Automatic sorting and boxing device for cucumbers

Abstract

The application discloses a cucumber automatic 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 supporting frame, a weighing sensor and a sorting camera. The sorting mechanism comprises a motion mechanism and a sorting gripper. The motion mechanism comprises a linear guide rail, a stepping motor, a base, two connecting rod set driving motors, two quadrilateral connecting rod sets and two connecting rod set pull ropes. The base is provided with a groove connected synchronous belt and is connected with the linear guide rail through a sliding block. The stepping motor drives the synchronous belt to drag the base, so that linear motion of the sorting mechanism on the linear guide rail is realized. The sorting gripper is provided with two groups of arc-shaped flexible clamps distributed at two ends of a clamp fixed plate. One motor controls synchronous opening and closing of the two groups of clamps through a rope driving mechanism. The clamps are provided with fin strip supporting structures. When clamping is too tight, the clamp fingers are automatically deformed, so that stable clamping is realized while damage to the cucumber skin is avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of machinery and automation equipment, and particularly relates to a cucumber automatic sorting and boxing device. BACKGROUND

[0002] With the continuous development of agricultural modernization and the progress of robot technology, various 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, fruit and vegetable picking robots usually directly put cucumbers into collection boxes after completing the picking operation. After using the picking robot to pick cucumbers, manual sorting and boxing are still needed, which is low in production efficiency. In the boxing process, if a random placement method is used, the space for storage in the box cannot be maximized, and damage to cucumbers may occur due to mutual extrusion between cucumbers or collision between cucumbers and the box wall during transportation. SUMMARY

[0003] The main purpose of the present application is to overcome the shortcomings and deficiencies of the prior art, and to provide a cucumber automatic sorting and boxing device that can complete the ordered placement of cucumbers in grades and layers, realize the task of sorting and boxing cucumbers after picking, and further reduce the amount of manual work to complete the whole process of automatic operation after picking.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0005] A cucumber automatic sorting and boxing device, characterized in that the device comprises a moving platform, a cucumber collection and sorting mechanism, a sorting mechanism, and a grading fruit basket,

[0006] The moving platform comprises a main frame and universal wheels, and the main frame is provided with a plurality of groups of mounting holes for providing mounting and fixing hole positions 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. The cucumber support frame is a triangular frame structure, and the support surface is a circular arc groove with an included angle of 45 degrees with the horizontal plane. The groove has two openings to provide a passing space for the clamping jaw of the sorting gripper. The lower part of the weighing sensor is connected to the middle horizontal 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 horizontal bar of the main frame.

[0008] The sorting mechanism comprises a motion mechanism and a sorting gripper, the motion mechanism comprises a linear guide rail, a stepping motor, a base, two connecting rod set driving motors, two quadrilateral connecting rod sets and two connecting rod set pull ropes; wherein the base is provided with a groove connected synchronous belt, and is connected with the linear guide rail through a sliding block; the stepping motor drives the synchronous belt to drag the base, so as to realize the linear motion of the sorting mechanism on the linear guide rail; the two quadrilateral connecting rod sets are composed of equal-length connecting rods, and the stretching and contracting motion is realized by adjusting the diagonal lines of the quadrilateral connecting rod sets; the motion mechanism is connected with the sorting gripper through a steering connecting piece, the lifting height and the pitch angle of the sorting gripper are controlled by adjusting the stretching and contracting degrees of the two connecting rod sets; the sorting gripper is provided with two groups of arc-shaped flexible clamps distributed at two ends of a clamp fixed plate, and one motor controls the synchronous opening and closing of the two groups of clamps through a rope driving mechanism;

[0009] The grading fruit basket is provided with a square groove on two side surfaces, so as to provide a passing space for the clamps of the sorting gripper; a limiting soft pad is arranged in the grading fruit basket, a plurality of limiting grooves are arranged on the soft pad, and the limiting grooves are used for limiting the placement position of the first layer of cucumbers, so as to ensure that the cucumbers are not damaged due to sliding during transportation.

[0010] Further, the front part of the main frame is provided with two traction hooks, the traction hooks are connected with the picking robot, and the automatic cucumber sorting and boxing device can move along with the picking robot.

[0011] Further, the motion mechanism is provided with side-by-side A connecting rod sets and B connecting rod sets, the connecting rod sets are composed of four equal-length connecting rods to form a quadrilateral, bearings are arranged at the rotating positions between the connecting rods, and the bearings are connected through bolts and nuts; the connecting rod sets are connected with the sorting gripper through a steering connecting piece; an A connecting rod set driving line wheel is connected with an output shaft of an A connecting rod set driving motor, one end of an A connecting rod set pull rope is connected with the A connecting rod set driving line wheel, and the other end is connected with the steering connecting piece through an A steering connecting piece pull rope fixing hole; the A connecting rod set first connecting rod and the A connecting rod set second connecting rod are provided with modulus-same straight-toothed gears, the two connecting rods are movably connected through meshing between the gears, so as to constrain the steering connecting piece to move only in the vertical direction; when the A connecting rod set driving line wheel rotates, the A connecting rod set pull rope is driven to adjust the diagonal lines of the quadrilateral connecting rod, so as to realize the linear stretching and contracting motion in the vertical direction.

[0012] Further, the lifting height and the pitch angle of the sorting gripper are controlled by adjusting the stretching and contracting distances of the two quadrilateral connecting rod sets; when the two connecting rod mechanisms are synchronously stretched and contracted, the sorting gripper keeps a fixed horizontal posture and moves vertically; when the B connecting rod set is contracted more than the A connecting rod set, the steering connecting piece drives the moving fixed column to move along the micro guide rail to the end surface of the clamp fixed plate, and the sorting gripper switches to an inclined grabbing posture.

[0013] Further, the sorting gripper is provided with two groups of arc-shaped flexible clamps installed at the two ends of the clamp fixed plate, which respectively clamp the tail and middle part of the cucumber, and the straight-toothed engagement between the A clamp driving jaw and the A clamp driven jaw and the B clamp driving jaw and the B clamp driven jaw realizes synchronous opening and closing movement; the A clamp driving jaw and the A clamp driven jaw form a group of arc-shaped flexible clamps, and correspondingly, the B clamp driving jaw and the B clamp driven jaw form another group of arc-shaped flexible clamps, the arc-shaped flexible clamps have an arc-shaped curved surface, and the inner and outer sides are supported by a series of fin strips; the inner side has uniformly distributed circular truncated cone protrusions.

[0014] Further, the sorting gripper uses a gripper driving motor and a rope drive transmission mechanism to control the synchronous opening and closing of the two groups of clamps, the gripper driving motor is fixed in the middle of the clamp fixed plate through the gripper driving motor fixing frame, the gripper driving line wheel is connected with the output end of the gripper driving motor, and the gripper driving line wheel is provided with through holes at both ends to be connected with the A clamp pull rope and the B clamp pull rope; the A clamp pull rope is connected with the short handle of the A clamp driving jaw through the A clamp pull rope first guide wheel and the A clamp pull rope second guide wheel, and the B clamp pull rope is connected with the short handle of the B clamp driving jaw through two guide wheels.

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

[0016] 1. The sorting mechanism in the device adopts a rope drive transmission mode, and the overall weight is relatively light. The weight distribution is adjusted through the rope drive transmission, the end inertia of the moving mechanism is reduced, and the overall movement is more convenient. At the same time, the rope drive mechanism has good flexibility, can absorb the impact when the load suddenly changes or collides with the outside, and prolongs the service life of the mechanism.

[0017] 2. The device is composed of two quadrilateral linkage groups to form a lifting structure, and the flexible control of the sorting gripper between vertical lifting and pitch angle is realized by adjusting the extension distance of the two quadrilateral linkage groups. The structure can realize the quick switching of the horizontal and inclined two grasping postures of the sorting gripper, and adapt to the needs of different stacking heights and placement directions. Compared with the traditional rigid lifting device, it has the advantages of compact structure, low motion inertia, rapid adjustment, etc., which significantly improves the adaptability and operation efficiency of cucumber sorting.

[0018] 3. According to the long columnar shape of the cucumber fruit, the device designs a flexible non-destructive sorting gripper for grasping and stacking the cucumber. The sorting gripper is provided with two groups of arc-shaped flexible clamps, and the clamps are provided with fin support structures. When clamped too tightly, the claw fingers automatically deform, realizing stable grasping while avoiding damage to the cucumber skin.

[0019] 4, The device is compact in layout, small in overall volume space, suitable for narrow passages of cucumber planting greenhouses, provided with a traction hook at the front of the main frame, can be directly pulled and moved by a picking robot, realizes synchronous movement of the sorting device with picking equipment, the integrated design realizes continuous completion of picking and sorting and boxing work in one process, realizes direct sorting and boxing automation of cucumber picking. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 is the overall structure schematic diagram of the automatic sorting and boxing device for cucumbers disclosed by the present application;

[0022] Figure 2 is the right view of the automatic sorting and boxing device for cucumbers disclosed by the present application;

[0023] Figure 3 is the schematic diagram of the horizontal grabbing posture of the sorting mechanism in the present application;

[0024] Figure 4 is the schematic diagram of the inclined grabbing posture of the sorting mechanism in the present application;

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

[0026] Figure 6 is the structure schematic diagram of the arc-shaped flexible clamping jaw in the present application;

[0027] Figure 7 is the schematic diagram of the sorting gripper rope driving mechanism in the present application;

[0028] Figure 8 is the schematic diagram of the cucumber stacking mode in the present application.

[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 rail; 3-2, stepping motor; 3-3, base; 3-4, A linkage driving motor; 3-5, A linkage driving line wheel; 3-6, B linkage; 3-7, A linkage; 3-8, A linkage first connecting rod; 3-9, A linkage second connecting rod; 3-10, A linkage pull rope; 3-11, A steering connecting piece pull rope fixing hole; 3-12, steering connecting piece; 3-13, moving fixed column; 3-14, micro guide rail; 3-15, clamping jaw fixing plate; 3-16, gripper driving motor fixing frame; 3-17, gripper driving motor; 3-18, gripper driving line wheel; 3-19, A clamping jaw pull rope first guide wheel; 3-20, A clamping jaw pull rope second guide wheel; 3-21, A clamping jaw driving jaw; 3-22, A clamping jaw driven jaw; 3-23, B clamping jaw driving jaw; 3-24, B clamping jaw driven jaw; 3-25, A clamping jaw pull rope; 3-26, B clamping jaw pull rope; 4-1, first-stage sorting fruit basket; 4-2, second-stage sorting fruit basket; 4-3, limiting soft pad. DETAILED DESCRIPTION

[0030] In order for those skilled in the art to better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] In the present application, the phrase "embodiments" means that the specific features, structures or characteristics described in combination with the embodiments can be contained in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0032] Embodiment 1

[0033] As Figure 1 shown, the present embodiment discloses a cucumber automatic sorting and boxing device, which comprises a mobile platform, a cucumber collection and sorting mechanism 2, a sorting mechanism 3 and a grading fruit basket. The cucumber automatic sorting and boxing device can move with the picking robot through the traction hook, the overall structure is compact, suitable for the narrow aisle in the cucumber planting greenhouse, and can automatically complete the sorting and boxing tasks of cucumbers, realizing full automation after picking.

[0034] As shown in Figure 1 , the mobile platform includes a main frame 1-1 composed of light aluminum alloy square tubes, two traction hooks 1-2 at the front, and four universal wheels 1-3 at the bottom. The main frame is provided with multiple sets of mounting holes to provide mounting and fixing holes for other components of the device. The device can follow the picking robot by connecting the traction hooks with the picking robot.

[0035] As shown in Figure 2 , 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 guides the cucumbers into the cucumber support frame, and the inner surface is covered with flexible cushioning material to reduce the impact force when the cucumbers fall. The cucumber support frame is a triangular frame structure, and the support surface is a circular arc groove with a 45° angle 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 distance between the opening and the bottom of the support frame is fixed, and the position of the two end clamps of the sorting gripper is fixed relative to the tail of the cucumber, which can ensure that the tail of the cucumber is aligned when placed. The lower part of the weighing sensor is connected to the middle horizontal bar 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, which is used to capture the appearance information (such as length, shape) of the cucumber, and combined with the weight data to complete the grading.

[0036] As shown in Figure 1 and Figure 3 , the sorting mechanism is composed of a motion mechanism and a sorting gripper. The motion mechanism includes a linear guide rail 3-1, a stepping motor 3-2, a base, two link set driving motors, two four-bar link sets, and two link set pull ropes. The base 3-3 is provided with a groove connected to a synchronous belt, which is connected to the linear guide rail 3-1 through a slider. The stepping motor 3-2 drives the synchronous belt to drag the base, realizing the linear motion of the sorting mechanism on the guide rail. The motion mechanism is provided with side-by-side A link set 3-7 and B link set 3-6, which are composed of four equal-length links to form a four-bar linkage. Bearings are provided at the rotating connections between the links, which are connected by bolts and nuts. The link set is connected to the sorting gripper through a steering connecting piece 3-12. The A link set driving line wheel 3-5 is connected to the output shaft of the A link set driving motor 3-4, and one end of the A link set pull rope 3-10 is connected to the A link set driving line wheel. The other end passes through the A steering connecting piece pull rope fixing hole 3-11 and is connected to the steering connecting piece 3-12. The A link set first link 3-8 and the A link set second link 3-9 are provided with straight toothed gears with the same modulus, which realize coordinated motion of the two links through meshing between the teeth, so as to constrain the steering connecting piece to move only in the vertical direction. When the A link set driving line wheel rotates, the A link set pull rope is driven to adjust the diagonal line of the four-bar linkage to realize the linear expansion and contraction in the vertical direction.

[0037] By adjusting the extension distance of the two quadrilateral linkage groups, the lifting height and the pitch angle of the sorting gripper can be controlled. When the two groups of linkage mechanisms are extended synchronously, the sorting gripper keeps a horizontal posture as shown in Figure 3 and moves vertically. When the B linkage group 3-6 is retracted more than the A linkage group 3-7, the steering connecting piece 3-12 drives the moving fixed column 3-13 to move autonomously along the micro guide rail 3-14 to the end face of the gripper fixed plate 3-15, so as to maintain the stability of the overall mechanism, and the sorting gripper switches to an inclined grabbing posture as shown in Figure 4 .

[0038] As shown in Figure 5 , considering the long columnar shape of the cucumber, the sorting gripper is provided with two groups of arc-shaped flexible grippers installed at the two ends of the gripper fixed plate 3-15, which respectively hold the tail and middle part of the cucumber to ensure stable grabbing. The A gripper driving jaw 3-21 and the A gripper driven jaw 3-22, and the B gripper driving jaw 3-23 and the B gripper driven jaw 3-24 are connected by straight-tooth engagement to realize synchronous opening and closing movement.

[0039] As shown in Figure 6 , the A gripper driving jaw 3-21 and the A gripper driven jaw 3-22 form a group of arc-shaped flexible jaws, and correspondingly, the B gripper driving jaw 3-23 and the B gripper driven jaw 3-24 form another group of arc-shaped flexible jaws. The arc-shaped flexible jaws have an arc-shaped curved surface, which is supported by a series of fin strips between the inner and outer sides. The inner side has uniformly distributed circular truncated cone protrusions, which can increase the contact friction between the gripper and the surface of the cucumber fruit during gripping. The arc-shaped flexible jaws can be integrally manufactured by additive manufacturing technology. When the contact force between the gripper and the cucumber is too large, the supporting fin strips bend, and the arc-shaped flexible jaws deform, thereby not causing damage to the surface of the cucumber fruit. The outer side of the arc-shaped flexible jaw has a flat reinforcing rib, which can enhance the resilience recovery ability of the arc-shaped flexible jaw after deformation.

[0040] The sorting gripper uses one gripper driving motor and a rope drive mechanism to control the synchronous opening and closing of the two groups of grippers. As shown in Figure 7 , the gripper driving motor 3-17 is fixed to the middle part of the gripper fixed plate 3-15 through the gripper driving motor fixing frame 3-16, the gripper driving line wheel 3-18 is connected with the output end of the gripper driving motor 3-17, and the gripper driving line 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 passes through the A gripper pull rope first guide wheel 3-19, the A gripper pull rope second guide wheel 3-20, and the short handle of the A gripper driving jaw, and the B gripper pull rope passes through two guide wheels and is connected with the short handle of the B gripper driving jaw 3-23, and the winding mode of the pull rope is as shown in Figure 7The gripper driving motor drives the gripper driving line wheel to rotate clockwise, pulls the two groups of clamping jaws, and changes the direction of the pull rope through the guide wheel to pull the driving jaw short handle of the two side clamping jaws, drives the two side clamping jaws to realize synchronous closing, and at the same time, the torsional spring at the rotating shaft center of the driving jaw is compressed, preparing for the reset of the clamping jaw. When the gripper driving motor rotates counterclockwise, the pull rope relaxes, the torsional spring automatically recovers, and the clamping jaw opens. The sorting mechanism adopts a rope drive transmission mode, and the overall weight is relatively light. The weight distribution is adjusted through the rope drive transmission to reduce the end inertia of the moving mechanism, and the overall movement is more convenient. At the same time, the rope drive mechanism has good flexibility, can absorb the impact when the load suddenly changes or collides with the outside, and prolongs the service life of the mechanism.

[0041] According to the length and weight characteristics of cucumbers, two first-level fruit baskets 4-1 and second-level fruit baskets 4-2 are set, and other levels can be expanded according to actual needs. Figure 8 As shown in the figure, a limiting soft pad 4-3 is placed in the fruit basket, and a plurality of limiting grooves are arranged on the soft pad for limiting the placement position of the first layer of cucumbers. The cucumbers in each layer are arranged in the horizontal direction, and the cucumbers in the adjacent layer are placed in a staggered manner, so that the upper layer of cucumbers falls in the gap between the lower layer, improving the space utilization rate and ensuring that the cucumbers will not slip and be damaged during transportation.

[0042] Example 2

[0043] Based on a kind of cucumber automatic sorting and packing device as shown in Figure 1 The working process of the cucumber automatic sorting and packing device is disclosed, and the specific process is as follows:

[0044] When the cucumbers slide into the support frame through the collecting hopper, the weighing sensor obtains the weight of the cucumbers in real time, the sorting camera detects the length, shape and other appearance characteristics of the cucumbers, and the sorting system classifies the cucumbers into first-level or second-level according to the classification rules and calculates the optimal placement position in the fruit basket. The sorting gripper is in an inclined grabbing posture at the initial position, grabs the cucumbers from the support frame, moves up, moves left a distance on the linear guide under the traction of the synchronous belt to leave the area above the support frame, switches to a horizontal placement posture, continues to move left to the above the corresponding placement position of the target fruit basket, and then the sorting gripper is lowered to the height of the placement position and the clamping jaw is opened to complete the placement action. The sorting gripper accurately reaches the placement position, ensuring that the cucumbers in the fruit basket are neatly and orderly placed in layers. After the placement is completed, the sorting gripper moves to the initial position to restore the inclined grabbing posture, preparing for the next round of cucumber sorting.

[0045] The technical features of the above examples can be combined in any way. To make the description concise, not all possible combinations of the technical features in the above examples are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present disclosure.

[0046] The above embodiments are the preferred embodiments of the present application, but the embodiments of the present application are not limited to the above embodiments, and any changes, modifications, substitutions, combinations, simplifications, etc. made without departing from the spirit and principles of the present application should be equivalent replacement manners and should be included in the protection scope of the present application.

Claims

1. An automatic sorting and boxing device for cucumbers, characterized in that, The automatic cucumber sorting and boxing device comprises a moving platform, a cucumber collecting and sorting mechanism, a sorting mechanism and a grading fruit basket, The moving platform comprises a main frame and universal wheels, four universal wheels are arranged on the bottom of the main frame, and a plurality of groups of mounting holes are arranged on the main frame to provide mounting and fixing hole positions for other component parts of the device. The cucumber collecting and sorting mechanism comprises a cucumber collecting hopper, a cucumber support frame, a weighing sensor and a sorting camera; the cucumber support frame is a triangular frame structure, the support surface is a circular arc groove, and the groove has an opening angle of 45 degrees with the horizontal plane; the groove has two openings to provide a passing space for the clamping jaw of the sorting gripper; the lower part of the weighing sensor is connected with the middle horizontal rod of the main frame, and the upper part of the weighing sensor is connected with the cucumber support frame; the sorting camera is fixedly installed on the top horizontal rod of the main frame. The sorting mechanism comprises a moving mechanism and a sorting gripper, the moving 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 a synchronous belt and is connected with the linear guide rail through a sliding block; the stepping motor drives the synchronous belt to drag the base to realize the linear movement of the sorting mechanism on the linear guide rail; the moving mechanism is provided with side-by-side A connecting rod group and B connecting rod group, the connecting rod group is connected with the sorting gripper through a steering connecting piece; the A connecting rod group driving line wheel is connected with the output shaft of the A connecting rod group driving motor, one end of the A connecting rod group pull rope is connected with the A connecting rod group driving line wheel, and the other end is connected with the steering connecting piece through the A steering connecting piece pull rope fixing hole; the moving mechanism is connected with the sorting gripper through the steering connecting piece, the lifting height and the pitch angle of the sorting gripper are controlled by adjusting the extension and contraction degrees of the two connecting rod groups; when the two connecting rod groups are synchronously extended and contracted, the sorting gripper keeps a fixed horizontal posture and moves vertically; when the B connecting rod group is contracted more than the A connecting rod group, the steering connecting piece drives the movable fixing column to move along the micro guide rail to the end surface of the clamping jaw fixing plate, and the sorting gripper switches to an inclined grabbing posture; the sorting gripper is provided with two groups of arc-shaped flexible clamping jaws distributed at the two ends of the clamping jaw fixing plate, and one motor controls the synchronous opening and closing of the two groups of clamping jaws through the rope driving mechanism. The grading fruit basket is provided with two types of first level and second level according to the length and weight characteristics of cucumbers, and other levels can be expanded according to actual needs; square grooves are formed in the two side surfaces of the grading fruit basket to provide a passing space for the clamping jaw of the sorting gripper; a limiting soft pad is arranged in the grading fruit basket, a plurality of limiting grooves are arranged on the soft pad to limit the placement position of the first layer of cucumbers, and the cucumbers are prevented from being damaged due to sliding during transportation.

2. The automatic sorting and boxing device for cucumbers according to claim 1, characterized in that, Two traction hooks are arranged on the front part of the main frame, the traction hooks are connected with the picking robot, and the automatic cucumber sorting and boxing device can move with the picking robot.

3. The automatic sorting and boxing device for cucumbers according to claim 1, characterized in that, The A linkage group and the B linkage group are both quadrilaterals composed of four equal-length linkages, and bearings are arranged at the connecting rotating parts between the linkages and connected through bolts and nuts; the first linkage of the A linkage group and the second linkage of the A linkage group are provided with straight-toothed gears with the same module, and the coordinated movement of the two linkages is realized through the meshing between the gears, so as to constrain the steering connecting piece to move only in the vertical direction; when the driving line wheel of the A linkage group rotates, the diagonal line of the quadrilateral linkage is adjusted through the A linkage group pull rope to realize the linear extension and contraction movement in the vertical direction.

4. The automatic sorting and boxing device for cucumbers according to claim 3, characterized in that, The sorting gripper is provided with two groups of arc-shaped flexible clamps installed at the two ends of the clamp fixed plate and clamping the tail and middle part of the cucumber respectively, and the A clamp driving claw and the A clamp driven claw and the B clamp driving claw and the B clamp driven claw are connected through straight-toothed gears to realize synchronous opening and closing movement; the A clamp driving claw and the A clamp driven claw form a group of arc-shaped flexible claws, and correspondingly, the B clamp driving claw and the B clamp driven 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 sides are supported by a series of fin strips; the inner side has uniformly and equidistantly distributed circular truncated cone convexes.

5. The automatic sorting and boxing device for cucumbers according to claim 3, characterized in that, The sorting gripper uses one gripper driving motor and a rope-driven transmission mechanism to control the synchronous opening and closing of the two groups of clamps, the gripper driving motor is fixed in the middle of the clamp fixed plate through a gripper driving motor fixing frame, the gripper driving line wheel is connected with the output end of the gripper driving motor, and the two ends of the gripper driving line wheel are provided with through holes connected with the A clamp pull rope and the B clamp pull rope; the A clamp pull rope is connected with the short handle of the A clamp driving claw through an A clamp pull rope first guide wheel and an A clamp pull rope second guide wheel, and the B clamp pull rope is connected with the short handle of the B clamp driving claw through two guide wheels.

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