Fruit and vegetable packaging method and system

Abstract

The application discloses a fruit and vegetable packaging method and system. The packaging system comprises a net sleeving device and a net supporting device which are installed on a rack; the net sleeving device is used for sleeving the lower part of a net on the net supporting device; and the middle part of the net supporting device is provided with an opening. The net is sleeved on the net supporting device, the upper part of the net is in a necked state, then the object to be packaged is put into the net, and the inside and outside of the net are turned over and the object is wrapped by the friction force between the falling object and the net, so that the packaging efficiency is greatly improved, the complexity of the mechanism is reduced, the net is turned over only once, the turning over is realized by the friction force, the stress frequency of the net is reduced, the stress of the net is more uniform, the net is not easily damaged, and the packaging quality is ensured.

Description

Technical Field

[0001] This invention relates to a packaging method and also to a packaging system. Background Technology

[0002] Fruits and vegetables such as apples require mesh sleeve packaging. Traditional packaging methods are done manually, which is inefficient, cannot guarantee packaging quality, and has high labor costs.

[0003] To address the aforementioned issues, existing technologies have proposed numerous mesh bag packaging machines. For example, Chinese invention application CN113479381A, entitled "Mesh Bag Packaging System and Method," employs a two-stage mesh flipping method to achieve mesh bag packaging. Compared to manual packaging, it offers advantages such as high efficiency, guaranteed quality, and wide applicability.

[0004] However, the above packaging method still has the following drawbacks: the netting needs to be turned over twice to wrap around the packaged object, the operating mechanism is relatively complicated and inefficient, and the netting is easily damaged during the two turning processes, affecting the packaging quality. Summary of the Invention

[0005] This invention proposes a fruit and vegetable packaging method and system, the purpose of which is to further improve packaging efficiency and avoid the problem of damage to the netting caused by repeated handling.

[0006] The technical solution of this invention is as follows:

[0007] A method for packaging fruits and vegetables, comprising the following steps:

[0008] Step 1: Place the lower part of the netting sleeve onto the netting support device;

[0009] Step 2: The netting support device opens up the lower part of the netting sleeve so that the diameter of the upper part of the netting sleeve is smaller than the diameter of the lower part.

[0010] Step 3: Drop the object to be packaged into the netting from above. The object pushes the upper part of the netting into the opening of the netting device. Then, under the action of friction, the netting continues to fall with the object, and the outer layer of the netting flips to the inside and wraps around the surface of the object.

[0011] As a further improvement to the fruit and vegetable packaging method: in step three, the elastic mechanism on the netting device always drives the opening of the netting device to contract so that the netting is always in contact with the packaged object.

[0012] As a further improvement to the fruit and vegetable packaging method: in step three, the rolling mechanism at the opening of the netting device rotates with the moving net sleeve to reduce the friction between the net sleeve and the netting device.

[0013] As a further improvement to the fruit and vegetable packaging method: in step one, the netting is first separated to form an opening at the lower end of the netting, and then the lower end of the netting is placed on the netting support device.

[0014] The present invention also discloses a fruit and vegetable packaging system, including a netting device and a netting support device installed on a frame; the netting device is used to cover the lower part of the netting onto the netting support device; the netting support device has an opening in the middle.

[0015] As a further improvement to the fruit and vegetable packaging system, the opening of the support net device is scalable.

[0016] As a further improvement to the fruit and vegetable packaging system: the support net device is installed on the workbench and includes several hooks evenly distributed around the circumference;

[0017] The hook rod is mounted on the worktable via a slider, and the slider slides in the radial direction of the circumference; the net support device also includes a net support drive mechanism for driving the hook rod to move in the radial direction.

[0018] As a further improvement to the fruit and vegetable packaging system, a first roller is installed at the upper end of the hook.

[0019] As a further improvement to the fruit and vegetable packaging system: the support mesh driving mechanism includes a first cylinder, a moving plate, and a second roller; the cylinder body of the first cylinder is fixedly set relative to the worktable, the extended end of the first cylinder is connected to the moving plate, and the moving plate is provided with a sliding groove; the second roller is mounted on the slider, and the second roller cooperates with the sliding groove.

[0020] As a further improvement to the fruit and vegetable packaging system: the netting device includes a net-expanding section and a lifting section;

[0021] The mesh-expanding section is mounted on the lifting section, which is used to drive the mesh-expanding section to move up and down relative to the worktable.

[0022] Furthermore, the net-expanding section is a net-expanding mechanism; the net-expanding mechanism includes multiple vertical poles and a net-expanding drive mechanism for driving each pole to move along the radial direction; the net-supporting device is provided with gaps arranged radially and corresponding one-to-one with the poles; the net-expanding drive mechanism includes a telescopic cylinder, a lifting block, a first connecting rod, a second connecting rod, and a third connecting rod;

[0023] The cylinder body of the telescopic cylinder is located on the lifting platform of the lifting mechanism; the lifting block is connected to the extended end of the telescopic cylinder;

[0024] The uprights consist of three or more pillars evenly distributed around the circumference; each upright corresponds to a set of first, second, and third connecting rods.

[0025] The second and third connecting rods are of equal length and parallel to each other. The upper ends of the second and third connecting rods are rotatably connected to the lower ends of the uprights, and the lower ends of the second and third connecting rods are rotatably connected to the lifting platform.

[0026] One end of the first connecting rod is rotatably connected to the lifting block, and the other end is rotatably connected to the second connecting rod.

[0027] Furthermore, the netting device also includes an air needle module mounted on the frame via a lifting device;

[0028] The air needle modules are arranged in pairs and opposite to each other. The air needle modules in the same group are brought together and separated under the drive of the moving mechanism.

[0029] Furthermore, the inner end of the hook rod is inclined, with the upper part of the inner end located inside the lower part.

[0030] Furthermore, an elastic mechanism is provided between the hook rod and the slider, which is used to push the hook rod to move towards the center of the circle evenly distributed around the circumference.

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

[0032] I. This invention involves placing a mesh sleeve over a support device, with the upper part of the mesh sleeve in a constricted state. The object to be packaged is then placed inside the mesh sleeve. The friction between the object and the mesh sleeve as the object falls achieves the inward and outward rotation of the mesh sleeve, thus wrapping the object. This significantly improves packaging efficiency and reduces the complexity of the mechanism. Furthermore, because the mesh sleeve only undergoes one rotation, and this rotation is achieved through friction rather than a single point of mechanical force, the mesh sleeve experiences fewer stresses, resulting in more even stress distribution and less susceptibility to damage, ensuring packaging quality.

[0033] Second, the opening of the netting device is equipped with a rolling mechanism (the first roller at the upper end of the hook rod), which makes the friction between the netting and the packaged object much greater than the resistance of the netting device to the netting, thereby ensuring that the netting can be turned over correctly.

[0034] Third, when the object being packaged passes through the opening of the support net device, the hook rod can adaptively retract under the action of the elastic mechanism, keeping the net sleeve pressed against the surface of the object being packaged, ensuring the amount of friction while also adapting to objects of different sizes.

[0035] Fourth, the uprights of the pole expansion mechanism pass through the gaps in the netting support device. The two work together to complete the net expansion and netting operations at the same work station. It has the advantages of small movement range, high operation efficiency and compact structure. Attached Figure Description

[0036] Figure 1This is a schematic diagram of the overall structure of the packaging system;

[0037] Figure 2 This is a structural diagram of the air needle module and the cutting device. In the diagram, four sets of air needle modules (two per set) share one cutting device.

[0038] Figure 3 This is a structural diagram of the lifting mechanism and the net-expanding mechanism;

[0039] Figure 4 This is a schematic diagram of the network expansion mechanism;

[0040] Figure 5 A schematic diagram of the first structural form of the netting support device;

[0041] Figure 6 A schematic diagram of the second structural form of the support net device;

[0042] Figure 7 This is a schematic diagram showing the mesh sleeve being clamped by the air needle module and descending to the cutting position;

[0043] Figure 8 This is a schematic diagram showing the mesh belt after it has been fixed by the fixing mechanism and cut.

[0044] Figure 9 This is a schematic diagram showing the mesh sleeve between the air needle modules pulled open.

[0045] Figure 10 A schematic diagram showing the process of putting net covers on the net support device on the workbench;

[0046] Figure 11 A schematic diagram showing the netting support device spreading the netting sleeve.

[0047] Figure 12 This is a schematic diagram of a robotic arm placing a packaged object into a net.

[0048] In the picture:

[0049] 1. Frame; 2. Net support device; 3. Robot arm; 4. Roller; 5. Air needle module; 6. Cutting device; 7. Lifting drive mechanism; 8. Lifting platform; 9. Upright pole; 10. Telescopic cylinder; 11. Lifting block; 12. First connecting rod; 13. Second connecting rod; 14. Third connecting rod; 15. Worktable; 16. Hook rod; 17. Slider; 18. Second roller; 19. Moving plate; 20. Netting belt; 21. Fixing mechanism; 22. Netting in open state; 23. Upper part of netting. Detailed Implementation

[0050] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings:

[0051] Implementation Method 1

[0052] like Figure 1 A fruit and vegetable packaging system includes a frame 1, and also includes a robotic arm 3, a netting device, and a netting support device 2 mounted on the frame 1.

[0053] The robotic arm 3 is used to pick up and place packaged objects, which are generally spherical fruits or vegetables. In this embodiment, the robotic arm 3 adopts a Cartesian coordinate system structure and can move laterally, longitudinally, and vertically. The end effector of the robotic arm 3 is preferably a suction cup.

[0054] The netting device is used to fit the lower part of the netting onto the netting support device 2. This patent does not limit the specific structure of the netting device; it can be any structure capable of enlarging the opening of the netting and fitting it onto the upper end of the netting support device 2, such as multiple pneumatic fingers, air needles, or hook-like objects.

[0055] In this embodiment, the netting device includes an air needle module 5 mounted on the frame 1 via a lifting device, and also includes a cutting device 6, a net expanding mechanism, and a lifting mechanism.

[0056] It should be noted that not all of the above devices are necessary; adjustments can be made based on the condition of the raw materials used in the netting and the required range of netting movement.

[0057] The netting support device 2 has an opening in the middle. The netting support device 2 is used to support the lower half of the netting.

[0058] In this embodiment, as Figures 1 to 12 The air needle module 5, the net expanding mechanism, and the net supporting device 2 are all in four sets. The robotic arm 3 has four independent end suction cups, which correspond one-to-one with each other. The four sets of air needle modules 5 (two per set) share the same set of cutting devices 6. The four sets of net expanding mechanisms share the same set of lifting mechanisms. The four sets of net supporting devices 2 are set on the same worktable 15. In the robotic arm 3, the four suction cups share the same set of longitudinal movement mechanism and lifting mechanism. At the same time, the frame 1 has two workstations: at the first workstation, the netting 20 is opened and cut into segments, and the segments are widened and placed on the net supporting device 2; at the second workstation, the packaged object is put into the net supporting device 2 to complete the packaging. The worktable 15 switches between the two workstations under the drive of the translation drive mechanism.

[0059] The specific structure of this packaging system is as follows:

[0060] like Figure 1 The frame 1 is equipped with four sets of rollers 4, and the rollers 4 are wound with a strip of mesh, which is referred to as mesh belt 20 in this article.

[0061] like Figure 2The air needle modules 5 are arranged in pairs, facing each other. The air needle modules 5 in the same group are driven by a moving mechanism (motor-gear rack, motor-transmission belt, or second cylinder, etc.) to close and separate. The side of the air needle module 5 is provided with an oblique hole, through which a thin needle can extend. When the thin needle extends under the action of compressed air, it can be inserted into the mesh sleeve, so that the mesh sleeve moves with the air needle module 5.

[0062] Furthermore, the air needle module 5 is installed on the lifting device and can perform lifting and lowering actions.

[0063] The cutting device 6 is located above the air needle module 5 and is used to cut the mesh sleeve 20. In this embodiment, an electric heating wire is used to cut the mesh sleeve 20, and the electric heating wire moves back and forth under the action of the third cylinder.

[0064] like Figure 3 and 4 The net-expanding mechanism is mounted on the lifting mechanism, which is used to drive the net-expanding mechanism to move up and down relative to the worktable 15.

[0065] The lifting mechanism includes a lifting drive mechanism 7 (cylinder) and a lifting platform 8.

[0066] Furthermore, the net-expanding mechanism includes a plurality of vertical poles 9 and a net-expanding drive mechanism for driving each pole 9 to move along the radial direction.

[0067] In this embodiment, the net-expanding drive mechanism includes a telescopic cylinder 10, a lifting block 11, a first connecting rod 12, a second connecting rod 13, and a third connecting rod 14. The cylinder body of the telescopic cylinder 10 is located on the lifting platform 8 of the lifting mechanism. The lifting block 11 is connected to the extended end of the telescopic cylinder 10. There are four uprights 9, evenly distributed around the circumference. Each upright 9 corresponds to a set of first connecting rods 12, second connecting rods 13, and third connecting rods 14. The second connecting rods 13 and 14 are of equal length and parallel. The upper ends of the second connecting rod 13 and 14 are rotatably connected to the lower ends of the uprights 9, and the lower ends of the second connecting rod 13 and 14 are rotatably connected to the lifting platform 8, forming a parallelogram mechanism to ensure that the uprights 9 are always in a vertical state. One end of the first connecting rod 12 is rotatably connected to the lifting block 11, and the other end is rotatably connected to the second connecting rod 13. When the telescopic cylinder 10 extends or retracts, the lifting block 11 moves up and down, which drives the second link 13 to rotate through the first link 12. The parallelogram mechanism composed of the second link 13 and the third link 14 will drive the uprights 9 to translate along the arc trajectory, thereby realizing the synchronous closing / opening of the four uprights 9.

[0068] The mesh expansion drive mechanism can also be in other structural forms, such as four cylinders evenly distributed around the circumference.

[0069] The net-expanding mechanism can also adopt other structural forms as a whole, such as four circumferentially distributed cylinders, each with a pneumatic finger installed at its inner end. The pneumatic finger pulls the net opening in all directions to expand it.

[0070] Furthermore, the opening of the supporting net device 2 is scalable, thereby changing the size of the central opening and further expanding the lower half of the net to ensure that the packaged object can pass through smoothly.

[0071] like Figure 5 and 6 In this embodiment, the structure of the net-supporting device 2 includes four sets of circumferentially distributed hook rods 16. The hook rods 16 are mounted on the worktable 15 via sliders 17, with the sliders 17 sliding in the radial direction of the circumferentially distributed hook rods. The worktable 15 has through holes corresponding to the opening positions of the net-supporting device 2.

[0072] Preferably, a first roller is installed at the upper end of the hook rod 16.

[0073] Preferably, the inner end of the hook rod 16 is inclined, with the upper part of the inner end located inside the lower part.

[0074] The net support device 2 also includes a net support drive mechanism for driving the hook rod 16 to move in the radial direction.

[0075] To save space and reduce component costs, this embodiment employs a single cylinder to simultaneously drive multiple hook rods 16 in the mesh support drive mechanism. The mesh support drive mechanism includes a first cylinder, a moving plate 19, and a second roller 18. The cylinder body of the first cylinder is fixed relative to the worktable 15, and the extended end of the first cylinder is connected to the moving plate 19, which has a sliding groove. The second roller 18 is mounted on a slider 17 and engages with the sliding groove. The moving plate 19 can be positioned on the left or right side of the hook rods 16 (e.g., ...). Figure 5 ), or it can be on the front or back side (e.g. Figure 6 The chute is preferably a straight chute, but it can also be an arc chute or other forms. Two second rollers 18 can be connected to the same moving plate 19, or more than three second rollers 18 can be connected simultaneously, so that more hook rods 16 can be driven to move at the same time by one cylinder.

[0076] Furthermore, the support net device 2 is provided with radially arranged gaps corresponding one-to-one with the uprights 9. In this embodiment, each set of hook rods 16 consists of two rods, which are mounted on the same slider 17, and the gap between the two rods allows the uprights 9 to pass through.

[0077] Furthermore, an elastic mechanism is provided between the hook rod 16 and the slider 17. This elastic mechanism is used to push the hook rod 16 to move towards the center of the circle. The elastic mechanism can refer to the structure of the return spring in the Chinese utility model patent "Pull Rod Mechanism" with authorization announcement number CN217836157U; alternatively, the connection between the hook rod 16 and the slider 17 can be set as a rotary connection, and a torsion spring can be provided at this rotary connection, which serves as the elastic mechanism. The operation process of this packaging system is as follows:

[0078] Step 1: Place the lower part of the netting sleeve onto the netting support device 2.

[0079] Specifically, it includes:

[0080] Step 1-1: The separated air needle module 5 rises to a position close to the fixing mechanism 21, then clamps the mesh sleeve 20, the air needle extends, and then the fixing mechanism 21 is released. The air needle module 5 drives the end of the mesh sleeve 20 downward to the cutting position, as shown. Figure 7 As shown.

[0081] Steps 1-2, as follows Figure 8 The fixing mechanism 21 is activated, clamping the portion of the mesh belt 20 located above the cutting position to prevent the mesh belt 20 from springing back after cutting. Then the cutting device 6 is activated to cut a section of the mesh belt 20 to a preset length.

[0082] Steps 1-3, as follows Figure 9 The air needle module 5 separates, and driven by the air needle, the cut-off netting is separated into a cylindrical shape. Then, the lifting mechanism operates, causing the upright 9 of the net-expanding mechanism to insert into the netting. The upright 9 then begins to separate outwards, while the air needle retracts and the air needle module 5 is withdrawn. At this point, the netting, fixed on the net-expanding mechanism, is expanded into a square shape, and the size of the opening at the lower end of the netting is larger than the size of the opening of the net-supporting device 2.

[0083] Steps 1-4, as follows Figure 10 The lifting mechanism descends, placing the lower half of the net sleeve onto the corresponding net support device 2. The upper end of the upright 9 moves below the worktable 15, and then the upright 9 of the net expanding mechanism moves towards the center and closes.

[0084] Step 2: The netting support device 2 opens up the lower part of the netting sleeve so that the diameter of the upper part 23 of the netting sleeve is smaller than the diameter of the lower part.

[0085] Specifically, the translation drive mechanism (cylinder, motor-rack and pinion structure, or motor-belt structure) connected to the worktable 15 actuates, moving the worktable 15 along with the mesh support device 2 to the second position. Simultaneously, the first cylinder actuates, driving the sliders 17 to move via the moving plate 19, and the hooks 16 to move outwards, opening the lower part of the mesh sleeve and widening the opening of the mesh support device 2. At this time, the upper part 23 of the mesh sleeve is in a constricted state relative to the lower end, such as... Figure 11 .

[0086] Step 3, as follows Figure 12 The robotic arm 3 lowers the object to be packaged into the netting from above. The object first pushes the upper part 23 of the netting into the opening of the netting support device 2. At this time, the folded part of the netting is located between the first roller and the object. Then, under the action of friction, the netting continues to fall with the object, and the outer layer of the netting gradually folds inward along the first roller and wraps around the surface of the object. During this process, the elastic mechanism on the netting support device 2 will always drive the hook 16 to move inward, so that the netting is always in contact with the object.

[0087] Finally, the packaged items fall onto the conveyor and are transported to other locations.

[0088] Implementation Method 2

[0089] The difference between this embodiment and embodiment one is that the netting device only includes an air needle module and a lifting device, and does not include a net-expanding mechanism and a lifting mechanism.

[0090] At this point, the expanding section is a needle module, and the lifting section is a lifting device.

[0091] Accordingly, the operation method of steps 1-3 to 1-4 in this embodiment is changed to:

[0092] Steps 1-3: The air needle module is separated. Driven by the air needle, the cut-off mesh sleeve is separated into a cylindrical shape.

[0093] Steps 1-4: The lifting device drops directly, placing the cylindrical netting onto the corresponding support device. Then the air needle retracts, the air needle module separates, and the lifting device returns to its original position.

[0094] Alternatively, step 1 in implementation method one can be changed to be implemented in the following way:

[0095] The separate air needle modules rise to a position close to the fixing mechanism, then clamp the mesh belt, the air needles extend, then the fixing mechanism releases, the air needle modules separate, and the end part of the mesh belt is pulled into a cylindrical shape. Then the lifting device drives the air needle modules and the end of the mesh belt to move downward, so that the lower end of the mesh belt is directly placed on the mesh support device. Then the fixing mechanism acts to fix the upper mesh belt, and then the cutting device cuts the mesh belt.

[0096] Implementation Method 3

[0097] The difference between this embodiment and embodiment one is that the netting device only includes a net-expanding mechanism and a lifting mechanism, and does not include an air needle module and a lifting device.

[0098] At this point, the net-expanding section is the net-expanding mechanism, and the lifting section is the lifting mechanism.

[0099] Correspondingly, in steps 1-2 to 1-3, the mesh belt is no longer separated by air needles, but by other special devices (such as pneumatic fingers, etc.), or the material put in is already a cylindrical mesh belt.

Claims

1. A fruit and vegetable packaging system, characterized in that: It includes a netting device and a netting support device (2) mounted on a frame (1); the netting device is used to put the lower part of the netting onto the netting support device (2); the netting support device (2) has an opening in the middle; The opening of the support net device (2) is scalable; The net support device (2) is installed on the workbench (15) and includes several hook rods (16) evenly distributed around the circumference. The hook rod (16) is mounted on the workbench (15) via a slider (17), and the slider (17) slides in the radial direction of the circumference; the net support device (2) also includes a net support drive mechanism for driving the slider (17) to move in the radial direction. The inner end of the hook rod (16) is inclined, and the upper part of the inner end is located inside the lower part; The upper end of the hook rod (16) is equipped with a first roller; An elastic mechanism is also provided between the hook rod (16) and the slider (17); The frame (1) is also equipped with a robotic arm (3) for holding and placing the packaged object, and the end of the robotic arm (3) is a suction cup; The workbench (15) is provided with a through hole corresponding to the opening position of the support net device (2), and the packaged object falls through the through hole; The packaging process for this system is as follows: Step 1: Place the lower part of the netting sleeve onto the netting support device (2); Step 2: The net support device (2) opens the lower part of the net sleeve so that the diameter of the upper part (23) of the net sleeve is smaller than the diameter of the lower end; Step 3: Drop the object to be packaged into the net from above. The object to be packaged pushes the upper part (23) of the net into the opening of the net support device (2). Then, under the action of friction, the net continues to fall with the object to be packaged. The outer layer of the net flips to the inside and wraps around the surface of the object to be packaged.

2. The fruit and vegetable packaging system as described in claim 1, characterized in that: The support drive mechanism includes a first cylinder, a moving plate (19), and a second roller (18); the cylinder body of the first cylinder is fixedly set relative to the worktable (15), the extended end of the first cylinder is connected to the moving plate (19), and the moving plate (19) is provided with a sliding groove; the second roller (18) is mounted on the slider (17), and the second roller (18) cooperates with the sliding groove.

3. The fruit and vegetable packaging system as described in claim 1, characterized in that: The netting device includes a net-expanding section and a lifting section; The mesh-expanding part is mounted on the lifting part, which is used to drive the mesh-expanding part to move up and down relative to the worktable (15).

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