Chinese cabbage boxing device and control method thereof

Abstract

The invention provides a Chinese cabbage boxing device and a control method thereof. The Chinese cabbage boxing device comprises a correcting mechanism, a conveying mechanism, a stopping mechanism, a boxing mechanism, a tail end gripper mechanism, an image collecting device and a controller. The controller judges whether Chinese cabbages exist at the second conveying mechanism or not according to the images, if yes, the stopping mechanism is controlled to stretch out, the boxing mechanism on one side of the first conveying mechanism is controlled to drive the tail end gripper mechanism to reach the grabbing position, and after the tail end gripper mechanism is controlled to grab the Chinese cabbages on the first conveying mechanism, the boxing mechanism is stopped; a boxing mechanism is controlled to drive a tail end gripper mechanism to move to a loosening position, and the Chinese cabbages are put into a turnover box; if not, the stopping mechanism is controlled to be kept at the receiving position, the first conveying mechanism conveys the Chinese cabbages to the second conveying mechanism, and a boxing mechanism on one side of the second conveying mechanism drives a tail end gripper mechanism to put the Chinese cabbages on the second conveying mechanism into the turnover box. According to the Chinese cabbage boxing device, Chinese cabbages can be orderly boxed, the boxing efficiency is improved, and the labor input is reduced.

Description

Technical Field

[0001] The invention relates to Chinese cabbage. The invention relates to Chinese cabbage processing and transportation equipment, and in particular to a Chinese cabbage packing device and a control method thereof. Background Art

[0002] During the harvesting process of the common Chinese cabbage on the market, farmers need to bend down to cut off the roots and then put them into the turnover basket, which is time-consuming and laborious. CN118120457A discloses an integrated Chinese cabbage harvester and Chinese cabbage harvesting method, which uses a manipulator to cooperate with a guide and other parts to pull up the Chinese cabbage from the field. The harvested Chinese cabbage is not further arranged and regularized, which is inconvenient for subsequent transportation operations. Summary of the invention

[0003] In view of the above technical problems, the present invention provides a Chinese cabbage packing device, which can pack Chinese cabbage in an orderly manner, improves the packing efficiency and reduces the labor input.

[0004] The invention also provides a control method for the Chinese cabbage packing device.

[0005] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0006] The present invention achieves the above technical objectives through the following technical means.

[0007] A Chinese cabbage packing device, comprising a correction mechanism, a conveying mechanism, a blocking mechanism, a packing mechanism, an end gripping mechanism, an image acquisition device and a controller;

[0008] The entrance of the correction mechanism is located behind the upper conveying device. There are at least two conveying mechanisms, including a first conveying mechanism and a second conveying mechanism. The blocking mechanism is arranged between the conveying mechanisms. The correction mechanism, the first conveying mechanism, the blocking mechanism and the second conveying mechanism are arranged in sequence from the front to the back. The side of each conveying mechanism is respectively provided with an end gripping mechanism, and the end gripping mechanism is connected to the end of the packing mechanism.

[0009] The controller is respectively connected with the correction mechanism, the conveying mechanism, the blocking mechanism, the packing mechanism, the end gripper mechanism, and the image acquisition device;

[0010] The upper conveying device is used to put the Chinese cabbage into the correction mechanism, and the correction mechanism is used to correct the Chinese cabbage to move forward in the axial direction; the first conveying mechanism conveys the Chinese cabbage after removing the miscellaneous leaves backward, and the image acquisition device takes an image of the second conveying mechanism and transmits it to the controller. The controller determines whether there is Chinese cabbage at the second conveying mechanism based on the image. If so, the blocking mechanism is controlled to extend to prevent the first conveying mechanism from sending the Chinese cabbage to the second conveying mechanism, and the packing mechanism on one side of the first conveying mechanism is controlled to drive the end gripper mechanism to reach the grabbing position, and after the end gripper mechanism grabs the Chinese cabbage on the first conveying mechanism, the packing mechanism is controlled to drive the end gripper mechanism to move to the release position to put the Chinese cabbage into the turnover box; if not, the blocking mechanism is controlled to maintain the receiving position, the first conveying mechanism conveys the Chinese cabbage to the second conveying mechanism, and the packing mechanism on one side of the second conveying mechanism drives the end gripper mechanism to put the Chinese cabbage on the second conveying mechanism into the turnover box.

[0011] In the above scheme, the correction mechanism includes a guide groove and a conveyor belt that is symmetrically arranged on both sides, and the conveyor belt conveyor surfaces are at a certain angle to stably lift the Chinese cabbage;

[0012] In the above scheme, the first conveying mechanism includes a first conveying flat belt module and a first conveying inclined flat belt module;

[0013] The first conveying flat belt module is arranged horizontally, and the first conveying oblique flat belt module is arranged on the side of the first conveying flat belt module and is inclined outwardly with respect to the conveying surface;

[0014] The second conveying mechanism includes a second conveying flat belt module and a second conveying inclined flat belt module;

[0015] The second conveying flat belt module is arranged horizontally, and the second conveying inclined flat belt module is arranged on the side of the second conveying flat belt module and is inclined outwardly with respect to the conveying surface.

[0016] In the above scheme, a blocking base plate is provided at the bottom of the blocking mechanism, a blocking guide rod is provided on one side of the blocking base plate, and a blocking cylinder body is provided on the other side. The blocking guide rod is connected to one side of the blocking plate through a blocking linear bearing, one end of the blocking cylinder rod body is connected to the other side of the blocking plate, and the other end can move linearly in the blocking cylinder body 55;

[0017] The inner ring of the blocking linear bearing cooperates with the blocking guide rod, and the outer ring thereof is fixedly connected to one side of the blocking plate; the blocking cylinder body drives the blocking plate to rise and fall, thereby blocking or opening the passage between the conveying surfaces of the first conveying mechanism and the second conveying mechanism.

[0018] In the above scheme, the packing mechanism includes a boom electric cylinder body, a boom electric cylinder rod body, an arm mounting surface, an arm electric cylinder body, an arm electric cylinder guide rod, an arm electric cylinder rod body, and a terminal main mounting surface;

[0019] One end of the boom electric cylinder rod body is rotatably connected to the upper surface of the boom mounting surface, and the other end is inside the boom electric cylinder body and can move along the axis direction of the cylinder body;

[0020] The arm extension electric cylinder body is connected to the lower surface of the arm extension mounting surface, one end of the arm extension electric cylinder rod body is in the arm extension electric cylinder body and can move along the axis direction of the cylinder body, arm extension electric cylinder linear bearings are respectively provided on both sides of the arm extension electric cylinder body, one end of the arm extension electric cylinder guide rod passes through the arm extension electric cylinder linear bearing and moves along the axis direction of the arm extension electric cylinder linear bearing, the other end of the arm extension electric cylinder rod body and the other end of the arm extension electric cylinder guide rod are respectively connected to the end main mounting surface through the rod body fixing flange; the end main mounting surface is connected to the end gripper mechanism.

[0021] In the above scheme, the end gripper mechanism includes a left panel, a right panel, a short arm contacting sheet metal, a long arm contacting sheet metal, a cylinder body and a cylinder rod body;

[0022] The left panel and the right panel are arranged parallel to each other, and the ends of the left panel and the right panel are respectively connected to the ends of the packing mechanism; the short arm contact sheet metal and the long arm contact sheet metal are relatively arranged between the left panel and the right panel, and the long arm contact sheet metal is located behind the short arm contact sheet metal; the cylinder rod body of the cylinder body transmits force to the short arm contact sheet metal and the long arm contact sheet metal respectively, and the cylinder body drives the cylinder rod body so that the short arm contact sheet metal and the long arm contact sheet metal are simultaneously contracted inward to clamp the Chinese cabbage or simultaneously opened outward to release the Chinese cabbage; the left panel and the right panel are relatively arranged between the left panel and the right panel, and the long arm contact sheet metal is located behind the short arm contact sheet metal; the cylinder rod body of the cylinder body transmits force to the short arm contact sheet metal and the long arm contact sheet metal respectively, and the cylinder body drives the cylinder rod body so that the short arm contact sheet metal and the long arm contact sheet metal are simultaneously contracted inward to clamp the Chinese cabbage or simultaneously opened outward to release the Chinese cabbage; Two groups of holes are respectively provided at the front end and the middle part of the panel, and the two groups of holes are connected with bearing seats concentric therewith. One end of the short arm fixed shaft passes through the bearing seat at the front end of the left panel, the left panel, one side of the short arm contact sheet metal, the middle round hole of the connecting rod between the two short arm shafts, the other side of the short arm contact sheet metal and is connected to the bearing seat at the front end of the right panel, the connecting rod between the short arm shafts is connected to the short arm contact sheet metal, the two ends of the short arm movable shaft pass through the top round holes of the connecting rod between the two short arm shafts respectively, and one end of the long arm fixed shaft passes through the bearing seat in the middle of the left panel, the left panel, and one side of the long arm contact sheet metal in turn. The right side is connected with the round hole in the middle of the connecting rod between the two long arm shafts, and the other side of the long arm contact sheet metal is connected with the bearing seat in the middle of the right panel. The connecting rod between the long arm shafts is connected with the long arm contact sheet metal. The two ends of the long arm movable shaft pass through the round holes on the top of the two long arm shaft connecting rods respectively. One end face of the short arm movable shaft is fitted with the middle waist hole of the short arm waist hole plate. The short arm waist hole plate is connected to the short arm connecting rod seat through the short arm adjusting rod. One end face of the long arm movable shaft is fitted with the middle waist hole of the long arm waist hole plate. The long arm waist hole plate is connected to the long arm connecting rod seat through the long arm adjusting rod. The middle part of the push-pull seat is rotated with the short arm connecting rod seat. The bottom of the push-pull seat is rotatably connected with the long arm connecting rod seat, the upper outer part of the right panel is connected with a guide base, the front and rear sides of the lower part of the guide base are connected with an optical axis seat, the guide shaft passes through the linear bearing, and the two ends are respectively connected with the optical axis seat, the linear bearing mounting surface is connected with the top of the push-pull seat, the linear bearing bearing hole is fitted with the guide shaft, the linear bearing can move axially along the guide shaft, a cylinder seat is provided at the rear of the outer side of the right panel, the cylinder body is connected with the cylinder seat, and the cylinder rod body moving along the axis direction of the cylinder body inside the cylinder body is floatingly connected with the push-pull seat;

[0023] The cylinder body drives the extension of the cylinder rod body, and the cylinder rod body makes one end face of the short arm movable shaft slide in the waist hole of the short arm waist hole plate through the push-pull seat, the short arm connecting rod seat, and the short arm adjusting rod, thereby driving the bottom of the short arm contact sheet metal to approach the bottom of the long arm contact sheet metal, and the cylinder rod body makes one end face of the long arm movable shaft slide in the waist hole of the long arm waist hole plate through the push-pull seat, the long arm connecting rod seat, and the long arm adjusting rod, thereby driving the bottom of the long arm contact sheet metal to approach the bottom of the short arm contact sheet metal, and the short arm contact surface and the long arm contact surface clamp the Chinese cabbage;

[0024] The cylinder body drives the cylinder rod body to retract, and the cylinder rod body drives the bottom of the short arm contacting sheet metal away from the bottom of the long arm contacting sheet metal through the push-pull seat, the short arm connecting rod seat, the short arm adjusting rod, the short arm waist hole plate and the short arm movable shaft. The cylinder rod body drives the bottom of the long arm contacting sheet metal away from the bottom of the short arm contacting sheet metal through the push-pull seat, the long arm connecting rod seat, the long arm adjusting rod, the long arm waist hole plate and the long arm movable shaft, and the short arm contact surface and the long arm contact surface are released.

[0025] Furthermore, the opposing surfaces of the short arm contact sheet metal and the long arm contact sheet metal are respectively provided with a short arm contact surface and a long arm contact surface; the short arm contact surface and the long arm contact surface are both made of flexible materials.

[0026] In the above scheme, the controller controls the packing mechanism and the end gripper mechanism to move to the grabbing position target point (x0, y0) and then clamp the Chinese cabbage, and then move to the releasing position target point (x n ,y n ), n represents the number of relaxation positions (n=1, 2, 3, 4, ...) and then the relaxation operation is performed.

[0027] Furthermore, relax the target point (x n ,y n ) is calculated as follows:

[0028] A two-dimensional coordinate system XOY is established on the plane where the boom electric cylinder rod body and the extension arm electric cylinder guide rod are located. The point where the extension arm fixed axis is located is A, the point where the boom fixed axis is located is B, the point where the inter-arm axis is located is C, the point between the short arm contact surface and the long arm contact surface is E, point E is on the extension line of AC, and the closest distance between point E and the short arm contact surface and the long arm contact surface is equal. The front end point of the extension arm electric cylinder body is F, the front end of the boom electric cylinder body is G, the projection point of point E on the Y axis is D, the coordinates of point A are (0, k1), the coordinates of point B are (k2, 0), the AF spacing is L1, the BG spacing is L2, the CF spacing is e, and the EF spacing is a n , CG spacing is b n , ∠BCA is α, ∠BAC is β, ∠OAB is ∠CAD is η;

[0029] Point E is the target movement point of the two-axis swing arm in the present invention. It needs to move to the grabbing position target point (x0, y0) and then clamp the Chinese cabbage, and move to the releasing position target point (x0, y0). n ,y n )(n=1,2,3,4,…) and then perform the relaxation operation, corresponding to a n is the extension of the arm electric cylinder rod, b n is the extension of the boom electric cylinder rod;

[0030] Relax the target point (x n ,yn ) is calculated by the following formula:

[0031] x n =(a n +L1)*sinη,y n =k2+(a n +L1)*cosη;

[0032] in

[0033]

[0034] According to the set target point (x n ,y n )Solve (a n , b n ), matrix (a n , b n , x n ,y n ) is the target control matrix n=0, 1, 2, 3, 4,…

[0035] A control method for the Chinese cabbage packing device is characterized by comprising the following steps:

[0036] The superior conveying device puts the Chinese cabbage into the correction mechanism, and the correction mechanism corrects the Chinese cabbage to move forward in the axial direction; the first conveying mechanism conveys the Chinese cabbage backward, and the image acquisition device takes an image of the second conveying mechanism and transmits it to the controller. The controller determines whether there is Chinese cabbage at the second conveying mechanism according to the image. If so, the blocking mechanism is controlled to extend to prevent the first conveying mechanism from sending the Chinese cabbage to the second conveying mechanism, and the packing mechanism on one side of the first conveying mechanism is controlled to drive the end gripper mechanism to reach the grabbing position, and after the end gripper mechanism is controlled to grab the Chinese cabbage on the first conveying mechanism, the packing mechanism is controlled to drive the end gripper mechanism to move to the release position to put the Chinese cabbage into the turnover box; if not, the blocking mechanism is controlled to maintain the receiving position, the first conveying mechanism conveys the Chinese cabbage to the second conveying mechanism, and the packing mechanism on one side of the second conveying mechanism drives the end gripper mechanism to put the Chinese cabbage on the second conveying mechanism into the turnover box.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The upper conveying device of the present invention puts the Chinese cabbage into the correction mechanism to adjust the conveying posture; the first conveying

[0039] The conveying mechanism conveys the cabbage after removing the miscellaneous leaves backwards, the image acquisition device takes an image of the second conveying mechanism and transmits it to the controller, the controller determines whether there is cabbage at the second conveying mechanism according to the image, if yes, the controller controls the blocking mechanism to extend, to prevent the first conveying mechanism from conveying the cabbage to the second conveying mechanism, controls the packing mechanism on one side of the first conveying mechanism to drive the end gripper mechanism to reach the gripping position, controls the end gripper mechanism to grip the cabbage on the first conveying mechanism, controls the packing mechanism to drive the end gripper mechanism to move to the releasing position, and puts the cabbage into the turnover box; if no, the blocking mechanism is controlled to maintain the receiving position, the first conveying mechanism conveys the cabbage to the second conveying mechanism, the packing mechanism on one side of the second conveying mechanism drives the end gripper mechanism to put the cabbage on the second conveying mechanism into the turnover box, thereby improving the packing efficiency.

[0040] 2. The present invention can pack the harvested Chinese cabbages in an orderly manner. The packing process can be set according to different specifications of turnover boxes by setting corresponding different relaxation positions in the controller to achieve orderly stacking, improve packing efficiency, and reduce labor input.

[0041] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0043] Figure 2 It is a schematic structural diagram of a correction mechanism according to one embodiment of the present invention;

[0044] Figure 3 It is a structural schematic diagram of a conveying and blocking mechanism according to an embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of the two-axis swing arm structure of a boxing mechanism according to one embodiment of the present invention;

[0046] Figure 5 It is a schematic diagram of the end gripper structure of a packing mechanism according to an embodiment of the present invention;

[0047] Figure 6 It is a structural schematic diagram of a packing mechanism and an end gripper according to an embodiment of the present invention;

[0048] Figure 7 It is a two-dimensional plane coordinate system of a two-axis packing motion point control method of Chinese cabbage in one embodiment of the present invention.

[0049] In the figure, 1. the upper conveying mechanism;

[0050] 2. Correctional institutions;

[0051] 3. First conveying mechanism; 31. First conveying flat belt module; 32. First conveying inclined flat belt module;

[0052] 4. Second conveying mechanism; 41. Second conveying flat belt module; 42. First conveying inclined flat belt module;

[0053] 5. Blocking mechanism; 51. Blocking substrate; 52. Blocking plate; 53. Blocking guide rod; 54. Blocking linear bearing; 55. Blocking cylinder body; 56. Blocking cylinder rod body;

[0054] 6. Packing mechanism; 601. Boom fixed axis; 602. Boom electric cylinder body; 603. Boom electric cylinder rod body; 604. Inter-arm axis; 605. Ear seat; 606. Extended arm fixed axis; 607. Extended arm mounting surface; 608. Boom electric cylinder body; 609. Extended arm electric cylinder guide rod; 610. Extended arm electric cylinder linear bearing; 611. Extended arm electric cylinder rod body; 612. Rod body fixing flange; 613. End main mounting surface;

[0055] 701, left panel; 702, right panel; 703, short arm fixed axis; 704, short arm movable axis; 705, connecting rod between short arm axes; 706, short arm contact sheet metal; 707, short arm contact surface; 708, long arm fixed axis; 709, long arm movable axis; 710, connecting rod between long arm axes; 711, long arm contact sheet metal; 712, long arm contact surface; 713, bearing seat; 714, short arm waist hole plate; 715, short arm adjustment rod; 716, short arm connecting rod seat; 717, long arm waist hole plate; 718, long arm adjustment rod; 719, long arm connecting rod seat; 720, push-pull seat; 721, guide base; 722, optical axis seat; 723, guide shaft; 724, linear bearing; 725, cylinder seat; 726, cylinder body; 727, cylinder rod body. DETAILED DESCRIPTION

[0056] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0058] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] Figure 1 The figure shows a preferred embodiment of the Chinese cabbage packing device, which includes a correction mechanism 2, a conveying mechanism, a blocking mechanism 5, a packing mechanism 6, an end gripper mechanism 7, an image acquisition device and a controller;

[0060] The entrance of the correction mechanism 2 is located at the rear of the upper conveying device 1. The conveying mechanisms are at least two, including a first conveying mechanism 3 and a second conveying mechanism 4. The blocking mechanism 5 is arranged between the conveying mechanisms. The correction mechanism 2, the first conveying mechanism 3, the blocking mechanism 5 and the second conveying mechanism 4 are arranged in sequence from the front to the back. The side of each conveying mechanism is respectively provided with an end gripping mechanism 7, and the end gripping mechanism 7 is connected to the end of the packing mechanism 6.

[0061] The controller is respectively connected with the correction mechanism 2, the conveying mechanism, the blocking mechanism 5, the packing mechanism 6, the end gripper mechanism 7, and the image acquisition device;

[0062] The upper conveying device 1 is used to put the Chinese cabbage into the correction mechanism 2, and the correction mechanism 2 is used to correct the Chinese cabbage to move forward in the axial direction; the first conveying mechanism 3 conveys the Chinese cabbage backward, and the image acquisition device takes an image of the second conveying mechanism 4 and transmits it to the controller. The controller determines whether there is Chinese cabbage at the second conveying mechanism 4 according to the image. If so, the blocking mechanism 5 is controlled to extend to prevent the first conveying mechanism 3 from sending the Chinese cabbage into the second conveying mechanism 4, and the packing mechanism 6 on one side of the first conveying mechanism 3 is controlled to drive the end gripper mechanism 7 to reach the grabbing position, and after the end gripper mechanism 7 grabs the Chinese cabbage on the first conveying mechanism 3, the packing mechanism 6 is controlled to drive the end gripper mechanism 7 to move to the release position to put the Chinese cabbage into the turnover box 8; if not, the blocking mechanism 5 is controlled to maintain the receiving position, the first conveying mechanism 3 conveys the Chinese cabbage to the second conveying mechanism 4, and the packing mechanism 6 on one side of the second conveying mechanism 4 drives the end gripper mechanism 7 to put the Chinese cabbage on the second conveying mechanism 4 into the turnover box 8.

[0063] like Figure 2 As shown, the correction mechanism 2 includes a guide groove and two symmetrical and oblique V-shaped conveyor belts, which are used to stably lift the Chinese cabbage; the guide groove is arranged at the front end of one of the conveyor belts and is located behind the upper conveying device 1. The guide groove is a closed-end guide channel with a large entrance and a small exit, and the entrance is high and the exit is low. The inner surface is smooth, which is conducive to the Chinese cabbage to slide smoothly to the exit after falling into. After the upper conveying device 1 puts the Chinese cabbage into the guide groove, the Chinese cabbage slides in the closed-end guide groove to the surface of the oppositely inclined conveyor belt. Under the influence of gravity, the lower sides of the Chinese cabbage are tangent to the surfaces of the two conveyor belts. During the flat belt conveying process, the length axis of the Chinese cabbage is consistent with the length direction of the correction mechanism 2.

[0064] like Figure 3 As shown, the first conveying mechanism 3 includes a first conveying flat belt module 31 and a first conveying inclined flat belt module 32;

[0065] The first conveying flat belt module 31 is arranged horizontally, and the first conveying oblique flat belt module 32 is arranged on the side of the first conveying flat belt module 31 and is inclined outwardly with respect to the conveying surface. The angle between the first conveying oblique flat belt module 32 and the horizontal plane is 10 to 20 degrees;

[0066] The second conveying mechanism 4 includes a second conveying flat belt module 41 and a second conveying inclined flat belt module 42;

[0067] The second conveying flat belt module 41 is arranged horizontally, and the second conveying oblique flat belt module 42 is arranged on the side of the second conveying flat belt module 41 and inclined outwardly with respect to the conveying surface. The second conveying oblique flat belt module 42 is 10 to 20 degrees with respect to the horizontal plane.

[0068] like Figure 3As shown, the blocking mechanism 5 is provided with a blocking base plate 51 at the bottom, a blocking guide rod 53 is provided on one side of the blocking base plate 51, and a blocking cylinder body 55 is provided on the other side. The blocking guide rod 53 is connected to one side of the blocking plate 52 through a blocking linear bearing 54, and one end of the blocking cylinder rod body 56 is connected to the other side of the blocking plate 52, and the other end can move in a straight line in the blocking cylinder body 55;

[0069] The inner ring of the blocking linear bearing 54 cooperates with the blocking guide rod 53, and its outer ring is fixedly connected to one side of the blocking plate 52; the blocking cylinder body 55 drives the blocking plate 52 to rise and fall, blocking or opening the channel between the conveying surfaces of the first conveying mechanism 3 and the second conveying mechanism 4.

[0070] like Figure 4 As shown, the packing mechanism 6 includes a boom electric cylinder body 602, a boom electric cylinder rod body 603, an arm mounting surface 607, an arm electric cylinder body 608, an arm electric cylinder guide rod 609, an arm electric cylinder rod body 611, and a terminal main mounting surface 613;

[0071] One end of the boom electric cylinder rod body 603 is rotatably connected to the upper surface of the boom mounting surface 607, and the other end is inside the boom electric cylinder body 602 and can move along the axis of the cylinder body;

[0072] The arm extension electric cylinder body 608 is connected to the lower surface of the arm extension mounting surface 607, one end of the arm extension electric cylinder rod body 611 is in the arm extension electric cylinder body 608 and can move along the axis direction of the cylinder body, arm extension electric cylinder linear bearings 610 are respectively provided on both sides of the arm extension electric cylinder body 608, one end of the arm extension electric cylinder guide rod 609 passes through the arm extension electric cylinder linear bearing 610 and moves along the axis direction of the arm extension electric cylinder linear bearing 610, the other end of the arm extension electric cylinder rod body 611 and the other end of the arm extension electric cylinder guide rod 609 are respectively connected to the end main mounting surface 613 through the rod body fixing flange 612; the end main mounting surface 613 is connected to the end gripper mechanism 7.

[0073] In a specific embodiment of the present invention, the first conveying inclined flat belt module 32 and the second conveying inclined flat belt module 42 are respectively provided with a packing mechanism 6 on the opposite sides; the packing mechanism 6 includes a two-axis swing arm; the two-axis swing arm includes a boom fixed shaft 601 and an arm fixed shaft 606 which are rotatably connected to the external base frame, and the upper surface of the arm mounting surface 607 is respectively fixedly connected with ear seats 605 on the front and back, and the inter-arm shaft 604 passes through the top hole of the front ear seat 605 and one end of the boom electric cylinder rod body 603, and the other end of the boom electric cylinder rod body 603 can move along the cylinder axis direction in the boom electric cylinder 602 cylinder body, The tail end hole of the arm electric cylinder body 603 is fixedly connected to the boom fixed shaft 601, and an arm electric cylinder body 608 is provided on the lower surface of the arm mounting surface 607. One end of the arm electric cylinder rod body 611 can move along the axis direction of the cylinder body in the arm electric cylinder body 608. Arm electric cylinder linear bearings 610 are respectively provided on both sides of the arm electric cylinder body 608. One end of the arm electric cylinder guide rod 609 moves along the axis direction of the arm electric cylinder linear bearing 610. The other end of the arm electric cylinder rod body 611 and the other end of the arm electric cylinder guide rod 609 are respectively fastened to the end main mounting surface 613 through the rod body fixing flange 612.

[0074] like Figure 5 As shown, the end gripper mechanism 7 includes a left panel 701, a right panel 702, a short arm contact sheet metal 706, a long arm contact sheet metal 711, a cylinder body 726 and a cylinder rod body 727;

[0075] The left panel 701 and the right panel 702 are arranged parallel to each other, and the ends of the left panel 701 and the right panel 702 are respectively connected to the ends of the packing mechanism 6; the short arm contact sheet metal 706 and the long arm contact sheet metal 711 are relatively arranged between the left panel 701 and the right panel 702, and the long arm contact sheet metal 711 is located behind the short arm contact sheet metal 706; the cylinder rod body 727 of the cylinder body 726 transmits force to the short arm contact sheet metal 706 and the long arm contact sheet metal 711 respectively, and the cylinder body 726 drives the cylinder rod body 727 to make the short arm contact sheet metal 706 and the long arm contact sheet metal 711 shrink inward at the same time to clamp the Chinese cabbage or open outward at the same time to release the Chinese cabbage; the front ends of the left panel 701 and the right panel 702 Two groups of holes are respectively provided in the middle part, and the two groups of holes are fastened with bearing seats 713 concentric therewith. One end of the short arm fixed shaft 703 passes through the bearing seat 713 at the front end of the left panel 701, the left panel 701, one side of the short arm contact sheet metal 706, the middle round hole of the connecting rod 705 between the two short arm shafts, and the other side of the short arm contact sheet metal 706 is connected with the bearing seat 713 at the front end of the right panel 702 in sequence. The connecting rod 705 between the short arm shafts is fastened to the short arm contact sheet metal 706. The two ends of the short arm movable shaft 704 pass through the top round holes of the connecting rod 705 between the two short arm shafts in sequence. One end of the long arm fixed shaft 708 passes through the bearing seat 713 in the middle of the left panel 701, the left panel 701, one side of the long arm contact sheet metal 711, the two long arm shafts The circular hole in the middle of the intermediate connecting rod 710 and the other side of the long arm contact sheet metal 711 are connected to the bearing seat 713 in the middle of the right panel 702, the long arm shaft intermediate connecting rod 710 is tightly connected to the long arm contact sheet metal 711, the two ends of the long arm movable shaft 709 pass through the circular holes on the top of the two long arm shaft intermediate connecting rods 710 respectively, one end face of the short arm movable shaft 704 is fitted with the middle waist hole of the short arm waist hole plate 714, the short arm waist hole plate 714 is connected to the short arm connecting rod seat 716 through the short arm adjusting rod 715, one end face of the long arm movable shaft 709 is fitted with the middle waist hole of the long arm waist hole plate 717, the long arm waist hole plate 717 is connected to the long arm connecting rod seat 719 through the long arm adjusting rod 718, the middle part of the push-pull seat 720 is rotatably connected to the short arm connecting rod seat 716, and the push-pull seat 720 The bottom is rotatably connected with the long arm connecting rod seat 719, the upper outer side of the right panel 702 is fixedly connected with a guide base 721, the front and rear sides below the guide base 721 are fastened with an optical axis seat 722, the guide shaft 723 passes through a linear bearing 724, and both ends are respectively connected with the optical axis seat 722, the mounting surface of the linear bearing 724 is fastened with the top of the push-pull seat 720, the bearing hole of the linear bearing 724 is fitted with the guide shaft 723, and the linear bearing 724 can move axially along the guide shaft 723, a cylinder seat 725 is provided at the rear outer side of the right panel 702, a cylinder body 726 is fastened with the cylinder seat 725, and a cylinder rod body 727 that moves inside the cylinder body 726 along the axis direction of the cylinder body is floatingly connected with the push-pull seat 720;

[0076] The cylinder body 726 drives the extension of the cylinder rod body 727, and the cylinder rod body 727 makes one end face of the short arm movable shaft 704 slide in the waist hole of the short arm waist hole plate 714 through the push-pull seat 720, the short arm connecting rod seat 716, and the short arm adjusting rod 715, thereby driving the bottom of the short arm contact sheet metal 706 to approach the bottom of the long arm contact sheet metal 711, and the cylinder rod body 727 makes one end face of the long arm movable shaft 709 slide in the waist hole of the long arm waist hole plate 717 through the push-pull seat 720, the long arm connecting rod seat 719, and the long arm adjusting rod 718, thereby driving the bottom of the long arm contact sheet metal 711 to approach the bottom of the short arm contact sheet metal 706, and the short arm contact surface 707 and the long arm contact surface 712 clamp the Chinese cabbage;

[0077] The cylinder body 726 drives the cylinder rod body 727 to retract, and the cylinder rod body 727 drives the bottom of the short arm contact sheet metal 706 away from the bottom of the long arm contact sheet metal 711 through the push-pull seat 720, the short arm connecting rod seat 716, the short arm adjusting rod 715, the short arm waist hole plate 714 and the short arm movable shaft 704. The cylinder rod body 727 drives the bottom of the long arm contact sheet metal 711 away from the bottom of the short arm contact sheet metal 706 through the push-pull seat 720, the long arm connecting rod seat 719, the long arm adjusting rod 718, the long arm waist hole plate 717 and the long arm movable shaft 709, and the short arm contact surface 707 and the long arm contact surface 712 are loosened. Threads are provided at both ends of the short arm adjusting rod 715 and the long arm adjusting rod 718, respectively, for adjusting the distance between the short arm waist hole plate 714 and the short arm connecting rod seat 716, and the distance between the long arm waist hole plate 717 and the long arm connecting rod seat 719;

[0078] The short arm contact sheet metal 706 and the long arm contact sheet metal 711 have opposite surfaces with a short arm contact surface 707 and a long arm contact surface 712 respectively. Both the short arm contact surface 707 and the long arm contact surface 712 are made of flexible materials to reduce damage to the Chinese cabbage.

[0079] like Figure 6 and 7 As shown, the controller controls the packing mechanism 6 and the end gripper mechanism 7 to move to the grabbing position target point (x0, y0) and then clamp the Chinese cabbage, and then move to the releasing position target point (x n ,y n ), n represents the number of relaxation positions (n=1, 2, 3, 4, ...) and then the relaxation operation is performed;

[0080] Relax the target point (x n ,y n ) is calculated as follows:

[0081] A two-dimensional coordinate system XOY is established with the plane where the boom electric cylinder rod body 603 and the extension arm electric cylinder guide rod 609 are located. The point where the extension arm fixed axis 606 is located is A, the point where the boom fixed axis 601 is located is B, the point where the inter-arm axis 604 is located is C, and the point between the short arm contact surface 707 and the long arm contact surface 712 is E. Point E is on the AC extension line. The closest distance between point E and the short arm contact surface 707 and the long arm contact surface 712 is equal, which can simplify the calculation. The front end point of the extension arm electric cylinder body 608 is F, the front end of the boom electric cylinder body 602 is G, the projection point of point E on the Y axis is D, the coordinates of point A are (0, k1), the coordinates of point B are (k2, 0), the AF spacing is L1, the BG spacing is L2, the CF spacing is e, and the EF spacing is a. n , CG spacing is b n , ∠BCA is α, ∠BAC is β, ∠OAB is ∠CAD is η;

[0082] Point E is the target movement point of the two-axis swing arm in the present invention. It needs to move to the grabbing position target point (x0, y0) and then clamp the Chinese cabbage, and move to the releasing position target point (x0, y0). n ,y n ), n = 1, 2, 3, 4, ..., and then relax the cabbage operation, corresponding to a n is the extension amount of the arm electric cylinder rod 611, b n is the extension amount of the boom electric cylinder rod 603; the grab position target point (x0, y0) is set manually, and the release position target point (x n ,y n ) is calculated by the following formula:

[0083] x n =(a n +L1)*sinη,y n =k2+(a n +L1)*cosη;

[0084] in

[0085]

[0086] According to the set target point (x n ,y n )Solve (a n , b n ), matrix (a n , b n , x n ,y n ) is the target control matrix, n = 0, 1, 2, 3, 4, ..., which is used as the data of the action target position to input the controller to realize the orderly placement of Chinese cabbage codes into the turnover box.

[0087] By calculating the target point of the relaxation position, it is possible to set the cabbage to be put in order from different working positions at the bottom of the turnover box, so that the cabbage can be stacked layer by layer in the turnover box to achieve orderly stacking. This is more efficient than the existing method of directly putting the cabbage into a relaxation position and dispersing it by gravity.

[0088] A control method for the Chinese cabbage packing device comprises the following steps:

[0089] The upper conveying device 1 puts the cut Chinese cabbage into the correction mechanism 2, and the correction mechanism 2 corrects the Chinese cabbage to move forward in the axial direction; the first conveying mechanism 3 conveys the Chinese cabbage backward, and the image acquisition device takes an image of the second conveying mechanism 4 and transmits it to the controller. The controller determines whether there is Chinese cabbage at the second conveying mechanism 4 according to the image. If so, the blocking mechanism 5 is controlled to extend to prevent the first conveying mechanism 3 from sending the Chinese cabbage to the second conveying mechanism 4, and the packing mechanism 6 on one side of the first conveying mechanism 3 is controlled to drive the end gripper mechanism 7 to reach the grabbing position, and after the end gripper mechanism 7 grabs the Chinese cabbage on the first conveying mechanism 3, the packing mechanism 6 is controlled to drive the end gripper mechanism 7 to move to the release position to put the Chinese cabbage into the turnover box 8; if not, the blocking mechanism 5 is controlled to maintain the receiving position, the first conveying mechanism 3 conveys the Chinese cabbage to the second conveying mechanism 4, and the packing mechanism 6 on one side of the second conveying mechanism 4 drives the end gripper mechanism 7 to put the Chinese cabbage on the second conveying mechanism 4 into the turnover box 8.

[0090] In a specific embodiment of the present invention, the control method of the Chinese cabbage packing device comprises the following steps:

[0091] Step S1, the upper conveying device 1 puts the cut Chinese cabbage into the correction mechanism 2, and after being guided by the guide groove, it falls into the conveyor flat belt arranged opposite to it at a certain angle for posture correction. The height axis of the Chinese cabbage is parallel to the length axis of the correction mechanism 2, so that the Chinese cabbage is conveyed in the forward direction in a lying posture;

[0092] Step S2, the Chinese cabbage enters the first conveying mechanism 3, and the controller determines whether there is Chinese cabbage being packed at the second conveying mechanism 4;

[0093] Step S3: If yes, go to step S6; if no, go to step S7;

[0094] Step S4, the blocking mechanism 5 extends the blocking plate 52, and the packing mechanism 6 on the side of the first conveying mechanism 3 starts to perform step S8;

[0095] Step S5, the blocking plate 52 of the blocking mechanism 5 remains in the retracted position, the first conveying mechanism 3 conveys the Chinese cabbage to the second conveying mechanism 4, and the packing mechanism 6 on one side of the second conveying mechanism 4 starts step S8;

[0096] Step S6, the boom electric cylinder body 602 drives the boom electric cylinder rod body 603 to move, the extension arm electric cylinder body 608 drives the extension arm electric cylinder rod body 611 to move, and after the end mounting surface 613 reaches the moving point of the grasping position, the cylinder rod body 727 extends out, and the cylinder rod body 727 drives the bottom of the short arm contact sheet metal 706 to approach the bottom of the long arm contact sheet metal 711 through the push-pull seat 720, the short arm connecting rod seat 716, the short arm adjusting rod 715, the short arm waist hole plate 714 and the short arm movable shaft 704, and the cylinder rod body 727 drives the bottom of the long arm contact sheet metal 711 to approach the bottom of the short arm contact sheet metal 706 through the push-pull seat 720, the long arm connecting rod seat 719, the long arm adjusting rod 718, the long arm waist hole plate 717 and the long arm movable shaft 709, and the short arm contact surface 707 and the long arm contact surface 712 clamp the Chinese cabbage;

[0097] Step S7, the boom electric cylinder body 602 drives the boom electric cylinder rod body 603 to move, the extension arm electric cylinder body 608 drives the extension arm electric cylinder rod body 611 to move, and after the end mounting surface 613 reaches the movement point of the relaxation position, the cylinder rod body 727 retracts, and the cylinder rod body 727 drives the bottom of the short arm contact sheet metal 706 away from the bottom of the long arm contact sheet metal 711 through the push-pull seat 720, the short arm connecting rod seat 716, the short arm adjusting rod 715, the short arm waist hole plate 714 and the short arm movable shaft 704. The cylinder rod body 727 drives the bottom of the long arm contact sheet metal 711 away from the bottom of the short arm contact sheet metal 706 through the push-pull seat 720, the long arm connecting rod seat 719, the long arm adjusting rod 718, the long arm waist hole plate 717 and the long arm movable shaft 709. The short arm contact surface 707 and the long arm contact surface 712 release the cabbage, and the cabbage falls into the turnover box 8.

[0098] The correction mechanism 2 of the present invention performs posture correction operation on the cabbage. The correction mechanism 2 is symmetrically provided with a group of left-right symmetrical conveyor belts. The conveying surfaces of the conveyor belts are at a certain angle to steadily lift the cabbage so that the cabbage moves axially. The first conveying mechanism 3 and the second conveying mechanism 4 are two obtuse-angle planes. The blocking mechanism 5 is arranged between the first conveying mechanism 3 and the second conveying mechanism 4 for task scheduling. The two packing mechanisms 6 are respectively arranged on one side of the first conveying mechanism 3 and the second conveying mechanism 4. By operating the two packing mechanisms 6, the end gripper mechanism 7 is driven to stack the cabbage from the first conveying mechanism 3 and the second conveying mechanism 4 in an orderly manner to the turnover box 8, and the cabbage is packed in an orderly manner. The packing process setting can be set in the controller according to different specifications of turnover boxes corresponding to different relaxation positions to achieve orderly stacking, improve packing efficiency, and reduce labor input.

[0099] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0100] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A Chinese cabbage packing device, characterized in that: It comprises a correction mechanism (2), a conveying mechanism, a blocking mechanism (5), a packing mechanism (6), an end gripper mechanism (7), an image acquisition device and a controller; The entrance of the correction mechanism (2) is located behind the upper conveying device (1), the conveying mechanisms are at least two, including a first conveying mechanism (3) and a second conveying mechanism (4), the blocking mechanism (5) is arranged between the conveying mechanisms, the correction mechanism (2), the first conveying mechanism (3), the blocking mechanism (5) and the second conveying mechanism (4) are arranged in sequence from the front to the back, and the side of each conveying mechanism is respectively provided with an end gripping mechanism (7), and the end gripping mechanism (7) is connected to the end of the boxing mechanism (6); The controller is respectively connected to the correction mechanism (2), the conveying mechanism, the blocking mechanism (5), the boxing mechanism (6), the end gripper mechanism (7), and the image acquisition device; The upper conveying device (1) is used to put the Chinese cabbage into the correction mechanism (2), and the correction mechanism (2) is used to correct the Chinese cabbage to move forward along the axial direction; the first conveying mechanism (3) conveys the Chinese cabbage backward, and the image acquisition device takes an image of the second conveying mechanism (4) and transmits it to the controller. The controller determines whether there is Chinese cabbage at the second conveying mechanism (4) based on the image. If there is, the controller controls the blocking mechanism (5) to extend to prevent the first conveying mechanism (3) from conveying the Chinese cabbage into the second conveying mechanism (4), and controls the packing mechanism (6) on one side of the first conveying mechanism (3). After driving the end gripper mechanism (7) to reach the grabbing position and controlling the end gripper mechanism (7) to grab the Chinese cabbage on the first conveying mechanism (3), the packing mechanism (6) is controlled to drive the end gripper mechanism (7) to move to the releasing position, and the Chinese cabbage is placed in the turnover box (8); if there is no release position, the blocking mechanism (5) is controlled to maintain the receiving position, and the first conveying mechanism (3) conveys the Chinese cabbage to the second conveying mechanism (4), and the packing mechanism (6) on one side of the second conveying mechanism (4) drives the end gripper mechanism (7) to place the Chinese cabbage on the second conveying mechanism (4) into the turnover box (8).

2. The Chinese cabbage packing device according to claim 1, characterized in that: The correction mechanism (2) comprises a guide groove and two symmetrically inclined V-shaped conveyor belts; the guide groove is arranged at the front end of one of the conveyor belts and is located behind the upper conveying device (1); the guide groove is a closed guide channel with a large inlet and a small outlet, and the inlet is high and the outlet is low, and the inner surface is smooth.

3. The Chinese cabbage packing device according to claim 1, characterized in that: The first conveying mechanism (3) comprises a first conveying flat belt module (31) and a first conveying inclined flat belt module (32); The first conveying flat belt module (31) is arranged horizontally, and the first conveying inclined flat belt module (32) is arranged on the side of the first conveying flat belt module (31) and is inclined outwardly with respect to the conveying surface; The second conveying mechanism (4) comprises a second conveying flat belt module (41) and a second conveying inclined flat belt module (42); The second conveying flat belt module (41) is arranged horizontally, and the second conveying inclined flat belt module (42) is arranged on the side of the second conveying flat belt module (41) and is inclined outwardly with respect to the conveying surface.

4. The Chinese cabbage packing device according to claim 1, characterized in that: The blocking mechanism (5) has a blocking base plate (51) at the bottom, a blocking guide rod (53) on one side of the blocking base plate (51), and a blocking cylinder body (55) on the other side, the blocking guide rod (53) is connected to one side of the blocking plate (52) via a blocking linear bearing (54), one end of the blocking cylinder rod body (56) is connected to the other side of the blocking plate (52), and the other end can move in a straight line in the blocking cylinder body 55; The inner ring of the blocking linear bearing (54) cooperates with the blocking guide rod (53), and the outer ring thereof is fixedly connected to one side of the blocking plate (52); the blocking cylinder body (55) drives the blocking plate (52) to rise and fall, thereby blocking or opening the passage between the conveying surfaces of the first conveying mechanism (3) and the second conveying mechanism (4).

5. The Chinese cabbage packing device according to claim 1, characterized in that: The packing mechanism (6) comprises a boom electric cylinder body (602), a boom electric cylinder rod body (603), an arm mounting surface (607), an arm electric cylinder body (608), an arm electric cylinder guide rod (609), an arm electric cylinder rod body (611), and a terminal main mounting surface (613); One end of the boom electric cylinder rod body 603 is rotatably connected to the upper surface of the boom mounting surface (607), and the other end is inside the boom electric cylinder body (602) and can move along the axis direction of the cylinder body; The arm extension electric cylinder body (608) is connected to the lower surface of the arm extension mounting surface (607); one end of the arm extension electric cylinder rod body (611) is in the arm extension electric cylinder body (608) and can move along the axis direction of the cylinder body; arm extension electric cylinder linear bearings (610) are respectively provided on both sides of the arm extension electric cylinder body (608); one end of the arm extension electric cylinder guide rod (609) passes through the arm extension electric cylinder linear bearing (610) and moves along the axis direction of the arm extension electric cylinder linear bearing (610); the other end of the arm extension electric cylinder rod body (611) and the other end of the arm extension electric cylinder guide rod (609) are respectively connected to the end main mounting surface (613) through the rod body fixing flange (612); the end main mounting surface (613) is connected to the end gripper mechanism (7).

6. The Chinese cabbage packing device according to claim 5, characterized in that: The end gripper mechanism (7) comprises a left panel (701), a right panel (702), a short arm contacting sheet metal (706), a long arm contacting sheet metal (711), a cylinder body (726) and a cylinder rod body (727); The left panel (701) and the right panel (702) are arranged parallel to each other, and the ends of the left panel (701) and the right panel (702) are respectively connected to the ends of the packing mechanism (6); the short arm contact sheet metal (706) and the long arm contact sheet metal (711) are relatively arranged between the left panel (701) and the right panel (702), and the long arm contact sheet metal (711) is located behind the short arm contact sheet metal (706); the cylinder rod body (727) of the cylinder body (726) transmits force to the short arm contact sheet metal (706) and the long arm contact sheet metal (711) respectively, and the cylinder body (726) drives the cylinder rod body (727) so that the short arm contact sheet metal (706) and the long arm contact sheet metal (711) are simultaneously contracted inward to clamp the Chinese cabbage or simultaneously opened outward to release the Chinese cabbage;The front end and middle part of the left panel (701) and the right panel (702) are respectively provided with two groups of holes, and the two groups of holes are connected with bearing seats (713) concentric therewith. One end of the short arm fixed shaft (703) passes through the bearing seat (713) at the front end of the left panel (701), the left panel (701), one side of the short arm contact sheet metal (706), the middle round hole of the connecting rod (705) between the two short arm shafts, and the other side of the short arm contact sheet metal (706) is connected with the bearing seat (713) at the front end of the right panel (702). The connecting rod (705) between the short arm shafts is connected with the short arm contact sheet metal (706). The two ends of the short arm movable shaft (704) are respectively passed through the bearing seat (713) at the front end of the left panel (701), the left panel (701), one side of the short arm contact sheet metal (706), the middle round hole of the two short arm shafts, and the other side of the short arm contact sheet metal (706) is connected with the bearing seat (713) at the front end of the right panel (702). Through the round holes at the top of the connecting rods (705) between the two short arm shafts, one end of the long arm fixed shaft (708) passes through the bearing seat (713) in the middle of the left panel (701), the left panel (701), one side of the long arm contact sheet metal (711), the round holes in the middle of the two long arm shaft connecting rods (710), and the other side of the long arm contact sheet metal (711) is connected to the bearing seat (713) in the middle of the right panel (702), the long arm shaft connecting rod (710) is connected to the long arm contact sheet metal (711), the two ends of the long arm movable shaft (709) respectively pass through the round holes at the top of the two long arm shaft connecting rods (710), and one end face of the short arm movable shaft (704) is connected to the waist of the short arm. The middle waist hole of the orifice plate (714) is sleeved, the short arm waist hole plate (714) is connected to the short arm connecting rod seat (716) through the short arm adjusting rod (715), one end surface of the long arm movable shaft (709) is sleeved with the middle waist hole of the long arm waist hole plate (717), the long arm waist hole plate (717) is connected to the long arm connecting rod seat (719) through the long arm adjusting rod (718), the middle part of the push-pull seat (720) is rotatably connected to the short arm connecting rod seat (716), the bottom of the push-pull seat (720) is rotatably connected to the long arm connecting rod seat (719), the upper outer side of the right panel (702) is connected to a guide base (721), and the front and rear sides below the guide base (721) are connected The optical axis seat (722), the guide shaft (723) passes through the linear bearing (724), and the two ends are respectively connected to the optical axis seat (722), the installation surface of the linear bearing (724) is connected to the top of the push-pull seat (720), the bearing hole of the linear bearing (724) is fitted with the guide shaft (723), the linear bearing (724) can move axially along the guide shaft (723), the outer tail of the right panel (702) is provided with a cylinder seat (725), the cylinder body (726) is connected to the cylinder seat (725), and the cylinder rod body (727) inside the cylinder body (726) that moves along the cylinder body axis direction is floatingly connected to the push-pull seat (720); The cylinder body (726) drives the extension of the cylinder rod body (727), and the cylinder rod body (727) enables one end surface of the short arm movable shaft (704) to slide in the waist hole of the short arm waist hole plate (714) through the push-pull seat (720), the short arm connecting rod seat (716), and the short arm adjusting rod (715), thereby driving the bottom of the short arm contact sheet metal (706) to approach the bottom of the long arm contact sheet metal (711), and the cylinder rod body (727) enables one end surface of the long arm movable shaft (709) to slide in the waist hole of the long arm waist hole plate (717) through the push-pull seat (720), the long arm connecting rod seat (719), and the long arm adjusting rod (718), thereby driving the bottom of the long arm contact sheet metal (711) to approach the bottom of the short arm contact sheet metal (706), and the short arm contact surface (707) and the long arm contact surface (712) clamp the Chinese cabbage; The cylinder body (726) drives the cylinder rod body (727) to retract, and the cylinder rod body (727) drives the bottom of the short arm contact sheet metal (706) away from the bottom of the long arm contact sheet metal (711) through the push-pull seat (720), the short arm connecting rod seat (716), the short arm adjustment rod (715), the short arm waist hole plate (714) and the short arm movable shaft (704). The cylinder rod body (727) drives the bottom of the long arm contact sheet metal (711) away from the bottom of the short arm contact sheet metal (706) through the push-pull seat (720), the long arm connecting rod seat (719), the long arm adjustment rod (718), the long arm waist hole plate (717) and the long arm movable shaft (709), and the short arm contact surface (707) and the long arm contact surface (712) release the Chinese cabbage.

7. The Chinese cabbage packing device according to claim 6, characterized in that: The opposing surfaces of the short arm contact sheet metal (706) and the long arm contact sheet metal (711) are respectively provided with a short arm contact surface (707) and a long arm contact surface (712); the short arm contact surface (707) and the long arm contact surface (712) are both made of flexible materials.

8. The Chinese cabbage packing device according to claim 6, characterized in that: The controller controls the packing mechanism (6) and the end gripper mechanism (7) to move to the grabbing position target point (x0, y0) and then clamp the Chinese cabbage, and then move to the releasing position target point (x0, y0). n ,y n ), n represents the number of relaxation positions, n = 1, 2, 3, 4, ..., and then the relaxation operation is performed.

9. The Chinese cabbage packing device according to claim 8, characterized in that: The relaxation position target point (x n ,y n )of The calculation method is as follows: A two-dimensional coordinate system XOY is established on the plane where the boom electric cylinder rod body (603) and the boom electric cylinder guide rod (609) are located. The point where the boom fixed axis (606) is located is A, the point where the boom fixed axis (601) is located is B, the point where the inter-arm axis (604) is located is C, a point between the short arm contact surface (707) and the long arm contact surface (712) is E, point E is on the AC extension line, and the closest distances between point E and the short arm contact surface (707) and the long arm contact surface (712) are equal. The point where the front end of the boom electric cylinder body (608) is located is F, the front end of the boom electric cylinder body (602) is G, the projection point of point E on the Y axis is D, the coordinates of point A are (0, k1), the coordinates of point B are (k2, 0), the AF spacing is L1, the BG spacing is L2, the CF spacing is e, and the EF spacing is a n , CG spacing is b n , ∠BCA is α, ∠BAC is β, ∠OAB is ∠CAD is η; Point E is the target movement point of the two-axis swing arm in the present invention. It needs to move to the grabbing position target point (x0, y0) and then clamp the Chinese cabbage, and move to the releasing position target point (x0, y0). n ,y n ), n = 1, 2, 3, 4, ..., and then relax the cabbage operation, corresponding to a n is the extension amount of the arm extension electric cylinder rod body (611), b n is the extension amount of the boom electric cylinder rod body (603); Relax the target point (x n ,y n ) is calculated by the following formula: x n =(a n +L1)*sinη,y n =k2+(a n +L1)*cosη; in According to the set target point (x n ,y n )Solve (a n , b n ), matrix (a n , b n , x n ,y n ) is the target control matrix, n = 0, 1, 2, 3, 4,… 10. A control method for the Chinese cabbage packing device according to any one of claims 1 to 9, characterized in that: The following steps are involved: The upper conveying device (1) puts the cut Chinese cabbage into the correction mechanism (2), and the correction mechanism (2) adjusts the Chinese cabbage to an axial posture and moves forward; the first conveying mechanism (3) conveys the corrected Chinese cabbage backward, and the image acquisition device takes an image of the second conveying mechanism (4) and transmits it to the controller. The controller determines whether there is Chinese cabbage at the second conveying mechanism (4) based on the image. If there is, the controller controls the blocking mechanism (5) to extend to prevent the first conveying mechanism (3) from sending the Chinese cabbage to the second conveying mechanism (4), and controls the packing mechanism (5) on one side of the first conveying mechanism (3) to move the Chinese cabbage to the second conveying mechanism (4). 6) drives the end gripper mechanism (7) to reach the grabbing position, and controls the end gripper mechanism (7) to grab the Chinese cabbage on the first conveying mechanism (3), and then controls the packing mechanism (6) to drive the end gripper mechanism (7) to move to the releasing position, and puts the Chinese cabbage into the turnover box (8); if there is no release position, controls the blocking mechanism (5) to maintain the receiving position, and the first conveying mechanism (3) conveys the Chinese cabbage to the second conveying mechanism (4), and the packing mechanism (6) on one side of the second conveying mechanism (4) drives the end gripper mechanism (7) to put the Chinese cabbage on the second conveying mechanism (4) into the turnover box (8).

Images