A chinese cabbage boxing device and a control method thereof

Abstract

The application provides a Chinese cabbage boxing device and a control method thereof, which comprises a correcting mechanism, a conveying mechanism, a blocking mechanism, a boxing mechanism, an end gripper mechanism, an image acquisition device and a controller; the controller determines whether there is Chinese cabbage at the second conveying mechanism according to the image, if yes, controls the blocking mechanism to extend, controls the boxing mechanism on one side of the first conveying mechanism to drive the end gripper mechanism to reach a grabbing position, and after the end gripper mechanism grabs the Chinese cabbage on the first conveying mechanism, controls the boxing mechanism to drive the end gripper mechanism to move to a release position and put the Chinese cabbage into a turnover box; if not, controls the blocking mechanism to keep in a retracted position, the first conveying mechanism conveys the Chinese cabbage to the second conveying mechanism, and the boxing 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. The application can orderly box the Chinese cabbage, improves the boxing efficiency and reduces the labor input.

Description

TECHNICAL FIELD

[0001] The present application relates to Chinese cabbage processing and transportation equipment, in particular to a Chinese cabbage boxing device and a control method thereof. BACKGROUND

[0002] The common Chinese cabbage on the market needs to be bent and cut off the root by the farmer during the harvesting process and then put into the turnover basket, which is time-consuming and laborious. CN118120457A discloses an integrated Chinese cabbage harvester and a Chinese cabbage harvesting method, which uses a mechanical hand 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 not convenient for subsequent transfer operation. SUMMARY

[0003] In view of the above technical problems, the present application provides a Chinese cabbage boxing device, which can orderly box the Chinese cabbage, improve the boxing efficiency and reduce the labor input.

[0004] The present application also provides a control method of the Chinese cabbage boxing device.

[0005] Note that the description of these objects does not hinder the existence of other objects. One embodiment of the present application does not need to achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the description, drawings and claims.

[0006] The present application achieves the above technical objects through the following technical means.

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

[0008] The inlet of the correction mechanism is located behind the upper conveying device, the conveying mechanism comprises at least two, 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 front to back, the side edges of each conveying mechanism are respectively provided with an end gripper mechanism, and the end gripper mechanism is connected with the end of the boxing mechanism;

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

[0010] The upper conveying device is used for putting Chinese cabbage into the correcting mechanism, the correcting mechanism is used for correcting the Chinese cabbage to advance along the axial direction; the first conveying mechanism conveys the Chinese cabbage after removing the leaves to the rear, the image acquisition device shoots the image of the second conveying mechanism and transmits the image to the controller, the controller judges whether there is Chinese 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 Chinese cabbage into the second conveying mechanism, controls the boxing mechanism on one side of the first conveying mechanism 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, controls the boxing mechanism to drive the end gripper mechanism to move to the relaxed position to put the Chinese cabbage into the turnover box; if not, the controller controls the blocking mechanism to keep in the retracted position, the first conveying mechanism conveys the Chinese cabbage to the second conveying mechanism, and the boxing 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 correcting mechanism comprises a guide groove and left-right symmetrically arranged conveying flat belts, and the conveying flat belts are arranged at a certain angle between the conveying surfaces for stably holding the Chinese cabbage;

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

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

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

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

[0016] In the above scheme, the bottom of the blocking mechanism is provided with a blocking base plate, one side of the blocking base plate is provided with a blocking guide rod, and the other side is provided with a blocking cylinder body, 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 is fixedly connected to one side of the blocking plate; the blocking cylinder body drives the blocking plate to ascend and descend to block or open the passage between the conveying surfaces of the first conveying mechanism and the second conveying mechanism.

[0018] In the above scheme, the boxing mechanism comprises a lifting arm electric cylinder body, a lifting arm electric cylinder rod body, an arm extension mounting surface, an arm extension electric cylinder body, an arm extension electric cylinder guide rod, an arm extension electric cylinder rod body, and an end main mounting surface.

[0019] One end of the boom electric cylinder rod body is rotationally connected with the upper surface of the boom mounting surface, and the other end is movable along the axial direction of the cylinder body in the boom electric cylinder body;

[0020] The boom electric cylinder body is connected with the lower surface of the boom mounting surface, one end of the boom electric cylinder rod body is movable along the axial direction of the cylinder body in the boom electric cylinder body, linear bearings are arranged on both sides of the boom electric cylinder body, one end of the boom electric cylinder guide rod passes through the linear bearings and moves along the axial direction of the linear bearings, the other end of the boom electric cylinder rod body and the other end of the boom electric cylinder guide rod are connected with the terminal main mounting surface through rod body fixing flanges, and the terminal main mounting surface is connected with the terminal gripper mechanism.

[0021] In the above scheme, the terminal gripper mechanism includes a left panel, a right panel, a short arm contact plate, a long arm contact plate, a cylinder body, and a cylinder rod body.

[0022] The left panel and the right panel are arranged in parallel, and the ends of the left panel and the right panel are connected with the ends of the boxing mechanism; the short arm contact sheet and the long arm contact sheet are arranged oppositely between the left panel and the right panel, and the long arm contact sheet is located behind the short arm contact sheet; the cylinder rod of the cylinder body transmits force to the short arm contact sheet and the long arm contact sheet respectively, and the cylinder body drives the cylinder rod to make the short arm contact sheet and the long arm contact sheet contract inward to clamp the Chinese cabbage or open outward to release the Chinese cabbage; the front end and the middle part of the left panel and the right panel are respectively provided with two groups of hole positions, and the two groups of hole positions are connected with bearing seats concentric with the hole positions; 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, the middle circular hole of the short arm inter-axle connecting rod, the other side of the short arm contact sheet and the bearing seat at the front end of the right panel in sequence; the short arm inter-axle connecting rod is connected with the short arm contact sheet; the two ends of the short arm movable shaft pass through the top circular holes of the two short arm inter-axle connecting rods respectively; one end of the long arm fixed shaft passes through the bearing seat at the middle part of the left panel, the left panel, one side of the long arm contact sheet, the middle circular hole of the long arm inter-axle connecting rod, the other side of the long arm contact sheet and the bearing seat at the middle part of the right panel in sequence; the long arm inter-axle connecting rod is connected with the long arm contact sheet; the two ends of the long arm movable shaft pass through the top circular holes of the two long arm inter-axle connecting rods respectively; the one end surface of the short arm movable shaft is matched with the middle waist hole of the short arm waist hole plate; the short arm waist hole plate is connected with the short arm connecting rod seat through the short arm adjusting rod; the one end surface of the long arm movable shaft is matched with the middle waist hole of the long arm waist hole plate; the long arm waist hole plate is connected with the long arm connecting rod seat through the long arm adjusting rod; the middle part of the push-pull seat is rotationally connected with the short arm connecting rod seat, and the bottom of the push-pull seat is rotationally connected with the long arm connecting rod seat; the guiding base body is connected with the outer side of the right panel; the light shaft seat is connected with the front and rear sides of the guiding base body; the guiding shaft passes through the linear bearing and is connected with the light shaft seat at both ends; the linear bearing mounting surface is connected with the top of the push-pull seat; the linear bearing bearing hole is matched with the guiding shaft; the linear bearing can move along the guiding shaft in the axial direction; the cylinder seat is arranged at the tail of the outer side of the right panel; the cylinder body is connected with the cylinder seat; the cylinder rod body moving in the cylinder body along the cylinder axis direction is floatingly connected with the push-pull seat;

[0023] The cylinder body drives the cylinder rod to extend; the cylinder rod drives the one end surface of the short arm movable shaft to 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, so as to drive the bottom of the short arm contact sheet to approach the bottom of the long arm contact sheet; the cylinder rod drives the one end surface of the long arm movable shaft to 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, so as to drive the bottom of the long arm contact sheet to approach the bottom of the short arm contact sheet; the short arm contact surface and the long arm contact surface clamp the Chinese cabbage;

[0024] The cylinder body drives the cylinder rod to retract, the cylinder rod drives the short arm contact plate to move away from the long arm contact plate 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 drives the long arm contact plate to move away from the short arm contact plate 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 loosened.

[0025] Further, the opposite surfaces of the short arm contact plate and the long arm contact plate 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 flexible materials.

[0026] In the above scheme, the controller controls the boxing mechanism and the end gripper mechanism to move to a grabbing position target point (x0, y0) and then to clamp the Chinese cabbages, to move to a loosening position target point (x n , y n ), n represents the number of loosening positions (n = 1, 2, 3, 4, …), and then to loosen the Chinese cabbages.

[0027] Further, the calculation method of the loosening position target point (x n , y n ) is as follows:

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

[0029] E is the target movement point of the two-axis swing arm in the application, which needs to move to a grabbing position target point (x0, y0) and then to clamp the Chinese cabbages, to move to a loosening position target point (x n , y n ) (n = 1, 2, 3, 4, …), and then to loosen the Chinese cabbages, and a n is the outrigger electric cylinder rod extension amount, b n is the boom electric cylinder rod extension amount.

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

[0031] x n = (a n + L1) * sin eta, y n = k2 + (a n + L1) * cos eta

[0032] wherein

[0033]

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

[0035] A control method according to the Chinese cabbage boxing device, characterized in that it comprises the following steps:

[0036] The upper conveying device feeds the Chinese cabbage into the correcting mechanism, the correcting mechanism corrects the Chinese cabbage to advance along the axial direction; the first conveying mechanism conveys the Chinese cabbage backward, the image acquisition device shoots the image of the second conveying mechanism and transmits it to the controller, the controller judges whether there is Chinese cabbage at the second conveying mechanism according to the image, if yes, controls the blocking mechanism to extend to prevent the first conveying mechanism from feeding the Chinese cabbage into the second conveying mechanism, controls the boxing mechanism on one side of the first conveying mechanism 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, controls the boxing mechanism to drive the end gripper mechanism to move to the release position to put the Chinese cabbage into the turnover box; if not, controls the blocking mechanism to keep in the retracted position, the first conveying mechanism conveys the Chinese cabbage to the second conveying mechanism, and the boxing 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 application has the following beneficial effects:

[0038] 1. The upper conveying device of the present application feeds the Chinese cabbage into the correcting mechanism to adjust the conveying posture; the first conveying mechanism conveys the Chinese cabbage to the second conveying mechanism, and the boxing 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.

[0039] The conveying mechanism conveys the leafy Chinese cabbage after removing impurities, the image acquisition device shoots the image of the second conveying mechanism and transmits the image to the controller, the controller judges whether there is Chinese cabbage at the second conveying mechanism according to the image, if yes, the blocking mechanism is controlled to extend to prevent the first conveying mechanism from conveying the Chinese cabbage into the second conveying mechanism, the boxing mechanism on one side of the first conveying mechanism drives 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 boxing mechanism drives the end gripper mechanism to move to the release position and puts the Chinese cabbage into the turnover box; if not, the blocking mechanism is controlled to remain in the retracted position, the first conveying mechanism conveys the Chinese cabbage to the second conveying mechanism, and the boxing 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, thereby improving the boxing efficiency.

[0040] 2. The present application can orderly box the harvested Chinese cabbage, the boxing process is set according to different specifications of turnover boxes, different release positions are set in the controller, orderly code storage is realized, the boxing efficiency is improved, and the labor input is reduced.

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

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

[0043] Figure 2 is a structural schematic diagram of a correction mechanism of an embodiment of the present application;

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

[0045] Figure 4 is a two-axis swing arm structural schematic diagram of a boxing mechanism of an embodiment of the present application;

[0046] Figure 5 is a structural schematic diagram of an end gripper of a boxing mechanism of an embodiment of the present application;

[0047] Figure 6 is a structural schematic diagram of a boxing mechanism and an end gripper of an embodiment of the present application;

[0048] Figure 7 is a two-dimensional plane coordinate system of a Chinese cabbage two-axis boxing movement point control method of an embodiment of the present application.

[0049] In the figure, 1, upper conveying device;

[0050] 2. Correcting mechanism;

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

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

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

[0054] 6. Boxing mechanism; 601. Lifting arm fixed shaft; 602. Lifting arm electric cylinder body; 603. Lifting arm electric cylinder rod; 604. Arm-to-arm shaft; 605. Ear seat; 606. Extending arm fixed shaft; 607. Extending arm mounting surface; 608. Extending arm electric cylinder body; 609. Extending arm electric cylinder guide rod; 610. Extending arm electric cylinder linear bearing; 611. Extending arm electric cylinder rod; 612. Rod body fixing flange; 613. End main mounting surface;

[0055] 701. Left panel; 702. Right panel; 703. Short arm fixed shaft; 704. Short arm movable shaft; 705. Short arm shaft-to-shaft connecting rod; 706. Short arm contact sheet metal; 707. Short arm contact surface; 708. Long arm fixed shaft; 709. Long arm movable shaft; 710. Long arm shaft-to-shaft connecting rod; 711. Long arm contact sheet metal; 712. Long arm contact surface; 713. Bearing seat; 714. Short arm waist hole plate; 715. Short arm adjusting rod; 716. Short arm connecting rod seat; 717. Long arm waist hole plate; 718. Long arm adjusting rod; 719. Long arm connecting rod seat; 720. Push-pull seat; 721. Guide base body; 722. Optical axis seat; 723. Guide shaft; 724. Linear bearing; 725. Cylinder seat; 726. Cylinder body; 727. Cylinder rod. DETAILED DESCRIPTION

[0056] Embodiments of the present application are described in detail below with reference to the attached drawings, which show examples of embodiments of the present application. The embodiments described below are examples and are intended to explain the present application, and are not to be understood as limiting the present application.

[0057] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only 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", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0058] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] Figure 1 The preferred embodiment of the Chinese cabbage boxing device is shown, which comprises a correcting mechanism 2, a conveying mechanism, a blocking mechanism 5, a boxing mechanism 6, an end gripper mechanism 7, an image acquisition device and a controller;

[0060] The inlet of the correcting mechanism 2 is located behind the upper conveying device 1. The conveying mechanism comprises 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 correcting mechanism 2, the first conveying mechanism 3, the blocking mechanism 5 and the second conveying mechanism 4 are arranged in sequence from front to back. The side edges of each conveying mechanism are respectively provided with an end gripper mechanism 7. The end gripper mechanism 7 is connected with the end of the boxing mechanism 6;

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

[0062] The upper conveying device 1 is used to feed the Chinese cabbage into the straightening mechanism 2, which is used to straighten the Chinese cabbage so that it moves forward along the axial direction. The first conveying mechanism 3 conveys the Chinese cabbage backward. The image acquisition device captures 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, it controls the blocking mechanism 5 to extend to prevent the first conveying mechanism 3 from sending the Chinese cabbage into the second conveying mechanism 4. It controls the boxing mechanism 6 on one side of the first conveying mechanism 3 to drive the end gripper mechanism 7 to the gripping position. After the end gripper mechanism 7 grabs the Chinese cabbage on the first conveying mechanism 3, it controls the boxing mechanism 6 to drive the end gripper mechanism 7 to the release position and put the Chinese cabbage into the turnover box 8. If there is no cabbage, it controls the blocking mechanism 5 to remain in the receiving position. The first conveying mechanism 3 conveys the Chinese cabbage to the second conveying mechanism 4. The boxing 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 symmetrically arranged V-shaped conveyor belts for smoothly supporting the cabbage. The guide groove is located at the front end of one of the conveyor belts and behind the upper conveyor device 1. The guide groove is a constricted guide channel with a large inlet and a small outlet, and the inlet is higher than the outlet. The inner surface is smooth, which facilitates the smooth sliding of the cabbage to the outlet after it falls in. After the upper conveyor device 1 puts the cabbage into the guide groove, the cabbage slides down into the constricted guide groove onto the surface of the opposing inclined conveyor belts. Due to gravity, the bottom sides of the cabbage are tangent to the surfaces of the two conveyor belts. During the conveying process, the length axis of the 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 flat conveying belt module 31 and a first inclined flat conveying belt module 32;

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

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

[0067] The second conveyor flat belt module 41 is horizontally arranged, and the second conveyor inclined flat belt module 42 is arranged on the side of the second conveyor flat belt module 41 and is inclined outward with respect to the conveying surface. The second conveyor inclined flat belt module 42 is at an angle of 10 to 20 degrees with 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 arranged at one side of the blocking base plate 51, and a blocking cylinder body 55 is arranged at 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 a blocking cylinder rod body 56 is connected to the other side of the blocking plate 52, and the other end can move linearly in the blocking cylinder body 55;

[0069] The inner ring of the blocking linear bearing 54 cooperates with the blocking guide rod 53, and the outer ring is fixedly connected to one side of the blocking plate 52. The blocking cylinder body 55 drives the blocking plate 52 to ascend and descend, and blocks or opens the passage between the conveying surfaces of the first conveying mechanism 3 and the second conveying mechanism 4.

[0070] As shown in the figure, Figure 4 The boxing mechanism 6 includes a lifting arm electric cylinder body 602, a lifting arm electric cylinder rod body 603, an arm extension mounting surface 607, an arm extension electric cylinder body 608, an arm extension electric cylinder guide rod 609, an arm extension electric cylinder rod body 611, and a terminal main mounting surface 613.

[0071] One end of the lifting arm electric cylinder rod body 603 is rotatably connected to the upper surface of the arm extension mounting surface 607, and the other end can move along the cylinder body axis direction in the lifting arm electric cylinder body 602.

[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 can move along the cylinder body axis direction in the arm extension electric cylinder body 608. The arm extension electric cylinder body 608 is provided with an arm extension electric cylinder linear bearing 610 on both sides. 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 terminal main mounting surface 613 through a rod body fixing flange 612. The terminal main mounting surface 613 is connected to the terminal gripper mechanism 7.

[0073] In one specific embodiment of the present application, the opposite sides of the first and second inclined flat belt conveying modules 32 and 42 are respectively provided with a boxing mechanism 6; the boxing mechanism 6 comprises two-axis swing arms; the two-axis swing arms comprise a lifting arm fixed shaft 601 and an extension arm fixed shaft 606 which are rotationally connected with an external base frame, an ear seat 605 is fixedly connected to the upper surface of an extension arm mounting surface 607 in front and back respectively, an arm-to-arm shaft 604 passes through a top end hole of the front ear seat 605 and one end of a lifting arm electric cylinder rod body 603, the other end of the lifting arm electric cylinder rod body 603 is movable along the cylinder body axis direction in a lifting arm electric cylinder 602 cylinder body, a tail end hole of the lifting arm electric cylinder 602 cylinder body is fixedly connected with the lifting arm fixed shaft 601, an extension arm electric cylinder cylinder body 608 is arranged on the lower surface of the extension arm mounting surface 607, one end of an extension arm electric cylinder rod body 611 is movable along the cylinder body axis direction in the extension arm electric cylinder cylinder body 608 cylinder body, extension arm electric cylinder linear bearings 610 are arranged on both sides of the extension arm electric cylinder cylinder body 608 respectively, one end of an extension arm electric cylinder guide rod 609 moves along the axis direction of the extension arm electric cylinder linear bearing 610, the other end of the extension arm electric cylinder rod body 611 and the other end of the extension arm electric cylinder guide rod 609 are respectively fastened and connected with a terminal main mounting surface 613 through a rod body fixed flange 612.

[0074] As shown in Figure 5 the terminal gripper mechanism 7 comprises 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 in parallel, the ends of the left panel 701 and the right panel 702 are connected with the ends of the boxing mechanism 6, the short arm contact sheet metal 706 and the long arm contact sheet metal 711 are arranged oppositely 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 respectively transmits force to the short arm contact sheet metal 706 and the long arm contact sheet metal 711, 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 simultaneously contract inward to clamp or simultaneously open outward to release the Chinese cabbage, the front end and the middle part of the left panel 701 and the right panel 702 are respectively provided with two groups of hole positions, two groups of hole positions are fastened and connected with bearing seats 713 concentric with the hole positions, 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 circular hole of the two short arm inter-shaft connecting rods 705, the other side of the short arm contact sheet metal 706 and the bearing seat 713 at the front end of the right panel 702 in sequence and is connected, the short arm inter-shaft connecting rod 705 is fastened and connected with the short arm contact sheet metal 706, both ends of the short arm movable shaft 704 pass through the top circular holes of the two short arm inter-shaft connecting rods 705 respectively, one end of the long arm fixed shaft 708 passes through the bearing seat 713 in the middle part of the left panel 701, the left panel 701, one side of the long arm contact sheet metal 711, the middle circular hole of the two long arm inter-shaft connecting rods 710, the other side of the long arm contact sheet metal 711 and the bearing seat 713 in the middle part of the right panel 702 in sequence and is connected, the long arm inter-shaft connecting rod 710 is fastened and connected with the long arm contact sheet metal 711, both ends of the long arm movable shaft 709 pass through the top circular holes of the two long arm inter-shaft connecting rods 710 respectively, one end face of the short arm movable shaft 704 is matched with the middle waist hole of the short arm waist hole plate 714, the short arm waist hole plate 714 is connected with 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 matched with the middle waist hole of the long arm waist hole plate 717, the long arm waist hole plate 717 is connected with the long arm connecting rod seat 719 through the long arm adjusting rod 718, the middle part of the push-pull seat 720 is rotationally connected with the short arm connecting rod seat 716, the bottom of the push-pull seat 720 is rotationally connected with the long arm connecting rod seat 719, the outer side of the right panel 702 is fixedly connected with a guide base body 721, the lower front and rear sides of the guide base body 721 are fastened and connected with light shaft seats 722, a guide shaft 723 passes through a linear bearing 724 and is connected with the light shaft seats 722 at both ends, the mounting surface of the linear bearing 724 is fastened and connected with the top of the push-pull seat 720, the bearing hole of the linear bearing 724 is matched with the guide shaft 723, the linear bearing 724 can move axially along the guide shaft 723, the tail part of the outer side of the right panel 702 is provided with a cylinder seat 725, the cylinder body 726 is fastened and connected with the cylinder seat 725, the cylinder rod body 727 inside the cylinder body of the cylinder body 726 moves along the cylinder axis direction and is floatingly connected with the push-pull seat 720;

[0076] The cylinder body 726 drives the cylinder rod 727 to extend, and the cylinder rod 727 drives one end 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, so as to drive the short-arm contact plate 706 to move close to the long-arm contact plate 711, and the cylinder rod 727 drives one end 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, so as to drive the long-arm contact plate 711 to move close to the short-arm contact plate 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 727 to retract, and the cylinder rod 727 drives the short-arm contact plate 706 to move away from the long-arm contact plate 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 727 drives the long-arm contact plate 711 to move away from the short-arm contact plate 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, so that the short-arm contact surface 707 and the long-arm contact surface 712 release the Chinese cabbage; the short-arm adjusting rod 715 and the long-arm adjusting rod 718 are provided with threads at two ends, 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 opposite surfaces of the short-arm contact plate 706 and the long-arm contact plate 711 are respectively provided with the short-arm contact surface 707 and the long-arm contact surface 712, and the short-arm contact surface 707 and the long-arm contact surface 712 are both made of flexible material, so as to reduce the damage to the Chinese cabbage.

[0079] As shown in Figure 6 and 7 , the controller controls the boxing mechanism 6 and the end gripper mechanism 7 to move to the grabbing position target point (x0, y0) and then to clamp the Chinese cabbage, and then to move to the releasing position target point (x n , y n ) and then to release the Chinese cabbage, where n represents the number of releasing positions (n=1, 2, 3, 4, …).

[0080] The calculation method of the releasing position target point (x n , y n ) is as follows:

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

[0082] The E point is the target movement point of the two-axis swing arm in the application, which needs to be moved to the grabbing position target point (x0, y0) and then clamped to operate the Chinese cabbage, and then moved to the loosening position target point (x n , y n ), n = 1, 2, 3, 4, …, and then loosens the Chinese cabbage, corresponding to a n , the outrigger cylinder rod body 603 extends by b n ; the grabbing position target point (x0, y0) is set by artificial setting, and the loosening position target point (x n , y n ) is calculated by the following formula:

[0083] x n = (a n + L1) * sin η, y n = k2 + (a n + L1) * cos η

[0084] wherein

[0085]

[0086] According to the set target point (x n , y n ), (a n , b n ) is solved, the matrix (a n , b n , x n , y n ) is the target control matrix, n = 0, 1, 2, 3, 4, …, which is the data of the action target position and is used for inputting the controller, so as to realize the orderly code of the Chinese cabbage into the turnover box.

[0087] Through the calculation of the release position target point, the cabbage can be sequentially and orderly placed from different working positions at the bottom of the turnover box, so that the cabbages are stacked layer by layer in the turnover box, and the orderly stacking is realized. Compared with the existing method of directly placing the cabbages from one release position and then dispersing the cabbages by gravity, the efficiency is higher.

[0088] A control method of the cabbage boxing device, comprising the following steps:

[0089] The upper conveying device 1 feeds the cut-root cabbages into the correction mechanism 2, the correction mechanism 2 corrects the cabbages to advance along the axial direction; the first conveying mechanism 3 conveys the cabbages backward, the image acquisition device shoots the image of the second conveying mechanism 4 and transmits the image to the controller, the controller judges whether there is a cabbage at the second conveying mechanism 4 according to the image, if yes, controls the blocking mechanism 5 to extend and prevent the first conveying mechanism 3 from feeding the cabbage into the second conveying mechanism 4, controls the boxing mechanism 6 on one side of the first conveying mechanism 3 to drive the end gripper mechanism 7 to reach the grabbing position, and then controls the end gripper mechanism 7 to grab the cabbage on the first conveying mechanism 3, and then controls the boxing mechanism 6 to drive the end gripper mechanism 7 to move to the release position and place the cabbage into the turnover box 8; if no, controls the blocking mechanism 5 to keep in the retracted position, the first conveying mechanism 3 conveys the cabbage to the second conveying mechanism 4, and the boxing mechanism 6 on one side of the second conveying mechanism 4 drives the end gripper mechanism 7 to place the cabbage on the second conveying mechanism 4 into the turnover box 8.

[0090] In one specific embodiment of the present application, the control method of the cabbage boxing device comprises the following steps:

[0091] In step S1, the upper conveying device 1 feeds the cut-root cabbages into the correction mechanism 2, the cabbages are guided by the guide groove and then fall into the conveying flat belt which is arranged at a certain angle to correct the posture of the cabbages, the height direction axis of the cabbages is parallel to the length direction axis of the correction mechanism 2, so that the cabbages are conveyed forward in a lying posture;

[0092] In step S2, the cabbages enter the first conveying mechanism 3, and the controller judges whether there is a cabbage being boxed at the second conveying mechanism 4;

[0093] In step S3, if yes, step S4 is entered, and if no, step S5 is entered;

[0094] In step S4, the blocking plate 52 of the blocking mechanism 5 is extended, and the boxing mechanism 6 on one side of the first conveying mechanism 3 starts step S6;

[0095] In step S5, the blocking plate 52 of the blocking mechanism 5 keeps in the retracted position, the first conveying mechanism 3 conveys the cabbage to the second conveying mechanism 4, and the boxing mechanism 6 on one side of the second conveying mechanism 4 starts step S6;

[0096] Step S6, the boom cylinder body 602 drives the boom cylinder rod body 603 to move, the arm cylinder body 608 drives the arm cylinder rod body 611 to move, after the end mounting surface 613 reaches the movement point of the grabbing position, the cylinder rod body 727 is stretched out, the cylinder rod body 727 drives the short arm contact sheet metal 706 bottom to be close to the long arm contact sheet metal 711 bottom 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 long arm contact sheet metal 711 bottom to be close to the short arm contact sheet metal 706 bottom 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 clamp the Chinese cabbage;

[0097] Step S7, the boom cylinder body 602 drives the boom cylinder rod body 603 to move, the arm cylinder body 608 drives the arm cylinder rod body 611 to move, after the end mounting surface 613 reaches the movement point of the relaxing position, the cylinder rod body 727 is retracted, the cylinder rod body 727 drives the short arm contact sheet metal 706 bottom to be away from the long arm contact sheet metal 711 bottom 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 long arm contact sheet metal 711 bottom to be away from the short arm contact sheet metal 706 bottom 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 loosen the Chinese cabbage, and the cabbage falls into the turnover box 8.

[0098] The correcting mechanism 2 corrects the posture of the Chinese cabbage, a group of symmetrical conveying flat belts are symmetrically arranged on the correcting mechanism 2, the conveying flat belts are arranged at a certain angle between conveying surfaces and are used for stably holding the Chinese cabbage to make the Chinese cabbage move along the axial direction, 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 and is used for task scheduling, the two boxing mechanisms 6 are respectively arranged on one side of the first conveying mechanism 3 and the second conveying mechanism 4, the end gripper mechanism 7 is driven by the two boxing mechanisms 6 to orderly code the Chinese cabbage from the first conveying mechanism 3 and the second conveying mechanism 4 to the turnover box 8, the Chinese cabbage is orderly boxed, and the boxing process is set to be corresponding to different relaxing positions in the controller according to different specifications of the turnover box, the orderly coding is realized, the boxing efficiency is improved, and the manual input is reduced.

[0099] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be combined appropriately to form other embodiments that can be understood by those skilled in the art.

[0100] The above detailed description merely illustrates possible non-limiting specific embodiments of the application. It is not intended to limit the scope of the application, which is defined by the claims.

Claims

1. A Chinese cabbage boxing device, characterized by comprising: The device comprises a correcting mechanism (2), a conveying mechanism, a blocking mechanism (5), a boxing mechanism (6), an end gripper mechanism (7), an image acquisition device and a controller. The entrance of the correcting mechanism (2) is located behind the upper conveying device (1), the conveying mechanism comprises at least two conveying mechanisms, including a first conveying mechanism (3) and a second conveying mechanism (4), the blocking mechanism (5) is arranged between the conveying mechanisms, the correcting mechanism (2), the first conveying mechanism (3), the blocking mechanism (5) and the second conveying mechanism (4) are arranged in sequence from front to back, the side of each conveying mechanism is respectively provided with an end gripper mechanism (7), and the end gripper mechanism (7) is connected with the end of the boxing mechanism (6). The controller is connected with the correcting 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 for feeding Chinese cabbages into the correcting mechanism (2), the correcting mechanism (2) is used for correcting the Chinese cabbages to advance along the axial direction, the first conveying mechanism (3) conveys the Chinese cabbages backward, the image acquisition device shoots the image of the second conveying mechanism (4) and transmits the image to the controller, the controller judges whether there is a Chinese cabbage at the second conveying mechanism (4) according to the image, if yes, the blocking mechanism (5) is controlled to be extended to prevent the first conveying mechanism (3) from feeding the Chinese cabbage into the second conveying mechanism (4), the boxing mechanism (6) on one side of the first conveying mechanism (3) is controlled to drive the end gripper mechanism (7) to reach a grabbing position, the end gripper mechanism (7) is controlled to grab the Chinese cabbage on the first conveying mechanism (3), then the boxing mechanism (6) is controlled to drive the end gripper mechanism (7) to move to a release position and put the Chinese cabbage into a turnover box (8), and if not, the blocking mechanism (5) is controlled to keep in a retracted position, the first conveying mechanism (3) conveys the Chinese cabbage to the second conveying mechanism (4), and the boxing 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).

2. The Chinese cabbage packing apparatus according to claim 1, wherein The correcting mechanism (2) comprises a guide groove and two left-right symmetrical V-shaped conveying flat belts.

3. The Chinese cabbage packing apparatus according to claim 1, wherein 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 horizontally arranged, and the first conveying inclined flat belt module (32) is arranged at the side of the first conveying flat belt module (31) and is outwardly inclined 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 horizontally arranged, and the second conveying inclined flat belt module (42) is arranged at the side of the second conveying flat belt module (41) and is outwardly inclined to the conveying surface.

4. The Chinese cabbage packing apparatus according to claim 1, wherein The bottom of the blocking mechanism (5) is provided with a blocking base plate (51), one side of the blocking base plate (51) is provided with a blocking guide rod (53), and the other side is provided with a blocking cylinder body (55), the blocking guide rod (53) is connected with one side of the blocking plate (52) through the blocking linear bearing (54), one end of the blocking cylinder rod body (56) is connected with the other side of the blocking plate (52), and the other end can move linearly in the blocking cylinder body 55; The inner ring of the blocking linear bearing (54) is matched with the blocking guide rod (53), and the outer ring is fixedly connected with one side of the blocking plate (52); the blocking cylinder body (55) drives the blocking plate (52) to ascend and descend, and blocks or opens the channel between the conveying surfaces of the first conveying mechanism (3) and the second conveying mechanism (4).

5. The Chinese cabbage packing apparatus according to claim 1, wherein The boxing mechanism (6) comprises a lifting arm electric cylinder body (602), a lifting arm electric cylinder rod body (603), an arm extension mounting surface (607), an arm extension electric cylinder body (608), an arm extension electric cylinder guide rod (609), an arm extension electric cylinder rod body (611) and a terminal main mounting surface (613); One end of the lifting arm electric cylinder rod body 603 is rotatably connected with the upper surface of the arm extension mounting surface (607), and the other end can move along the cylinder body axis direction in the lifting arm electric cylinder body (602); The arm extension electric cylinder body (608) is connected with the lower surface of the arm extension mounting surface (607), one end of the arm extension electric cylinder rod body (611) can move along the cylinder body axis direction in the cylinder body of the arm extension electric cylinder body (608), and the two sides of the arm extension electric cylinder body (608) are respectively provided with arm extension electric cylinder linear bearings (610). One end of the arm extension electric cylinder guide rod (609) penetrates 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 connected with the terminal main mounting surface (613) through rod body fixed flanges (612) respectively. The terminal main mounting surface (613) is connected with the terminal gripper mechanism (7).

6. The Chinese cabbage boxing apparatus according to claim 5, wherein The terminal gripper mechanism (7) comprises a left panel (701), a right panel (702), a short arm contact metal plate (706), a long arm contact metal plate (711), a cylinder body (726) and a cylinder rod body (727). The left panel (701) and the right panel (702) are arranged in parallel opposition, and the ends of the left panel (701) and the right panel (702) are connected with the ends of the boxing mechanism (6); the short-arm contact plate (706) and the long-arm contact plate (711) are arranged in opposition between the left panel (701) and the right panel (702), and the long-arm contact plate (711) is located behind the short-arm contact plate (706); the cylinder rod body (727) of the cylinder body (726) respectively transmits force to the short-arm contact plate (706) and the long-arm contact plate (711), and the cylinder body (726) drives the cylinder rod body (727) to make the short-arm contact plate (706) and the long-arm contact plate (711) simultaneously contract inward to clamp or simultaneously open outward to release Chinese cabbages.The front end and middle part of the left panel (701) and the right panel (702) are respectively provided with two groups of hole positions, and two groups of hole positions are connected with bearing seats (713) concentric with them. One end of the short arm fixed shaft (703) is sequentially connected with the bearing seat (713) at the front end of the left panel (701), the left panel (701), one side of the short arm contact plate (706), the middle circular hole of the two short arm inter-shaft connecting rods (705), the other side of the short arm contact plate (706) and the bearing seat (713) at the front end of the right panel (702). The short arm inter-shaft connecting rod (705) is connected with the short arm contact plate (706). Both ends of the short arm movable shaft (704) pass through the top circular holes of the two short arm inter-shaft connecting rods (705) respectively. One end of the long arm fixed shaft (708) is sequentially connected with the bearing seat (713) in the middle part of the left panel (701), the left panel (701), one side of the long arm contact plate (711), the middle circular hole of the two long arm inter-shaft connecting rods (710), the other side of the long arm contact plate (711) and the bearing seat (713) in the middle part of the right panel (702). The long arm inter-shaft connecting rod (710) is connected with the long arm contact plate (711). Both ends of the long arm movable shaft (709) pass through the top circular holes of the two long arm inter-shaft connecting rods (710) respectively. The end face of the short arm movable shaft (704) is matched with the middle waist hole of the short arm waist hole plate (714). The short arm waist hole plate (714) is connected with the short arm connecting rod seat (716) through the short arm adjusting rod (715). The end face of the long arm movable shaft (709) is matched with the middle waist hole of the long arm waist hole plate (717). The long arm waist hole plate (717) is connected with the long arm connecting rod seat (719) through the long arm adjusting rod (718). The middle part of the push-pull seat (720) is rotationally connected with the short arm connecting rod seat (716), and the bottom of the push-pull seat (720) is rotationally connected with the long arm connecting rod seat (719). The outer side of the right panel (702) is connected with a guide base body (721) at the upper part. The light axis seat (722) is connected with the guide base body (721) at the front and rear sides below. The guide shaft (723) passes through the linear bearing (724) and is connected with the light axis seat (722) at both ends. The mounting surface of the linear bearing (724) is connected with the top of the push-pull seat (720). The bearing hole of the linear bearing (724) is matched with the guide shaft (723). The linear bearing (724) can move axially along the guide shaft (723). The tail part of the outer side of the right panel (702) is provided with a cylinder seat (725). The cylinder body (726) is connected with the cylinder seat (725). The cylinder rod body (727) in the cylinder body of the cylinder body (726) moves along the cylinder axis direction and is floatingly connected with the push-pull seat (720). The cylinder rod body (727) is driven to extend by the cylinder body (726), and the cylinder rod body (727) drives 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), so that the bottom of the short arm contact metal plate (706) is close to the bottom of the long arm contact metal plate (711). The cylinder rod body (727) drives 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), so that the bottom of the long arm contact metal plate (711) is close to the bottom of the short arm contact metal plate (706). 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 (727) to retract, which drives the short arm contact plate (706) away from the long arm contact plate (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 drives the long arm contact plate (711) away from the short arm contact plate (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 separated from the Chinese cabbage.

7. The Chinese cabbage boxing apparatus according to claim 6, wherein The short arm contact plate (706) and the long arm contact plate (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 flexible materials.

8. The Chinese cabbage boxing apparatus according to claim 6, wherein The controller controls the boxing mechanism (6) and the end gripper mechanism (7) to move to the gripping position target point (x0, y0) and then to clamp the Chinese cabbage, to move to the releasing position target point (x n , y n ), n represents the number of releasing positions, n = 1, 2, 3, 4, …, and then to release the Chinese cabbage.

9. The Chinese cabbage boxing apparatus according to claim 8, wherein The relaxation position target point (x n , y n ) is The calculation method is as follows: A two-dimensional coordinate system XOY is established with the plane where the boom electric cylinder rod body (603) and the outrigger electric cylinder guide rod (609) are located, the point where the outrigger fixed shaft (606) is located is A, the point where the boom fixed shaft (601) is located is B, the point where the arm-to-arm shaft (604) is located is C, a point between the short-arm contact surface (707) and the long-arm contact surface (712) is E, the E point is on the extension line of AC, the closest distance of the E point to the short-arm contact surface (707) and the long-arm contact surface (712) is equal, the point where the front end of the outrigger electric cylinder body (608) is located is F, the point where the front end of the boom electric cylinder body (602) is located is G, the projection of the E point on the Y axis is D, the coordinates of the A point are (0, k1), the coordinates of the B point are (k2, 0), the distance between AF is L1, the distance between BG is L2, the distance between CF is e, the distance between EF is a n , the distance between CG is b n , ∠BCA is α, ∠BAC is β, ∠OAB is ∠CAD is η; E point as the target motion point of two-axis swing arm in the application, needs to move to the target point of grabbing position (x0, y0) and then clamp Chinese cabbage, move to the target point of relaxing position (x n , y n ) , n = 1, 2, 3, 4, …, and then relax Chinese cabbage operation, corresponding to a n The extension of the arm electric cylinder rod body (611) is b n The extension of the boom electric cylinder rod body (603) is The relaxation position target point (x n , y n ) is calculated by the following equation: x n = (a n + L1) * sin η, y n = k2+ (a n + L1) * cos η; wherein According to the set target point (x n , y n ), solve (a n , b n ), the 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 boxing apparatus according to any one of claims 1 to 9, characterized by, The method comprises the following steps: The upper conveying device (1) puts the cut root Chinese cabbage into the correction mechanism (2), the correction mechanism (2) adjusts the Chinese cabbage to an axial posture and advances; the first conveying mechanism (3) conveys the corrected Chinese cabbage backward, the image acquisition device shoots the image of the second conveying mechanism (4) and transmits it to the controller, the controller judges whether there is Chinese cabbage at the second conveying mechanism (4) according to the image, if yes, controls the blocking mechanism (5) to extend and prevent the first conveying mechanism (3) from sending the Chinese cabbage into the second conveying mechanism (4), controls the boxing mechanism (6) on one side of the first conveying mechanism (3) to drive the end gripper mechanism (7) to reach the grabbing position, controls the end gripper mechanism (7) to grab the Chinese cabbage on the first conveying mechanism (3), then controls the boxing mechanism (6) to drive the end gripper mechanism (7) to move to the relaxed position and put the Chinese cabbage into the turnover box (8); if not, controls the blocking mechanism (5) to keep in the income position, the first conveying mechanism (3) conveys the Chinese cabbage to the second conveying mechanism (4), and the boxing 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