A terminal actuator and harvesting method for cherry tomato bunch harvesting

Abstract

A cherry tomato string picking end execution device and picking method, the device comprises: a shearing mechanism; a multifunctional mechanism comprising: an interface feed wheel bin, a packaging cylinder and a driving component, the interface feed wheel bin is arranged below the shearing mechanism; the packaging cylinder is arranged in the interface feed wheel bin and is connected with the driving component; a plurality of through holes or through grooves are arranged in the interface feed wheel bin along the circumferential direction of the bin body, wherein the through hole or through groove opposite to the shearing mechanism is a feeding port, and the other through holes or through grooves are discharge ports or protective sleeve placing entrances; and a controller is connected with the driving component and the packaging cylinder respectively, the controller controls the driving component to drive the packaging cylinder to rotate intermittently, when the cylinder port of the packaging cylinder is aligned with the feeding port, the shearing mechanism acts to cut off the tomato string to be picked and falls into the protective sleeve; the controller controls the packaging cylinder to package the protective sleeve, and continues to rotate to send the packaged cherry tomato string to the discharge port. The application also provides a cherry tomato string picking method.

Description

Technical Field

[0001] This invention relates to whole-batch fruit harvesting technology, and in particular to a terminal execution device and harvesting method for cherry tomato bunch harvesting. Background Technology

[0002] Whole-batch tomatoes are typically small and delicate, making them easily damaged during harvesting. To ensure the marketability of whole-batch tomatoes, protective measures are taken as much as possible during harvesting to protect the fruit. However, in current technology, these measures are mostly done manually, which not only increases labor intensity but also reduces harvesting efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a cherry tomato bunch harvesting end-effector and harvesting method, which addresses the above-mentioned deficiencies of the prior art.

[0004] To achieve the above objectives, the present invention provides a cherry tomato bunch harvesting end-effector, comprising:

[0005] The shearing mechanism is used to cut the stems of cherry tomatoes before harvesting, thus separating the bunches of cherry tomatoes from the plant.

[0006] A multi-functional mechanism for packaging and protecting the separated cherry tomato bunches, the multi-functional mechanism comprising:

[0007] The system includes a feeding wheel bin, a packaging cylinder, and a drive unit. The feeding wheel bin is located below the shearing mechanism. The packaging cylinder is located inside the feeding wheel bin and connected to the drive unit. The feeding wheel bin has multiple through holes or slots along its circumference, with the through hole or slot directly opposite the shearing mechanism serving as the inlet, and the other through holes or slots serving as outlets or protective sleeve inlets.

[0008] The controller is connected to the drive component and the packaging tube respectively. The controller controls the drive component to drive the packaging tube to rotate intermittently. When the opening of the packaging tube is aligned with the feed port, the shearing mechanism cuts off the bunch of tomatoes to be harvested and drops them into the protective sleeve. The controller controls the packaging tube to seal the protective sleeve and continues to rotate to send the packaged cherry tomato bunches to the discharge port.

[0009] The aforementioned cherry tomato bunch harvesting end-effector further includes:

[0010] A receiving rack, located between the hopper and the shearing mechanism, is positioned corresponding to the feed inlet to buffer the cherry tomato bunches falling into the hopper.

[0011] The aforementioned cherry tomato bunch harvesting end-effector, wherein the shearing mechanism includes:

[0012] The base portion is installed at the top of the receiving rack;

[0013] The movable part is hinged to the base part; and

[0014] An operating handle is connected to the movable part via a connector, and controls the movable part to rotate relative to the base part to complete the shearing action.

[0015] The aforementioned cherry tomato bunch harvesting end-effector includes a packaging tube comprising a tube body and a sealing mechanism, wherein the sealing mechanism is mounted on the tube body and connected to the controller.

[0016] The aforementioned cherry tomato bunch harvesting end-effector, wherein the packaging mechanism includes:

[0017] A heat-sealing module, disposed at the opening of the cylinder, is used for heat-sealing the protective sleeve; and

[0018] The telescopic component is connected at one end to the cylinder body and at the other end to the heat fusion module. The controller controls the telescopic component to drive the heat fusion module to move relative to it and achieve heat sealing of the protective sleeve.

[0019] The aforementioned cherry tomato bunch harvesting end-effector includes a cylinder with symmetrically arranged hot-melt modules on both sides, and a matching groove on the cylinder corresponding to the hot-melt modules; the telescopic component is an electric push rod, which is connected to the hot-melt modules via a Z-shaped connecting frame.

[0020] The above-mentioned cherry tomato bunch harvesting end execution device includes a hot melt module on each side, which includes a hot melt block and a heat-conducting protrusion disposed on the hot melt block. The heat-conducting protrusion is disposed on the inner side of the hot melt block, and the heat-conducting protrusions on the two sides of the hot melt block are staggered.

[0021] The aforementioned cherry tomato bunch harvesting end-effector includes a drive component comprising a motor and a cam divider. The cam divider is mounted on the bin, the motor is connected to the mechanical input end of the cam divider, and the mechanical output end of the cam divider is connected to the packaging cylinder.

[0022] The aforementioned cherry tomato bunch harvesting end-effector further includes a sorting mechanism for sorting the harvested cherry tomato bunches according to their ripeness and size. This mechanism is located inside the packaging cylinder and connected to the controller. The controller controls the packaging cylinder to deliver the packaged cherry tomato bunches to the corresponding grade discharge port based on the information collected by the sorting mechanism.

[0023] To better achieve the above objectives, the present invention also provides a method for harvesting cherry tomato bunches, wherein the harvesting of cherry tomato bunches using the aforementioned end effector includes the following steps:

[0024] S100. Place the protective sleeve into the body of the packaging tube, and rotate the opening of the packaging tube to be aligned with the feed inlet of the feeding wheel compartment.

[0025] S200. Move the shearing mechanism to the cherry tomato bunch to be harvested, cut and harvest the cherry tomato stems, and the harvested cherry tomato bunch enters the silo through the feed inlet and falls into the protective sleeve.

[0026] S300, the controller controls the telescopic component to drive the hot-melt module to move relative to each other, and realizes the heat sealing of the protective sleeve, completing the protective packaging of the harvested cherry tomato bunches; and

[0027] S400, the packaging cylinder continues to rotate, causing the packaged cherry tomato bunches to slide out from the discharge port of the feeding wheel chamber.

[0028] The technical effects of this invention are as follows:

[0029] This invention offers advantages such as simplified harvesting procedures and improved packaging protection, effectively solving the problem of cherry tomatoes being easily damaged during harvesting. Compared to existing technologies, this invention utilizes a multi-functional mechanism during the harvesting of cherry tomato bunches. A driving component intermittently rotates the packaging cylinder within the feeding wheel chamber. Multiple through-holes or slots on the chamber, combined with the packaging cylinder, integrate the harvesting and protective packaging of cherry tomato bunches, making the harvesting process simpler and more efficient. This also minimizes potential damage to the cherry tomato bunches' skin during subsequent transportation, effectively ensuring both harvesting efficiency and quality.

[0030] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the end effector structure according to an embodiment of the present invention;

[0032] Figure 2 for Figure 1 Top view;

[0033] Figure 3 This is a schematic diagram of the multifunctional mechanism and shearing mechanism according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the internal structure of a multifunctional mechanism according to an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the material receiving and feeding wheel bin structure according to an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of a packaging tube structure according to an embodiment of the present invention;

[0037] Figure 7 for Figure 6 The main view;

[0038] Figure 8 for Figure 6 Top view.

[0039] Among them, the attached figures are labeled

[0040] 1. Frame

[0041] 2. Multifunctional mechanism

[0042] 21. Material receiving and feeding wheel bin

[0043] 211 Warehouse

[0044] 212 through slot

[0045] 213 Receiving rack

[0046] 214 Discharge rack

[0047] 22 Packaging Tubes

[0048] 221 Cylinder

[0049] 222 Hot melt module

[0050] 2221 Hot melt block

[0051] 2222 Thermally conductive bumps

[0052] 223 Telescopic components

[0053] 2231 Z-type connector

[0054] 2232 Fitting Groove

[0055] 23 Drive components

[0056] 231 motor

[0057] 232 Cam Divider

[0058] 3. Shearing mechanism

[0059] 31 Base part

[0060] 32 Activities Department

[0061] 33 operating handle

[0062] 34 Connectors Detailed Implementation

[0063] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0064] See Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the end effector structure according to an embodiment of the present invention. Figure 2 for Figure 1 A top view. Packaging and protecting whole bunches of tomatoes during the harvesting process is a good option; however, if packaging is added during the harvesting process, the following factors need to be considered: whether additional equipment is needed, the space redundancy of the equipment, and the potential impact on harvesting efficiency. The cherry tomato bunch harvesting end-effector of the present invention can package and protect whole bunches of tomatoes, including: a shearing mechanism 3 for cutting the stems of the cherry tomatoes to be harvested, separating the cherry tomato bunches from the plant; and a multi-functional mechanism 2 for packaging and protecting the separated cherry tomato bunches. The shearing mechanism 3 is fixedly connected to the multi-functional mechanism 2, which includes: a feeding wheel bin 21, a packaging cylinder 22, and a driving component 23. The feeding wheel bin 21 is located below the shearing mechanism 3; the packaging cylinder 22 is located inside the feeding wheel bin 21 and connected to the driving component 23; the feeding wheel bin 21 is located along the circumference of the bin body 211. The device includes multiple through holes or slots 212 that penetrate the interior, with the through hole or slot 212 facing the shearing mechanism 3 serving as the inlet and the others serving as outlets or protective sleeve inlets; and a controller connected to the drive component 23 and the packaging cylinder 22. The controller controls the drive component 23 to drive the packaging cylinder 22 to rotate intermittently. When the opening of the packaging cylinder 22 aligns with the inlet, the shearing mechanism 3 cuts off the bunch of tomatoes to be harvested and they fall into the protective sleeve. The controller controls the packaging cylinder 22 to seal the protective sleeve and continues to rotate to deliver the packaged cherry tomato bunches to the outlet.

[0065] The controller can be an external control system, using an IC chip as the processor, and monitor the rotation status of the packaging tube 22 through a photoelectric sensor. When the packaging tube 22 rotates to the set position, the photoelectric sensor can capture the blocking or reflection of the light beam, thereby triggering the corresponding sending command to heat seal the protective sleeve.

[0066] The cherry tomato bunch harvesting end-effector can be mounted on a tomato harvesting chassis or has its own frame 1. The multi-functional mechanism 2 is fixedly connected to the upper end of the frame 1, which may have wheels. In this embodiment, a receiving rack 213 may also be included, positioned between the hopper 211 and the shearing mechanism 3, corresponding to the feed inlet, to buffer the cherry tomato bunches falling into the hopper 211. A discharge rack 214 may also be provided at the discharge outlet at the bottom of the hopper 211, corresponding to the receiving rack 213, to buffer the cherry tomato bunches discharged from the hopper 211 after packaging. Both the receiving rack 213 and the discharge rack 214 can be fixedly connected to the hopper 211.

[0067] See Figure 3 , Figure 3 This is a schematic diagram of the multifunctional mechanism 2 and the shearing mechanism 3 according to an embodiment of the present invention. The shearing mechanism 3 of this embodiment includes: a base portion 31, mounted on the top of the receiving rack 213; a movable portion 32, hinged to the base portion 31; and an operating handle 33, connected to the movable portion 32 via a connecting member 34, and controlling the movable portion 32 to rotate relative to the base portion 31 to complete the shearing action. Preferably, the middle section of the base portion 31 is fixedly connected to the receiving rack 213 via a base shaft, and the movable portion 32 is pivotally connected to the base portion 31 via the base shaft. The tail of the movable portion 32 is connected to one end of the connecting member 34, and the other end of the connecting member 34 is connected to the operating handle 33. The operating handle 33 is fixedly connected to the receiving rack 213. The connecting member 34 can preferably have a structure similar to a bicycle brake cable, with a brake wire fixedly connected to the tail of the movable portion 32, and the other end of the brake wire fixedly connected to the operating handle 33. The operating handle 33 can be similar to a bicycle brake lever. This structure can further reduce the space occupied by the device, and the operating handle 33 can be installed in any position, making it easier to operate.

[0068] See Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the internal structure of the multifunctional mechanism 2 according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the structure of the feeding wheel bin 21 according to an embodiment of the present invention. The driving component 23 in this embodiment includes a motor 231 and a cam divider 232. The cam divider 232 is mounted on the bin body 211. The motor 231 is connected to the mechanical input end of the cam divider 232. The mechanical output end of the cam divider 232 extends from one side of the feeding wheel bin 21 into its interior and is connected to the packaging cylinder 22 to drive and control the packaging cylinder 22.

[0069] Considering the varying ripeness or size of the harvested cherry tomato bunches, this embodiment may also include a sorting mechanism for sorting the harvested cherry tomato bunches according to their ripeness and size. This mechanism is located inside the packaging cylinder 22 and connected to the controller. The controller, based on information collected by the sorting mechanism, controls the packaging cylinder 22 to deliver the packaged cherry tomato bunches to the corresponding grade's discharge port. In this embodiment, an RGBD camera may be installed inside the cylinder 221, connected to the controller. During the sorting process, the RGBD camera inside the cylinder 221 takes pictures of the harvested cherry tomato bunches, acquiring RGBD data. This data is then compared with an RGBD database to determine the classification grade of the harvested cherry tomato bunches. This classification grade is then matched with the corresponding through-holes or slots 212 on the receiving and feeding wheel hopper 21. For example, if the currently picked cherry tomato bunch is in the first category, it will be removed through the first through hole or through groove 212; otherwise, it will be removed through another through hole or through groove 212, and so on. This can be achieved by controlling the drive component 23 to drive the packaging tube 22 to rotate intermittently through the controller.

[0070] See Figures 6-8 , Figure 6 This is a schematic diagram of the packaging tube 22 according to an embodiment of the present invention. Figure 7 for Figure 6 The main view, Figure 8 for Figure 6 The top view of the packaging tube 22 in this embodiment includes a tube body 221 with an opening at the top and a sealing mechanism. The sealing mechanism is mounted on the tube body 221 and connected to the controller. The sealing mechanism includes: a heat-sealing module 222 disposed at the opening of the tube body 221 for heat-sealing the protective sleeve; and a telescopic member 223, one end of which is connected to the tube body 221, and the other end of which is connected to the heat-sealing module 222. The controller controls the telescopic member 223 to drive the heat-sealing module 222 to move relative to it, thereby achieving heat sealing of the protective sleeve.

[0071] In this embodiment, the middle section of the cylinder 221 is fixedly connected to the mechanical output end of the cam divider 232. The hot melt modules 222 are symmetrically arranged on both sides of the cylinder 221. The cylinder 221 is provided with a fitting groove 2232 corresponding to the hot melt module 222, and the fitting groove 2232 is adapted to the structure of the two hot melt modules 222. The size of the hot melt module 222 is equal to or smaller than the size of the fitting groove 2232. Two telescopic members 223 are located on the left and right sides of the cylinder 221 respectively and are fixedly connected to the cylinder 221. The mechanical output ends of the two telescopic members 223 are fixedly connected to the corresponding hot melt modules 222 respectively, which can effectively save the space occupied by the telescopic members 223. In order to further save space, the telescopic member 223 is preferably an electric push rod. The electric push rod is connected to the hot melt module 222 through a Z-shaped connecting bracket 2231. Preferably, each of the heat-melting modules 222 includes a heat-melting block 2221 and a heat-conducting protrusion 2222 disposed on the heat-melting block 2221. The heat-conducting protrusion 2222 is disposed on the inner side of the heat-melting block 2221, and the heat-conducting protrusions 2222 on both sides of the heat-melting block 2221 are staggered, so that the two heat-melting blocks 2221 can make maximum contact with the protective sleeve during the heat sealing process to achieve the best heat sealing effect, so as to prevent the cherry tomato bunch from detaching from the protective sleeve and losing the protective effect.

[0072] In order to facilitate the harvesting of cherry tomato bunches and to better protect them during the harvesting process, the entire device is placed under the cherry tomato bunches to be harvested. The device can be moved by the frame 1 to the cutting mechanism 3 so that it is directly facing the cherry tomato stems to be harvested. During operation, after the device is started, the drive component 23 drives the packaging cylinder 22 to rotate intermittently. During the rotation of the packaging cylinder 22, it can rotate to any of the through holes or through slots 212 other than the two through holes or through slots 212 on the inlet and outlet of the hopper 211, and place the protective sleeve inside the cylinder body 221 of the packaging cylinder 22. The protective sleeve is preferably a heat-sealed packaging bag that is compatible with the packaging cylinder 22. The entire device is moved to the bottom of the cherry tomato bunch to be harvested, so that the cherry tomato stems are located between the base part 31 and the movable part 32. The operating handle 33 is operated to cut the cherry tomato stems by the base part 31 and the movable part 32. After the cherry tomato bunches are cut, they fall into the hopper 211 through the inlet via the receiving rack 213. At this time, the packaging cylinder 22 is in a brief stationary state due to the transmission of the drive component 23, and the packaging cylinder 22... Port 2 is opposite to the feed inlet, and then the entire bunch of harvested cherry tomatoes falls directly into the protective sleeve pre-placed in the packaging cylinder 22. At this time, the controller can monitor the rotation status of the packaging cylinder 22 and activate the telescopic component 223 and the hot melt module 222 to heat seal the protective sleeve. The two telescopic components 223 drive the corresponding heated hot melt module 222 to slide relative to each other until the two hot melt modules 222 contact the protective sleeve and press together, thus achieving protective packaging of the cherry tomato bunches. After heat sealing, the two telescopic components 223 drive the corresponding hot melt module 222 to retract, so that the heat-sealed cherry tomato bunches can be poured out normally from the cylinder 221. The packaging cylinder 22 continues to rotate, so that the packaged cherry tomato bunches slide out from the discharge port from the discharge rack 214, and then the next batch of cherry tomatoes is harvested. During operation, motor 231 continuously outputs rotation, which intermittently rotates the packaging cylinder 22 via cam divider 232. When the entire bunch of harvested cherry tomatoes falls into the bin 211, the end of the cylinder 221 is ensured to face the through hole or slot 212 (receiving port) corresponding to the receiving rack 213. Heat-sealing packaging minimizes potential damage to the cherry tomato bunches' skin during subsequent transportation, ensuring their quality.

[0073] The method for harvesting cherry tomato bunches of the present invention, using the aforementioned end effector, includes the following steps:

[0074] Step S100: Place the protective sleeve into the cylinder 221 of the packaging cylinder 22, and rotate the opening of the packaging cylinder 22 to be aligned with the feed inlet of the feeding wheel 21.

[0075] Step S200: Move the shearing mechanism 3 to the cherry tomato bunch to be harvested, cut and harvest the cherry tomato stems, and the harvested cherry tomato bunch enters the hopper 211 through the feed inlet and falls into the protective sleeve.

[0076] Step S300: The controller controls the telescopic component 223 to drive the hot melt module 222 to move relative to each other, thereby achieving heat sealing of the protective sleeve and completing the protective packaging of the harvested cherry tomato bunches; and

[0077] In step S400, the packaging cylinder 22 continues to rotate, causing the packaged cherry tomato bunches to slide out from the discharge port of the feeding wheel 21.

[0078] It may also include:

[0079] Step S500: Determine the classification grade of the currently harvested cherry tomato bunches, and match the classification grade with the corresponding through holes or slots 212 on the receiving and feeding wheel hopper 21, and then send the cherry tomato bunches of the corresponding grade out from the corresponding through holes or slots 212.

[0080] This invention utilizes a multi-functional mechanism 2 to drive a packaging cylinder 22 to rotate intermittently within a feeding wheel chamber 21 during the harvesting of cherry tomato bunches. Multiple through holes or grooves 212 are provided in the chamber 211 to coordinate with the intermittent movement of the packaging cylinder 22, enabling both harvesting and protective packaging of the cherry tomato bunches. This minimizes potential damage to the outer skin of the cherry tomato bunches during subsequent transportation, effectively ensuring the harvesting efficiency and quality of the cherry tomato bunches.

[0081] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A cherry tomato string harvesting end effector, characterized in that, The cherry tomato picking machine comprises: a shearing mechanism for shearing the cherry tomato stems to be picked to separate the cherry tomato clusters to be picked from the plants; a multifunctional mechanism for packaging and protecting the separated cherry tomato clusters, which comprises: a receiving roller bin arranged below the shearing mechanism, a packaging cylinder arranged in the receiving roller bin and connected with a driving component, and a plurality of through grooves arranged along the circumference of the bin body, wherein the through groove opposite to the shearing mechanism is an inlet, and the other through grooves are outlets or protective sleeve inlets; and a controller connected with the driving component and the packaging cylinder respectively, which controls the driving component to drive the packaging cylinder to rotate intermittently, and controls the packaging cylinder to package the protective sleeve when the cylinder mouth of the packaging cylinder is aligned with the inlet, and controls the packaging cylinder to continue rotating to send the packaged cherry tomato clusters to the outlets. The cherry tomato picking machine further comprises:

2. The cherry tomato string harvesting end effector according to claim 1, characterized in that, a receiving rack arranged between the bin body and the shearing mechanism corresponding to the inlet, which is used to buffer the cherry tomato clusters falling into the bin body. The shearing mechanism comprises:

3. The cherry tomato string harvesting end effector according to claim 2, characterized in that, a base part installed at the top end of the receiving rack, a movable part hinged with the base part, and an operating handle connected with the movable part through a connecting part and used to control the rotation of the movable part relative to the base part to complete the shearing action. The packaging cylinder comprises a cylinder body and a packaging mechanism installed on the cylinder body and connected with the controller.

4. The cherry tomato string harvesting end effector according to claim 1, characterized in that, The packaging mechanism comprises:

5. Cherry tomato string harvesting end-of-arm device according to claim 4, characterized in that a hot melting module arranged at the cylinder mouth of the cylinder body and used to heat seal the protective sleeve, and a telescopic part having one end connected with the cylinder body and the other end connected with the hot melting module, and the controller controls the telescopic part to drive the hot melting module to move relatively and heat seal the protective sleeve. The hot melting modules are symmetrically arranged on both sides of the cylinder body, and the cylinder body is provided with fitting grooves corresponding to the hot melting modules; the telescopic part is an electric push rod connected with the hot melting module through a Z-shaped connecting frame.

6. Cherry tomato string harvesting end-of-arm device according to claim 5, characterized in that Each hot melting module comprises a hot melting block and a heat conduction protrusion arranged on the hot melting block, the heat conduction protrusion is arranged on the inner side of the hot melting block, and the heat conduction protrusions on the hot melting blocks on both sides are staggered.

7. The cherry tomato string harvesting end effector according to claim 6, characterized in that The driving component comprises a motor and a cam divider, the cam divider is installed on the bin body, the motor is connected with the mechanical input end of the cam divider, and the mechanical output end of the cam divider is connected with the packaging cylinder.

8. The cherry tomato string harvesting end effector according to claim 1, characterized in that, The cherry tomato picking machine further comprises a sorting mechanism for sorting the picked cherry tomato clusters according to the ripeness and size, which is arranged in the packaging cylinder and connected with the controller; the controller controls the packaging cylinder to send the packaged cherry tomato clusters to the outlets corresponding to the grades according to the information collected by the sorting mechanism.

9. The cherry tomato string harvesting end effector according to claim 1, characterized in that, ​ 10. A method of string picking cherry tomatoes, characterized in that, The cherry tomato string is harvested by using the end execution device according to any one of claims 1-9, a packaging barrel of the end execution device comprises a barrel body and a packaging mechanism, the packaging mechanism is installed on the barrel body and connected with a controller; the packaging mechanism comprises: a hot melting module arranged at a barrel opening of the barrel body and used for heat sealing a protective sleeve; and an extension piece, one end of the extension piece is connected with the barrel body, the other end of the extension piece is connected with the hot melting module, and the controller controls the extension piece to drive the hot melting module to relatively move and realize heat sealing of the protective sleeve; the method comprises the following steps: S100, the protective sleeve is placed into the barrel body of the packaging barrel, and the barrel opening of the packaging barrel is rotated to face the feeding opening of the feeding wheel bin; S200, the shearing mechanism is moved to the cherry tomato string to be harvested, the cherry tomato stem is sheared and picked, the picked cherry tomato string enters the bin body through the feeding opening and falls into the protective sleeve; S300, the controller controls the extension piece to drive the hot melting module to relatively move and realize heat sealing of the protective sleeve, and the picked cherry tomato string is protected and packaged; and S400, the packaging barrel continues to rotate, and the cherry tomato string after being packaged slides out of the discharging opening of the feeding wheel bin.

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