Abstract: Foam net sleeves possess favorable cushioning and vibration-damping properties and are widely used in the transport packaging of spherical fruits and vegetables such as apples and tomatoes. To address the problems of high labor intensity and low efficiency in manual packaging, this study adopted a packaging technological scheme of “grooved paired rollers for net sleeve feeding, reciprocating net sleeves cutting with double serrated blades, and two-axis linkage adjustable net sleeve expanding” to develop a packaging machine for spherical fruits and vegetables with foam net sleeves. The control system of the whole machine is constructed with a programmable logic controller (programmable logic controller, PLC) as the core to realize automatic coordination of multiple working procedures. On the basis of describing the overall structure and working principle of the machine, the force of a single roller group was analyzed. Combined with mechanical property tests of foam net sleeves, the gap between paired rollers was determined to be 3.2 mm. Kinematic analysis was carried out on the cutter transmission mechanism, and the eccentricity of the eccentric wheel was set to 3 mm. Static simulation analysis using ANSYS was performed to verify the structural reliability of the net sleeve expanding plate. ADAMS software was utilized to simulate and analyze the motion trajectory of the net-expanding plate, which is driven cooperatively by synchronized double-threaded lead screws (for horizontal opening/closing) and linear modules (for vertical lifting). The optimal motion sequence “horizontal expansion first, then vertical sleeving” was obtained. Prototype tests show that at a packaging speed of 50 pieces per minute, the average packaging qualification rate of apples, tomatoes and navel oranges reaches 97.3%, with an average damage rate of 0.6%. The prototype operates stably with good adaptability, which can provide references for the development and application of related packaging equipment.