Fruit bag feeding and empty box recycling mechanism of fruit bagging machine

Abstract

The present application relates to a kind of fruit bagging machines, in particular to a kind of fruit bagging machine's fruit bag feeding and empty box recycling mechanism, including installation bottom plate, hopper, cartridge clip, passive station feed assembly and passive cartridge ejector assembly;Hopper is set on installation bottom plate by hopper mounting plate;Cartridge clip is set on the outer wall of hopper, for providing cartridge to hopper;Passive station feed assembly is set between hopper mounting plate and hopper, for feeding cartridge in hopper to forward a station;Passive cartridge ejector assembly is set on the outer wall of hopper, for ejecting cartridge in hopper from hopper.Compared with prior art, the present application solves the defect that feeding mechanism in prior art needs external motor as power drive to realize feeding, realizes simple structure, high efficiency, stability, and utilizes reasonable structure arrangement, completes the whole fruit bag cartridge feeding and recycles fruit bag empty cartridge process under only relying on passive thrust provided by bagging end effector.

Description

Technical Field

[0001] This invention relates to a fruit bagging machine, specifically to a fruit bag feeding and empty material box recycling mechanism for the fruit bagging machine. Background Technology

[0002] In agriculture, fruit bagging can isolate fruit from pesticides and environmental pollution, ensuring it is pollution-free, without affecting or damaging its normal growth and ripening. Furthermore, it isolates ripe fruit from pests, diseases, and dust, resulting in a smoother surface, brighter color, and improved quality, leading to significant economic benefits. However, fruit bagging often requires substantial manpower and time, resulting in low efficiency. Currently, some automated tools and equipment specifically designed for fruit bagging have been developed, with most focusing on designing more efficient and rationally structured end effectors. To better support a highly unmanned and high-speed automated bagging process, the supply of fruit bags for these end effectors is also a crucial component.

[0003] The fully automatic fruit bag feeding and empty bag recycling mechanism of a fruit bagging machine needs to efficiently cooperate with the end effector to provide a timely and sufficient supply of fruit bags, and automatically recycle the empty fruit bag boxes. As an auxiliary mechanism, this mechanism must not only be fully automated but also have a simple structure, rapid response, and stable operation. Most existing feeding mechanisms are complex and require external motor power to complete the feeding process. Therefore, designing a fruit bag feeding mechanism that minimizes the use of external power, is simple in structure, and highly effective has significant practical implications. Summary of the Invention

[0004] The purpose of this invention is to solve at least one of the above-mentioned problems by providing a fruit bag feeding and empty material box recycling mechanism for a fruit bagging machine. This addresses the shortcomings of existing feeding mechanisms that require an external motor for power drive, achieving a simple, efficient, and stable structure. Furthermore, by utilizing a reasonable structural arrangement, the entire process of feeding the fruit bag and recycling the empty fruit bag can be completed solely by relying on the passive thrust provided by the bagging end actuator.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A fruit bag feeding and empty material box recycling mechanism for a fruit bagging machine includes a mounting base plate, a hopper, a material box clip, a passive station feeding component, and a passive material box ejection component.

[0007] The hopper is mounted on the mounting base plate via a hopper mounting plate;

[0008] The aforementioned material box clip is disposed on the outer wall of the hopper and is used to supply material boxes to the hopper;

[0009] The passive station feeding component is installed between the hopper mounting plate and the hopper, and is used to advance the hopper's hopper boxes forward to one station, thereby making room in advance for the recycling of empty hopper boxes.

[0010] The passive material box ejection component is disposed on the outer wall of the hopper and is used to eject the material box from the hopper.

[0011] The passive station feed component and the passive material box ejection component are arranged opposite to each other, and the material box clip is located between the passive station feed component and the passive material box ejection component.

[0012] Preferably, the hopper mounting plate has an L-shaped structure, including a connected vertical plate and a horizontal plate;

[0013] The passive station feed assembly includes a first vertical guide rail, a first vertical slider, a first connecting rod, a first horizontal slider, a first horizontal guide rail, a synchronous guide rail, a synchronous slider, a station feed block, and a first return spring;

[0014] The first vertical guide rail is disposed on the vertical plate, the first horizontal guide rail is connected to the end of the first vertical guide rail, the first vertical slider is slidably disposed on the first vertical guide rail, the first horizontal slider is slidably disposed on the first horizontal guide rail, and the first vertical slider and the first horizontal slider are connected by a first connecting rod.

[0015] A vertical pressure bar is vertically arranged on the first vertical slider;

[0016] The synchronous guide rail is arranged parallel to the first horizontal guide rail, the synchronous slider is slidably disposed on the synchronous guide rail, and the synchronous slider is connected to the first horizontal slider through a synchronous connecting plate.

[0017] The station feed block is connected to the side of the synchronous connecting plate, the hopper has a station feed slot for the station feed block to pass through, and the first reset spring is connected between the synchronous connecting plate and the vertical plate.

[0018] An external force presses down on the vertical pressure bar, causing the first vertical slider to slide along the first vertical guide rail and, through the first connecting rod, to drive the first horizontal slider to slide along the first horizontal guide rail. This, in turn, drives the synchronous slider to slide along the synchronous guide rail via the synchronous connecting plate. The synchronous connecting plate then drives the station feed block to enter the hopper through the station feed slot, thus feeding the hopper's internal hopper hopper forward to one station and creating space for the recycling of empty hoppers. Simultaneously, the first return spring is stretched. After the external force is released, the first return spring, under its contraction action, restores all components to their original positions.

[0019] Preferably, the passive station feed assembly further includes a second reset spring mounting plate and a second reset spring;

[0020] The station feed block is hinged to the side of the synchronous connecting plate, the second reset spring mounting plate is connected to the synchronous connecting plate, and the second reset spring is connected between the second reset spring mounting plate and the station feed block.

[0021] The rotatable hinged connection ensures that the station feed block is not obstructed by the empty material box that has been recycled in the hopper when it retracts: when the station feed block retracts and resets, the empty material box applies a force to the station feed block, causing the station feed block to rotate and compress the second reset spring; after the station feed block leaves the hopper and loses external force, the second reset spring rebounds and resets the station feed block.

[0022] Preferably, the passive material box ejection assembly includes a forward guide rail, a forward slider, a speed-increasing wheel, a reverse guide rail, and a reverse slider;

[0023] The forward guide rail and the reverse guide rail are respectively set on the outer wall of the hopper. The forward slider is slidably set on the forward guide rail, and the reverse slider is slidably set on the reverse guide rail. The speed-increasing wheel is rotatably connected to the outer wall of the hopper through the wheel shaft.

[0024] A positive pressure rod is vertically arranged on the positive slider, and a pop-out tray is connected to the negative slider;

[0025] The forward slider and the reverse slider are respectively connected to the speed-increasing wheel via connecting lines;

[0026] The hopper is provided with a material box ejection outlet for material boxes to pass through and a material box ejection slot for material boxes to eject pallets to pass through.

[0027] When an external force presses down on the forward pressure bar, the forward slider slides along the forward guide rail and drives the speed-increasing wheel to rotate through the connecting line. The rotation of the speed-increasing wheel pulls the reverse slider to slide along the reverse guide rail, thereby popping out the tray and causing the material box in the hopper to pop out. After the external force is released, under the action of gravity of the reverse slider and the popped tray, each component returns to its original position.

[0028] Preferably, the speed-increasing roller includes a large-diameter roller and a small-diameter roller arranged coaxially;

[0029] The forward slider is connected to the small-diameter roller via a connecting line, and the reverse slider is connected to the large-diameter roller via a connecting line.

[0030] Preferably, the mechanism further includes a hopper door linkage assembly for locking and unlocking the hopper magazine;

[0031] The aforementioned silo door linkage assembly includes a door linkage assembly mounting plate, a stepper motor, a first trigger, a second horizontal slider, a door, a door mounting plate, a second vertical guide rail, a second vertical slider, a force transmission rod, a second horizontal guide rail, a second trigger, a release plate, and a lead screw support shaft seat;

[0032] The door linkage assembly mounting plate is connected to the side of the mounting base plate via a corner brace. The stepper motor, the second vertical guide rail, the second horizontal guide rail, the unhooking plate, and the lead screw support shaft seat are connected to the door linkage assembly mounting plate. The second horizontal slider is slidably mounted on the second horizontal guide rail, and the second vertical slider is slidably mounted on the second vertical guide rail. The second horizontal slider is connected to the second vertical slider via a force transmission rod.

[0033] The second horizontal slider is connected to a second trigger, and a release plate is provided at the end of the second horizontal guide rail; the output shaft of the stepper motor is connected to a lead screw, the other end of which is connected to a lead screw support shaft seat, and the lead screw is arranged parallel to the second horizontal guide rail; the first trigger is disposed on the lead screw and can move along the direction of the lead screw, and the second trigger is located on the movement path of the first trigger;

[0034] The hatch mounting plate is connected to the silo, and the hatch is hinged to the hatch mounting plate; the hatch is connected to the second vertical slider via a force transmission rod.

[0035] A stepper motor drives a lead screw to rotate, causing the first trigger to move along the lead screw direction. This, in turn, drives the second horizontal slider to slide along the second horizontal guide rail via the second trigger. The second vertical slider then slides along the second vertical guide rail via a force transmission rod, which in turn drives the door to rotate, controlling the limiting and releasing of the material box clip. When the door rotates to a horizontal position, it does not limit the material box clip; when the door rotates to a non-horizontal position, it limits the material box clip.

[0036] More preferably, the hatch mounting plate is an L-shaped corner brace structure, with one side connected to the bottom surface of the silo and the other side used to hinge the hatch.

[0037] More preferably, the back of the hatch is provided with a clamping leaf spring, which is used to apply a horizontal inward force to the cartridge clip when the hatch limits the cartridge clip, so as to ensure the stable assembly and accurate positioning of the cartridge clip.

[0038] Preferably, the hopper door linkage assembly further includes an unlocking top rod, a door locking upper buckle, a door reset tension spring, and a door reset spring mounting plate; the mechanism further includes a lower buckle mounting plate connected to the side of the mounting base plate and a door locking lower buckle hinged to the lower buckle mounting plate;

[0039] The upper latch of the hatch lock is provided on the hatch, and the upper latch of the hatch lock and the lower latch of the hatch lock engage with each other to form a lock;

[0040] The hatch reset spring mounting plate is connected to the hatch linkage assembly mounting plate, and the hatch reset tension spring is connected between the hatch reset spring mounting plate and the second vertical slider.

[0041] The unlocking push rod is mounted on the lead screw and can move along the direction of the lead screw. When the unlocking push rod moves to the insertion buckle mounting plate, it drives the lower buckle of the hatch door to rotate, thereby unlocking the upper buckle of the hatch door from the lower buckle.

[0042] When the hatch rotates to the horizontal position, the hatch does not limit the material box magazine. At the same time, the upper and lower locking latches of the hatch engage to lock the hatch position and keep it in a non-limited state, and the hatch return spring is stretched. The unlocking rod is inserted into the latch mounting plate to rotate the lower locking latch of the hatch, thereby unlocking the upper and lower locking latches of the hatch. Under the restoring force of the hatch return spring, the hatch can rotate to limit the material box magazine.

[0043] Preferably, the mechanism further includes a touch-sensitive cartridge ejection assembly, comprising a first guide rail, a second guide rail, a third guide rail, a first slider, a second slider, a third slider, a second connecting rod, a third connecting rod, a third return spring, a third return spring mounting plate, and a push rod;

[0044] The first guide rail, the second guide rail, and the third guide rail are respectively disposed at the bottom of the hopper. The first guide rail and the second guide rail are arranged parallel to each other, and the third guide rail is arranged perpendicular to the first guide rail. The first slider is slidably disposed on the first guide rail, the second slider is slidably disposed on the second guide rail, and the third slider is slidably disposed on the third guide rail. The first slider is connected to the third slider through a second connecting rod, and the third slider is connected to the second slider through a third connecting rod.

[0045] The push rod is connected to the second slider;

[0046] The first slider is equipped with a pusher that extends into the hopper;

[0047] The third reset spring mounting plate is disposed at the end of the first guide rail, and the third reset spring is connected between the third reset spring mounting plate and the first slider.

[0048] An external force pushes the push rod to drive the second slider to slide along the second guide rail. The third slider is driven to slide along the third guide rail via the third connecting rod. The first slider is then driven to slide along the first slider via the second connecting rod, causing the push block to move within the hopper to push the hopper cartridge away from the hopper. After the external force is released, the components return to their original positions under the contraction of the third return spring.

[0049] Preferably, the mechanism further includes a two-axis fine-tuning and stabilizing assembly, which is disposed between the hopper mounting plate and the mounting base plate;

[0050] The two-axis fine-tuning stabilization assembly includes a mounting base, a slide, a limit block, and a fine-tuning spring;

[0051] The mounting base is set on the mounting base plate, the slide is set above the mounting base by a sliding fine-tuning spring, and the hopper mounting plate is set on the slide.

[0052] The slide is axially supported on the mounting base by a limiting block.

[0053] The two-axis fine-tuning stabilization assembly can only undergo minute in-plane displacements to compensate for alignment errors when the mechanism is horizontally docked with external structures (such as end effectors); the fine-tuning spring controls the sliding of the slide on the mounting base and can also reset the slide.

[0054] Preferably, several fine-tuning springs are spaced apart along the circumference of the slide, and several limiting blocks are spaced apart along the circumference of the slide. The fine-tuning springs ensure that the slide can be finely adjusted in multiple directions and can be smoothly reset; the limiting blocks ensure multi-point support for the slide and ensure axial limitation.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] This device can complete the material feeding and empty material box recycling processes entirely by relying on the pressure provided by the end effector of the bagging device, without the need for any external power source.

[0057] This device integrates multiple functions such as fruit bag and material box ejection, empty material box recycling, and material box clip ejection, and can output a lateral thrust to the next working process.

[0058] The material feeding process of this device relies entirely on mechanical mechanisms, which are simple, efficient, and highly stable.

[0059] The silo door linkage assembly uses only one stepper motor power source to control the opening and closing of the silo door, and can output a lateral thrust in one forward process.

[0060] A two-axis fine-tuning stabilization component was set up, which reduced the difficulty of alignment with the base station during the replacement of the cartridge clip and increased the possibility of achieving full automation of the overall structure. Attached Figure Description

[0061] Figure 1 This is a front view structural diagram of the mechanism;

[0062] Figure 2 This is a schematic diagram of the silo structure;

[0063] Figure 3 This is a structural schematic diagram of a passive station feed assembly;

[0064] Figure 4 A schematic diagram of the passive material box ejection assembly;

[0065] Figure 5 A schematic diagram of the structure of a touch-sensitive cartridge ejection assembly;

[0066] Figure 6 This is a structural schematic diagram of the silo door linkage assembly;

[0067] Figure 7 This is a schematic diagram of the structure of a two-axis fine-tuning stabilization component;

[0068] Figure 8 This is a schematic diagram of the rear view structure of the mechanism;

[0069] Figure 9 This is a rear view schematic diagram of the hatch structure;

[0070] In the picture:

[0071] 1-Installation base plate;

[0072] 2-Two-axis fine-tuning stabilizing assembly; 210-Mounting base; 220-Slide table; 230-Spring fixing block; 240-Limit block; 250-Fine-tuning spring;

[0073] 3-Hopper support frame;

[0074] 4-Hopper mounting plate;

[0075] 5-Bag; 510-Recovery feed inlet; 520-Bag ejector outlet; 530-Bag ejector chute; 540-Bag ejector slot; 550-Station feed slot; 560-Bag clamping spring;

[0076] 6-Material box magazine;

[0077] 7-Passive station feed assembly; 701-First vertical guide rail; 702-First vertical slider; 703-Vertical pressure rod; 704-First connecting rod; 705-First horizontal slider; 706-First horizontal guide rail; 707-Synchronous guide rail; 708-Synchronous slider; 709-Station feed block; 710-Second return spring mounting plate; 711-Second return spring; 712-Hinge shaft; 713-Synchronous connecting plate; 714-First return spring;

[0078] 8-Passive material box ejection assembly; 801-Forward guide rail; 802-Forward slider; 803-Increasing speed roller; 804-Roller shaft; 805-Reverse guide rail; 806-Ejection tray; 807-Reverse slider; 808-Forward pressure bar;

[0079] 9-Touch-type cartridge ejection assembly; 901-First guide rail; 902-Second guide rail; 903-Third guide rail; 904-First slider; 905-Second slider; 906-Third slider; 907-Mounting block; 908-Push block; 909-Second connecting rod; 910-Third connecting rod; 911-Third return spring; 912-Third return spring mounting plate; 913-Push rod;

[0080] 10-Hopper door linkage assembly; 1001-Hopper door linkage assembly mounting plate; 1002-Stepper motor; 1003-First trigger element; 1004-Unlocking top rod; 1005-Snap-on mounting plate; 1008-Second horizontal slider; 1009-Hopper door locking upper snap; 1010-Hopper door; 1011-Hopper door mounting plate; 1012-Guide rail limit block; 1013-Second vertical guide rail; 1014-Second vertical slider; 1015-Force transmission rod; 1016-Second horizontal guide rail; 1017-Second trigger element; 1018-Unhooking plate; 1019-Trigger top rod; 1020-Lead screw; 1021-Lead screw support shaft seat; 1022-Hopper door reset tension spring; 1023-Hopper door reset spring mounting plate; 1024-Compression leaf spring;

[0081] 11-Hatch door locking latch;

[0082] 12-Lower clip mounting plate;

[0083] 13-Angle brace. Detailed Implementation

[0084] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0085] Example 1

[0086] A fruit bag feeding and empty material box recycling mechanism for a fruit bagging machine, such as Figure 1-9As shown, it includes a mounting base plate 1, a hopper 5, a material box clip 6, a passive station feed assembly 7, and a passive material box ejection assembly 8;

[0087] The hopper 5 is mounted on the mounting base plate 1 via the hopper mounting plate 4;

[0088] The material box clip 6 is disposed on the outer wall of the material bin 5 and is used to provide material boxes to the material bin 5;

[0089] The passive station feeding component 7 is disposed between the hopper mounting plate 4 and the hopper 5, and is used to feed the material box in the hopper 5 forward to one station;

[0090] The passive material box ejection component 8 is disposed on the outer wall of the material bin 5 and is used to eject the material box in the material bin 5 from the material bin 5.

[0091] The passive station feed component 7 and the passive material box ejection component 8 are arranged opposite to each other, and the material box clip 6 is located between the passive station feed component 7 and the passive material box ejection component 8.

[0092] More specifically, in this embodiment:

[0093] like Figure 1 As shown, this mechanism includes a mounting base plate 1, a two-axis fine-tuning stabilization assembly 2, a hopper support frame 3, a hopper mounting plate 4, a hopper 5, a hopper clip 6, a passive station feed assembly 7, a passive hopper ejection assembly 8, a touch-sensitive hopper clip ejection assembly 9, a hopper door linkage assembly 10, a door locking lower latch 11, a lower latch mounting plate 12, and a corner brace plate 13. All components except the mounting base plate 1 are directly or indirectly assembled onto the mounting base plate 1. This mechanism provides a rapid feeding mechanism for fruit bag loading and empty hopper box recycling during the fruit bagging process in agriculture, relying solely on passive power provided by an end effector to complete the fruit bag and hopper loading process, achieving full automation of the fruit bag and hopper loading process.

[0094] Depend on Figure 1 As can be seen, the two-axis fine-tuning stabilizing assembly 2 is mounted on the surface of the mounting base plate 1. The hopper mounting plate 4 has an L-shaped structure and is mounted on the two-axis fine-tuning stabilizing assembly 2. The hopper 5 is threadedly fixed to the hopper mounting plate 4 by the hopper support brackets 3 at its four bottom corners. The hopper clip 6 is mounted on the side of the hopper 5 to provide the hopper. Figure 1 For example, the cartridge clip 6 is mounted on the front of the hopper 5 and can slide along the outlet direction of the cartridge clip 6 to realize the unloading and replacement of the cartridge clip 6. The hopper 5 has a cuboid structure and is placed horizontally; the passive station feed assembly 7 is mounted on the hopper mounting plate 4, so as to... Figure 1For example, located on the left side of the hopper 5, it is used for feeding the hopper box to ensure the orderly circulation of the entire structure; the passive hopper ejection assembly 8 is mounted on the right wall of the hopper 5 for ejecting the hopper box from the hopper 5; the hopper door linkage assembly 10 is mounted on the side of the mounting base plate 1 for locking and unlocking the hopper clip 6; the touch-type hopper clip ejection assembly 9 is mounted on the bottom surface of the hopper 5 and above the hopper mounting plate 4 for ejecting the hopper clip 6 from the hopper 5; the lower latch mounting plate 12 is mounted on the side of the mounting base plate 1, and the lower latch 11 for locking the hopper door is connected to the lower latch mounting plate 12 via a pivot to rotate and lock and unlock the hopper door linkage assembly 10 door 1010.

[0095] 5 silos Figure 2 As shown, a recycling inlet 510 for receiving empty material boxes from the end effector is provided at the left end of the top surface, a material box ejection outlet 520 for feeding material boxes is provided at the right end of the top surface, a station feed groove 550 is provided at the junction of the bottom surface and the left side wall, a material box ejection groove 540 is provided at the right end of the bottom surface, and material box clip ejection grooves 530 are provided on the left and right sides of the bottom surface and the rear side wall. In addition, a material box clip clamping spring 560 is provided on the left inner wall inside the material bin 5, which is used to clamp and limit the material box clip 6 after it is assembled in the material bin 5, so as to prevent the material box clip 6 from sliding out at will.

[0096] Passive station feed component 7 Figure 3As shown, it includes: a first vertical guide rail 701 mounted on a vertical plate of the hopper mounting plate 4; a first horizontal guide rail 706 mounted between the end of the first vertical guide rail 701 and the hopper 5; a first vertical slider 702 slidably mounted on the first vertical guide rail 701; a first horizontal slider 705 slidably mounted on the first horizontal guide rail 706; a vertical pressure rod 703 mounted on the first vertical slider 702 and parallel to the first vertical guide rail 701; a first connecting rod 704 connecting the first vertical slider 702 and the first horizontal slider 705; and a connecting rod 704 connected to the first horizontal slider 705 via a synchronous connecting plate 713. The system comprises a synchronous slider 708 fixedly connected to a horizontal slider 705, a synchronous guide rail 707 parallel to the first horizontal guide rail 706 and connected to the bottom surface of the hopper 5, which slides in cooperation with the synchronous slider 708, a first return spring 714 connected between a vertical plate and a synchronous connecting plate 713, a station feed block 709 hinged to the side of the synchronous connecting plate 713 via a hinge shaft 712, a second return spring mounting plate 710 fixed below the synchronous connecting plate 713, and a second return spring 711 connected between the second return spring mounting plate 710 and the station feed block 709. The synchronous guide rail 707 and the first horizontal guide rail 706 are bolted to the bottom surface of the hopper 5. The station feed block 709 is a right-angled triangular plate. Under normal conditions, the right-angled sides of the second return spring 711 are horizontal and vertical, respectively. The end effector applies downward pressure to the vertical pressure rod 703 (applying external force to the vertical pressure rod 703 while sending the empty material box to the recycling inlet 510), driving the first vertical slider 702 to slide along the first vertical guide rail 701. The first connecting rod 704 drives the first horizontal slider 705 to slide along the first horizontal guide rail 706, and then the synchronous connecting plate 713 drives the synchronous slider 708 to slide along the synchronous guide rail 707. At this time, the first return spring 714 is stretched, and the station feed block 709 slides with the synchronous connecting plate 713 and enters the material bin 5 through the station feed slot 550 to squeeze the material box forward one station. This pressure originates from the end effector. Empty material box recycling prepares an empty space in advance; after the empty material box is recycled, the external force is removed, the first return spring 714 retracts, and at the same time drives the synchronous connecting plate 713 and the station feed block 709 to reset; when the empty material box in the material bin 5 is reset, it will apply a downward force to the station feed block 709, causing the second return spring 711 to compress and the station feed block 709 to rotate around the hinge axis 712 until the inclined side of the station feed block 709 is horizontal, then the station feed block 709 can slide out normally; after the station feed block 709 leaves the material bin 5, the pressure applied on the inclined side is removed, the second return spring 711 stretches and resets, causing the station feed block 709 to rotate back to its original position.

[0097] Passive toner box ejection component 8 Figure 4As shown, the system includes: a forward guide rail 801 and a reverse guide rail 805 installed on the same outer wall of the hopper 5 and parallel to each other; a forward slider 802 slidably disposed on the forward guide rail 801; a forward pressure rod 808 installed on the forward slider 802 and parallel to the forward guide rail 801; a reverse slider 807 slidably disposed on the reverse guide rail 805; a pop-out tray 806 installed on the reverse slider 807; and a speed-increasing roller 803 installed on the outer wall of the hopper 5 and located between the forward guide rail 801 and the reverse guide rail 805 via a roller shaft 804. The roller shaft 804 is fixed to the outer wall of the hopper 5 by welding, and the speed-increasing roller 803 is sleeved on the roller shaft 804 and can rotate around the roller shaft 804. The forward slider 802 and the reverse slider 807 are connected by a connecting line, which is accelerated and steered by a speed-increasing roller 803, so that the forward slider 802 and the reverse slider 807 run in opposite directions. The connecting line is made of flexible steel wire. The speed-increasing roller 803 has a large-diameter roller and a small-diameter roller arranged coaxially. The forward slider 802 is connected to the small-diameter roller by a connecting line, and the reverse slider 807 is connected to the large-diameter roller by a connecting line. When the angular velocities of the large-diameter roller and the small-diameter roller are the same, the linear velocity of the connecting line connected to them differs according to the radius ratio, thus creating a speed-increasing effect. In this embodiment, a 1:2 speed-increasing effect is generated to facilitate faster ejection of the material box. The ejection tray 806 extends into the material bin 5 from the material box ejection slot 540 and is used to eject the fed material box from the material box ejection outlet 520 into the material bin 5. The end effector applies downward pressure (external force) to the forward pressure rod 808, driving the forward slider 802 to slide along the forward guide rail 801. The connecting line drives the speed-increasing wheel 803 to rotate, which in turn drives the reverse slider 807 to slide upward along the reverse guide rail 805 at twice the moving speed of the forward slider 802, in the opposite direction to the forward slider 802. As a result, the ejector tray 806 connected to the reverse slider 807 lifts the material box in the hopper 5 and ejects it from the opened material box ejector outlet 520.

[0098] Touch-sensitive cartridge ejector assembly 9 Figure 5As shown, it includes: a first guide rail 901, a second guide rail 902, and a third guide rail 903 disposed at the bottom of the hopper 5; a first slider 904 slidably disposed on the first guide rail 901; a second slider 905 slidably disposed on the second guide rail 902; a third slider 906 slidably disposed on the third guide rail 903; a mounting block 907 fixedly connected to the first slider 904; a push block 908 welded to the mounting block 907; a second connecting rod 909 connecting the first slider 904 and the third slider 906; a third connecting rod 910 connecting the third slider 906 and the second slider 905; a third return spring mounting plate 912 disposed at the end of the first guide rail 901; a third return spring 911 connected between the third return spring mounting plate 912 and the first slider 904; and a push rod 913 connected to the second slider 905. The first guide rail 901 and the second guide rail 902 are arranged parallel to each other, and the third guide rail 903 is arranged perpendicular to the first guide rail 901 and the second guide rail 902. The push block 908 can follow the movement of the first slider 904 and enter the material box 5 through the ejection groove 530 of the material box clip to eject the material box clip 6 that is assembled and confined in the material box 5. The touch-type material box clip ejection assembly 9 is symmetrically arranged, that is, the second guide rail 902 is in the middle and a pair of first guide rails 901 are symmetrically arranged on both sides. At this time, the second connecting rod 909 and the third connecting rod 910 are sinusoidal in shape, forming a double sinusoidal mechanism. The length of the push rod 913 matches the curvature and distance of the arc surface of the external force contact surface to ensure the force application effect. The moving distance of the push block 908 matches the width of the material box clip 6 to ensure that the material box clip 6 can be fully ejected. The end effector applies pressure to the push rod 913, driving the second slider 905 to slide along the second guide rail 902. Then, the third link 910 drives the third slider 906 to slide along the third guide rail 903. Subsequently, the second link 909 drives the first slider 904 to slide along the first guide rail 901, stretching the third return spring 911 and driving the push block 908 forward. The push block 908 is ejected from the material box clip into the slide groove 530 and enters the material bin 5, pushing the material box clip 6 out of the material bin 5. After the external force is released, the third return spring 911 retracts, pulling the first slider 904 to slide in the opposite direction along the first guide rail 901, driving the push block 908 out of the material bin 5 and driving the third slider 906 to slide in the opposite direction along the third guide rail 903. Then, the second slider 905 slides in the opposite direction along the second guide rail 902, so that all components are reset.

[0099] 10 silo door linkage components Figure 6As shown, the assembly includes a hatch linkage component mounting plate 1001 fixed to the side of the mounting base plate 1 by a gusset plate 13, a stepper motor 1002 mounted on the hatch linkage component mounting plate 1001, a lead screw 1020 connected to the output shaft of the stepper motor 1002, a lead screw support shaft seat 1021 mounted on the hatch linkage component mounting plate 1001 for fixing the other end of the lead screw 1020, and a trigger push rod sleeved on the lead screw 1020 and movable along the direction of the lead screw 1020 when the stepper motor 1002 drives the lead screw 1020 to rotate. 1019. Unlocking top rod 1004 and first trigger 1003, second horizontal guide rail 1016 horizontally fixed to the hatch linkage assembly mounting plate 1001, unhooking plate 1018 fixed to the hatch linkage assembly mounting plate 1001 and located at the end of the second horizontal guide rail 1016, second vertical guide rail 1013 vertically fixed to the hatch linkage assembly mounting plate 1001, guide rail limiting block 1012 provided at the end of the second vertical guide rail 1013, and second horizontal slider 1 slidably provided on the second horizontal guide rail 1016. 008, a second trigger 1017 connected to the second horizontal slider 1008 via a snap-fit ​​mounting plate 1005, a second vertical slider 1014 slidably mounted on the second vertical guide rail 1013, a force transmission rod 1015 connecting the second horizontal slider 1008 and the second vertical slider 1014, a door return spring mounting plate 1023 mounted on the door linkage assembly mounting plate 1001, a door return tension spring 1022 connecting the door return spring mounting plate 1023 and the second vertical slider 1014, and fixed to the hopper 5. The assembly includes a pair of door mounting plates 1011 located on both sides of the second vertical guide rail 1013; a pair of doors 1010 respectively hinged to the door mounting plates 1011 and connected to the second vertical slider 1014 via a force transmission rod 1015; a clamping leaf spring 1024 disposed on the back of the door 1010 for applying a horizontal clamping force to the hopper magazine 6; and a door locking upper latch 1009 welded and fixed to the far end of the door 1010 (relative to the hinge point with the door mounting plate 1011) for engaging with the door locking lower latch 11. The lower latch mounting plate 12 is disposed on the side of the mounting plate of the hopper door linkage assembly 10, and the unlocking push rod 1004 is disposed toward the door locking lower latch 11 inside the lower latch mounting plate 12. The lead screw 1020 is set parallel to the second horizontal guide rail 1016; the first trigger 1003 is a hook, and the second trigger 1017 is a latch for opening the hatch 1010. The second trigger 1017 and the latch mounting plate 1005 are connected at an intersection, and the second trigger 1017 has a bent structure, with the bend located on the movement path of the first trigger 1003; the release plate 1018 is located at the movement end point of the second trigger 1017, and blocks the second trigger 1017 to rotate so as to disengage from the first trigger 1003. The hatch mounting plate 1011 has an L-shaped corner brace structure, with one side fixed to the bottom surface of the hopper 5 and the other side hinged to the hatch 1010.The guide rail limiting block 1012 is used to seal both ends of the second vertical guide rail 1013 to prevent the second vertical slider 1014 from slipping out of the second vertical guide rail 1013. The stepper motor 1002 rotates forward, driving the lead screw 1020 to rotate. The first trigger 1003, trigger push rod 1019, and unlocking push rod 1004, threaded onto the lead screw 1020, move to the right along the lead screw 1020. The first trigger 1003 contacts the second trigger 1017, causing the second trigger 1017 and the second horizontal slider 1008 to move to the right along the second horizontal guide rail 1016. The second horizontal slider 1008 is connected to the second horizontal guide rail 1016 via the force transmission rod 1. The second vertical slider 1014, connected to 015, slides upward along the second vertical guide rail 1013, thereby driving the hatch 1010 to rotate via the force transmission rod 1015, thus opening the hatch 1010. Simultaneously, the sliding tension spring 1022 of the second vertical slider 1014 stretches the hatch reset spring. When the hatch 1010 rotates to a horizontal position, the second trigger 1017 contacts and presses against the release plate 1018, causing the second trigger 1017 to rotate counterclockwise and engage with the first trigger. When component 1003 disengages, the upper locking hole of the door 1010 engages with the lower locking buckle 11, locking the opening of the door 1010 and keeping it open. At this time, the material box clip 6 can be taken out from the material bin 5. The stepper motor 1002 continues to rotate forward, further driving the trigger rod 1019 to move to the right, thus providing a horizontal thrust to the outside, which can further drive the operation of other components in the fruit bagging machine. When it is necessary to unlock the door 1010 and rotate the door 1010 to lock the material box clip 6, the stepper motor 1002 reverses, the unlocking rod 1004 is inserted into the lower locking buckle 11 and drives the lower buckle mounting plate 12 to rotate clockwise, causing the upper buckle mounting plate 1005 to disengage from the lower buckle mounting plate 12 to release the lock. Subsequently, under the restoring force of the stepper motor 1002 and the door reset spring 1022, each component returns to its initial state, completing one cycle of locking and unlocking. This process uses only one stepper motor 1002 as the power source. In one forward and reverse working process of the stepper motor 1002, the two requirements of opening and closing the hatch 1010 and outputting horizontal thrust are completed in sequence. The entire movement process does not interfere with each other and is stable and reliable.

[0100] Two-axis fine-tuning stabilization component 2 Figure 7As shown, the assembly includes: a mounting base 210 fixedly mounted on the mounting base plate 1 via a threaded connection; a spring fixing block 230 connected to the inner wall of the mounting base 210; a slide 220 connected to the spring fixing block 230 via a fine-tuning spring 250 and located above the mounting base 210; and a limiting block 240 supported between the slide 220 and the mounting base 210. The two-axis fine-tuning stabilizing assembly 2 provides two degrees of freedom for position fine-tuning of the entire mechanism, ensuring accurate alignment due to alignment errors when the entire mechanism is docked with external components. Three fine-tuning springs 250 are set at 120° intervals for horizontal adjustment of the slide 220 position; three limiting blocks 240 are also set with a 60° angle between them and the fine-tuning springs 250 to restrict axial movement of the slide 220; the fine-tuning springs 250 and the limiting blocks 240 apply uniform force to the slide 220 to ensure the stability of the slide 220 and the hopper mounting plate 4 supported on it. When this mechanism is used in conjunction with an external device (end effector), a deviation in docking accuracy may occur. The slide 220 is subjected to a thrust in the horizontal direction, causing it to make a slight displacement in the horizontal plane to compensate for the deviation in docking accuracy. After the external force is removed, the fine-tuning spring 250 returns the slide 220 to the center.

[0101] In the above description of the present invention, it should be noted that the terms "vertical", "lateral", "horizontal", "inward", "outward", etc., which indicate the orientation or positional relationship, are all directions or positional relationships indicated by the accompanying drawings. They are only used to make the description of the embodiments more concise and clear, and do not mean that the parts or components must have a definite orientation limitation. Therefore, they should not be construed as limitations on this application.

[0102] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A fruit bag loading and empty box recycling mechanism of a fruit bagging machine, characterized in that, It comprises a mounting base plate (1), a hopper (5), a magazine clamp (6), a passive station feeding assembly (7) and a passive magazine ejecting assembly (8); The hopper (5) is arranged on the mounting base plate (1) through a hopper mounting plate (4); The hopper mounting plate (4) is in an L-shaped structure, comprising a vertical plate and a horizontal plate connected together; The passive station feeding assembly (7) comprises a first vertical guide rail (701), a first vertical sliding block (702), a first connecting rod (704), a first horizontal sliding block (705), a first horizontal guide rail (706), a synchronous guide rail (707), a synchronous sliding block (708), a station feeding block (709) and a first reset spring (714); The first vertical guide rail (701) is arranged on the vertical plate, the first horizontal guide rail (706) is connected to the end of the first vertical guide rail (701), the first vertical sliding block (702) is slidingly arranged on the first vertical guide rail (701), the first horizontal sliding block (705) is slidingly arranged on the first horizontal guide rail (706), and the first vertical sliding block (702) is connected to the first horizontal sliding block (705) through the first connecting rod (704); A vertical pressing rod (703) is vertically arranged on the first vertical sliding block (702); The synchronous guide rail (707) is arranged in parallel with the first horizontal guide rail (706), the synchronous sliding block (708) is slidingly arranged on the synchronous guide rail (707), and the synchronous sliding block (708) is connected to the first horizontal sliding block (705) through a synchronous connecting plate (713); The station feeding block (709) is connected to the side edge of the synchronous connecting plate (713), the hopper (5) is provided with a station feeding slot (550) for the station feeding block (709) to pass through, and the first reset spring (714) is connected between the synchronous connecting plate (713) and the vertical plate; The magazine clamp (6) is arranged on the outer wall surface of the hopper (5) and is used for providing a magazine to the hopper (5); The passive station feeding assembly (7) is arranged between the hopper mounting plate (4) and the hopper (5) and is used for feeding the magazine in the hopper (5) to a station forwardly; The passive magazine ejecting assembly (8) is arranged on the outer wall surface of the hopper (5) and is used for ejecting the magazine in the hopper (5) out of the hopper (5); The passive magazine ejecting assembly (8) comprises a forward guide rail (801), a forward sliding block (802), a speed increasing wire wheel (803), a reverse guide rail (805) and a reverse sliding block (807); The forward guide rail (801) and the reverse guide rail (805) are arranged on the outer wall surface of the hopper (5) respectively, the forward sliding block (802) is slidingly arranged on the forward guide rail (801), the reverse sliding block (807) is slidingly arranged on the reverse guide rail (805), and the speed increasing wire wheel (803) is rotationally connected to the outer wall surface of the hopper (5) through a wire wheel shaft (804). The forward sliding block (802) is vertically provided with a forward pressing rod (808), and the reverse sliding block (807) is connected with a pop-up tray (806); The forward sliding block (802) and the reverse sliding block (807) are connected with the speed-increasing wire wheel (803) through connecting lines respectively; The hopper (5) is provided with a material box ejection port (520) through which the material box passes and a material box ejection groove (540) through which the pop-up tray (806) passes; The passive work station feeding assembly (7) is oppositely arranged with the passive material box ejection assembly (8), and the material box clamping assembly (6) is located between the passive work station feeding assembly (7) and the passive material box ejection assembly (8).

2. A fruit bag loading and empty box recycling mechanism of a fruit bagging machine according to claim 1, characterized in that, The passive work station feeding assembly (7) further comprises a second reset spring mounting plate (710) and a second reset spring (711); The work station feeding block (709) is hinged to the side edge of a synchronous connecting plate (713), the second reset spring mounting plate (710) is connected to the synchronous connecting plate (713), and the second reset spring (711) is connected between the second reset spring mounting plate (710) and the work station feeding block (709).

3. A fruit bag loading and empty box recycling mechanism of a fruit bagging machine according to claim 1, characterized in that, The speed-increasing wire wheel (803) comprises coaxially arranged large-diameter wire wheels and small-diameter wire wheels; The forward sliding block (802) is connected with the small-diameter wire wheels through connecting lines, and the reverse sliding block (807) is connected with the large-diameter wire wheels through connecting lines.

4. A fruit bag loading and empty box recycling mechanism of a fruit bagging machine according to claim 1, characterized in that, The mechanism further comprises a hopper cabin door linkage assembly (10) for locking and unlocking the material box clamping assembly (6); The hopper cabin door linkage assembly (10) comprises a cabin door linkage assembly mounting plate (1001), a stepping motor (1002), a first trigger (1003), a second horizontal sliding block (1008), a cabin door (1010), a cabin door mounting plate (1011), a second vertical guide rail (1013), a second vertical sliding block (1014), a force transmission rod (1015), a second horizontal guide rail (1016), a second trigger (1017), an unhooking plate (1018) and a screw rod support shaft seat (1021); The cabin door linkage assembly mounting plate (1001) is fixedly connected to the side surface of the mounting bottom plate (1) through an angle support plate (13), the stepping motor (1002), the second vertical guide rail (1013), the second horizontal guide rail (1016), the unhooking plate (1018) and the screw rod support shaft seat (1021) are connected to the cabin door linkage assembly mounting plate (1001); the second horizontal sliding block (1008) is slidingly arranged on the second horizontal guide rail (1016), the second vertical sliding block (1014) is slidingly arranged on the second vertical guide rail (1013), and the second horizontal sliding block (1008) is connected with the second vertical sliding block (1014) through the force transmission rod (1015). The second horizontal slider (1008) is connected with a second trigger (1017), and the end of the second horizontal guide rail (1016) is provided with an unhooking plate (1018); the output shaft of the stepper motor (1002) is connected with a lead screw (1020), the other end of the lead screw (1020) is connected to a lead screw support shaft base (1021), and the lead screw (1020) is parallel to the second horizontal guide rail (1016); the first trigger (1003) is arranged on the lead screw (1020) and can move along the direction of the lead screw (1020), and the second trigger (1017) is located on the movement path of the first trigger (1003). The hatch mounting plate (1011) is connected to the bin (5), and the hatch (1010) is hinged to the hatch mounting plate (1011); the hatch (1010) is connected with the second vertical slider (1014) through the force transmission rod (1015).

5. A fruit bag loading and empty box recycling mechanism of a fruit bagging machine according to claim 4, characterized in that, The bin hatch linkage assembly (10) further comprises an unlocking top rod (1004), a hatch locking upper buckle (1009), a hatch reset tension spring (1022) and a hatch reset spring mounting plate (1023); the mechanism further comprises a lower buckle mounting plate (12) connected to the side of the mounting bottom plate (1) and a hatch locking lower buckle (11) hinged to the lower buckle mounting plate (12); The hatch locking upper buckle (1009) is arranged on the hatch (1010), and the hatch locking upper buckle (1009) is matched with the hatch locking lower buckle (11) to form locking of the hatch locking upper buckle (1009) and the hatch locking lower buckle (11); The hatch reset spring mounting plate (1023) is connected to the hatch linkage assembly mounting plate (1001), and the hatch reset tension spring (1022) is connected between the hatch reset spring mounting plate (1023) and the second vertical slider (1014); The unlocking top rod (1004) is arranged on the lead screw (1020) and can move along the direction of the lead screw (1020), the unlocking top rod (1004) is inserted into the buckle mounting plate (12) to drive the hatch locking lower buckle (11) to rotate, so that the hatch locking upper buckle (1009) and the hatch locking lower buckle (11) are unlocked.

6. A fruit bag loading and empty box recycling mechanism of a fruit bagging machine according to claim 1, characterized in that, The mechanism further comprises a touch type cartridge clamp ejection assembly (9), which comprises a first guide rail (901), a second guide rail (902), a third guide rail (903), a first slider (904), a second slider (905), a third slider (906), a second connecting rod (909), a third connecting rod (910), a third reset spring (911), a third reset spring mounting plate (912) and a push rod (913). The first guide rail (901), the second guide rail (902) and the third guide rail (903) are arranged at the bottom of the hopper (5), the first guide rail (901) is arranged in parallel with the second guide rail (902), and the third guide rail (903) is arranged perpendicularly to the first guide rail (901); the first sliding block (904) is arranged to slide on the first guide rail (901), the second sliding block (905) is arranged to slide on the second guide rail (902), and the third sliding block (906) is arranged to slide on the third guide rail (903); the first sliding block (904) is connected to the third sliding block (906) through the second connecting rod (909), and the third sliding block (906) is connected to the second sliding block (905) through the third connecting rod (910); The push rod (913) is connected to the second sliding block (905); The first sliding block (904) is provided with a push block (908) extending into the hopper (5); The third reset spring mounting plate (912) is arranged at the end of the first guide rail (901), and the third reset spring (911) is connected between the third reset spring mounting plate (912) and the first sliding block (904).

7. A fruit bag loading and empty box recycling mechanism of a fruit bagging machine according to claim 1, characterized in that, The mechanism further comprises a two-axis fine adjustment stabilizing assembly (2) arranged between the hopper mounting plate (4) and the mounting bottom plate (1); The two-axis fine adjustment stabilizing assembly (2) comprises a mounting base (210), a sliding table (220), a limiting block (240) and a fine adjustment spring (250); The mounting base (210) is arranged on the mounting bottom plate (1), the sliding table (220) is arranged above the mounting base (210) through the sliding fine adjustment spring (250), and the hopper mounting plate (4) is arranged on the sliding table (220); The sliding table (220) is axially supported on the mounting base (210) through the limiting block (240).

8. A fruit bag loading and empty box recycling mechanism of a fruit bagging machine according to claim 7, characterized in that, The fine adjustment spring (250) is arranged in a plurality of intervals along the circumference of the sliding table (220), and the limiting block (240) is arranged in a plurality of intervals along the circumference of the sliding table (220).

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