Automatic cucumber sorting and boxing device

Abstract

The invention discloses an automatic cucumber sorting and boxing device which comprises a moving platform, a cucumber collecting and sorting mechanism, a sorting mechanism and a grading fruit basket, the cucumber collecting and sorting mechanism comprises a cucumber collecting hopper, a cucumber bearing frame, a weighing sensor and a sorting camera, and the sorting mechanism comprises a moving mechanism and a sorting gripper. The movement mechanism comprises a linear guide rail, a stepping motor, a base, two connecting rod group driving motors, two quadrilateral connecting rod groups and two connecting rod group pull ropes; the base is provided with a groove connected with the synchronous belt and connected with the linear guide rail through a sliding block. The stepping motor drives the synchronous belt to drag the base, and linear motion of the sorting mechanism on the linear guide rail is achieved. The sorting gripper is provided with two sets of arc-shaped flexible clamping jaws distributed at the two ends of a clamping jaw fixing plate, synchronous opening and closing of the two sets of clamping jaws are controlled by one motor through a rope-driven transmission mechanism, the clamping jaws are provided with fin ray supporting structures, claw fingers automatically deform when clamping is too tight, and cucumber skin is prevented from being damaged while stable grabbing is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of machinery and automation equipment, and in particular relates to an automatic cucumber sorting and packing device. Background Art

[0002] With the continuous development of agricultural modernization and the advancement of robotics technology, a variety of agricultural robots and agricultural intelligent mechanical devices designed to meet the needs of different agricultural production scenarios have emerged. In the greenhouse cucumber harvesting scenario, the fruit and vegetable picking robot usually puts the cucumbers directly into the collection box after completing the picking operation. After the cucumbers are picked by the picking robot, they still need to rely on manual sorting and packing, which has low production efficiency. During the packing process, if an irregular placement method is used, the storage space of the box cannot be maximized and the cucumbers are easily damaged during transportation due to squeezing between cucumbers or collision between cucumbers and the box wall. Summary of the invention

[0003] The main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and provide an automatic cucumber sorting and packing device that can complete the grading and orderly placement of cucumbers in layers, realize the task of sorting and packing the cucumbers after picking, further reduce the manual workload, and complete the full process automation operation after picking.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A cucumber automatic sorting and packing device, characterized in that the cucumber automatic sorting and packing device comprises a mobile platform, a cucumber collecting and sorting mechanism, a sorting mechanism and a grading fruit basket.

[0006] The mobile platform includes a main frame and universal wheels. Four universal wheels are installed at the bottom of the main frame. The main frame is provided with multiple groups of mounting holes to provide mounting and fixing holes for other components of the device.

[0007] The cucumber collection and sorting mechanism comprises a cucumber collection hopper, a cucumber support frame, a weighing sensor and a sorting camera; wherein the cucumber support frame is a triangular frame structure, and the supporting surface is a circular arc groove, which forms a 45-degree angle with the horizontal plane; the groove has two openings to provide a passage space for the gripper of the sorting gripper to grasp; the lower part of the weighing sensor is connected to the middle cross bar of the main frame, and the upper part of the weighing sensor is connected to the cucumber support frame; the sorting camera is fixedly installed on the top cross bar of the main frame;

[0008] The sorting mechanism comprises a motion mechanism and a sorting gripper, wherein the motion mechanism comprises a linear guide rail, a stepper motor, a base, two connecting rod group drive motors, two quadrilateral connecting rod groups and two connecting rod group pull ropes; wherein the base is provided with a groove to connect a synchronous belt, which is connected to the linear guide rail through a slider; the stepper motor drives the synchronous belt to drag the base to realize the linear motion of the sorting mechanism on the linear guide rail; the two quadrilateral connecting rod groups are composed of equal-length connecting rods, and the telescopic motion is realized by adjusting the diagonal of the quadrilateral connecting rod groups; the motion mechanism is connected to the sorting gripper through a steering connector, and the lifting height and pitch angle of the sorting gripper are controlled by adjusting the telescopic degree of the two connecting rod groups; the sorting gripper is provided with two groups of arc-shaped flexible clamping claws distributed at both ends of the clamping claw fixing plate, and the rope-driven transmission mechanism is used to realize that one motor controls the synchronous opening and closing of the two groups of clamping claws;

[0009] The grading fruit basket is provided with two models, one for the first layer and the other for the second layer, according to the length and weight characteristics of the cucumbers, and other levels can be expanded according to actual needs; square grooves are provided on both sides of the grading fruit basket to provide a passage space for the clamping claws of the sorting gripper; a limiting soft pad is placed in the grading fruit basket, and a plurality of groups of limiting grooves are provided on the soft pad to limit the placement position of the cucumbers on the first layer, so as to ensure that the cucumbers will not slide and be damaged during transportation.

[0010] Furthermore, two traction hooks are installed at the front of the main frame, which are connected to the picking robot through the traction hooks, so that the automatic cucumber sorting and packing device can follow the movement of the picking robot.

[0011] Furthermore, the motion mechanism is provided with a side-by-side A connecting rod group and a B connecting rod group, the connecting rod group is composed of four equal-length connecting rods forming a quadrilateral, bearings are provided at the connecting and rotating parts between the connecting rods, and are connected by bolts and nuts; the connecting rod group is connected by a steering connector sorting gripper; the A connecting rod group driving pulley is connected to the output shaft of the A connecting rod group driving motor, one end of the A connecting rod group pull rope is connected to the A connecting rod group driving pulley, and the other end passes through the A steering connector pull rope fixing hole to be connected to the steering connector; the first connecting rod of the A connecting rod group and the second connecting rod of the A connecting rod group are provided with straight teeth with the same module, and the coordinated movement of the two connecting rods is achieved through the meshing between the teeth to constrain the steering connector to move only in the vertical direction; when the A connecting rod group driving pulley rotates, the diagonal of the quadrilateral connecting rod is adjusted by driving the A connecting rod group pull rope to realize linear telescopic movement in the vertical direction.

[0012] Furthermore, by adjusting the telescopic distance of the two quadrilateral link groups, the lifting height and pitch angle of the sorting gripper are controlled. When the two groups of link mechanisms are synchronously extended and retracted, the sorting gripper maintains a fixed horizontal posture and performs vertical lifting and lowering movements. When the contraction of the B link group is greater than that of the A link group, the steering connector drives the mobile fixed column to move autonomously along the micro guide rail toward the end face of the clamping claw fixed plate, and the sorting gripper switches to an inclined grasping posture.

[0013] Furthermore, the sorting gripper is provided with two groups of arc-shaped flexible claws installed at both ends of the claw fixing plate, which respectively clamp the tail and the middle of the cucumber; the active claw of the A claw and the driven claw of the A claw, and the active claw of the B claw and the driven claw of the B claw realize synchronous opening and closing movement through straight tooth meshing; the active claw of the A claw and the driven claw of the A claw form a group of arc-shaped flexible claws, and correspondingly, the active claw of the B claw and the driven claw of the B claw form another group of arc-shaped flexible claws, and the arc-shaped flexible claws have an arc-shaped curved surface, which is supported by a series of fins between the inner and outer surfaces; the inner side surface has a truncated cone convex hull that is evenly and equidistantly distributed.

[0014] Furthermore, the sorting gripper uses a gripper drive motor and a rope-driven transmission mechanism to control the synchronous opening and closing of two groups of jaws. The gripper drive motor is fixed to the middle of the gripper fixing plate through a gripper drive motor fixing frame. The gripper drive wire wheel is connected to the output end of the gripper drive motor. Through holes are provided at both ends of the gripper drive wire wheel to connect with the A jaw pull rope and the B jaw pull rope; the A jaw pull rope is connected to the short handle of the A jaw active jaw through the A jaw pull rope first guide wheel and the A jaw pull rope second guide wheel, and the B jaw pull rope is connected to the short handle of the B jaw active jaw through two guide wheels.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0016] 1. The sorting mechanism in the device of the present invention adopts a rope drive transmission mode, and the overall weight is relatively light. The weight distribution is adjusted by rope drive transmission, and the terminal inertia of the mobile mechanism is reduced, and the overall movement is lighter. At the same time, the rope drive mechanism has good flexibility, which can absorb the impact of sudden load changes or collisions with the outside, and extend the service life of the mechanism.

[0017] 2. The device of the present invention forms a lifting structure through two quadrilateral connecting rod groups. By adjusting the telescopic distance of the two quadrilateral connecting rod groups, the flexible control of the sorting gripper between vertical lifting and pitching angles can be achieved. This structure can realize the rapid switching of the horizontal and inclined grasping postures of the sorting gripper to meet the needs of different stacking heights and placement directions. Compared with traditional rigid lifting devices, it has the advantages of compact structure, low motion inertia, and rapid adjustment, which significantly improves the adaptability and operating efficiency of cucumber sorting.

[0018] 3. In view of the long columnar shape of cucumber fruits, the device of the present invention is designed with a flexible non-destructive sorting gripper for grabbing and stacking cucumbers. The sorting gripper is provided with two sets of arc-shaped flexible clamping claws, and the clamping claws are provided with a fin support structure. When the clamping is too tight, the claw fingers automatically deform, so as to achieve stable grabbing while avoiding damage to the cucumber skin.

[0019] 4. The device of the present invention has a compact layout and a small overall volume, and is suitable for the narrow passages of cucumber greenhouses. The traction hook set at the front of the main frame can be directly towed and moved by the picking robot, so that the sorting device can move synchronously with the picking equipment. This integrated design allows the picking and sorting and packing work to be completed continuously in one process, realizing the automated and efficient operation of direct sorting and packing of cucumbers after picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a schematic diagram of the overall structure of an automatic cucumber sorting and packing device disclosed in the present invention;

[0022] Figure 2 It is a right view of an automatic cucumber sorting and packing device disclosed in the present invention;

[0023] Figure 3 is a schematic diagram of the horizontal grasping posture of the sorting mechanism in the present invention;

[0024] Figure 4 is a schematic diagram of the inclined grasping posture of the sorting mechanism in the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the sorting gripper in the present invention;

[0026] Figure 6 It is a structural schematic diagram of the arc-shaped flexible clamping jaw in the present invention;

[0027] Figure 7 It is a schematic diagram of the rope drive mechanism of the sorting gripper in the present invention;

[0028] Figure 8 It is a schematic diagram of the cucumber stacking method in the present invention.

[0029] As shown in the figure: 1-1, main frame; 1-2, traction hook; 1-3, universal wheel; 2, cucumber collection and sorting mechanism; 2-1, cucumber collection hopper; 2-2, cucumber support frame; 2-3, weighing sensor; 2-4, sorting camera; 3, sorting mechanism; 3-1, linear guide; 3-2, stepper motor; 3-3, base; 3-4, A connecting rod group driving motor; 3-5, A connecting rod group driving wire wheel; 3-6, B connecting rod group; 3-7, A connecting rod group; 3-8, A connecting rod group first connecting rod; 3-9, A connecting rod group second connecting rod; 3-10, A connecting rod group pull rope; 3-11, A steering connector pull rope fixing hole; 3 -12, steering connector; 3-13, mobile fixed column; 3-14, micro guide rail; 3-15, jaw fixing plate; 3-16, gripper drive motor fixing frame; 3-17, gripper drive motor; 3-18, gripper drive wire wheel; 3-19, A jaw pull rope first guide wheel; 3-20, A jaw pull rope second guide wheel; 3-21, A jaw active jaw; 3-22, A jaw driven jaw; 3-23, B jaw active jaw; 3-24, B jaw driven jaw; 3-25, A jaw pull rope; 3-26, B jaw pull rope; 4-1, primary sorting fruit basket; 4-2, secondary sorting fruit basket; 4-3, limit cushion. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0031] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0032] Example 1

[0033] like Figure 1 As shown, this embodiment discloses an automatic cucumber sorting and packing device, including a mobile platform, a cucumber collecting and sorting mechanism 2, a sorting mechanism 3 and a graded fruit basket. The automatic cucumber sorting and packing device can follow the picking robot through a traction hook, and the overall structure is compact, which is suitable for the narrow and long aisles in the cucumber planting greenhouse, and can automatically complete the cucumber sorting and packing tasks, realizing fully automated processing after picking.

[0034] like Figure 1 As shown, the mobile platform includes a main frame 1-1, which is composed of a light aluminum alloy square tube, two traction hooks 1-2 are provided at the front, and four universal wheels 1-3 are provided at the bottom. There are multiple groups of mounting holes on the main frame to provide mounting and fixing holes for other components of the device. By connecting the traction hook with the picking robot, the cucumber automatic sorting and packing device can follow the picking robot.

[0035] like Figure 2 As shown, the cucumber collection and sorting mechanism includes a cucumber collection hopper 2-1, a cucumber support frame 2-2, a weighing sensor 2-3 and a sorting camera 2-4. The cucumber collection hopper adopts a funnel-shaped structure, which is used to guide the cucumbers into the cucumber support frame. The inner surface of the cucumber support frame is affixed with a flexible buffer material to reduce the impact force when the cucumbers fall. The cucumber support frame is a triangular frame structure, and its supporting surface is a circular arc groove, which is at an angle of 45° with the horizontal plane. Two openings are provided on both sides of the groove for the two end clamps of the sorting gripper to pass through. The opening is fixed at a distance from the bottom of the support frame, and the position where the clamps at both ends of the sorting gripper are clamped is fixed at a distance from the tail of the cucumber, which can ensure that the tail ends of the cucumbers are aligned when placed. The lower part of the weighing sensor is connected to the middle crossbar of the main frame, and the upper part is connected to the support frame, which is used to detect the weight of the cucumber in real time. The sorting camera is fixed on the top of the main frame to capture the appearance information of the cucumber (such as length and shape) and complete the grading in combination with the weight data.

[0036] like Figure 1 and Figure 3 As shown, the sorting mechanism consists of a motion mechanism and a sorting gripper. The motion mechanism includes a linear guide 3-1, a stepper motor 3-2, a base, two connecting rod group drive motors, two quadrilateral connecting rod groups and two connecting rod group pull ropes. The base 3-3 is provided with a groove to connect the synchronous belt, which is connected to the linear guide 3-1 through a slider. The stepper motor 3-2 drives the synchronous belt to drag the base to realize the linear motion of the sorting mechanism on the guide rail. The motion mechanism is provided with a side-by-side A connecting rod group 3-7 and a B connecting rod group 3-6. The connecting rod group is composed of 4 equal-length connecting rods in a quadrilateral shape. Bearings are provided at the connecting and rotating parts between the connecting rods and are connected by bolts and nuts. The connecting rod group is connected to the sorting gripper through a steering connector 3-12. The A-linkage driving pulley 3-5 is connected to the output shaft of the A-linkage driving motor 3-4. One end of the A-linkage pull rope 3-10 is connected to the A-linkage driving pulley, and the other end passes through the A-steering connecting member pull rope fixing hole 3-11 to connect to the steering connecting member 3-12. The first connecting rod 3-8 of the A-linkage and the second connecting rod 3-9 of the A-linkage are provided with straight teeth with the same module, and the coordinated movement of the two connecting rods is achieved through the meshing between the teeth to constrain the steering connecting member to move only in the vertical direction. When the A-linkage driving pulley rotates, the diagonal of the quadrilateral connecting rod can be adjusted by driving the A-linkage pull rope to achieve linear telescopic movement in the vertical direction.

[0037] By adjusting the extension and retraction distance of the two quadrilateral connecting rod groups, the lifting height and pitch angle of the sorting gripper can be controlled. Figure 3 When the contraction of the B link group 3-6 is greater than that of the A link group 3-7, the steering connector 3-12 drives the mobile fixed column 3-13 to move autonomously along the micro guide rail 3-14 toward the end surface of the clamping claw fixed plate 3-15 to maintain the stability of the overall mechanism, and the sorting gripper switches to Figure 4 The tilted grasping posture shown.

[0038] like Figure 5 As shown, considering the long columnar shape of cucumber, the sorting gripper is provided with two sets of arc-shaped flexible grippers installed at both ends of the gripper fixing plate 3-15, which respectively grip the tail and middle of the cucumber to ensure stable gripping of the cucumber. The active gripper 3-21 of the A gripper and the driven gripper 3-22 of the A gripper, and the active gripper 3-23 of the B gripper and the driven gripper 3-24 of the B gripper realize synchronous opening and closing movement through straight tooth meshing.

[0039] like Figure 6 As shown, the active jaw 3-21 of the A clamp and the driven jaw 3-22 of the A clamp form a group of arc-shaped flexible jaws, and correspondingly, the active jaw 3-23 of the B clamp and the driven jaw 3-24 of the B clamp form another group of arc-shaped flexible jaws. The arc-shaped flexible claws have an arc-shaped curved surface, and the inner and outer surfaces are supported by a series of fins. The inner surface has evenly and equidistantly distributed frustum convex bulges, which can increase the contact friction between the clamp and the surface of the cucumber fruit during clamping. The arc-shaped flexible claws can be integrally manufactured using additive manufacturing technology. When the contact force between the clamp and the cucumber is too large, the supporting fins bend, and the arc-shaped flexible claws are deformed, so as not to damage the surface of the cucumber fruit. The outer side of the arc-shaped flexible claw has flat reinforcing ribs, which can enhance the ability of the arc-shaped flexible claw to rebound and recover after deformation.

[0040] The sorting gripper uses a gripper drive motor and a rope drive transmission mechanism to control the synchronous opening and closing of two sets of grippers. Figure 7 As shown, the gripper drive motor 3-17 is fixed to the middle of the gripper fixed plate 3-15 through the gripper drive motor fixing frame 3-16, the gripper drive wire wheel 3-18 is connected to the output end of the gripper drive motor 3-17, and the gripper drive wire wheel 3-18 is provided with through holes at both ends to connect with the A gripper pull rope 3-25 and the B gripper pull rope 3-26. The A gripper pull rope is connected to the short handle of the A gripper active claw through the A gripper pull rope first guide wheel 3-19 and the A gripper pull rope second guide wheel 3-20, and the B gripper pull rope is connected to the short handle of the B gripper active claw 3-23 through two guide wheels. The winding method of the pull rope is as follows: Figure 7As shown. The gripper drive motor drives the gripper drive wire wheel to rotate clockwise, pulling the ropes of the two sets of jaws. After the ropes change direction through the guide wheel, they pull the short handles of the active claws on both sides of the jaws, driving the jaws on both sides to close synchronously. At the same time, the torsion spring at the rotation axis of the active claw is compressed to prepare for the resetting of the jaws. When the gripper drive motor rotates counterclockwise, the rope relaxes, the torsion spring automatically recovers, and the jaws open. The sorting mechanism adopts a rope drive transmission method, which has a lighter overall weight. The weight distribution is adjusted through the rope drive transmission, the end inertia of the mobile mechanism is reduced, and the overall movement is lighter. At the same time, the rope drive mechanism has good flexibility, which can absorb the impact of sudden load changes or collisions with the outside, thereby extending the service life of the mechanism.

[0041] Two first-level fruit baskets 4-1 and second-level fruit baskets 4-2 are set according to the length and weight characteristics of cucumbers, and other levels can be expanded according to actual needs. Figure 8 As shown, a limiting soft pad 4-3 is placed in the fruit basket, and a plurality of limiting grooves are provided on the soft pad to limit the placement of the first layer of cucumbers. The cucumbers of each layer are arranged in a horizontal direction, and the cucumbers of the adjacent layers are staggered so that the cucumbers of the upper layer fall into the gap of the lower layer, thereby improving the space utilization and ensuring that the cucumbers will not slide and be damaged during transportation.

[0042] Example 2

[0043] Based on Figure 1 The automatic cucumber sorting and packing device shown is specifically described in the technical solution of Example 1. This embodiment continues to disclose the working process of the automatic cucumber sorting and packing device, which is specifically described as follows:

[0044] When the cucumbers slide into the support frame through the collection hopper, the weighing sensor obtains the weight of the cucumbers in real time, and the sorting camera detects the length, shape and other appearance features of the cucumbers. The sorting system classifies the cucumbers into level one or level two according to the classification rules, and calculates their optimal placement position in the fruit basket. The sorting gripper grabs the cucumbers from the support frame in an inclined grasping posture at the initial position, moves upward, and moves a distance to the left on the linear guide under the traction of the synchronous belt to leave the area above the support frame, then switches to a horizontal placement posture and continues to move left to above the corresponding placement position of the target fruit basket. The sorting gripper descends to the height of the placement position and opens the clamp to complete the placement action. The sorting gripper reaches the placement position accurately to ensure that the cucumbers in the fruit basket are neatly and orderly stacked in layers. After the placement is completed, the sorting gripper moves to the initial position to restore the inclined grasping posture, preparing for the next round of cucumber sorting.

[0045] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A cucumber automatic sorting and packing device, characterized in that: The automatic cucumber sorting and packing device comprises a mobile platform, a cucumber collecting and sorting mechanism, a sorting mechanism and a grading fruit basket. The mobile platform includes a main frame and universal wheels. Four universal wheels are installed at the bottom of the main frame. The main frame is provided with multiple groups of mounting holes to provide mounting and fixing holes for other components of the device. The cucumber collection and sorting mechanism comprises a cucumber collection hopper, a cucumber support frame, a weighing sensor and a sorting camera; wherein the cucumber support frame is a triangular frame structure, and the supporting surface is a circular arc groove, which forms a 45-degree angle with the horizontal plane; the groove has two openings to provide a passage space for the gripper of the sorting gripper to grasp; the lower part of the weighing sensor is connected to the middle cross bar of the main frame, and the upper part of the weighing sensor is connected to the cucumber support frame; the sorting camera is fixedly installed on the top cross bar of the main frame; The sorting mechanism comprises a motion mechanism and a sorting gripper, wherein the motion mechanism comprises a linear guide rail, a stepper motor, a base, two connecting rod group drive motors, two quadrilateral connecting rod groups and two connecting rod group pull ropes; wherein the base is provided with a groove to connect a synchronous belt, which is connected to the linear guide rail through a slider; the stepper motor drives the synchronous belt to drag the base to realize the linear motion of the sorting mechanism on the linear guide rail; the two quadrilateral connecting rod groups are composed of equal-length connecting rods, and the telescopic motion is realized by adjusting the diagonal of the quadrilateral connecting rod groups; the motion mechanism is connected to the sorting gripper through a steering connector, and the lifting height and pitch angle of the sorting gripper are controlled by adjusting the telescopic degree of the two connecting rod groups; the sorting gripper is provided with two groups of arc-shaped flexible clamping claws distributed at both ends of the clamping claw fixing plate, and the rope-driven transmission mechanism is used to realize that one motor controls the synchronous opening and closing of the two groups of clamping claws; The grading fruit basket is provided with two models, one for the first layer and the other for the second layer, according to the length and weight characteristics of the cucumbers, and other levels can be expanded according to actual needs; square grooves are provided on both sides of the grading fruit basket to provide a passage space for the clamping claws of the sorting gripper; a limiting soft pad is placed in the grading fruit basket, and a plurality of groups of limiting grooves are provided on the soft pad to limit the placement position of the cucumbers on the first layer, so as to ensure that the cucumbers will not slide and be damaged during transportation.

2. The automatic cucumber sorting and packing device according to claim 1 is characterized in that: The front part of the main frame is provided with two traction hooks, which are connected with the picking robot through the traction hooks, so that the automatic cucumber sorting and packing device can follow the movement of the picking robot.

3. The automatic cucumber sorting and packing device according to claim 1 is characterized in that: The motion mechanism is provided with a connecting rod group A and a connecting rod group B arranged side by side. The connecting rod group is formed into a quadrilateral by four connecting rods of equal length. Bearings are arranged at the connecting and rotating parts between the connecting rods and are connected by bolts and nuts. The connecting rod group is connected to the sorting gripper through a steering connector. The driving wire wheel of the connecting rod group A is connected to the output shaft of the driving motor of the connecting rod group A. One end of the pull rope of the connecting rod group A is connected to the driving wire wheel of the connecting rod group A, and the other end passes through the pull rope fixing hole of the steering connector A to be connected to the steering connector. The first connecting rod of the connecting rod group A and the second connecting rod of the connecting rod group A are provided with straight teeth with the same module, and the coordinated movement of the two connecting rods is realized by meshing between the teeth to constrain the steering connector to move only in the vertical direction. When the driving wire wheel of the connecting rod group A rotates, the diagonal of the quadrilateral connecting rod is adjusted by driving the pull rope of the connecting rod group A to realize linear telescopic movement in the vertical direction.

4. The automatic cucumber sorting and packing device according to claim 3 is characterized in that: By adjusting the telescopic distance of the two quadrilateral link groups, the lifting height and pitch angle of the sorting gripper are controlled. When the two groups of link mechanisms are synchronously extended and retracted, the sorting gripper maintains a fixed horizontal posture and moves up and down in the vertical direction. When the contraction of the B link group is greater than that of the A link group, the steering connector drives the mobile fixed column to move autonomously along the micro guide rail toward the end face of the clamping claw fixed plate, and the sorting gripper switches to an inclined grasping posture.

5. The automatic cucumber sorting and packing device according to claim 3 is characterized in that: The sorting gripper is provided with two groups of arc-shaped flexible claws installed at both ends of the claw fixing plate, which clamp the tail and the middle of the cucumber respectively. The active claw of the A claw and the driven claw of the A claw, and the active claw of the B claw and the driven claw of the B claw realize synchronous opening and closing movement through straight tooth meshing; the active claw of the A claw and the driven claw of the A claw form a group of arc-shaped flexible claws, and correspondingly, the active claw of the B claw and the driven claw of the B claw form another group of arc-shaped flexible claws. The arc-shaped flexible claws have an arc-shaped curved surface, and the inner and outer surfaces are supported by a series of fins; the inner surface has a truncated cone convex hull evenly and equidistantly distributed.

6. The automatic cucumber sorting and packing device according to claim 3 is characterized in that: The sorting gripper uses a gripper drive motor and a rope-driven transmission mechanism to control the synchronous opening and closing of two groups of jaws. The gripper drive motor is fixed to the middle of the gripper fixing plate through a gripper drive motor fixing frame. The gripper drive wire wheel is connected to the output end of the gripper drive motor. Through holes are provided at both ends of the gripper drive wire wheel to connect with the A jaw pull rope and the B jaw pull rope. The A jaw pull rope is connected to the short handle of the A jaw active jaw through the A jaw pull rope first guide wheel and the A jaw pull rope second guide wheel, and the B jaw pull rope is connected to the short handle of the B jaw active jaw through two guide wheels.

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