Automatic packaging equipment for Chinese cabbage

Abstract

The utility model provides a kind of Chinese cabbage automatic packaging equipment, belong to vegetable packaging technical field, it includes frame, fixed shaft, carousel unit, glue unit, cutting glue unit and controller;Carousel unit includes carousel, with the first drive mechanism of carousel drive connection and multiple mechanical hand components;Mechanical hand component includes mechanical hand and with the second drive mechanism of mechanical hand drive connection;Glue unit includes adhesive tape roll, moving mechanism and be used for the clamping adhesive tape end of clamping mechanism;Cutting glue unit includes the cutting knife for cutting adhesive tape and third drive mechanism;Controller is electrically connected with the first drive mechanism, mechanical hand, second drive mechanism, moving mechanism, clamping mechanism and third drive mechanism respectively.The utility model controls carousel unit, glue unit and cutting glue unit by controller cooperation, realizes the automatic adhesive tape winding, cutting and continuous packaging operation, can replace manual operation, improve the packaging efficiency of Chinese cabbage and the consistency of packaging.

Description

Technical Field

[0001] This utility model relates to the field of vegetable packaging technology, and in particular to an automatic packaging device for Chinese cabbage. Background Technology

[0002] Chinese cabbage is a common vegetable in people's daily lives. It is rich in vitamins and dietary fiber, has high nutritional value, and is suitable for general consumption. With the continuous improvement of living standards, Chinese people have increasingly higher requirements for the quality of vegetables, often requiring processing and packaging before sale. Currently, Chinese cabbage is usually packaged individually with tape. This avoids consumers constantly searching through and selecting cabbages, preventing damage and waste, and also improves freshness and makes the cabbage appear more upscale, increasing sales. However, existing packaging methods all rely on manual bundling of the cabbage, which is inefficient, costly, and results in inconsistent bundling quality. Utility Model Content

[0003] The purpose of this invention is to provide an automatic packaging equipment for Chinese cabbage, which mechanizes the bundling of Chinese cabbage, replaces manual labor, improves bundling efficiency, reduces costs, and improves bundling quality.

[0004] To achieve the above objectives, this utility model provides an automatic packaging device for Chinese cabbage, including a frame, a fixed shaft, a turntable unit, a glue dispensing unit, a glue cutting unit, and a controller. The fixed shaft is connected above the frame. The turntable unit includes a turntable, a first drive mechanism connected to the turntable, and multiple robotic arm assemblies. The multiple robotic arm assemblies are evenly distributed around the turntable. The turntable is rotatably connected to the fixed shaft, and a glue-wrapping station is provided along the rotation direction of the turntable. The robotic arm assembly includes a robotic arm and a second drive mechanism connected to the robotic arm. The robotic arm is rotatably connected to the turntable. The glue dispensing unit includes a tape roll, a moving mechanism, and a glue-clamping mechanism for holding the end of the tape. The tape roll and the robotic arm are located on the same side of the turntable and are rotatably connected to the fixed shaft. The glue-clamping mechanism is connected to the moving mechanism. The glue cutting unit includes a cutter for cutting the tape and a third drive mechanism. The third drive mechanism is driven by the cutter and connected to the moving mechanism. The controller is electrically connected to the first drive mechanism, the robotic arm, the second drive mechanism, the moving mechanism, the glue-clamping mechanism, and the third drive mechanism.

[0005] Preferably, the turntable includes a first plate and a second plate spaced apart from the first plate. The first and second plates are vertically arranged and fixedly connected. The first drive mechanism includes a first motor, a first pulley, a second pulley, a third pulley, and a synchronous belt. The first pulley, the second pulley, and the third pulley are respectively located on the side of the first plate away from the second plate. The first motor is installed between the first and second plates. The output shaft of the first motor extends out of the first plate and is connected to the first pulley. The second pulley is rotatably connected to the first plate. The third pulley is fixedly connected to the rotating shaft of the first plate. The first pulley, the second pulley, and the third pulley are connected by the synchronous belt. The fixed shaft is horizontally arranged and passes through the first and second plates, and is rotatably connected to the first and second plates respectively.

[0006] Preferably, the robotic arm includes a first servo motor, a fixed base, a first gripper, a second gripper, and a connecting plate. The first servo motor is mounted on the fixed base, the first gripper and the second gripper are arranged opposite to each other, the shaft of the first servo motor is connected to the first gripper, the second gripper is rotatably connected to the fixed base and engages with the first gripper in a transmission cooperation, and the connecting plate is connected to the fixed base.

[0007] Preferably, one end of the first gripper is connected to a first gear plate, and one end of the second gripper is connected to a second gear plate, with the first gear plate meshing with the second gear plate.

[0008] Preferably, the second drive mechanism includes a second motor, a drive wheel, a rotating shaft, a driven wheel, and a belt. The output shaft of the second motor is connected to the drive wheel, the rotating shaft is rotatably connected to the turntable, the driven wheel and the connecting plate are mounted on the rotating shaft, and the drive wheel and the driven wheel are connected by a belt.

[0009] Preferably, the first gripper includes a plurality of first arc-shaped plates arranged parallel to each other along the axial direction and connected to each other, and the second gripper includes a plurality of second arc-shaped plates arranged parallel to each other along the axial direction and connected to each other.

[0010] Preferably, the moving mechanism includes a horizontal support platform, a first rack, a third motor, a first gear, a vertical support platform, a second rack, a fourth motor, a second gear, and a support rod. The glue clamping mechanism and the glue cutting unit are respectively connected to the support rod. The first rack is slidably connected to the horizontal support platform, the third motor is connected to the horizontal support platform, and the output shaft of the third motor is connected to the first gear, which meshes with the first rack. The second rack is slidably connected to the vertical support platform, the fourth motor is connected to the vertical support platform, and the output shaft of the fourth motor is connected to the second gear, which meshes with the second rack.

[0011] Preferably, the clamping mechanism includes a first mounting plate, a second servo motor, a third servo motor, a first clamping plate, and a second clamping plate. The second and third servo motors are mounted on the first mounting plate. The shaft of the second servo motor is connected to the first clamping plate, and the shaft of the third servo motor is connected to the second clamping plate. The first mounting plate is connected to the moving mechanism.

[0012] Preferably, the third drive mechanism includes a fourth servo motor, the shaft of which is connected to the cutter, and the fourth servo motor is connected to the moving mechanism via a second mounting plate.

[0013] Preferably, there are two turntable units, two glue dispensing units, and two glue cutting units, and the two turntable units, two glue dispensing units, and two glue cutting units are symmetrically arranged about the center line of the length direction of the fixed axis.

[0014] Compared with the prior art, the beneficial effects of the automatic packaging equipment for Chinese cabbage provided by this utility model are as follows: A moving mechanism moves the tape-clamping mechanism to the tape-wrapping station, adhering the tape to the outer surface of the cabbage. A robotic arm rotates the tape-coated cabbage, winding the tape around its exterior. Once the robotic arm stops rotating, a cutter cuts the tape, completing the automated packaging of the cabbage. By arranging multiple robotic arms along the circumference of the turntable, continuous packaging of cabbages can be achieved. This invention utilizes a controller to coordinate the turntable unit, tape-feeding unit, and tape-cutting unit, automating tape wrapping, cutting, and continuous packaging operations. This replaces manual labor, improving packaging efficiency and consistency for cabbages. Attached Figure Description

[0015] Figure 1 A structural schematic diagram of the automatic packaging equipment for Chinese cabbage provided in Embodiment 1 of this utility model from a first perspective; Figure 2 A second-view structural schematic diagram of the automatic packaging equipment for Chinese cabbage provided in Embodiment 1 of this utility model; Figure 3 A third-view structural schematic diagram of the automatic packaging equipment for Chinese cabbage provided in Embodiment 1 of this utility model; Figure 4 A fourth-view structural schematic diagram of the automatic packaging equipment for Chinese cabbage provided in Embodiment 1 of this utility model; Figure 5 for Figure 1 Enlarged view of point A in the middle; Figure 6 for Figure 3 Enlarged view at point B in the middle; Figure 7 This is a schematic diagram of the structure of the automatic packaging equipment for Chinese cabbage provided in Embodiment 2 of this utility model.

[0016] Figure label: 100. Rack; 101. Mounting base; 200. Fixed shaft; 201. Conductive slip ring; 300, Turntable; 3001, First Plate; 3002, Second Plate; 3003, Connecting Column; 301. Robotic arm; 3011. First servo motor; 3012. Mounting base; 3013. Connecting plate; 3014. First gear plate; 3015. Second gear plate; 3016. First arc-shaped plate; 3017. Second arc-shaped plate; 302. First motor; 303. First pulley; 304. Second pulley; 305. Third pulley; 306. Synchronous belt; 307. Second motor; 308. Drive wheel; 309. Rotating shaft; 310. Driven wheel; 311. Belt; 400. Tape roll; 401. Horizontal support platform; 4011. Photoelectric sensor; 402. First rack; 403. Third motor; 404. First gear; 405. Vertical support platform; 406. Second rack; 407. Fourth motor; 408. Second gear; 409. Support rod; 410. Worktable; 411. First mounting plate; 412. Second servo motor; 413. Third servo motor; 414. First clamping plate; 415. Second clamping plate; 416. Vision recognition device; 500, Cutting blade; 501, Fourth servo motor; 502, Second mounting plate. Detailed Implementation

[0017] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art will understand that the present invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail. Example 1

[0018] Please see Figures 1 to 6 The automatic packaging equipment for Chinese cabbage provided in Embodiment 1 of this utility model will now be described. This automatic packaging equipment for Chinese cabbage includes a frame 100, a fixed shaft 200, a turntable unit, a glue dispensing unit, a glue cutting unit, and a controller. The fixed shaft 200 is connected above the frame 100. The frame 100 supports the fixed shaft 200 and the turntable unit. The turntable unit supports the Chinese cabbage to be packaged and wraps the tape around the outside of the cabbage. The glue dispensing unit provides the tape for wrapping the cabbage. The glue cutting unit cuts the tape. The controller controls the operation of the turntable unit, the glue dispensing unit, and the glue cutting unit.

[0019] Please see Figures 1 to 3In this embodiment, the turntable unit includes a turntable 300, a first drive mechanism drivenly connected to the turntable 300, and multiple robot arm assemblies. The multiple robot arm assemblies are evenly distributed around the circumference of the turntable 300. The turntable 300 is rotatably connected to the fixed shaft 200, and a glue-wrapping station is provided along the rotation direction of the turntable 300. The robot arm assembly includes a robot arm 301 and a second drive mechanism drivenly connected to the robot arm 301. The robot arm 301 is rotatably connected to the turntable 300. Specifically, two mounting seats 101 are provided above the frame 100. The two mounting seats 101 are spaced apart in the horizontal direction. Both ends of the fixed shaft 200 pass through the mounting seats 101 respectively, and one end of the fixed shaft 200 extends through the center of the turntable 300, allowing the turntable 300 to rotate around the fixed shaft 200. The turntable 300 includes a first plate 3001 and a second plate 3002 spaced apart from the first plate 3001. The first plate 3001 and the second plate 3002 are vertically arranged and fixedly connected. The first drive mechanism includes a first motor 302, a first pulley 303, a second pulley 304, a third pulley 305, and a synchronous belt 306. The first pulley 303, the second pulley 304, and the third pulley 305 are respectively located on the side of the first plate 3001 away from the second plate 3002. The first motor 302 is mounted on the first plate 3001 and the second plate 3002. Between the second plates 3002, the output shaft of the first motor 302 extends out of the first plate 3001 and connects to the first pulley 303. The second pulley 304 is rotatably connected to the first plate 3001, and the third pulley 305 is fixedly connected to the rotating shaft of the first plate 3001. The first pulley 303, the second pulley 304, and the third pulley 305 are connected by a synchronous belt 306. A fixed shaft 200 is horizontally arranged and passes through the first plate 3001 and the second plate 3002, and is rotatably connected to both the first plate 3001 and the second plate 3002. Multiple connecting posts 3003 connect the first plate 3001 and the second plate 3002, fixing the first plate 3001 and the second plate 3002 together. The robotic arm 301 is located on the side of the second plate 3002 away from the first plate 3001. The first motor 302 is started, driving the first pulley 303 to rotate. This, in conjunction with the second pulley 304, the third pulley 305, and the synchronous belt 306, drives the turntable 300 to rotate, causing the turntable 300 to rotate the cabbage to be packaged to the tape-wrapping station. The second drive mechanism drives the robot arm 301 to rotate. Activating the second drive mechanism causes the robot arm 301 to grip and rotate the cabbage, wrapping the tape around its exterior for packaging.

[0020] Please see Figure 5In this embodiment, the robotic arm 301 includes a first servo motor 3011, a fixed base 3012, a first gripper, a second gripper, and a connecting plate 3013. The first servo motor 3011 is mounted on the fixed base 3012. The first gripper and the second gripper are arranged opposite to each other. The shaft of the first servo motor 3011 is connected to the first gripper. The second gripper is rotatably connected to the fixed base 3012 and engages with the first gripper in a transmission manner. The connecting plate 3013 is connected to the fixed base 3012. The first gripper and the second gripper are driven by the first servo motor 3011 to move closer or further apart to grip or release the cabbage. Please refer to [link / reference]. Figures 1 to 3 The second drive mechanism includes a second motor 307, a drive wheel 308, a rotating shaft 309, a driven wheel 310, and a belt 311. The output shaft of the second motor 307 is connected to the drive wheel 308. The rotating shaft 309 is rotatably connected to the turntable 300. The driven wheel 310 and the connecting plate 3013 are mounted on the rotating shaft 309. The drive wheel 308 and the driven wheel 310 are connected by the belt 311. The drive wheel 308, the driven wheel 310, and the belt 311 are located between the first plate 3001 and the second plate 3002. The second motor 307 is mounted on the side of the first plate 3001 away from the second plate 3002. One end of the rotating shaft 309 passes through the first plate 3001 and the second plate 3002 in sequence and is rotatably connected to the first plate 3001 and the second plate 3002 respectively. The second motor 307 is started, and the driving wheel 308 drives the rotating shaft 309 to rotate via the belt 311 and the driven wheel 310, thereby driving the robot arm 301 to rotate. One end of the first gripper is connected to a first gear plate 3014, and one end of the second gripper is connected to a second gear plate 3015. The first gear plate 3014 and the second gear plate 3015 mesh with each other. The first servo motor 3011 can drive the first gripper to rotate, so that the first gear plate 3014 and the second gear plate 3015 mesh, thereby moving the first gripper and the second gripper closer or further apart, realizing the gripping or releasing of the cabbage. Preferably, the first gripper includes a plurality of first arc-shaped plates 3016 arranged parallel to each other along the axial direction and interconnected, and the second gripper includes a plurality of second arc-shaped plates 3017 arranged parallel to each other along the axial direction and interconnected, so as to increase the contact area between the gripper and the cabbage and make the gripping of the robot arm 301 more stable. Preferably, the first arc plate 3016 and the second arc plate 3017 have the same structure and both have a corrugated tooth structure on their inner sides used for clamping.

[0021] Please see Figures 1 to 3In this embodiment, the adhesive dispensing unit includes a tape roll 400, a moving mechanism, and a clamping mechanism for holding the end of the tape. The tape roll 400 and the robot arm 301 are located on the same side of the turntable 300 and are rotatably connected to the fixed shaft 200. The clamping mechanism is connected to the moving mechanism. The tape roll 400 is located on the side of the first plate 3001 away from the second plate 3002, and the tape roll 400 can rotate around the fixed shaft 200. A clamping station is provided at the tape roll 400. The clamping mechanism is moved to the clamping station by the moving mechanism, so that the clamping mechanism holds the end of the tape. The moving mechanism then moves the tape to adhere to the outside of the cabbage, causing the clamping mechanism to release the tape and reset. At this time, the second motor 307 starts, and the robot arm 301 rotates to perform the tape wrapping operation.

[0022] Specifically, please refer to Figures 1 to 4 The moving mechanism includes a horizontal support platform 401, a first rack 402, a third motor 403, a first gear 404, a vertical support platform 405, a second rack 406, a fourth motor 407, a second gear 408, and a support rod 409. The clamping mechanism is connected to the support rod 409. The first rack 402 is slidably connected to the horizontal support platform 401. The third motor 403 is connected to the horizontal support platform 401, and the output shaft of the third motor 403 is connected to the first gear 404, which meshes with the first rack 402. The second rack 406 is slidably connected to the vertical support platform 405. The fourth motor 407 is connected to the vertical support platform 405, and the output shaft of the fourth motor 407 is connected to the second gear 408, which meshes with the second rack 406. A worktable 410 for supporting the moving mechanism and the clamping mechanism is provided below the horizontal support platform 401. The third motor 403 drives the first gear 404 to mesh with the first rack 402, enabling the first rack 402 to move horizontally to adjust the horizontal position of the support rod 409. The fourth motor 407 drives the second gear 408 to mesh with the second rack 406, enabling the second rack 406 to move vertically to adjust the vertical position of the support rod 409. The position of the clamping mechanism is adjusted by controlling the third motor 403 and the fourth motor 407. A limiting device, such as a photoelectric sensor 4011, is provided on the horizontal support platform 401 to allow the first rack 402 to move within a preset range.

[0023] Specifically, please refer to Figure 6The adhesive clamping mechanism includes a first mounting plate 411, a second servo motor 412, a third servo motor 413, a first clamping plate 414, and a second clamping plate 415. The second servo motor 412 and the third servo motor 413 are mounted on the first mounting plate 411. The rotating shaft of the second servo motor 412 is connected to the first clamping plate 414, and the rotating shaft of the third servo motor 413 is connected to the second clamping plate 415. The first mounting plate 411 is connected to a moving mechanism. The first clamping plate 414 and the second clamping plate 415 can open and close to clamp or release the adhesive tape. The first clamping plate 414 and the second clamping plate 415 are arranged side by side. The second servo motor 412 is used to drive the first clamping plate 414 to rotate, and the third servo motor 413 is used to drive the second clamping plate 415 to rotate, thereby causing the first clamping plate 414 and the second clamping plate 415 to move closer to each other to clamp the adhesive tape or move further apart to release the adhesive tape. When the adhesive clamping mechanism is in the adhesive clamping station, the first clamping plate 414 and the second clamping plate 415 clamp the adhesive tape. When the adhesive clamping mechanism is in the adhesive wrapping station, the first clamping plate 414 and the second clamping plate 415 release the adhesive tape. The first mounting plate 411 is also equipped with a visual recognition device 416 (such as a camera). The visual recognition device 416 is used to identify the position of the end of the adhesive tape. The controller can receive the information from the visual recognition device 416 and control the moving mechanism to adjust the position of the adhesive clamping mechanism accordingly.

[0024] Please see Figure 6 In this embodiment, the tape-cutting unit is connected to the support rod 409. The tape-cutting unit includes a cutter 500 for cutting tape and a third drive mechanism. The third drive mechanism is driven by the cutter 500 and connected to the moving mechanism. The cutter 500 and the third drive mechanism can move with the moving mechanism. The third drive mechanism includes a fourth servo motor 501. The shaft of the fourth servo motor 501 is connected to the cutter 500, and the fourth servo motor 501 is connected to the moving mechanism through a second mounting plate 502. When the robot arm 301 rotates for a preset time, the tape-wrapping operation is completed. At this time, the fourth servo motor 501 drives the cutter 500 to rotate in the direction of the tape to cut the tape, thereby completing the packaging work.

[0025] The controller is electrically connected to the first drive mechanism, the robotic arm 301, the second drive mechanism, the moving mechanism, the clamping mechanism, and the third drive mechanism. In this embodiment, the controller is electrically connected to the first motor 302, the first servo motor 3011, the second motor 307, the photoelectric sensor 4011, the third motor 403, the fourth motor 407, the second servo motor 412, the third servo motor 413, the visual recognition device 416, and the fourth servo motor 501. Please refer to [link to relevant documentation]. Figure 1A conductive slip ring 201 is connected to the fixed shaft 200. The first motor 302, the first servo motor 3011, the second motor 307, the photoelectric sensor 4011, the third motor 403, the fourth motor 407, the second servo motor 412, the third servo motor 413, the visual recognition device 416, and the fourth servo motor 501 are respectively connected to the controller through the conductive slip ring 201.

[0026] The working principle of the automatic packaging equipment for Chinese cabbage provided by this utility model is as follows: In use, the first servo motor 3011 drives the robotic arm 301 to grasp the cabbage, and the first motor 302 drives the turntable 300 to rotate to the tape-wrapping station. The third motor 403 and the fourth motor 407 are controlled to position the tape-clamping mechanism in a preset initial position (such as the tape-clamping station). The position of the tape-clamping mechanism can be finely adjusted by identifying the end position of the tape through the vision recognition device 416 to clamp the tape. The second servo motor 412 and the third servo motor 413 control the opening and closing of the first clamping plate 414 and the second clamping plate 415 to clamp the tape. After the tape-clamping mechanism clamps the tape, the moving machine... The mechanism moves the adhesive clamping mechanism to the adhesive wrapping station and adheres the tape to the outside of the cabbage (for example, controlling the third motor 403 and the fourth motor 407 to adjust the adhesive clamping mechanism up, down, left, and right, wrapping it around the cabbage to ensure adhesion). Then, the adhesive clamping mechanism releases the tape and resets. At this time, the robot arm 301 rotates the cabbage with the tape, causing the tape to wrap around its outside. After a preset time, the robot arm 301 stops rotating, and the fourth servo motor 501 drives the cutter 500 to rotate towards the tape to cut it, thus completing the cabbage packaging. Multiple robot arms 301 are installed on the turntable 300. Continuing to rotate the turntable 300 moves the packaged cabbage to the next process, while another robot arm 301 holding a cabbage to be packaged moves to the adhesive wrapping station to perform the above packaging process, thereby achieving continuous packaging and improving the packaging efficiency and consistency of the cabbage. Example 2

[0027] Please see Figure 7 As shown, the automatic packaging equipment for Chinese cabbage provided in Embodiment 2 of this utility model will now be described. The only difference between this embodiment and Embodiment 1 is that the number of the turntable unit, the glue-feeding unit, and the glue-cutting unit are all two, and the two turntable units, two glue-feeding units, and two glue-cutting units are symmetrically arranged about the center line of the fixed shaft 200 along its length direction. Through this arrangement, the fixed shaft 200 can be effectively utilized, and the layout is reasonable, increasing the processing capacity of the automatic packaging equipment for Chinese cabbage and further improving packaging efficiency. The structure and principle of the turntable unit, glue-feeding unit, and glue-cutting unit in this embodiment are the same as those in Embodiment 1, so they will not be described again here.

[0028] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. An automatic packaging device for Chinese cabbage, characterized in that, It includes a frame, a fixed shaft, a turntable unit, a glue dispensing unit, a glue cutting unit, and a controller, with the fixed shaft connected above the frame; The turntable unit includes a turntable, a first drive mechanism driven by the turntable, and multiple robotic arm assemblies. The multiple robotic arm assemblies are evenly distributed around the circumference of the turntable. The turntable is rotatably connected to the fixed shaft, and a glue-wrapping station is provided along the rotation direction of the turntable. Each robotic arm assembly includes a robotic arm and a second drive mechanism driven by the robotic arm. The robotic arm is rotatably connected to the turntable. The adhesive dispensing unit includes a tape roll, a moving mechanism, and a clamping mechanism for holding the end of the tape. The tape roll and the robot are located on the same side of the turntable and are rotatably connected to the fixed shaft. The clamping mechanism is connected to the moving mechanism. The tape cutting unit includes a cutter for cutting the tape and a third drive mechanism, the third drive mechanism being driven connected to the cutter and connected to the moving mechanism; The controller is electrically connected to the first drive mechanism, the robotic arm, the second drive mechanism, the moving mechanism, the clamping mechanism, and the third drive mechanism, respectively.

2. The automatic packaging equipment for Chinese cabbage according to claim 1, characterized in that, The turntable includes a first plate and a second plate spaced apart from the first plate. The first plate and the second plate are vertically arranged and fixedly connected. The first drive mechanism includes a first motor, a first pulley, a second pulley, a third pulley, and a synchronous belt. The first pulley, the second pulley, and the third pulley are respectively located on the side of the first plate away from the second plate. The first motor is installed between the first plate and the second plate. The output shaft of the first motor extends out of the first plate and is connected to the first pulley. The second pulley is rotatably connected to the first plate. The third pulley is fixedly connected to the rotating shaft of the first plate. The first pulley, the second pulley, and the third pulley are connected by the synchronous belt. The fixed shaft is horizontally positioned and passes through the first plate and the second plate, and is rotatably connected to the first plate and the second plate, respectively.

3. The automatic packaging equipment for Chinese cabbage according to claim 1, characterized in that, The robotic arm includes a first servo motor, a fixed base, a first gripper, a second gripper, and a connecting plate. The first servo motor is mounted on the fixed base. The first gripper and the second gripper are arranged opposite to each other. The shaft of the first servo motor is connected to the first gripper. The second gripper is rotatably connected to the fixed base and engages with the first gripper in a transmission cooperation. The connecting plate is connected to the fixed base.

4. The automatic packaging equipment for Chinese cabbage according to claim 3, characterized in that, One end of the first gripper is connected to a first gear plate, and one end of the second gripper is connected to a second gear plate. The first gear plate and the second gear plate mesh with each other.

5. The automatic packaging equipment for Chinese cabbage according to claim 3, characterized in that, The first gripper includes a plurality of first arc-shaped plates arranged parallel to each other along the axial direction and connected to each other, and the second gripper includes a plurality of second arc-shaped plates arranged parallel to each other along the axial direction and connected to each other.

6. The automatic packaging equipment for Chinese cabbage according to claim 3, characterized in that, The second drive mechanism includes a second motor, a drive wheel, a rotating shaft, a driven wheel, and a belt. The output shaft of the second motor is connected to the drive wheel. The rotating shaft is rotatably connected to the turntable. The driven wheel and the connecting plate are mounted on the rotating shaft. The drive wheel and the driven wheel are connected by the belt.

7. The automatic packaging equipment for Chinese cabbage according to claim 1, characterized in that, The moving mechanism includes a horizontal support platform, a first rack, a third motor, a first gear, a vertical support platform, a second rack, a fourth motor, a second gear, and a support rod. The glue clamping mechanism and the glue cutting unit are respectively connected to the support rod. The first rack is slidably connected to the horizontal support platform, the third motor is connected to the horizontal support platform, and the output shaft of the third motor is connected to the first gear, which meshes with the first rack. The second rack is slidably connected to the vertical support platform, the fourth motor is connected to the vertical support platform, and the output shaft of the fourth motor is connected to the second gear, which meshes with the second rack.

8. The automatic packaging equipment for Chinese cabbage according to claim 1, characterized in that, The clamping mechanism includes a first mounting plate, a second servo motor, a third servo motor, a first clamping plate, and a second clamping plate. The second servo motor and the third servo motor are mounted on the first mounting plate. The shaft of the second servo motor is connected to the first clamping plate, and the shaft of the third servo motor is connected to the second clamping plate. The first mounting plate is connected to the moving mechanism.

9. The automatic packaging equipment for Chinese cabbage according to claim 1, characterized in that, The third drive mechanism includes a fourth servo motor, the shaft of which is connected to the cutter, and the fourth servo motor is connected to the moving mechanism via a second mounting plate.

10. The automatic packaging equipment for Chinese cabbage according to claim 1, characterized in that, The number of the turntable unit, the glue supply unit, and the glue cutting unit are all two, and the two turntable units, the two glue supply units, and the two glue cutting units are symmetrically arranged about the center line of the length direction of the fixed axis.

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