Aubergine bagging machine

Abstract

The present application belongs to the technical field of agricultural machinery, and particularly relates to a tomato bagging machine; the machine comprises a walking device, a box body bag supporting device, a clamping jaw bag supporting device and a mechanical arm bag supporting device; the box body bag supporting device and the mechanical arm bag supporting device are mounted on the walking device, and the clamping jaw bag supporting device is mounted on the mechanical arm bag supporting device; the clamping jaw bag supporting device is provided with two openable bag supporting clamping jaw rods, the clamping jaw bag supporting device hooks into the drawstring of a net bag to grab the net bag through the two bag supporting clamping jaw rods, and the two bag supporting clamping jaw rods are opened to make the net bag close, and the two bag supporting clamping jaw rods are separated from the drawstring of the net bag to release the net bag; the box body bag supporting device comprises a bag storing mechanism, a bag taking mechanism and a bag opening mechanism; the tomato bagging machine provided by the present application solves the problems of low production efficiency and unguaranteed production quality caused by the low growth height of tomatoes and the small thorns on the stems of the tomatoes, which may cause injuries to the operators.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to an eggplant bagging machine. Background Technology

[0002] Bagging eggplants plays a very important role, and the following is a detailed explanation:

[0003] Firstly, bagging can improve the yield and quality of eggplants: it isolates some pests, thus reducing the incidence of diseases and pests and increasing eggplant yield. It also prevents the fruit from being contaminated by adverse external environments, reduces pesticide use, and keeps the fruit clean and fresh. Therefore, eggplant bagging improves yield and quality in terms of safety, pollution-free production, and health benefits. Secondly, it improves marketability and economic benefits: bagged eggplants have a brighter, more uniform color, are fresher and more attractive, and taste better than unbagged eggplants, making them more popular with consumers and commanding higher market prices. Furthermore, bagging promotes earlier fruit ripening, shortens the growth cycle, and increases economic benefits. Finally, it facilitates harvesting and management: bagged eggplants are not contaminated by soil, weeds, or other substances, making harvesting and management easier. Summary of the Invention

[0004] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0005] This invention provides the following technical solution: an eggplant bagging machine, comprising a walking device, a box-type bag-supporting device, a gripper bag-supporting device, and a robotic arm bag-packing device; the box-type bag-supporting device and the robotic arm bag-packing device are mounted on the walking device, and the gripper bag-supporting device is mounted on the robotic arm bag-packing device; the robotic arm bag-packing device changes the position of the gripper bag-supporting device through its horizontal rotational degree of freedom, vertical translational degree of freedom, and horizontal translational degree of freedom; the gripper bag-supporting device has two opening and closing gripper bars, which hook into the drawstring of the net bag to grab the net bag, and open the net bag to close it by opening the two gripper bars, and then pull the two gripper bars out of the drawstring of the net bag to release the net bag; the box-type bag-supporting device includes a bag storage mechanism, a bag retrieval mechanism, and a mouth-opening mechanism, wherein the bag retrieval mechanism is used to grab the net bags one by one from the bag storage mechanism, and the mouth-opening mechanism is used to open the net bags on the bag retrieval mechanism, with the net bags waiting to be grabbed by the gripper bag-supporting device with their openings facing upwards.

[0006] Furthermore, the robotic arm bagging device includes a rotating base, a connecting body, a left drive motor, a right drive motor, a BC rod, a C-axis rocker arm, a C-axis connecting rod, a lower horizontal connecting rod, a triangular connecting rod, a CD connecting rod, and an upper horizontal connecting rod;

[0007] The connector is mounted on the rotating base, and the lower end of the BC rod is hinged to the connector. The left drive motor is mounted on the left side of the connector and is used to drive the BC rod to swing.

[0008] The lower end of the C-axis rocker is hinged to the connecting body. The C-axis rocker is coaxial with the BC rod. The right drive motor is installed on the right side of the connecting body and is used to drive the C-axis rocker to swing.

[0009] The CD link is hinged to the top of the BC link. With the hinge axis as the boundary, the CD link is divided into a long link and a short link. The end of the long link is hinged to the gripper bag support device, and the end of the short link is connected to the C-axis rocker via the C-axis link.

[0010] The first end of the triangular link is hinged to the top of the BC link, the triangular link is coaxial with the CD link, the second end of the triangular link is connected to the connecting body through the lower horizontal link, and the third end of the triangular link is connected to the gripper bag support device through the upper horizontal link.

[0011] The connecting shaft of the CD link on the gripper bag support device is offset from the connecting shaft of the horizontal link.

[0012] Furthermore, the rotating base is mounted on a support seat on the walking device.

[0013] Furthermore, the gripper bag-holding device includes a body and two gripper bars. One end of each gripper bar is hinged to the body. Gears are installed on the connecting shafts of both gripper bars. One of the gripper bars is connected to a drive motor inside the body. Anti-drop-off locking points are provided at the ends of the gripper bars.

[0014] Furthermore, the bag-supporting device for the box includes a frame, a storage box, a flip-up adhesive plate, and a translational adhesive plate;

[0015] The storage box is an open box. It is used to store mesh bags stacked in a flat state. The flip adhesive plate is installed on the flipping mechanism on the frame. The side of the flip adhesive plate facing the storage box is the adhesive surface. The flipping mechanism drives the flip adhesive plate to flip towards the storage box. After the adhesive surface adheres to the mesh bag on top, the flipping mechanism drives the flip adhesive plate to return to the upright position.

[0016] The translational adhesive plate is mounted on a sliding mechanism on the frame. The side of the translational adhesive plate facing the flip adhesive plate is the adhesive surface. When the sliding mechanism drives the translational adhesive plate to approach the flip adhesive plate, the mesh bag is bonded. When the sliding mechanism drives the translational adhesive plate away from the flip adhesive plate, the mesh bag is stretched open.

[0017] Furthermore, a slide is installed on the frame, and the storage box is installed in the slide in a pull-out manner. A baffle is provided on the frame in front of the slide, and the baffle restricts the front and rear position of the storage box.

[0018] Furthermore, the sliding mechanism is a linear guide rail linear slide, and the flipping mechanism includes a servo motor and a support rod. The support rod is connected to the servo motor's rotating shaft, and the flipping adhesive plate is mounted on the support rod off-center from the servo motor's rotating shaft.

[0019] Furthermore, the walking device includes a walking frame, walking wheels mounted below the walking frame, and a motor assembly for driving the walking wheels to rotate.

[0020] Compared with the prior art, the advantages of the present invention are:

[0021] This invention provides an eggplant bagging machine that solves the problem of low production efficiency and inconsistent product quality caused by the low growth height of eggplants and the small thorns on their stems, which can easily injure workers if not handled carefully. This machine saves time, ensures quality, and improves production efficiency, while also reducing manpower and material consumption and increasing economic benefits.

[0022] This eggplant bagging machine's box-type bag-supporting device can complete a high number of bagging operations with a single filling of the mesh bag. This reduces manual intervention and improves feasibility and economy. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the bag support device for the box.

[0025] Figure 3 A schematic diagram of the bag-supporting device for the box (storage box pulled out);

[0026] Figure 4 A schematic diagram of a storage box containing a mesh bag;

[0027] Figure 5 This is a schematic diagram of a mesh bag;

[0028] Figure 6 A three-dimensional view of the robotic arm's bagging device;

[0029] Figure 7 Right view of the robotic arm bagging device;

[0030] Figure 8 Left view of the robotic arm bagging device;

[0031] Figure 9 This is a schematic diagram of a gripper bag support device;

[0032] Figure 10 This is a schematic diagram of the walking device.

[0033] In the diagram: 1-Walking device; 1.1-Walking frame; 1.2-Walking wheel; 2-Robotic arm bagging device; 2.1-Rotating base; 2.2-Connector; 2.3-Left drive motor; 2.4-Right drive motor; 2.5-BC rod; 2.6-C-axis rocker arm; 2.7-C-axis connecting rod; 2.8-Lower horizontal connecting rod; 2.9-Triangle connecting rod; 2.10-CD connecting rod; 2.11-Upper horizontal connecting rod; 3- 3.1-Frame; 3.2-Storage box; 3.3-Flipping adhesive plate; 3.4-Transfer adhesive plate; 3.5-Flipping mechanism; 3.6-Sliding mechanism; 3.7-Slide rail; 3.8-Baffle; 3.9-Support rod; 4-Claw bag-supporting device; 4.1-Machine body; 4.2-Bag-supporting claw rod; 4.3-Gear; 4.4-Anti-dropping locking point; 5-Mesh bag; 5.1-Drawstring; 6-Support base. Detailed Implementation

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] like Figure 1 As shown: An intelligent bagging system for eggplants includes a walking device 1, a box-shaped bag-supporting device 3, a gripper-shaped bag-supporting device 4, and a robotic arm bag-bagging device 2. The box-shaped bag-supporting device 3 and the robotic arm bag-bagging device 2 are mounted on the walking device 1, and the gripper-shaped bag-supporting device 4 is mounted on the robotic arm bag-bagging device 2. The robotic arm bag-bagging device 2 changes the position of the gripper-shaped bag-supporting device 4 through its horizontal rotational degree of freedom, vertical translational degree of freedom, and horizontal translational degree of freedom. The gripper-shaped bag-supporting device 4 has two opening and closing bag-supporting gripper bars 4.2. The bag device 4 uses two bag-holding gripper bars 4.2 to hook into the drawstring 5.1 of the net bag 5 to grab the net bag 5, and opens the net bag 5 by opening the two bag-holding gripper bars 4.2 to close the net bag 5. The two bag-holding gripper bars 4.2 are then pulled out from the drawstring 5.1 of the net bag 5 to release the net bag 5. The box-type bag-holding device 3 includes a bag storage mechanism, a bag retrieval mechanism, and a mouth-opening mechanism. The bag retrieval mechanism is used to grab the net bags 5 one by one from the bag storage mechanism, and the mouth-opening mechanism is used to open the net bags 5 on the bag retrieval mechanism. The net bags 5 are in an open-up position waiting for the gripper bag-holding device 4 to grab them.

[0036] like Figure 6 , Figure 7 , Figure 8As shown: The robotic arm bagging device 2 includes a rotating base 2.1, a connecting body 2.2, a left drive motor 2.3, a right drive motor 2.4, a BC rod 2.5, a C-axis rocker arm 2.6, a C-axis connecting rod 2.7, a lower horizontal connecting rod 2.8, a triangular connecting rod 2.9, a CD connecting rod 2.10, and an upper horizontal connecting rod 2.11. The connecting body 2.2 is mounted on the rotating base 2.1. The lower end of the BC rod 2.5 is hinged to the connecting body 2.2. The left drive motor 2.3 is mounted on the left side of the connecting body 2.2 and is used to drive the BC rod 2.5 to swing. The lower end of the C-axis rocker arm 2.6 is hinged to the connecting body 2.2. The C-axis rocker arm 2.6 is coaxial with the BC rod 2.5. The right drive motor 2.4 is mounted on the right side of the connecting body 2.2 and is used to drive the BC rod 2.5 to swing. Machine 2.4 is used to drive the C-axis rocker arm 2.6 to swing; CD link 2.10 is hinged to the top of BC link 2.5. With the hinge axis as the boundary, CD link 2.10 is divided into a long rod and a short rod. The end of the long rod is hinged to the gripper bag support device 4, and the end of the short rod is connected to C-axis rocker arm 2.6 through C-axis link 2.7; the first end of triangular link 2.9 is hinged to the top of BC link 2.5. Triangular link 2.9 is coaxial with CD link 2.10. The second end of triangular link 2.9 is connected to connector 2.2 through lower horizontal link 2.8. The third end of triangular link 2.9 is connected to gripper bag support device 4 through upper horizontal link 2.11. The connecting shaft of CD link 2.10 on gripper bag support device 4 is offset from the connecting shaft of horizontal link 2.11.

[0037] The rotating base 2.1 is mounted on the support seat 6 on the walking device 1. The rotation angle and speed of the gripper bag holding device 4 are controlled by the drive motor inside the rotating base 2.1, so that the gripper bag holding device 4 rotates to the required specific direction. Then, the right drive motor 2.4 drives the C-axis rocker arm 2.6 to swing, and the left drive motor 2.3 drives the BC rod 2.5 to swing. The linkage mechanism composed of the BC rod 2.5, the C-axis rocker arm 2.6, the C-axis connecting rod 2.7, the lower horizontal connecting rod 2.8, the triangular connecting rod 2.9, the CD connecting rod 2.10, and the upper horizontal connecting rod 2.11 performs wrist pitch, forearm rotation, and upper arm rotation to achieve the desired vertical and horizontal position of the gripper bag holding device 4. Then, the gripper bag holding device 4 performs the bag picking and bag putting operations.

[0038] Specifically, the left drive motor 2.3 and the right drive motor 2.4 are fixed to the connecting body 2.2 by flanges. The left drive motor 2.3 drives the BC rod 2.5 to swing back and forth to move closer to or away from the eggplant. The right drive motor 2.4 drives the C-axis rocker arm 2.6 to swing up and down, thereby pulling the C-axis connecting rod 2.7. The C-axis connecting rod 2.7 pulls the CD connecting rod 2.10 to rotate the forearm for vertical positioning. At the same time as the C-axis connecting rod 2.7 moves, the lower horizontal connecting rod 2.8 moves in the same direction to ensure the stability and balance of the mechanism. The triangular connecting rod 2.9 and the upper horizontal connecting rod 2.11 are also driven by the lower horizontal connecting rod 2.8 to move together to maintain the overall balance and accuracy.

[0039] Specifically, the rotating base 2.1 uses an internal rotating base motor to control the rotation angle of the drive gear, which in turn controls the synchronous toothed belt, which in turn transmits the control to the synchronous pulley, so that the robotic arm bagging device 2 rotates as a whole to achieve the specific direction required for bagging the eggplant. The synchronous toothed belt ensures that the rotation is smooth and uniform.

[0040] like Figure 9 As shown: The bag-holding gripper device 4 includes a body 4.1 and two gripper bars 4.2. The body 4.1 is connected to the robotic arm bag-putting device 2. One end of each gripper bar 4.2 is hinged to the body 4.1. Gears 4.3 are mounted on the connecting shafts of both gripper bars 4.2. One of the gripper bars 4.2 is connected to a drive motor inside the body 4.1. Anti-dropping locking points 4.4 are provided at the ends of the gripper bars 4.2. When one gear 4.3 rotates under the drive of the drive motor, the other gear meshing with it rotates synchronously in the opposite direction, allowing the two gripper bars 4.2 to controllably open and close to perform bag-taking and bag-putting operations. The opening and closing angles of the two gripper bars 4.2 can also be controlled.

[0041] like Figure 2 , Figure 3 , Figure 4 As shown: The box-type bag support device 3 includes a frame 3.1, a storage box 3.2, a flip-over adhesive plate 3.3, and a translational adhesive plate 3.4;

[0042] Storage box 3.2 is an open-top box used to store mesh bags 5 stacked in a flat state. Flip-adhesive plate 3.3 is mounted on flip mechanism 3.5 on frame 3.1. The side of flip-adhesive plate 3.3 facing storage box 3.2 is the adhesive surface. Flip mechanism 3.5 drives flip-adhesive plate 3.3 to flip towards storage box 3.2. After the adhesive surface adheres to the mesh bag 5 on top, flip mechanism 3.5 drives flip-adhesive plate 3.3 to return to an upright position.

[0043] The translational adhesive plate 3.4 is mounted on the sliding mechanism 3.6 on the frame 3.1. The side of the translational adhesive plate 3.4 facing the flip adhesive plate 3.3 is the adhesive surface. When the sliding mechanism 3.6 drives the translational adhesive plate 3.4 to approach the flip adhesive plate 3.3, the mesh bag 5 is adhered. When the sliding mechanism 3.6 drives the translational adhesive plate 3.4 away from the flip adhesive plate 3.3, the mesh bag 5 is opened.

[0044] A slide rail 3.7 is installed on the frame 3.1. The storage box 3.2 is installed in the slide rail 3.7 in a pull-out manner. A baffle 3.8 is provided on the frame 3.1 in front of the slide rail 3.7, which restricts the front and rear position of the storage box 3.2. When the mesh bag 5 needs to be placed, the storage box 3.2 is pulled out. After placement, the storage box 3.2 returns to its original position. During this process, the slide rail 3.7 and the baffle 3.8 remain fixed to ensure that the position of the storage box 3.2 remains unchanged before and after the mesh bag 5 is placed.

[0045] The flipping mechanism 3.5 includes a servo motor and a support rod 3.9. The support rod 3.9 is connected to the servo motor's shaft, and the flipping adhesive plate 3.3 is mounted on the support rod 3.9, offset from the servo motor's shaft. Driven by the servo motor, the flipping adhesive plate 3.3 rotates from a vertical position to contact and adhere to the mesh bag 5 inside the storage box 3.2. After the bag is adhered, the servo motor drives the flipping adhesive plate 3.3 back to the vertical position.

[0046] The sliding mechanism 3.6 is a linear guide rail linear slide, which is fixed to the frame 3.1 by bolts. The translation adhesive plate 3.4 is connected to the slider on the linear guide rail linear slide, and the stepper motor provides power to the slider (i.e., the translation adhesive plate 3.4). This linear guide rail linear slide is essentially a ball screw pair, which can convert the rotational power provided by the stepper motor into linear power to make the translation adhesive plate 3.4 move back and forth. When the flip adhesive plate 3.3 picks up the mesh bag 5 to a certain height, the stepper motor provides power to drive the translation adhesive plate 3.4 forward. The translation adhesive plate 3.4 moves forward to a designated position and squeezes and clamps against the flip adhesive plate 3.3, so that the other side of the mesh bag 5 is bonded to the translation adhesive plate 3.4. After bonding is completed, the stepper motor drives the translation adhesive plate 3.4 to move backward to a certain position, finally realizing the action of opening the mesh bag 5.

[0047] like Figure 10 As shown: The walking device 1 includes a walking frame 1.1, walking wheels 1.2 mounted below the walking frame 1.1, and a motor assembly for driving the walking wheels 1.2 to rotate. The motor assembly is mounted at the bottom of the walking frame 1.1, providing power for the movement of the walking device 1. The walking wheels 1.2 are divided into omnidirectional wheels and rubber wheels, which are respectively mounted at the front and rear ends of the lower part of the walking frame 1.1, helping the walking device 1 to turn left and right, move forward and backward.

[0048] After the walking device 1 reaches the eggplant, it controls the flipping mechanism 3.5 to flip the flipping adhesive plate 3.3 downwards and then flip it upwards by 90° to make the net bag 5 stand upright. Then, it controls the sliding mechanism 3.6 to make the translating adhesive plate 3.4 stick to the net bag 5 so that one side is stuck to the translating adhesive plate 3.4. Then, it controls the sliding mechanism 3.6 to move the translating adhesive plate 3.4 backwards a certain distance to open the opening of the net bag 5.

[0049] Subsequently, the robotic arm bagging device 2 lowers the gripper bag-supporting device 4 to a position flush with and slightly away from the opening of the mesh bag 5. After determining the position, the gripper bag-supporting device 4 opens the two gripper bars 4.2 to the position of the drawstring 5.1 at the bag opening. Then, the robotic arm bagging device 2 moves the gripper bag-supporting device 4 horizontally, allowing the gripper bars 4.2 to insert into the drawstring 5.1 at the bag opening. Then, it continues to control the sliding mechanism 3.6 to move backward a certain distance, allowing the translation adhesive plate 3.4 to detach from the mesh bag 5. The mesh bag 5 is now in an open state, and the drawstring 5.1 at the bag opening is suspended on the gripper bars 4.2. Then, the robotic arm bagging device 2 lifts the gripper bag-supporting device 4, allowing it to move upward and lift the mesh bag 5. The mesh bag 5 detaches from the flip adhesive plate 3.3. The robotic arm bagging device 2 rotates as a whole to achieve the specific direction required for bagging the eggplant, so that the gripper bag-supporting device 4 faces the eggplant. At this point, the functions of removing the bag and positioning the eggplant are completed.

[0050] Control the right drive motor 2.4 to raise the C-axis connecting rod 2.7, causing the CD connecting rod 2.10 to move the gripper bag-supporting device 4 downwards. Control the left drive motor 2.3 to drive the BC rod 2.5 to perform a feeding action, moving the opening of the net bag 5 directly under the eggplant. Then control the right drive motor 2.4 to move the C-axis connecting rod 2.7 downwards, causing the CD connecting rod 2.10 to raise the gripper bag-supporting device 4 until the entire eggplant is placed inside the net bag 5. The gripper bag-supporting device 4 then opens the two bag-supporting gripper rods 4.2 to their maximum extent, tightening the drawstring 5.1 at the bag opening, completing the eggplant bagging action.

[0051] The gripper bag-holding device 4 brings the two gripper bars 4.2 together at a certain angle. At this time, the drawstring 5.1 at the bag opening loosens, and the robotic arm bag-packing device 2 pulls the gripper bars 4.2 of the gripper bag-holding device 4 out of the drawstring 5.1 at the bag opening. This completes one bagging operation for eggplants.

[0052] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An eggplant bagging machine, characterized in that: The device includes a walking device (1), a box-type bag-holding device (3), a gripper bag-holding device (4), and a robotic arm bag-holding device (2). The box-type bag-holding device (3) and the robotic arm bag-holding device (2) are mounted on the walking device (1), and the gripper bag-holding device (4) is mounted on the robotic arm bag-holding device (2). The robotic arm bag-holding device (2) changes the position of the gripper bag-holding device (4) through its horizontal rotational degree of freedom, vertical translational degree of freedom, and horizontal translational degree of freedom. The gripper bag-holding device (4) has two opening and closing bag-holding gripper bars (4.2). The gripper bag-holding device (4) changes the position of the gripper bag-holding device (4) through two opening and closing gripper bars (4.2). The bag-holding gripper (4.2) hooks into the drawstring (5.1) of the net bag (5) to grab the net bag (5), and the net bag (5) is closed by opening the two bag-holding gripper (4.2). The two bag-holding gripper (4.2) is pulled out from the drawstring (5.1) of the net bag (5) to release the net bag (5). The box-type bag-holding device (3) includes a bag storage mechanism, a bag retrieval mechanism and a mouth-holding mechanism. The bag retrieval mechanism is used to grab the net bags (5) one by one from the bag storage mechanism. The mouth-holding mechanism is used to open the net bags (5) on the bag retrieval mechanism. The net bags (5) are waiting to be grabbed by the gripper bag-holding device (4) with the opening facing upward. The bag-holding device (4) includes a body (4.1) and two bag-holding gripper rods (4.2). One end of the two bag-holding gripper rods (4.2) is hinged to the body (4.1). Gears (4.3) are installed on the connecting shafts of the two bag-holding gripper rods (4.2). The connecting shaft of one of the bag-holding gripper rods (4.2) is connected to the drive motor inside the body (4.1). Anti-drop-off locking points (4.4) are provided at the ends of the bag-holding gripper rods (4.2). The box-type bag support device (3) includes a frame (3.1), a storage box (3.2), a flip-up adhesive plate (3.3), and a translational adhesive plate (3.4). The storage box (3.2) is an open box. The storage box (3.2) is used to store the mesh bags (5) stacked in a flat state. The flip adhesive plate (3.3) is installed on the flipping mechanism (3.5) on the frame (3.1). The side of the flip adhesive plate (3.3) facing the storage box (3.2) is the adhesive surface. The flipping mechanism (3.5) drives the flip adhesive plate (3.3) to flip towards the storage box (3.2). After the adhesive surface adheres to the top mesh bag (5), the flipping mechanism (3.5) drives the flip adhesive plate (3.3) to return to the upright position. The translational adhesive plate (3.4) is mounted on the sliding mechanism (3.6) on the frame (3.1). The side of the translational adhesive plate (3.4) facing the flip adhesive plate (3.3) is the adhesive surface. When the sliding mechanism (3.6) drives the translational adhesive plate (3.4) to approach the flip adhesive plate (3.3), the mesh bag (5) is bonded. When the sliding mechanism (3.6) drives the translational adhesive plate (3.4) away from the flip adhesive plate (3.3), the mesh bag (5) is opened.

2. The eggplant bagging machine according to claim 1, characterized in that: The robotic arm bagging device (2) includes a rotating base (2.1), a connecting body (2.2), a left drive motor (2.3), a right drive motor (2.4), a BC rod (2.5), a C-axis rocker arm (2.6), a C-axis connecting rod (2.7), a lower horizontal connecting rod (2.8), a triangular connecting rod (2.9), a CD connecting rod (2.10), and an upper horizontal connecting rod (2.11). The connector (2.2) is mounted on the rotating base (2.1), the lower end of the BC rod (2.5) is hinged to the connector (2.2), and the left drive motor (2.3) is mounted on the left side of the connector (2.2). The left drive motor (2.3) is used to drive the BC rod (2.5) to swing. The lower end of the C-axis rocker (2.6) is hinged to the connecting body (2.2). The C-axis rocker (2.6) is coaxial with the BC rod (2.5). The right drive motor (2.4) is installed on the right side of the connecting body (2.2). The right drive motor (2.4) is used to drive the C-axis rocker (2.6) to swing. The top of CD link (2.10) is hinged to BC link (2.5). With the hinge axis as the boundary, CD link (2.10) is divided into a long rod and a short rod. The end of the long rod is hinged to the gripper bag support device (4), and the end of the short rod is connected to the C-axis rocker (2.6) through C-axis link (2.7). The first end of the triangular link (2.9) is hinged to the top of the BC link (2.5), the triangular link (2.9) is coaxial with the CD link (2.10), the second end of the triangular link (2.9) is connected to the connecting body (2.2) through the lower horizontal link (2.8), and the third end of the triangular link (2.9) is connected to the gripper bag support device (4) through the upper horizontal link (2.11). The connecting shaft of the CD link (2.10) on the gripper bag support device (4) is offset from the connecting shaft of the horizontal link (2.11).

3. The eggplant bagging machine according to claim 2, characterized in that: The rotating base (2.1) is mounted on the support seat (6) on the walking device (1).

4. The eggplant bagging machine according to claim 1, characterized in that: The frame (3.1) is equipped with a slide (3.7), and the storage box (3.2) is installed in the slide (3.7) in a pull-out manner. A baffle (3.8) is provided on the frame (3.1) in front of the slide (3.7), and the baffle (3.8) restricts the front and rear position of the storage box (3.2).

5. The eggplant bagging machine according to claim 1, characterized in that: The sliding mechanism (3.6) is a linear guide rail linear slide table, and the flipping mechanism (3.5) includes a servo motor and a support rod (3.9). The support rod (3.9) is connected to the rotating shaft of the servo motor, and the flipping adhesive plate (3.3) is mounted on the support rod (3.9) off-center from the rotating shaft of the servo motor.

6. The eggplant bagging machine according to claim 1, characterized in that: The walking device (1) includes a walking frame (1.1), a walking wheel (1.2) mounted below the walking frame (1.1), and a motor assembly for driving the walking wheel (1.2) to rotate.

Images