A fruit bagging robot

Abstract

The application discloses a fruit bagging robot and belongs to the technical field of agricultural automation. The walking chassis, bag supplying device, bag conveying device, posture adjusting device and fruit bagging device are all integrated on the integrated mounting frame, so that the fruit bagging robot has strong functions, and the modular design of the device components improves the system expansion and maintenance. The bag conveying device and the fruit bagging device adopt negative pressure adsorption of the suction cup on the paper bag, so that the paper bag is fixed and grabbed firmly, and even when the thin and soft paper material is disturbed by the environment temperature and humidity, the paper bag is not easy to be damaged. The fruit bagging device uses the negative pressure suction cup to pull the two sides of the paper bag, so that the paper bag can be conveniently opened and the opening of the paper bag is kept complete. The setting of the bagging auxiliary adjusting image acquisition device and the posture auxiliary adjusting image acquisition device can assist the control module in accurately controlling the position and posture of the fruit bagging device, so that the technical defects, such as positioning deviation, bagging mispositioning or missing, and damage of the fruit stem or fruit surface due to collision, are avoided.

Description

Technical Field

[0001] This invention belongs to the field of agricultural automation technology, and relates to automated fruit bagging technology, and in particular to a fruit bagging robot. Background Technology

[0002] In the agricultural planting industry, such as apple cultivation, bagging technology for young apples has become extremely important in order to improve fruit quality and ensure the pollution-free nature of production. Traditional bagging operations have long relied on manual labor, requiring workers to individually remove, place, open, and precisely secure paper bags for each young fruit. This is not only inefficient and costly, but also difficult to adapt to the needs of large-scale orchards.

[0003] While existing semi-automated equipment can replace manual bagging, it suffers from insufficient modularity, poor system scalability and maintainability, and difficulty in dynamically adjusting the operation mode according to the shape of the fruit trees or the terrain. This hinders the widespread application of automated bagging technology. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automated fruit bagging robot, which not only has a high degree of functional integration, but also strengthens the modular design, improves the system's scalability and maintainability, and can dynamically and flexibly adjust the operation mode according to the shape of the fruit tree or the terrain, thus expanding the application range of the equipment and solving the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides the following solution: This invention provides a fruit bagging robot, comprising: The chassis is used to drive the robot's overall movement. An integrated mounting bracket is installed on the walking chassis; A bag supply device, mounted on the integrated mounting frame, is capable of supplying paper bags to be used to the bag supply position; A bag transport device, mounted on the integrated mounting frame, is capable of switching positions between the bag supply position and the bag retrieval transition position to transport the paper bag to be used from the bag supply position to the bag retrieval transition position. The bagging execution device includes a fruit bagging device and a posture adjustment device. The posture adjustment device is disposed on the integrated mounting frame, and the fruit bagging device is disposed at the end of the posture adjustment device. The posture adjustment device can drive the fruit bagging device to switch positions between the bag-taking transition position and the fruit to be bagged. The fruit bagging device can fix the paper bag to be used obtained at the bag-taking transition position to the outside of the fruit to be bagged.

[0006] In some embodiments, the bag feeding device includes: The top-open storage compartment can store stacks of paper bags stacked from bottom to top. A storage box lifting drive mechanism is installed on the integrated mounting frame. The storage bag storage box is connected to the storage box lifting drive mechanism. The storage box lifting drive mechanism can drive the storage bag storage box to rise and fall relative to the integrated mounting frame, so that the storage bag storage box moves upward and reaches the bag supply position, or moves downward and moves away from the bag supply position.

[0007] In some embodiments, the bag-carrying device includes: A paper bag adsorption device includes a suction cup connection device and a bag-retrieving suction cup disposed on the suction cup connection device; the bag-retrieving suction cup is used to connect to an external negative pressure air source to suction the top layer of paper bags in the paper bag stack at the bag supply position under negative pressure. The system includes a vertical bag-carrying drive mechanism and a horizontal bag-carrying drive mechanism. The horizontal bag-carrying drive mechanism is mounted on the integrated mounting frame, and the vertical bag-carrying drive mechanism is mounted on the horizontal bag-carrying drive mechanism. A suction cup connecting device is connected to the vertical bag-carrying drive mechanism and located above the bag supply position. The vertical bag-carrying drive mechanism can drive the suction cup connecting device to move up and down, so that the bag-picking suction cup moves downward to pick up the topmost paper bag, or moves upward and away from the bag supply position. The horizontal bag-carrying drive mechanism can drive the vertical bag-carrying drive mechanism to move horizontally, so that the vertical bag-carrying drive mechanism can switch positions between the bag supply position and the bag-picking transition position.

[0008] In some embodiments, the fruit bagging robot further includes a control module and a pressure sensing device. The storage box lifting drive mechanism and the pressure sensing device are both communicatively connected to the control module. The pressure sensing device is installed on the negative pressure pipeline of the bag-picking suction cup and is used to detect the air pressure in the negative pressure pipeline. When the air pressure in the negative pressure pipeline reaches a preset value, the control module can automatically start the storage box lifting drive mechanism to make the storage box rise and reach the bag supply position. The preset value is the minimum value that the bag-picking suction cup can pick up the topmost paper bag.

[0009] In some embodiments, the attitude adjustment device includes a multi-axis robotic arm, a vertical movement module of the robotic arm, and a horizontal movement module of the robotic arm, wherein: The robotic arm includes a vertical movement module and a horizontal movement module. The vertical movement module is mounted on the integrated mounting frame and is parallel to the vertical bag-carrying drive mechanism and the bin lifting drive mechanism. The horizontal movement module is mounted on the vertical movement module. The multi-axis robotic arm is mounted on the horizontal movement module. The fruit bagging device is mounted at the end of the multi-axis robotic arm. The horizontal movement module of the robotic arm can drive the multi-axis robotic arm to move horizontally, and the vertical movement module of the robotic arm can drive the horizontal movement module of the robotic arm to rise and fall to adjust the height of the fruit bagging device. The multi-axis robotic arm can adjust the angle and posture of the fruit bagging device so that the fruit bagging device can complete the bag removal at the bag removal transition position and fix the obtained paper bag set to the outside of the fruit to be bagged.

[0010] In some embodiments, the fruit bagging device includes: The main frame is mounted at the end of the multi-axis robotic arm; A paper bag binding mechanism includes a binding baffle, a baffle rotation drive, a binding structure, and a paper bag closing drive. The binding baffle has a pin fixed to its mounting end, and both ends of the pin are rotatably mounted to the first side of the main frame via bearings. The binding baffle has an opening at its operating end for fruit stems to pass through. A servo motor compartment is also provided on the first side of the main frame. The binding structure includes a binding frame and a binding machine mounted on the binding frame. The binding machine includes a binding execution component and a binding drive for driving the binding execution component. The binding execution component is located at the operating end of the binding frame. The binding frame has a second pin fixed to its mounting end, and both ends of the second pin are rotatably mounted to the second side of the main frame via bearings. A servo motor compartment is also provided on the second side of the main frame. The binding baffle and the binding structure are arranged at intervals opposite to each other, forming a nesting operation space between them. The baffle rotation drive includes a binding baffle servo motor and a transmission mechanism one. The binding baffle servo motor is located in the servo motor compartment one, and its output end is connected to the pin shaft one through the transmission mechanism one. The binding baffle servo motor is used to drive the binding baffle to rotate so that the binding baffle can press or move away from the paper bag opening. The paper bag closing drive includes a paper bag closing servo motor and a transmission mechanism two. The paper bag closing servo motor is located in the servo motor compartment two, and its output end is connected to the pin shaft two through the transmission mechanism two. The paper bag closing servo motor is used to drive the binding structure to rotate so that the binding structure can bind or move away from the paper bag opening. The paper bag taking mechanism is mounted on the main frame and located within the fruit-packing operation space. The paper bag taking mechanism can take and open the paper bags to be used.

[0011] In some embodiments, the transmission mechanism includes a drive gear and a driven gear meshing with the drive gear, the drive gear being fixed to the output end of the mounting baffle servo, and the driven gear being fixed to the pin.

[0012] In some embodiments, the transmission mechanism two includes a driving gear two and a driven gear two meshing with the driving gear two. The driving gear two is fixed to the output end of the paper bag closing servo motor, and the driven gear two is fixed to the pin shaft two.

[0013] In some embodiments, the binding execution component includes a plurality of staplers spaced apart along the sealing direction of the paper bag opening, and the stapler's starting arm is fixed to the binding frame; the binding drive is a lifting drive and is connected to the base of the stapler, the binding drive can drive the base of the stapler to lift or lower relative to the starting arm, so as to achieve binding and sealing of the paper bag opening; the binding baffle is also provided with a clearance hole for the base of the stapler to pass through.

[0014] In some embodiments, the paper bag taking mechanism includes: The forward and reverse thread drive shaft has two sections of threads with opposite directions of rotation on its outer wall along the axial direction of the forward and reverse thread drive shaft; the forward and reverse thread drive shaft spans the fruit-packing operation space, and both ends of the forward and reverse thread drive shaft are rotatably connected to the main frame; the main frame is provided with a slide rail parallel to the forward and reverse thread drive shaft; Clamping block one and clamping block two are arranged opposite to each other, and negative pressure suction cups are provided on the clamping surfaces of clamping block one and clamping block two. The negative pressure suction cups are used to connect to an external negative pressure air source to absorb paper bags under negative pressure. The end of clamping block one is connected to a section of the threaded section and slides in cooperation with the slide rail. The end of clamping block two is connected to another section of the threaded section and slides in cooperation with the slide rail. An opening and closing motor is mounted on the main frame and connected to the end of the forward and reverse tooth drive shaft. The opening and closing motor is used to drive the forward and reverse tooth drive shaft to rotate, so as to drive the clamping block one and the clamping block two to move closer to each other or further away from each other.

[0015] In some embodiments, multiple negative pressure suction cups are provided on the clamping surfaces of both clamping block one and clamping block two; each of the negative pressure suction cups is connected to a negative pressure air pipe, which penetrates the side wall of the main frame and extends to the outside of the main frame.

[0016] In some embodiments, the fruit bagging robot further includes: A bagging-assisted adjustment image acquisition device is mounted on the horizontal movement module of the robotic arm and arranged adjacent to the multi-axis robotic arm. An attitude-assisted adjustment image acquisition device is located at the end of the multi-axis robotic arm.

[0017] In some embodiments, both the bagging-assisted adjustment image acquisition device and the posture-assisted adjustment image acquisition device are cameras.

[0018] In some embodiments, the integrated mounting frame is a cuboid mounting frame; the walking chassis is a tracked walking chassis.

[0019] The present invention achieves the following technical effects compared to the prior art: The fruit bagging robot proposed in this invention has a novel and reasonable structure. By integrating the walking chassis, bag supply device, bag transport device, posture adjustment device, and fruit bagging device into an integrated mounting frame, it not only has strong functionality, but also adopts a modular design for each device component, which significantly improves the system's expandability and maintainability. This solves the problems of insufficient modularity and poor system expandability and maintainability of existing bagging devices.

[0020] In some of the technical solutions disclosed in this invention, both the bag transport device and the fruit bagging device use suction cups to adsorb and fix the paper bags under negative pressure, ensuring a reliable grip. Furthermore, the large contact area between the suction cups and the paper bags prevents damage even to thin, soft paper materials affected by ambient temperature and humidity. When clamping blocks one and two in the fruit bagging device separate, their respective negative pressure suction cups pull on both sides of the paper bag, allowing for easy opening while maintaining the integrity of the opening. This avoids the problem of bag sticking or incomplete openings caused by the clamping mechanism.

[0021] In some of the technical solutions disclosed in this invention, by simultaneously setting up a bagging auxiliary adjustment image acquisition device and a posture auxiliary adjustment image acquisition device, the two work together without any monitoring blind spots. After accurately acquiring the fruit position and posture, the auxiliary control module can accurately adjust the position and posture of the fruit bagging device, thereby completing accurate bagging and avoiding technical defects such as positioning deviation, misalignment of bagging, or missed bagging. Furthermore, during the adjustment of the position and posture of the fruit bagging device, the fruit bagging device will not collide with the fruit stem or fruit surface due to blind spots or positioning deviations in visual detection, thus improving the protection of the fruit.

[0022] In some of the technical solutions disclosed in this invention, the combination and coordination of a vertical movement module, a horizontal movement module, and a multi-axis robotic arm enables precise multi-degree-of-freedom position adjustment of the fruit bagging device, adapting to various fruit tree shapes and fruit postures. The walking chassis is a tracked chassis, which offers superior performance, good off-road capability, high stability, and strong load-bearing capacity, enhancing the robot's adaptability to terrain.

[0023] This invention, by combining advanced robotics and intelligent control modules, achieves efficient and precise fruit bagging. This innovative solution not only significantly improves production efficiency and reduces the time and labor costs required for manual operation, but also enhances the protection of the fruit, preventing it from being affected by pests, diseases, and environmental factors during growth. Furthermore, automated operation reduces fruit damage rates, ensuring the appearance and quality of apples and enhancing market competitiveness. Simultaneously, the device's flexibility allows it to adapt to different varieties and sizes of fruit, providing greater flexibility and convenience for orchard management. Moreover, this innovation has a profound impact on promoting the advancement of agricultural robotics technology, expanding the application of robots in agriculture, and improving the current situation of relying on manual bagging. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of the fruit bagging robot disclosed in an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the fruit bagging device disclosed in an embodiment of the present invention; Figure 3 for Figure 2 Another perspective schematic diagram of the fruit bagging device; Figure 4 for Figure 2 Schematic diagram of the internal structure of the fruit bagging device; Figure 5 This is a schematic diagram of the binding machine in the fruit bagging device disclosed in an embodiment of the present invention.

[0026] In the figure, the attached figures are labeled as follows: 100-Fruit bagging robot; 200-Walking Chassis; 300 - Integrated mounting bracket; 400 - Bag feeding device; 401 - Storage bag bin; 402 - Bin lifting drive mechanism; 500-Bag transport device; 501-Paper bag adsorption device; 502-Suction cup connection device; 503-Bag picking suction cup; 504-Vertical bag transport drive mechanism; 505-Horizontal bag transport drive mechanism; 506-Air pressure sensor device; 600 - Attitude adjustment device; 601 - Multi-axis robotic arm; 602 - Vertical movement module of robotic arm; 603 - Horizontal movement module of robotic arm; 700-Fruit bagging device; 701-Main frame; 702-Paper bag binding mechanism; 703-Paper bag picking mechanism; 704-Fruit bagging operation space; 71-Binding baffle; 711-Pin one; 712-Notch; 713-Allowing hole; 72-Baffle rotation drive; 721-Binding baffle servo motor; 722-Driving gear one; 723-Driven gear one; 73-Binding structure; 731-Binding frame; 7311-Pin two; 732-Binding machine; 7321-Stabbing machine; 73211-Stabbing arm; 73212-Base; 7322-Binding drive; 74-Paper bag closing drive; 741-Paper bag closing servo motor; 742-Driving gear two; 743-Driven gear two; 75-Forward and reverse gear drive shaft; 751-Bearing housing; 76-Clamping block one; 77-Clamping block two; 78-Negative pressure suction cup; 781-Negative pressure air pipe; 79-Coupling; 710-Opening and closing motor; 801 - Bag supply position; 802 - Bag removal transition position; 901 - Image acquisition device for bagging auxiliary adjustment; 902 - Image acquisition device for posture auxiliary adjustment. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The purpose of this invention is to provide a fully automated fruit bagging robot, which not only has a high degree of functional integration, but also strengthens the modular design, improves the system's scalability and maintainability, and can dynamically and flexibly adjust the operation mode according to the shape of the fruit tree or the terrain, thus expanding the application range of the equipment and solving the problems existing in the prior art.

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1As shown, this embodiment provides a fruit bagging robot 100, including a walking chassis 200, an integrated mounting frame 300, a bag supply device 400, a bag transport device 500, and a bagging execution device. The walking chassis 200 is used to drive the robot's overall movement; the integrated mounting frame 300 is mounted on the walking chassis 200; the bag supply device 400 is mounted on the integrated mounting frame 300 and can supply paper bags to be used to the bag supply position 801; the bag transport device 500 is mounted on the integrated mounting frame 300 and can switch positions between the bag supply position 801 and the bag picking transition position 802. The paper bags to be used at the bag supply position 801 are transported to the bag-retrieving transition position 802. The bagging execution device includes a fruit bagging device 700 and a posture adjustment device 600. The posture adjustment device 600 is mounted on the integrated mounting frame 300, and the fruit bagging device 700 is located at the end of the posture adjustment device 600. The posture adjustment device 600 can drive the fruit bagging device 700 to switch positions between the bag-retrieving transition position 802 and the fruit to be bagged. The fruit bagging device 700 can fix the paper bags to be used obtained at the bag-retrieving transition position 802 onto the outside of the fruit to be bagged. To facilitate the explanation of the installation position relationship of the bag supply device 400, the bag transport device 500, and the bagging execution device on the integrated mounting frame 300 in this invention, a three-dimensional spatial system is constructed here. This three-dimensional spatial system includes mutually perpendicular X-axis, Y-axis, and Z-axis, wherein the Z-axis is the height direction of the fruit bagging robot 100.

[0031] It should be noted that the bag supply position 801 and the bag removal transition position 802 are not specific components of the fruit bagging robot 100, but rather are connecting spaces between adjacent components. For example, the bag supply position 801 is the connecting space between the bag supply device 400 and the bag transport device 500 in the Z-axis direction, and the bag removal transition position 802 is the connecting space between the bag transport device 500 and the fruit bagging device 700 in the X-axis direction.

[0032] Some feasible implementation methods, such as Figure 1 As shown, the preferred bag supply device 400 includes a storage box 401 with an open top and a box lifting drive mechanism 402. The storage box 401 can store stacks of paper bags stacked from bottom to top. The box lifting drive mechanism 402 is mounted on the integrated mounting frame 300, and the storage box 401 is connected to the box lifting drive mechanism 402. The box lifting drive mechanism 402 can drive the storage box 401 to move up and down relative to the integrated mounting frame 300 along the Z-axis, so that the storage box 401 moves up along the Z-axis and reaches the bag supply position 801, or moves down along the Z-axis and moves away from the bag supply position 801.

[0033] The bin lifting drive mechanism 402 includes, but is not limited to, cylinders, hydraulic cylinders, or electric lead screw slides with built-in drive motors arranged along the Z-axis. Considering the stable performance and good self-locking function of electric lead screw slides, this invention preferably adopts electric lead screw slides with built-in drive motors for the bin lifting drive mechanism 402, such as mature existing products like the YDS22 high-precision semi-enclosed electric slide module and the YDS12 high-precision semi-enclosed electric slide module. The specific structure and principle will not be described in detail here.

[0034] To further improve the lifting stability of the storage bag container 401, it is preferable that two sets of electric screw slides (i.e., the container lifting drive mechanism 402) are symmetrically arranged on the integrated mounting frame 300. The storage bag container 401 is located between the two sets of electric screw slides, and one side of the storage bag container 401 is fixedly connected to the slider of one set of electric screw slides, while the other side of the storage bag container 401 is fixedly connected to the slider of the other set of electric screw slides. The storage bag container 401 can be a plastic box or a metal box, and its fixed connection with the slider in the electric screw slide includes, but is not limited to, bolt fixing or screw fixing.

[0035] Some feasible implementation methods, such as Figure 1 As shown, the preferred bag-carrying device 500 includes a paper bag adsorption device 501, a vertical bag-carrying drive mechanism 504, and a horizontal bag-carrying drive mechanism 505. The paper bag adsorption device 501 includes a suction cup connecting device 502 and a bag-picking suction cup 503 disposed on the suction cup connecting device 502. The bag-picking suction cup 503 is used to connect to an external negative pressure air source to suction the top layer of paper bags from the stack at the bag supply position 801. The horizontal bag-carrying drive mechanism 505 is disposed on the integrated mounting frame 300, the vertical bag-carrying drive mechanism 504 is disposed on the horizontal bag-carrying drive mechanism 505, and the suction cup connecting device 502 is connected to the vertical bag-carrying drive mechanism 504. And always located above the bag supply position 801; the vertical bag transport drive mechanism 504 can drive the suction cup connecting device 502 to move up and down along the Z-axis, so that the bag picking suction cup 503 moves down along the Z-axis and picks up the top layer of paper bag stack, or moves up along the Z-axis and away from the bag supply position 801; the horizontal bag transport drive mechanism 505 can drive the vertical bag transport drive mechanism 504 to move horizontally along the X-axis, so that the vertical bag transport drive mechanism 504 switches positions between the bag supply position 801 and the bag picking transition position 802.

[0036] like Figure 1As shown, the horizontal bag-carrying drive mechanism 505 is located behind the bag-feeding position 801. The horizontal bag-carrying drive mechanism 505 includes, but is not limited to, cylinders, hydraulic cylinders, or electric lead screw slides with built-in drive motors arranged along the X-axis. Considering the stable performance and good self-locking function of electric lead screw slides, this invention preferably uses an electric lead screw slide with a built-in drive motor for the horizontal bag-carrying drive mechanism 505, such as the YDS22 high-precision semi-enclosed electric slide module or the YDS12 high-precision semi-enclosed electric slide module, etc., which are mature existing products. The specific structure and principle will not be elaborated here. It should be noted that the bag-feeding position 801 and the bag-removing transition position 802 are respectively arranged near the two ends of the stroke of the horizontal bag-carrying drive mechanism 505.

[0037] Similarly, the vertical bag-carrying drive mechanism 504 includes, but is not limited to, cylinders, hydraulic cylinders, or electric lead screw slides with built-in drive motors arranged along the Z-axis. Considering the stable performance and good self-locking function of electric lead screw slides, this invention preferably uses electric lead screw slides with built-in drive motors for the vertical bag-carrying drive mechanism 504, such as mature existing products like the YDS22 high-precision semi-enclosed electric slide module and the YDS12 high-precision semi-enclosed electric slide module. The specific structure and principle will not be described in detail here. The base of the vertical bag-carrying drive mechanism 504 can be fixed to the slider of the horizontal bag-carrying drive mechanism 505 by welding or screw fastening. The vertical bag-carrying drive mechanism 504 and the horizontal bag-carrying drive mechanism 505 together constitute a two-dimensional adjustment platform in the XZ plane, which can meet the needs of bag picking and bag transportation.

[0038] The suction cup connecting device 502 is preferably a rod arranged parallel to the Z-axis, such as... Figure 1 As shown, the top end of the rod can be fixedly connected to the slider of the vertical bag-carrying drive mechanism 504 by welding or screw fastening, while the bottom end is equipped with a downward-facing bag-retrieving suction cup 503. The bag-retrieving suction cup 503 is a negative pressure suction cup, which is a mature existing technology, such as the vacuum suction cup disclosed in the invention patent with publication number CN118108097A, etc., which will not be described in detail here.

[0039] The air inlet of the bag-removing suction cup 503 is generally connected to a negative pressure air tube, which is used to connect to an external negative pressure air source, including but not limited to compressors, vacuum pumps, etc. The negative pressure air tube connected to the air inlet of the bag-removing suction cup 503 can be externally placed in the suction cup connecting device 502 or embedded within it. To improve the suction force, it is preferable that multiple bag-removing suction cups 503, such as 2 to 4, are evenly arranged at the bottom end of the suction cup connecting device 502.

[0040] In some feasible implementations, to improve the overall smoothness and reliability of the robot's automated operation, the fruit bagging robot 100 is preferably also equipped with a control module and a pressure sensor 506. Both the storage box lifting drive mechanism 402 and the pressure sensor 506 are communicatively connected to the control module. The pressure sensor 506 uses a commercially available pressure sensor, which is installed on the negative pressure air pipe connected to the bag-retrieving suction cup 503 to detect the air pressure inside the negative pressure air pipe. When the air pressure inside the negative pressure air pipe reaches a preset value, the control module automatically controls the start of the storage box lifting drive mechanism 402, causing the storage box 401 to move upwards along the Z-axis and reach the bag supply position 801. The aforementioned "preset value" is the minimum value that the bag-retrieving suction cup 503 can pick up. Generally, when the pressure sensor 506 detects that the air pressure inside the negative pressure air pipe equals the preset value, it can start the storage box lifting drive mechanism 402. It should be noted that the aforementioned “preset value” is an adsorption threshold, which is not a fixed value. This value can be set according to the power specifications of the negative pressure source, and can also be flexibly adjusted according to the size and weight of different paper bags. The “preset value” is a non-fixed value that can be summarized based on a limited number of experiments. This value only needs to be able to adsorb and fix the top layer of paper bag.

[0041] To improve the integration of the fruit bagging robot 100, a negative pressure air pipe connected to the air port of the bag-collecting suction cup 503 is preferably embedded in the slider of the suction cup connecting device 502 and the vertical bag-carrying drive mechanism 504; the air pressure sensor 506 is fixed on the slider of the vertical bag-carrying drive mechanism 504 and communicates with the negative pressure air pipe. The sensing part of the air pressure sensor 506 extends into the negative pressure air pipe, but the connection with the negative pressure air pipe is sealed. This is common knowledge and will not be elaborated here.

[0042] By setting up a pressure sensor 506, the vertical bag conveying drive mechanism 504 can be started only after ensuring that the negative pressure value reaches the preset value, which can save equipment energy and improve operating accuracy and reliability.

[0043] In some feasible implementations, the attitude adjustment device 600 includes a multi-axis robotic arm 601, a vertical movement module 602, and a horizontal movement module 603. For example... Figure 1 As shown, the vertical movement module 602 of the robotic arm is mounted on the integrated mounting bracket 300 and parallel to the Z-axis. The vertical movement module 602 is located in front of the bin lifting drive mechanism 402, and the total Z-axis stroke of the vertical movement module 602 is not less than the sum of the Z-axis strokes of the vertical bag transport drive mechanism 504 and the bin lifting drive mechanism 402. Figure 1As shown, preferably, the top of the vertical moving module 602 of the robotic arm is higher than the top of the vertical bag-carrying drive mechanism 504, and the bottom of the vertical moving module 602 of the robotic arm is lower than the bottom of the bin lifting drive mechanism 402. The horizontal moving module 603 of the robotic arm is disposed on the vertical moving module 602 of the robotic arm and arranged parallel to the Y-axis, as shown. Figure 1 As shown, the horizontal movement module 603 of the robotic arm is located beside the box lifting drive mechanism 402. A multi-axis robotic arm 601 is mounted on the horizontal movement module 603, and a fruit bagging device 700 is installed at the end of the multi-axis robotic arm 601. During operation, the horizontal movement module 603 drives the multi-axis robotic arm 601 to move horizontally along the Y-axis, and the vertical movement module 602 drives the horizontal movement module 603 to move up and down along the Z-axis to adjust the height of the fruit bagging device 700. The multi-axis robotic arm 601 can utilize its multi-degree-of-freedom motion characteristics to precisely adjust the angle and posture of the fruit bagging device 700, enabling the fruit bagging device 700 to flexibly pick up bags at the bag-picking transition position 802 and accurately attach the acquired paper bags to the outside of the fruit to be bagged.

[0044] like Figure 1 As shown, the horizontal movement module 603 of the robotic arm includes, but is not limited to, cylinders, hydraulic cylinders, or electric lead screw slides with built-in drive motors arranged along the Y-axis. Considering the stable performance and good self-locking function of electric lead screw slides, this invention preferably uses electric lead screw slides with built-in drive motors for the horizontal movement module 603 of the robotic arm, such as mature existing products like the YDS22 high-precision semi-enclosed electric slide module and the YDS12 high-precision semi-enclosed electric slide module. The specific structure and principle will not be described in detail here. The fruit bagging device 700 can be fixed to the slider of the horizontal movement module 603 of the robotic arm by welding or screw fastening.

[0045] Similarly, the vertical movement module 602 of the robotic arm includes, but is not limited to, the use of cylinders, hydraulic cylinders, or electric lead screw slides with built-in drive motors arranged along the Z-axis. Considering the stable performance and good self-locking function of electric lead screw slides, this invention preferably uses electric lead screw slides with built-in drive motors for the vertical movement module 602 of the robotic arm, such as mature existing products like the YDS22 high-precision semi-enclosed electric slide module and the YDS12 high-precision semi-enclosed electric slide module. The specific structure and principle will not be described in detail here. The base of the vertical movement module 602 of the robotic arm can be fixed to the integrated mounting bracket 300 by welding or screw fastening. The base of the horizontal movement module 603 of the robotic arm can be fixed to the slider of the vertical movement module 602 of the robotic arm by welding or screw fastening. The vertical movement module 602 and the horizontal movement module 603 of the robotic arm together constitute a two-dimensional adjustment platform in the YZ plane, which can meet the bag-taking and bagging requirements of the fruit bagging device 700.

[0046] In some feasible implementations, the multi-axis robotic arm 601 includes, but is not limited to, a six-axis robotic arm. The main frame 701 of the fruit bagging device 700 can be fixed to the wrist end of the six-axis robotic arm by welding or screw fastening. The six-axis robotic arm is a mature existing technology, and its specific structure and working principle will not be described in detail here. The six-axis robotic arm can communicate with the aforementioned control module, and the control module can control the attitude adjustment of the six-axis robotic arm.

[0047] Some feasible implementation methods, such as Figures 1-4 As shown, the fruit bagging device 700 includes a main frame 701, a paper bag binding mechanism 702, and a paper bag picking mechanism 703. The main frame 701 is used to connect to a mobile device, which can move the fruit bagging device 700 to the fruit to be bagged. The mobile device includes, but is not limited to, agricultural walking machines such as tractors. The paper bag binding mechanism 702 includes a binding baffle 71, a baffle rotation drive 72, a binding structure 73, and a paper bag closing drive 74. Both the binding baffle 71 and the binding structure 73 are rotatable. Mounted on the main frame 701, the binding baffle 71 and binding structure 73 are arranged at intervals relative to each other, forming a fruit bagging operation space 704 between them. The fruit bagging device 700 can bag a single fruit in one operation. Therefore, the size of the fruit bagging operation space 704 is sufficient for young apples, pears, and peaches waiting to be bagged to pass through (the size of young apples, pears, and peaches has a conventional standard in this field, which will not be elaborated here). A baffle rotation drive 72 is mounted on the main frame 701 and is used to drive the binding baffle 71 to rotate towards or away from the binding structure 73. When the binding baffle 71 rotates away from the binding structure 73, the top of the fruit bagging operation space 704 opens, allowing the fruit to smoothly enter the paper bag within the fruit bagging operation space 704. At this time, the binding baffle 71 is away from the paper bag opening. When the binding baffle 71 rotates towards the binding structure 73, for example, rotating to... Figure 3As shown in the tilted position, the paper bag in the fruit-binding operation space 704 is already filled with fruit. The binding baffle 71 flips towards the binding structure 73, allowing the operating end of the binding baffle 71 to press down on the opening of the paper bag from top to bottom. Ideally, the operating end of the binding baffle 71 presses down on the opening of the paper bag until the opening bends and faces the binding structure 73. During this process, the opening of the paper bag is basically closed. After the binding structure 73 approaches the binding baffle 71 and flips to the appropriate position, the opening of the paper bag can be bound and sealed. The paper bag closing drive 74 is set on the main frame 701 and is used to drive the binding structure 73 to flip closer to or away from the binding baffle 71, so that the binding structure 73 can bind or move away from the opening of the paper bag. The binding structure 73 and the binding baffle 71 either move closer to each other and cooperate to complete the binding of the paper bag opening, or move away from each other to allow the fruit to enter and exit the fruit-binding operation space 704 smoothly, realizing the binding of the fruit and the separation of the fruit from the bagged fruit. The paper bag taking mechanism 703 is mounted on the main frame 701 and located within the fruit bagging operation space 704. The paper bag taking mechanism 703 is mainly used to take and open the paper bags to be used, and to hold the bags during the bagging process. The paper bag taking mechanism 703 is mainly used to hold the body of the paper bag (i.e., the position away from the opening of the paper bag) and close to the bottom of the paper bag to avoid interfering with the binding operation of the opening of the paper bag. At the same time, it can ensure that the fruit can reach the bottom of the paper bag, resulting in a good bagging effect.

[0048] Some feasible implementation methods, such as Figures 2-4 As shown, the mounting end of the binding baffle 71 is fixed with a pin 711. The two ends of the pin 711 are rotatably mounted on the first side of the main frame 701 through bearings. The first side of the main frame 701 is also provided with a servo compartment. The baffle rotation drive 72 includes a binding baffle servo 721 and a transmission mechanism. The binding baffle servo 721 is embedded in the servo compartment and can be reinforced by adhesive or bolt fastening. The output end of the binding baffle servo 721 is connected to the pin 711 through the transmission mechanism, so as to drive the pin 711 to rotate and drive the binding baffle 71 to flip.

[0049] Some feasible implementation methods, such as Figure 3 and Figure 4As shown, the preferred transmission mechanism is a gear meshing mechanism, which includes a driving gear 722 and a driven gear 723 meshing with the driving gear 722. The driving gear 722 can be fixed to the output end of the binding baffle servo motor 721 by welding or keying, and the driven gear 723 can be fixed to the pin shaft 711 by welding or keying. When the binding baffle servo motor 721 is activated, it drives the driving gear 722 to rotate, which in turn drives the driven gear 723 to rotate. The driven gear 723 drives the pin shaft 711 to rotate synchronously, thereby realizing the flipping drive of the binding baffle 71. Both the driving gear 722 and the driven gear 723 can be spur gears; or, both the driving gear 722 and the driven gear 723 can be gears such as... Figure 4 The sector gear shown can also be used. The flipping direction of the binding baffle 71 can be controlled by driving the binding baffle servo 721 to rotate forward and backward.

[0050] Some feasible implementation methods, such as Figures 2-4 As shown, the operating end of the binding baffle 71 has a notch 712 for the fruit stem to pass through; the operating end of the binding baffle 71 is the end of the binding baffle 71 opposite to the mounting end (i.e., one end of the mounting pin 711 of the binding baffle 71). The notch 712 is preferably a U-shaped notch, which is located at the center of the binding baffle 71. In the initial state, the binding baffle 71 is vertical. After the fruit is placed in the paper bag in the fruit-fitting operation space 704, the binding baffle 71 can be flipped to... Figure 3 In the tilted state shown, during this process, the operating end of the binding baffle 71 presses the paper bag opening from top to bottom, so that the paper bag opening faces the binding structure 73 side, while the fruit stem passes through the notch 712. This design can prevent the fruit stem from being broken when the binding baffle 71 presses down on the paper bag opening, and can prevent the fruit from falling off unnecessarily during the bagging process.

[0051] Some feasible implementation methods, such as Figures 2-4As shown, the binding structure 73 includes a binding frame 731 and a binding machine 732 mounted on the binding frame 731. The binding machine 732 includes a binding execution component and a binding drive 7322 for driving the binding execution component. The binding execution component is located at the operating end of the binding frame 731. A second pin 7311 is fixed to the mounting end of the binding frame 731. Both ends of the second pin 7311 are rotatably mounted to the second side of the main frame 701 via bearings. A second servo motor compartment is also provided on the second side of the main frame 701. The mounting end of body 731 is the end of the binding frame body 731 opposite to the operating end (i.e., the end of the binding frame body 731 where the binding execution component is installed); the paper bag closure drive 74 includes a paper bag closure servo 741 and a transmission mechanism two. The paper bag closure servo 741 is embedded in the servo magazine two and can be secured by adhesive or bolt fastening. The output end of the paper bag closure servo 741 is connected to the pin shaft two 7311 through the transmission mechanism two, so as to drive the binding structure 73 to rotate by rotating the pin shaft two 7311. It should be noted that the first side and the second side of the aforementioned main frame 701 are opposite sides. Figure 3 As shown, the main frame 701 has a cutout between its first and second sides to accommodate paper bags and fruit. The main frame 701 is generally connected to the wrist end of the multi-axis robotic arm 601 via the side wall of its second side, and the connection method includes, but is not limited to, welding, screw connection or bolt connection.

[0052] Some feasible implementation methods, such as Figure 3 and Figure 4 As shown, the transmission mechanism two adopts a gear meshing mechanism, which includes a driving gear two 742 and a driven gear two 743 meshing with the driving gear two 742. The driving gear two 742 can be fixed to the output end of the paper bag closure servo motor 741 by welding or keying, and the driven gear two 743 can be fixed to the pin shaft two 7311 by welding or keying. When the paper bag closure servo motor 741 is activated, it drives the driving gear two 742 to rotate, which in turn drives the driven gear two 743 to rotate. The driven gear two 743 drives the pin shaft two 7311 to rotate synchronously, thereby realizing the overall flipping drive of the binding structure 73. Both the driving gear two 742 and the driven gear two 743 can be spur gears; or, both the driving gear two 742 and the driven gear two 743 can be gears such as... Figure 4 The sector gear shown can also be used. The overall flipping direction of the binding structure 73 can be controlled by driving the paper bag closing servo motor 741 to rotate forward and backward.

[0053] Some feasible implementation methods, such as Figures 3-5As shown, the binding execution component includes multiple staplers 7321 arranged at intervals along the sealing direction of the paper bag opening, and the stapler arm 73211 of the stapler 7321 is fixed to the binding frame 731; the binding drive 7322 is a lifting drive and is connected to the base 73212 of the stapler 7321. The binding drive 7322 can drive the base 73212 of the stapler 7321 to lift and lower relative to the stapler arm 73211. Driving the base 73212 to lift allows the base 73212 and the stapler arm 73211 to approach each other and interact, thereby completing the binding and sealing of the paper bag opening. After binding is completed, the base 73212 can be driven to lower, so that the base 73212 and the stapler arm 73211 are separated from each other, thereby realizing the separation of the stapler 7321 from the paper bag opening. To ensure the smooth completion of the stapler 7321's binding operation, the stapler baffle 71 is preferably designed to effectively support the paper bag opening during stapler 7321 binding. Simultaneously, to prevent the stapler baffle 71 from obstructing the paper bag opening, a clearance hole 713 is provided at the operating end of the stapler baffle 71 to expose the binding area of ​​the paper bag opening. The binding area of ​​the paper bag opening, the clearance hole 713, and the stapler 7321 are preferably arranged in a one-to-one correspondence. Taking two sets of staplers 7321 as an example, there are also two sets of binding areas for the paper bag opening, and correspondingly two clearance holes 713 are provided. Figure 3 and Figure 4 As shown, the clearance hole 713 is a U-shaped notch, and two clearance holes 713 are symmetrically distributed on both sides of the notch 712. The interval between the two clearance holes 713 (that is, the interval between the two binding areas of the paper bag opening) is generally smaller than the diameter of the young fruit to be bagged, which can prevent the young fruit from falling out between the two binding areas of the paper bag opening after binding.

[0054] The aforementioned stapler 7321 follows the traditional stapler structure, as seen in invention patents CN111195882A and CN101327584A, which disclose the "stapler" technology. The stapler utilizes mature stapler technology, and its specific working principle will not be elaborated upon here.

[0055] The aforementioned lifting drive includes, but is not limited to, structures employing lifting cylinders, lifting hydraulic cylinders, electric slides, crank-slider mechanisms, or eccentric mechanisms. Taking an eccentric mechanism as an example, each lifting drive unit includes a dual-axis motor and an eccentric component. The eccentric component includes, but is not limited to, an eccentric wheel, an eccentric shaft, or a crank. The non-central position of the eccentric component is connected to the output shaft of the dual-axis motor. Figure 5As shown, the eccentric component uses a crank with smooth transition arcs at both ends. The first end of the crank is connected to the output shaft of the dual-axis motor (the connection method includes, but is not limited to, welding, keying, etc.). The dual-axis motor drives the crank to rotate, causing the second end of the crank to periodically reach below the base 73212 and push against the base 73212, completing one binding cycle. Each rotation of the crank pushes the base 73212 once at its second end. After the second end of the crank passes the base 73212, the base 73212 returns to its interval with the starting arm 73211, awaiting the push of the crank in the next rotation cycle. A crank is connected to each of the two output shafts of the dual-axis motor. The dual-axis motor drives the two cranks to rotate synchronously. The two cranks correspond one-to-one with the two sets of staplers 7321 to ensure synchronous operation of the two sets of staplers 7321. The lifting drive's lifting stroke for the base 73212 is sufficient to meet the needs of needle replenishment and replacement within the starting arm 73211.

[0056] Replacing the aforementioned eccentric mechanism with a crank-slider mechanism or similar device can also achieve periodic lifting of the base 73212 to complete periodic binding operations. When using a crank-slider mechanism, the crank end of the crank-slider mechanism is connected to the motor output shaft, and the slider of the crank-slider mechanism is connected to the base 73212 of the stapler 7321. The base 73212 and the slider of the crank-slider mechanism can be fixedly connected or hinged using a pin.

[0057] Some feasible implementation methods, such as Figure 3 and Figure 4As shown, the paper bag taking mechanism 703 is preferably a clamping mechanism, which includes a forward and reverse thread drive shaft 75, a clamping block 76, a clamping block 77, and an opening and closing motor 710. The outer wall of the forward and reverse thread drive shaft 75 is provided with two sections of threads with opposite directions of rotation along the axial direction of the forward and reverse thread drive shaft 75. The two sections of threads are preferably connected and arranged together. The axial direction of the forward and reverse thread drive shaft 75 is equally divided into two sections, each with two sections of threads. The forward and reverse thread drive shaft 75 spans the fruit-packing operation space 704, and both ends of the forward and reverse thread drive shaft 75 are rotatably connected to the main frame 701. The main frame 701 is provided with a slide rail parallel to the forward and reverse thread drive shaft 75. The slide rail is located between the first and second sides of the main frame 701 and is arranged adjacent to the forward and reverse thread drive shaft 75. The slide rail is preferably a groove structure. Clamping blocks 76 and 77 are arranged opposite to each other, and negative pressure suction cups 78 are provided on the clamping surfaces of clamping blocks 76 and 77 (i.e., the two end faces of clamping blocks 76 and 77 that are close to each other). The negative pressure suction cups 78 are used to connect to an external negative pressure air source to absorb the paper bag under negative pressure. The end of clamping block 76 is sleeved with a threaded section and simultaneously embedded in a sliding groove (i.e., the aforementioned slide). Similarly, the end of clamping block 77 is sleeved with another threaded section and simultaneously embedded in a sliding groove (i.e., the aforementioned slide). At this time, clamping block 76 and the forward and reverse threaded section are engaged. The moving shaft 75 and the slide groove (i.e. the aforementioned slide) constitute a screw-slider mechanism. At the same time, the second clamping block 77, together with the forward and reverse tooth drive shaft 75 and the slide groove (i.e. the aforementioned slide), constitute another screw-slider mechanism. The opening and closing motor 710 is mounted on the main frame 701. Its output end is connected to the end of the forward and reverse tooth drive shaft 75 through the coupling 79. The opening and closing motor 710 is used to drive the forward and reverse tooth drive shaft 75 to rotate, thereby driving the first clamping block 76 and the second clamping block 77 to move closer or further away from each other along the slide groove (i.e. the aforementioned slide), thereby driving the first clamping block 76 and the second clamping block 77 to clamp or release the paper bag.

[0058] In some feasible implementations, the first and second sides of the main frame 701 are both equipped with bearing seats 751 by bolts, and the two ends of the forward and reverse gear drive shaft 75 pass through the two bearing seats 751 respectively (one of which is not shown in the figure) and rotate with the bearing seats 751 through the bearings.

[0059] Some feasible implementation methods, such as Figure 3 and Figure 4As shown, both clamping block 76 and clamping block 77 are preferably rectangular clamping blocks, and multiple negative pressure suction cups 78 are provided on the clamping surfaces of clamping block 76 and clamping block 77 to enhance the adsorption and fixation of the paper bag. Each negative pressure suction cup 78 is connected to a negative pressure air pipe 781, which penetrates the side wall of the main frame 701 and extends to the outside of the main frame 701. The negative pressure air pipe 781 is used to connect to an external negative pressure air source, including but not limited to compressors, vacuum pumps, etc. The negative pressure suction cups 78 are mature existing technologies, such as the vacuum suction cup disclosed in invention patent publication number CN118108097A, etc., and will not be described in detail here.

[0060] In some feasible implementations, the fruit bagging device 700 can be used in conjunction with the aforementioned control module. The supply and cut-off of the negative pressure air source, the opening and closing and speed of the paper bag closing servo motor 741, the opening and closing and speed of the binding baffle servo motor 721, the opening and closing of the binding drive 7322, and the opening and closing and speed of the opening and closing motor 710 can all be controlled and regulated by the control module to realize the automatic and intelligent operation of the fruit bagging device 700 and achieve the purpose of automated bagging.

[0061] In some feasible implementations, the negative pressure suction cup 78 of the fruit bagging device 700 can share a negative pressure air source system with the bag-retrieving suction cup 503, or they can be configured with separate negative pressure air source systems. When configured with separate independent negative pressure air source systems, the two systems can be controlled to operate sequentially with a reasonable time difference by the control module. When sharing the same negative pressure air source system, the negative pressure suction cup 78 and the bag-retrieving suction cup 503 can be controlled to start their negative pressure adsorption functions by switching different air paths of the negative pressure air source system through the control module. It should be noted that when the negative pressure suction cup 78 adsorbs the paper bag at the bag-retrieving transition position 802, the bag-retrieving suction cup 503 at the bag-retrieving transition position 802 should be de-energized to ensure that the paper bag picking mechanism 703 can remove the paper bag. After the paper bag is removed, the vertical bag-carrying drive mechanism 504 of the bag-retrieving transition position 802 returns to the bag supply position 801, waiting for the next bag picking and transport.

[0062] The above-mentioned fruit bagging device 700 can be adapted to the automatic bagging of young apples, pears, and peaches. The following description, using the example of bagging young apples with paper bags, details the usage method and operating principle of the above-mentioned fruit bagging device 700 in this embodiment: The opening and closing motor 710 starts, causing the forward and reverse gear drive shaft 75 to rotate, thus moving clamping blocks 76 and 77 away from each other until they reach their maximum distance. The opening and closing motor 710 then shuts off. Afterwards, the binding baffle servo motor 721 drives the drive gear 722 to rotate, which in turn drives the driven gear 723, causing the binding baffle 71 to flip away from the binding structure 73 until it reaches a vertical position (at this point, the binding baffle 71 is perpendicular to the main frame 701). Simultaneously, the paper bag closing servo motor 741 drives the drive gear 742 to rotate, which in turn drives the driven gear 743, causing the binding structure 73 to flip away from the binding baffle 71 until it reaches a vertical position. At this point, the top of the fruit-packing operation space 704 is completely open, allowing for vertical passage.

[0063] After completing the above steps, the entire fruit bagging device 700 is moved to the position of the paper bag (the paper bag is provided by the corresponding paper feeding mechanism, which will not be described in detail here), and the paper bag is placed in the fruit bagging operation space 704. Then, the fruit bagging operation space 704 is moved until the upper opening of the paper bag is about 3 cm higher than the upper end of the binding structure 73 at this time.

[0064] Next, the opening and closing motor 710 starts again and drives the forward and reverse tooth drive shaft 75 to rotate in the opposite direction so that clamping block 1 76 and clamping block 2 77 move closer to each other until clamping block 1 76 and clamping block 2 77 clamp the paper bag from both sides, and the opening and closing motor 710 shuts off.

[0065] Subsequently, the negative pressure air pump on the negative pressure air pipe 781 is turned on. The negative pressure suction cups 78 on clamping blocks 76 and 77 are used to adhere and fix the two sides of the paper bag. Then, the opening and closing motor 710 is started, driving clamping blocks 76 and 77 to move further apart until they reach their maximum distance. During this process, clamping blocks 76 and 77 use their respective negative pressure suction cups 78 to pull the two sides of the paper bag, successfully completing the opening process. At this point, the fruit bagging device 700 moves to the position of the young fruit. Continuing to move the fruit bagging device 700 allows the young fruit to enter the paper bag. Then, the opening and closing motor 710 is started again, bringing clamping blocks 76 and 77 closer together to narrow the opening of the paper bag for subsequent sealing operations.

[0066] Subsequently, the binding baffle servo motor 721 drives the drive gear 722 to rotate, which in turn drives the driven gear 723 to rotate. The driven gear 723 causes the binding baffle 71 to flip towards the binding structure 73. During this flipping process, the binding baffle 71 presses down on the paper bag opening from top to bottom, and the fruit stem of the young fruit protrudes from the notch 712, while the fruit is wrapped inside the paper bag. The binding baffle 71 flips to... Figure 3After the tilted state is shown, the binding baffle servo 721 stops, at which point the paper bag opening is pressed and folded towards the binding structure 73 by the binding baffle 71.

[0067] Subsequently, the paper bag closing servo motor 741 drives the second drive gear 742 to rotate, which in turn drives the second driven gear 743 to rotate. The second driven gear 743 causes the binding frame 731 to flip toward the binding baffle 71 until the sealing position at the top of the binding frame 731 coincides with the upper end of the binding baffle 71. Finally, the binding drive 7322 drives the base 73212 of the two sets of staplers 7321 to rise, completing the binding and sealing of the paper bag opening exposed at the clearance hole 713.

[0068] Subsequently, the paper bag closing servo motor 741 and the binding baffle servo motor 721 drive the binding frame 731 and the binding baffle 71 to rotate away from each other until the binding structure 73 and the binding baffle 71 return to a vertical position. Then, the clamping blocks 1 76 and 2 77 are driven away from each other, and the entire fruit bagging device 700 is moved, completely separating it from the already bagged young fruit. This completes one bagging process. Then, a series of operations are repeated, including clamping, opening, bagging, baffle pressing the paper bag opening, and binding structure 73 sealing, to automatically bag the fruit one by one.

[0069] The aforementioned fruit bagging device 700, through the ingenious design of the paper bag binding mechanism 702 and the paper bag picking mechanism 703, combined with an intelligent control system, achieves efficient and precise fruit bagging. This innovative solution not only significantly improves production efficiency and reduces the time and labor costs required for manual operation, but also enhances the protection of the fruit, preventing it from being affected by pests, diseases, and environmental factors during growth. Furthermore, automated bagging reduces fruit damage rates, ensuring consistency in fruit appearance and quality, and enhancing market competitiveness. In addition, the binding baffle 71 and binding frame 731 of the fruit bagging device 700 both adopt a flip-type adjustment structure, making them flexible and adaptable to bagging different varieties and sizes of fruit, providing greater flexibility and convenience for orchard management. Moreover, the fruit bagging device 700 has a profound impact on promoting the advancement of agricultural robotics technology, expanding the application scope of robots in the agricultural field, and improving the current situation of relying on manual bagging.

[0070] In some feasible implementations, the fruit bagging robot 100 further includes a bagging auxiliary adjustment image acquisition device 901 and a posture auxiliary adjustment image acquisition device 902, both of which are communicatively connected to the aforementioned control module. The bagging auxiliary adjustment image acquisition device 901 is mounted on the horizontal movement module 603 of the robotic arm and is arranged adjacent to the multi-axis robotic arm 601; the posture auxiliary adjustment image acquisition device 902 is located at the end of the multi-axis robotic arm 601 and is used to assist the control module in performing multi-degree-of-freedom adjustments on the multi-axis robotic arm 601 to achieve the purpose of finely adjusting the posture of the fruit bagging device 700.

[0071] In some feasible implementations, both the bagging-assisted adjustment image acquisition device 901 and the posture-assisted adjustment image acquisition device 902 preferably employ cameras.

[0072] Some feasible implementation methods, such as Figure 1 As shown, the integrated mounting bracket 300 is preferably a cuboid mounting frame, the length, width and height of which are parallel to the X-axis, Y-axis and Z-axis, respectively.

[0073] Some feasible implementation methods, such as Figure 1 As shown, the walking chassis 200 is preferably a tracked walking chassis. This tracked walking chassis adopts an existing tracked walking chassis, and it is communicatively connected to the aforementioned control module so as to control the walking movement of the entire robot through the control module.

[0074] The following section, based on the above design scheme, takes bagging young apples as an example to explain the working process and working principle of the fruit bagging robot 100.

[0075] First, the walking chassis 200 is started, driving the robot to move along a predetermined path. Then, the motor of the vertical bag transport drive mechanism 504 is started, driving its slider to move, and using the slider to drive the paper bag adsorption device 501 down along the Z-axis to the preset coordinate point. Simultaneously, the negative pressure air source (such as a negative pressure air pump system) is activated and the air pressure sensor 506 is started. When the air pressure sensor 506 detects that the air pressure in the negative pressure pipeline has reached the adsorption threshold, the motor of the bin lifting drive mechanism 402 is started, driving the storage bin 401 up along the Z-axis to the bag supply position 801, so that the negative pressure adsorption surface of the bag picking suction cup 503 in the paper bag adsorption device 501 forms an effective airtight connection with the paper bag stacking contact surface (i.e., the top layer of paper bag in the paper bag stack).

[0076] After the paper bag adsorption device 501 completes the paper bag suction, the motor of the vertical bag conveying drive mechanism 504 reverses direction, driving the paper bag adsorption device 501 to move upward along the Z-axis and reset to the high zero point. At this time, the motor of the horizontal bag conveying drive mechanism 505 starts, driving the vertical bag conveying drive mechanism 504 to translate along the X-axis and accurately position it at the bag picking transition position 802.

[0077] Then, the multi-axis robotic arm 601 starts, adjusting the position and posture of its end-effector fruit bagging device 700 until the centering reference of the fruit bagging operation space 704 in the fruit bagging device 700 coincides with the central axis of the paper bag adsorbed on the paper bag adsorption device 501. At this point, the opening and closing motor 710 is triggered, causing clamping blocks 1 76 and 2 77 to clamp the paper bag. After the fruit bagging device 700 completes the clamping and fixing of the paper bag, the control module switches the air source channel of the negative pressure air source (such as a negative pressure air pump system). At this time, the paper bag adsorption device 501 releases its adsorption of the paper bag, while the negative pressure suction cups 78 of clamping blocks 1 76 and 2 77 begin to adsorb the paper bag.

[0078] Then the opening and closing motor 710 reverses its action to open the paper bag.

[0079] Then, the multi-axis robotic arm 601 returns to its initial pose (e.g.) Figure 1 (As shown). The bagging-assisted adjustment image acquisition device 901 identifies the young apple and transmits its position parameters. Subsequently, the motors of the robotic arm vertical movement module 602 and the robotic arm horizontal movement module 603 move the multi-axis robotic arm 601 to the designated position.

[0080] Then, the posture-assisted adjustment image acquisition device 902 identifies the position and posture of the young apple, drives the multi-axis robotic arm 601 to move its end effector, wraps the young apple in a paper bag, and seals it using the paper bag binding mechanism 702.

[0081] Finally, the motors of the vertical movement module 602 and the horizontal movement module 603 of the robotic arm move the multi-axis robotic arm 601 to the initial position to complete the bagging of the young apples.

[0082] In summary, the fruit bagging robot 100 proposed in this invention features a novel and rational structure. By combining advanced robotics technology and intelligent control modules, it achieves efficient and precise fruit bagging. This innovative solution not only significantly improves production efficiency and reduces the time and labor costs required for manual operation, but also enhances the protection of the fruit, preventing it from being affected by pests, diseases, and environmental factors during growth. Furthermore, automated operation reduces fruit damage rates, ensuring the appearance and quality of apples and enhancing market competitiveness. Simultaneously, the device's flexibility allows it to adapt to different varieties and sizes of fruit, providing greater flexibility and convenience for orchard management. Moreover, this innovation has a profound impact on promoting the advancement of agricultural robotics technology, expanding the application scope of robots in agriculture, and improving the current situation of relying on manual bagging.

[0083] Furthermore, existing bagging devices generally suffer from poor paper bag gripping stability and susceptibility to damage, especially when thin, soft paper materials are affected by environmental temperature and humidity fluctuations, causing the fixed structure grippers to easily cause the bag to stick together or the opening to be incomplete. In contrast, the bag transport device and fruit bagging device of this invention both utilize suction cups to apply negative pressure to the paper bag for secure gripping, and the large contact area between the suction cups and the paper bag makes it less prone to damage even when thin, soft paper materials are affected by environmental temperature and humidity fluctuations. When the first and second clamping blocks in the fruit bagging device separate, their respective negative pressure suction cups pull on both sides of the paper bag, allowing for easy opening of the bag while maintaining an intact opening, thus avoiding the problem of the fixed structure grippers causing the bag to stick together or the opening to be incomplete.

[0084] Existing fruit bagging devices generally rely on a single visual sensor for young fruit recognition. In complex orchard environments (such as foliage obstruction or changes in light), positioning errors can easily occur, leading to misaligned or missed bags. Furthermore, traditional rigid end effectors lack protection and are prone to damaging fruit stalks or fruit surfaces. This invention, however, simultaneously incorporates a bagging-assisted adjustment image acquisition device and a posture-assisted adjustment image acquisition device. These two devices work together, eliminating blind spots. After accurately acquiring the fruit's position and posture, the auxiliary control module precisely adjusts the position and posture of the fruit bagging device 700, thus achieving precise bagging and avoiding the technical defects of positioning errors, misaligned bags, or missed bags. Moreover, during the adjustment of the position and posture of the fruit bagging device 700, it will not collide with the fruit stalk or fruit surface due to blind spots or positioning errors in visual detection, improving the protection of the fruit.

[0085] Furthermore, existing bagging devices lack modularity, resulting in poor system expandability and maintainability. In contrast, this invention integrates the walking chassis, bag supply device, bag transport device, posture adjustment device, fruit bagging device, bagging auxiliary adjustment image acquisition device, and posture auxiliary adjustment image acquisition device into a single integrated mounting frame. This not only enhances functionality but also significantly improves system expandability and maintainability through modular design of each component.

[0086] Existing fruit bagging devices struggle to dynamically adjust their operating modes based on tree shape or terrain. This invention, however, utilizes a combination of a vertical movement module, a horizontal movement module, and a multi-axis robotic arm to achieve precise, multi-degree-of-freedom position adjustment of the fruit bagging device, adapting to various tree shapes and fruit postures. The tracked chassis offers superior off-road performance, high stability, and strong load-bearing capacity, enhancing the robot's adaptability to different terrains.

[0087] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and objectives of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0088] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A fruit bagging robot, characterized in that, include: Walking chassis (200) is used to drive the robot to move as a whole; An integrated mounting bracket (300) is mounted on the walking chassis (200); A bag supply device (400), disposed on the integrated mounting frame (300), is capable of supplying paper bags to be used to the bag supply position (801); A bag transport device (500) is disposed on the integrated mounting frame (300) and can switch positions between the bag supply position (801) and the bag taking transition position (802) to transport the paper bag to be used from the bag supply position (801) to the bag taking transition position (802). The bagging execution device includes a fruit bagging device (700) and a posture adjustment device (600). The posture adjustment device (600) is mounted on the integrated mounting frame (300), and the fruit bagging device (700) is located at the end of the posture adjustment device (600). The posture adjustment device (600) can drive the fruit bagging device (700) to switch positions between the bag-taking transition position (802) and the fruit to be bagged. The fruit bagging device (700) can fix the paper bag to be used obtained at the bag-taking transition position (802) to the outside of the fruit to be bagged. The posture adjustment device (600) includes a multi-axis robotic arm (601). The vertical moving module (602) and the horizontal moving module (603) of the robotic arm are included. The fruit bagging device (700) includes a main frame (701), a paper bag binding mechanism (702), and a paper bag picking mechanism (703). The main frame (701) is installed at the end of the multi-axis robotic arm (601). The paper bag binding mechanism (702) includes a binding baffle (71), a baffle rotation drive (72), a binding structure (73), and a paper bag closing drive (74). The mounting end of the binding baffle (71) is fixed with a pin (711). The two ends of the pin (711) are rotatably mounted on the first side of the main frame (701) through bearings. The operating end is provided with a notch (712) for the fruit stem to pass through; a servo compartment is also provided on the first side of the main frame (701); the binding structure (73) includes a binding frame (731) and a binding machine (732) disposed on the binding frame (731), the binding machine (732) includes a binding execution component and a binding drive (7322) for driving the binding execution component, the binding execution component is located at the operating end of the binding frame (731); a pin shaft two (7311) is fixed at the mounting end of the binding frame (731), the two ends of the pin shaft two (7311) are rotatably mounted on the second side of the main frame (701) through bearings, the main frame The second side of the frame (701) is also provided with a servo compartment 2; the binding baffle (71) and the binding structure (73) are arranged opposite each other at intervals, and a fruit-packing operation space (704) is formed between the binding baffle (71) and the binding structure (73); the baffle rotation drive (72) includes a binding baffle servo motor (721) and a transmission mechanism 1. The binding baffle servo motor (721) is located in the servo compartment 1, and the output end of the binding baffle servo motor (721) is connected to the pin shaft 1 (711) through the transmission mechanism 1. The binding baffle servo motor (721) is used to drive the binding baffle (71) to rotate so that the binding baffle (71) can press or move away from the paper bag opening;The paper bag closing drive (74) includes a paper bag closing servo motor (741) and a transmission mechanism two. The paper bag closing servo motor (741) is located inside the servo motor compartment two, and the output end of the paper bag closing servo motor (741) is connected to the pin shaft two (7311) through the transmission mechanism two. The paper bag closing servo motor (741) is used to drive the binding structure (73) to rotate so that the binding structure (73) can bind or move away from the paper bag opening. The paper bag picking mechanism (703) is located on the main frame (701) and within the fruit-packing operation space (704). The paper bag picking mechanism (703) can pick up and open the paper bag to be used.

2. The fruit bagging robot according to claim 1, characterized in that, The bag supply device (400) includes: The top-open storage compartment (401) is capable of storing stacks of paper bags stacked from bottom to top. The storage box lifting drive mechanism (402) is disposed on the integrated mounting frame (300). The storage bag storage box (401) is connected to the storage box lifting drive mechanism (402). The storage box lifting drive mechanism (402) can drive the storage bag storage box (401) to rise and fall relative to the integrated mounting frame (300), so that the storage bag storage box (401) moves upward and reaches the bag supply position (801), or moves downward and moves away from the bag supply position (801).

3. The fruit bagging robot according to claim 2, characterized in that, The bag-carrying device (500) includes: The paper bag adsorption device (501) includes a suction cup connecting device (502) and a bag-taking suction cup (503) disposed on the suction cup connecting device (502); the bag-taking suction cup (503) is used to connect to an external negative pressure air source to suck up the top layer of paper bags in the paper bag supply position (801) under negative pressure. A vertical bag-carrying drive mechanism (504) and a horizontal bag-carrying drive mechanism (505) are provided. The horizontal bag-carrying drive mechanism (505) is disposed on the integrated mounting frame (300), and the vertical bag-carrying drive mechanism (504) is disposed on the horizontal bag-carrying drive mechanism (505). The suction cup connecting device (502) is connected to the vertical bag-carrying drive mechanism (504) and is located above the bag supply position (801). The vertical bag-carrying drive mechanism (504) can drive the suction cup connecting device (502) to move up and down, so that the bag-taking suction cup (503) moves down and picks up the topmost paper bag, or moves up and away from the bag supply position (801). The horizontal bag-carrying drive mechanism (505) can drive the vertical bag-carrying drive mechanism (504) to move horizontally, so that the vertical bag-carrying drive mechanism (504) can switch positions between the bag supply position (801) and the bag-taking transition position (802).

4. The fruit bagging robot according to claim 3, characterized in that, It also includes a control module and a pressure sensor (506). The storage box lifting drive mechanism (402) and the pressure sensor (506) are both connected to the control module. The pressure sensor (506) is installed on the negative pressure pipeline of the bag-retrieving suction cup (503) and is used to detect the air pressure in the negative pressure pipeline. When the air pressure in the negative pressure pipeline reaches a preset value, the control module can automatically start the storage box lifting drive mechanism (402) so that the storage box (401) moves upward and reaches the bag supply position (801). The preset value is the minimum value that the bag-retrieving suction cup (503) can pick up the topmost paper bag.

5. The fruit bagging robot according to claim 3 or 4, characterized in that, The vertical moving module (602) of the robotic arm is mounted on the integrated mounting frame (300) and parallel to the vertical bag-carrying drive mechanism (504) and the box lifting drive mechanism (402). The horizontal moving module (603) of the robotic arm is mounted on the vertical moving module (602). The multi-axis robotic arm (601) is mounted on the horizontal moving module (603). The fruit bagging device (700) is mounted at the end of the multi-axis robotic arm (601). The horizontal movement module (603) of the robotic arm can drive the multi-axis robotic arm (601) to move horizontally, and the vertical movement module (602) of the robotic arm can drive the horizontal movement module (603) to rise and fall to adjust the height of the fruit bagging device (700). The multi-axis robotic arm (601) can adjust the angle and posture of the fruit bagging device (700) so that the fruit bagging device (700) can complete the bag removal at the bag removal transition position (802) and fix the obtained paper bag set to the outside of the fruit to be bagged.

6. The fruit bagging robot according to claim 1, characterized in that, The binding execution component includes a plurality of staplers (7321) arranged at intervals along the sealing direction of the paper bag opening, and the stapler arm (73211) of the stapler (7321) is fixed to the binding frame (731); the binding drive (7322) is a lifting drive and is connected to the base (73212) of the stapler (7321), and the binding drive (7322) can drive the base (73212) of the stapler (7321) to lift or lower relative to the stapler arm (73211) to achieve binding and sealing of the paper bag opening; the binding baffle (71) is also provided with a clearance hole (713) for the base (73212) of the stapler (7321) to pass through.

7. The fruit bagging robot according to claim 1, characterized in that, The paper bag taking mechanism (703) includes: The forward and reverse thread drive shaft (75) has two sections of threads with opposite directions of rotation on its outer wall along the axial direction of the forward and reverse thread drive shaft (75); the forward and reverse thread drive shaft (75) spans the fruit-packing operation space (704), and both ends of the forward and reverse thread drive shaft (75) are rotatably connected to the main frame (701); the main frame (701) is provided with a slide parallel to the forward and reverse thread drive shaft (75); Clamping block one (76) and clamping block two (77) are arranged opposite to each other, and negative pressure suction cups (78) are provided on the clamping surfaces of clamping block one (76) and clamping block two (77). The negative pressure suction cups (78) are used to connect to an external negative pressure air source to absorb paper bags under negative pressure. The end of clamping block one (76) is connected to a section of the threaded section and slides with the slide rail. The end of clamping block two (77) is connected to another section of the threaded section and slides with the slide rail. An opening and closing motor (710) is mounted on the main frame (701) and connected to the end of the forward and reverse tooth drive shaft (75). The opening and closing motor (710) is used to drive the forward and reverse tooth drive shaft (75) to rotate, so as to drive the clamping block one (76) and the clamping block two (77) to move closer to each other or further away from each other.

8. The fruit bagging robot according to claim 5, characterized in that, Also includes: The bagging auxiliary adjustment image acquisition device (901) is mounted on the horizontal movement module (603) of the robotic arm and is arranged adjacent to the multi-axis robotic arm (601); An attitude-assisted adjustment image acquisition device (902) is disposed at the end of the multi-axis robotic arm (601).

9. The fruit bagging robot according to claim 5, characterized in that, The integrated mounting frame (300) is a cuboid mounting frame; the walking chassis (200) is a tracked walking chassis.

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