A loading device for automatic citrus petal separation equipment

Abstract

The present invention relates to the technical field of citrus peeling equipment, and specifically discloses a loading device for an automatic citrus peeling device, comprising an orange ball placing unit (200), wherein the orange ball placing unit (200) is provided with an orange ball position positioning component (300), wherein the orange ball position positioning component (300) comprises an industrial camera (304), wherein the industrial camera (304) corresponds to the orange ball on the orange ball placing unit (200); further comprising a moving component (401), wherein a moving end of the moving component (401) is provided with a clamping claw component (402) and a clamping looseness determining component (403), wherein the clamping looseness determining component (403) corresponds to the center position of the orange ball on the orange ball placing unit (200); and further comprising a plurality of orange inserting components (102), wherein the clamping looseness determining component (403) corresponds to the center position of the orange ball on the orange inserting component (102). The present invention can automatically load the orange ball, thereby reducing the workload and increasing the loading efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of citrus segmenting equipment, in particular to a loading device for automatic citrus segmenting equipment. Background Art

[0002] Citrus processing requires a lot of manpower. During the citrus processing process, more manpower is needed to separate the petals. The current automatic citrus separation equipment can realize automatic separation, but the loading of the orange balls still needs to be done manually. The orange balls are placed in the predetermined working area, which is labor-intensive. The development of a suitable loading system for automatic citrus separation equipment can realize the automation of citrus separation.

[0003] Patent document publication number "CN110916221A" discloses a device and method for automatically separating citrus balls. The device includes a ball positioning device, a ball segmentation device, and a frame. The ball is positioned by the ball positioning device, and an image data acquisition system is used to collect, store, and analyze image data information about the ball segmentation line to obtain the ball segmentation line. The ball is then segmented by the ball segmentation device. The device automatically separates the citrus balls by placing the balls into the segmentation device. Multiple sets of ball positioning devices and ball segmentation devices can be arranged in parallel on the device frame, reducing labor costs and making citrus segmentation more efficient. However, the operation of placing the balls into the segmentation device in this document is performed manually, which leads to high labor intensity and low placement efficiency. Summary of the Invention

[0004] In order to solve the above technical problems existing in the existing citrus segmentation process, the present invention provides a loading device for automatic citrus segmentation equipment, which can automatically load materials, thereby reducing work intensity and increasing loading efficiency.

[0005] The technical solution of the present invention: A loading device for automatic citrus sorting equipment, including an orange ball placing unit, the orange ball placing unit is provided with an orange ball position positioning component, the orange ball position positioning component includes an industrial camera, and the industrial camera corresponds to the orange ball on the orange ball placing unit; it also includes a moving component, the moving end of the moving component is provided with a clamping claw component and a clamping loose determination component, the clamping loose determination component corresponds to the center position of the orange ball on the orange ball placing unit; it also includes a plurality of orange inserting components, the clamping loose determination component corresponds to the center position of the orange ball on the orange inserting component. The industrial camera in the orange ball position positioning component of the present invention can identify and determine the position of the orange ball in the orange ball placement unit; the moving component in the present invention can flexibly and accurately move the clamping claw component and the clamping and loosening determination component to the position of the orange ball to be grasped according to the position of the orange ball recognized by the industrial camera, thereby accurately grasping the orange ball; the clamping claw component in the present invention can stably grasp the orange ball to be grasped; the clamping and loosening determination component in the present invention can reconfirm the position of the grasped orange ball, and can effectively prevent the clamping claw component from position deviation and damage to the orange ball during the grasping process, thereby effectively eliminating the occurrence of defective products in the loading stage of the orange ball petal separation process, effectively improving the finished product rate of the petal separation process, and the entire loading process has low work intensity and high loading efficiency.

[0006] Preferably, the clamping looseness determination assembly includes a needle sleeve, the needle sleeve being disposed at the movable end of the movable assembly. A pressure sensor is provided on the inner top wall of the needle sleeve, the pressure sensor being connected to an elastic member. A needle rod is connected to the free end of the elastic member. The portion of the needle rod proximate the elastic member is located within the needle sleeve, while the portion of the needle rod distal to the elastic member is located outside the needle sleeve. The pressure sensor is capable of detecting the force exerted on the needle rod as it is inserted downwardly toward the orange ball, thereby preventing the needle rod from continuing to move downward while inserting toward the orange segment and crushing the orange ball. This ensures the safety of the orange balls during loading and improves the yield rate of the automatic segmenting process. The elastic member acts as a buffer, preventing rigid contact between the needle rod and the orange ball, thereby reducing the force exerted on the orange ball when the needle rod is inserted into the orange ball, protecting the orange ball from being damaged. The needle rod is capable of retracting and moving within the needle sleeve. The needle rod can only be inserted when aligned with the center of the orange ball, thereby ensuring that each orange ball to be loaded is loaded in a proper position.

[0007] Preferably, an automatic petal separation machine is further included, wherein the automatic petal separation machine is provided with a conveying assembly, and the plurality of orange inserting assemblies are arranged on the conveying assembly. Each orange ball is neatly and orderly delivered to each orange inserting assembly, ensuring the smooth progress of the subsequent petal separation process.

[0008] Preferably, the orange insertion assembly includes an orange seat, the orange seat being provided with a fixing rod, the fixing rod corresponding to the needle rod. The top end of the fixing rod can be aligned with and abut against the bottom end of the needle rod, ensuring that the orange ball can smoothly drop from the needle rod and accurately land on the orange seat, thereby ensuring the accuracy of the automatic loading operation.

[0009] Preferably, the conveyor assembly includes a closed conveyor track, on which a plurality of sliding carriages are mounted, and the tangerine holders are mounted on corresponding sliding carriages via fixed rods. The sliding carriages can smoothly move along the track, thereby smoothly transporting the tangerine balls to be petaled between the loading station and the petaling station.

[0010] Preferably, the bottom end of the needle-shaped rod is provided with a recessed portion, and the fixing rod is provided with a thimble, which corresponds to the recessed portion. This ensures that when the top end of the fixing rod and the bottom end of the needle-shaped rod collide with each other, there will be no offset between the two, thereby ensuring that the orange ball can smoothly land on the orange seat.

[0011] Preferably, the moving assembly includes a fixed plate, and two second motors are provided on the top of the fixed plate. The two second motors are connected to a first rotating rod and a second rotating rod respectively. The ends of the first rotating rod and the second rotating rod away from the second motor are rotatably connected to a third rotating rod and a fourth rotating rod respectively. The moving assembly also includes an upper and lower device, and the ends of the third rotating rod and the fourth rotating rod that are close to each other are rotatably connected to the upper and lower devices via a rotating rod. The upper and lower rods of the upper and lower devices are connected to the clamping claw assembly. The two second motors cooperate with the first rotating rod, the second rotating rod, the third rotating rod and the fourth rotating rod to drive the clamping claw assembly to any position above the tray, thereby ensuring that the clamping claw assembly can pick up the orange balls at any position in the tray, and has good flexibility. The upper and lower devices can be motor-driven upper and lower devices, or cylinder-driven upper and lower devices.

[0012] Preferably, the clamping claw assembly includes a top plate, which is connected to the upper and lower rods of the upper and lower devices, and the top plate is connected to the bottom plate through at least three guide columns, and the parts of the upper and lower rods of the upper and lower devices located between the top plate and the bottom plate are slidably connected to the guide plate through guide rods, and the guide plate is provided with multiple cross rods, and the cross rods are provided with guide holes, and the guide holes are slidably connected to the corresponding guide columns; a claw arm is hinged on the bottom plate or the guide column, and the end of the cross rod away from the guide plate is hinged to a connecting rod, and the end of the connecting rod away from the cross rod is hinged to the top surface of the corresponding claw arm; a first motor is provided on the top plate, and a through hole is opened on the top plate, and the driving end of the first motor is connected to a turntable, and a push rod is rotatably connected to the eccentric disk surface of the turntable, and the bottom end of the push rod passes through the through hole and is rotatably connected to the guide plate. Multiple cross bars can move up and down synchronously with the guide plate, thereby ensuring that multiple connecting rods rotate synchronously to drive multiple claw arms to rotate synchronously, thereby ensuring that the claw arms can clamp or release the orange balls smoothly and reliably; the push rod can move up and down with the rotation of the turntable, thereby pushing the guide plate up and down, ensuring that the claw arms can clamp or release smoothly.

[0013] Preferably, the orange ball placement unit is a tray, and the side height of the tray is not less than 5 cm. The side height limit of the tray here ensures that the orange balls will not roll down from the tray.

[0014] Preferably, the orange ball positioning unit includes a vertical rod provided on the orange ball placement unit, a lifting arm being slidably sleeved on the outer circumference of the vertical rod via a limiting screw, the limiting screw penetrating the side of the lifting arm and tightly abutting the outer circumference of the vertical rod, and the industrial camera being provided on the side of the lifting arm away from the vertical rod, with the industrial camera aimed at the entire interior of the pallet. By turning the limiting screw, the lifting arm can be fixed to the vertical rod or fixed to the vertical rod, thereby allowing staff to flexibly adjust the height of the lifting arm and the industrial camera according to the size of the pallet, ensuring that the entire pallet can be included in the industrial camera's field of view while the industrial camera can obtain the clearest field of view, thereby ensuring the accuracy of the positioning of the orange balls in the pallet.

[0015] The present invention has the following beneficial effects:

[0016] (1) The industrial camera in the orange ball positioning component can identify and determine the position of the orange ball in the orange ball placement unit;

[0017] (2) The moving component can move the gripper component and the clamping and releasing determination component to the position of the orange ball to be grasped according to the position of the orange ball recognized by the industrial camera, thereby accurately positioning the orange ball;

[0018] (3) The gripper assembly can stably grasp the orange ball to be grasped;

[0019] (4) The clamping and loosening determination component can reconfirm the position of the orange ball, which can effectively prevent the position of the clamping claw component from being offset during the grasping process and damaging the orange ball, thereby effectively eliminating the occurrence of defective products in the loading stage of the orange ball petal separation process, effectively improving the finished product rate of the petal separation process, and the entire loading process has low work intensity and high loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a first structural schematic diagram of the present invention;

[0021] Figure 2 It is a second structural schematic diagram of the present invention;

[0022] Figure 3 yes Figure 2 A magnified schematic diagram of point A in the middle;

[0023] Figure 4 is a front cross-sectional view of the clamping and loosening determination component of the present invention;

[0024] Figure 5 It is a front view of the present invention;

[0025] Figure 6 It is a top view of the present invention.

[0026] The marks in the attached figure are: 100-automatic petal separation machine, 101-conveying component, 1011-conveying track, 1012-sliding trolley, 102-orange inserting component, 1021-fixing rod, 1022-orange seat, 1023-thimble, 200-orange ball placement unit, 300-orange ball position positioning component, 301-vertical rod, 302-lifting arm, 303-limiting screw, 304-industrial camera, 401-moving component, 4011-fixed plate, 4012-second motor, 4013-first rotating rod, 4014-second rotating rod, 4015- The third rotating rod, 4016-the fourth rotating rod, 4017-hydraulic cylinder, 402-the clamping claw assembly, 4021-the top plate, 4022-the bottom plate, 4023-the guide column, 4024-the cross bar, 4025-the guide rod, 4026-the guide plate, 4027-the claw arm, 4028-the connecting rod, 4029-the first motor, 40210-the through hole, 40211-the rotating plate, 40212-the push rod, 403-the clamping and releasing determination assembly, 4031-the needle sleeve, 4032-the pressure sensor, 4033-the elastic part, 4034-the needle rod, 4035-the recessed portion. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings and examples, but they are not intended to limit the present invention.

[0028] like Figure 1 and Figure 2The device for loading an automatic citrus peeling device shown in the figure includes an orange ball placement unit 200, on which an orange ball position positioning component 300 is provided, and the orange ball position positioning component 300 includes an industrial camera 304, and the industrial camera 304 corresponds to the orange ball on the orange ball placement unit 200; it also includes a moving component 401, and the moving end of the moving component 401 is provided with a clamping claw component 402 and a clamping loose determination component 403, and the clamping loose determination component 403 corresponds to the center position of the orange ball on the orange ball placement unit 200; it also includes multiple The orange plug-in component 102 and the clamping loose determination component 403 correspond to the center position of the orange ball on the orange plug-in component 102, and the orange ball position positioning component 300 can identify and determine the position of the orange ball in the orange ball placement unit 200, and then cooperate with the moving component 401 to enable the clamping claw component 402 to clamp the orange ball, and cooperate with the clamping loose determination component 403 to effectively prevent the clamping claw component from shifting in position during the grasping process and pressing the orange ball, thereby effectively eliminating the occurrence of defective products in the loading stage of the orange ball segmentation process, and effectively improving the finished product rate of the segmentation process.

[0029] like Figure 4 The clamping loosening determination component 403 shown includes a needle sleeve 4031, which is arranged at the moving end of the moving component 401. The inner top wall of the needle sleeve 4031 is provided with a pressure sensor 4032. The pressure sensor 4032 can detect the force applied when the needle rod 4034 is inserted downwardly into the orange ball, thereby preventing the needle rod 4034 from continuing to move downward when inserted into the orange segment and crushing the orange ball, thereby ensuring the safety of the orange ball during the loading process and improving the yield rate of the automatic segmentation process. The pressure sensor 4032 An elastic member 4033 is connected to the upper portion, and the elastic member 4033 can act as a buffer to prevent rigid contact between the needle rod 4034 and the orange ball, thereby reducing the force on the orange segments when the needle rod 4034 is inserted into the orange segments, protecting the orange segments from being broken. The free end of the elastic member 4033 is connected to the needle rod 4034, and the part of the needle rod 4034 close to the elastic member 4033 is located inside the needle sleeve 4031, and the part of the needle rod 4034 away from the elastic member 4033 is located outside the needle sleeve 4031.

[0030] like Figure 5 and Figure 6 As shown, it also includes an automatic petal separation machine 100, which is provided with a conveying component 101. Multiple orange-inserting components 102 are arranged on the conveying component 101, so that each orange ball can be neatly and orderly delivered to each orange-inserting component 102, ensuring the smooth progress of subsequent petal separation processing.

[0031] Among them, the orange insertion component 102 includes an orange seat 1022, and a fixing rod 1021 is provided on the orange seat 1022. The fixing rod 1021 corresponds to the needle rod 4034, so that the top end of the fixing rod 1021 can be aligned with and conflict with the bottom end of the needle rod 4034, ensuring that the orange ball can fall smoothly from the needle sleeve 4031 and accurately fall on the orange seat 1022, ensuring the smooth progress of the automatic loading work.

[0032] Among them, the conveying component 101 includes a conveying track 1011, which is a closed track. A plurality of sliding trolleys 1012 are provided on the conveying component 101. The orange seat 1022 is set on the corresponding sliding trolley 1012 through the fixed rod 1021, so that the sliding trolley 1012 can move smoothly along the track 1011, thereby driving the orange balls to be separated to be smoothly transferred between the loading station and the separation station.

[0033] Among them, the bottom end of the needle rod 4034 is provided with a recessed portion 4035, and the fixed rod 1021 is provided with a thimble 1023, which corresponds to the recessed portion 4035, and can ensure that when the top end of the fixed rod 1021 and the bottom end of the needle rod 4034 conflict with each other, there will be no offset between the two, ensuring that the orange ball can smoothly fall on the orange seat 1022.

[0034] like Figure 3As shown, the clamping claw assembly 402 includes a top plate 4021, which is connected to the upper and lower rods of the upper and lower devices 4017. The top plate 4021 is connected to the bottom plate 4022 through at least three guide pillars 4023. The upper and lower rods of the upper and lower devices 4017 are located between the top plate 4021 and the bottom plate 4022. The portion is slidably connected to the guide plate 4026 through the guide rod 4025. The guide plate 4026 is provided with a plurality of cross bars 4024. The cross bars 4024 are provided with guide holes. The guide holes are slidably connected to the corresponding guide pillars 4023, so that the plurality of cross bars 4024 can synchronously follow the guide plate 4026 to move up and down, thereby ensuring that the plurality of connecting rods 4028 rotate synchronously to drive the plurality of claw arms 4027 to rotate synchronously, so as to ensure that the claw arms 4027 can smoothly and reliably clamp or release the orange ball; the bottom plate 402 2 or a guide column 4023 is hinged with a claw arm 4027, and the end of the cross bar 4024 away from the guide plate 4026 is hinged with a connecting rod 4028, and the end of the connecting rod 4028 away from the cross bar 4024 is hinged with the top surface of the corresponding claw arm 4027; a first motor 4029 is provided on the top plate 4021, and a through hole 40210 is opened on the top plate 4021. The driving end of the first motor 4029 is connected to the turntable 40211, and the eccentric disk surface of the turntable 40211 is rotatably connected with a push rod 40212, so that the push rod 40212 can move up and down with the rotation of the turntable 40211, thereby pushing the guide plate 4026 to move up and down, ensuring that the claw arm 4027 can be smoothly clamped or released. The bottom end of the push rod 40212 passes through the through hole 40210 and is rotatably connected to the guide plate 4026.

[0035] Among them, the moving component 401 includes a fixed plate 4011, and two second motors 4012 are provided on the top of the fixed plate 4011. The two second motors 4012 are respectively connected to the first rotating rod 4013 and the second rotating rod 4014, and the ends of the first rotating rod 4013 and the second rotating rod 4014 away from the second motor 4012 are respectively rotatably connected to the third rotating rod 4015 and the fourth rotating rod 4016; it also includes an upper and lower device 4017, and the ends of the third rotating rod 4015 and the fourth rotating rod 4016 that are close to each other are rotatably connected to the upper and lower devices 4017 through a rotating rod. The upper and lower rods of the upper and lower devices 4017 are connected to the clamping claw assembly 402, and the two second motors 4012 cooperate with the first rotating rod 4013, the second rotating rod 4014, the third rotating rod 4015 and the fourth rotating rod 4016 to drive the clamping claw assembly 402 to move to any position above the tray, thereby ensuring that the clamping claw assembly 402 can clamp the orange balls at any position in the tray.

[0036] The orange ball placement unit 200 is a tray, and the side height of the tray is not less than five centimeters, which ensures that the orange balls will not roll down from the tray.

[0037] Among them, the orange ball positioning unit 300 includes a vertical rod 301 provided on the orange ball placement unit 200, and a lifting arm 302 is slidably sleeved on the outer circumference of the vertical rod 301 through a limiting screw 303. The limiting screw 303 passes through the side of the lifting arm 302 and is tightly against the outer circumference of the vertical rod 301, so that the lifting arm 302 can be fixed to the vertical rod 301 or the lifting arm 302 is fixed on the vertical rod 301 by screwing the limiting screw 303, so that the staff can flexibly adjust the height of the lifting arm 302 and the industrial camera 304 according to the size of the pallet, ensuring that the entire pallet can be included in the field of view of the industrial camera 304 while the industrial camera 304 can obtain the clearest field of view, thereby ensuring the accuracy of the positioning of the orange ball in the pallet, and an industrial camera 304 is provided on the side of the lifting arm 302 away from the vertical rod 301, and the industrial camera 304 is aimed at the entire interior of the pallet, and the orange ball inside the pallet can be positioned by the industrial camera 304.

[0038] The working principle of the present invention is:

[0039] After power is turned on, the staff places the orange ball in the orange ball placement unit 200, and then uses the industrial camera 304 to determine the position of the orange ball to be clamped and transmits the position information to the moving component 401. Then, the two second motors 4012 respectively drive the first rotating rod 4013 and the second rotating rod 4014 to rotate, and then the third rotating rod 4015 and the fourth rotating rod 4016 drive the clamping claw assembly 402 to move to the top of the target orange ball, and then start the hydraulic cylinder to push the clamping claw assembly 402 and the clamping loosening determination component 403 to move downward. When the clamping claw assembly 402 is accurately positioned, the needle rod 4034 will be accurately inserted into the center gap of the orange ball, and then the clamping claw assembly 402 moves all the way downward, and the needle rod 4034 is pressed to retract into the needle sleeve 4031 until the pressure value of the pressure sensor 4032 reaches the second set value. At this time, the claw arm 4027 is at the bottom, and then the first motor 4029 is started to move the turntable 40211 The push rod 40212 moves, and the push rod 40212 drives the guide plate 4026 to move upward. The guide plate 4026 drives the multiple claw arms 4027 to move closer to each other through the connecting rod 4028 and the bottom plate 4022 to clamp the orange ball. Then the conveying assembly 101 conveys the orange insertion assembly 102 to the side of the clamping claw assembly 402, and then the moving assembly 401 drives the clamping claw assembly 402 to move until the concave portion 4035 at the bottom end of the needle rod 4034 and the fixed rod 1021 are connected. The top ejector pin 1023 is aligned, and the clamping jaw assembly 402 is controlled to move downward until the ejector pin 1023 is completely inserted into the recessed portion 4035. The first motor 4029 is then started to control the claw arms 4027 to move away from each other to release the orange ball. At this time, the orange ball slides along the needle sleeve 4031 and the fixed rod 1021 to the orange seat 1022. The clamping jaw assembly 402 then moves upward, and the conveying assembly 101 conveys the orange seat 1022 to the petal separation area for petal separation processing.

[0040] If the positioning of the clamping jaw assembly 402 is inaccurate, the needle rod 4034 will touch and squeeze the orange segment, so that when the clamping jaw assembly 402 is in a higher position, the pressure value of the pressure sensor 4032 will reach the first set value. At this time, it can be determined that the positioning of the clamping jaw assembly 402 is inaccurate, and the moving assembly 401 drives the clamping jaw assembly 402 to move upward away from the orange ball and reposition it for clamping.

[0041] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A loading device for automatic citrus sorting equipment, characterized by: The invention comprises an orange ball placement unit (200), wherein the orange ball placement unit (200) is provided with an orange ball position positioning component (300), wherein the orange ball position positioning component (300) comprises an industrial camera (304), wherein the industrial camera (304) corresponds to the orange ball on the orange ball placement unit (200); further comprises a moving component (401), wherein a moving end of the moving component (401) is provided with a clamping claw component (402) and a clamping looseness determining component (403), wherein the clamping looseness determining component (403) corresponds to the center position of the orange ball on the orange ball placement unit (200); further comprises a plurality of orange inserting components (102), wherein the clamping looseness determining component (403) corresponds to the center position of the orange ball on the orange inserting component (102); The clamping loosening determination component (403) comprises a needle sleeve (4031), the needle sleeve (4031) is arranged at the moving end of the moving component (401), the inner top wall of the needle sleeve (4031) is provided with a pressure sensor (4032), the pressure sensor (4032) is connected to an elastic member (4033), the free end of the elastic member (4033) is connected to a needle rod (4034), the part of the needle rod (4034) close to the elastic member (4033) is located inside the needle sleeve (4031), and the part of the needle rod (4034) away from the elastic member (4033) is located outside the needle sleeve (4031); The orange inserting assembly (102) comprises an orange seat (1022), a fixing rod (1021) is provided on the orange seat (1022), and the fixing rod (1021) corresponds to the needle-shaped rod (4034); It also includes an automatic petal separation machine (100), wherein the automatic petal separation machine (100) is provided with a conveying component (101), and the plurality of orange inserting components (102) are arranged on the conveying component (101); The conveying assembly (101) comprises a conveying track (1011), the conveying track (1011) is a closed track, a plurality of sliding trolleys (1012) are provided on the conveying assembly (101), and the orange seats (1022) are arranged on corresponding sliding trolleys (1012) via fixing rods (1021); The bottom end of the needle-shaped rod (4034) is provided with a recessed portion (4035), and the fixing rod (1021) is provided with a thimble (1023), and the thimble (1023) corresponds to the recessed portion (4035); The orange ball placement unit is a tray, and the side height of the tray is not less than five centimeters.

2. The loading device of the automatic citrus sorting equipment according to claim 1 is characterized in that: The moving assembly (401) includes a fixed plate (4011), two second motors (4012) are provided on the top of the fixed plate (4011), the two second motors (4012) are respectively connected to a first rotating rod (4013) and a second rotating rod (4014), and the ends of the first rotating rod (4013) and the second rotating rod (4014) away from the second motor (4012) are respectively rotatably connected to a third rotating rod (4015) and a fourth rotating rod (4016); and further includes an upper and lower device (4017), the ends of the third rotating rod (4015) and the fourth rotating rod (4016) close to each other are rotatably connected to the upper and lower device (4017) via a rotating rod, and the upper and lower rods of the upper and lower device (4017) are connected to the clamping jaw assembly (402).

3. The loading device of the automatic citrus sorting equipment according to claim 2 is characterized in that: The clamping claw assembly (402) includes a top plate (4021), the top plate (4021) is connected to the upper and lower rods of the upper and lower devices (4017), the top plate (4021) is connected to the bottom plate (4022) through at least three guide pillars (4023), the upper and lower rods of the upper and lower devices (4017) are slidably connected to the guide plate (4026), the guide plate (4026) is provided with a plurality of cross bars (4024), the cross bars (4024) are provided with guide holes, and the guide holes are slidably connected to the corresponding guide pillars (4023); the bottom plate (4022) or the guide pillars (4023) are hinged with a claw arm (4026). 027), one end of the cross bar (4024) away from the guide plate (4026) is hinged with a connecting rod (4028), and one end of the connecting rod (4028) away from the cross bar (4024) is hinged to the top surface of the corresponding claw arm (4027); a first motor (4029) is provided on the top plate (4021), a through hole (40210) is opened on the top plate (4021), the driving end of the first motor (4029) is connected to the turntable (40211), and a push rod (40212) is rotatably connected to the eccentric disk surface of the turntable (40211), and the bottom end of the push rod (40212) passes through the through hole (40210) and is rotatably connected to the guide plate (4026).

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