A mechanical hand for pre-packaging fruit of a fruit tree

Abstract

The application relates to the technical field of fruit packaging, in particular to a fruit pre-packaging mechanical hand, the inner side of a chute is slidably provided with two sliding plates moving towards each other or away from each other, one end of the sliding plates is fixedly connected with pressing plates, the clamping of spherical fruits is realized through the opposite movement of the two pressing plates, the side of the two pressing plates moving towards each other is fixedly connected with air bag pads, the inner side of the air bag pads is filled with sponge, the air bag pads are fixedly connected with protrusions for limiting the clamping position of the spherical fruits, the inner side of the shell is fixedly connected with a pressure box, one end of the pressing plates is fixedly connected with air rods, when the application is used, the air bag pads are arranged on the side corresponding to the two pressing plates, when the air bag pads contact the spherical fruits, the contact surface of the air bag pads can extend along the contact point in an arc surface, so that the contact area between the pressing plates and the spherical fruits is increased, the spherical fruits are clamped, the surface pressure is reduced, and the function of preventing the appearance of pressure marks is realized.

Description

Technical Field

[0001] This invention relates to the field of fruit packaging technology, specifically to a pre-packaging robot for fruit trees. Background Technology

[0002] In the production of spherical fruits, after harvesting, the fruits need to be sorted and packaged according to their size in order to improve production efficiency.

[0003] During the packaging process, a fruit foam net needs to be placed on the outside of the spherical fruit. We call this step pre-packaging. In the process of pre-packaging using machinery, a robotic arm is needed to lift the spherical fruit and then move the robotic arm through the inside of the fruit foam net to achieve pre-packaging. During this process, for some fruits with hard surfaces, such as apples and pears, excessive force can cause indentations on their surfaces, resulting in varying degrees of damage and accelerating decay. Therefore, new structures need to be designed to reduce damage to fruits during pre-packaging. Because the surface of spherical fruits is curved and they vary in size, it is difficult to control the clamping force of the robotic arm to match the diameter of the fruit. When picking up fruits that are too small, it is difficult to obtain an effective clamping force. When picking up fruits that are too large, the fruit is prone to breakage. It is also difficult to effectively reduce the indentation by increasing the contact area between the robotic arm and the spherical fruit.

[0004] Therefore, a pre-packaging robot for fruit trees is proposed to address the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a pre-packaging robot for fruit trees, in order to solve the problems mentioned in the background art, namely, "In this process, for some fruits with hard surfaces, such as apples and pears, when the surface is subjected to excessive force, the hard surface of the fruit, such as apples and pears, will form indentations on the surface, which will cause varying degrees of damage to the fruit, causing the fruit to rot faster. At the same time, because the surface of spherical fruits is curved and varies in size, it is difficult to control the clamping force of the robot to match the diameter of the spherical fruit. When picking up fruits that are too small, it is difficult to obtain effective clamping force, and when picking up fruits that are too large, the fruit is prone to breakage, and it is difficult to effectively reduce indentations by increasing the contact area between the robot and the spherical fruit."

[0006] To achieve the above objectives, the present invention provides the following technical solution: a pre-packaging robot for fruit trees, the robot comprising a housing, a groove provided on the inner side of the housing, two sliding plates that move in opposite directions or in opposite directions sliding on the inner side of the groove, and a pressure plate fixedly connected to one end of the sliding plate, thereby clamping spherical fruits by the opposite movement of the two pressure plates; An airbag is fixedly connected to one side of the two pressure plates facing each other. The inside of the airbag is filled with sponge. A protrusion for limiting the clamping position of the spherical fruit is fixedly connected to the airbag. A pressure box is fixedly connected to the inner side of the housing. A gas rod is fixedly connected to one end of the pressure plate. The outer side of the gas rod is slidably connected to the inner side of the pressure box. The two ends of the gas rod are respectively connected to the airbag cushion and the inner side of the pressure box. When the airbag cushion is compressed, the pressure inside the pressure box will increase accordingly.

[0007] When in use, this invention provides airbags on opposite sides of the two pressure plates. When the airbags come into contact with the spherical fruit, their contact surface extends along the contact point in an arc, thereby increasing the contact area between the pressure plates and the spherical fruit. This reduces the force on the pressure surface while clamping the spherical fruit, thus preventing indentations. Meanwhile, when picking up spherical fruits, the present invention can automatically change the internal pressure of the airbag according to the diameter of the spherical fruit. When encountering spherical fruits with a larger diameter, the internal pressure of the airbag is increased, and when encountering spherical fruits with a smaller diameter, the internal pressure of the airbag is reduced accordingly. Furthermore, by changing the pressure of the airbag according to the diameter of the spherical fruit being picked up, the invention can further prevent indentations from appearing. In use, the connecting column of the robotic arm is connected to an existing robotic arm. The existing robotic arm enables forward, backward, left, and right movement, which is prior art and will not be elaborated further here. When the second motor inside the connecting column rotates, it drives the housing and pressure plate to rotate, thereby adjusting the gripping direction. After adjusting to the required angle, the robotic arm of the present invention is extended toward the spherical fruit. Upon reaching the spherical fruit, the first motor rotates. The rotation of the first motor drives the screw to rotate. The rotation of the screw will cause the two internal sliding plates and two pressure plates to move toward or away from each other. When the two pressure plates move toward each other, the spherical fruit can be clamped. When the two pressure plates move away from each other, the spherical fruit can be released. During the clamping process, after the two pressure plates clamp the spherical fruit, the air bladder on one side of the pressure plate will begin to be compressed. During this compression, the pressure inside the pressure chamber will increase. As the pressure increases, the sliding connection between the outer side of the air spring and the inner side of the pressure chamber provides distance compensation. The sliding rod inside the pressure chamber will overcome the spring force and move towards the screw. When the sliding rod reaches the screw, it can lock the stop lever. Because the stop lever is inclined along the axial direction of the central axis, its bottom end separates outward from the central axis, and its top end approaches the outer side of the central axis. This design allows the upper pressure plate to be more effective when the diameter of the spherical fruit is larger. When the downward movement of the stop lever is small, the horizontal distance between the sliding rod and the stop lever is long. The longer the sliding distance required for the sliding rod to contact the stop lever, the greater the pressure in the pressure box and the greater the compression of the airbag. When the diameter of the spherical fruit is small, the downward movement of the upper pressure plate and the stop lever is large, the horizontal distance between the sliding rod and the stop lever is reduced, and the shorter the sliding distance required for the sliding rod to contact the stop lever, the less pressure the pressure box will have and the less compression the airbag will have. This ensures the clamping effect of the spherical fruit while increasing the clamping area, enabling adaptive adjustment for spherical fruits of different diameters. Among them, the stop lever can move synchronously with the pressure plate on the upper side. When the first motor is stuck, the current of the first motor rises rapidly. The current sensor will detect this current change and cut off the power to the first motor in time to prevent damage to the first motor. As an optional solution of the fruit tree fruit pre-packaging robot of the present invention, a connecting column is rotatably provided at the center of one end of the housing, a second motor is fixedly connected to the inner side of the connecting column, and the end of the main shaft of the second motor is fixedly connected to the center of one end of the housing.

[0008] As an optional embodiment of the fruit pre-packaging robot of the present invention, the cross-section of the pressure plate is set in an arc shape.

[0009] Under the above settings, setting the cross-section of the pressure plate to be arc-shaped can further increase the contact area between the fruit and the pressure plate; As an optional solution of the fruit tree fruit pre-packaging robot described in this invention, the top of the housing is fixedly connected to a first motor, the end of the main shaft of the first motor is fixedly connected to a screw, the upper and lower threads of the screw are opposite in direction, the outer side of the screw is spirally connected to the inner side of the corresponding slide plate, and the rotation of the first motor drives the two pressure plates to move towards or away from each other.

[0010] Under the above configuration, when the first motor rotates, because the threads on the upper and lower sides of the screw are in opposite directions, the first motor drives the upper and lower pressure plates to move towards or away from each other. As an optional embodiment of the fruit pre-packaging robot of the present invention, the screw is fixedly connected to a central shaft at its middle position, a slip ring is slidably connected to the outer side of the central shaft, and a stop bar is fixedly connected to the bottom end of the slip ring.

[0011] In the above configuration, a central shaft is fixedly connected to the middle position of the screw, a stop bar is fixedly connected to the bottom end of the slip ring, a connecting ring is rotatably provided on the outer side of the slip ring, and the top end of the connecting ring is fixedly connected to the bottom end of the slide plate. The movement of the slide plate can drive the stop bar to move synchronously. As an optional embodiment of the fruit pre-packaging robot of the present invention, wherein: a connecting block is fixedly connected to the inner side of one end of the pressure box, and a sliding rod is slidably connected to the inner side of the connecting block. Half of the sliding rod is located inside the pressure box, and the other half is located outside the pressure box. A spring is provided on the outer side of the sliding rod, and the two ends of the spring are fixedly connected to the inner side of one end of the sliding rod and one end of the connecting block, respectively. When the pressure inside the pressure box increases, the sliding rod can slide out of the inner side of the pressure box to abut against the stop bar.

[0012] As an optional embodiment of the fruit pre-packaging robot of the present invention, the stop bar is inclined along the axial direction of the central axis, with one end of the stop bar separating outward from the central axis and the other end close to the outside of the central axis.

[0013] As an alternative embodiment of the fruit pre-packaging robot of the present invention, the robot further includes a controller disposed on the outside of the housing and a current sensor disposed at the first motor.

[0014] As an optional embodiment of the fruit pre-packaging robot of the present invention, a connecting ring is fixedly connected to the bottom end of the upper sliding plate, the inner side of the connecting ring is rotatably connected to the outer side of the sliding ring, and the connecting ring is used to support the sliding ring.

[0015] As an optional solution of the fruit pre-packaging robot of the present invention, the central shaft is fixedly connected to the outer side of the central shaft, the inner side of the slip ring is rotatably connected to the pawl through the hinge, and a torsion spring is provided between the pawl and the slip ring. When the screw rotates clockwise, the locking block can slide over the pawl. When the screw rotates counterclockwise, the locking block can drive the slip ring to rotate synchronously through the pawl.

[0016] Under the above settings, when the first motor rotates counterclockwise, the pressure plates move towards each other. At the same time, the locking block can drive the slip ring to rotate synchronously through the pawl. The slip ring drives the stop bar to rotate synchronously, so that after the pressure plate clamps the fruit, the sliding rod can extend and lock the stop bar. When the fruit is released, the first motor rotates clockwise, the pressure plate moves backward, the locking block can slide over the pawl, the slip ring and the stop lever will not rotate with it, and the pressure plate moves upward to drive the stop lever and slip ring to reset.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention relates to a pre-packaging robot for fruit trees. In use, airbags are placed on opposite sides of two pressure plates. When the airbags contact a spherical fruit, their contact surface extends in an arc along the contact point, increasing the contact area between the pressure plates and the fruit. This reduces the pressure on the surface while gripping the fruit, preventing indentations. Furthermore, the invention automatically adjusts the internal pressure of the airbags according to the diameter of the fruit. For larger diameter fruits, the internal pressure increases; for smaller diameter fruits, the internal pressure decreases. This adjustment of airbag pressure based on the diameter of the fruit further prevents indentations.

[0018] 2. In this pre-packaging robot for fruit trees, when the second motor inside the connecting column rotates, the second motor can drive the housing and pressure plate to rotate, thereby adjusting the gripping direction. After adjusting to the required angle, the robot extends towards the spherical fruit. Upon reaching the spherical fruit, the first motor rotates, and the rotation of the first motor drives the screw to rotate. The rotation of the screw will drive the two internal sliding plates and two pressure plates to move towards or away from each other. When the two pressure plates move towards each other, the spherical fruit can be clamped; when the two pressure plates move away from each other, the spherical fruit can be released. During the clamping process, after the two pressure plates clamp the spherical fruit, the air bladder on one side of the pressure plate will begin to be compressed. During the compression process, the pressure inside the pressure box will increase. During the pressure increase, the sliding connection between the outer side of the air rod and the inner side of the pressure box can play a distance compensation role. The sliding rod inside the pressure box will overcome the elastic force of the spring and move towards the screw. When the sliding rod moves to the screw, it can lock the stop lever.

[0019] 3. This fruit pre-packaging robot features a design where the stop bar is tilted along the axial direction of the central axis, with its bottom end separating outwards from the central axis and its top end close to the outer edge. This design allows for a smaller downward movement of the upper pressure plate and the stop bar when the diameter of the spherical fruit is larger, resulting in a longer horizontal distance between the sliding rod and the stop bar. The longer the sliding distance required for the sliding rod to contact the stop bar, the greater the pressure in the pressure chamber and the tighter the airbag. Conversely, when the diameter of the spherical fruit is smaller, the downward movement of the upper pressure plate and the stop bar is larger, resulting in a smaller horizontal distance between the sliding rod and the stop bar. The shorter the sliding distance required for the sliding rod to contact the stop bar, the smaller the pressure in the pressure chamber and the less tight the airbag. This design ensures effective clamping of the spherical fruit while increasing the clamping area, enabling adaptive adjustment for spherical fruits of different diameters.

[0020] 4. This fruit pre-packaging robot has an arc-shaped cross-section for the pressure plate, which can further increase the contact area between the fruit and the pressure plate.

[0021] 5. This is a pre-packaging robot for fruit trees, in which a central shaft is fixedly connected to the middle position of the screw, a stop bar is fixedly connected to the bottom end of the slip ring, a connecting ring is rotatably set on the outer side of the slip ring, the top end of the connecting ring is fixedly connected to the bottom end of the slide plate, and the movement of the slide plate can drive the stop bar to move synchronously.

[0022] 6. In this type of fruit pre-packaging robot, when the fruit is released, the first motor rotates clockwise, the pressure plate moves backward, the locking block can slide over the torsion spring, the slip ring and the stop bar will not rotate with it, and the pressure plate moves upward to drive the stop bar and slip ring to reset. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall appearance and structure of the present invention; Figure 2 This is a schematic diagram of the overall internal installation structure of the present invention; Figure 3 This is a schematic diagram of the external structure of the screw part of the present invention; Figure 4 This is a schematic diagram of a further installation structure at the pressure plate of the present invention; Figure 5 For the present invention Figure 2 A schematic diagram of the structure at point A; Figure 6 For the present invention Figure 2 A schematic diagram of the structure at point B; Figure 7 This is a top-view cross-sectional view of the installation structure at the central axis of the present invention; Figure 8 For the present invention Figure 7 Schematic diagram of the installation structure at point C; Figure 9 This is a schematic diagram of the external structure of the stop bar of the present invention.

[0024] In the diagram: 1. Connecting post; 2. Housing; 3. Current sensor; 4. First motor; 5. Controller; 6. Slide groove; 7. Pressure plate; 8. Airbag cushion; 9. Protrusion; 10. Pressure box; 11. Second motor; 12. Limiting rod; 13. Slide plate; 14. Screw; 15. Air rod; 16. Central shaft; 17. Locking block; 18. Slide rod; 19. Spring; 20. Connecting block; 21. Torsion spring; 22. Slip ring; 23. Connecting ring; 24. Stop bar; 25. Pawl. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1

[0027] Please see Figure 1-9 The present invention provides a technical solution: A pre-packaging robot for fruit trees includes a housing 2, with a groove 6 on the inner side of the housing 2. Two sliding plates 13 move in opposite directions or in opposite directions on the inner side of the groove 6. One end of each sliding plate 13 is fixedly connected to a pressure plate 7. The spherical fruit is clamped by the opposite movement of the two pressure plates 7. An airbag 8 is fixedly connected to one side of the two pressure plates 7 facing each other. The inner side of the airbag 8 is filled with sponge. A protrusion 9 for limiting the clamping position of the spherical fruit is fixedly connected to the airbag 8. A pressure box 10 is fixedly connected to the inner side of the housing 2. An air rod 15 is fixedly connected to one end of the pressure plate 7. The outer side of the air rod 15 is slidably connected to the inner side of the pressure box 10. The two ends of the air rod 15 are respectively connected to the airbag pad 8 and the inner side of the pressure box 10. When the airbag pad 8 is compressed, the pressure inside the pressure box 10 will increase accordingly.

[0028] In use, the present invention provides an airbag 8 on one side of the two pressure plates 7. When the airbag 8 comes into contact with the spherical fruit, its contact surface can extend along the contact point in an arc, thereby increasing the contact area between the pressure plate 7 and the spherical fruit. This reduces the force on the pressure surface while clamping the spherical fruit, thus preventing indentations. Meanwhile, when the present invention picks up spherical fruit, it can automatically change the internal pressure of the airbag 8 according to the diameter of the spherical fruit. When encountering a spherical fruit with a larger diameter, the internal pressure of the airbag 8 is increased, and when encountering a spherical fruit with a smaller diameter, the internal pressure of the airbag 8 is reduced accordingly. Furthermore, by changing the pressure of the airbag 8 according to the diameter of the spherical fruit being picked up, it further plays the role of preventing indentations. When using this invention, the connecting column 1 of the robotic arm is connected to an existing robotic arm. The existing robotic arm enables forward, backward, left, and right movement, which is prior art and will not be elaborated further here. When the second motor 11 inside the connecting column 1 rotates, the second motor 11 can drive the housing 2 and the pressure plate 7 to rotate, thereby adjusting the gripping direction. After adjusting to the required angle, the robotic arm of this invention is extended toward the spherical fruit. After reaching the spherical fruit, the first motor 4 is rotated. The rotation of the first motor 4 drives the screw 14 to rotate. The rotation of the screw 14 will drive the two internal sliding plates 13 and the two pressure plates 7 to move towards or away from each other. When the two pressure plates 7 move towards each other, the spherical fruit can be clamped. When the two pressure plates 7 move away from each other, the spherical fruit can be released. During the clamping process, after the two pressure plates 7 clamp the spherical fruit, the air bladder 8 on one side of the pressure plate 7 will begin to be compressed. During the compression process, the pressure inside the pressure box 10 will increase. During the pressure increase, the sliding connection between the outer side of the air rod 15 and the inner side of the pressure box 10 can play a distance compensation role. The sliding rod 18, which is slidably connected inside the pressure box 10, will overcome the elastic force of the spring 19 and move towards the screw 14. When the sliding rod 18 moves to the screw 14, it can lock the stop lever 24. Here, because the stop lever 24 is inclined along the axial direction of the central axis 16, the bottom end of the stop lever 24 is separated from the outer side of the central axis 16, and the top end is close to the outer side of the central axis 16. This setting makes it possible for the larger the diameter of the spherical fruit, the more the upper part of the air bladder will be compressed. The downward movement of the side pressure plate 7 and the stop lever 24 is relatively small, and the horizontal distance between the sliding rod 18 and the stop lever 24 is relatively long. The longer the sliding distance required for the sliding rod 18 to contact the stop lever 24, the greater the pressure that the pressure box 10 can obtain, and the greater the degree of pressure on the airbag cushion 8. When the diameter of the spherical fruit is small, the downward movement of the upper side pressure plate 7 and the stop lever 24 is relatively large, and the horizontal distance between the sliding rod 18 and the stop lever 24 is reduced. The shorter the sliding distance required for the sliding rod 18 to contact the stop lever 24, the less pressure the pressure box 10 will have, and the less the degree of pressure on the airbag cushion 8. This ensures the clamping effect of the spherical fruit while increasing the clamping area, and achieves adaptive adjustment for spherical fruits of different diameters. In a specific implementation scenario, a connecting post 1 is rotatably provided at the center of one end of the housing 2, and a second motor 11 is fixedly connected to the inner side of the connecting post 1. The end of the main shaft of the second motor 11 is fixedly connected to the center of one end of the housing 2.

[0029] In a specific implementation scenario, the cross-section of the aforementioned pressure plate 7 is set in an arc shape.

[0030] Under the above settings, setting the cross-section of the pressure plate 7 to an arc shape can further increase the contact area between the fruit and the pressure plate 7; In a specific implementation scenario, a first motor 4 is fixedly connected to the top of the housing 2, and a screw 14 is fixedly connected to the end of the main shaft of the first motor 4. The threads on the upper and lower sides of the screw 14 are opposite in direction, and the outer side of the screw 14 is spirally connected to the inner side of the corresponding slide plate 13. The rotation of the first motor 4 drives the two pressure plates 7 to move towards or away from each other.

[0031] Under the above settings, when the first motor 4 rotates, because the threads on the upper and lower sides of the screw 14 are opposite, the first motor 4 drives the upper and lower pressure plates 7 to move towards or away from each other. In a specific implementation scenario, a central shaft 16 is fixedly connected to the middle position of the aforementioned screw 14, a slip ring 22 is slidably connected to the outer side of the aforementioned central shaft, and a stop bar 24 is fixedly connected to the bottom end of the aforementioned slip ring 22.

[0032] In the above configuration, a central shaft 16 is fixedly connected to the middle position of the screw 14, a stop bar 24 is fixedly connected to the bottom end of the slip ring 22, a connecting ring 23 is rotatably provided on the outer side of the slip ring 22, the top end of the connecting ring 23 is fixedly connected to the bottom end of the slide plate 13, and the movement of the slide plate 13 can drive the stop bar 24 to move synchronously. In a specific implementation scenario, a connecting block 20 is fixedly connected to the inner side of one end of the pressure box 10, and a sliding rod 18 is slidably connected to the inner side of the connecting block 20. Half of the sliding rod 18 is inside the pressure box 10, and the other half is outside the pressure box 10. A spring 19 is provided on the outer side of the sliding rod 18. The two ends of the spring 19 are fixedly connected to the inner side of one end of the sliding rod 18 and one end of the connecting block 20, respectively. When the pressure inside the pressure box 10 increases, the sliding rod 18 can slide out of the inner side of the pressure box 10 to abut against the stop lever 24.

[0033] In a specific implementation scenario, the aforementioned lever 24 is inclined along the axial direction of the central axis 16, with one end of the lever 24 separating outward from the central axis 16 and the other end close to the outside of the central axis 16.

[0034] Example 2

[0035] This embodiment is a further improvement on embodiment 1. The identical parts will not be repeated here; please refer to [link / reference]. Figures 1-9 , The robotic arm also includes a controller 5 located on the outside of the housing 2 and a current sensor 3 located at the first motor 4.

[0036] Among them, because the stop lever 24 can move synchronously with the upper pressure plate 7, when the first motor 4 is stuck, the current of the first motor 4 rises rapidly. The current sensor 3 will detect this current change and cut off the power to the first motor 4 in time to prevent the first motor 4 from being damaged. In a specific implementation scenario, a connecting ring 23 is fixedly connected to the bottom end of the upper sliding plate 13. The inner side of the connecting ring 23 is rotatably connected to the outer side of the slip ring 22, and the connecting ring 23 is used to support the slip ring 22.

[0037] In a specific implementation scenario, a locking block 17 is fixedly connected to the outer side of the central shaft 16, and a pawl 25 is rotatably connected to the inner side of the slip ring 22 via a hinge. A torsion spring 21 is provided between the pawl 25 and the slip ring 22. When the screw 14 rotates clockwise, the locking block 17 can slide past the pawl 25. When the screw 14 rotates counterclockwise, the locking block 17 can drive the slip ring 22 to rotate synchronously through the pawl 25.

[0038] Under the above settings, when the first motor 4 rotates counterclockwise, the pressure plate 7 moves towards the opposite side. At the same time, the locking block 17 can drive the slip ring 22 to rotate synchronously through the torsion spring 21. The slip ring 22 drives the stop bar 24 to rotate synchronously, so that after the pressure plate 7 clamps the fruit, the sliding rod 18 can extend to lock the stop bar 24. When the fruit is released, the first motor 4 rotates clockwise, the pressure plate 7 moves in the opposite direction, the locking block 17 can slide over the pawl 25, the slip ring 22 and the stop lever 24 will not rotate with it, the pressure plate 7 moves upward and drives the stop lever 24 and the slip ring 22 to reset.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for pre-packaging fruit, characterized in that: The robotic arm includes a housing (2), and a groove (6) is provided on the inner side of the housing (2). Two sliding plates (13) move in opposite directions or in opposite directions on the inner side of the groove (6). One end of the sliding plate (13) is fixedly connected to a pressure plate (7). The spherical fruit is clamped by the opposite movement of the two pressure plates (7). An airbag pad (8) is fixedly connected to one side of the two pressure plates (7). The inside of the airbag pad (8) is filled with sponge. A protrusion (9) for limiting the clamping position of the spherical fruit is fixedly connected to the airbag pad (8). A pressure box (10) is fixedly connected to the inner side of the housing (2). A gas rod (15) is fixedly connected to one end of the pressure plate (7). The outer side of the gas rod (15) is slidably connected to the inner side of the pressure box (10). The two ends of the gas rod (15) are respectively connected to the airbag cushion (8) and the inner side of the pressure box (10). When the airbag cushion (8) is compressed, the pressure inside the pressure box (10) will increase accordingly. A connecting column (1) is rotatably provided at the center of one end of the housing (2), and a second motor (11) is fixedly connected to the inner side of the connecting column (1). The end of the main shaft of the second motor (11) is fixedly connected to the center of one end of the housing (2). The cross-section of the pressure plate (7) is arranged in an arc shape; The top of the housing (2) is fixedly connected to a first motor (4), and the end of the main shaft of the first motor (4) is fixedly connected to a screw (14). The screw (14) has opposite thread directions on the upper and lower sides. The outer side of the screw (14) is spirally connected to the inner side of the corresponding slide plate (13). The rotation of the first motor (4) drives the two pressure plates (7) to move towards each other or away from each other. A central shaft (16) is fixedly connected to the middle position of the screw (14), a slip ring (22) is slidably connected to the outer side of the central shaft, and a stop bar (24) is fixedly connected to the bottom end of the slip ring (22). A connecting block (20) is fixedly connected to the inner side of one end of the pressure box (10). A sliding rod (18) is slidably connected to the inner side of the connecting block (20). Half of the sliding rod (18) is inside the pressure box (10), and the other half is outside the pressure box (10). A spring (19) is provided on the outer side of the sliding rod (18). The two ends of the spring (19) are fixedly connected to the inner side of one end of the sliding rod (18) and one end of the connecting block (20), respectively. When the pressure inside the pressure box (10) increases, the sliding rod (18) can slide out of the inner side of the pressure box (10) to abut against the stop bar (24). The stop lever (24) is inclined along the axial direction of the central axis (16), with one end of the stop lever (24) separating outward from the central axis (16) and the other end close to the outside of the central axis (16).

2. The fruit pre-packaging robot according to claim 1, characterized in that: The robotic arm also includes a controller (5) located on the outside of the housing (2) and a current sensor (3) located at the first motor (4).

3. The fruit pre-packaging robot according to claim 2, characterized in that: A connecting ring (23) is fixedly connected to the bottom end of the upper slide (13), and the inner side of the connecting ring (23) is rotatably connected to the outer side of the slip ring (22).

4. The fruit pre-packaging robot according to claim 3, characterized in that: A locking block (17) is fixedly connected to the outer side of the central shaft (16), and a pawl (25) is rotatably connected to the inner side of the slip ring (22) via a hinge. A torsion spring (21) is provided between the pawl (25) and the slip ring (22). When the screw (14) rotates clockwise, the locking block (17) can slide over the pawl (25). When the screw (14) rotates counterclockwise, the locking block (17) can drive the slip ring (22) to rotate synchronously through the pawl (25).

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