Tail end device for picking round fruits and vegetables through mechanical arm

Abstract

The invention relates to the technical field of fruit and vegetable picking equipment, in particular to a mechanical arm round fruit and vegetable picking tail end device which comprises a barrel. A camera module; a pressure detection module; the cutting module is mounted at the opening in the upper end of the barrel; the fruit and vegetable fixing module is mounted in the barrel; according to the fruit and vegetable picking device, a picking main body is composed of the camera module, the pressure detection module, the cutting module and the fruit and vegetable fixing module, the appearance and color of fruits and vegetables are detected through the camera module, the maturity of the fruits is analyzed through machine vision, and whether picking is conducted or not is judged; the diameters of fruits and vegetables are analyzed through the pressure detection module, the fruits and vegetables are fixed through the fruit and vegetable fixing module, roots and stems of the fruits and vegetables are cut through the cutting module after the fruits and vegetables are fixed so that the integrity of the fruits and vegetables can be kept during picking, and the round fruits and vegetables can be sorted according to the size through the screening module.

Description

technical field [0001] The invention relates to the technical field of fruit and vegetable picking equipment, in particular to an end device for picking round fruits and vegetables with a robotic arm. Background technique [0002] At present, my country is the largest producer of fruits in the world, and the area of ​​orchards is constantly expanding. From the perspective of various fruits, citrus, apples and pears are the main varieties grown in my country. In the production of fruits and vegetables, harvested fruits account for about 40% of the total workload; [0003] The existing picking robots are easy to damage the surface of fruits and vegetables during the picking process, causing excessive damage to the fruits and vegetables, and cannot judge the maturity of the fruits and vegetables, and cannot screen the size of the fruits and vegetables, so that the fruits and vegetables cannot be picked finely. SUMMARY OF THE INVENTION [0004] In view of this, the purpose of ...

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Problems solved by technology

[0004] In view of this, the purpose of the present invention is to propose a circular fruit and vegetable end device with a mechanical arm to solve the problem that the existing picking robot is easy to damage the surface of fruits and vegetables during the pick

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