A pick-and-place bagging mechanism and method for an automated fruit bagging machine

Abstract

The application relates to a taking and delivering bag supporting mechanism and method for an automatic fruit bagging machine, which comprises a mounting platform, a power assembly, a bag taking and delivering assembly and a bag supporting assembly; the power assembly comprises a common slider and a common slider driving element; the bag taking and delivering assembly comprises a push-pull electromagnet, a suction cup, a suction cup seat and a slider; the bag supporting assembly comprises an opening suction cup and an opening suction cup frame; the suction cup is mounted on the suction cup seat, the slider is connected with the common slider to drive the suction cup seat to move back and forth, the push-pull electromagnet can drive the suction cup seat to move towards bagging, and the suction cup takes the bag; the opening suction cup frame is symmetrically arranged, the opening suction cup is arranged on the opening suction cup frame, the opening suction cup frame is connected with an opening suction cup driving element for driving the two opening suction cup frames to move close to each other, and a reset element is arranged between the two opening suction cup frames. Compared with the prior art, the application can improve the space utilization rate of the bag taking and delivering and supporting mechanism of the bagging machine in the fruit bagging process, and ensure the stability and automation degree of the mechanism movement.

Description

Technical Field

[0001] This invention relates to the field of agricultural fruit bagging technology, and in particular to a bag-feeding and supporting mechanism and method for an automated fruit bagging machine. Background Technology

[0002] To minimize the impact of fruit diseases, pests, and environmental pollution, and to improve fruit quality, fruit growers typically bag the fruit during its young stage. To improve bagging efficiency and save labor costs, some highly automated fruit bagging machines and auxiliary tools have been developed. However, the design of the bag-feeding and bag-holding mechanisms in existing automated fruit bagging machines is not perfect. Firstly, these mechanisms require high power sources and stable operation, as well as high precision and automation. Secondly, the numerous steps and large space requirements of these mechanisms increase the design difficulty of fruit bagging machines in confined spaces. Therefore, designing a simple, stable, and highly precise bag-feeding and bag-holding mechanism for a fruit bagging machine within the smallest possible space is of significant importance for promoting the development of fully automated fruit bagging machines. Summary of the Invention

[0003] The purpose of this invention is to provide a bag-feeding and supporting mechanism and method for an automated fruit bagging machine, which improves the space utilization rate of the bag-feeding and supporting mechanism during the fruit bagging process, while ensuring the stability and automation of the mechanism's movement.

[0004] The objective of this invention can be achieved through the following technical solution: a bag-feeding and supporting mechanism for an automated fruit bagging machine, comprising an installation platform, a power component, a bag-feeding component, and a bag-supporting component;

[0005] The power assembly includes a common slider that is slidably mounted on the mounting platform and a common slider drive component for driving the common slider to move back and forth.

[0006] The bag delivery assembly includes a push-pull electromagnet, a suction cup, a suction cup base, and a slider;

[0007] The bag support assembly includes an open suction cup and an open suction cup holder;

[0008] The suction cup is mounted on the suction cup base, and the slider is connected to the common slider to drive the suction cup base to move back and forth. The push-pull electromagnet can drive the suction cup base to move toward the bag, and the suction cup picks up the bag.

[0009] The open suction cup frames are symmetrically arranged, with open suction cups mounted on them. The open suction cup frames are connected to open suction cup drive components for driving the two open suction cup frames to move closer to each other. A reset component is provided between the two open suction cup frames.

[0010] Preferably, the mounting platform consists of a pair of base plates and side plates, with grooves on the side plates to restrict the degree of freedom of movement of the slider.

[0011] Preferably, a material box for holding paper bags is placed inside the installation platform.

[0012] Preferably, the shared slider drive includes a motor and a guide rod is provided along the front-rear direction of the mounting platform. The shared slider receives power from the motor and reciprocates along the guide rod.

[0013] More preferably, the motor is a stepper screw motor. The integrated slider receives power from the stepper screw motor and reciprocates along the guide rod.

[0014] More preferably, the power assembly further includes a motor base, a support bearing, a bearing support, a guide shaft seat, and a linear bearing;

[0015] The motor end of the motor is mounted on the motor base, the rod end is mounted on the bearing support through the support bearing, and the guide rod is mounted on the guide shaft seat through the linear bearing.

[0016] Preferably, the push-pull electromagnet is located on the outside of the mounting platform. After the push-pull electromagnet is energized, the push rod can pass through the mounting platform to drive the suction cup seat to move downward (to the side where the bag is located).

[0017] Preferably, the bag delivery assembly further includes a suction cup holder and a suction cup pusher;

[0018] The suction cup frame is connected to the slider. The cylindrical guide post of the suction cup pusher passes through the suction cup frame and connects to the suction cup base. The push-pull electromagnet drives the suction cup pusher, which in turn drives the suction cup base to move downward.

[0019] More preferably, the suction cup holder is provided with an opening for the cylindrical guide post to pass through, and the cylindrical guide post is clearance-fitted with the opening.

[0020] More preferably, the opening shown is stepped, wider at the top and narrower at the bottom. A return spring for resetting the suction cup is provided between the step of the opening and the suction cup holder body. The return spring is sleeved on a cylindrical guide post. Due to the shape design of the opening, the return spring can pass through the upper half of the stepped opening, but not the lower half. Therefore, the return spring is compressed after the suction cup pusher moves downward, and then it self-restores.

[0021] Preferably, the slider is connected to the delivery end cover, which is slidably disposed in a groove provided along the front-to-back direction on the mounting platform. A damper is provided in front of the delivery end cover, and the damper can contact the open suction cup drive component.

[0022] More preferably, the opening suction cup driving component includes an opening terminal, an opening connecting rod, and an opening slider;

[0023] The opening terminal is connected to the opening suction cup frame, and the opening slider receives power transmission from the damper. Under the constraint of the opening connecting rod, it drives the opening terminal and the opening suction cup frame to complete the closing action.

[0024] Preferably, the reset component includes an open spring, with two open suction cup holders slidably mounted on the open spring guide post, and the open spring sleeved on the open spring guide post and located between the two open suction cup holders.

[0025] Preferably, the opening slider receives power transmission from the damper and, under the constraint of the opening connecting rod, drives the opening terminal and the opening suction cup frame to complete the closing action. The opening suction cup frame completes the opening action under the action of the opening spring restoring force, and the opening suction cup thus completes the bag-supporting action.

[0026] A method for picking up, feeding, and supporting bags for an automated fruit bagging machine, using the aforementioned mechanism, includes the following steps:

[0027] S1: The push-pull electromagnet drives the suction cup base to move downward. After the suction cup fixed on the suction cup base moves downward to the lower limit position, it picks up a single bag. The push-pull electromagnet is de-energized, the suction cup base is reset, and the suction cup pulls the bag upward to complete the bag picking action.

[0028] S2: The shared slider driver drives the shared slider to move forward. The shared slider drives the suction cup seat to move forward through the slider, which in turn drives the bag to move forward, completing the bag delivery action.

[0029] S3: The opening suction cup drive unit causes the relatively set opening suction cup frame to move towards the center, the opening suction cup to suck up the bag, and the reset unit causes the opening suction cup frame to reset, completing the bag opening action.

[0030] In this invention, the push-pull electromagnet drives the suction cup pusher and suction cup seat to complete the up-and-down bag picking action. The slider moves back and forth along the slide groove with the overall slider to complete the bag feeding action. The end cap and damper play the roles of power transmission and vibration reduction and energy dissipation.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. This invention can improve the space utilization rate of the bag-feeding and bag-supporting mechanism of the bagging machine during the fruit bagging process, while ensuring the stability of the mechanism's movement and the degree of automation;

[0033] 2. The present invention includes a power component, a bag-feeding component, and a bag-supporting component, each of which has only a single degree of freedom, thus ensuring the stability and reliability of the system's motion;

[0034] 3. In addition to using a negative pressure suction cup to pick up paper bags, this invention uses only one stepper screw motor as a drive to complete multiple actions, including picking up and feeding bags and supporting bags.

[0035] 4. This invention requires only two workstations to complete the process from taking bags out of the material box to opening the bags, which greatly reduces the need for movement space;

[0036] 5. The installation platform of this invention is mainly used to fix other components and provide guidance. The power component relies solely on a single-step screw motor to provide the necessary power to the bag picking and feeding assembly and the bag supporting assembly. The bag picking and feeding assembly is designed with an electromagnet to pick up the bag from the material box. This solution only requires the space of two workstations to complete the process of bag picking, bag feeding and bag supporting, realizing the automation of the entire process. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the bag-feeding and supporting mechanism of the present invention;

[0038] Figure 2 This is a schematic diagram of the installation platform of the present invention;

[0039] Figure 3 This is a schematic diagram of the power component structure of the present invention. Figure 1 ;

[0040] Figure 4 This is a schematic diagram of the power component structure of the present invention. Figure 2 ;

[0041] Figure 5 This is a schematic diagram of the structure of the bag delivery assembly of the present invention. Figure 1 ;

[0042] Figure 6 This is a schematic diagram of the structure of the bag delivery assembly of the present invention. Figure 2 ;

[0043] Figure 7 This is a schematic diagram of the structure of the bag support assembly of the present invention. Figure 1 ;

[0044] Figure 8 This is a schematic diagram of the structure of the bag support assembly of the present invention. Figure 2 ;

[0045] In the picture:

[0046] 100. Installation platform; 110. Base plate; 120. Side plate;

[0047] 200. Power assembly; 210. Motor; 220. Motor base; 230. Support bearing; 240. Bearing support; 250. Guide rod; 260. Guide shaft seat; 270. Linear bearing; 280. Integrated slider;

[0048] 300. Bag delivery assembly; 310. Push-pull electromagnet; 320. Electromagnet fixing plate; 330. Suction cup; 340. Suction cup base; 350. Suction cup bracket; 360. Suction cup pusher; 370. Slider; 380. Presentation end cap; 390. Damper;

[0049] 400. Bag support assembly; 410. Opening suction cup; 420. Opening suction cup holder; 430. Opening spring; 440. Opening spring guide post; 450. Opening terminal; 460. Opening connecting rod; 470. Opening slider; 480. Opening end cap. Detailed Implementation

[0050] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0051] Example 1

[0052] A bag-feeding and supporting mechanism for an automated fruit bagging machine includes an installation platform 100 and a power assembly 200, a bag-feeding assembly 300, and a bag-supporting assembly 400 disposed on the installation platform 100.

[0053] The power assembly 200 includes a common slider 280 and a common slider driver. The common slider 280 moves back and forth along the mounting platform 100 under the drive of the common slider driver.

[0054] The bag delivery assembly 300 includes a push-pull electromagnet 310, a suction cup 330, a suction cup base 340, and a slider 370. The slider 370 is connected to the common slider 280 and can drive the suction cup base 340 to move back and forth under the action of the common slider 280. The push-pull electromagnet 310 can drive the suction cup base 340 to move toward the bag, and the suction cup 330 provided on the suction cup base 340 can pick up the bag.

[0055] The bag support assembly 400 includes an open suction cup 410 and an open suction cup frame 420. A pair of open suction cup frames 420 are arranged symmetrically from top to bottom. The open suction cup 410 is disposed on the opposite surface of the open suction cup frame 420. The open suction cup frame 420 on the upper and lower sides is brought closer to each other by the open suction cup drive component. Then the open suction cup frame 420 is separated by the action of the reset component.

[0056] Example 2

[0057] A bag-feeding and bag-supporting mechanism for a fully automatic fruit bagging machine, such as Figure 1 As shown, it includes an installation platform 100, a power unit 200, a bag delivery and pick-up assembly 300, and a bag support assembly 400.

[0058] like Figure 2As shown, the installation platform 100 includes a pair of base plates 110 and side plates 120.

[0059] like Figures 3-4 As shown, the power assembly 200 includes a stepper screw motor 210, a motor base 220, a support bearing 230, a bearing support 240, a guide rod 250, a guide shaft seat 260, a linear bearing 270, and a common slider 280. The motor end of the stepper screw motor 210 is mounted on the motor base 220, and the rod end is mounted on the bearing support 240 via the support bearing 230. The guide rod 250 is mounted on the guide shaft seat 260 via the linear bearing 270. The common slider 280 is installed in conjunction with the stepper screw motor 210 and the guide rod 250. The rotation of the stepper screw motor 210 drives the common slider 280 to move linearly along the guide rod 250.

[0060] like Figures 5-6 As shown, the bag delivery assembly 300 includes a push-pull electromagnet 310, an electromagnet fixing plate 320, a suction cup 330, a suction cup base 340, a suction cup frame 350, a suction cup pusher 360, a slider 370, a delivery end cap 380, and a damper 390. The push-pull electromagnet 310 is mounted on the mounting platform base plate 110 via the electromagnet fixing plate 320. The suction cup 330 is mounted on the suction cup base 340. The cylindrical guide post of the suction cup pusher 360 passes through the suction cup frame 350 and connects to the suction cup base 340. The suction cup frame 350 is connected to the slider 370 connected to the integrated slider 280. The damper 390 is installed inside the delivery end cap 380. The slider 370 passes through the groove of the side plate 120 and connects to the delivery end cap 380.

[0061] like Figures 7-8 As shown, the bag support assembly 400 includes an opening suction cup 410, an opening suction cup frame 420, an opening spring 430, an opening spring guide post 440, an opening terminal 450, an opening connecting rod 460, an opening slider 470, and an opening end cap 480. The opening suction cup 410 is connected to the opening suction cup frame 420. The opening suction cup frame 420 is installed in pairs via the opening spring guide post 440 with the opening spring 430. The opening terminal 450 passes through the side plate 120 and is connected to the opening suction cup frame 420. The two ends of the opening connecting rod 460 are respectively installed on the opening terminal 450 and the opening slider 470. The opening slider 470 passes through the side plate 120 and is connected to the opening end cap 480.

[0062] In some embodiments, the push-pull electromagnet 310 controls the push rod to move downward after being energized (based on...). Figure 1When the suction cup 330 touches the suction cup pusher 360, it causes the suction cup pusher 360 and the suction cup seat 340 connected to the suction cup pusher 360 to move downward together. After the suction cup 330 fixed on the suction cup seat 340 moves downward to the lower limit position, the suction cup 330 picks up a single paper bag. The push-pull electromagnet 310 is de-energized, and the suction cup pusher 360 is reset under the action of the spring. The suction cup 330 pulls the paper bag to move upward together with the suction cup pusher 360. After moving to the upper limit position, the stepper screw motor 210 rotates, driving the integrated slider 280 to move linearly along the guide rod 250. The integrated slider 280 drives the bag picking and delivering assembly 300, including the slider 370, to move forward along the slide groove on the side plate 120. After the damper 390 in the bag delivery assembly 300 contacts the opening slider 470, it pushes the opening slider 470 forward along the groove on the side plate 120. Under the constraint of the opening connecting rod 460, the opening terminal 450 moves inward. The two opening suction cup frames 420 connected to the opening terminal 450, together with the opening suction cups 410 on the opening suction cup frames 420, move towards the middle along the opening spring guide post 440, while compressing the opening spring 430. After moving to the limit position, the stepper screw motor 210 is driven to reverse, and the integrated slider 280 moves back along the guide rod 250. Under the restoring force of the opening spring 430, the opening suction cup frames 420 move to both ends until they touch the two bottom plates 110. The paper bag completes the bag-opening action under the suction force of the opening suction cups 410, and the opening terminal 450 and the opening slider 470 return to their original positions. The bag delivery assembly 300 moves back to its original position along with the body slider 280, completing the bag delivery and bag opening process.

[0063] Example 3

[0064] A bag-feeding and bag-supporting mechanism for a fully automatic fruit bagging machine mainly includes: an installation platform 100, a power unit 200, a bag-feeding assembly 300, and a bag-supporting assembly 400.

[0065] The installation platform 100 is a box-shaped panel structure, with a material box for holding paper bags placed inside. The bag feeding assembly 300 and the bag supporting assembly 400 are both installed inside the box-shaped installation platform 100.

[0066] Furthermore, the power assembly 200 mainly consists of components such as a stepper screw motor 210, a motor base 220, a support bearing 230, a bearing support 240, a guide rod 250, a guide shaft seat 260, a linear bearing 270, and a common slider 280. The stepper screw motor 210 is mounted on the motor base 220 with screws, and the motor base 220 is mounted on the mounting platform 100 with screws. The screw is mounted on the bearing support 240 via the support bearing 230. The guide rod 250 is mounted on the guide shaft seat 260 via the linear bearing 270. The guide shaft seat 260 is mounted on the other side of the mounting platform 100. The common slider 280 completes stable linear movement on the mounting platform base plate 110 through power transmission from the screw motor 210 and the guiding action of the guide rod 250.

[0067] Furthermore, the bag delivery assembly 300 comprises components such as a push-pull electromagnet 310, an electromagnet fixing plate 320, a suction cup 330, a suction cup base 340, a suction cup frame 350, a suction cup pusher 360, a slider 370, a delivery end cap 380, and a damper 390. The push-pull electromagnet 310 is mounted on the electromagnet fixing plate 320, which is mounted on the mounting platform base plate 110. The suction cup 330 is spirally mounted on the suction cup base 340, which is connected to the suction cup pusher 360 by screws. The suction cup pusher 360 cooperates with the suction cup frame 350 through the cylindrical guide post on the suction cup pusher 360. The suction cup frame 350 is connected to the slider 370 by bolts. The slider 370 is connected to the common slider 280 in the power assembly 200 by screws. The movement of the common slider 280 along the lead screw drives the movement of the slider 370 in the bag delivery assembly 300. The slider 370 is slidably set on the slide groove of the side plate 120 of the mounting platform. The slider 370 passes through the side plate 120 and is connected to the delivery end cover 380. The damper 390 is installed in the hole of the delivery end cover 380.

[0068] Furthermore, the bag support assembly 400 comprises components such as an opening suction cup 410, an opening suction cup frame 420, an opening spring 430, an opening spring guide post 440, an opening terminal 450, an opening connecting rod 460, an opening slider 470, and an opening end cap 480. The opening suction cup 410 is spirally mounted on the opening suction cup frame 420, which is symmetrically arranged vertically on the side plate 120 of the mounting platform. A movement groove for the opening suction cup frame is formed on the side plate 120 of the mounting platform. The opening spring 430 is mounted on the opening spring guide post 440, which is fitted with an opening hole on the opening suction cup holder 420. The opening terminal 450 contacts the outer side of the mounting platform side plate 120 and is connected to the opening suction cup holder 420 by bolts. The opening connecting rod 460 is fitted with the column of the opening terminal 450. The other end of the opening terminal 450 is fitted with the column of the opening slider 470. The opening slider 470 is fitted with a hole on the opening end cap 480.

[0069] It should be noted that the orientations or positional relationships indicated by terms such as "front," "rear," "left," "right," "up," "down," and "in sequence" in this invention are based on the orientations or positional relationships indicated in the accompanying drawings. They are merely for the purpose of making the description of embodiments more concise and clear, and do not imply that the parts or components must have definite positional limitations. Therefore, they should not be construed as limitations on this application. Furthermore, the embodiments described in this application are only a part of the embodiments of this invention and cannot represent all embodiments. Other embodiments obtained by those skilled in the art without creative effort should all fall within the protection scope of this invention.

[0070] 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 bag taking and placing mechanism for an automated fruit bagging machine, characterized in that, It comprises a mounting platform (100), a power assembly (200), a bag taking and delivering assembly (300) and a bag supporting assembly (400); The power assembly (200) comprises a common slider (280) slidingly arranged on the mounting platform (100) and a common slider driving member for driving the common slider (280) to move forward and backward; The bag taking and delivering assembly (300) comprises a push-pull electromagnet (310), a suction cup (330), a suction cup seat (340) and a slider (370); The bag supporting assembly (400) comprises an opening suction cup (410) and an opening suction cup holder (420); The suction cup (330) is arranged on the suction cup seat (340), the slider (370) is connected with the common slider (280) to drive the suction cup seat (340) to move forward and backward, the push-pull electromagnet (310) can drive the suction cup seat (340) to move towards the bag, and the suction cup (330) sucks the bag; The opening suction cup holder (420) is symmetrically arranged, the opening suction cup (410) is arranged on the opening suction cup holder (420), the opening suction cup holder (420) is connected with an opening suction cup driving member for driving the two opening suction cup holders (420) to move towards each other, and a reset member is arranged between the two opening suction cup holders (420); The slider (370) is connected with a presenting end cover (380), the presenting end cover (380) is slidingly arranged in a sliding groove arranged along the front-back direction of the mounting platform (100), a damper (390) is arranged on the presenting end cover (380), and the damper (390) can contact the opening suction cup driving member; The opening suction cup driving member comprises an opening terminal (450), an opening connecting rod (460) and an opening slider (470); The opening terminal (450) is connected with the opening suction cup holder (420), the opening slider (470) receives power transmission from the damper (390), and under the constraint of the opening connecting rod (460), the opening terminal (450) and the opening suction cup holder (420) are driven to complete a closing action.

2. A bag picking and placing mechanism for an automated fruit bagging machine as claimed in claim 1, wherein, The common slider driving member comprises a motor (210), a guide rod (250) arranged along the front-back direction of the mounting platform (100), and the common slider (280) receives power from the motor (210) to reciprocate along the guide rod (250).

3. A bag-picking and placing mechanism for an automated fruit bagging machine according to claim 2, wherein, The power assembly (200) further comprises a motor base (220), a support bearing (230), a bearing support (240), a guide shaft base (260) and a linear bearing (270); The motor (210) is arranged at the motor end of the motor base (220), the rod end is arranged on the bearing support (240) through the support bearing (230), and the guide rod (250) is arranged on the guide shaft base (260) through the linear bearing (270).

4. A bag-picking and placing mechanism for an automated fruit bagging machine as claimed in claim 1, wherein, The push-pull electromagnet (310) is arranged outside the mounting platform (100), and after the push-pull electromagnet (310) is electrified, a top rod can pass through the mounting platform (100) to drive the suction cup seat (340) to move downward.

5. A bag-picking and placing mechanism for an automated fruit bagging machine as claimed in claim 1, wherein, The bag taking and delivering assembly (300) further comprises a suction cup holder (350) and a suction cup pusher (360); The suction disc holder (350) is connected with the slider (370), the cylindrical guide column of the suction disc pusher (360) passes through the suction disc holder (350) to connect the suction disc seat (340), the push-pull electromagnet (310) drives the suction disc pusher (360), and then drives the suction disc seat (340) to move downwards.

6. A bag-picking mechanism for an automated fruit bagging machine according to claim 5, wherein, The suction disc holder (350) is provided with an opening for the cylindrical guide column to pass through, the cylindrical guide column is in clearance fit with the opening, the opening is in a stepped shape with the upper part being larger and the lower part being smaller, a reset spring for resetting the suction disc holder (350) is arranged between the step and the body of the suction disc holder (350), and the reset spring is sleeved on the cylindrical guide column.

7. A bag-picking and placing mechanism for an automated fruit bagging machine as claimed in claim 1, wherein, The reset member comprises an open spring (430), and the two-side open suction disc holder (420) is slidably arranged on the open spring guide column (440); the open spring (430) is sleeved on the open spring guide column (440) and located between the two-side open suction disc holder (420).

8. A bag picking method for an automated fruit bagging machine, characterized in that, The mechanism is used to perform the following steps: S1: the push-pull electromagnet (310) drives the suction disc seat (340) to move downwards, the suction disc (330) fixed on the suction disc seat (340) sucks the bag after moving downwards to the lower limit position, the push-pull electromagnet (310) is powered off, the suction disc seat (340) is reset, the suction disc (330) pulls the bag upwards to complete the bag taking action; S2: the common body slider driving member drives the common body slider (280) to move forwards, the common body slider (280) drives the suction disc seat (340) to move forwards through the slider (370), and then drives the bag to move forwards to complete the bag sending action; S3: the open suction disc driving member drives the oppositely arranged open suction disc holders (420) to move towards the middle, the open suction disc (410) sucks the bag, the reset member resets the open suction disc holder (420) to complete the bag supporting action.

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