Full-automatic date palm bagging machine and bagging method thereof

Abstract

The invention discloses a full-automatic date palm bagging machine and a bagging method thereof. Horizontal sections of two L-shaped supporting rods form a sliding pair in the horizontal direction, the lower ends of vertical sections of the two L-shaped supporting rods are hinged to two rotating frames through two rotating rods, connecting shafts are hinged to the two rotating frames, and two lifting rods which are vertically arranged at intervals are synchronously driven by lifting mechanisms on the two vertical sections to ascend and descend. Bag clamping mechanisms are arranged between the two lifting rods and between the two connecting shafts; openings are formed in the opposite positions of the two containing bins of the bag clamping mechanism, and heating and closing devices are arranged at the positions of the two openings. A rodless air cylinder in the tensioning and bag distributing device is fixed to the top end of a containing bin between two lifting rods, a first extension arm is driven to drive an electric telescopic cut-off knife to move horizontally, and two bag collecting assemblies are driven to move horizontally. The date palm fruit bagging device can replace manpower to achieve bagging work on date palm fruits, the labor intensity of fruit farmers is relieved, the bagging efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a fully automatic date palm bagging machine and a bagging method thereof. Background Art

[0002] The nutritional value of dates is very high. It contains a variety of vitamins and natural sugars. Its sugar content is as high as 55% to 70%. At the same time, the protein content is 3%, and it contains a variety of amino acids, and its fat and cholesterol are extremely low. Date palm trees are drought-resistant, alkali-resistant, heat-resistant, and like humidity. They can be planted in desert environments and have extremely high economic value. In the fruit-bearing season, in order to prevent the tender fruits of date palm trees from withering and being damaged due to direct exposure to strong sunlight, date palm trees need to be bagged to ensure the normal growth and development of dates, and play a role in preventing birds. It can also prevent the mature coconut fruits from falling to the ground, and it is also convenient for fruit farmers to collect mature dates. However, there are currently few bagging robots for date palm fruits, and the bagging operation mainly relies on manual labor, which has the defects of high labor intensity, high cost, and low efficiency. Therefore, there is an urgent need for a device that can replace manual bagging to improve efficiency, reduce costs, and reduce the labor intensity of fruit farmers. Summary of the invention

[0003] The purpose of the invention is to overcome the deficiencies in the prior art and to provide a fully automatic date palm bagging machine and a bagging method thereof.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The invention discloses a fully automatic date palm bagging machine, which comprises a clamping bagging device, a tensioning bag dividing device, a heating and closing device and a bagging cylinder.

[0006] The clamping bagging device includes an L-shaped support rod, a lifting rod, a lifting mechanism, a rotating rod, a rotating frame, a connecting shaft and a bag clamping mechanism. The L-shaped support rod is provided with two relatively arranged L-shaped support rods, and the horizontal sections of the two L-shaped support rods constitute a sliding pair in the horizontal direction and are driven by a telescopic cylinder to move relative to or opposite to each other; one end of the two symmetrically arranged rotating rods is respectively hinged to the lower ends of the vertical sections of the two L-shaped support rods, and one of the rotating rods is driven to rotate by a motor one, and an L-shaped hanging rod is fixed to the lower end of one of the vertical sections; the lower ends of the two symmetrically arranged rotating frames are respectively hinged to the other ends of the two rotating rods, and one of the rotating frames is driven to rotate by a motor two; the two vertically and spaced lifting rods are synchronously driven to lift and lower by the lifting mechanisms on the two vertical sections; the two horizontally and coaxially arranged connecting shafts are respectively hinged to the upper ends of the two rotating frames, and one of the connecting shafts is driven to rotate by a motor three.

[0007] A bag clamping mechanism is provided between the two lifting rods and between the two connecting shafts. The bag clamping mechanism includes a clamping plate group, a screw rod, a bevel gear 1, a bevel gear 2, a storage bin and a guide rail; the storage bin is fixed to the middle of the guide rail, and two coaxially arranged holes 1 are provided at both ends of the storage bin, the bevel gear 1 and the inner wall of the storage bin form a rotating pair and are driven by a motor 4, the two bevel gears 2 and the two holes 1 respectively form a rotating pair and are meshed with the bevel gear 1; the screw rod is provided with two horizontally and coaxially arranged, and the inner end of one of the screw rods passes through a hole 1 and is coaxially fixed with a corresponding bevel gear 2, the inner end of the other screw rod is provided with an integrally formed spline shaft, the spline shaft passes through another hole 1, And pass through the spline groove opened on the other bevel gear No. 2, forming a sliding pair with the spline groove; the outer ends of the two screw rods are provided with a clamping plate group; the clamping plate group consists of a symmetrically arranged fixed clamping plate and a movable clamping plate, and the fixed clamping plate is provided with a hole No. 2 and is fixed to the lifting rod or connecting shaft on the same side, the outer end of the corresponding screw rod passes through the hole No. 2 and forms a rotating pair with the lifting rod or connecting shaft on the same side, the movable clamping plate and the corresponding screw rod form a threaded pair, and form a sliding pair with the guide rail, and the movable clamping plate is closer to the accommodating bin than the fixed clamping plate, and the ends of the fixed clamping plate and the movable clamping plate away from the guide rail are provided with two convex strips arranged oppositely and symmetrically. In each bag clamping mechanism, the fixed clamping plate on the same side as the spline shaft forms a sliding pair with the guide rail, and the other fixed clamping plate is fixed to the guide rail.

[0008] The tensioning bag-splitting device is arranged above the bag-clamping mechanism between the two lifting rods, and includes a rodless cylinder, an extension arm 1, an electric telescopic cutter and a bag-collecting assembly. The bag-collecting assembly is provided with two symmetrically arranged ones, including an extension arm 2, a tensioning wheel and a chute plate. The chute plate and the extension arm 2 form a sliding pair in the horizontal direction and are driven by a driving member, and two tensioning wheels arranged vertically and oppositely are hinged on the extension arm 2 and the chute plate, and the two tensioning wheels are synchronously driven by two motors 5. The two pairs of tensioning wheels of the two bag-collecting assemblies are arranged oppositely, and a bag-collecting area is provided between the chute plate and a pair of tensioning wheels in each bag-collecting assembly. The rodless cylinder is fixed to the top of the corresponding storage bin, drives the extension arm 1 to translate, and drives the extension arms 2 of the two bag-collecting assemblies to translate respectively, and the directions in which the rodless cylinder drives the extension arm 1 and the two extension arms 2 to translate are parallel and perpendicular to the directions in which the driving member drives the chute plate to translate; the electric telescopic cutter is fixed to the end of the extension arm 1 away from the rodless cylinder, and is located directly below the two bag-collecting assemblies.

[0009] The two storage bins are provided with openings at the positions opposite to each other, and the two openings are provided with heating and closing devices. The heating and closing device comprises vertical rod 1, vertical rod 2, connecting rod 1, connecting rod 2, connecting rod 3, bevel gear 3 and a heating plate group; the lower end of vertical rod 1 forms a rotating pair with the corresponding storage bin and is driven by motor 6, the upper end is hinged with one end of connecting rod 3, the other end of connecting rod 3 is fixed with horizontally arranged bevel gear 4, bevel gear 4 is hinged with the upper end of vertical rod 2, the two ends of connecting rod 1 are respectively hinged with the lower ends of vertical rod 1 and vertical rod 2, and the middle parts of vertical rod 1 and vertical rod 2 are fixed with horizontally arranged bevel gears. The connecting rod is arranged on the second connecting rod, and the two connecting rods are hinged to the two ends of the connecting rod respectively; the vertically arranged bevel gear three forms a rotating pair with the middle part of the vertical rod two, and meshes with the bevel gear four; the heating plate group includes a concave plate and a flat heating plate, the cylindrical convex surface of the concave plate faces the corresponding opening, and the concave plate is composed of an integrally formed concave support plate and a concave heating plate, the concave support plate is fixed to the bevel gear three, and two parallel and symmetrically arranged flat heating plates are fixed at both ends of the concave support plate and the concave heating plate. In the initial state, each flat heating plate is in a horizontal state, and each heating plate group closes the corresponding opening.

[0010] The bagging tube is composed of a sleeve and a bag wound on the sleeve. The bag is wound on the sleeve. When the bag is folded, both sides are folded inwards to form four edges. A limiting strip is fixed on each edge.

[0011] Preferably, both ends of the horizontally arranged telescopic cylinder are fixed to two horizontal sections.

[0012] Preferably, the lifting mechanism includes a lifting gear, a lifting chute and a rack, the two ends of the lifting chute are sleeved on the corresponding lifting rod and the vertical section, and form a sliding pair in the vertical direction with the corresponding lifting rod and the vertical section. The lifting gear and the middle part of the lifting chute form a rotating pair, which is driven by a motor seven and is located between the lifting rod and the vertical section. The two racks arranged opposite to each other are fixed on the side opposite to the lifting rod and the vertical section, and are both engaged with the lifting gear.

[0013] Preferably, the rodless cylinder includes a cylinder seat, a cylinder barrel 1, a cylinder barrel 2, a moving block 1 and a moving block 2. The cylinder barrel 1 and the cylinder barrel 2 are horizontally and spaced apart from each other and are fixed on the cylinder seat. A partition is fixed inside the cylinder barrel 1. The inner cavity of the cylinder barrel 1 is divided into two cavities by the partition. The two moving blocks 1 spaced apart form a sliding pair with the cylinder barrel 1 and are respectively adsorbed with the two pistons in the two cavities by magnets. The moving block 2 forms a sliding pair with the cylinder barrel 2 and is respectively adsorbed with the piston in the cylinder barrel 2 by magnets. The cylinder seat is fixed to the top of the corresponding accommodating bin, the two moving blocks 1 are respectively fixed to the two extension arms 2, and the moving block 2 is fixed to the extension arm 1.

[0014] Preferably, the bagging material is polyethylene or polypropylene, and the bagging is made by a weaving process, or a plurality of holes are prepared on the surface.

[0015] The present invention discloses a bagging method of a fully automatic date palm bagging machine, which is specifically as follows:

[0016] Step 1: Install the horizontal sections of the two L-shaped support rods on the lifting platform of the mobile vehicle so that the two horizontal sections and the lifting platform form a sliding pair; and put the sleeve of the bagging tube on the L-shaped hanging rod. The controller controls the telescopic cylinder through the electromagnetic valve to drive the two L-shaped support rods to move relative to or away from each other, and the two L-shaped support rods drive the two lifting rods to move relative to or away from each other, and drive the two connecting shafts to move relative to or away from each other through each rotating rod and each rotating frame, so that the two spline shafts move synchronously along the two spline grooves in the direction of approaching or moving away from the accommodating bin, and then drive the two clamping plate groups located on the same side of the spline shaft to slide along the two guide rails in the direction of approaching or moving away from the accommodating bin, so that the spacing between the two clamping plate groups in each bag clamping mechanism is synchronously adjusted to be smaller than the length of the bag when it is folded; then pull out the end of the bag away from the sleeve, and make each edge of the bag located between the fixed clamping plate and the movable clamping plate of an adjacent clamping plate group; then the controller controls the two motors four to drive the two bevel gears one to rotate synchronously forward, the bevel gears one drive the two screws to rotate synchronously through the two bevel gears two, and the screws drive the corresponding movable clamping plate to move in the direction away from the accommodating bin, so that the fixed clamping plate and the movable clamping plate of each clamping plate group clamp the four edges, and the limit strips on each edge are located on the inner side of the two convex strips of the corresponding clamping plate group.

[0017] Step 2: The mobile vehicle moves under the date palm tree, and the lifting platform rises to make the upper end of the bag close to the bottom of the date palm fruit; then the controller controls motor 1, motor 2 and motor 3 to work, motor 1 drives the corresponding rotating rod to drive each rotating frame, each connecting shaft, the corresponding bag clamping mechanism and another rotating rod to rotate, and motor 2 drives the corresponding rotating frame to drive each connecting shaft, the corresponding bag clamping mechanism and another rotating frame to rotate, adjust the height of the corresponding bag clamping mechanism and the distance between the corresponding bag clamping mechanism and the other bag clamping mechanism, so that the corresponding bag clamping mechanism moves away from the other bag clamping mechanism and keeps it aligned, thereby opening the bag mouth at the upper end of the bag. And motor three drives the corresponding connecting shaft to drive the bag clamping mechanism and another connecting shaft to rotate, and adjusts the angle of the corresponding bag clamping mechanism so that the angle of the two clamping plate groups of the corresponding bag clamping mechanism relative to the horizontal plane remains unchanged, thereby making the two bag clamping mechanisms always maintain a symmetrical state; then the controller controls motor one, motor two and motor three to continue working, so that the corresponding bag clamping mechanism rises, and at the same time, each lifting mechanism drives each lifting rod to rise synchronously, and each lifting rod drives the corresponding bag clamping mechanism to rise, so that the two bag clamping mechanisms rise synchronously, and drive the bag to rise, so that part of the bag on the sleeve is released, and the date fruits are loaded into the opened bag.

[0018] Step 3, when the camera on the mobile vehicle detects that the two bag clamping mechanisms have reached the position of the date palm stalk, each lifting mechanism stops driving the lifting rod to rise, and the controller controls motor 1, motor 2 and motor 3 to stop working; then the controller controls each motor 6 to drive each vertical rod 1 to rotate forward, and the vertical rod 1 pushes the vertical rod 2 to rotate away from the corresponding containing bin through the connecting rod 2 and the two connecting rods, and the vertical rod 2 drives the heating plate group to rotate away from the corresponding opening, and the vertical rod 2 and the driving connecting rod 1 and connecting rod 3 rotate relative to each other, so that the concave surface of the concave plate remains unchanged, and at the same time, the bevel gear 3 is engaged with the bevel gear 4, so that the heating plate group rotates, and then the straight heating plate is rotated to a vertical state, and the concave heating plate is located above the concave support plate; then the camera detects the position of the date palm stalk, if the date palm stalk is between the two concave heating plates, then execute step 4, if the date palm stalk is not between the two concave plates, the mobile vehicle moves, adjusts the position of the two concave plates, so that the date palm stalk is located between the two concave plates, and then executes step 4.

[0019] Step 4, the controller controls motor 1, motor 2 and motor 3 to operate, so that the corresponding bag clamping mechanism is translated toward the direction close to the other bag clamping mechanism until the two heating plate groups are combined together, and at this time the date palm stalk is located in the two concave plates; then the controller controls the heating of the straight heating plates at both ends of each concave support plate, so that the bagging part between the two pairs of straight heating plates on the same side of the two concave support plates is hot-melted together; after completing the hot-melting work on the bag opening at the upper end of the bagging, the controller controls each motor 6 to drive the vertical rod 1 to reverse, and the vertical rod 1 pulls the vertical rod 2 through the connecting rod 2 and the two connecting rods to rotate toward the direction close to the corresponding containing bin, and the vertical rod 2 drives the heating plate group to rotate toward the direction close to the corresponding opening, and at the same time, the bevel gear 3 is meshed with the bevel gear 4, so that the heating plate group rotates, and each straight heating plate rotates to a horizontal state, and then each heating plate group rotates to the initial position, and at the same time, the controller controls motor 1, motor 2 and motor 3 to operate, so that the corresponding bag clamping mechanism is translated toward the direction away from the other bag clamping mechanism to the position after executing step 3.

[0020] Step 5, the controller controls each motor 4 to drive the two bevel gears 1 to reverse synchronously, so that the two screw rods in each bag clamping mechanism drive the two movable clamping plates to move in the direction close to the containing bin, so that the spacing between the fixed clamping plate and the movable clamping plate in each clamping plate group becomes larger, thereby causing each clamping plate group to relax the clamping of the four sides of the bag, but the spacing between the fixed clamping plate and the movable clamping plate is still less than the width of the limit strip, and each limit strip cannot be separated from each clamping plate group; then the controller controls motor 1, motor 2 and motor 3 to work, so that the corresponding bag clamping mechanism descends, and at the same time, each lifting mechanism drives each lifting rod to drive the corresponding bag clamping mechanism to descend, so that the two bag clamping mechanisms are synchronously descended to the position where the motor 1, motor 2 and motor 3 were before the second work in step 2, and when the two bag clamping mechanisms descend, each clamping plate group descends along the corresponding limit strip; then, the controller controls each motor 4 to drive each bevel gear 1 to rotate forward synchronously, so that each clamping plate group clamps the four sides of the bag, and controls motor 1, motor 2 and motor 3 to continue working, so that the corresponding bag clamping mechanism moves to the initial position in the direction close to another bag clamping mechanism.

[0021] Step 6: Each driving member drives each slide plate to move in the direction away from each extension arm 2, so that the distance between the two tensioning wheels in each bag collecting assembly increases to the maximum distance position; then the controller controls the solenoid valve to drive the rodless cylinder to drive the two extension arms 2 to move in the direction close to the accommodating bin, thereby driving the two bag collecting assemblies to move in the direction close to the accommodating bin, and when the camera detects that one side of the bag is located between the two tensioning wheels of the adjacent bag collecting assembly, the controller controls the rodless cylinder through the solenoid valve to stop driving the extension arms 2 corresponding to the pair of tensioning wheels until each side of the bag is located between the two tensioning wheels of the adjacent bag collecting assembly; then each driving member drives each slide plate to move toward the direction close to the extension arm 2, so that the spacing between the two tensioning wheels in each bag collecting assembly is reduced, so that each side of the bag is clamped by the two pairs of tensioning wheels of the corresponding bag collecting assembly; the controller controls the blade of the electric telescopic cutter to extend, and controls the solenoid valve to drive the rodless cylinder to drive the extension arm 1 and the electric telescopic cutter to move horizontally, so that the blade cuts the bag, and then controls the blade of the electric telescopic cutter to retract, and controls the solenoid valve to drive the rodless cylinder to drive the extension arm 1 and the electric telescopic cutter to move horizontally in the opposite direction to the original position.

[0022] Step 7, each driving member drives each slide plate to move in a direction away from the extension arm 2, so that there is a gap between the two tensioning wheels of each bag collecting assembly; then the controller controls the two motors 5 in each bag collecting assembly to drive the two tensioning wheels to rotate relative to each other, so that the bag is tensioned to both sides, and at the same time the controller controls the solenoid valve to drive the rodless cylinder to drive the two extension arms 2 to move in a direction close to the containing bin, so that the two sides of the cut bag are gathered by the two pairs of tensioning wheels into the two bag collecting areas and gathered between the two containing bins; then the controller controls each motor 6 to drive each vertical rod 1 to rotate forward , so that the heating plate group extends out and rotates to a vertical state, and then controls motor 1, motor 2 and motor 3 to work, so that the corresponding bag clamping mechanism moves horizontally in the direction close to the other bag clamping mechanism until the two heating plate groups are combined together. At this time, the two concave heating plates are higher than the electric telescopic cutter, and the lower end of the cut bag is gathered between the two concave heating plates. The controller controls the two concave heating plates and the straight heating plates at both ends of each concave heating plate to heat, so that the lower end of the cut bag is hot-fused together, and the bag opening at the lower end of the cut bag is closed.

[0023] Step eight, the controller controls each motor six to drive each vertical rod one to reverse, so that each heating plate group returns to the initial position; then controls motor one, motor two and motor three to work, so that the corresponding bag clamping mechanism translates to the initial position in the direction away from the other bag clamping mechanism; each driving member drives each slide plate to move in the direction away from the extension arm two, so that the distance between the two tensioning wheels in each bag collecting assembly increases to the maximum distance position; then the controller controls the solenoid valve to drive the two extension arms two to move in the direction away from the containing bin to the initial position, and at the same time each driving member drives each slide plate to move in the direction close to the extension arm two to the initial position; finally, the lifting platform descends to the initial height, thereby completing a date bagging operation.

[0024] The present invention has the following beneficial effects:

[0025] The present invention can replace manual labor to achieve the bagging of date palm fruits, reduce the labor intensity of fruit farmers, improve the bagging efficiency, and reduce labor costs; specifically, the present invention can achieve the clamping work of the four sides of the bagging through two bag clamping mechanisms, and drive the corresponding rotating rod to rotate through motor one, and drive the corresponding rotating frame to rotate through motor two, so as to achieve the adjustment of the height of the corresponding bag clamping mechanism and the distance between the corresponding bag clamping mechanism and another bag clamping mechanism, and cooperate with the clamping effect of the two bag clamping mechanisms to achieve the opening of the bag mouth at the upper end of the bagging; the present invention drives the lifting rod to drive the corresponding bag clamping mechanism to rise or fall through the lifting mechanism, and cooperates with motor one and motor two to adjust the height of the corresponding bag clamping mechanism, so as to achieve the synchronous rise or fall of the two bag clamping mechanisms, and then cooperates with the clamping effect of the two bag clamping mechanisms to achieve the work of putting date palm fruits into the bagging; further, the present invention drives the vertical rod one to rotate forward or reversely through motor six, so as to achieve the pushing out or retracting of the heating plate group, and the heating plate group rotates from a horizontal state to a vertical state when pushing out, and rotates from a horizontal state to a vertical state when retracting. The heating and closing device can be unfolded or retracted by rotating from a vertical state to a horizontal state. When each heating and closing device is unfolded, the two heating plate groups can be merged and opened by adjusting the distance between the two bag clamping mechanisms by motor 1 and motor 2. When the two heating plate groups are merged and the date palm stalk is wrapped, the hot melting of the bag opening at the upper end of the bag can be realized by controlling the flat heating plates at both ends of the concave support plate to heat. When the two heating plate groups are merged and the bag opening gathered at the lower end of the bag is wrapped, the concave support plate can be controlled to heat the flat heating plates at both ends of the concave support plate. The heating plate and the straight heating plates at both ends of the concave heating plate can realize the hot melting work of the bag opening at the lower end of the bag; the present invention can realize the clamping of both sides of the bag through two bag collecting components, and cooperate with the clamping effect of the two bag clamping mechanisms. The electric telescopic cutter is driven by the rodless cylinder to move horizontally, so as to realize the cutting work of the bag. The two bag clamping mechanisms are driven to move relative to each other by the rodless cylinder. At the same time, the two tensioning wheels of each bag clamping mechanism rotate relative to each other, so that the two sides of the bag are gathered to the two bag collecting areas, thereby realizing the gathering work of the bag opening at the lower end of the bag. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a schematic diagram of the structure of the bag-tensioning and clamping device of the present invention after the L-shaped hanging rod is removed;

[0028] Figure 3 It is a schematic diagram of the overall structure of the tensioning bag-separating device in the present invention;

[0029] Figure 4 It is a structural schematic diagram of the heating and closing device in the present invention when it is in a closed state;

[0030] Figure 5It is a schematic diagram of the structure of the heating and closing device in the present invention when it is in an unfolded state;

[0031] Figure 6 It is a schematic diagram of the structure of the bagging tube in the present invention;

[0032] Figure 7 It is a schematic structural diagram of the bag opening at the upper end of the bag when the bag clamping device in the present invention is opened. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figure 1 As shown, the fully automatic date palm bagging machine of the present invention comprises a clamping bagging device 1, a tensioning bag dividing device 2, a heating and closing device 3 and a bagging cylinder 4.

[0035] like Figure 1 and Figure 2 As shown, the bagging device 1 comprises an L-shaped support rod 101, a lifting rod 103, a lifting mechanism, a rotating rod 106, a rotating frame 107, a connecting shaft and a bag clamping mechanism. The L-shaped support rod 101 is provided with two relatively arranged ones, and the horizontal sections of the two L-shaped support rods 101 constitute a sliding pair in the horizontal direction, and are driven by the telescopic cylinder 102 to move relative to or opposite to each other; one end of the two symmetrically arranged rotating rods 106 is respectively hinged to the lower ends of the vertical sections of the two L-shaped support rods 101, and one of the rotating rods 106 is driven to rotate by a motor 1 115, and an L-shaped hanging rod is fixed to the lower end of one of the vertical sections; the lower ends of the two symmetrically arranged rotating frames 107 are respectively hinged to the other ends of the two rotating rods 106, and one of the rotating frames 107 is driven to rotate by a motor 2 116; two vertical and spaced lifting rods 103 are provided between the two vertical sections, and there is a gap between each lifting rod 103 and the adjacent vertical section. A lifting mechanism is provided; the lifting mechanism includes a lifting gear 104, a lifting slide 105 and a rack, the two ends of the lifting slide 105 are sleeved on the corresponding lifting rod 103 and the vertical section, and the corresponding lifting rod 103 and the vertical section constitute a sliding pair in the vertical direction, the lifting gear 104 and the middle part of the lifting slide 105 constitute a rotating pair, and are driven by a motor seven 117, and are located between the lifting rod 103 and the vertical section, and the two racks arranged oppositely are fixed to the side of the lifting rod 103 opposite to the vertical section, and are both engaged with the lifting gear 104; the motor seven 117 has a self-locking function; the two connecting shafts arranged horizontally and coaxially are respectively hinged to the upper ends of the two rotating frames 107, and one of the connecting shafts is driven to rotate by a motor three 118.

[0036] A bag clamping mechanism is provided between the two lifting rods 103 and between the two connecting shafts. The bag clamping mechanism includes a clamping plate group, a screw rod 110, a bevel gear 111, a bevel gear 2 112, a storage bin 113 and a guide rail 114; the storage bin 113 is fixed to the middle of the guide rail 114, and two coaxially arranged holes 1 are provided at both ends of the storage bin 113, the bevel gear 111 and the inner wall of the storage bin 113 form a rotating pair, and are driven to rotate by a motor 4 119, the two bevel gears 2 112 and the two holes 1 respectively form a rotating pair, and are meshed with the bevel gear 1 111; the screw rod 110 is provided with two horizontally and coaxially arranged, and the inner end of one of the screw rods 110 passes through a hole 1 and is coaxially fixed with a corresponding bevel gear 2 112, and the inner end of the other screw rod 110 is provided with an integrally formed spline shaft, and the spline shaft passes through the other hole 1 , and passes through the spline groove opened on another bevel gear 112, forming a sliding pair with the spline groove; the outer ends of the two screw rods 110 are provided with a clamping plate group, which consists of a symmetrically arranged fixed clamping plate 108 and a movable clamping plate 109, and the fixed clamping plate 108 is provided with a hole 2, and is fixed with the lifting rod 103 or the connecting shaft located on the same side, the outer end of the corresponding screw rod 110 passes through the hole 2, and forms a rotating pair with the lifting rod 103 or the connecting shaft located on the same side, the movable clamping plate 109 and the corresponding screw rod 110 form a thread pair, and form a sliding pair with the guide rail 114, and the movable clamping plate 109 is closer to the accommodating chamber 113 than the fixed clamping plate 108, and the ends of the fixed clamping plate 108 and the movable clamping plate 109 away from the guide rail 114 are provided with two convex strips arranged oppositely and symmetrically. In each bag clamping mechanism, the fixed clamping plate 108 located on the same side as the spline shaft forms a sliding pair with the guide rail 114, and the other fixed clamping plate 108 is fixed to the guide rail 114.

[0037] like Figure 3As shown, the tensioning bag-splitting device 2 is arranged above the bag-clamping mechanism between the two lifting rods 103, and includes a rodless cylinder 201, an extension arm 1 204, an electric telescopic cutter 206 and a bag-collecting assembly. The bag-collecting assembly is provided with two symmetrically arranged ones, including an extension arm 205, a tensioning wheel 207 and a chute plate 208. The chute plate 208 and the extension arm 205 form a horizontal sliding pair and are driven by a driving member. The extension arm 205 and the chute plate 208 are hinged with two tensioning wheels 207 arranged vertically and oppositely. The two tensioning wheels 207 are synchronously driven by two motors 5. The two pairs of tensioning wheels 207 of the two bag-collecting assemblies are arranged oppositely, and a bag-collecting area 209 is provided between the chute plate 208 and a pair of tensioning wheels 207 in each bag-collecting assembly. The bag-collecting area 209 is used to accommodate the bags collected into a bunch. The rodless cylinder 201 is fixed at the top of the corresponding accommodating bin 113, driving the extension arm 1 204 to translate, and driving the extension arms 2 205 of the two bag collecting assemblies to translate respectively, and the direction in which the rodless cylinder 201 drives the extension arm 1 204 and the two extension arms 205 to translate is parallel and perpendicular to the direction in which the driving member drives the slide plate 208 to translate; the electric telescopic cutter 206 is fixed to one end of the extension arm 1 204 away from the rodless cylinder 201, and is located below the two bag collecting assemblies.

[0038] The two receiving chambers 113 are provided with openings at the positions opposite to each other, and the two openings are provided with heating and closing devices 3. Figure 4 and Figure 5 As shown, the heating and closing device 3 includes a vertical rod 1 301, a vertical rod 2 302, a connecting rod 1 303, a connecting rod 2 304, a connecting rod 305, a bevel gear 3 306 and a heating plate group; the lower end of the vertical rod 1 301 forms a rotating pair with the corresponding accommodating bin 113 and is driven by a motor 6, and the upper end is hinged to one end of the connecting rod 3 305, and the other end of the connecting rod 3 305 is fixed with a horizontal bevel gear 4, which is hinged to the upper end of the vertical rod 2 302, and the two ends of the connecting rod 1 303 are respectively hinged to the lower ends of the vertical rod 1 301 and the vertical rod 2 302, and the vertical rod 1 301 and the vertical rod 2 302 are respectively hinged. 02 are fixed with horizontal connecting rods in the middle, and the two connecting rods are hinged to the two ends of connecting rod 2 304 respectively; the vertical bevel gear 306 forms a rotating pair with the middle of vertical rod 2 302, and meshes with bevel gear 4; the heating plate group includes a concave plate 307 and a flat heating plate 308, the cylindrical convex surface of the concave plate 307 faces the corresponding opening, and the concave plate 307 is composed of an integrally formed concave support plate and a concave heating plate, the concave support plate is fixed to the bevel gear 306, and two parallel and symmetrically arranged flat heating plates 308 are fixed at both ends of the concave support plate and the concave heating plate. In the initial state, each flat heating plate 308 is in a horizontal state, and each heating plate group closes the corresponding opening.

[0039] like Figure 6As shown, the bag tube 4 is composed of a sleeve and a bag 403 wound on the sleeve. The bag 403 is in a folded state when it is wound on the sleeve. When the bag 403 is folded, both sides are folded inward to form four sides 401. A limiting strip 402 is fixed on each side 401. The bag 403 is made of polyethylene or polypropylene, which is easy to be heated and welded. The bag 403 is made of a weaving process, or has multiple holes on the surface, so it has a breathable function.

[0040] As a preferred embodiment, both ends of the horizontally arranged telescopic cylinder 102 are fixed to two horizontal sections.

[0041] As a preferred embodiment, the rodless cylinder 201 includes a cylinder seat, a cylinder barrel 1, a cylinder barrel 202, a moving block 1 and a moving block 2 203. The cylinder barrel 1 and the cylinder barrel 2 202 are horizontally and spaced apart from each other and are fixed on the cylinder seat. A partition is fixed inside the cylinder barrel 1. The inner cavity of the cylinder barrel 1 is divided into two cavities by the partition. The two moving blocks 1 spaced apart form a sliding pair with the cylinder barrel 1 and are respectively adsorbed with the two pistons in the two cavities by magnets. The moving block 203 forms a sliding pair with the cylinder barrel 202 and is respectively adsorbed with the piston in the cylinder barrel 202 by magnets. The cylinder seat is fixed to the top of the corresponding accommodating chamber 113, the two moving blocks 1 are respectively fixed to the two extension arms 205, and the moving block 203 is fixed to the extension arm 1 204.

[0042] Among them, the inner cavity of the telescopic cylinder 102, the two cavities of cylinder barrel one and the inner cavity of cylinder barrel two 202 are connected to the air pump through solenoid valves and air pipes, and the solenoid valves, motor one 115, motor two 116, motor three 118, motor four 119, motor five, motor six and motor seven 117 are all controlled by the controller.

[0043] The present invention discloses a bagging method of a fully automatic date palm bagging machine, which is specifically as follows:

[0044] Step 1, install the horizontal sections of the two L-shaped support rods 101 on the lifting platform of the mobile vehicle, so that the two horizontal sections and the lifting platform form a sliding pair; put the sleeve of the bagging tube 4 on the L-shaped hanging rod. The controller controls the telescopic cylinder 102 through the solenoid valve to drive the two L-shaped support rods 101 to move relative to or away from each other, and the two L-shaped support rods 101 drive the two lifting rods 103 to move relative to or away from each other, and drive the two connecting shafts to move relative to or away from each other through each rotating rod 106 and each rotating frame 107, so that the two spline shafts move synchronously along the two spline grooves toward or away from the accommodating chamber 113, and then drive the two clamping plate groups on the same side of the spline shaft to slide along the two guide rails 114 toward or away from the accommodating chamber 113, so that the spacing between the two clamping plate groups in each bag clamping mechanism is synchronously adjusted to be less than the length of the bagging 403 when it is folded; then pull out the bagging 403 away One end of the sleeve, and each side 401 of the bag 403 is located between the fixed splint 108 and the movable splint 109 of an adjacent splint group; then the controller controls the two motors 419 to drive the two bevel gears 111 to rotate synchronously in the forward direction, and the bevel gear 111 drives the two screw rods 110 to rotate synchronously through the two bevel gears 112, and the screw rods 110 drive the corresponding movable splint 109 to move away from the accommodating bin 113, so that the fixed splint 108 and the movable splint 109 of each splint group clamp the four sides 401, and the limiting strip 402 on each side 401 is located on the inner side of the two convex strips of the corresponding splint group to prevent the four sides of the bag 403 from detaching from the splint groups.

[0045] Step 2: The mobile vehicle moves under the date palm tree, and the lifting platform rises so that the upper end of the bag 403 is close to the bottom of the date palm fruit; then the controller controls the motor 1 115, the motor 2 116 and the motor 3 118 to work, the motor 115 drives the corresponding rotating rod 106 to drive each rotating frame 107, each connecting shaft, the corresponding bag clamping mechanism and another rotating rod 106 to rotate, and the motor 2 116 drives the corresponding rotating frame 107 to drive each connecting shaft, the corresponding bag clamping mechanism and another rotating frame 107 to rotate, adjust the height of the corresponding bag clamping mechanism and the distance between the corresponding bag clamping mechanism and the other bag clamping mechanism, so that the corresponding bag clamping mechanism moves away from the other bag clamping mechanism and keeps the alignment state, thereby opening the bag mouth of the bag 403, as shown in FIG. Figure 7As shown, motor three 118 drives the corresponding connecting shaft to drive the bag clamping mechanism and another connecting shaft to rotate, and adjusts the angle of the corresponding bag clamping mechanism so that the angle of the two clamping plate groups of the corresponding bag clamping mechanism relative to the horizontal plane remains unchanged, thereby making the two bag clamping mechanisms always maintain a symmetrical state, which is convenient for better clamping the four sides of the bag 403; then the controller controls motor one 115, motor two 116 and motor three 118 to continue working, so that the corresponding bag clamping mechanism rises, and at the same time the controller controls each motor seven 117 to drive each lifting gear 104 to rotate forward synchronously, and the lifting gear 104 engages with the corresponding two racks, thereby driving each lifting rod 103 to rise synchronously, and each lifting rod 103 drives the corresponding bag clamping mechanism to rise, thereby making the two bag clamping mechanisms rise synchronously, and driving the opened bag 403 to rise, so that part of the bag 403 on the sleeve is released, and the date palm fruits are loaded into the opened bag 403.

[0046] Step 3, when the camera on the mobile vehicle detects that the two bag clamping mechanisms have reached the position of the date palm stalk, the controller controls the motor 1 115, the motor 2 116, the motor 3 118 and the motor 7 117 to stop working; then the controller controls the motor 6 to drive the vertical rods 1 301 to rotate forward, and the vertical rod 1 301 pushes the vertical rod 2 302 to rotate away from the corresponding accommodating bin 113 through the connecting rod 2 304 and the two connecting rods, and the vertical rod 2 302 drives the heating plate group to rotate away from the corresponding opening, and the vertical rod 2 302 drives the connecting rod 1 303 and the connecting rod 3 305 rotates relatively to each other, so that the concave surface of the concave plate 307 remains unchanged, and at the same time, bevel gear three 306 meshes with bevel gear four to rotate the heating plate group, thereby rotating the straight heating plate 308 to a vertical state, and the concave heating plate is located above the concave support plate; then the camera detects the position of the date palm stalk, if the date palm stalk is between the two concave heating plates, execute step four, if the date palm stalk is not between the two concave plates 307, the mobile vehicle moves to adjust the positions of the two concave plates 307 so that the date palm stalk is located between the two concave plates 307, and then execute step four.

[0047] Step 4: The controller controls motor 1 115, motor 2 116 and motor 3 118 to operate, so that the corresponding bag clamping mechanism moves horizontally in the direction close to the other bag clamping mechanism until the two heating plate groups are combined together, and the date palm stalk is located in the two concave plates 307; then the controller controls the heating of each flat heating plate 308 at both ends of each concave support plate, so that the bagging part 403 between the two pairs of flat heating plates 308 on the same side of the two concave support plates is heat-fused together; after completing the hot-melting work on the bag opening at the upper end of the bagging, the controller controls each motor 6 to drive the vertical rod 1 301 to reverse, and the vertical rod Connecting rod 1 301 pulls connecting rod 2 304 and two connecting rods to rotate toward the direction of the corresponding containing bin 113, and connecting rod 2 302 drives the heating plate group to rotate toward the direction of the corresponding opening. At the same time, bevel gear 306 engages with bevel gear 4 to rotate the heating plate group, and each straight heating plate 308 rotates to a horizontal state, thereby rotating each heating plate group to an initial position. At the same time, the controller controls motor 1 115, motor 2 116 and motor 3 118 to work, so that the corresponding bag clamping mechanism translates in a direction away from the other bag clamping mechanism to the position after executing step three.

[0048] Step 5: The controller controls each motor 4 119 to drive the two bevel gears 1 111 to reverse synchronously, so that the two screw rods 110 in each bag clamping mechanism drive the two mobile clamping plates 109 to move in the direction close to the accommodating bin 113, so that the distance between the fixed clamping plate 108 and the mobile clamping plate 109 in each clamping plate group becomes larger, thereby allowing each clamping plate group to relax the clamping of the four sides 401 of the bag 403, but the distance between the fixed clamping plate 108 and the mobile clamping plate 109 is still smaller than the width of the limit strip 402, and each limit strip 402 cannot be separated from each clamping plate group; then the controller controls motor 1 115, motor 2 116 and motor 3 118 to work, so that the corresponding bag clamping mechanism descends, and at the same time the controller controls each Motor seven 117 drives each lifting gear 104 to reverse, so that each lifting rod 103 drives the corresponding bag clamping mechanism to descend, and the two bag clamping mechanisms are synchronously descended to the position where the motor one 115, the motor two 116 and the motor three 118 were before the second work in step two, and when the two bag clamping mechanisms descend, each clamping plate group descends along the corresponding limit strip 402; then, the controller controls each motor four 119 to drive each bevel gear one 111 to rotate forward synchronously, so that each clamping plate group clamps the four sides 401 of the bag 403, and controls motor one 115, motor two 116 and motor three 118 to continue working, so that the corresponding bag clamping mechanism moves to the initial position in the direction close to the other bag clamping mechanism.

[0049] Step six, each driving member drives each slide plate 208 to move in the direction away from each extension arm 205, so that the distance between the two tensioning wheels 207 in each bag collecting assembly increases to the maximum distance position; then the controller controls the rodless cylinder through the solenoid valve to drive the two extension arms 205 to move in the direction close to the accommodating bin 113, thereby driving the two bag collecting assemblies to move in the direction close to the accommodating bin 113, and when the camera detects that one side of the bag 403 is located between the two tensioning wheels 207 of the adjacent bag collecting assembly, the controller controls the rodless cylinder through the solenoid valve to stop driving the extension arms 205 corresponding to the pair of tensioning wheels 207 until each side of the bag 403 is located between the two tensioning wheels 207 of the adjacent bag collecting assembly. The two tensioning wheels 207 of the bag assembly; then each driving member drives each slide plate 208 to move toward the direction close to the extension arm 205, so that the spacing between the two tensioning wheels 207 in each bag receiving assembly is reduced, so that each side of the bag 403 is clamped by the two pairs of tensioning wheels 207 of the corresponding bag receiving assembly; the controller controls the blade of the electric telescopic cutter 206 to extend, and controls the solenoid valve to drive the rodless cylinder to drive the extension arm 1 204 and the electric telescopic cutter 206 to translate, so that the blade cuts the bag 403, and then controls the blade of the electric telescopic cutter 206 to retract, and controls the solenoid valve to drive the rodless cylinder to drive the extension arm 1 204 and the electric telescopic cutter 206 to translate in the opposite direction to the original position.

[0050] Step 7, each driving member drives each slide plate 208 to move in the direction away from the extension arm 205, so that there is a gap between the two tensioning wheels 207 of each bag collecting assembly; then the controller controls the two motors 5 in each bag collecting assembly to drive the two tensioning wheels 207 to rotate relative to each other, so that the bag 403 is tensioned on both sides, and at the same time the controller controls the solenoid valve to drive the rodless cylinder to drive the two extension arms 205 to move in the direction close to the storage bin 113, so that the two sides of the cut bag 403 are gathered by the two pairs of tensioning wheels 207 into the two bag collecting areas 209, and gathered between the two storage bins 113; then the controller controls each motor 6 to drive each The vertical rod 301 rotates forward to extend the heating plate group and rotate it to a vertical state, and then controls the motor 115, the motor 2 116 and the motor 3 118 to work, so that the corresponding bag clamping mechanism is translated toward the direction close to the other bag clamping mechanism until the two heating plate groups are combined together. At this time, the two concave heating plates are higher than the electric telescopic cutter 206, and the lower end of the cut bag is gathered between the two concave heating plates. The controller controls the two concave heating plates and the straight heating plates 308 at both ends of each concave heating plate to heat, so that the lower end of the cut bag is heat-fused together, thereby achieving the closing of the bag opening at the lower end of the cut bag.

[0051] Step eight, after completing the closing work of the bag opening at the lower end of the bagging, the controller controls each motor six to drive each vertical rod one 301 to reverse, so that each heating plate group returns to the initial position; then controls motor one 115, motor two 116 and motor three 118 to work, so that the corresponding bag clamping mechanism is translated to the initial position in the direction away from the other bag clamping mechanism; each driving member drives each slide plate 208 to move in the direction away from the extension arm two 205, so that the distance between the two tensioning wheels 207 in each bag collecting assembly increases to the maximum distance position; then the controller controls the solenoid valve to drive the two extension arms two 205 to move to the initial position in the direction away from the containing bin 113, and at the same time, each driving member drives each slide plate 208 to move to the initial position in the direction close to the extension arm two 205; finally, the lifting platform descends to the initial height, thereby completing a date bagging work.

[0052] Step 9. Repeat steps 2 to 8 to proceed to bagging the next date palm.

Claims

1. A fully automatic date bagging machine, characterized by: It comprises a bagging device, a bag tensioning and dividing device, a heating and closing device and a bagging cylinder; the bagging device comprises an L-shaped support rod, a lifting rod, a lifting mechanism, a rotating rod, a rotating frame, a connecting shaft and a bag clamping mechanism; the L-shaped support rod is provided with two relatively arranged ones, and the horizontal sections of the two L-shaped support rods constitute a sliding pair in the horizontal direction, and are driven by a telescopic cylinder to move relative or oppositely; one end of the two symmetrically arranged rotating rods is respectively hinged to the lower ends of the vertical sections of the two L-shaped support rods, and one of the rotating rods is driven to rotate by a motor one, and an L-shaped hanging rod is fixed to the lower end of one of the vertical sections; the lower ends of the two symmetrically arranged rotating frames are respectively hinged to the other ends of the two rotating rods, and one of the rotating frames is driven to rotate by a motor two; the two lifting rods arranged vertically and at intervals are synchronously driven to lift and lower by the lifting mechanisms on the two vertical sections; the two connecting shafts arranged horizontally and coaxially are respectively hinged to the upper ends of the two rotating frames, and one of the connecting shafts is driven to rotate by a motor three; A bag clamping mechanism is provided between the two lifting rods and between the two connecting shafts; the bag clamping mechanism includes a clamping plate group, a screw rod, a bevel gear 1, a bevel gear 2, a storage bin and a guide rail; the storage bin is fixed to the middle of the guide rail, and two coaxially arranged holes 1 are provided at both ends of the storage bin, the bevel gear 1 and the inner wall of the storage bin form a rotating pair and are driven by a motor 4, the two bevel gears 2 and the two holes 1 respectively form a rotating pair and are meshed with the bevel gear 1; the screw rod is provided with two horizontally and coaxially arranged screw rods, and the inner end of one of the screw rods passes through a hole 1 and is coaxially fixed with a corresponding bevel gear 2, and the inner end of the other screw rod is provided with an integrally formed spline shaft, the spline shaft passes through another hole 1 and passes through another bevel gear The spline grooves on the two ends form a sliding pair with the spline grooves; the outer ends of the two screw rods are provided with a clamping plate group; the clamping plate group is composed of a symmetrically arranged fixed clamping plate and a movable clamping plate, and the fixed clamping plate is provided with two holes and is fixed to the lifting rod or connecting shaft on the same side, the outer end of the corresponding screw rod passes through the second hole and forms a rotating pair with the lifting rod or connecting shaft on the same side, the movable clamping plate and the corresponding screw rod form a threaded pair and form a sliding pair with the guide rail, and the movable clamping plate is closer to the accommodating bin than the fixed clamping plate, and the ends of the fixed clamping plate and the movable clamping plate away from the guide rail are provided with two convex strips that are opposite and symmetrically arranged; in each bag clamping mechanism, the fixed clamping plate on the same side as the spline shaft forms a sliding pair with the guide rail, and the other fixed clamping plate is fixed to the guide rail; The bag-tensioning and bag-splitting device is arranged above the bag-clamping mechanism between the two lifting rods, and includes a rodless cylinder, an extension arm 1, an electric telescopic cutter and a bag-collecting assembly; the bag-collecting assembly is provided with two symmetrical arrangements, including an extension arm 2, a tensioning wheel and a slide plate, the slide plate and the extension arm 2 form a sliding pair in the horizontal direction and are driven by a driving member, and the extension arm 2 and the slide plate are hinged with two tensioning wheels arranged vertically and oppositely, and the two tensioning wheels are synchronously driven by two motors 5; the two pairs of tensioning wheels of the two bag-collecting assemblies are arranged oppositely, and a bag-collecting area is provided between the slide plate and a pair of tensioning wheels in each bag-collecting assembly; the rodless cylinder is fixed to the top end of the corresponding accommodating bin, drives the extension arm 1 to translate, and drives the extension arms 2 of the two bag-collecting assemblies to translate respectively, and the direction in which the extension arm 1 and the two extension arms 2 are driven by the rodless cylinder to translate is parallel, and perpendicular to the direction in which the slide plate is driven by the driving member to translate; the electric telescopic cutter is fixed to the end of the extension arm 1 away from the rodless cylinder, and is located directly below the two bag-collecting assemblies; The two accommodating bins are provided with openings at relative positions, and heating and closing devices are provided at the two opening positions; the heating and closing device comprises vertical rod one, vertical rod two, connecting rod one, connecting rod two, connecting rod three, bevel gear three and a heating plate group; the lower end of vertical rod one forms a rotating pair with the corresponding accommodating bin and is driven by motor six, the upper end is hinged with one end of connecting rod three, the other end of connecting rod three is fixed with a horizontally arranged bevel gear four, bevel gear four is hinged with the upper end of vertical rod two, the two ends of connecting rod one are hinged with the lower ends of vertical rod one and vertical rod two respectively, the middle parts of vertical rod one and vertical rod two are fixed with horizontally arranged connecting rods, and the two connecting rods are hinged with the two ends of connecting rod two respectively; vertically arranged bevel gear three It forms a rotating pair with the middle part of the vertical rod two and meshes with the bevel gear four; the heating plate group includes a concave plate and a straight heating plate, the cylindrical convex surface of the concave plate faces the corresponding opening, and the concave plate is composed of an integrally formed concave support plate and a concave heating plate, the concave support plate is fixed to the bevel gear three, and two parallel and symmetrically arranged straight heating plates are fixed at both ends of the concave support plate and the concave heating plate; in the initial state, each straight heating plate is in a horizontal state, and each heating plate group closes the corresponding opening; the bag tube is composed of a sleeve and a bag wound on the sleeve, and the bag is in a folded state when it is wound on the sleeve. When the bag is folded, the two sides are concave inwardly folded, and the edge forms four sides, and a limit strip is fixed on each side.

2. The fully automatic date bagging machine according to claim 1, characterized in that: The two ends of the horizontally arranged telescopic cylinder are fixed to the two horizontal sections.

3. The fully automatic date bagging machine according to claim 1, characterized in that: The lifting mechanism includes a lifting gear, a lifting chute and a rack. The two ends of the lifting chute are sleeved on the corresponding lifting rod and the vertical section, forming a sliding pair in the vertical direction with the corresponding lifting rod and the vertical section. The lifting gear and the middle part of the lifting chute form a rotating pair, which is driven by a motor 7 and is located between the lifting rod and the vertical section. The two racks arranged opposite to each other are fixed on the side opposite to the lifting rod and the vertical section, and are both meshed with the lifting gear.

4. The fully automatic date bagging machine according to claim 1, characterized in that: The rodless cylinder includes a cylinder seat, a cylinder barrel 1, a cylinder barrel 2, a moving block 1 and a moving block 2. The cylinder barrel 1 and the cylinder barrel 2 are horizontally arranged with a spacing up and down, and are both fixed on the cylinder seat. A partition is fixed inside the cylinder barrel 1. The inner cavity of the cylinder barrel 1 is divided into two cavities by the partition. The two moving blocks 1 arranged with a spacing form a sliding pair with the cylinder barrel 1, and are respectively adsorbed with the two pistons in the two cavities by magnets. The moving block 2 forms a sliding pair with the cylinder barrel 2, and is adsorbed with the piston in the cylinder barrel 2 by magnets. The cylinder seat is fixed to the top of the corresponding accommodating bin, the two moving blocks 1 are respectively fixed to the two extension arms 2, and the moving block 2 is fixed to the extension arm 1.

5. The fully automatic date bagging machine according to claim 1, characterized in that: The bagging material is polyethylene or polypropylene, and the bagging is made by a weaving process, or a plurality of holes are prepared on the surface.

6. A bagging method for a fully automatic date palm bagging machine according to any one of claims 1 to 5, characterized in that: The details are as follows: The two L-shaped support rods are connected to the lifting platform of the mobile vehicle so that the two horizontal sections and the lifting platform form a sliding pair; the sleeve of the bagging tube is placed on the L-shaped hanging rod; the controller controls the telescopic cylinder through the solenoid valve to drive the two L-shaped support rods to move relative to or away from each other, and the two L-shaped support rods drive the two lifting rods to move relative to or away from each other, and drive the two connecting shafts to move relative to or away from each other through each rotating rod and each rotating frame, so that the two spline shafts move synchronously along the two spline grooves toward or away from the accommodating bin, and then drive the two spline plate groups on the same side of the spline shaft to move closer to or away from each other along the two guide rails. The accommodating bin slides in the direction of the accommodating bin, so that the spacing between the two clamping plate groups in each bag clamping mechanism is synchronously adjusted to be smaller than the length of the bag when it is folded; then the end of the bag away from the sleeve is pulled out, and each side of the bag is located between the fixed clamping plate and the movable clamping plate of an adjacent clamping plate group; then the controller controls the two motors four to drive the two bevel gears one to rotate synchronously forward, the bevel gear one drives the two screws to rotate synchronously through the two bevel gears two, and the screw drives the corresponding movable clamping plate to move in the direction away from the accommodating bin, so that the fixed clamping plate and the movable clamping plate of each clamping plate group clamp the four sides, and the limit strip on each side is located on the inner side of the two convex strips of the corresponding clamping plate group; Step 2: The mobile vehicle moves under the date palm tree, and the lifting platform rises to make the upper end of the bag close to the bottom of the date palm fruit; then the controller controls motor 1, motor 2 and motor 3 to work, motor 1 drives the corresponding rotating rod to drive each rotating frame, each connecting shaft, the corresponding bag clamping mechanism and another rotating rod to rotate, and motor 2 drives the corresponding rotating frame to drive each connecting shaft, the corresponding bag clamping mechanism and another rotating frame to rotate, adjust the height of the corresponding bag clamping mechanism and the distance between the corresponding bag clamping mechanism and the other bag clamping mechanism, so that the corresponding bag clamping mechanism moves away from the other bag clamping mechanism and keeps it aligned, thereby opening the bag mouth at the upper end of the bag. And the motor three drives the corresponding connecting shaft to drive the bag clamping mechanism and another connecting shaft to rotate, and adjusts the angle of the corresponding bag clamping mechanism so that the angle of the two clamping plate groups of the corresponding bag clamping mechanism relative to the horizontal plane remains unchanged, thereby making the two bag clamping mechanisms always maintain a symmetrical state; then the controller controls the motor one, the motor two and the motor three to continue working, so that the corresponding bag clamping mechanism rises, and at the same time, each lifting mechanism drives each lifting rod to rise synchronously, and each lifting rod drives the corresponding bag clamping mechanism to rise, so that the two bag clamping mechanisms rise synchronously, and drive the bag to rise, so that part of the bag on the sleeve is released, and the date palm fruits are loaded into the opened bag; Step 3, when the camera on the mobile vehicle detects that the two bag clamping mechanisms have reached the position of the date palm stalk, each lifting mechanism stops driving the lifting rod to rise, and the controller controls motor 1, motor 2 and motor 3 to stop working; then the controller controls each motor 6 to drive each vertical rod 1 to rotate forward, and the vertical rod 1 pushes the vertical rod 2 to rotate away from the corresponding containing bin through the connecting rod 2 and the two connecting rods, and the vertical rod 2 drives the heating plate group to rotate away from the corresponding opening, and the vertical rod 2 and the driving connecting rod 1 and connecting rod 3 rotate relative to each other, so that the concave surface of the concave plate remains unchanged, and at the same time, the bevel gear 3 is meshed with the bevel gear 4, so that the heating plate group rotates, and then the straight heating plate is rotated to a vertical state, and the concave heating plate is located above the concave support plate; then the camera detects the position of the date palm stalk, if the date palm stalk is between the two concave heating plates, then execute step 4, if the date palm stalk is not between the two concave plates, the mobile vehicle moves, adjusts the position of the two concave plates, so that the date palm stalk is located between the two concave plates, and then executes step 4; Step 4, the controller controls motor 1, motor 2 and motor 3 to operate, so that the corresponding bag clamping mechanism moves horizontally in the direction close to the other bag clamping mechanism until the two heating plate groups are combined together, and at this time the date palm stalk is located in the two concave plates; then the controller controls the heating of the straight heating plates at both ends of each concave support plate to heat the bagging parts between the two pairs of straight heating plates on the same side of the two concave support plates, so that the bagging parts between the two pairs of straight heating plates on the same side of the two concave support plates are hot-melted together; after completing the hot-melting work on the bag opening at the upper end of the bagging, the controller controls each motor 6 to drive the vertical rod 1 to reverse, and the vertical rod 1 pulls the vertical rod 2 through the connecting rod 2 and the two connecting rods to rotate in the direction close to the corresponding containing bin, and the vertical rod 2 drives the heating plate group to rotate in the direction close to the corresponding opening, and at the same time, the bevel gear 3 is meshed with the bevel gear 4, so that the heating plate group rotates, and each straight heating plate rotates to a horizontal state, and then each heating plate group rotates to the initial position, and at the same time, the controller controls motor 1, motor 2 and motor 3 to operate, so that the corresponding bag clamping mechanism moves horizontally in the direction away from the other bag clamping mechanism to the position after executing step 3; The control unit 1 controls the motor 4 to drive the two bevel gears 1 to reverse synchronously, so that the two screw rods in each bag clamping mechanism drive the two movable clamping plates to move in the direction close to the accommodating bin, so that the spacing between the fixed clamping plate and the movable clamping plate in each clamping plate group becomes larger, thereby causing each clamping plate group to relax the clamping of the four sides of the bag, but the spacing between the fixed clamping plate and the movable clamping plate is still smaller than the width of the limit strip, and each limit strip cannot be separated from each clamping plate group; then the control unit controls the motor 1, the motor 2 and the motor 3 to work, so that the corresponding bag clamping mechanism descends, and at the same time, each lifting mechanism drives each lifting rod to drive the corresponding bag clamping mechanism to descend, so that the two bag clamping mechanisms are synchronously descended to the position where the motor 1, the motor 2 and the motor 3 were before the second operation in step 2, and when the two bag clamping mechanisms descend, each clamping plate group descends along the corresponding limit strip; then, the control unit controls the motor 4 to drive the bevel gears 1 to rotate forward synchronously, so that each clamping plate group clamps the four sides of the bag, and controls the motor 1, the motor 2 and the motor 3 to continue working, so that the corresponding bag clamping mechanism moves to the initial position in the direction close to another bag clamping mechanism; Step 6: Each driving member drives each slide plate to move in the direction away from each extension arm 2, so that the distance between the two tensioning wheels in each bag collecting assembly increases to the maximum distance position; then the controller controls the solenoid valve to drive the rodless cylinder to drive the two extension arms 2 to move in the direction close to the accommodating bin, thereby driving the two bag collecting assemblies to move in the direction close to the accommodating bin, and when the camera detects that one side of the bag is located between the two tensioning wheels of the adjacent bag collecting assembly, the controller controls the rodless cylinder through the solenoid valve to stop driving the extension arms 2 corresponding to the pair of tensioning wheels until each side of the bag is located between the two tensioning wheels of the adjacent bag collecting assembly; then each driving member drives each slide plate to move toward the direction close to the extension arm 2, so that the distance between the two tensioning wheels in each bag collecting assembly is reduced, so that each side of the bag is clamped by the two pairs of tensioning wheels of the corresponding bag collecting assembly; the controller controls the blade of the electric telescopic cutter to extend, and controls the solenoid valve to drive the rodless cylinder to drive the extension arm 1 and the electric telescopic cutter to move horizontally, so that the blade cuts the bag, and then controls the blade of the electric telescopic cutter to retract, and controls the solenoid valve to drive the rodless cylinder to drive the extension arm 1 and the electric telescopic cutter to move horizontally in the opposite direction to the original position; Step 7, each driving member drives each slide plate to move in a direction away from the extension arm 2, so that there is a gap between the two tensioning wheels of each bag collecting assembly; then the controller controls the two motors 5 in each bag collecting assembly to drive the two tensioning wheels to rotate relative to each other, so that the bag is tensioned to both sides, and at the same time the controller controls the solenoid valve to drive the rodless cylinder to drive the two extension arms 2 to move in a direction close to the containing bin, so that the two sides of the cut bag are gathered by the two pairs of tensioning wheels into the two bag collecting areas and gathered between the two containing bins; then the controller controls each motor 6 to drive each vertical rod 1 to rotate forward , so that the heating plate group extends out and rotates to a vertical state, and then controls motor 1, motor 2 and motor 3 to work, so that the corresponding bag clamping mechanism moves in a direction close to another bag clamping mechanism, until the two heating plate groups are combined together, at this time, the two concave heating plates are higher than the electric telescopic cutter, and the lower end of the cut bag is gathered between the two concave heating plates, and the controller controls the two concave heating plates and the straight heating plates at both ends of each concave heating plate to heat, so that the lower end of the cut bag is hot-fused together, and the bag opening at the lower end of the cut bag is closed; Step eight, the controller controls each motor six to drive each vertical rod one to reverse, so that each heating plate group returns to the initial position; then controls motor one, motor two and motor three to work, so that the corresponding bag clamping mechanism translates to the initial position in the direction away from the other bag clamping mechanism; each driving member drives each slide plate to move in the direction away from the extension arm two, so that the distance between the two tensioning wheels in each bag collecting assembly increases to the maximum distance position; then the controller controls the solenoid valve to drive the two extension arms two to move in the direction away from the containing bin to the initial position, and at the same time each driving member drives each slide plate to move in the direction close to the extension arm two to the initial position; finally, the lifting platform descends to the initial height, thereby completing a date bagging operation.

Images