Integrated device for citrus picking and sorting based on symmetrical multi-finger gripper

Abstract

The invention provides an integrated device for citrus picking and sorting based on a symmetrical multi-finger gripper, belonging to the technical field of agricultural intelligent equipment, comprising a picking mechanism, a sorting mechanism and a control unit. The picking mechanism is installed on the action end of the robotic arm. The picking mechanism includes a plurality of finger claws and a driving unit; the sorting mechanism includes a main track and a plurality of grading tracks. The main track is provided with a plurality of rotating units at intervals, and a plurality of grading tracks are arranged one by one. Correspondingly connected to the rotating unit; the control unit is electrically connected to the driving unit, and the driving unit controls the movements of multiple fingers; the control unit is electrically connected to the multiple rotating units, and controls the citrus autonomous track to enter the corresponding grading track through the multiple rotating units. Using the citrus picking and sorting integrated device based on the symmetrical multi-finger gripper provided by the present invention can completely replace manual operations, reduce costs and labor intensity, improve picking and sorting efficiency, and can ensure sorting accuracy. .

Description

technical field [0001] The invention belongs to the technical field of agricultural intelligent equipment, and more particularly relates to an integrated device for picking and sorting citrus based on a symmetrical multi-finger gripper. Background technique [0002] my country's citrus output ranks among the top in the world, and the quality is excellent. With the strong support of the national agricultural policy, the citrus industry has a bright future. In the process of citrus commercialization, citrus picking and sorting are two very important links, which directly affect the market price and economic benefits of citrus. At present, citrus picking is basically manual work, with high labor cost and high labor intensity, but the picking efficiency is low; due to the lack of automatic detection technology, citrus sorting mainly adopts the manual detection grading method, the grading speed is slow, and the grading accuracy is difficult. ensure. SUMMARY OF THE INVENTION ...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an integrated citrus picking and sorting device based on a symmetrical multi-finger gripper, which aims to solve the manual work of citrus picking and sorting, which has high picking costs, high labor intensity and low efficiency; The problem that the slow precision is difficult to guarantee

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