The invention relates to a parallel arm intelligent silkworm cocoon sorting
robot and a silkworm cocoon sorting method. The parallel arm intelligent silkworm cocoon sorting
robot comprises a main
control system, an image collecting device, a silkworm cocoon conveying
system and a parallel arm sorting
manipulator, and the collecting end of the image collecting device faces silkworm cocoons conveyed by the silkworm cocoon conveying
system; and the execution
tail end of the parallel arm sorting
manipulator is located above the silkworm cocoon conveying
system, and the image collecting device and the parallel arm sorting
manipulator are both electrically connected with the
control system. According to the parallel arm intelligent silkworm cocoon sorting
robot, the parallel arm sorting manipulator is adopted, a negative pressure type suction cup is adopted, accurate silkworm cocoon grabbing is achieved, and secondary damage to silkworm cocoons is avoided; silkworm cocoon images are acquired through an upper camera and a lower camera, so that the recognition accuracy is improved; through a constructed silkworm cocoon classification CNN model based on
deep learning, accurate and efficient identification and classification of the silkworm cocoons are realized; and the
control system converts the position coordinates of the silkworm cocoons and drives the parallel arm manipulator to act to grab the silkworm cocoons, so that efficient and automatic sorting of the silkworm cocoons is realized.