An end effector mechanism for automatic bagging of peaches

Abstract

The application relates to an end effector mechanism for automatically bagging juicy peaches, which comprises a shell back plate, a shell assembly, a fruit bag automatic feeding assembly, a fruit bag closing assembly and a fruit bag sealing assembly, the shell assembly is installed on the shell back plate to form a cavity structure with an open end; the fruit bag automatic feeding assembly comprises a feeding driving assembly and a suction disc assembly connected with each other; the fruit bag closing assembly comprises a closing driving assembly and a clamp assembly connected with each other; and the fruit bag sealing assembly comprises a sealing driving assembly and a mechanical hand assembly connected with each other. Compared with the prior art, the application has the advantages that full-automatic bagging of juicy peaches is realized, human resources and time cost are greatly saved, a conveying roller is arranged for storing and conveying the fruit bags, the structure is simple, the fruit bag feeding assembly simultaneously realizes two functions of bag opening and bag conveying, the structure is simplified, the first clamp and the second clamp can cross each other, the fruit bag closing function is better, and the mechanical hand assembly realizes the advantages of human-form mechanical sealing and the like.

Description

Technical Field

[0001] This invention relates to the field of agricultural fruit bagging, and in particular to an end effector mechanism for automatic bagging of peaches. Background Technology

[0002] In agriculture, fruit bagging technology is mainly applied in the later stages of fruit growth. This technology protects fruit by wrapping it, ensuring it is not threatened by external factors as it approaches maturity. First, it effectively prevents birds from pecking at the fruit, thus reducing losses. Second, fruit bagging protects the fruit from pests and diseases, safeguarding its health and quality. Furthermore, bagging protects the fruit from the direct impact of wind, rain, and strong sunlight, preventing sunburn or excessive moisture. Fruit bagging not only reduces losses during harvest but also improves the appearance and quality of the fruit, making it more competitive in the market. More importantly, this technology plays a crucial role in increasing farmers' yields and adding value to agricultural products. Currently, peach bagging is mainly done manually, requiring significant manpower and time, resulting in low efficiency and difficulty in meeting the needs of large-scale agricultural production. Therefore, designing an intelligent bagging robot and implementing intelligent bagging is key to solving this problem, and designing a reasonably structured end effector is paramount.

[0003] Traditional fruit bagging is typically labor-intensive and time-consuming, resulting in low efficiency. While some automated fruit bagging equipment exists, it primarily targets fruits with long stems, such as apples, which don't require cross-branch bagging. Although cross-branch bagging actuators have been researched for peaches with short stems, they suffer from complex structures, large size, and unstable operation.

[0004] A search revealed that application publication number CN116018968A discloses an automatic device for bagging yellow peaches. Specifically, it includes a handheld rod and an open placement box fixedly connected to the front end of the handheld rod. The open placement box contains a clamping and bagging mechanism, a bag-blowing mechanism on the left side wall of the box, and a mounting box hinged to the right side opening of the box. The mounting box contains a tightening mechanism, and a rotational power mechanism connected to the mounting box is located on the right side wall of the open placement box. However, this prior art requires manual placement of the bags into the device, resulting in a low level of automation.

[0005] Therefore, designing an end effector mechanism for a fully automatic fruit bagging machine is of significant practical importance in order to better achieve a high degree of automation and unmanned operation in the fruit bagging process. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology in terms of low automation and to provide an end effector mechanism for automatic bagging of peaches.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] According to one aspect of the present invention, an end effector mechanism for automatic bagging of peaches is provided, comprising a rear shell plate, a shell assembly, an automatic fruit bag feeding assembly, a fruit bag closing assembly, and a fruit bag sealing assembly. The shell assembly is mounted on the rear shell plate, forming a cavity structure with one open end, and the fruit bag is located within the cavity structure. The automatic fruit bag feeding assembly includes a feeding drive assembly and a suction cup assembly connected together. The fruit bag closing assembly includes a closing drive assembly and a clamping assembly connected together. The fruit bag sealing assembly includes a sealing drive assembly and a robotic arm assembly connected together. The feeding drive assembly, the closing drive assembly, and the fruit bag sealing assembly are mounted on the shell assembly. The suction cup assembly is mounted within the cavity structure, and the fruit bag passes through the suction cup assembly. The clamping assembly is mounted between the suction cup assembly and the open end of the cavity structure.

[0009] As a preferred technical solution, the outer shell assembly includes an outer shell front plate, a first outer shell side plate, a second outer shell side plate, an outer shell bottom plate, and a conveying roller; the outer shell front plate includes a first outer shell front plate and a second outer shell front plate connected by hinges, and the first outer shell front plate and the outer shell bottom plate are respectively connected to the first outer shell side plate and the first outer shell side plate; the conveying roller is installed at one end near the outer shell bottom plate, and a roll of fruit bag is installed on it.

[0010] As a preferred technical solution, the outer shell assembly is provided with a movable groove, and the feeding drive assembly, suction cup assembly, closing drive assembly, and clamp assembly are all connected through the movable groove; the front plate and rear plate of the outer shell are provided with a V-shaped fruit branch positioning groove at the end near the opening.

[0011] As a preferred technical solution, the feeding drive assembly includes a feeding assembly ball screw, a feeding assembly guide rail, a feeding assembly coupling, and a feeding assembly stepper motor. The output shaft of the feeding assembly stepper motor is connected to the feeding assembly ball screw through the feeding assembly coupling. The feeding assembly guide rail is mounted on the feeding assembly ball screw and connected to the suction cup assembly.

[0012] As a preferred technical solution, the suction cup assembly includes a first open suction cup frame, a second open suction cup frame, a suction cup, suction cup accessories, and an air tube connector. There are at least two suction cup accessories, which are respectively installed on the first open suction cup frame and the second open suction cup frame. One end of each suction cup accessory is connected to the suction cup, and the other end is connected to the air tube connector.

[0013] As a preferred technical solution, the clamping assembly includes a first clamp, a second clamp, a first fixing rod, and a second fixing rod. The first clamp is mounted on the first fixing rod, and the second clamp is mounted on the second fixing rod. The first clamp and the second clamp can cross each other. One end of the first fixing rod and the second fixing rod is connected to the closing drive assembly.

[0014] As a preferred technical solution, the closing drive assembly includes a first screw, a second screw, a driving wheel, a driven wheel, a closing stepper motor, a closing assembly ball screw, and a closing assembly coupling. The transmission direction of the closing drive assembly is perpendicular to the feeding drive assembly. The output shaft of the closing stepper motor is connected to the closing assembly ball screw through the closing assembly coupling. The driving wheel and the ball screw are threaded together, and the driven wheel and the driving wheel are threaded together. The first screw is engaged with the driving wheel, and one end of the first screw is connected to the first clamp through a first fixing rod. The second screw is engaged with the driven wheel, and one end of the second screw is connected to the second clamp through a second fixing rod.

[0015] As a preferred technical solution, the sealing drive assembly includes a robot stepper motor, a robot coupling, a robot guide rail, and a robot ball screw. The output shaft of the robot stepper motor is connected to the robot ball screw through the robot coupling, and the robot guide rail is mounted on the robot ball screw and connected to the robot assembly.

[0016] As a preferred technical solution, the robotic arm assembly includes a linkage assembly and a robotic finger. One end of the linkage assembly is connected to the robotic arm guide rail, and the other end is connected to the robotic finger. The end of the robotic finger is provided with a fingertip rubber block.

[0017] As a preferred technical solution, the linkage assembly includes a first-joint linkage, a second-joint connecting block, a second-joint linkage, a third-joint connecting block, and a third-joint linkage that are rotatably connected in sequence. The other end of the first-joint linkage is rotatably connected to the robot arm guide rail, and the other end of the third-joint linkage is rotatably connected to the robot finger. The second-joint linkage is provided with a second-joint rubber block.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1) The automatic fruit bag feeding component, fruit bag closing component, and fruit bag sealing component of this invention work together to achieve fully automatic bagging of peaches. During the process, a series of actions are completed, including bag opening, bag feeding, bag filling, closing and sealing. The structure is simple, which greatly saves manpower and time costs and can meet the needs of large-scale agricultural production.

[0020] 2) The present invention provides a conveying roller between the two outer shell side plates for storing and conveying fruit bags, replacing the fruit bag box mechanism in the traditional end effector. The structure is simple and clear, saves space, and reduces the overall size. The front and rear shell plates are provided with V-shaped fruit branch positioning grooves, which realize the function of bagging across branches.

[0021] 3) The fruit bag feeding component of the present invention realizes both bag supporting and bag feeding functions at the same time, combining the bag feeding mechanism and bag supporting mechanism in the traditional end effector into one, simplifying the structure and saving processing costs;

[0022] 4) The fruit bag closing assembly of the present invention is driven by an independent stepper motor and is transmitted through gears and screws, which solves the problem of insufficient power in traditional end effectors that rely solely on passive thrust to complete the closing action;

[0023] 5) The first and second clamps of the clamp assembly of the present invention can cross each other, which has a better fruit bag gathering and sealing function and can prevent the sealing failure caused by the fruit bag opening not gathering.

[0024] 6) The sealing assembly of the fruit bag of the present invention is achieved by the bending action of the robot arm assembly. The bending action and resetting of the robot arm are realized by the back-and-forth feeding motion of the robot arm guide rail on the ball screw, thus realizing humanoid mechanical sealing. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the housing assembly of the present invention;

[0027] Figure 3 This is a schematic diagram of the fruit bag feeding component of the present invention;

[0028] Figure 4 This is a schematic diagram of the fruit bag sealing component of the present invention;

[0029] Figure 5 This is a schematic diagram of the fruit bag sealing component of the present invention;

[0030] The numbers in the diagram are as follows:

[0031] 1. Rear panel of outer casing; 2. Outer casing assembly; 201. First front panel of outer casing; 202. First side panel of outer casing; 203. First hinge positioning pin; 204. Second hinge positioning pin; 205. First hinge; 206. Third hinge positioning pin; 207. Fourth hinge positioning pin; 208. Second hinge; 209. Bottom panel of outer casing; 210. Conveyor roller; 211. Fifth hinge positioning pin; 212. Sixth hinge positioning pin; 213. Seventh hinge positioning pin; 214. Eighth hinge positioning pin; 215. Second side panel of outer casing; 216. Second front panel of outer casing; 217. Positioning groove; 3. Automatic fruit bag feeding assembly; 301. First opening suction... 302. Feeding assembly ball screw; 303. First guide rail positioning pin; 304. Second guide rail positioning pin; 305. Third guide rail positioning pin; 306. Fourth guide rail positioning pin; 307. Feeding assembly guide rail; 308. Feeding assembly coupling; 309. Feeding assembly stepper motor; 310. Second opening suction cup frame; 311. First air pipe connector; 312. First suction cup accessory; 313. First suction cup; 314. Second air pipe connector; 315. Second suction cup accessory; 316. Second suction cup; 317. Third suction cup; 318. Third suction cup accessory; 319. Third air pipe connector; 320. Fourth suction cup; 321. Fourth... Suction cup accessories, 322, fourth air pipe connector, 4, fruit bag sealing assembly, 401, second clamp, 402, second fixing rod, 403, second clamp connecting block, 404, second screw, 405, driven wheel, 406, sealing stepper motor, 407, sealing assembly coupling, 408, sealing assembly ball screw, 409, first clamp connecting block, 410, driving wheel, 411, first screw, 412, first clamp, 413, first fixing rod, 5, fruit bag sealing assembly, 501, first positioning pin, 502, second positioning pin, 503, fingertip rubber block, 504, third positioning pin, 505, first three-joint connecting rod, 50 6. Second and third joint connecting rod; 507. Fourth locating pin; 508. Second joint rubber block; 509. First and second joint connecting rod; 510. First and first joint connecting rod; 511. Second and first joint connecting rod; 512. Robotic arm stepper motor; 513. Robotic arm coupling; 514. Robotic arm guide rail; 515. First and second joint connecting block; 516. Second and second joint connecting block; 517. Fifth locating pin; 518. Sixth locating pin; 519. Seventh locating pin; 520. Second and second joint connecting rod; 521. Eighth locating pin; 522. Third joint connecting block; 523. Ninth locating pin; 524. Robotic finger; 525. Robotic arm ball screw. Detailed Implementation

[0032] 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, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] like Figure 1 As shown, the present invention provides an end effector mechanism for automatic bagging of peaches, including a rear outer shell plate 1, an outer shell assembly 2, an automatic fruit bag feeding assembly 3, a fruit bag closing assembly 4, and a fruit bag sealing assembly 5. The bottom plate 209 of the outer shell assembly 2 is fixed in position first. The rear plate 1 of the outer shell assembly 2 is welded and installed with the bottom plate 209 of the outer shell assembly 2 as the reference position. All components in the outer shell assembly 2 are welded and installed with the rear plate 1 of the outer shell as the reference position. The feeding component stepper motor 309 of the automatic fruit bag feeding assembly 3 is welded and installed at the bottom of the first outer shell side plate 202 of the outer shell assembly 2. All other parts of the automatic fruit bag feeding assembly 3 are positioned and installed with the feeding component stepper motor 309 of the automatic fruit bag feeding assembly 3 as the reference position. The closing stepper motor 406 of the fruit bag closing assembly 4 is welded and installed on the rear plate 1 of the outer shell. All other parts of the fruit bag closing assembly 4 are positioned and installed with the closing stepper motor 406 as the reference position. The robotic arm stepper motor 512 of the fruit bag sealing assembly 5 is welded and installed at the bottom of the second outer shell side plate 215 of the outer shell assembly 2. All other parts of the fruit bag sealing assembly 5 are positioned and installed with the robotic arm stepper motor 512 as the reference position.

[0034] like Figure 2 As shown, the outer casing assembly 2 includes a first outer casing front plate 201, a first outer casing side plate 202, a first hinge positioning pin 203, a second hinge positioning pin 204, a first hinge 205, a third hinge positioning pin 206, a fourth hinge positioning pin 207, a second hinge 208, an outer casing bottom plate 209, a conveyor roller 210, a fifth hinge positioning pin 211, a sixth hinge positioning pin 212, a seventh hinge positioning pin 213, an eighth hinge positioning pin 214, a second outer casing side plate 215, and a second outer casing front plate 216.

[0035] The rear panel 1, the first side panel 202, and the second side panel 215 of the outer shell are fixed to the bottom plate 209 of the outer shell by welding. The front panel 201 of the first outer shell is connected to the first side panel 202 and the second side panel 215 of the outer shell by welding.

[0036] The front panel 201 and the rear panel 1 of the first outer shell are provided with V-shaped fruit branch positioning grooves at the ends near the openings.

[0037] The first outer shell side plate 202 and the second outer shell side plate 215 provide positioning references for the conveying roller 210, the first clamp 412 and the second clamp 401. They are also provided with movable grooves. When the feeding component stepper motor 309 and the robot arm stepper motor 512 of the automatic fruit bag feeding component 3 and the fruit bag sealing component 5 move, the feeding component guide rail 307 and the robot arm guide rail 514 move along the movable grooves. Movable grooves are also provided on the first outer shell front plate 201 and the outer shell rear plate 1. The movable grooves include transverse grooves and longitudinal grooves. The transverse grooves provide support for the setting of the first clamp 412 and the second clamp 401, and the longitudinal grooves provide positioning references for the four air pipe joints.

[0038] The second outer shell front plate 216 is connected to the first outer shell front plate 201 through the first hinge 205 and the second hinge 208. Under the action of external force applied manually, the second outer shell front plate 216 can open and close to load and unload new fruit bag rolls. The conveying roller 210 is arranged between the first outer shell side plate 202 and the second outer shell side plate 215, and realizes the conveying function of fruit bags by rolling.

[0039] like Figure 3 As shown, the automatic fruit bag feeding assembly 3 includes a first opening suction cup frame 301, a feeding assembly ball screw 302, a first guide rail positioning pin 303, a second guide rail positioning pin 304, a third guide rail positioning pin 305, a fourth guide rail positioning pin 306, a feeding assembly guide rail 307, a feeding assembly coupling 308, a feeding assembly stepper motor 309, a second opening suction cup frame 310, a first air pipe connector 311, a first suction cup accessory 312, a first suction cup 313, a second air pipe connector 314, a second suction cup accessory 315, a second suction cup 316, a third suction cup 317, a third suction cup accessory 318, a third air pipe connector 319, a fourth suction cup 320, a fourth suction cup accessory 321, and a fourth air pipe connector 322.

[0040] Under the upward pulling force applied to the fruit bag by the automatic fruit bag feeding component 3, the conveying roller 210 passively tumbles to convey new fruit bags.

[0041] The feeding component stepper motor 309 is located on the outside of the first housing side plate 202. The feeding component stepper motor 309 is connected to the feeding component ball screw 302 through the feeding component coupling 308. Under the driving force provided by the feeding component stepper motor 309, the feeding component ball screw 302 rotates. According to the forward and reverse rotation of the feeding component stepper motor 309, the feeding component guide rail 307 performs up and down feeding motion.

[0042] Two open suction cup holders are respectively fitted to the front panel 201 and the rear panel 1 of the first outer casing. The first open suction cup holder 301 and the second open suction cup holder 310 are connected to the feeding component guide rail 307 through the first guide rail positioning pin 303, the second guide rail positioning pin 304, the third guide rail positioning pin 305, and the fourth guide rail positioning pin 306. When the feeding component guide rail 307 moves up and down within a certain range, it simultaneously drives the first open suction cup holder 301 and the second open suction cup holder 310 to move up and down, realizing the bag feeding function, i.e., the feeding function.

[0043] The first suction cup 313, the first suction cup accessory 312, and the first air pipe connector 311 cooperate to form a suction cup assembly; the second suction cup 316, the second suction cup accessory 315, and the second air pipe connector 314 cooperate to form a suction cup assembly; the third suction cup 317, the third suction cup accessory 318, and the third air pipe connector 319 cooperate to form a suction cup assembly; and the fourth suction cup 320, the fourth suction cup accessory 321, and the fourth air pipe connector 322 cooperate to form a suction cup assembly. The four suction cup assemblies are symmetrically arranged in pairs on the first open suction cup frame 301 and the second open suction cup frame 310. The first air pipe connector 311, the second air pipe connector 314, the third air pipe connector 319, and the fourth air pipe connector 322 are connected to four air pipes, achieving the bag-supporting function under the action of a negative pressure pump.

[0044] like Figure 4 As shown, the fruit bag closing assembly 4 includes a second clamp 401, a second fixing rod 402, a second clamp connecting block 403, a second screw 404, a driven wheel 405, a closing stepper motor 406, a closing assembly coupling 407, a closing assembly ball screw 408, a first clamp connecting block 409, a driving wheel 410, a first screw 411, a first clamp 412, and a first fixing rod 413.

[0045] The closing stepper motor 406, closing assembly coupling 407, and closing assembly ball screw 408 are disposed on the outer side of the rear plate 1 of the housing. The clamp is disposed between the first housing side plate 202 and the second housing side plate 215 via a fixing rod, and can perform inward feed movement. The closing stepper motor 406 is connected to the closing assembly ball screw 408 via the closing assembly coupling 407. Under the driving force provided by the closing stepper motor 406, the closing assembly ball screw 408 rotates. The closing assembly ball screw 408 causes the driving wheel 410 to rotate through thread transmission. The driving wheel 410 causes the driven wheel 405 to rotate accordingly through gear transmission. The rotation direction of the closing assembly ball screw 408 is changed according to the forward and reverse rotation of the closing stepper motor 406.

[0046] The ball screw 408 of the closing assembly is connected to the driving wheel 410 by a threaded connection for transmission. The driven wheel 405 is driven by the driving wheel 410. The driving wheel 410 and the driven wheel 405 are respectively connected to the first screw 411 and the second screw 404 by a threaded connection for transmission.

[0047] The first screw 411 is connected to the first fixed rod 413 via the first clamp connecting block 409, and the second screw 404 is connected to the second fixed rod 402 via the second clamp connecting block 403. The first fixed rod 413 and the second fixed rod 402 are respectively connected to the first clamp 412 and the second clamp 401. Therefore, under the driving force of the closing stepper motor 406, the driving wheel 410 and the driven wheel 405 mesh and drive each other, driving the first clamp 412 and the second clamp 401 to move inward through the first screw 411 and the second screw 404, thus realizing the closing function of the fruit bag. Conversely, the driving wheel 410 and the driven wheel 405 mesh and drive each other in the opposite direction, driving the first clamp 412 and the second clamp 401 to move outward through the first screw 411 and the second screw 404, thus resetting.

[0048] like Figure 5 As shown, the fruit bag sealing assembly 5 includes a first positioning pin 501, a second positioning pin 502, a fingertip rubber block 503, a third positioning pin 504, a first three-joint connecting rod 505, a second three-joint connecting rod 506, a fourth positioning pin 507, a two-joint rubber block 508, a first two-joint connecting rod 509, a first one-joint connecting rod 510, a second one-joint connecting rod 511, a robotic arm stepper motor 512, a robotic arm coupling 513, a robotic arm guide rail 514, a first two-joint connecting block 515, a second two-joint connecting block 516, a fifth positioning pin 517, a sixth positioning pin 518, a seventh positioning pin 519, a second two-joint connecting rod 520, an eighth positioning pin 521, a three-joint connecting block 522, a ninth positioning pin 523, a robotic finger 524, and a robotic arm ball screw 525.

[0049] The robot stepper motor 512 is located on the outside of the second housing side plate 215. The robot stepper motor 512 is connected to the robot ball screw 525 through the robot coupling 513. The robot guide rail 514 is connected to the robot ball screw 525 through a threaded connection for transmission. Under the driving force of the robot stepper motor 512, the robot guide rail 514 performs up and down feeding movements. When the robot guide rail 514 moves upward, it drives the entire robot to perform a hooking action to achieve the sealing function of the fruit bag. When the robot guide rail 514 moves downward, it drives the entire robot to reset.

[0050] When the robotic arm guide rail 514 moves upward, the three joints of the robotic arm move in coordination through positioning pins to complete the hooking motion of an anthropomorphic finger. The first joint link 510 and the second joint link 511 are connected to the robotic arm guide rail 514 via bosses, and are also connected to the first and second joint connecting blocks 515 and 516 via the seventh positioning pin 519. When the robotic arm guide rail 514 moves upward, the first and second joint connecting blocks 515 and 516 move through the first and second joint links 510 and 511.

[0051] The first and second joint connecting blocks 515 and 516 are connected to the first and second joint connecting rods 509 and 520 via the sixth positioning pin 518 and the fifth positioning pin 517. During movement, the first and second joint connecting blocks 515 and 516 drive the first and second joint connecting rods 509 and 520 to move.

[0052] The first and second joint connecting rods 509 and 520 are connected to the third joint connecting block 522 via the fourth positioning pin 507 and the eighth positioning pin 521. The first and second joint connecting rod 509 is also connected to the first and second third joint connecting rods 505 and 506 via the fourth positioning pin 507. The third joint connecting block 522 is connected to the robotic finger 524 via the ninth positioning pin 523. The first and second third joint connecting rods 505 and 506 are connected to the robotic finger 524 via the third positioning pin 504. When the first and second joint connecting rods 509 and 520 move, the force is transmitted layer by layer, driving the robotic finger 524 to move and realize the hooking action of the robotic hand.

[0053] The robotic finger 524 is equipped with a fingertip rubber block 503, which is fixed to the robotic finger 524 by a first positioning pin 501 and a second positioning pin 502. A second-joint rubber block 508 is equipped on the first second-joint connecting rod 509 and is fixed to the first second-joint connecting rod 509 by welding. The fingertip rubber block 503 and the second-joint rubber block 508 simulate human finger muscle tissue. When the entire robotic hand performs a hooking motion, the fingertip rubber block 503 and the second-joint rubber block 508 fit tightly together, better achieving the sealing action of the fruit bag.

[0054] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An end effector mechanism for automatic bagging of peaches, characterized in that, The device includes a rear panel (1), a housing assembly (2), an automatic fruit bag feeding assembly (3), a fruit bag closing assembly (4), and a fruit bag sealing assembly (5). The housing assembly (2) is mounted on the rear panel (1) to form a cavity structure with one end open, and the fruit bag is located inside the cavity structure. The automatic fruit bag feeding assembly (3) includes a feeding drive assembly and a suction cup assembly connected together. The fruit bag closing assembly (4) includes a closing drive assembly and a clamp assembly connected together. The fruit bag sealing assembly (5) includes a sealing drive assembly and a robotic arm assembly connected together. The feeding drive assembly, the closing drive assembly, and the fruit bag sealing assembly (5) are mounted on the housing assembly (2). The suction cup assembly is mounted inside the cavity structure and the fruit bag passes through the suction cup assembly. The clamp assembly is mounted between the suction cup assembly and the open end of the cavity structure. The robotic arm assembly includes a linkage assembly and a robotic finger (524). One end of the linkage assembly is connected to the robotic arm guide rail (514), and the other end is connected to the robotic finger (524). The robotic finger (524) has a fingertip rubber block (503) at its end. The linkage assembly includes a first joint link, a second joint connecting block, a second joint link, a third joint connecting block (522), and a third joint link that are rotatably connected in sequence. The other end of the first joint link is rotatably connected to the robot arm guide rail (514), and the other end of the third joint link is rotatably connected to the robot finger (524). The second joint link is provided with a second joint rubber block (508). The suction cup assembly includes a first open suction cup frame (301), a second open suction cup frame (310), a suction cup, suction cup accessories, and an air tube connector. There are at least two suction cup accessories, which are respectively installed on the first open suction cup frame (301) and the second open suction cup frame (310). One end of each suction cup accessory is connected to the suction cup, and the other end is connected to the air tube connector. The sealing drive assembly includes a robotic stepper motor (512), a robotic coupling (513), a robotic guide rail (514), and a robotic ball screw (525). The output shaft of the robotic stepper motor (512) is connected to the robotic ball screw (525) through the robotic coupling (513). The robotic guide rail (514) is mounted on the robotic ball screw (525) and connected to the robotic assembly.

2. The end effector mechanism for automatic bagging of peaches according to claim 1, characterized in that, The outer shell assembly (2) includes a front outer shell panel, a first outer shell side panel (202), a second outer shell side panel (215), an outer shell bottom panel (209), and a conveyor roller (210); the front outer shell panel includes a first outer shell front panel (201) and a second outer shell front panel (216) connected by hinges, and the first outer shell front panel (201) and the outer shell bottom panel (209) are respectively connected to the first outer shell side panel (202); the conveyor roller (210) is installed at one end near the outer shell bottom panel (209), and a roll of fruit bag is installed on it.

3. The end effector mechanism for automatic bagging of peaches according to claim 2, characterized in that, The outer shell assembly (2) is provided with a movable groove, and the feeding drive assembly, suction cup assembly, closing drive assembly and clamp assembly are all connected through the movable groove; the front plate and rear plate (1) of the outer shell are provided with a V-shaped fruit branch positioning groove (217) near the opening.

4. The end effector mechanism for automatic bagging of peaches according to claim 1, characterized in that, The feeding drive assembly includes a feeding assembly ball screw (302), a feeding assembly guide rail (307), a feeding assembly coupling (308), and a feeding assembly stepper motor (309). The output shaft of the feeding assembly stepper motor (309) is connected to the feeding assembly ball screw (302) through the feeding assembly coupling (308). The feeding assembly guide rail (307) is mounted on the feeding assembly ball screw (302) and connected to the suction cup assembly.

5. The end effector mechanism for automatic bagging of peaches according to claim 1, characterized in that, The clamp assembly includes a first clamp (412), a second clamp (401), a first fixing rod, and a second fixing rod (402). The first clamp (412) is mounted on the first fixing rod (413), and the second clamp (401) is mounted on the second fixing rod (402). The first clamp (412) and the second clamp (401) can cross each other. One end of the first fixing rod (413) and the second fixing rod (402) is connected to the closing drive assembly.

6. The end effector mechanism for automatic bagging of peaches according to claim 5, characterized in that, The closing drive assembly includes a first screw (411), a second screw (404), a drive wheel (410), a driven wheel (405), a closing stepper motor (406), a closing assembly ball screw (408), and a closing assembly coupling (407). The transmission direction of the closing drive assembly is perpendicular to the feeding drive assembly. The output shaft of the closing stepper motor (406) is connected to the closing assembly ball screw (408) through the closing assembly coupling (407). The drive wheel (410) is threaded into the ball screw. The driven wheel (405) is threaded into the drive wheel (410). The first screw (411) is threaded into the drive wheel (410), and one end is connected to the first clamp (412) through the first fixing rod (413). The second screw (404) is threaded into the driven wheel (405), and one end is connected to the second clamp (401) through the second fixing rod (402).

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