit output is ensured, and the apple is not stacked and squeezed at the discharge port, further avoiding the scratches and bumps in the conveying process.

[0025] The buffer uniform distribution mechanism is provided with a first transmission shaft, a universal joint, a universal joint fixing part, a second transmission shaft and a third transmission shaft. The first transmission shaft, the second transmission shaft and the third transmission shaft are all driven by a gear set. The spiral buffer blade is in a spiral shape, is installed on the first transmission shaft, the uniform distribution blade is installed on the second transmission shaft, and the apple transport disc is provided with a plurality of annular grooves installed on the third transmission shaft. The first transmission shaft is installed on the universal joint and is upwardly inclined with the ground as a reference plane. The universal joint is used to connect the first transmission shaft and the second transmission shaft. The universal joint fixing part is installed on the shell and is used to fix the universal joint. The second transmission shaft drives the first transmission shaft to rotate through the universal joint. The first transmission shaft drives the spiral buffer blade to rotate, and the second transmission shaft drives the uniform distribution blade to rotate to lay the apple flat in the annular groove of the apple transport disc. The spiral buffer blade and the uniform distribution blade are both made of flexible material.

[0026] Through the above setting, the apple can be guided and conveyed along the spiral buffer blade, further avoiding the bump and scratch caused by the direct downward falling of the apple. In the rotating process of the uniform distribution blade, the apple can be laid flat in the annular groove of the apple transport disc, further ensuring the orderly conveying and preventing the apple from being stacked and scratched.

[0027] The gear set is provided with a driven wheel one, a driven wheel two, a driven wheel three, a driven wheel four and a driving wheel. The bottom of the fifth transmission shaft is sleeved in the third transmission shaft. The driven wheel one is fixed on the fifth transmission shaft and is used to drive the fifth transmission shaft to rotate. The driven wheel two is fixed on the third transmission shaft and is used to drive the third transmission shaft to rotate. The motor one is fixed on the shell and is used to drive the driving wheel to rotate. The driving wheel drives the driven wheel four. The driven wheel four drives the driven wheel three and the driven wheel one. The driven wheel three drives the driven wheel two to rotate. The driven wheel one and the driven wheel two are distributed upward and downward, and the driven wheel two and the driven wheel one are in a triangular distribution with the driven wheel three and the driven wheel four.

[0028] By setting the above gear set, the transmission can be effectively performed.

[0029] The apple slide, the circular table-shaped convex one, and the first conveying mechanism support frame are provided with the first conveying belt, and the first conveying belt is provided with the circular table-shaped convex one arranged in groups and at intervals.

[0030] Through the above arrangement, the circular table-shaped convex one arranged in groups and at intervals can be used to position and space the conveyed apples, which can prevent the apples from sliding downward during the conveying process and prevent the apples from being squeezed together.

[0031] The first aluminum profile support, the second conveying mechanism, and the rotating apple posture adjustment mechanism are used to fix and support other components. The second conveying mechanism includes a bearing seat one, a fourth transmission shaft, a fifth transmission shaft, a chain plate, a support, an apple posture adjustment groove, a first gear chain transmission set, and a second gear chain transmission set. The bearing seat one has multiple bearing seats installed on the first aluminum profile support. The first gear chain transmission set is installed on the fourth transmission shaft and the fifth transmission shaft to drive the apple posture adjustment groove to move. The fourth transmission shaft and the fifth transmission shaft are installed on different bearing seats one to drive the first gear chain transmission set to rotate. The second gear chain transmission set is used to drive the fourth transmission shaft and the fifth transmission shaft to rotate. The support has multiple supports installed on the first aluminum profile support to support and fix the fourth transmission shaft and the fifth transmission shaft. The chain plate has multiple chain plates installed on the gear chain transmission set to fix the apple posture adjustment groove.

[0032] Through the above arrangement, the first gear chain transmission set is used to drive the apple posture adjustment groove to move, and the rotating apple posture adjustment mechanism is used to make the apple complete the first posture adjustment.

[0033] The second aluminum profile support is used to connect and support the apple suction mechanism and the air cylinder. The apple suction mechanism is also provided with a steering gear mounting support, a vacuum generator support, a first air cylinder, a second air cylinder, a linear guide one, and a sliding block. The linear guide one is fixedly installed on the second aluminum profile support. The sliding block is installed on the linear guide one. The second air cylinder is fixedly installed on the second aluminum profile support to push the sliding block to move linearly on the linear guide one. The steering gear mounting support is fixedly installed on the first air cylinder. The steering gear is fixedly installed on the steering gear mounting support to drive the vacuum generator to rotate. The vacuum generator support is installed on the steering gear. The vacuum generator is fixedly installed on the vacuum generator support. The first air cylinder is fixedly installed on the sliding block to push the organ-type suction disc to move vertically and linearly. The push air cylinder is configured as two and is fixedly installed on the second aluminum profile support to push the apple suction mechanism to move horizontally and linearly on the horizontal plane parallel to the ground.

[0034] Through the above setting, the apple suction mechanism drives the organ type suction cup to move, under the action of the vacuum generator, the organ type suction cup completes the suction of the apple and adjusts the secondary attitude.

[0035] The rotating disc is a shell structure, and mounting grooves are arranged on the side wall at equal intervals, the mounting grooves are long strips, the attitude adjusting telescopic rod can swing in a small range in the groove, and the attitude adjusting telescopic rod and the compressible spring one are mounted.

[0036] Through the above setting, the compressible spring and the attitude adjusting telescopic rod are conveniently connected, the long strip-shaped mounting groove is arranged, and the attitude adjusting telescopic rod is slowed down to reduce the bruising of the apple.

[0037] The net sleeve device comprises a third aluminum profile support, a net sleeve conveying mechanism, a net sleeve sleeving mechanism and a net sleeve fusing mechanism.

[0038] Through the above setting, the conveying, sleeving and fusing of the net sleeve can be completed.

[0039] The net sleeve conveying mechanism comprises two bearing seats two, a net sleeve storage disc, a net sleeve storage disc mounting shaft, a guide roller and a guide roller mounting plate.

[0040] Through the above setting, the net sleeve conveying mechanism can rotate and work, and the net sleeve can be outputted.

[0041] The net sleeve mechanism comprises a first pair of net sleeve opening fingers, a first pair of net sleeve opening finger supports, a second pair of net sleeve opening finger supports, a second pair of net sleeve opening fingers and a net sleeve opening finger moving mechanism; the net sleeve opening finger moving mechanism comprises a first pair of ball screw sliding table transmission groups, a second pair of ball screw sliding table transmission groups, a first pair of linear guide rail sliding table transmission groups; a second pair of linear guide rail sliding table transmission groups; the first pair of linear guide rail sliding table transmission groups comprises a first pair of linear guide rails, a first pair of sliding tables and a first pair of air cylinders, and is fixedly installed on the third aluminum profile support; and is used to drive the first pair of ball screw transmission groups to move linearly on a plane parallel to the ground; the second pair of linear guide rail sliding table transmission groups comprises a second pair of linear guide rails, a second pair of sliding tables and a second pair of air cylinders, and is fixedly installed on the third aluminum profile support, and is used to drive the second pair of ball screw transmission groups to move linearly on a plane parallel to the ground; the first pair of ball screw sliding table transmission groups comprises a first pair of screw sliding tables, a first pair of stepping motors and a first pair of ball screw transmission group installation supports; the second pair of ball screw sliding table transmission groups comprises a second pair of screw sliding tables, a second pair of stepping motors and a second pair of ball screw transmission group installation supports; the first pair of net sleeve opening fingers comprises a first pair of opening finger air cylinders and a second pair of opening finger air cylinders, and the first pair of opening finger air cylinders and the second pair of opening finger air cylinders are fixedly installed on the first pair of net sleeve opening finger supports; the second pair of net sleeve opening fingers comprises a third pair of opening finger air cylinders and a fourth pair of opening finger air cylinders, and the third pair of opening finger air cylinders and the fourth pair of opening finger air cylinders are fixedly installed on the second pair of net sleeve opening finger supports; the first pair of net sleeve opening finger supports are fixedly installed on the first pair of screw sliding tables; and the second pair of net sleeve opening finger supports are fixedly installed on the second pair of screw sliding tables.

[0042] By arranging the first pair of net sleeve opening fingers, the first pair of net sleeve opening finger supports, the second pair of net sleeve opening finger supports, the second pair of net sleeve opening fingers and the net sleeve opening finger moving mechanism, the net sleeve work can be completed by precisely matching the above components.

[0043] The net sleeve melting mechanism comprises a melting driving assembly, a fruit loading table and an electric heating wire; the melting driving assembly is provided with a ball screw sliding table transmission group three, a long-stroke push air cylinder, a fruit loading table rotating rudder and a fruit loading table rudder support; the ball screw sliding table transmission group three is fixedly installed on the third aluminum profile support, and is used to drive the long-stroke push air cylinder to move vertically; the long-stroke push air cylinder is fixedly installed on the ball screw sliding table transmission group three, and is used to push the fruit loading table to move linearly on a plane parallel to the ground; the fruit loading table rudder support is fixedly installed on the long-stroke push air cylinder; the fruit loading table rotating rudder is fixedly installed on the fruit loading table rotating rudder support, and is used to make the fruit loading table rotate 180° around the long-stroke air cylinder; and the fruit loading table is installed on the fruit loading table rotating rudder.

[0044] The sleeve net is fused by setting the electric heating wire to heat. The setting of the fuse driving assembly enables the device to complete corresponding actions according to working needs, receive the apple after the sleeve net, fuse the sleeve net, and transport the apple after the sleeve net to the boxing device.

[0045] The boxing device comprises a third conveying mechanism, a boxing mechanism, and a packaging box placing mechanism. The third conveying mechanism is used to convey the apple after the sleeve net. The boxing mechanism is used to clamp and transport the apple of the third conveying mechanism into the packaging box. The packaging box placing mechanism is used to place and fix the packaging box.

[0046] The third conveying mechanism, the boxing mechanism, and the packaging box placing mechanism are set to work cooperatively to complete boxing.

[0047] The third conveying mechanism comprises a third conveying mechanism support frame and a plurality of circular truncated cone protrusions. Each circular truncated cone protrusion is fixedly installed on the first conveying belt. The circular truncated cone protrusions are arranged in rows and are used to place the apple after the sleeve net from the sleeve net device. The third conveying mechanism support frame is composed of aluminum profiles with different lengths and is placed on the horizontal ground to support the third conveying mechanism.

[0048] The circular truncated cone protrusions are set to orderly transport the apple after the sleeve net.

[0049] The boxing mechanism comprises a fourth aluminum profile support frame, a boxing flexible manipulator, and a boxing flexible manipulator moving mechanism. The boxing flexible manipulator moving mechanism comprises a first ball screw sliding block module and a second ball screw sliding block module. The boxing flexible manipulator moving mechanism is composed of two ball screw sliding block modules connected in a cross shape, is fixed on the fourth aluminum profile support frame, and is used to drive the boxing flexible manipulator to move in the plane parallel to each other. The boxing flexible manipulator is installed on the second ball screw sliding block module and is used to grasp the apple after the sleeve net on the third conveying mechanism.

[0050] The boxing flexible manipulator and the boxing flexible manipulator moving mechanism are set. The boxing flexible manipulator moving mechanism drives the boxing flexible manipulator to move to grasp the apple after the sleeve net on the third conveying mechanism and place it into the packaging box.

[0051] The packing box placing mechanism comprises a bottom plate, packing boxes and packing box fixing devices; the bottom plate is placed on the horizontal ground and is used for placing the packing boxes; the bottom plate is provided with four rectangular grooves; the packing box fixing devices are four in number and are installed on the bottom plate according to the front, rear, left and right directions and are used for fixing the four sides of the packing boxes to prevent the packing boxes from being deformed during packing; each packing box fixing device comprises a limiting screw, a compressible spring II, a connecting rod II, a connecting rod mounting bracket, a packing box fixing piece; the limiting screw is installed in the rectangular groove of the bottom plate and is used for limiting the moving distance of the packing box fixing piece; the connecting rod mounting bracket is mounted on the bottom plate and is used for fixing the connecting rod II; and the packing box fixing piece is installed in the groove of the bottom plate and is used for fixing the packing box.

[0052] By arranging the packing box fixing devices, the packing boxes can be effectively prevented from being deformed during packing. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 is a structural diagram of the full-automatic apple netting packing machine.

[0054] Figure 2 is Figure 1 is a schematic structural diagram of the feeding device in the full-automatic apple netting packing machine.

[0055] Figure 3 is Figure 2 is a schematic structural diagram of the buffer and uniform distribution mechanism in the feeding device.

[0056] Figure 4 is Figure 2 is a schematic structural diagram of the apple pushing-out mechanism in the feeding device.

[0057] Figure 5 is Figure 2 is a schematic structural diagram of the gear transmission mechanism in the feeding device.

[0058] Figure 6 is Figure 7 is a schematic structural diagram of the rotating apple posture adjusting disc in the apple posture adjusting device.

[0059] Figure 7 is Figure 1 is a schematic structural diagram of the apple posture adjusting device in the full-automatic apple netting packing machine.

[0060] Figure 8 is Figure 7 is a top view of the first-stage posture adjusting mechanism in the apple posture adjusting device.

[0061] Figure 9 is Figure 7 is an axial side view of the first-stage posture adjusting mechanism in the apple posture adjusting device.

[0062] Figure 10 is Figure 7 Schematic structural view of secondary posture adjusting mechanism in apple posture adjusting device.

[0063] Figure 11 is Figure 1 Front view of netting device in full-automatic apple netting and boxing machine.

[0064] Figure 12 is Figure 1 Left view of netting device in full-automatic apple netting and boxing machine.

[0065] Figure 13 is Figure 1 Axial side view of netting device in full-automatic apple netting and boxing machine.

[0066] Figure 14 is Figure 1 Axonometric view of boxing device in full-automatic apple netting and boxing machine.

[0067] Figure 15 is Figure 1 Front view of boxing device in full-automatic apple netting and boxing machine.

[0068] Figure 16 is Figure 1 Top view of boxing device in full-automatic apple netting and boxing machine.

[0069] Figure 17 is Perspective view of uniform distribution blade of the present application.

[0070] Explanation of reference numerals:

[0071] 1000 - feeding device, 1100 - buffer uniform distribution mechanism; 1101 - spiral buffer blade, 1102 - first transmission shaft, 1103 - universal joint; 1104 - universal joint fixing piece, 1105 - second transmission shaft, 1106 - uniform distribution blade, 1107 - apple transport disc, 1108 - apple leakage prevention partition, 1109 - third transmission shaft; 1200 - apple pushing mechanism, 1201 - apple pusher, 1202 - connecting rod one, 1203 - roller, 1204 - cam; 1300 - gear transmission mechanism; 1301 - driven wheel one, 1302 - driven wheel two, 1303 - driven wheel three, 1304 - driven wheel four, 1305 - driving wheel, 1306 - motor one; 1500 - first conveying mechanism, 1501 - apple sliding table, 1502 - round table-shaped protrusion one, 1503 - first conveying mechanism support frame;

[0072] 2000-apple posture adjustment device, 2100-first level apple posture adjustment mechanism, 2101-first aluminum profile support, 2102-bearing seat one, 2103-fourth transmission shaft, 2104-fifth transmission shaft, 2105-chain plate, 2106-supporting piece, 2107-apple posture adjustment groove, 2108-first gear chain transmission group, 2109-second gear chain transmission group; 2110-compressible spring three; 2111-posture adjustment ball; 2112-rotary apple posture adjustment disc mounting plate; 2113-chain; 2114-gear; 2115-motor two; 2200-second level apple posture adjustment mechanism, 2201-second aluminum profile support, 2202-apple suction mechanism, 2203-pushing air cylinder, 2204-organ type suction disc, 2205-vacuum generator, 2206-rudder, 2207-rudder mounting support, 2208-vacuum generator support, 2209-number one air cylinder, 2210-number two air cylinder, 2211-linear guide rail one, 2212-sliding block; 2300-bad fruit removal mechanism, 2301-vision processing module, 2302-bad fruit collection box; 2400-rotary apple posture adjustment disc, 2401-gear shaft, 2402-rotary disc, 2403-compressible spring one, 2404-posture adjustment telescopic rod;

[0073] 3000-net sleeve device, 3100-third aluminum profile support, 3200-net sleeve conveying mechanism, 3201-bearing seat two, 3202-net sleeve storage disc, 3203-net sleeve storage disc mounting shaft, 3204-guide roller, 3205-guide roller mounting plate, 3300-net sleeve fusing mechanism, 3301-ball screw sliding table transmission group three, 3302-long stroke pushing air cylinder, 3303-fruit loading table rotary rudder, 3304-fruit loading table rudder support, 3305-fruit loading table, 3306-electric heating wire, 3400-net sleeve mechanism; 3401-first pair of net sleeve opening finger support, 3402-second pair of net sleeve opening finger support, 3403-first pair of linear guide rails, 3404-first pair of sliding tables, 3405-first pair of air cylinders, 3406-second pair of linear guide rails, 3407-second pair of sliding tables, 3408-second pair of air cylinders, 3409-first pair of screw sliding tables, 3410-first pair of stepper motors, 3411-first pair of ball screw transmission group mounting supports; 3412-second pair of screw sliding tables, 3413-second pair of stepper motors, 3414-second pair of ball screw transmission group mounting supports; 3415-first pair of opening finger air cylinders, 3416-second pair of opening finger air cylinders, 3417-third pair of opening finger air cylinders, 3418-fourth pair of opening finger air cylinders;

[0074] 4000 - packing device, 4100 - third conveying mechanism, 4200 - packing mechanism, 4300 - packing mechanism, 4300 - packing box placing mechanism; 4101 - third conveying mechanism support frame, 4102 - round table-shaped convex two, 4300 - packing box placing mechanism, 4301 - bottom plate, 4302 - packing box, 4303 - limiting screw, 4304 - compressible spring two, 4305 - connecting rod two, 4306 - connecting rod mounting bracket, 4307 - packing box fixing piece. DETAILED DESCRIPTION

[0075] The application will be further illustrated by the following examples.

[0076] Referring to Figure 1 It can be seen that the example of the application provides a full-automatic apple netting packing machine, which is composed of a feeding device 1000, an apple posture adjusting device 2000, a netting device 3000 and a packing device 4000.

[0077] The specific structure of each part is described as follows:

[0078] Referring to Figures 2-5 It can be seen that the feeding device 1000 comprises a buffer uniform distribution mechanism 1100, an apple pushing-out mechanism 1200, a gear transmission mechanism 1300, a first conveying mechanism 1500 and a shell 1400, and the feeding device 1000 is used to make a plurality of apples received thereby enter the apple posture adjusting device 2000 in turn according to the same interval and can reduce the fruit damage rate of apples in the feeding process and the transportation process;

[0079] The buffer uniform distribution mechanism 1100 has a spiral buffer blade 1101, a first transmission shaft 1102, a universal joint 1103, a universal joint fixing piece 1104, a second transmission shaft 1105, a uniform distribution blade 1106, an apple transportation disc 1107, an apple leakage prevention partition plate 1108 and a third transmission shaft 1109;

[0080] The first transmission shaft 1102 is installed on the universal joint 1103 and is inclined upward with the ground as the reference plane, and the inclination angle is α. The first transmission shaft 1102 is used to drive the spiral buffer blade 1101 to rotate. The universal joint 1103 is used to connect the first transmission shaft 1102 and the second transmission shaft 1105. The universal joint fixing member 1104 is installed on the shell 1400 and is used to fix the universal joint 1103. The second transmission shaft 1105 drives the first transmission shaft 1102 to rotate through the universal joint 1103. The spiral buffer blade 1101 is in the shape of a spiral and is installed on the first transmission shaft 1102. It is used to buffer apples. The spiral buffer blade 1101 is made of flexible material. The uniform distribution blade 1106 is made of flexible material and is installed on the second transmission shaft 1105. The uniform distribution blade 1106 rotates under the driving action of the second transmission shaft 1105 and lays apples in the annular groove of the apple transport disc 1107. The apple transport disc 1107 has multiple annular grooves and is installed on the third transmission shaft 1109. It is used to place and transport apples. The apple transport disc 1107 has multiple annular grooves, and the side wall of each annular groove has a connecting rod sliding hole. The apple leakage prevention baffle 1108 is installed at the discharge port to prevent apples from falling prematurely.

[0081] The apple pushing mechanism 1200 has multiple apple pushers 1201, multiple connecting rods 1202, multiple rollers 1203, and a cam 1204. The apple pusher 1201 is annular and is installed on the connecting rod 1202. It is used to push the apples in the annular groove out. The connecting rod 1202 passes through the connecting rod sliding hole in the apple transport disc annular groove and is used to connect the apple pusher 1201 and the roller 1203. During the rotation of the cam 1204, the connecting rod 1202 is driven by driving the cam 1204, and the apple pusher 1201 is driven by the connecting rod 1202 to push the apples out. The apples are output through the discharge port.

[0082] When a large number of apples enter from the feeding port of the feeding device 1000, the spiral buffer blade 1101 plays a buffering role on the apples, the second transmission shaft 1105 is arranged at an inclination angle of α with the ground, and the angle size is 30-45 degrees, which can better play the buffering role of the spiral buffer blade 1101, so that a large number of disordered apples are arranged in order in a spiral shape and pass through the spiral buffer blade 1101, reducing the apple damage problem caused by mutual collision of the apples at the feeding port, the uniform distribution blade 1106 is arranged in a fan page shape, the interval between the fan pages can accommodate the apples, and the apples can be quickly flattened into the annular groove of the apple transport disc 1107, the apple transport disc 1107 is divided into four annular grooves at an interval of 90°, so as to ensure that the apples at the discharge port fall on the first conveying mechanism 1500 at the same interval, avoiding the problem of mutual collision of adjacent apples on the conveying mechanism. The apple pushing-out mechanism 1200 can push the apples in the annular groove of the apple transport disc 1107, so that the apples can be more smoothly and stably pushed out of the discharge port.

[0083] The gear transmission mechanism 1300 includes the first transmission shaft 1102, the universal joint 1103, the universal joint fixing member 1104, the second transmission shaft 1105, the third transmission shaft 1109 of the buffer and uniform distribution mechanism 1100, the driven wheel one 1301, the driven wheel two 1302, the driven wheel three 1303, the driven wheel four 1304, the driving wheel 1305 and the motor one 1306 of the gear transmission mechanism;

[0084] The first transmission shaft 1102 is installed on the universal joint 1103 and is inclined upward with the ground as the reference plane, and the inclination angle is α, and the first transmission shaft 1102 is used to drive the spiral buffer blade 1101 to rotate; the universal joint 1103 is used to connect the first transmission shaft 1102 and the second transmission shaft 1105; the universal joint fixing member 1104 is installed on the shell 1400 and is used to fix the universal joint 1103; the second transmission shaft 1105 drives the first transmission shaft 1102 to rotate through the universal joint 1103;

[0085] The bottom of the second transmission shaft 1105 is sleeved in the third transmission shaft 1109, the driven wheel one 1301 is fixed on the second transmission shaft 1105 and is used to drive the second transmission shaft 1105 to rotate; the driven wheel two 1302 is fixed on the third transmission shaft 1109 and is used to drive the third transmission shaft 1109 to rotate; the motor one 1306 is fixed on the shell 1400 and is used to drive the driving wheel 1305 to rotate, the driving wheel 1305 drives the driven wheel four 1304; the driven wheel four 1304 is used to drive the driven wheel three 1303 and the driven wheel one 1301; the driven wheel three 1303 is used to drive the driven wheel two 1302 to rotate; the driven wheel one 1301 and the driven wheel two 1302 are distributed upward and downward, the driven wheel two 1302 and the driven wheel one 1301 are distributed in a triangular shape with the driven wheel three 1303 and the driven wheel four 1304. The driving wheel 1305 is used to drive the driven wheel to rotate; the motor one 1306 is fixed on the shell 1400 and is used to drive the driving wheel 1305 to rotate.

[0086] The first conveying mechanism 1500 comprises a first conveying mechanism support frame 1503, a plurality of circular table-shaped protrusions one 1502 arranged in sequence and an apple sliding table 1501 installed at the outlet of the first conveying mechanism; each circular table-shaped protrusion one 1502 is fixedly installed on the first conveying belt, four circular table-shaped protrusions one are a group and are used to receive apples; the first conveying mechanism support frame 1503 is composed of aluminum square tubes with different lengths, is placed on the horizontal ground and is used to support the first conveying mechanism 1500.

[0087] The apple posture adjusting device 2000 comprises a first-level posture adjusting mechanism 2100, a second-level posture adjusting mechanism 2200, a bad fruit removing mechanism 2300 and a rotating apple posture adjusting disc 2400; the apple posture adjusting device 2000 is used to realize two different forms of posture adjustment of the apples from the feeding device 1000 and transport the apples after the posture adjustment to the upper side of the net sleeving device 3000.

[0088] The first attitude adjustment mechanism 2100 comprises a first aluminum profile support 2101, a second transmission mechanism, a rotating apple attitude adjustment mechanism; the first aluminum profile support is composed of aluminum profiles with different lengths and is used for fixing and supporting; the second transmission mechanism comprises bearing seats one 2102, a fourth transmission shaft 2103, a fifth transmission shaft 2104, chain plates 2105, support pieces 2106, apple attitude adjustment grooves 2107, a first gear chain transmission group 2108 and a second gear chain transmission group 2109; the bearing seats one 2102 are multiple and are installed on the first aluminum profile support 2101; the first gear chain transmission group 2108 is installed on the fourth transmission shaft 2103 and the fifth transmission shaft 2104 and is used for driving the apple attitude adjustment grooves 2107 to move; the fourth transmission shaft 2103 and the fifth transmission shaft 2104 are installed on the bearing seats one 2102 and are used for driving the first gear chain transmission group 2108 to rotate; the second gear chain transmission group 2109 is used for driving the fourth transmission shaft 2103 and the fifth transmission shaft 2104 to rotate; the support pieces 2106 are multiple, are installed on the first aluminum profile support 2101 and are used for supporting and fixing the fourth transmission shaft 2103 and the fifth transmission shaft 2104; the chain plates 2105 are multiple, are installed on the gear chain transmission groups and are used for fixing the apple attitude adjustment grooves 2107; the apple attitude adjustment grooves 2107 are multiple, are installed on the chain plates 2105 and each apple attitude adjustment groove 2107 further comprises a compressible spring three 2110 installed at the bottom of the apple attitude adjustment groove 2107 and an attitude adjustment ball 2111 installed on the compressible spring three 2110;

[0089] Referring to Figures 6-10 It can be known that the rotating apple attitude adjustment mechanism 2000 comprises a fourth gear chain transmission group, a rotating apple attitude adjustment disc 2400 and a rotating apple attitude adjustment disc mounting plate 2112; the third gear chain transmission group comprises a chain 2113, a gear 2114 and a second motor 2115 and is used for driving the rotating apple attitude adjustment disc 2400 to rotate; the rotating apple attitude adjustment disc mounting plate 2112 is fixedly installed on the first aluminum profile 2101 and is used for fixing the rotating apple attitude adjustment disc 2400;

[0090] The rotating apple posture adjusting disc 2400 has four posture adjusting discs installed on the rotating apple posture adjusting disc mounting plate 2112 for adjusting the posture of the apple; each rotating apple posture adjusting disc 2400 comprises a gear shaft 2401, a rotating disc 2402, a plurality of compressible springs 2403 and a plurality of posture adjusting telescopic rods 2404; the gear shaft 2401 is installed on the rotating apple posture adjusting disc mounting plate 2112 for driving the rotating apple posture adjusting disc 2400 to rotate; the rotating disc 2402 is installed on the gear shaft 2401, the rotating disc 2402 is provided with equidistantly arranged installation grooves in the shape of long strips, so that the posture adjusting telescopic rods can swing in a small range in the grooves for installing the compressible springs 2403 and the posture adjusting telescopic rods 2404; the posture adjusting telescopic rods 2404 are installed on the compressible springs 2403, and the compressible springs 2403 are connected to the rotating apple posture adjusting disc 2400; when the apple from the feeding device 1000 falls on the apple posture adjusting groove 2107, the rotating apple posture adjusting discs 2400 on both sides of the apple posture adjusting groove 2107 rotate in the same direction, and the posture adjusting telescopic rods 2404 push the apple in opposite directions to make the apple rotate in the apple posture adjusting groove 2107; when the handle of the apple contacts the posture adjusting ball 2111, the posture of the apple will not change, and the first apple posture adjusting mode is completed.

[0091] The secondary attitude adjusting mechanism 2200 comprises a second aluminum profile support 2201, an apple sucking mechanism 2202, and a pushing cylinder 2203; the apple sucking mechanism 2202 comprises an organ type suction cup 2204, a vacuum generator 2205, a steering wheel 2206, a steering wheel mounting support 2207, a vacuum generator support 2208, a first air cylinder 2209, a second air cylinder 2210, a linear guide rail one 2211, and a sliding block 2212; the second aluminum profile support 2201 is composed of several aluminum profiles with different lengths and is used for fixing and supporting; the linear guide rail one 2211 is fixedly installed on the second aluminum profile support 2201; the sliding block 2212 is installed on the linear guide rail one 2211; the second air cylinder 2210 is fixedly installed on the second aluminum profile support 2201 and is used for pushing the sliding block 2212 to move linearly on the linear guide rail one 2211; the steering wheel mounting support 2207 is fixedly installed on the first air cylinder 2209; the steering wheel 2206 is fixedly installed on the steering wheel mounting support 2207 and is used for driving the vacuum generator 2205 to rotate; the vacuum generator support 2208 is installed on the steering wheel 2206; the vacuum generator 2205 is fixedly installed on the vacuum generator support 2208; the organ type suction cup 2204 is fixedly installed on the vacuum generator 2205 and is used for sucking up apples; the first air cylinder 2209 is fixedly installed on the sliding block 2212 and is used for pushing the organ type suction cup 2204 to move linearly vertically to the ground; the pushing cylinder 2203 is configured into two and is fixedly installed on the second aluminum profile support 2201 and is used for pushing the apple sucking mechanism 2202 to move horizontally linearly on a horizontal plane parallel to the ground; after the organ type suction cup 2204 sucks up the apples, the steering wheel 2206 rotates by 90°, and the apples also rotate by 90°, and the adjustment of the second apple attitude adjusting mode is completed.

[0092] The bad fruit removing mechanism 2300 comprises an OpenMV4 visual processing module 2301 and a bad fruit collecting box 2302, which completes the work under the cooperation of the apple sucking mechanism 2202 of the secondary attitude adjusting mechanism 2200; the OpenMV4 visual processing module 2301 is fixedly installed on the second aluminum profile support 2201 and is used for identifying damaged apples; the bad fruit collecting box 2302 is fixedly installed on the first aluminum profile support 2101 of the primary attitude adjusting mechanism and is used for storing damaged apples; the apple sucking mechanism 2202 belonging to the secondary attitude adjusting mechanism 2200 is used for moving the damaged apples into the bad fruit collecting box 2302; when the OpenMV4 visual processing module 2301 detects that the apple is a bad fruit, the apple sucking mechanism 2202 will transport the bad fruit into the bad fruit collecting box 2302.

[0093] The netting device 3000 comprises a third aluminum profile support 3100, a netting conveying mechanism 3200, a netting melting mechanism 3300, a netting device 3400. The netting device 3000 is used to make the apples from the apple posture adjusting device 2000 which has completed the posture adjustment to carry out two different forms of netting operation.

[0094] The netting conveying mechanism 3200 comprises a bearing seat two 3201, a netting storage disc 3202, a netting storage disc mounting shaft 3203, a guide roller 3204, a guide roller mounting plate 3205. The bearing seat two 3201 is two, fixedly installed on the third aluminum profile support 3100. The netting storage disc mounting shaft 3203 is installed on the bearing seat two 3201. The netting storage disc 3202 is installed on the netting storage disc mounting shaft 3203, used to store the netting. The guide roller mounting plate 3205 is fixedly installed on the third aluminum profile support 3100. The guide roller 3204 has a plurality of, installed on the guide roller mounting plate 3205, used to guide the netting;

[0095] Referring to Figures 11-13 It can be seen that the netting melting mechanism 3300 comprises a melting driving assembly, a fruit loading table 3305 and an electric heating wire 3306. The melting driving assembly is provided with a ball screw sliding table transmission group three 3301, a long-stroke push air cylinder 3302, a fruit loading table rotating rudder 3303, and a fruit loading table rudder support 3304. The ball screw sliding table transmission group three 3301 is fixedly installed on the third aluminum profile support 3100, used to drive the long-stroke push air cylinder 3302 to make vertical and planar linear motion. The long-stroke push air cylinder 3302 is fixedly installed on the ball screw sliding table transmission group three 3301, used to push the fruit loading table 3305 to make linear motion on the plane parallel to the ground. The fruit loading table rudder support 3304 is fixedly installed on the long-stroke push air cylinder 3302. The fruit loading table rotating rudder 3303 is fixedly installed on the fruit loading table rudder support 3304, used to make the fruit loading table 3305 rotate 180° around the long-stroke air cylinder. The fruit loading table 3305 is installed on the fruit loading table rotating rudder 3303, used to receive the apples which have completed the netting operation. The electric heating wire 3306 is fixedly installed on the fruit loading table 3305, used to melt the netting;

[0096] The net sleeve mechanism 3400 includes a first pair of net sleeve opening fingers, a first pair of net sleeve opening finger supports 3401, a second pair of net sleeve opening finger supports 3402, a second pair of net sleeve opening fingers, and a net sleeve opening finger moving mechanism; the net sleeve opening finger moving mechanism includes a first pair of ball screw sliding table transmission groups, a second pair of ball screw sliding table transmission groups, a first pair of linear guide rail sliding table transmission groups; a second pair of linear guide rail sliding table transmission groups; the first pair of linear guide rail sliding table transmission groups includes a first pair of linear guide rails 3403, a first pair of sliding tables 3404, and a first pair of air cylinders 3405, which are fixedly installed on the third aluminum profile support 3100; for driving the first pair of ball screw transmission groups to move linearly on a plane parallel to the ground; the second pair of linear guide rail sliding table transmission groups includes a second pair of linear guide rails 3406, a second pair of sliding tables 3407, and a second pair of air cylinders 3408, which are fixedly installed on the third aluminum profile support 3100, for driving the second pair of ball screw transmission groups to move linearly on a plane parallel to the ground; the first pair of ball screw sliding table transmission groups includes a first pair of screw sliding tables 3409, a first pair of stepper motors 3410, and a first pair of ball screw transmission group installation supports 3411; the second pair of ball screw sliding table transmission groups includes a second pair of screw sliding tables 3412, a second pair of stepper motors 3413, and a second pair of ball screw transmission group installation supports 3414; the first pair of net sleeve opening fingers includes a first pair of opening finger air cylinders 3415 and a second pair of opening finger air cylinders 3416, which are fixedly installed on the first pair of net sleeve opening finger supports 3401; the second pair of net sleeve opening fingers includes a third pair of opening finger air cylinders 3417 and a fourth pair of opening finger air cylinders 3418, which are fixedly installed on the second pair of net sleeve opening finger supports 3402; the first pair of net sleeve opening finger supports 3401 are fixedly installed on the first pair of screw sliding tables 3409; the second pair of net sleeve opening finger supports 3402 are fixedly installed on the second pair of screw sliding tables 3412;

[0097] Referring to Figures 14-16 It can be known that the boxing device 4000 includes a third conveying mechanism 4100, a fourth aluminum profile support 4200, a packaging box placing mechanism 4300, and a packaging box placing mechanism 4400; the boxing device 4000 is used for realizing accurate boxing of the apples that have completed netting from the netting device 3000.

[0098] The third conveying mechanism 4100 includes a third conveying mechanism support frame 4101 and a plurality of circular table-shaped protrusions two 4102 arranged at intervals; each circular table-shaped protrusion two 4102 is fixedly installed on the first conveying belt, and the circular table-shaped protrusions two 4102 are used for placing the apples that have completed netting from the netting device 3000 between the rows; the third conveying mechanism support frame 4101 is composed of a plurality of aluminum profiles with different lengths and is placed on the horizontal ground to support the third conveying mechanism 4100.

[0099] The boxing mechanism 4200 comprises a fourth aluminum profile support 4201, a boxing flexible manipulator 4202, a boxing flexible manipulator moving mechanism; the boxing flexible manipulator moving mechanism comprises a first ball screw sliding block module 4203 and a second ball screw sliding block module 4204; the boxing flexible manipulator moving mechanism is composed of two ball screw sliding block modules connected in cross, is fixed on the fourth aluminum profile support 4201, and is used to drive the boxing flexible manipulator 4202 to move in a plane parallel to each other; the boxing flexible manipulator 4202 is installed on the second ball screw sliding block module 4204, and is used to grab the apples with the net cover on the third conveying mechanism 4100;

[0100] The packaging box placing mechanism 4300 comprises a bottom plate 4301, a packaging box 4302 and a packaging box fixing device; the bottom plate 4301 is placed on the horizontal ground and is used to place the packaging box 4302; the bottom plate 4301 is provided with four rectangular grooves; the packaging box fixing device has four, is installed on the bottom plate 4301 according to the front, rear, left and right directions, and is used to fix four side faces of the packaging box 4302 and prevent deformation in the boxing process; each packaging box fixing device comprises a limiting screw 4303, a second compressible spring 4304, a connecting rod two 4305, a connecting rod installation support 4306, a packaging box fixing piece 4307; the limiting screw 4303 is installed in the rectangular groove of the bottom plate 4301 and is used to limit the moving distance of the packaging box fixing piece 4307; the connecting rod installation support 4306 is installed on the bottom plate 4301 and is used to fix the connecting rod two 4305; the packaging box fixing piece 4307 is installed in the groove of the bottom plate 4301 and is used to fix the packaging box 4302.

[0101] The working process of the full-automatic apple netting and boxing machine is as follows:

[0102] Step one:

[0103] The operator selects the vertical netting mode or the lateral netting mode through the control panel of the machine. After the selection, the machine starts to initialize and the devices start to enter the initial state. Then the apples to be netted and boxed are poured into the feeding port of the feeding device 1000. The motor 1306 of the gear transmission mechanism 1300 starts to operate, driving the driving wheel 1305 and the driven wheels to operate. The driven wheel one 1301 drives the third transmission shaft 1109 to rotate. The driven wheel two 1302 drives the second transmission shaft 1105 and the first transmission shaft 1102 to rotate. The first transmission shaft 1102 drives the spiral buffer blade 1101 to rotate. The second transmission shaft 1105 drives the uniform distribution blade 1106 to rotate. The third transmission shaft 1109 drives the apple transport disc 1107 to rotate. The apple ejector 1201, the connecting rod one 1202 and the roller 1203 of the apple ejecting mechanism 1200 rotate with the apple transport disc 1107. The apples fall on the apple transport disc 1107 through the buffering effect of the spiral buffer blade 1101. The apples on the apple transport disc 1107 are flattened by the uniform distribution blade 1106 and laid in the annular groove of the apple transport disc 1107. When the annular groove of the apple transport disc 1107 rotates to the discharge port, the roller 1203 moves to the convex part of the cam 1204 to push the apples out. The apples fall on the first conveying mechanism 1500 and slide to the apple transport groove of the apple posture adjusting device 2000 through the apple slide 1501 driven by the first conveying mechanism 1500. When a large number of apples enter the feeding port of the feeding device 1000, the spiral buffer blade 1101 buffers the apples. The second transmission shaft 1105 is arranged at an inclination angle of α with the ground, which can better play the buffering effect of the spiral buffer blade 1101, so that a large number of apples pass through the spiral buffer blade 1101 in a spiral order, reducing the damage of the apples caused by the mutual collision of a large number of disordered apples at the feeding port. The uniform distribution blade 1106 can quickly flatten the apples and lay them in the annular groove of the apple transport disc 1107. The apple transport disc 1107 is divided into four annular grooves at an interval of 90° and is pasted with a layer of flexible material on the surface, so as to ensure that the apples fall on the first conveying mechanism 1500 at the same interval, avoiding the damage of the apples caused by the mutual collision of adjacent apples and the collision between the falling apples and the machine surface. The apple ejecting mechanism 1200 can push the apples in the annular groove of the apple transport disc 1107, so that the apples can be smoothly and stably pushed out of the discharge port.

[0104] Step two:

[0105] After the first apple without netting from the feeding device 1000 falls into the apple transport groove of the apple posture adjustment device 2000, the second gear chain transmission group 2109 starts to operate, the fourth transmission shaft 2103 is driven to rotate by the second gear chain transmission group 2109, the first gear chain transmission group 2108 is driven to move by the fourth transmission shaft 2103, the apple in the apple transport groove is driven to move forward by a distance of a chain plate 2105, at this time the feeding device 1000 starts to stop feeding, and the third gear chain transmission group starts to operate, driving the rotating apple posture adjustment disc 2400 to operate, so as to make the apple rotate in the apple posture adjustment groove 2107. Since the flesh part of the apple is a convex arc and cannot be matched with the posture adjustment ball 2111, and the handle part and flower stem of the apple are concave semicircles and can be matched with the posture adjustment ball 2111, when the concave part at one end of the handle part of the apple contacts the posture adjustment ball 2111, the posture of the apple will not change, and the first apple posture adjustment is completed. In the process of rotating the apple, the OpenMV4 vision processing module 2301 analyzes and judges whether the apple is a bad fruit. After the above operation, the feeding device 1000 starts to feed the second apple into the apple transport groove, and the above steps are repeated until the first apple moves to the front of the apple posture adjustment device 2000. If the apple is a good fruit, the apple suction mechanism 2202 will suck the apple, and under the action of the push cylinder 2203, the apple whose posture has been adjusted is transported to the upper side of the netting device 3000, otherwise the apple suction mechanism 2202 will transport it to the bad fruit collection box 2302. If the operator selects the side laying form of netting in step one, after the apple suction mechanism 2202 sucks the apple, the steering gear 2206 rotates 90°, and the apple also rotates 90°, and the second cylinder 2210 retracts to complete the second posture adjustment.

[0106] Step three:

[0107] The uncut net is wrapped on the net storage disc 3202, and one end of the net is passed through the symmetrically distributed guide roller 3204, so that the one end of the net is 20 cm higher than the center point of the uppermost roller. The first pair of air cylinders 3405 extends to drive the first pair of sliding blocks to move linearly on the first pair of linear guides 3403, the first pair of sliding blocks 2212 drive the first pair of ball screw sliding table transmission groups to move linearly on the plane parallel to the ground, the first pair of opening fingers air cylinders 3415 and the second pair of opening fingers air cylinders 3416 simultaneously close to clamp the net, the first pair of air cylinders 3405 returns to the retracted state, and the net is preliminarily relaxed. At this time, the first pair of opening fingers air cylinders 3415 and the second pair of opening fingers air cylinders 3416 are simultaneously opened. Then, the second pair of air cylinders 3408 extends to drive the second pair of sliding blocks 2212 to move linearly on the second pair of linear guides 3406, the second pair of sliding blocks 2212 drive the second pair of ball screw sliding table transmission groups to move linearly on the plane parallel to the ground, the third pair of opening fingers air cylinders 3417 and the fourth pair of opening fingers air cylinders 3418 simultaneously close to clamp the net through friction and extrusion. At this time, the first pair of air cylinders 3405 extends, and the first pair of opening fingers air cylinders 3415 and the second pair of opening fingers air cylinders 3416 simultaneously close to clamp the net again. Then, the first pair of stepping motors 3410 and the second pair of stepping motors 3413 are simultaneously operated to lift the net upward by 14 cm, the long-stroke push air cylinder 3302 extends, the electric heating wire 3306 melts the net, and the first pair of air cylinders 3405 and the second pair of air cylinders 3408 simultaneously retract to open the net. After the net is opened, the apple suction mechanism 2202 lowers the apple, the apple vertically falls in the air, and the apple touches the infrared pair sensor during the falling process. At this time, the first pair of opening fingers, the second pair of opening fingers, the third pair of opening fingers, and the fourth pair of opening fingers are simultaneously released, the apple in the air completes the netting in the air, and the apple with the net is dropped onto the fruit loading table 3305. The steering wheel 2206 starts to rotate 180° around the long-stroke air cylinder, and then drives the fruit loading table 3305 to rotate 180° around the long-stroke air cylinder, and the apple with the net falls from the fruit loading table 3305 to the third conveying mechanism. If the operator selects the side netting mode in step one, only the connection with the second pair of opening fingers air cylinders 3416 and the fourth pair of opening fingers air cylinders 3418 is disconnected, and the first pair of stepping motors 3410 and the second pair of stepping motors 3413 are simultaneously controlled to lift the net upward by 10 cm. The other operation steps are as above.

[0108] Step four:

[0109] The packaging box 4302 is placed on the packaging box 4302 fixing mechanism, the packing flexible manipulator 4202 picks up the apple with the net cover on the third conveying mechanism, and is driven by the first pair of ball screw slide block 2212 modules to move to the upper of the first row of spaces of the packaging box 4302 along the direction of the X axis, the second pair of ball screw slide block modules drives the packing flexible manipulator 4202 to move to the upper of the first column of spaces of the packaging box 4302 along the direction of the Y axis, which is the first specified position reached by the packing flexible manipulator 4202, the packing flexible manipulator 4202 releases the apple, and the apple falls into the first space, and the cycle is repeated until the nine spaces of the packaging box 4302 are filled with apples. The packaging box 4302 fixing mechanism fixes the packaging box 4302 to prevent small-scale movement of the packaging box 4302 during the packing process, thereby improving the packing accuracy, and the moving mechanism of the packing flexible manipulator 4202 drives the packing flexible manipulator 4202 to move along the set path to realize accurate packing of each space.

[0110] The above is only a preferred embodiment of the present application, and is not limited to the scope of the present application. Any equivalent changes made by applying the content of the present application and the drawings are included in the scope of the present application.

Claims

1. A full-automatic apple netting and boxing machine, comprising a feeding device (1000), an apple posture adjusting device (2000), a netting device (3000), and a boxing device (4000); characterized in that: The feeding device (1000) comprises a buffer and uniform distribution mechanism (1100), an apple pushing mechanism (1200), a gear transmission mechanism (1300), a shell (1400) and a first conveying mechanism (1500), the buffer and uniform distribution mechanism (1100) is provided with spiral buffer blades (1101), uniform distribution blades (1106) and an apple transport disc (1107), the apple transport disc (1107) is arranged below the uniform distribution blades (1106), the uniform distribution blades (1106) are arranged above the apple transport disc (1107), the gear transmission mechanism (1300) drives the spiral buffer blades (1101), the uniform distribution blades (1106) and the apple transport disc (1107) to rotate, the outer circumferential surface of the apple transport disc (1107) is provided with annular grooves arranged at equal intervals, and the annular grooves accommodate apples; the apple pushing mechanism (1200) pushes the apples in the annular grooves of the apple transport disc (1107) to a discharge port; the gear transmission mechanism (1300) is provided with a motor (1306) and a gear set, the motor (1306) drives the buffer and uniform distribution mechanism (1100) and the apple pushing mechanism (1200) through the gear set; the top of the shell (1400) is provided with an inlet, the bottom of the shell (1400) is provided with a bottom plate and a discharge port, the inside of the shell (1400) is provided with an apple leakage prevention partition plate (1108) above the discharge port, the bottom plate supports the buffer and uniform distribution mechanism (1100) and the apple pushing mechanism (1200), and the first conveying mechanism (1500) is arranged at the discharge port; the first conveying mechanism (1500) is provided with a first conveying belt; the apples fall on the apple transport disc (1107) under the buffering action of the spiral buffer blades (1101), the apples on the apple transport disc (1107) are flattened on the apple transport disc (1107) under the uniform distribution action of the uniform distribution blades (1106), when a certain annular groove of the apple transport disc (1107) rotates to the discharge port, the roller (1203) moves to the convex part of the cam (1204) to push the apples out, the apples fall on the first conveying mechanism (1500) and then slide to an apple transport groove of an apple posture adjusting device (2000) through an apple sliding platform (1501) under the driving of the first conveying mechanism (1500); the apple pushing mechanism (1200) is further provided with an apple pusher (1201), a connecting rod (1202), a roller (1203) and a cam (1204), the apple pushing mechanism (1200) is provided with the apple pusher (1201) in each annular groove, the apple transport disc (1107) has a shell structure, a connecting rod sliding hole is formed in the sidewall of each annular groove, one end of the connecting rod (1202) is arranged to pass out of the connecting rod sliding hole and is connected to the apple pusher (1201), the other end of the connecting rod (1202) passes through a connecting hole in the shell of the apple transport disc (1107) and is connected to the roller (1203), and the roller (1203) is driven by the cam (1204). The buffer uniform distribution mechanism (1100) is further provided with a first transmission shaft (1102), a universal joint (1103), a universal joint fixing part (1104), a second transmission shaft (1105) and a third transmission shaft (1109), wherein the first transmission shaft (1102), the second transmission shaft (1105) and the third transmission shaft (1109) are all driven by a gear set; the spiral buffer blade (1101) is in a spiral shape, is installed on the first transmission shaft (1102), the uniform distribution blade (1106) is installed on the second transmission shaft (1105), and the apple conveying disc (1107) is provided with a plurality of annular grooves and is installed on the third transmission shaft (1109); the first transmission shaft (1102) is installed on the universal joint (1103) and is arranged to be inclined upward with the ground as a reference plane, the universal joint (1103) is used for connecting the first transmission shaft (1102) and the second transmission shaft (1105); the universal joint fixing part (1104) is installed on the shell (1400) and is used for fixing the universal joint (1103); the second transmission shaft (1105) drives the first transmission shaft (1102) to rotate through the universal joint (1103); the first transmission shaft (1102) drives the spiral buffer blade (1101) to rotate, the second transmission shaft (1105) drives the uniform distribution blade (1106) to rotate, the apples are laid flat into the annular grooves of the apple conveying disc (1107), and the spiral buffer blade (1101) and the uniform distribution blade (1106) are both made of a flexible material; The apple posture adjusting device (2000) comprises a first posture adjusting mechanism (2100), a second posture adjusting mechanism (2200), a bad fruit removing mechanism (2300) and a rotating apple posture adjusting disc (2400); the first posture adjusting mechanism (2100) is provided with a chain plate (2105) and apple posture adjusting grooves (2107), the chain plate (2105) drives the apple posture adjusting grooves (2107) to move, the apple posture adjusting grooves (2107) are arranged at equal intervals along the direction of the chain plate transmission, the apple posture adjusting grooves (2107) are in a bowl-shaped structure, the bottom of the apple posture adjusting groove (2107) is provided with a compressible spring (2403) and a posture adjusting ball (2111), and the posture adjusting ball (2111) is installed on the compressible spring (2403); the first posture adjusting mechanism (2100) is provided with the rotating apple posture adjusting disc (2400) on both sides of the chain plate (2105), the rotating apple posture adjusting discs (2400) are arranged in pairs and have the same rotating direction; each rotating apple posture adjusting disc (2400) comprises a gear shaft (2401), a rotating disc (2402), a compressible spring (2403) and a posture adjusting telescopic rod (2404); the rotating disc (2402) is connected to the gear shaft (2401), the posture adjusting telescopic rods (2404) are arranged at equal intervals on the outer circumferential surface of the rotating disc (2402), one end of the posture adjusting telescopic rod (2404) is connected to the rotating disc (2402) through the compressible spring (2403), and the other end of the posture adjusting telescopic rod (2404) is provided with an arc surface to touch and push the apple; when the rotating apple posture adjusting disc (2400) rotates, the posture adjusting telescopic rod (2404) rotates, the end portion of the posture adjusting telescopic rod (2404) pushes the apple in the apple posture adjusting groove (2107), and the apple rotates; the second posture adjusting mechanism (2200) is provided with an apple sucking mechanism (2202) and a cylinder, the apple sucking mechanism (2202) comprises an organ type suction cup (2204), a vacuum generator (2205) and a rudder (2206), the rudder (2206) is used to drive the vacuum generator (2205) to rotate, the organ type suction cup (2204) is fixedly installed on the vacuum generator (2205) and is used to suck the apple, and the cylinder is arranged in the horizontal direction and the vertical direction and is used to drive the apple sucking mechanism (2202) in the horizontal direction and the vertical direction respectively; after the organ type suction cup (2204) sucks the apple, the rudder (2206) rotates by 90°, and the apple also rotates by 90°; the apple after the first posture adjustment or the apple after the first posture adjustment and the second posture adjustment is driven by the cylinder to be conveyed to the top of the net device (3000) in the state of being sucked by the organ type suction cup (2204). After the first adjustment, the apple is in a vertical position with the handle end down; after the second adjustment, the apple is in a horizontal position perpendicular to the vertical position; the bad fruit removing mechanism (2300) includes an OpenMV4 vision processing module (2301) and a bad fruit collection box (2302), which work together with the apple suction mechanism (2202) to complete the work, the OpenMV4 vision processing module (2301) is used to identify damaged apples, the bad fruit collection box (2302) is installed below the apple suction mechanism (2202) for storing damaged apples, when the OpenMV4 vision processing module (2301) detects that the apple is a bad fruit, the apple suction mechanism (2202) moves the damaged apple into the bad fruit collection box (2302); the apple posture adjusting device (2000) is used to realize two different forms of posture adjustment of the apples from the feeding device (1000) and transport the apples after posture adjustment to the top of the netting device (3000); The netting device (3000) performs netting operation on the apples after posture adjustment. The boxing device (4000) is used to realize boxing of the apples after netting from the netting device (3000).

2. The fully automatic apple sleeving and boxing machine according to claim 1, characterized in that: The gear set is provided with a driven wheel one (1301), a driven wheel two (1302), a driven wheel three (1303), a driven wheel four (1304) and a driving wheel (1305); the bottom of the second transmission shaft (1105) is sleeved in the third transmission shaft (1109), the driven wheel one (1301) is fixed on the second transmission shaft (1105) to drive the second transmission shaft (1105) to rotate; the driven wheel two (1302) is fixed on the third transmission shaft (1109) to drive the third transmission shaft (1109) to rotate; the motor one (1306) is fixed on the shell (1400) to drive the driving wheel (1305) to rotate, the driving wheel (1305) drives the driven wheel four (1304); the driven wheel four (1304) drives the driven wheel three (1303) and the driven wheel one (1301); the driven wheel three (1303) drives the driven wheel two (1302) to rotate; the driven wheel one (1301) and the driven wheel two (1302) are distributed upward and downward, and the driven wheel two (1302) and the driven wheel one (1301) are triangularly distributed with the driven wheel three (1303) and the driven wheel four (1304).

3. The fully automatic apple sleeving and boxing machine according to claim 1, characterized in that: The first conveying mechanism (1500) is provided with an apple sliding table (1501), a circular table-shaped protrusion one (1502) and a first conveying mechanism support frame (1503), the first conveying mechanism support frame (1503) is provided with a first conveying belt, the first conveying belt is provided with a group of circular table-shaped protrusions one (1502) arranged at intervals, and the first conveying mechanism (1500) is provided with an apple sliding table (1501) at the outlet of the first conveying belt.

4. The fully automatic apple sleeving and boxing machine according to claim 1, characterized in that: The first attitude adjustment mechanism (2100) includes a first aluminum profile support (2101), a second transmission mechanism, a rotating apple attitude adjustment mechanism; the first aluminum profile support is used for fixing and supporting other components, the second transmission mechanism includes a bearing seat one (2102), a fourth transmission shaft (2103), a fifth transmission shaft (2104), a chain plate (2105), a support (2106), an apple attitude adjustment groove (2107), a first gear chain transmission group (2108), a second gear chain transmission group (2109); the bearing seat one (2102) has a plurality of, is installed on the first aluminum profile support (2101); the first gear chain transmission group (2108) is installed on the fourth transmission shaft (2103) and the fifth transmission shaft (2104), is used to drive the apple attitude adjustment groove (2107) movement; the fourth transmission shaft (2103) and the fifth transmission shaft (2104) are respectively installed on different bearing seat one (2102), are used to drive the first gear chain transmission group (2108) rotation; the second gear chain transmission group (2109) is used to drive the fourth transmission shaft (2103) and the fifth transmission shaft (2104) rotation; the support (2106) is a plurality of, is respectively installed on the first aluminum profile support (2101), is used to support and fix the fourth transmission shaft (2103) and the fifth transmission shaft (2104); the chain plate (2105) has a plurality of, is respectively installed on the gear chain transmission group, is used to fix the apple attitude adjustment groove (2107).

5. The fully automatic apple sleeving and boxing machine according to claim 1, characterized in that: The secondary posture adjusting mechanism (2200) is provided with a second aluminum profile support (2201) for connecting and supporting an apple sucking mechanism (2202) and a gas cylinder, the apple sucking mechanism (2202) is further provided with a rudder installation support (2207), a vacuum generator support (2208), a first gas cylinder (2209), a second gas cylinder (2210), a linear guide rail I (2211) and a sliding block (2212); the linear guide rail I (2211) is fixedly installed on the second aluminum profile support (2201); the sliding block (2212) is installed on the linear guide rail I (2211); the second gas cylinder (2210) is fixedly installed on the second aluminum profile support (2201) and used for pushing the sliding block (2212) to move linearly on the linear guide rail I (2211); the rudder installation support (2207) is fixedly installed on the first gas cylinder (2209); a rudder (2206) is fixedly installed on the rudder installation support (2207) and used for driving a vacuum generator (2205) to rotate; the vacuum generator support (2208) is installed on the rudder (2206); the vacuum generator (2205) is fixedly installed on the vacuum generator support (2208); the first gas cylinder (2209) is fixedly installed on the sliding block (2212) and used for pushing an organ type suction disc (2204) to move linearly vertically to the ground; two pushing gas cylinders (2203) are fixedly installed on the second aluminum profile support (2201) and used for pushing the apple sucking mechanism (2202) to move linearly horizontally on a horizontal plane parallel to the ground.

6. The fully automatic apple sleeving and boxing machine according to claim 1, characterized in that: The net sleeve device (3000) comprises a third aluminum profile support (3100), a net sleeve conveying mechanism (3200), a net sleeve sleeving mechanism (3400) and a net sleeve fusing mechanism (3300), the third aluminum profile support (3100) is used for connecting and supporting other components, the net sleeve conveying mechanism (3200) is used for conveying a net sleeve, the net sleeve sleeving mechanism (3400) is used for sleeving a net sleeve on an apple, and the net sleeve fusing mechanism (3300) is used for fusing the net sleeve sleeved on the apple.

7. The fully automatic apple sleeving and boxing machine according to claim 6, characterized in that: The net cover conveying mechanism (3200) comprises bearing seat two (3201), net cover storage disc (3202), net cover storage disc mounting shaft (3203), guide roller (3204), guide roller mounting plate (3205); bearing seat two (3201) is two, fixedly installed on the third aluminum profile support (3100); net cover storage disc mounting shaft (3203) is installed on bearing seat two (3201); net cover storage disc (3202) is installed on net cover storage disc mounting shaft (3203), and net cover is stored; guide roller mounting plate (3205) is fixedly installed on the third aluminum profile support (3100), and a plurality of guide rollers (3204) are installed on the guide roller mounting plate (3205) and are used to guide the net cover; the net cover mechanism (3400) comprises a first pair of net cover opening fingers, a first pair of net cover opening finger supports (3401), a second pair of net cover opening finger supports (3402), a second pair of net cover opening fingers and a net cover opening finger moving mechanism; the net cover opening finger moving mechanism comprises a first pair of ball screw sliding table transmission groups, a second pair of ball screw sliding table transmission groups, a first pair of linear guide rail sliding table transmission groups; the second pair of linear guide rail sliding table transmission groups; the first pair of linear guide rail sliding table transmission groups comprise a first pair of linear guide rails (3403), a first pair of sliding tables (3404) and a first pair of air cylinders (3405) fixedly installed on the third aluminum profile support (3100); for driving the first pair of ball screw transmission groups to move linearly on the plane parallel to the ground; the second pair of linear guide rail sliding table transmission groups comprise a second pair of linear guide rails (3406), a second pair of sliding tables (3407) and a second pair of air cylinders (3408) fixedly installed on the third aluminum profile support (3100) and used to drive the second pair of ball screw transmission groups to move linearly on the plane parallel to the ground; the first pair of ball screw sliding table transmission groups comprise a first pair of screw sliding tables (3409), a first pair of stepping motors (3410) and a first pair of ball screw transmission group mounting supports (3411); the second pair of ball screw sliding table transmission groups comprise a second pair of screw sliding tables (3412), a second pair of stepping motors (3413) and a second pair of ball screw transmission group mounting supports (3414); the first pair of net cover opening fingers comprises a first pair of opening finger air cylinders (3415) and a second pair of opening finger air cylinders (3416), and the first pair of opening finger air cylinders (3415) and the second pair of opening finger air cylinders (3416) are fixedly installed on the first pair of net cover opening finger supports (3401); the second pair of net cover opening fingers comprises a third pair of opening finger air cylinders (3417) and a fourth pair of opening finger air cylinders (3418), and the third pair of opening finger air cylinders (3417) and the fourth pair of opening finger air cylinders (3418) are fixedly installed on the second pair of net cover opening finger supports (3402); the first pair of net cover opening finger supports (3401) are fixedly installed on the first pair of screw sliding tables (3409);The second pair of mesh expander finger supports (3402) are fixedly installed on the second pair of lead screw sliding tables (3412); the mesh fusing mechanism (3300) comprises a fusing drive assembly, a fruit loading table (3305) and an electric heating wire (3306); the fusing drive assembly is provided with a ball screw sliding table transmission group three (3301), a long-stroke pushing air cylinder (3302), a fruit loading table rotary rudder (3303) and a fruit loading table rudder support (3304); the ball screw sliding table transmission group three (3301) is fixedly installed on the third aluminum profile support (3100) and is used to drive the long-stroke pushing air cylinder (3302) to make vertical movement; the long-stroke pushing air cylinder (3302) is fixedly installed on the ball screw sliding table transmission group three (3301) and is used to push the fruit loading table (3305) to make linear motion on a plane parallel to the ground; the fruit loading table rudder support (3304) is fixedly installed on the long-stroke pushing air cylinder (3302); the fruit loading table rotary rudder (3303) is fixedly installed on the fruit loading table rotary rudder support (3304) and is used to make the fruit loading table (3305) rotate 180° around the long-stroke air cylinder; and the fruit loading table (3305) is installed on the fruit loading table rotary rudder (3303).

8. The fully automatic apple sleeving and boxing machine according to claim 1, characterized in that: The packing device (4000) comprises a third conveying mechanism (4100), a packing mechanism (4200), and a packing box placing mechanism (4300). The third conveying mechanism (4100) is used for conveying the netted apples. The packing mechanism (4200) is used for clamping and conveying the apples on the third conveying mechanism (4100) into the packing box (4302). The packing box placing mechanism (4300) is used for placing and fixing the packing box (4302). The third conveying mechanism (4100) comprises a third conveying mechanism support frame (4101) and a plurality of circular table-shaped protrusions (4102) arranged in rows at intervals. Each circular table-shaped protrusion (4102) is fixedly installed on the first conveying belt. The circular table-shaped protrusions (4102) are used for placing the netted apples from the netting device (3000). The third conveying mechanism support frame (4101) is composed of a plurality of aluminum profiles with different lengths and is placed on the horizontal ground to support the third conveying mechanism (4100). The packing mechanism (4200) comprises a fourth aluminum profile support (4201), a packing flexible manipulator (4202), and a packing flexible manipulator moving mechanism. The packing flexible manipulator moving mechanism comprises a first ball screw sliding block module (4203) and a second ball screw sliding block module (4204). The packing flexible manipulator moving mechanism is composed of two ball screw sliding block modules connected in a cross shape and is fixed on the fourth aluminum profile support (4201) to drive the packing flexible manipulator (4202) to move in the ground surface parallel to each other. The packing flexible manipulator (4202) is installed on the second ball screw sliding block module (4204) to grasp the netted apples on the third conveying mechanism (4100). The packing box placing mechanism (4300) comprises a bottom plate (4301), a packing box (4302), and a packing box fixing device. The bottom plate (4301) is placed on the horizontal ground to place the packing box (4302). The bottom plate (4301) is provided with four rectangular grooves. The packing box fixing device has four, which are installed on the bottom plate (4301) according to the front, rear, left, and right directions to fix the four sides of the packing box (4302) to prevent deformation and displacement during packing. Each packing box fixing device comprises a limiting screw (4303), a second compressible spring (4304), a connecting rod (4305), a connecting rod installation support (4306), and a packing box fixing piece (4307). The limiting screw (4303) is installed in the rectangular groove of the bottom plate (4301) to limit the movement distance of the packing box fixing piece (4307). The connecting rod installation support (4306) is installed on the bottom plate (4301) to fix the connecting rod (4305). The packing box fixing piece (4307) is installed in the groove of the bottom plate (4301) to fix the packing box (4302).

Images