Fruit picking and quality detection integrated end effector

Abstract

The application relates to a fruit picking and quality detecting integrated end effector, which comprises a rack, a fruit stem shearing device and a detecting device installed on the rack; the rack comprises a harvesting cylinder with a harvesting cavity with a front opening; a mounting flange is fixed to the rear end of the harvesting cylinder; the harvesting cavity of the harvesting cylinder is provided with a detecting mounting area in the bottom side area; the detecting device comprises a tray located in the detecting mounting area and a weighing sensor located below the tray; the tray is fixed to the detecting end of the weighing sensor through a supporting part arranged on the bottom side; the harvesting cylinder is provided with a first fixing seat in the detecting mounting area, and the mounting end of the weighing sensor is fixedly installed on the first fixing seat; the tray is provided with a light filter in the middle area, and the tray is fixed with a multispectral sensor in the area below the light filter. The multispectral sensor and the weighing sensor are integrated with the pitaya picking end effector to achieve the purpose of automatic picking and quality detecting and grading of the pitaya.

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