CN109911285A - A kind of orderly automatic packing device of fruit and its method - Google Patents

A kind of orderly automatic packing device of fruit and its method Download PDF

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Publication number
CN109911285A
CN109911285A CN201910236758.8A CN201910236758A CN109911285A CN 109911285 A CN109911285 A CN 109911285A CN 201910236758 A CN201910236758 A CN 201910236758A CN 109911285 A CN109911285 A CN 109911285A
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CN
China
Prior art keywords
fruit
axis
rack
transmission shaft
crawler belt
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Pending
Application number
CN201910236758.8A
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Chinese (zh)
Inventor
熊俊涛
陈云琪
陈章强
吕泓宇
郑凡
招启辉
许舒涵
林伟龙
郑镇辉
李中行
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South China Agricultural University
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South China Agricultural University
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Publication date
Application filed by South China Agricultural University filed Critical South China Agricultural University
Priority to CN201910236758.8A priority Critical patent/CN109911285A/en
Publication of CN109911285A publication Critical patent/CN109911285A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a kind of orderly automatic packing device of fruit and its method, which includes vertical transit system and orderly automatic moving system;Vertical transit system is located at the top of orderly automatic moving system;Vertical transit system includes main shaft, from transmission shaft, fruit tray, driving chain and rack, the top and bottom of rack are separately fixed at from transmission shaft and main shaft, main shaft and it is connected from transmission shaft by the sprocket wheel on axis with driving chain, fruit tray is threadedly attached on driving chain;Orderly automatic moving system includes pressure sensor, x/y axis mobile mechanism, and pressure sensor is fixed on the top of the support column of x/y axis mobile mechanism, and the support plate above pressure sensor is for placing fruit carton.The present invention can effectively solve fruit boxing efficiency is low, collided in binning process caused by fruit quality it is low the problems such as, improve boxing efficiency and fruit quality, realize fruit vanning ordering, automation.

Description

A kind of orderly automatic packing device of fruit and its method
Technical field
The present invention relates to agricultural automation field, in particular to the orderly automatic packing device of a kind of fruit and its method.
Background technique
In fruit picking last handling process, fruit vanning is essential link.Currently, relying primarily on manually to water Fruit is cased.Due to high labor cost, and fruit is cased large labor intensity, is led to man power encasement's inefficiency, is increased water Fruit packing cost.Meanwhile most of existing fruit boxing apparatus is unordered vanning, be easy to cause touching between fruit and fruit It hits, reduces the quality of fruit.Therefore, how fruit binning process to be realized to automate and is had great significance with ordering, this is right The development of fruit industry has important economic value and Practical significance.
Summary of the invention
It is an object of the invention to overcome disadvantage existing in the prior art, a kind of orderly automatic packing device of fruit is provided And its method, can effectively solve fruit boxing efficiency is low, collided in binning process caused by fruit quality it is low the problems such as, mention High boxing efficiency and fruit quality, realize fruit vanning ordering, automation.
The purpose of the invention is achieved by the following technical solution:
A kind of orderly automatic packing device of fruit, including vertical transit system and orderly automatic moving system;Vertical transport System is located at the top of orderly automatic moving system;Vertical transit system includes main shaft, from transmission shaft, fruit tray, biography Dynamic chain and rack, are separately fixed at the top and bottom of rack from transmission shaft and main shaft, main shaft and from transmission shaft It is connected by the sprocket wheel on axis with driving chain, fruit tray is threadedly attached on driving chain;Orderly automatically move System includes pressure sensor, x/y axis mobile mechanism, and pressure sensor is fixed on the top of the support column of x/y axis mobile mechanism, Support plate above pressure sensor is for placing fruit carton.
The rack includes that vertical rack, lateral rack and longitudinal rack, vertical rack are disposed vertically, lateral rack and vertical It is mutually perpendicular to place to rack level;The upper/lower terminal of vertical rack, buffer are individually fixed in from transmission shaft and main shaft Structure is fixed in longitudinal rack.
The vertical transit system further includes buffer gear, and buffer gear is threadedly attached in the lower section of longitudinal rack, And the position of corresponding fruits.Buffer gear is circular ring shape, and diameter is designed according to the size of fruit, slightly larger than fruit Size, annulus the inside are equipped with hairbrush, and the material of hairbrush is nylon.
The driving chain is bilateral bent plate chain, and fruit tray is fixed on driving chain by screw-nut.
The fruit tray is 1 or 1 or more, can be carried out replacing fruit support of different shapes according to different fruit Disk.
X/y axis mobile mechanism includes crawler belt, stepper motor, support column, L shaped plate, sliding block, guide rail;X-axis direction has two The parallel crawler belt of item, two crawler belts are matched with a stepper motor, and guide rail is placed with below crawler belt, is provided with cunning on guide rail The L shaped plate of block, y-axis direction is placed on two sliding blocks, while L shaped plate is connected by link block with the fixing seat being fixed on crawler belt It connects;There is L shaped plate in y-axis direction, and the side of L shaped plate is provided with a crawler belt, is mounted on the biography of another stepper motor in L shaped plate Moving axis and driven wheel and the crawler belt tight fit are equipped with support column above the crawler belt;Pressure sensor is fixed on the support columns, Pressure sensor is connect with two stepper motors, and carton is placed on above pressure sensor.
X/y axis mobile mechanism controls x/y axis mobile mechanism in the shifting in x-axis or y-axis direction by two stepper motors respectively It is dynamic.
Pressure sensor falls into the pressure signal generated when chest for receiving fruit, and signal is passed to single-chip microcontroller, Corresponding reaction is made by single-chip microcontroller control stepper motor again.
A kind of orderly automatic boxing method of fruit is using the above-mentioned orderly automatic packing device of fruit, orderly automatic shifting Carton is placed in dynamic system, motor drives vertical transit system movement, and fruit is transported through the fruit tray of vertical transit system, when When the fruit tray of carrying fruit moves to lowermost end, fruit leaves fruit tray and falls into carton under gravity, paper Pressure sensor under case receives the signal that fruit is fallen into, and passes through pressure sensor in orderly automatic moving system and stepping electricity The cooperation of machine, make each fruit orderly, be automatically loaded into the grid of carton.
The orderly automatic boxing method of fruit is that vertical transit system is driven by main shaft drive driving chain, Fruit on fruit tray is transported by upper end to bottom end, then fruit is fallen by buffer gear by gravity and passed in pressure In space of carton on sensor;Simultaneously under the action of pressure sensor, signal is transmitted in stepper motor, stepper motor Pulse is received, x/y axis mobile mechanism is promoted to make moving for a unit along positive direction of the x-axis automatically, to drive carton mobile To next space Zi Chu separated with partition, in order to hold next fruit;After x-axis direction fills a row, another Stepper motor then promote x/y axis mobile mechanism automatically along y-axis make a unit displacement, after fruit is fallen into, then again into The movement of row negative direction of the x-axis repeats aforesaid operations and fills repeatedly until by grid, fill one when filling second row After layer, cabinet returns to starting point and continues duplicate operation, finally fills two layers of fruit.
The working principle of the invention is: vertical transit system is placed in the end of fruit grading assembly line, it is orderly mobile System is placed in the lower section of vertical transit system;Fruit falls into the fruit tray of vertical transit system from the end of graded pipelining In, vertical transit system drives fruit to transport from top to bottom, and at bottom end, fruit is naturally past by buffer gear by gravity Under fall to carton space son in, at this moment, the pressure sensor in x/y axis mobile mechanism experiences pressure, and stepper motor connects By the signal from pressure sensor, so that the orientation for promoting x/y axis mobile mechanism to make a unit along positive direction of the x-axis is fixed Displacement is dynamic, to drive carton to be moved in next carton with the space Zi Chu that partition is separated, in order to hold next water Fruit repeats the above movement, until x-axis direction fills a row, then another stepper motor Ze Shix/yZhou mobile mechanism is in y-axis The direction and location for making a unit on direction is mobile, and then x/y axis mobile mechanism makees the orientation shifting opposite with x-axis direction before Dynamic, repeatedly, until filling first layer fruit, after filling one layer, cabinet returns to starting point and continues duplicate operation, most After fill two layers of fruit.
The present invention has the following advantages that compared with prior art and effect:
(1) the configuration of the present invention is simple does not need additional connection between vertical transit system and orderly automatic moving system Part, it is at low cost, it is high-efficient.
(2) x/y axis mobile mechanism of the invention outputs signal to stepper motor by pressure sensor, and stepper motor receives Pulse signal, the planar movement for making the unidirectional orientation positioning of x-axis or y-axis reduce fruit to realize the ordered arrangement of fruit Collision rate between fruit effectively reduces fruit bruising caused by collision, ensure that the quality of fruit.
(3) adaptation fruit range of the invention is wide, by adjusting the shape of fruit tray and buffer gear, can be adapted for The automatic boxing of most of fruit.
(4) buffer gear that the present invention designs, it is possible to reduce fruits and cabinet impulse force suffered when contacting prevent Damaged fruit.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of x/y axis mobile mechanism.
Fig. 2 is the three-dimensional structure diagram of x/y axis mobile mechanism.
Fig. 3 is the three-dimensional structure diagram of x/y axis mobile mechanism and pressure sensor.
Fig. 4 is the three-dimensional structure diagram of vertical transit system.
Fig. 5 is the stereochemical structure rearview of vertical transit system.
Fig. 6 is the three-dimensional structure diagram of pressure sensor.
Fig. 7 is the three-dimensional structure diagram of buffer gear.
Fig. 8 is the entirety perspective view of apparatus of the present invention.
Wherein, 1-1: guide rail slide block;1-2: fixing seat;2-1: stepper motor;2-2: stepper motor transmission shaft;2-3: fixed Seat;2-4: link block;2-5: sliding block;2-6: guide rail;2-7: crawler belt;2-8: transmission shaft;2-9: driven wheel 1;2-10: driven wheel 2; 2-11: support column;2-12:L shape plate;3-1: pressure sensor;4-1: vertical rack;4-2: sprocket wheel;4-3: bearing;4-4: laterally Rack;4-5: longitudinal rack;4-6: support leg;4-7: main shaft;4-8: fruit tray;4-9: big driving chain;4-10: from Transmission shaft;5-1: motor;5-2: motor transmission shaft;5-3: pinion gear 1;5-4: small driving chain;5-5: pinion gear 2;5-6: branch Support rack;7-1: cushioning supportive frame;7-2 hairbrush.
Specific embodiment
Further detailed description is done to the present invention below with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1
The orderly boxing system of a kind of fruit as shown in Figure 8, including Fig. 1 and x/y axis shown in Fig. 2 mobile mechanism, Fig. 3 and pressure sensor shown in fig. 6 and Fig. 4 and vertical transit system shown in fig. 5, buffer gear shown in Fig. 7.
X/y axis mobile mechanism is disposed between vertical transit system and ground, and is adjusted to corresponding position according to demand It sets.X/y axis mobile mechanism includes guide rail slide block 1-1, fixing seat 1-2, stepper motor 2-1, stepper motor transmission shaft 2-2, fixation Seat 2-3, link block 2-4, sliding block 2-5, guide rail 2-6, crawler belt 2-7, transmission shaft 2-8, driven wheel 1 (2-9), driven wheel 2 (2-10), Support column 2-11, L shaped plate 2-12.X-direction has two parallel guide rail 2-6, guide rail 2-6 to be fixed in the shell of device, and two Sliding block 2-5 is placed on guide rail 2-6;Y direction has L shaped plate 2-12, and the both ends of L shaped plate 2-12 are fixed on two sliding block 2- 5 top drives L shaped plate 2-12 to move on the direction of guide rail 2-6 by the sliding of sliding block 2-5.X-direction have two it is parallel Crawler belt 2-7, crawler belt 2-7 is located at the top of guide rail 2-6, and fixing seat 2-3 is respectively and fixedly provided on two crawler belt 2-7, and link block 2-4 is used In being connected and fixed a 2-3 and L-type plate 2-12, so that two parallel crawler belt 2-7 drive fixing seat 2-3, link block 2-4, sliding block 2-5 is synchronous to carry out opposing stationary sliding, i.e. movement in X-direction.In two parallel crawler belt 2-7, crawler belt 2-7 with Stepper motor transmission shaft 2-2 on stepper motor 2-1 is connected, and another crawler belt 2-7 is connected with driven wheel 1 (2-9), transmission shaft 2- 8 both ends are connected with two crawler belt 2-7 respectively, by the rotation of motor transmission shaft 2-2, can drive this two crawler belt 2-7 Carry out the synchronous rolling in the direction guide rail 2-6.
A crawler belt is provided in Y direction, crawler belt is located at the side of L shaped plate, has a guide rail on the crawler belt, on guide rail There is sliding block 1-1, support column 2-11 is fixed on sliding block 1-1, fixing seat 1-2 is for connecting band track and sliding block 1-1, L shaped plate 2-12 On be also equipped with another stepper motor, the transmission shaft and driven wheel 2 (2-10) of the stepper motor and the crawler belt tight fit, thus By being arranged required speed in the stepper motor, then pass through the transmission of the crawler belt, can realize the fixing seat on the crawler belt Movement 1-2, sliding block 1-1, support column 2-11 opposing stationary in the guide rail direction, i.e. movement in Y direction.
Support column 2-11 is fixed with pressure sensor 3-1, and the support plate on pressure sensor 3-1 is used to hold dress fruit Carton.By the transmission of a crawler belt of two crawler belts and Y direction of X-direction, to drive the movement of entire carton.When Fruit is fallen from the fruit tray 4-8 in vertical transit system when contacting with carton, and pressure sensor 3-1 receives pressure letter Number and pass the signal in stepper motor, stepper motor receives pulse signal, to promote the automatic edge of x/y axis mobile mechanism X-axis or the positioning movement of Y-axis unidirectional orientation, so that carton is driven to be moved to next space Zi Chu separated with partition, in order to Next fruit is held, after a row is filled in one of direction of X-axis or Y-axis, another stepper motor then drives another The direction and location in direction is mobile, then proceeds by the process with first row vanning, repeatedly, until fruit is filled with, contains After one layer full, carton returns to starting point and continues duplicate operation, finally fills with two layers of fruit.
The vertical transit system includes vertical rack 4-1, sprocket wheel 4-2, bearing 4-3, lateral rack 4-4, longitudinal rack 4-5, support leg 4-6, main shaft 4-7, fruit tray 4-8, big driving chain 4-9, from transmission shaft 4-10, motor 5-1, motor Transmission shaft 5-2, pinion gear 1 (5-3), small driving chain 5-4, pinion gear 2 (5-5), frames 5-6.As shown in figure 4, vertical Rack 4-1, transverse direction rack 4-4 and longitudinal direction rack 4-5 constitute the main structure of vertical transit system;Before support leg 4-6 is mounted on The both ends of two lateral rack 4-4 afterwards, play a part of to support whole system with ground face contact;Frames 5-6 is mounted on transverse direction The upper end of rack 4-4;Motor 5-1 is mounted on the upper end of frames 5-6;The slave transmission shaft 4-10 of main shaft 4-7 and top It is mounted on the centre of two vertical rack 4-1 by bearing 4-3, sprocket wheel 4-2 is covered from transmission shaft 4-10, below sprocket wheel 4-2 Another chain wheel case on main shaft 4-7, big driving chain 4-9 and sprocket wheel 4-2 is installed together;As shown in figure 5, small tooth The left end that 2 5-5 are mounted on the main shaft of lower section is taken turns, 1 5-3 of pinion gear is mounted on motor transmission shaft 5-2,1 5- of pinion gear 3 are connect by small driving chain 5-4 with 2 5-5 of pinion gear;5 fruit tray 4-8 are mounted on big driving chain 4-9,5 water The identical distance in the interval hypocarp disk 4-8.Motor 5-1 work, passes through 1 5-3 of pinion gear, pinion gear 25-5 and small driving chain 5-4 The main shaft 4-7 rotation for driving lower section, drives fruit tray 4-8 vertical by big driving chain 4-9 and main shaft 4-7 Top-down movement is done in plane.
In buffer gear shown in Fig. 7, cushioning supportive frame 7-1 is fixed on the lower section of longitudinal rack 4-5 and is located under fruit The corresponding position fallen passes through buffer gear when falling so as to fruit, reduce impulse force suffered when fruits are contacted with cabinet, Buffer gear is internally provided with hairbrush 7-2.
In the specific implementation process, the step of fruit automatic boxing is as follows:
(1) fruit is sent to certain speed on fruit tray 4-8 and by one of dish catches by assembly line;
(2) fruit tray 4-8 motor 5-1, motor transmission shaft 5-2, pinion gear 1 (5-3), small driving chain 5-4, from biography The moving axis 4-10 and main shaft 4-7 of lower section, big driving chain 4-9 transmission effect under, done straight down with certain speed Linear uniform motion;
(3) when the fruit tray 4-8 for carrying fruit reaches transmission bottom, fruit voluntarily falls into lower part by buffer gear In the cabinet being well placed;
(4) when contacting or collide when fruit with cabinet, pressure sensor receives pressure signal, and is sent to stepper motor In, stepper motor receives pulse signal, so that the direction and location movement that x/y axis mobile mechanism makes a unit (is answered at this time Pay attention to the time before next fruit falls into cabinet should be greater than x/y axis mobile mechanism finish unit plane it is mobile when Between);
(5) according to required requirement, fruit and vertical transit system, x/y axis mobile mechanism pressure sensor repeatedly Under effect transmitting signal, identical movement is made, and make cabinet full of first layer fruit, after filling with one layer, cabinet has been returned to Initial point continues duplicate operation, finally fills with two layers of fruit.
The above description is only an embodiment of the present invention, but embodiment of the present invention are not limited by the above embodiments, It is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications, be The substitute mode of effect, is included within the scope of the present invention.

Claims (10)

1. a kind of orderly automatic packing device of fruit, it is characterised in that: including vertical transit system and orderly automatic moving system; Vertical transit system is located at the top of orderly automatic moving system;Vertical transit system includes main shaft, from transmission shaft, fruit Pallet, driving chain and rack, are separately fixed at the top and bottom of rack from transmission shaft and main shaft, main shaft and from Transmission shaft is connected by the sprocket wheel on axis with driving chain, and fruit tray is threadedly attached on driving chain;Orderly certainly Dynamic mobile system includes pressure sensor, x/y axis mobile mechanism, and pressure sensor is fixed on the support column of x/y axis mobile mechanism Top, the support plate above pressure sensor is for placing fruit carton.
2. the orderly automatic packing device of fruit according to claim 1, it is characterised in that: the rack includes vertical machine Frame, lateral rack and longitudinal rack, vertical rack are disposed vertically, and lateral rack and longitudinal rack level are mutually perpendicular to place;From Transmission shaft and main shaft are individually fixed in the upper/lower terminal of vertical rack.
3. the orderly automatic packing device of fruit according to claim 2, it is characterised in that: the vertical transit system includes Buffer gear, buffer gear are threadedly attached in the lower section of longitudinal rack, and the position of corresponding fruits.
4. the orderly automatic packing device of fruit according to claim 2, it is characterised in that: the vertical transit system includes Vertical rack, sprocket wheel, bearing, lateral rack, longitudinal rack, support leg, main shaft, fruit tray, big driving chain, from biography Moving axis, motor, motor transmission shaft, pinion gear 1, small driving chain, pinion gear 2, frames;Vertical rack, lateral rack with Longitudinal rack constitutes the main structure of vertical transit system;Support leg is mounted on the both ends of the lateral rack in front and back two, with ground Contact plays a part of to support whole system;Frames are mounted on the upper end of lateral rack;Motor is mounted on the upper of frames End;Main shaft and the slave transmission shaft of top are mounted on the centre of two vertical racks by bearing, and chain wheel case is from transmission shaft On, on main shaft, big driving chain is installed together another chain wheel case below sprocket wheel with sprocket wheel;Pinion gear 2 is installed In the left end of the main shaft of lower section, pinion gear 1 is mounted on motor transmission shaft, and pinion gear 1 passes through small driving chain and small tooth 2 connection of wheel;1 or 1 or more fruit tray is mounted on big driving chain, the identical distance in each fruit tray interval.
5. the orderly automatic packing device of fruit according to claim 1, it is characterised in that: x/y axis mobile mechanism packet Include crawler belt, stepper motor, support column, L shaped plate, sliding block, guide rail;X-axis direction has two parallel crawler belts, two crawler belts and one Stepper motor matches, and guide rail is placed with below crawler belt, and sliding block is provided on guide rail, and the L shaped plate in y-axis direction places two cunnings On block, while L shaped plate is connected by link block with the fixing seat being fixed on crawler belt;There are L shaped plate, the side of L shaped plate in y-axis direction Face is provided with a crawler belt, is mounted on the transmission shaft and driven wheel and the crawler belt tight fit of another stepper motor in L shaped plate, Support column is installed above the crawler belt;Pressure sensor is fixed on the support columns, and pressure sensor and two stepper motors connect It connects, carton is placed on above pressure sensor.
6. the orderly automatic packing device of fruit according to claim 5, it is characterised in that: x/y axis mobile mechanism includes leading Rail sliding block, fixing seat, stepper motor, stepper motor transmission shaft, fixing seat, link block, sliding block, guide rail, crawler belt, transmission shaft, from Driving wheel 1, driven wheel 2, support column, L shaped plate;X-direction has two parallel guide rails, is placed with sliding block on two guide rails;Y-axis There is L shaped plate in direction, and the both ends of L shaped plate are fixed on the top of two sliding blocks, drives L shaped plate in the side of guide rail by the sliding of sliding block It moves up;X-direction has two parallel crawler belts, and crawler belt is located at the top of guide rail, is respectively and fixedly provided with fixing seat on two crawler belts, Link block is for being connected and fixed seat and L-type plate, so that two parallel crawler belts drive fixing seat, link block, sliding block are synchronous to carry out Opposing stationary sliding, i.e. movement in X-direction;Stepping in two parallel crawler belts, on a crawler belt and stepper motor Motor transmission shaft is connected, and another crawler belt is connected with driven wheel 1, and the both ends of transmission shaft are connected with two crawler belts respectively, passes through The rotation of motor transmission shaft drives this two crawler belts to carry out the synchronous rolling of guide rail direction.
7. the orderly automatic packing device of fruit according to claim 5, it is characterised in that: be provided with one in Y direction Crawler belt, crawler belt are located at the side of L shaped plate, have a guide rail on the crawler belt, have sliding block on guide rail, be fixed with support column on sliding block, Fixing seat is used for connecting band track and sliding block, is also equipped with another stepper motor in L shaped plate, the transmission shaft of the stepper motor and from Driving wheel 2 and the crawler belt tight fit, thus by the way that required speed is arranged in the stepper motor, then pass through the transmission of the crawler belt, It can realize the movement opposing stationary in the guide rail direction of fixing seat on the crawler belt, sliding block, support column, i.e., in Y direction Movement.
8. the orderly automatic packing device of fruit according to claim 1, it is characterised in that: pressure sensor is for receiving water Fruit falls into the pressure signal generated when chest, and signal is passed to single-chip microcontroller, then make phase by single-chip microcontroller control stepper motor The reaction answered;X/y axis mobile mechanism controls x/y axis mobile mechanism in the shifting in x-axis or y-axis direction by two stepper motors respectively It is dynamic.
9. a kind of orderly automatic boxing method of fruit, it is characterised in that: be using water according to any one of claims 1 to 8 The orderly automatic packing device of fruit, carton is placed on orderly automatic moving system, and motor drives vertical transit system movement, fruit warp The fruit tray of vertical transit system transports, when the fruit tray for carrying fruit moves to lowermost end, under gravity Fruit leaves fruit tray and falls into carton, and the pressure sensor under carton receives the signal that fruit is fallen into, by orderly from The cooperation of pressure sensor and stepper motor in dynamic mobile system, make each fruit orderly, be automatically loaded into the grid of carton.
10. the orderly automatic boxing method of fruit according to claim 9, it is characterised in that: be that vertical transit system passes through Main shaft drives driving chain transmission, the fruit on fruit tray is transported by upper end to bottom end, then fruit is made by gravity With in space for falling the carton on pressure sensor by buffer gear;Simultaneously under the action of pressure sensor, letter It number is transmitted in stepper motor, stepper motor receives pulse, and x/y axis mobile mechanism is promoted to make one along positive direction of the x-axis automatically The movement of unit, to drive carton to be moved to next space Zi Chu separated with partition, in order to hold next fruit; After x-axis direction fills a row, another stepper motor then promotes x/y axis mobile mechanism to make determining for a unit along y-axis automatically To movement, after fruit is fallen into, the movement of negative direction of the x-axis is then carried out again, when filling second row, repeats aforesaid operations, so Repeatedly, it is filled until by grid, after filling one layer, cabinet returns to starting point and continues duplicate operation, finally fills two layers Fruit.
CN201910236758.8A 2019-03-27 2019-03-27 A kind of orderly automatic packing device of fruit and its method Pending CN109911285A (en)

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CN201910236758.8A CN109911285A (en) 2019-03-27 2019-03-27 A kind of orderly automatic packing device of fruit and its method

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