A multifunctional vegetable harvester

Abstract

This invention relates to a multifunctional vegetable harvester, belonging to the field of agricultural equipment technology. The invention includes a frame, rollers, and a cutting mechanism; the rollers are installed at the bottom of the frame, and the harvesting mechanism is installed on the frame. The harvesting mechanism includes a cutting module, a clamping and conveying module, a reversing conveying module, a main reversing conveying module, a baling mechanism, a robotic arm, a box conveying module, and a storage box. This invention can adapt to different vegetable varieties and complex field terrain. Compared with traditional manual harvesting methods, it can significantly improve the efficiency of vegetable harvesting operations, reduce labor input, and lower harvesting costs. The invention adopts a modular integrated design, equipped with multiple operating mechanisms, and uses a stable walking mechanism as a mobile platform, enabling simultaneous integrated operations such as harvesting, conveying, and collecting vegetables. This can significantly shorten the time from harvesting to collection, reducing vegetable damage, field losses, and the risks associated with untimely harvesting.

Description

Technical Field

[0001] This invention relates to a multifunctional vegetable harvester, belonging to the field of agricultural equipment technology. Background Technology

[0002] my country is a major vegetable-producing country. Currently, vegetable harvesting relies heavily on manual labor or single-variety harvesters. While this is manageable for large-scale planting in plains areas, manual harvesting is inefficient and costly in areas with mixed cropping or complex planting structures. Single-variety harvesters require frequent adjustments or replacements. Meanwhile, the continuous migration of rural labor to non-agricultural sectors leaves those remaining in the planting areas facing labor shortages and increased labor intensity during the harvest season, making it difficult to ensure timely vegetable harvesting and increasing the risk of losses. To address the efficiency bottleneck in harvesting multiple types of vegetables and reduce reliance on manual labor, integrated machinery capable of adapting to the characteristics of different vegetables and completing vegetable harvesting in a single operation has emerged. Summary of the Invention

[0003] The purpose of this invention is to provide a multifunctional vegetable harvester to solve the problems of existing vegetable harvesting equipment, such as limited functionality, low operating efficiency, and poor adaptability.

[0004] This invention is achieved according to the following technical solution: A multi-functional vegetable harvester, comprising a frame 1, rollers 2, and a cutting mechanism 3; the rollers 2 are installed at the bottom of the frame 1, and the harvesting mechanism 3 is installed on the frame 1. The harvesting mechanism 3 includes a cutting module 301, a clamping and conveying module 302, a reversing conveying module 303, a main reversing conveying module 304, a baling mechanism 305, a robotic arm 306, a box conveying module 307, and a storage box 308; the cutting module 301 is installed on the outside of the frame 1, the clamping and conveying module 302 is installed on the upper part of the frame 1, and the reversing conveying module 303 is installed on the frame 1, located on the side of the clamping and conveying module 302. The main reversing conveyor module 304 is mounted on the frame 1, located on the side of the reversing conveyor module 303. The bundling mechanism 305 is mounted on the frame 1, located on the side of the main reversing conveyor module 304. The robotic arm 306 is mounted on the frame 1. The box conveyor module 307 is mounted on the frame 1. The storage box 308 is mounted on the box conveyor module 307. The cutting module 301 includes saw teeth 3011, a first motor 3012, and a support plate 3013; the support plate 3013 is mounted on the frame 1, the first motor 3012 is mounted on the support plate 3013, and the saw teeth 3011 are mounted on the motor. The clamping conveyor module 302 includes a first... The components include a fixed plate 3021, a conveyor belt 3022, a support column 3023, a driven pulley 3024, a power pulley 3025, a second motor 3026, a driven large pulley 3027, and a second fixed plate 3028. The second fixed plate 3028 is mounted on the frame 1. The power pulley 3025, driven pulley 3024, support column 3023, and driven large pulley 3027 are mounted on the second fixed plate 3028. The first fixed plate 3021 is fixedly connected to the second fixed plate 3021 via the support column 3023. The second motor 3026 is mounted on the first fixed plate. The conveyor belt 3022 is mounted on the first fixed plate 3021. 1. The outer side of the second fixed plate 3028 contacts the power pulley 3025, the driven pulley 3024, the support column 3023, and the driven large pulley 3027; the reversing transmission module 303 includes a support column 3031, a first transmitter 3032, and a third motor 3033; the support column 3031 is installed on the upper part of the frame 1, the first transmitter 3032 is installed on the support column 3031, and the third motor 3033 is installed on the support column 3031. The third motor 3033 is connected to the first transmitter 3032. The main reversing transmission module 304 includes a connecting column 3041, a second transmitter 3042, and a fourth motor 3043;The connecting column 3041 is installed on the upper part of the frame 1, the fourth motor 3043 is installed on the frame 1, the second conveyor 3042 is installed on the connecting column 3041 and connected to the fourth motor 3043, and the bundling mechanism 305 includes an outer frame 3051, a fixed frame 3052, a movable frame 3053, a baffle 3054, a slider 3055, a first nut seat 3056, a first lead screw 3057, a fifth motor 3058, a sixth motor 3059, a pulley 30510, a belt 30511, a belt pulley 30512, and a seventh motor. 30513, Small pulley; 30514, Belt; 30515, Large pulley; 30516, First cam; 30517, Output shaft; 30518, Second cam; 30519, Third cam; 30520, Eighth motor; 30521, Second lead screw; 30522, Second nut seat; 30523, Ninth motor; 30524, Fixing block; 30525, Heating block; 30526, Cutting block; 30527, First roller; 30528, Second roller; 30529, Guide plate; 30530, Pulley; 30531;The outer frame 3051 is mounted on the machine frame 1. The fixed frame 3052 is mounted inside the outer frame 3051. The movable frame 3053 is mounted inside the fixed frame 3051. The baffle 3054 is mounted on the outer frame 3051. The fifth motor 3058 is mounted on the outer frame 3051. The first lead screw 3057 is mounted on the fifth motor 3058. The first nut seat 3056 is mounted on the first lead screw 3057. The slider 3055 is connected to the first nut seat 3056. The sixth motor 3059 is mounted inside the outer frame 3051. The first roller 305... 28. The second roller 30529 is installed inside the outer frame 3051. The large pulley 30516 is installed on the sixth motor 3059, and the small pulley 30514 is installed on the second roller 30529. The large pulley 30516 and the small pulley 30514 are driven by the belt 30515. The seventh motor 30513 is installed inside the outer frame 3051. The pulley 30510 is installed on the output end of the seventh motor 30513, and the pulley 30531 is installed on the first roller 30528. The pulleys 30510 and 30531 are connected. Driven by belt 30511, the eighth motor 30521 is installed inside the outer frame 3051. One end of the output shaft 30518 is installed on the eighth motor 30521. The first cam 30517, the second cam 30519, and the third cam 30520 are respectively installed on the output shaft 30518. The ninth motor 30524 is installed inside the outer frame 3051. The second lead screw is installed on the ninth motor 30524. The second nut seat 30523 is installed on the second lead screw 30522. The movable frame 3053 and the second nut seat... 30523 is connected by screws, and the guide plate 30530 is fixedly installed on the outside of the outer frame 3051. The robotic arm 306 includes a connecting block 3061, a tenth motor 3062, a first rotating block 3063, an eleventh motor 3064, a second rotating block 3065, a first connecting rod 3066, a third rotating block 3067, a twelfth motor 3068, a fixed block 3069, a rotating shaft 30610, a movable column 30611, a fourth rotating block 30612, a gripper 30613, a second connecting rod 30614, and a connecting movable block 30615.Connecting block 3061 is mounted on frame 1. Tenth motor 3062 is mounted on the side of connecting block 3061. First rotating block 3063 is mounted on top of first rotating shaft 3062. Eleventh motor 3064 is mounted on the side of first rotating block 3063. Movable block 3065 is mounted inside first rotating block 3063. Second connecting rod 30614 is mounted on the output shaft of eleventh motor 3064. One end of first connecting rod 3066 is connected to second connecting rod 30614, and the other end is connected to third rotating block 3067. Third rotating block 3067 is hinged to second rotating block 3065. Fixed block 3069 is mounted on third rotating block. Twelfth motor 3068 is mounted on one side of fixed block 3069. Rotating shaft 3... 0610 is connected to the twelfth motor 3068 and located on the other side of the fixed block 30619. The movable column 30611 is installed at the end of the rotating shaft 30610. The connecting movable block 30615 is fixedly installed at the end of the movable column 30611. The fourth rotating block 30612 is installed on the outside of the connecting movable block 30615. The gripper 30612 is installed at the end of the third rotating block 30611. The box conveying module 307 includes a fixed column 3071, a third conveyor 3072, and a thirteenth motor 3073. The fixed column 3071 is fixedly installed on the frame 1, the third conveyor 3072 is installed on the fixed column 3071, and the thirteenth motor 3073 is fixedly installed on the side of the third conveyor 3072.

[0005] Preferably, the cutting module 301 is equipped with four independent motors 3012 that drive the serrated cutter 3011 to rotate in groups of two, rotating clockwise and counterclockwise respectively, to achieve flexible and low-damage cutting.

[0006] Preferably, the robotic arm 306 is a four-axis structure, equipped with a vision recognition system and a flexible gripper, and achieves precise positioning and gripping of bundled vegetables through the Moveit! control system.

[0007] Preferably, the seventh motor 30514 pushes the vegetables through the support plate above the operating screw 30515, and the first cam 30517, the second cam 30519 and the third cam 30520 correspond to the cutting block 30527, the heating block 30526 and the fixing block 30525 respectively.

[0008] Preferably, the device is equipped with an STM32F103C8T6 microcontroller and connected to a motor temperature, current, and voltage detection and alarm system. In case of a fault, information is fed back through lights and sounds.

[0009] Preferably, the clamping and conveying module 302 adopts a dual-track transmission structure to realize the smooth conveying of vegetables from the harvesting mechanism to the bundling mechanism and avoid crushing damage.

[0010] Preferably, the robot is equipped with an intelligent navigation and crop recognition system, which collects real-time crop distribution information in the field through visual sensors and automatically plans the optimal harvesting path in combination with a preset planting map.

[0011] The working principle of a multi-functional vegetable harvester is as follows: When harvesting vegetables, the first motor 3012 is started to drive the serrated blade 3011 to rotate and cut the vegetables. Then, the second motor 3026 drives the power pulley 3025 to rotate, thereby driving the conveyor belt 3022 to operate, clamping the vegetables and conveying them to the reversing conveyor module 303. The third motor 3033 drives the first conveyor 3032 to operate, and the conveyor belt conveys the vegetables to the overall reversing conveyor module 304. The fourth motor 3043 drives the second transmission device 3042 to operate, and the conveyor belt conveys the vegetables to the finishing stage. The bundling mechanism 305 starts with the fifth motor 3058, which drives the first lead screw 3057 to rotate. The first nut seat 3056 moves forward, causing the slider 3055 to move forward and transport the vegetables to the bundling position. The sixth motor 3059 and the seventh motor 30513 start, respectively driving the second roller 30529 and the first roller 30530 to rotate. This causes the cable ties on the strap pulley 30512 to move along the path between the fixed frame 3052 and the movable frame 3053. After one revolution, the sixth motor 3059 and the seventh motor 30513 stop. The ninth motor 30524 starts, driving the second lead screw 30522 to rotate. The rotation of the second lead screw 30522 drives the second nut seat 30523 to move forward linearly, which in turn drives the movable frame 3053 to move forward. The cable tie, no longer supported by the movable frame 3053, automatically falls. At this time, the sixth motor 3059 and the seventh motor 30513 reverse, retracting the excess cable tie. Then, the eighth motor 30521 starts, driving the output shaft 30518 to rotate, which in turn drives the third cam 30520, the second cam 30519, and the first cam 30517 to rotate. First, the third cam 30520 drives the fixing block 30525 to fix the cable ties upward. Then, the second cam 30519 drives the heating block 30526 to heat the cable ties upward, causing them to stick together. Finally, the first cam 30517 drives the cutting block 30527 to cut off the excess cable ties, completing the bundling of the vegetables. The robotic arm is then activated to grab the bundled vegetables and put them into the storage box 308. When the storage box 308 is full, the thirteenth motor 3073 starts, driving the third conveyor 3072 to transport the storage box 308 to the designated location, completing one harvest.

[0012] In summary, this multi-functional vegetable harvester integrates cutting, conveying, bundling, gripping, and storage functions, enabling continuous automated operation of three types of long, strip-shaped vegetables. The harvesting mechanism 301 adopts a flexible design, effectively reducing crop damage. The clamping and conveying module 302, through the conveyor belt 3022 and the dual-track structure, ensures stable vegetable transport, significantly reducing labor intensity and vegetable loss during the harvesting process. It is particularly suitable for the urgent need for high-efficiency, low-damage harvesting in large-scale planting scenarios.

[0013] The beneficial effects of this invention are: 1. This invention has multiple operating modes to adapt to different vegetable varieties and complex field terrain. Compared with traditional manual harvesting methods, it can greatly improve the efficiency of vegetable harvesting, reduce manpower input, reduce harvesting costs, and avoid a series of problems caused by labor shortage and low efficiency of manual harvesting. 2. This invention adopts a modular integrated design, is equipped with multiple operating mechanisms, and uses a stable walking mechanism as a mobile platform. It can simultaneously complete integrated operations such as harvesting, conveying, and collecting vegetables, which can significantly shorten the time from harvesting to collection of vegetables and reduce the risks caused by vegetable damage, field losses, and untimely harvesting. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the cutting structure of the present invention; Figure 3 This is a schematic diagram of the clamping and conveying structure of the present invention; Figure 4 This is a schematic diagram of the clamping and conveying structure of the present invention; Figure 5 This is a schematic diagram of the reversing transmission structure of the present invention; Figure 6 This is a schematic diagram of the overall reversing transmission structure of the present invention; Figure 7 This is a schematic diagram of the bundling structure of the present invention; Figure 8 This is a schematic diagram of the bundling structure of the present invention; Figure 9 This is a cross-sectional view of the bundling structure of the present invention; Figure 10 This is a schematic diagram of the robotic arm structure of the present invention; Figure 11 This is a schematic diagram of the robotic arm structure of the present invention; Figure 12 This is a schematic diagram of the box conveying structure of the present invention.

[0015] The following are the labels in the diagram: 1. Frame; 2. Roller; 3. Harvesting mechanism; 301. Cutting module; 3011. Saw teeth; 3012. First motor; 3013. Support plate; 302. Clamping and conveying module; 3021. First fixed plate; 3022. Conveyor belt; 3023. Support rod; 3024. Driven small pulley; 3025. Power pulley; 3026. Second motor; 3027. Driven large pulley; 3028. Second fixed plate; 303. Reversing conveying module; 3031. Support column; 3032. First conveyor; 3033. Third motor; 304. Main reversing conveying module; 3041. Connecting column; 3042. Second conveyor; 3043. Fourth motor; 305. Baling mechanism; 3051. Outer frame; 3052. Fixed frame; 3053. Movable frame; 3054. Guide 3055, slider; 3056, first nut seat; 3057, first lead screw; 3058, fifth motor; 3059, sixth motor; 30510, pulley; 30511, belt; 30512, drive shaft; 30513, seventh motor; 30514, small pulley; 30515, belt; 30516, large pulley; 30517, first cam; 30518, output. Shaft; 30519, Second Cam; 30520, Third Cam; 30521, Eighth Motor; 30522, Second Lead Screw; 30523, Second Nut Seat; 30524, Ninth Motor; 30525, Fixing Block; 30526, Heating Block; 30527, Cutting Block; 30528, First Roller; 30529, Second Roller; 30530, Guide Plate; 30531, Pulley; 306. Robotic arm; 3061. Connecting block; 3062. Tenth motor; 3063. First rotating block; 3064. Eleventh motor; 3065. Second rotating block; 3066. First connecting rod; 3067. Third rotating block; 3068. Twelfth motor; 3069. Operating block; 30610. Second rotating shaft; 30611. Movable column; 30612. Fourth rotating block; 30613. Gripper; 30614. Second connecting rod; 30615. Connecting movable block; 307. Box conveying module; 3071. Fixed column; 3072. Third conveyor; 3073. Thirteenth motor; 308. Storage box. Detailed Implementation

[0016] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0017] Example: Figure 1-12As shown, a vegetable harvester includes a frame 1, rollers 2, and a cutting mechanism 3. The rollers 2 are mounted at the bottom of the frame 1, and the cutting mechanism 3 is mounted on the frame 1. The cutting mechanism 3 includes a cutting module 301, a clamping and conveying module 302, a reversing conveying module 303, a main reversing conveying module 304, a baling mechanism 305, a robotic arm 306, a box conveying module 307, and a storage box 308. The cutting module 301 is mounted on the outside of the frame 1, the clamping and conveying module 302 is mounted on the upper part of the frame 1, and the reversing conveying module 303 is mounted on the frame 1, located to the side of the clamping and conveying module 302. The main reversing conveying module 304... 4 is mounted on the frame 1, located on the side of the reversing conveyor module 303; the bundling mechanism 305 is mounted on the frame 1, located on the side of the main reversing conveyor module 304; the robotic arm 306 is mounted on the frame 1; the box conveyor module 307 is mounted on the frame 1; the storage box 308 is mounted on the box conveyor module 307; the cutting module 301 includes saw teeth 3011, a first motor 3012, and a support plate 3013; the support plate 3013 is mounted on the frame 1, the first motor 3012 is mounted on the support plate 3013, and the saw teeth 3011 are mounted on the motor; the clamping conveyor module 302 includes a first fixing plate 3021. The system comprises a conveyor belt 3022, a support column 3023, a driven pulley 3024, a power pulley 3025, a second motor 3026, a driven large pulley 3027, and a second fixed plate 3028. The second fixed plate 3028 is mounted on the frame 1. The power pulley 3025, driven pulley 3024, support column 3023, and driven large pulley 3027 are mounted on the second fixed plate 3028. The first fixed plate 3021 is fixedly connected to the second fixed plate 3021 via the support column 3023. The second motor 3026 is mounted on the first fixed plate. The conveyor belt 3022 is mounted on the first fixed plate 3021. The outer side of the second fixed plate 3028 is in contact with the power pulley 3025, the driven pulley 3024, the support column 3023, and the driven large pulley 3027; the reversing transmission module 303 includes a support column 3031, a first transmitter 3032, and a third motor 3033; the support column 3031 is installed on the upper part of the frame 1, the first transmitter 3032 is installed on the support column 3031, and the third motor 3033 is installed on the support column 3031 and connected to the first transmitter 3032; the main reversing transmission module 304 includes a connecting column 3041, a second transmitter 3042, and a fourth motor 3043;The connecting column 3041 is installed on the upper part of the frame 1, the fourth motor 3043 is installed on the frame 1, the second conveyor 3042 is installed on the connecting column 3041 and connected to the fourth motor 3043, and the bundling mechanism 305 includes an outer frame 3051, a fixed frame 3052, a movable frame 3053, a baffle 3054, a slider 3055, a first nut seat 3056, a first lead screw 3057, a fifth motor 3058, a sixth motor 3059, a pulley 30510, a belt 30511, a belt pulley 30512, and a seventh motor. 30513, Small pulley; 30514, Belt; 30515, Large pulley; 30516, First cam; 30517, Output shaft; 30518, Second cam; 30519, Third cam; 30520, Eighth motor; 30521, Second lead screw; 30522, Second nut seat; 30523, Ninth motor; 30524, Fixing block; 30525, Heating block; 30526, Cutting block; 30527, First roller; 30528, Second roller; 30529, Guide plate; 30530, Pulley; 30531;The outer frame 3051 is mounted on the machine frame 1. The fixed frame 3052 is mounted inside the outer frame 3051. The movable frame 3053 is mounted inside the fixed frame 3051. The baffle 3054 is mounted on the outer frame 3051. The fifth motor 3058 is mounted on the outer frame 3051. The first lead screw 3057 is mounted on the fifth motor 3058. The first nut seat 3056 is mounted on the first lead screw 3057. The slider 3055 is connected to the first nut seat 3056. The sixth motor 3059 is mounted inside the outer frame 3051. The first roller 305... 28. The second roller 30529 is installed inside the outer frame 3051. The large pulley 30516 is installed on the sixth motor 3059, and the small pulley 30514 is installed on the second roller 30529. The large pulley 30516 and the small pulley 30514 are driven by the belt 30515. The seventh motor 30513 is installed inside the outer frame 3051. The pulley 30510 is installed on the output end of the seventh motor 30513, and the pulley 30531 is installed on the first roller 30528. The pulleys 30510 and 30531 are connected. Driven by belt 30511, the eighth motor 30521 is installed inside the outer frame 3051. One end of the output shaft 30518 is installed on the eighth motor 30521. The first cam 30517, the second cam 30519, and the third cam 30520 are respectively installed on the output shaft 30518. The ninth motor 30524 is installed inside the outer frame 3051. The second lead screw is installed on the ninth motor 30524. The second nut seat 30523 is installed on the second lead screw 30522. The movable frame 3053 and the second nut seat... 30523 is connected by screws, and the guide plate 30530 is fixedly installed on the outside of the outer frame 3051. The robotic arm 306 includes a connecting block 3061, a tenth motor 3062, a first rotating block 3063, an eleventh motor 3064, a second rotating block 3065, a first connecting rod 3066, a third rotating block 3067, a twelfth motor 3068, a fixed block 3069, a rotating shaft 30610, a movable column 30611, a fourth rotating block 30612, a gripper 30613, a second connecting rod 30614, and a connecting movable block 30615.Connecting block 3061 is mounted on frame 1. Tenth motor 3062 is mounted on the side of connecting block 3061. First rotating block 3063 is mounted on top of first rotating shaft 3062. Eleventh motor 3064 is mounted on the side of first rotating block 3063. Movable block 3065 is mounted inside first rotating block 3063. Second connecting rod 30614 is mounted on the output shaft of eleventh motor 3064. One end of first connecting rod 3066 is connected to second connecting rod 30614, and the other end is connected to third rotating block 3067. Third rotating block 3067 is hinged to second rotating block 3065. Fixed block 3069 is mounted on third rotating block. Twelfth motor 3068 is mounted on one side of fixed block 3069. Rotating shaft 3... 0610 is connected to the twelfth motor 3068 and located on the other side of the fixed block 30619. The movable column 30611 is installed at the end of the rotating shaft 30610. The connecting movable block 30615 is fixedly installed at the end of the movable column 30611. The fourth rotating block 30612 is installed on the outside of the connecting movable block 30615. The gripper 30612 is installed at the end of the third rotating block 30611. The box conveying module 307 includes a fixed column 3071, a third conveyor 3072, and a thirteenth motor 3073. The fixed column 3071 is fixedly installed on the frame 1, the third conveyor 3072 is installed on the fixed column 3071, and the thirteenth motor 3073 is fixedly installed on the side of the third conveyor 3072.

[0018] The foregoing text, in conjunction with the accompanying drawings, has provided a detailed description of the specific embodiments of the present invention. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A multi-functional vegetable harvester, characterized in that: The machine includes a frame (1), rollers (2), and a cutting mechanism (3). The rollers (2) are installed at the bottom of the frame (1), and the harvesting mechanism (3) is installed on the frame (1). The harvesting mechanism (3) includes a cutting module (301), a clamping and conveying module (302), a reversing conveying module (303), a general reversing conveying module (304), a bundling mechanism (305), a robotic arm (306), a box conveying module (307), and a storage box (308). The cutting module (301) is installed on the outside of the frame (1), the clamping and conveying module (302) is installed on the upper part of the frame (1), the reversing conveying module (303) is installed on the frame (1) and located on the side of the clamping and conveying module (302), and the general reversing conveying module (304) is installed on the side of the clamping and conveying module (302). On the frame (1), located on the side of the reversing conveyor module (303), the bundling mechanism (305) is mounted on the frame (1), located on the side of the main reversing conveyor module (304), the robotic arm (306) is mounted on the frame (1), the box conveyor module (307) is mounted on the frame (1), the storage box (308) is mounted on the box conveyor module (307), the cutting module (301) includes saw teeth (3011), a first motor (3012), and a support plate (3013); the support plate (3013) is mounted on the frame (1), the first motor (3012) is mounted on the support plate (3013), and the saw teeth (3011) are mounted on the motor; the clamping conveyor module (302) includes a first fixing plate (3021). The system consists of a conveyor belt (3022), a support column (3023), a driven pulley (3024), a power pulley (3025), a second motor (3026), a driven large pulley (3027), and a second fixed plate (3028). The second fixed plate (3028) is mounted on the frame (1). The power pulley (3025), driven pulley (3024), support column (3023), and driven large pulley (3027) are mounted on the second fixed plate (3028). The first fixed plate (3021) is fixedly connected to the second fixed plate (3021) through the support column (3023). The second motor (3026) is mounted on the first fixed plate. The conveyor belt (3022) is mounted on the first fixed plate (3021). The outer side of the fixed plate (3028) is in contact with the power pulley (3025), the driven pulley (3024), the support column (3023), and the driven large pulley (3027); the reversing transmission module (303) includes a support column (3031), a first transmitter (3032), and a third motor (3033); the support column (3031) is installed on the upper part of the frame (1), the first transmitter (3032) is installed on the support column (3031), the third motor (3033) is installed on the support column (3031), and the third motor (3033) is connected to the first transmitter (3032); the total reversing transmission module (304) includes a connecting column (3041), a second transmitter (3042), and a fourth motor (3043);A connecting column (3041) is installed on the upper part of the frame (1), a fourth motor (3043) is installed on the frame (1), a second conveyor (3042) is installed on the connecting column (3041) and connected to the fourth motor (3043), and a bundling mechanism (305) includes an outer frame (3051), a fixed frame (3052), a movable frame (3053), a baffle (3054), a slider (3055), a first nut seat (3056), a first lead screw (3057), a fifth motor (3058), a sixth motor (3059), a pulley (30510), a belt (30511), a belt pulley (30512), and a seventh motor. Machine (30513), small pulley (30514), belt (30515), large pulley (30516), first cam (30517), output shaft (30518), second cam (30519), third cam (30520), eighth motor (30521), second lead screw (30522), second nut seat (30523), ninth motor (30524), fixing block (30525), heating block (30526), ​​cutting block (30527), first roller (30528), second roller (30529), guide plate (30530), pulley (30531);The outer frame (3051) is mounted on the machine frame (1), the fixed frame (3052) is mounted inside the outer frame (3051), the movable frame (3053) is mounted inside the fixed frame (3051), the baffle (3054) is mounted on the outer frame (3051), the fifth motor (3058) is mounted on the outer frame (3051), the first lead screw (3057) is mounted on the fifth motor (3058), the first nut seat (3056) is mounted on the first lead screw (3057), the slider (3055) is connected to the first nut seat (3056), the sixth motor (3059) is mounted inside the outer frame (3051), and the first roller (3 0528), the second roller (30529) is installed inside the outer frame (3051), the large pulley (30516) is installed on the sixth motor (3059), the small pulley (30514) is installed on the second roller (30529), the large pulley (30516) and the small pulley (30514) are driven by a belt (30515), the seventh motor (30513) is installed inside the outer frame (3051), the pulley (30510) is installed on the output end of the seventh motor (30513), the pulley (30531) is installed on the first roller (30528), and the pulleys (30510 and (30531) are connected. Driven by a belt (30511), the eighth motor (30521) is installed inside the outer frame (3051), and one end of the output shaft (30518) is installed on the eighth motor (30521). The first cam (30517), the second cam (30519), and the third cam (30520) are installed on the output shaft (30518) in sequence. The ninth motor (30524) is installed inside the outer frame (3051), the second lead screw is installed on the ninth motor (30524), and the second nut seat (30523) is installed on the second lead screw (30522). The movable frame (3053) and the second nut seat (30524) are connected to the outer frame (30511). 523) The guide plate (30530) is fixedly installed on the outside of the outer frame (3051) by screw connection. The robotic arm (306) includes a connecting block (3061), a tenth motor (3062), a first rotating block (3063), an eleventh motor (3064), a second rotating block (3065), a first connecting rod (3066), a third rotating block (3067), a twelfth motor (3068), a fixed block (3069), a rotating shaft (30610), a movable column (30611), a fourth rotating block (30612), a gripper (30613), a second connecting rod (30614), and a connecting movable block (30615).Connecting block (3061) is mounted on frame (1), tenth motor (3062) is mounted on the side of connecting block (3061), first rotating block (3063) is mounted on top of first rotating shaft (3062), eleventh motor (3064) is mounted on the side of first rotating block (3063), movable block (3065) is mounted on the inside of first rotating block (3063), second connecting rod (30614) is mounted on the output shaft of eleventh motor (3064), one end of first connecting rod (3066) is connected to second connecting rod (30614), and the other end is connected to third rotating block (3067). Third rotating block (3067) is hinged to second rotating block (3065), fixed block (3069) is mounted on third rotating block, twelfth motor (3068) is mounted on one side of fixed block (3069), and rotating shaft (3 0610) is connected to the twelfth motor (3068) and located on the other side of the fixed block (30619). The movable column (30611) is installed at the end of the rotating shaft (30610). The connecting movable block (30615) is fixedly installed at the end of the movable column (30611). The fourth rotating block (30612) is installed on the outside of the connecting movable block (30615). The gripper (30612) is installed at the end of the third rotating block (30611). The box conveying module (307) includes a fixed column (3071), a third conveyor (3072), and a thirteenth motor (3073). The fixed column (3071) is fixedly installed on the frame (1). The third conveyor (3072) is installed on the fixed column (3071). The thirteenth motor (3073) is fixedly installed on the side of the third conveyor (3072).

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