Automatic screening, bag changing and packing machine for mulberry leaves

Abstract

The application provides a mulberry leaf automatic screening and bag changing and packing machine suitable for a mulberry leaf picking robot, which comprises a mechanical arm mulberry leaf receiving and screening module, a gear and rack driving guide rail sliding block bag changing receiving module and an automatic packing module.Six degrees of freedom industrial mechanical arm linkage screen receives mulberry leaves conveyed by a mulberry leaf picking device and screens and removes impurities; a motor drives a gear and a rack to mesh, drives a sliding block and a cylinder clamp jaw to move accurately, realizes automatic switching of a woven bag and receiving of mulberry leaves, and drives a cylinder to cooperate with a push plate to complete empty bag replenishment; the cylinder drives an automatic packing machine to bind full bag mulberry leaves.The application realizes unmanned processing of the whole process of mulberry leaves, has strong synergy, accurate positioning, high efficiency, and is suitable for automatic demand of large-scale silkworm breeding industry.

Description

Technical Field

[0001] This invention relates to the field of agricultural automated processing, specifically to an automatic sieving, bagging, and baling machine for mulberry leaves. Background Technology

[0002] In the development of large-scale sericulture, mulberry leaves, as a core feed, directly impact silkworm health and breeding efficiency through post-harvest cleaning, quantitative bagging, and standardized packaging. Traditional mulberry leaf processing relies on manual labor. Workers manually receive the harvested leaves, filter impurities using handheld sieves, manually pack the filtered leaves into woven bags, and finally manually tie and package them. This process is not only labor-intensive and inefficient, but manual operation also leads to leaf spillage and incomplete impurity removal. Furthermore, the consistency of manual bagging is poor, failing to meet the standardized and efficient feed supply requirements of large-scale sericulture. With rising labor costs and the increasing scale of sericulture, this severely restricts the automation upgrade of the sericulture industry.

[0003] Current mulberry leaf processing technology is mostly decentralized and extensive, with sieving, bagging, and packaging processes operating independently and requiring manual coordination, lacking integrated automated equipment. Some simple processing equipment can only perform single sieving or bagging functions, unable to be integrated with mulberry leaf harvesting robots, and the bag-changing process relies on manual assistance, resulting in inaccurate control of bagging volume. Packaging is mostly done manually, leading to low efficiency and cumbersome operation. Therefore, there is an urgent need for an automated device that integrates multiple links to achieve unmanned processing of mulberry leaves from receiving and sieving to bag changing and packaging. This integrated device, adapted to mulberry leaf harvesting robots, uses a robotic arm to receive harvested mulberry leaves, automatically sieving impurities through a screen, and a gear-rack driven guide rail slider mechanism to automatically switch empty bags and accurately receive mulberry leaves, ultimately completing automatic packaging. This effectively establishes an automated chain for the entire mulberry leaf processing process, improving processing efficiency and standardization, and meeting the automation development needs of large-scale silkworm farming. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an automatic mulberry leaf sieving, bagging, and packaging machine adapted to mulberry leaf harvesting robots. This device enables fully automated processing of mulberry leaves from harvesting and receiving, impurity sieving, automatic empty bag switching, precise leaf receiving, to automatic packaging. It lays a standardized foundation for feed supply in large-scale silkworm farming and effectively solves the problems of high labor intensity, fragmented and cumbersome processes, low efficiency, inability of existing equipment to integrate with harvesting robots, reliance on manual bagging, and insufficient standardization in traditional mulberry leaf processing.

[0005] The purpose and effectiveness of the automatic mulberry leaf sieving, bagging, and packaging machine described in this invention are achieved through the following technical solution: An automatic mulberry leaf sieving, bagging, and packaging machine includes a robotic arm mulberry leaf receiving and sieving module, a gear and rack driven guide rail slider bag-changing and receiving module, and an automatic packaging module. Specifically, the robotic arm mulberry leaf receiving and sieving module includes a six-degree-of-freedom industrial robotic arm 1 and a screen 2, which is connected to the six-degree-of-freedom industrial robotic arm 1 via a connecting module. The gear and rack driven guide rail slider bag-changing and receiving module includes a push cylinder 3, a push plate 4, a woven bag frame 5, a support frame 8, a first cylinder gripper 9, a second gear 10, a second cylinder gripper 11, a tail baffle 12, a second motor 13, a second slider 14, a first motor 15, a first slider 16, a first gear 17, a rack 18, a head baffle 19, and a guide rail 20. The support frame 8 supports the guide rail 20. The rack 18 is installed inside the guide rail 20. The first gear 17 meshes with the rack 18 and is driven by the first motor 15 to move the first slider 16 on the guide rail 20. The second gear 10 meshes with the rack 18. The second slider 14 is driven by the second motor 13 to move on the guide rail 20. The first cylinder gripper 9 is fixed above the first slider 16, and the second cylinder gripper is fixed above the second slider 14. The tail baffle 12 and the head baffle 19 are fixed at the beginning and end of the guide rail 20. The woven bag frame 5 is welded to the side of the equipment. The push cylinder 3 is fixed to the side of the equipment and connected to the push plate 4. The automatic packaging module includes a cylinder 7 and an automatic packaging machine 6. The cylinder 7 is fixed below the guide rail 20 and connected to the automatic packaging machine 6. The first slider 16 and the second slider 14 first move to the designated position at the end of the guide rail 20. The first cylinder gripper 9 and the second cylinder gripper 11 hold the woven bag on the woven bag frame 5. Then, the first motor 15 and the second motor 13 rotate, driving the first gear 17 and the second gear 10 to rotate. The rack 18 converts the rotational motion into linear motion, driving the first slider 16 and the second slider 14 to move to the designated position for receiving mulberry leaves.

[0006] While slider 16 and slider 14 move, the six-degree-of-freedom industrial robotic arm 1 and screen 2 receive mulberry leaves from the mulberry leaf picking equipment. When a certain amount of mulberry leaves are received, the six-degree-of-freedom industrial robotic arm 1 first drives the screen 2 to sieve and remove impurities from the picked mulberry leaves. Then, the six-degree-of-freedom industrial robotic arm 1 drives the screen 2 to send the sieved mulberry leaves to the designated position and pour them into the woven bag. After receiving a certain weight of mulberry leaves, slider 16 and slider 14 move to the designated packaging position again. After moving to the packaging position, cylinder 7 pushes out the automatic packaging machine 6 to tie the top of the woven bag, completing the packaging. Then, the gripper 9 of cylinder 1 and gripper 11 of cylinder 2 release the woven bag full of mulberry leaves. Then slider 16 and slider 14 return to the initial bag changing position and push cylinder 3 pushes push plate 4 to push the woven bag on the woven bag frame 5 to the designated position for bag changing. This cycle is repeated to realize the automatic sieving, bag changing and packaging of mulberry leaves.

[0007] Compared with the prior art, the present invention has the following advantages and positive effects: 1. This device features a robotic arm and screen linkage design. The robotic arm precisely receives the mulberry leaves transported by the mulberry leaf picking robot, while the screen automatically filters impurities. This differs from traditional manual handheld screen filtration and decentralized operation, achieving a highly efficient connection between mulberry leaf reception and impurity removal. This reduces mulberry leaf spillage and loss, improves the thoroughness of impurity filtration, and ensures the cleanliness of mulberry leaf feed.

[0008] 2. The device adopts a gear and rack driven guide rail slider mechanism, which automatically switches empty bags based on the progress of mulberry leaf receiving. The slider movement and positioning are precise and the bag changing action is smooth. Combined with the claw-type fixing structure, it can achieve stable support for empty bags and smooth release of full bags. It can not only solve the problems of low efficiency and cumbersome connection of traditional manual bag changing, but also avoid mulberry leaves falling during bagging, ensuring standardized execution of receiving and bag changing.

[0009] 3. Full-process automated efficiency: The robotic arm receiving module, sieving module, guide rail slider bag changing module and automatic packaging module work together to achieve unmanned operation from mulberry leaf picking and receiving, impurity sieving, empty bag switching, precise bagging to automatic packaging. This reduces human intervention and significantly improves processing efficiency compared to traditional manual methods. It effectively reduces labor costs in large-scale silkworm farming, while ensuring consistency in mulberry leaf bagging quantity and packaging quality, thus meeting the development needs of the automated aquaculture industry. Attached Figure Description

[0010] The accompanying drawings, which constitute a part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 A schematic diagram of the overall structure of the device. Figure 2 Schematic diagram of a gear and rack drive guide rail slider structure Figure 3 A three-dimensional view of the device during bag changing. Figure 4 A three-dimensional diagram of the device performing the mulberry leaf bagging process. Figure 5 A three-dimensional view of the device during packaging. Detailed Implementation

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments, but it should not be construed that the scope of the present invention is limited to the following embodiments. Various substitutions and modifications made based on ordinary technical knowledge and common practice in the art without departing from the above-described technical concept of the present invention should be included within the scope of protection of the present invention.

[0012] An automatic mulberry leaf sieving, bagging, and packaging machine comprises the following main structures: a six-degree-of-freedom industrial robotic arm 1, a screen 2, a pushing cylinder 3, a push plate 4, a woven bag frame 5, an automatic packaging machine 6, a cylinder 7, a support frame 8, a first cylinder gripper 9, a second gear 10, a second cylinder gripper 11, a tail baffle 12, a second motor 13, a second slider 14, a first motor 15, a first slider 16, a first gear 17, a rack 18, a head baffle 19, and a guide rail 20.

[0013] The following is in conjunction with the appendix Figure 1 To be continued Figure 5 The present invention will be described in detail below: Specifically, the robotic arm mulberry leaf receiving and sieving module includes a six-degree-of-freedom industrial robotic arm 1 and a screen 2. The screen 2 is connected to the six-degree-of-freedom industrial robotic arm 1 via a connecting module. The gear and rack driven guide rail slider bag changing receiving module includes a push cylinder 3, a push plate 4, a woven bag frame 5, a support frame 8, a first cylinder gripper 9, a second gear 10, a second cylinder gripper 11, a tail baffle 12, a second motor 13, a second slider 14, a first motor 15, a first slider 16, a first gear 17, a rack 18, a head baffle 19, and a guide rail 20. The support frame 8 supports the guide rail 20. The rack 18 is installed inside the guide rail 20. The first gear 17 meshes with the rack 18 and is driven by the first motor 15 to move the first slider 16 on the guide rail 20. The second gear 10 meshes with the rack 18 and is driven by the second motor 13 to move the second slider 14 on the guide rail 20. The first cylinder gripper 9 is fixed above the first slider 16, the second cylinder gripper is fixed above the second slider 14, the tail baffle 12 and the head baffle 19 are fixed at the beginning and end of the guide rail 20, the woven bag frame 5 is welded to the side of the equipment, the push cylinder 3 is fixed to the side of the equipment and connected to the push plate 4, and the automatic packaging module includes a cylinder 7 and an automatic packaging machine 6. The cylinder 7 is fixed below the guide rail 20 and connected to the automatic packaging machine 6. The first slider 16 and the second slider 14 first move to the designated position at the end of the guide rail 20. The first cylinder gripper 9 and the second cylinder gripper 11 hold the woven bag on the woven bag frame 5. Then, the first motor 15 and the second motor 13 rotate to drive the first gear 17 and the second gear 10 to rotate. The rack 18 converts the rotational motion into linear motion, which drives the first slider 16 and the second slider 14 to move to the designated position for receiving mulberry leaves.

[0014] While slider 16 and slider 14 move, the six-degree-of-freedom industrial robotic arm 1 and screen 2 receive mulberry leaves from the mulberry leaf picking equipment. When a certain amount of mulberry leaves are received, the six-degree-of-freedom industrial robotic arm 1 first drives the screen 2 to sieve and remove impurities from the picked mulberry leaves. Then, the six-degree-of-freedom industrial robotic arm 1 drives the screen 2 to send the sieved mulberry leaves to the designated position and pour them into the woven bag. After receiving a certain weight of mulberry leaves, slider 16 and slider 14 move to the designated packaging position again. After moving to the packaging position, cylinder 7 pushes out the automatic packaging machine 6 to tie the top of the woven bag, completing the packaging. Then, the gripper 9 of cylinder 1 and gripper 11 of cylinder 2 release the woven bag full of mulberry leaves. Then slider 16 and slider 14 return to the initial bag changing position and push cylinder 3 pushes push plate 4 to push the woven bag on the woven bag frame 5 to the designated position for bag changing. This cycle is repeated to realize the automatic sieving, bag changing and packaging of mulberry leaves.

[0015] The above description is only a preferred embodiment of the present invention and not all embodiments. Anyone should know that any technical feature substitutions, structural improvements or process optimizations made under the inspiration of the present invention are substantially the same as or equivalent to the technical solutions of the present invention and are within the protection scope of the present invention.

Claims

1. An automatic mulberry leaf sieving, bagging, and packaging machine, characterized in that: It mainly consists of three parts: a robotic arm for receiving and sieving mulberry leaves, a gear and rack driven guide rail slider for changing bags and receiving bags, and an automatic packaging module. Specifically, it includes: a six-degree-of-freedom industrial robotic arm (1), a screen (2), a push cylinder (3), a push plate (4), a woven bag frame (5), an automatic packaging machine (6), a cylinder (7), a support frame (8), a first cylinder gripper (9), a second gear (10), a second cylinder gripper (11), a tail baffle (12), a second motor (13), a second slider (14), a first motor (15), a first slider (16), a first gear (17), a rack (18), a head baffle (19), and a guide rail (20).

2. The automatic mulberry leaf sieving, bagging, and packaging machine according to claim 1, characterized in that: The mulberry leaf receiving and sieving module of the robotic arm includes a six-degree-of-freedom industrial robotic arm (1) and a screen (2), and the screen (2) is connected to the six-degree-of-freedom industrial robotic arm (1) through a connection module.

3. The automatic mulberry leaf sieving, bagging, and packaging machine according to claim 1, characterized in that: The gear and rack driven guide rail slider bag changing receiving module includes a push cylinder (3), a push plate (4), a woven bag frame (5), a support frame (8), a first cylinder gripper (9), a second gear (10), a second cylinder gripper (11), a tail baffle (12), a second motor (13), a second slider (14), a first motor (15), a first slider (16), a first gear (17), a rack (18), a head baffle (19), and a guide rail (20). The support frame (8) supports the guide rail (20). The rack (18) is installed inside the guide rail (20). The first gear (17) meshes with the rack (18) and is driven by the first motor (15) to move the first slider (16) along the guide rail. The second gear (10) moves on the guide rail (20), and the second gear (10) meshes with the rack (18) and is driven by the second motor (13) to drive the second slider (14) to move on the guide rail (20). The first cylinder gripper (9) is fixed above the first slider (16), and the second cylinder gripper is fixed above the second slider (14). The tail baffle (12) and the head baffle (19) are fixed at the beginning and end of the guide rail (20). The woven bag frame (5) is welded to the side of the equipment. The push cylinder (3) is fixed to the side of the equipment and connected to the push plate (4). The automatic packaging module includes a cylinder (7) and an automatic packaging machine (6). The cylinder (7) is fixed below the guide rail (20) and connected to the automatic packaging machine (6).

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