A flexible grading and shock absorbing packaging integrated device for syzygium samarangense

Abstract

This invention relates to the field of wax apple packaging technology, specifically to an integrated flexible grading and shock-absorbing packaging equipment for wax apples. The equipment includes a frame, a washing tank, a lifting and grading device, several transfer conveyor belts, several guiding and feeding devices, and several packaging devices. Each transfer conveyor belt is equipped with several receiving cups, each capable of receiving wax apples output from its corresponding lifting and grading device. Each receiving cup has an open bottom and several elastic sheets arranged circumferentially. Each guiding and feeding device includes a pair of guide limiting rods mounted on the frame and a feeding mechanism. The pair of guide limiting rods are located below the corresponding transfer conveyor belt section, forming a limiting channel between them. All receiving cups on the corresponding transfer conveyor belt pass through this limiting channel. The feeding mechanism is located at the outlet end of the limiting channel. The packaging device is installed below the corresponding feeding mechanism. This equipment can perform flexible grading, shock-absorbing conveying, and automatic packaging of wax apples.

Description

Technical Field

[0001] This invention relates to the field of wax apple packaging technology, specifically to an integrated equipment for flexible grading and shock-absorbing packaging of wax apples. Background Technology

[0002] Wax apples have thin, juicy skins and a crisp texture. During cleaning, grading, transportation, and packaging, they are easily damaged by collisions and squeezing. This mechanical damage can easily cause the wax apples to turn brown, which not only affects their commercial value but also accelerates their spoilage.

[0003] Traditional fruit grading and packaging typically employ manual operation or automated equipment. The damage rate from manual operation varies considerably due to the operator's experience, generally ranging from 1% to 6% across both grading and packaging stages. The damage rate from automated equipment also varies depending on the grading structure and the technology used. For example, the damage rate in conventional grading and sorting is between 0.12% and 5%; specialized sorting equipment can achieve a damage rate of 0.12%, while conventional cup-type conveyor sorting equipment and robotic arm sorting have a damage rate of around 3%, and roller sieves can even exceed 5%, as these are only suitable for grading fruits with thick peels. Furthermore, the subsequent packaging stage also introduces varying damage rates depending on the packaging technology used, generally resulting in an overall damage rate of 0.2% to 3%. Therefore, when using existing automated equipment for grading and packaging wax apples, the damage rate is generally between 1.5% and 6%. Currently, commonly used fruit grading and packaging equipment generally suffers from the following problems: First, the grading process often employs automatic weighing conveyor belts. Wax apples are weighed and graded during transport, then baffles separate them from the conveyor belt and drop them onto the corresponding storage structure. During this process, the wax apples are prone to collisions or hard contact with the equipment, causing skin damage. Second, the post-grading transport lacks cushioning protection, making the wax apples susceptible to secondary damage when falling into the packaging container. Even with high-precision flexible robotic arms for transfer or direct feeding, low efficiency, high packaging costs, and difficulty in guaranteeing fruit quality remain. Third, the separation of grading and packaging processes requires manual transfer, which is inefficient and increases the risk of damage. While some existing technologies offer automation, most fail to address the delicate nature of wax apples and lack an integrated design for flexible handling throughout the entire process from grading to palletizing and packaging. Summary of the Invention

[0004] In order to overcome one of the shortcomings of the prior art, the purpose of this invention is to provide an integrated equipment for flexible grading and shock-absorbing packaging of wax apples. This integrated equipment for flexible grading and shock-absorbing packaging of wax apples can perform flexible grading, shock-absorbing conveying and automatic packaging of wax apples.

[0005] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0006] A flexible grading and shock-absorbing packaging integrated equipment for wax apples, including

[0007] frame;

[0008] A washing pool, used to receive and wash wax apples;

[0009] A lifting and grading device is installed on the frame and is capable of draining and grading the wax apples washed in the washing tank. The lifting and grading device has several grading outlets.

[0010] Several transfer conveyor belts are rotatably arranged on the frame below the grading outlet. Each transfer conveyor belt is equipped with several receiving cups. Each receiving cup can receive the wax apples output from the grading outlet of the corresponding lifting and grading device. Each receiving cup has an open bottom and several elastic sheets arranged circumferentially. The wax apples in each receiving cup can be pushed open by their own weight and fall out.

[0011] A plurality of guiding and feeding devices are provided. Each guiding and feeding device includes a pair of guiding and limiting rods and a feeding mechanism mounted on the frame. The pair of guiding and limiting rods are arranged parallel to the conveying direction of the corresponding transfer conveyor belt and located below the conveying section of the corresponding transfer conveyor belt. A limiting channel is formed between the pair of guiding and limiting rods. All the receiving cups on the corresponding transfer conveyor belt pass through the limiting channel. The feeding mechanism is located at the discharge end of the limiting channel. The working end of the feeding mechanism can release the restriction on the elastic sheet on the receiving cup, so that the wax apple in the receiving cup expands the elastic sheet due to its own weight and falls out.

[0012] Several packaging devices are installed on the frame below the corresponding feeding mechanism, each of the packaging devices being capable of conveying a tray to catch the wax apples falling from the receiving cup.

[0013] In some possible implementations, the feeding mechanism includes a mounting base, a push cylinder mounted on the mounting base, and a push block mounted on the telescopic end of the push cylinder. The mounting base is mounted on the frame and spans below the conveyor belt section. The mounting base has an avoidance slot parallel to the running direction of the conveyor belt, and the conveyor belt can drive the receiving cup to pass through the avoidance slot. The receiving end of the packaging device is located directly below the avoidance slot. The avoidance slot is perpendicular to the telescopic direction of the push cylinder. A fixed guide block is provided on the side of the avoidance slot opposite to the push cylinder. The push cylinder can drive the push block to cooperate with the fixed guide block to press or release the elastic plates on the corresponding sides of the receiving cup located in the avoidance slot.

[0014] In some possible implementations, the lower ends of all the elastic sheets on the same receiving cup are below the clamping plane formed by the push block and the fixed guide block.

[0015] In some possible implementations, a deformable flexible block is provided on the outward end of the pushing block.

[0016] In some possible implementations, the transfer conveyor belt is provided with a plurality of mounting holes along its length, and each mounting hole is into which the receiving cup is inserted. The lower part of the receiving cup is locked to the transfer conveyor belt by a locking ring. The area of ​​the receiving cup located below the transfer conveyor belt is deformable.

[0017] In some possible implementations, the lifting and grading device includes a pair of opposing inclined anti-slip lifting belts and several receiving and buffering mechanisms; both pairs of anti-slip lifting belts are rotatably mounted on the frame, forming a funnel-shaped clamping space between them, with the larger end of the clamping space higher than the other end; the lower ends of the pair of anti-slip lifting belts extend into the washing tank and are able to lift the wax apples in the washing tank; all the receiving and buffering mechanisms are arranged side by side on the area of ​​the frame below the clamping space, and each receiving and buffering mechanism is able to receive and buffer the wax apples falling from the clamping space; the discharge end of each receiving and buffering mechanism is able to output wax apples to the receiving cup on the corresponding transfer conveyor belt.

[0018] In some possible implementations, each of the receiving and buffering mechanisms includes a receiving hopper and a temporary storage cylinder disposed at the discharge port of the receiving hopper. The receiving hopper is located below the clamping space, and the inner wall of the receiving hopper is covered with an elastic silicone layer. A pair of deformable and repositionable petals are disposed at the discharge port of the receiving hopper. The temporary storage cylinder is mounted on the frame and contains at least two pairs of petals. The bottom pair of petals is inclined downwards and extends out of the lower end of the temporary storage cylinder. An opening and closing cylinder is disposed at the lower end of the temporary storage cylinder. An elastic clamping block is disposed on both opening and closing ends of the opening and closing cylinder. The pair of elastic clamping blocks can clamp or release the bottom pair of petals. The receiving cup on the transfer conveyor belt can receive the wax apples output by the bottom pair of petals.

[0019] In some possible implementations, each pair of lobes is curved at one end and forms an arc-shaped portion, and the arc-shaped portions on each pair of lobes can cooperate to form a funnel shape, and all the arc-shaped portions are provided with several slits along the axial direction.

[0020] In some possible implementations, each of the packaging devices includes a lifting frame mounted on a frame, a carrying conveyor belt disposed on the lifting end of the lifting frame, and a positioning mechanism disposed on the lifting frame. The frame is provided with a feeding conveyor line and a discharging conveyor line at the inlet and outlet ends of the carrying conveyor belt, respectively. The feeding conveyor line can transport a tray to the discharging conveyor line via the carrying conveyor belt. The carrying conveyor belt is located below the corresponding unloading mechanism and can transport a tray to receive the wax apples output by the receiving cup. The positioning mechanism is used to position the tray on the carrying conveyor belt.

[0021] In some possible implementations, the positioning mechanism is provided in two sets and is respectively arranged on both sides of the lifting frame located in the conveying direction of the carrier conveyor belt. Each positioning mechanism includes a fixed seat and a clamping cylinder arranged on the fixed seat. The fixed seat is installed on one side of the lifting frame located in the conveying direction of the carrier conveyor belt, and the clamping cylinder is arranged on the side of the fixed seat away from the carrier conveyor belt. The telescopic end of the clamping cylinder faces the carrier conveyor belt and is equipped with a clamping positioning block. The clamping cylinders on the two sets of positioning mechanisms can cooperate with each other to clamp the pallet conveyed by the carrier conveyor belt through the clamping positioning block.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] This invention discloses an integrated flexible grading and shock-absorbing packaging device for wax apples. The device integrates cleaning, flexible lifting, grading by size, flexible receiving and transfer, quantitatively controllable feeding, and automatic shock-absorbing tray packaging. The entire process is free from rigid compression and high-altitude impact. The lifting and grading device uses a trumpet-shaped anti-slip lifting belt for damage-free grading, while the receiving and buffering mechanism uses multi-layered flexible petals to cushion and prevent damage. After grading, individual wax apples fall into receiving cups on the transfer conveyor belt. The bottom of the receiving cup has an elastic sheet that remains closed under the constraint of a guide rod, supporting the wax apple. When the receiving cup reaches the feeding mechanism, the feeding mechanism releases the constraint on the elastic sheet, allowing the wax apple to fall downwards due to its own weight, landing in the tray below, achieving short-distance, zero-impact feeding. Finally, the packaging device automatically transports the tray and completes the packaging. Throughout the entire process, all parts of the wax apple in contact with the equipment are made of flexible materials. Grading, conveying, and feeding are all free from hard impacts, with each step involving flexible contact, greatly reducing the overall damage rate. Meanwhile, the process from cleaning, grading, transfer and conveying, feeding to packaging is highly integrated, with a high degree of automation and a small footprint, making it suitable for the post-harvest commercial processing of delicate fruits such as wax apples.

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0026] Figure 2 This is a partial structural schematic diagram of the lifting and grading device in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the buffer receiving mechanism in an embodiment of the present invention;

[0028] Figure 4 This is a cross-sectional view of the buffer mechanism in another embodiment of the present invention;

[0029] Figure 5 This is a partial structural schematic diagram of the transfer conveyor belt in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the internal structure of the transfer conveyor belt and the guiding feeding device in an embodiment of the present invention;

[0031] Figure 7 This is a cross-sectional view of the cooperation between the transfer conveyor belt and the guiding feeding device in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the structure of the conveyor belt in an embodiment of the present invention.

[0033] Explanation of icon numbers:

[0034] 100 racks;

[0035] 200mm cleaning tank;

[0036] Lifting and grading device 300, anti-slip lifting belt 310, receiving and buffering mechanism 320, receiving hopper 321, temporary storage cylinder 322, petals 323, opening and closing cylinder 324, elastic clamping block 325, arc-shaped part 326, slit 327, clamping space 330.

[0037] 400 conveyor belt, 410 receiving cup, 411 elastic sheet, 420 mounting hole, 430 locking ring, 440 support roller, 450 ring groove, 460 drive motor;

[0038] Guide feeding device 500, guide limiting rod 510, feeding mechanism 520, mounting base 521, push cylinder 522, push block 523, avoidance hollow groove 524, fixed guide block 525, flexible block 526, limiting channel 530;

[0039] Packaging device 600, lifting frame 610, carrying conveyor belt 620, positioning mechanism 630, fixed seat 631, clamping cylinder 632, clamping positioning block 633, feeding conveyor line 640, discharging conveyor line 650. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0041] Reference Figures 1 to 8As shown, this invention provides an integrated flexible grading and shock-absorbing packaging device for wax apples, including a frame 100, a washing tank 200, a lifting and grading device 300, several transfer conveyor belts 400, several guiding and feeding devices 500, and several packaging devices 600. The washing tank 200 is used to receive and wash the wax apples. The lifting and grading device 300 is installed on the frame 100 and can drain and grade the wax apples washed in the washing tank 200. The lifting and grading device 300 has several grading outlets. Several transfer conveyor belts 400 are rotatably arranged on the frame 100 below the grading outlets. Each transfer conveyor belt 400 is provided with several receiving cups 410. Each receiving cup 410 can receive the wax apples output from the corresponding grading outlet of the lifting and grading device 300. Each receiving cup 410 has an open bottom and several elastic sheets 411 arranged circumferentially. The wax apples in each receiving cup 410 can be pushed open by their own weight and fall out. Each of the guiding and unloading devices 500 includes a pair of guiding and limiting rods 510 and an unloading mechanism 520 mounted on the frame 100. The pair of guiding and limiting rods 510 are arranged parallel to the conveying direction of the corresponding transfer conveyor belt 400 and located below the conveying section of the corresponding transfer conveyor belt 400. A limiting channel 530 is formed between the pair of guiding and limiting rods 510. All the receiving cups 410 on the corresponding transfer conveyor belt 400 pass through the limiting channel 530. The unloading mechanism 520 is located at the discharge end of the limiting channel 530. The working end of the unloading mechanism 520 can release the restriction on the elastic sheet 411 on the receiving cup 410, so that the wax apple in the receiving cup 410 expands the elastic sheet 411 due to its own weight and falls from it. Several packaging devices 600 are installed on the frame 100 below the corresponding unloading mechanism 520. Each packaging device 600 can convey a tray to receive the wax apples falling from the receiving cup 410.

[0042] Specifically, the wax apples first enter the washing tank 200 to remove surface dirt and impurities. Then, the lifting and grading device 300 lifts them from the washing tank 200, automatically grading them according to fruit size and outputting them from different grading outlets during the lifting process. Pouring the wax apples directly into the clear water tank utilizes the water's buffering effect, preventing fruit damage and ensuring rapid unloading of the harvested wax apples. A water spray system is installed around the washing tank 200 to create a water flow, which then carries the washed wax apples to the receiving end of the lifting and grading device 300 for subsequent lifting. Different grades of wax apples fall into the receiving cups 410 of the corresponding transfer conveyor belts 400, with the elastic sheet 411 at the bottom of the receiving cup 410 in a closed supporting state. The transfer conveyor belt 400 drives the receiving cups 410 to be smoothly transferred along the limiting channel 530 formed by the guide limiting rod 510. When they reach the unloading station, the unloading mechanism 520 releases the restriction on the elastic sheet 411, and the wax apples slowly fall into the shock-absorbing tray of the packaging device 600 below by their own weight. The packaging device 600 automatically completes the positioning, receiving, and conveying, facilitating subsequent packaging work and realizing a flexible integrated operation from cleaning to finished product packaging. In addition, the receiving cups 410 are made entirely of silicone material, and the elastic sheet 411 at the bottom is equipped with steel sheets or wires inside to maintain a certain rigidity and have resilience.

[0043] See Figure 2 In one embodiment of this application, the lifting and grading device 300 includes a pair of anti-slip lifting belts 310 inclined towards each other and a plurality of receiving and buffering mechanisms 320; the pair of anti-slip lifting belts 310 are rotatably mounted on the frame 100, and a funnel-shaped clamping space 330 is formed between the pair of anti-slip lifting belts 310, with the larger end of the clamping space 330 being higher than the other end; the lower ends of the pair of anti-slip lifting belts 310 extend into the washing tank 200 and are able to lift the wax apples in the washing tank 200; all the receiving and buffering mechanisms 320 are arranged side by side on the area of ​​the frame 100 located below the clamping space 330, and each receiving and buffering mechanism 320 is able to receive and buffer the wax apples falling from the clamping space 330; the discharge end of each receiving and buffering mechanism 320 is able to output wax apples to the receiving cup 410 on the corresponding transfer conveyor belt 400.

[0044] The anti-slip lifting belt 310 is made of flexible anti-slip material, and the clamping space 330 is wider at the top and narrower at the bottom. During the lifting process, smaller fruits fall from the lower gap first, and larger fruits fall from the upper gap later, realizing automatic grading according to fruit diameter, with flexibility and no squeezing throughout the process.

[0045] See Figure 3 and Figure 4In one embodiment of this application, each of the receiving and buffering mechanisms 320 includes a receiving hopper 321 and a temporary storage cylinder 322 disposed on the discharge port of the receiving hopper 321. The inner wall of the temporary storage cylinder 322 is covered with an elastic silicone layer to buffer the impact of the falling wax apple. The receiving hopper 321 is located below the clamping space 330. The inner wall of the receiving hopper 321 is covered with an elastic silicone layer. A pair of deformable and repositionable petals 323 are disposed on the discharge port of the receiving hopper 321. Under normal conditions, the pair of petals 323 are closed to receive the wax apple from above. It should be noted that, in order to reduce the falling height of the wax apple and reduce damage, the distance between the receiving hopper 321 and the clamping space 330 is generally 1.1-1.5 times the length of the wax apple of this specification. The temporary storage cylinder 322 is mounted on the frame 100. At least two pairs of petals 323 are provided inside the temporary storage cylinder 322. The bottom pair of petals 323 are inclined downwards and extend out of the lower end of the temporary storage cylinder 322. An opening and closing cylinder 324 is provided at the lower end of the temporary storage cylinder 322. Each of the two opening and closing ends of the opening and closing cylinder 324 is provided with an elastic clamping block 325. The pair of elastic clamping blocks 325 can clamp or release the bottom pair of petals 323. The receiving cup 410 on the transfer conveyor belt 400 can receive the wax apples output by the bottom pair of petals 323.

[0046] The inner wall of the receiving cup 321 has an elastic silicone layer that buffers the impact of falling fruit, while multiple layers of petals 323 form a stepped buffer to prevent direct drop. When a wax apple needs to be released, the opening and closing cylinder 324 is activated, the elastic clamp 325 is released, and the bottom petals 323 are opened under the weight of the wax apple, allowing it to fall into the receiving cup 410 below. Then, the opening and closing cylinder 324 resets, and the petals 323 close again. This design enables single-fruit quantitative feeding, ensuring that each wax apple is placed in its designated position within the receiving cup 410, preventing stacking and collisions.

[0047] See Figure 4 In an improved embodiment of this application, each pair of petals 323 has an arc-shaped portion 326 formed by bending towards each other at one end. The arc-shaped portions 326 on each pair of petals 323 can cooperate to form a funnel shape, and all the arc-shaped portions 326 are provided with a plurality of slits 327 along the axial direction. The arc-shaped portions 326 conform to the shape of the wax apple, providing more stable support; the slits 327 make it easier for the petals 323 to elastically deform and return to their original position, resulting in better cushioning and a lower fruit damage rate.

[0048] See Figures 5 to 7In one embodiment of this application, each of the conveyor belts 400 is provided with a plurality of mounting holes 420 along its length, and a receiving cup 410 is inserted into each mounting hole 420. The lower part of the receiving cup 410 is locked to the conveyor belt 400 by a locking ring 430. The area of ​​the receiving cup 410 below the conveyor belt 400 is deformable. The receiving cup 410 adopts a plug-in installation, which is convenient for disassembly and maintenance. The locking ring 430 ensures a firm fixation, and the deformable structure at the bottom, together with the elastic sheet 411, further enhances the flexible support effect and avoids pressure damage to the bottom of the wax apple. It should be noted that during normal operation, since the receiving cup 410 is attached to the conveyor belt 400, a plurality of support rollers 440 are provided on the frame 100 to facilitate rotation. The surface of the support rollers 440 is provided with annular grooves 450 for avoiding the receiving cup 410. To prevent excessive compression deformation at the connection between the receiving cup 410 and the transfer conveyor belt 400 due to the excessively small radius of curvature of the support roller 440, which could lead to the loosening of the locking ring 430 and the receiving cup 410, in one embodiment of this application, both the locking ring 430 and the receiving cup 410 are supported by soft, deformable materials. Simultaneously, the diameter of the support roller 440 can be increased, being at least 10 times the diameter of the locking ring 430, or the bending radius of the transfer conveyor belt 400 at each point can be at least 10 times the diameter of the locking ring 430. In this case, the direction of rotation can be adjusted using multiple support rollers 440, achieving rotation of the entire transfer conveyor belt 400. Furthermore, a drive motor 460 is provided on the frame 100, which drives one end of any support roller 440.

[0049] See Figure 6 and Figure 7In this application, when the receiving cup 410 is within the restrictive channel 530, the guide restricting rod 510 abuts against the elastic sheet 411 of the receiving cup 410 from both sides, preventing the elastic sheet 411 from opening outward, thus keeping it closed and supporting the wax apple inside the cup. The feeding mechanism 520 is located at the discharge end of the restrictive channel 530, and its working end can release the restriction on the elastic sheet 411, allowing the wax apple to fall off by itself. In one embodiment of this application, the feeding mechanism 520 includes a mounting base 521, a push cylinder 522 disposed on the mounting base 521, and a push block 523 disposed on the telescopic end of the push cylinder 522. The mounting base 521 is mounted on the frame 100 and spans across the lower part of the conveyor belt 400. The mounting base 521 is provided with an avoidance slot 524 parallel to the running direction of the conveyor belt 400. The conveyor belt 400 can drive the receiving cup 410 from the avoidance slot. The packaging device 600 passes through the perforated groove 524; the receiving end of the packaging device 600 is located directly below the perforated groove 524; the perforated groove 524 is perpendicular to the extension and retraction direction of the push cylinder 522; a fixed guide block 525 is provided on the side of the perforated groove 524 opposite to the push cylinder 522; the push cylinder 522 can drive the push block 523 to cooperate with the fixed guide block 525 to press or release the elastic pieces 411 on the corresponding two sides of the receiving cup 410 located in the perforated groove 524.

[0050] Under normal conditions, the push block 523 and the fixed guide block 525 clamp the elastic sheet 411, keeping it closed and supporting it. When feeding, the push cylinder 522 retracts, the push block 523 is released, and the elastic sheet 411 is pushed outward under the weight of the wax apple, so that the fruit falls vertically without horizontal impact or squeezing damage.

[0051] See Figure 7 In one embodiment of this application, to ensure the clamping effect, the lower ends of all elastic pieces 411 on the same receiving cup 410 are lower than the clamping plane formed by the cooperation of the push block 523 and the fixed guide block 525, so that the clamping point is located in the upper middle part of the elastic piece 411, and the elastic piece 411 can fully spring out after being released. This structure ensures that the elastic piece 411 is effectively clamped and limited, and there will be no loosening or leakage, and the transfer process is stable and reliable.

[0052] In one embodiment of this application, a deformable flexible block 526 is provided on the outward end of the push block 523. The flexible block 526 is made of silicone or rubber to avoid damage to the elastic sheet 411 by rigid clamping, while ensuring stable clamping and smooth release.

[0053] See Figure 1 , Figure 7 and Figure 8In one embodiment of this application, each packaging device 600 includes a lifting frame 610 mounted on a frame 100, a carrying conveyor belt 620 disposed on the lifting end of the lifting frame 610, and a positioning mechanism 630 disposed on the lifting frame 610. The lifting frame 610 can be lifted and lowered by a lead screw or a cylinder, or by a telescopic electric cylinder. The frame 100 is provided with a feeding conveyor line 640 and a discharging conveyor line 650 at the inlet and outlet ends of the carrying conveyor belt 620, forming a continuous pallet conveying path. The feeding conveyor line 640 can convey pallets to the discharging conveyor line 650 via the carrying conveyor belt 620; the carrying conveyor belt 620 is located below the corresponding unloading mechanism 520, and can convey pallets to receive the wax apples output by the receiving cup 410; the positioning mechanism 630 is used to position the pallets on the carrying conveyor belt 620. In this application, the tray is a soft tray structure, such as a tray made of pearl cotton, which has several compartments to facilitate the collection of wax apples dropped from the receiving cup 410.

[0054] The lifting frame 610 can adjust the height of the carrying conveyor belt 620, shortening the material drop distance and further reducing impact. The feeding conveyor line 640 automatically feeds empty pallets, and the discharging conveyor line 650 automatically outputs finished pallets, realizing continuous shock-absorbing packaging operations. During operation, empty pallets are transported from the feeding conveyor line 640 to the carrying conveyor belt 620. The carrying conveyor belt 620 pauses, and the lifting frame 610 rises to bring the pallet closer to the discharge port. Two sets of positioning mechanisms 630 are provided, located on both sides of the carrying conveyor belt 620 in the conveying direction. Each positioning mechanism 630 includes a fixed base 631 and a clamping cylinder 632. The fixed base 631 is mounted on the lifting frame 610, and the clamping cylinder 632 is mounted on the side of the fixed base 631 away from the carrying conveyor belt 620, with its telescopic end facing the carrying conveyor belt 620 and equipped with a clamping positioning block 633. The clamping cylinders 632 on both positioning mechanisms 630 extend simultaneously, clamping the pallet from both sides through the clamping positioning blocks 633, thus positioning it. Then, the feeding mechanism 520 operates, causing the wax apples in the receiving cup 410 to fall into the tray. After the material is dropped, the clamping cylinder 632 releases, the lifting frame 610 descends, and the carrying conveyor belt 620 starts, transporting the tray containing the wax apples to the discharge conveyor line 650 for subsequent film coating or packaging processes. The clamping cylinders 632 on both sides operate synchronously, and the clamping positioning block 633 precisely positions the tray, ensuring that the wax apples fall accurately into the tray's shock-absorbing groove, with accurate positioning, stable reception, and no deviation or missed catches.

[0055] When the entire set of equipment is running, the wax apples undergo cleaning, flexible lifting and grading, flexible single-fruit transfer, controlled slow drop, and automatic positioning and receiving of shock-absorbing trays, and finally complete the grading and packaging. The entire process is flexible contact, without squeezing, falling impact, or bumping during transfer, which greatly improves the yield and quality of wax apples. Compared with traditional grading and packaging methods such as machine vision combined with flexible gripping, pneumatic spraying, and simple fruit cup conveying, the damage rate of the entire set of equipment is lower and can be controlled at about 1%.

[0056] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. An integrated equipment for flexible grading and shock-absorbing packaging of wax apples, characterized in that, include frame; A washing pool, used to receive and wash wax apples; A lifting and grading device is installed on the frame and is capable of draining and grading the wax apples washed in the washing tank. The lifting and grading device has several grading outlets. Several transfer conveyor belts are rotatably arranged on the frame below the grading outlet. Each transfer conveyor belt is equipped with several receiving cups. Each receiving cup can receive the wax apples output from the grading outlet of the corresponding lifting and grading device. Each receiving cup has an open bottom and several elastic sheets arranged circumferentially. The wax apples in each receiving cup can be pushed open by their own weight and fall out. A plurality of guiding and feeding devices are provided. Each guiding and feeding device includes a pair of guiding and limiting rods and a feeding mechanism mounted on the frame. The pair of guiding and limiting rods are arranged parallel to the conveying direction of the corresponding transfer conveyor belt and located below the conveying section of the corresponding transfer conveyor belt. A limiting channel is formed between the pair of guiding and limiting rods. All the receiving cups on the corresponding transfer conveyor belt pass through the limiting channel. The feeding mechanism is located at the discharge end of the limiting channel. The working end of the feeding mechanism can release the restriction on the elastic sheet on the receiving cup, so that the wax apple in the receiving cup expands the elastic sheet due to its own weight and falls out. Several packaging devices are installed on the frame below the corresponding feeding mechanism, each of the packaging devices being capable of conveying a tray to catch the wax apples falling from the receiving cup.

2. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 1, characterized in that: The feeding mechanism includes a mounting base, a push cylinder mounted on the mounting base, and a push block mounted on the telescopic end of the push cylinder. The mounting base is mounted on the frame and spans below the conveyor belt section. The mounting base has an avoidance slot parallel to the running direction of the conveyor belt. The conveyor belt can drive the receiving cup to pass through the avoidance slot. The receiving end of the packaging device is located directly below the avoidance slot. The avoidance slot is perpendicular to the telescopic direction of the push cylinder. A fixed guide block is provided on the side of the avoidance slot opposite to the push cylinder. The push cylinder can drive the push block to cooperate with the fixed guide block to press or release the elastic plates on the corresponding sides of the receiving cup located in the avoidance slot.

3. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 2, characterized in that: The lower ends of all the elastic sheets on the same receiving cup are lower than the clamping plane formed by the push block and the fixed guide block.

4. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 2, characterized in that: A deformable flexible block is provided on the outward end of the push block.

5. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 1, characterized in that: The transfer conveyor belt has a plurality of mounting holes along its length, and each mounting hole is fitted with a receiving cup. The lower part of the receiving cup is locked to the transfer conveyor belt by a locking ring. The area of ​​the receiving cup located below the transfer conveyor belt is deformable.

6. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 1, characterized in that: The lifting and grading device includes a pair of anti-slip lifting belts inclined in opposite directions and several receiving and buffering mechanisms; both anti-slip lifting belts are rotatably mounted on the frame, forming a funnel-shaped clamping space between them, with the larger end of the clamping space higher than the other end; the lower ends of the pair of anti-slip lifting belts extend into the washing tank and can lift the wax apples in the washing tank; all the receiving and buffering mechanisms are arranged side by side on the area of ​​the frame below the clamping space, and each receiving and buffering mechanism can receive and buffer the wax apples falling from the clamping space; the discharge end of each receiving and buffering mechanism can output wax apples to the receiving cup on the corresponding transfer conveyor belt.

7. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 6, characterized in that: Each of the receiving and buffering mechanisms includes a receiving hopper and a temporary storage cylinder disposed at the discharge port of the receiving hopper. The receiving hopper is located below the clamping space. The inner wall of the receiving hopper is covered with an elastic silicone layer. A pair of deformable and repositionable petals are disposed at the discharge port of the receiving hopper. The temporary storage cylinder is mounted on the frame. At least two pairs of petals are disposed inside the temporary storage cylinder. The bottom pair of petals are inclined downwards and extend out of the lower end of the temporary storage cylinder. An opening and closing cylinder is disposed at the lower end of the temporary storage cylinder. An elastic clamping block is disposed on both opening and closing ends of the opening and closing cylinder. A pair of elastic clamping blocks can clamp or release the bottom pair of petals. The receiving cup on the transfer conveyor belt can receive the wax apples output by the bottom pair of petals.

8. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 7, characterized in that: Each pair of lobes has an arc-shaped section formed at one end facing each other. The arc-shaped sections on each pair of lobes can cooperate to form a funnel shape. All the arc-shaped sections have several slits along the axial direction.

9. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 1, characterized in that: Each of the packaging devices includes a lifting frame mounted on a machine frame, a carrying conveyor belt disposed on the lifting end of the lifting frame, and a positioning mechanism disposed on the lifting frame. The machine frame is provided with a feeding conveyor line and a discharging conveyor line at the inlet and outlet ends of the carrying conveyor belt, respectively. The feeding conveyor line can transport a tray to the discharging conveyor line via the carrying conveyor belt. The carrying conveyor belt is located below the corresponding unloading mechanism and can transport a tray to receive the wax apples output by the receiving cup. The positioning mechanism is used to position the tray on the carrying conveyor belt.

10. The integrated equipment for flexible grading and shock-absorbing packaging of wax apples according to claim 9, characterized in that: The positioning mechanism is provided in two sets and is respectively set on both sides of the lifting frame located in the conveying direction of the carrier conveyor belt. Each positioning mechanism includes a fixed seat and a clamping cylinder set on the fixed seat. The fixed seat is installed on one side of the lifting frame located in the conveying direction of the carrier conveyor belt, and the clamping cylinder is set on the side of the fixed seat away from the carrier conveyor belt. The telescopic end of the clamping cylinder faces the carrier conveyor belt and is equipped with a clamping positioning block. The clamping cylinders on the two sets of positioning mechanisms can cooperate with each other to clamp the pallet conveyed by the carrier conveyor belt through the clamping positioning block.

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