Bamboo intelligent sorting and transferring system

Abstract

The utility model discloses a kind of bamboo intelligent sorting transfer systems, including material table, first mechanical arm, work platform and second mechanical arm.The utility model is through the cooperation of first sensor in material table and fixed support, can accurately obtain the three-dimensional position information of bamboo in bamboo frame;First mechanical arm realizes the accurate capture of bamboo by first pneumatic end effector;Work platform is positioned accurately to the bamboo on workbench by second sensor, then the reliable transfer of bamboo is completed by second pneumatic end effector of second mechanical arm.Entire system is through the reasonable layout and orderly cooperation of each component in space, realizes the automatic, continuous flow of bamboo from material table to specified station, effectively improves the accuracy and operation efficiency of sorting transfer.

Description

Technical Field

[0001] This utility model relates to the field of bamboo screening, and in particular to an intelligent bamboo sorting and transfer system. Background Technology

[0002] In the industrial utilization of bamboo, the first step is to split whole bamboo into rectangular or near-rectangular strips (commonly known as "bamboo slices" or "bamboo strips") using a bamboo splitting machine. Currently, the front-end sorting and transportation of bamboo strips still largely rely on manual visual inspection and handling, resulting in high labor intensity, inconsistent sorting standards, and low efficiency. Although some companies have attempted to introduce automated recognition solutions based on two-dimensional vision, the bamboo strips are scattered and stacked after splitting, with irregular edges and complex colors and textures. Traditional algorithms struggle to accurately extract geometric parameters under strong light and dust interference. Furthermore, robotic arm grasping strategies are mostly single-point positioning, lacking real-time perception and compensation of the bamboo strip stacking posture, leading to a high grasping failure rate. In addition, the lack of closed-loop information exchange between upstream and downstream processes means that if material drops or jams occur during transportation, the system cannot promptly alarm or trace the source, causing the entire production line to shut down and raw material waste.

[0003] Therefore, there is an urgent need for an intelligent sorting and transfer system and real-time control method that can adapt to the disordered stacking of bamboo strips after splitting. This system can achieve high-precision detection of the geometric parameters and posture of bamboo strips through multi-sensor fusion, and complete efficient and reliable grasping, transfer and unloading by combining closed-loop control strategy, so as to significantly improve the automation level and raw material utilization rate of bamboo primary processing. Summary of the Invention

[0004] In view of this, the purpose of this utility model is to propose an intelligent bamboo sorting and transfer system.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows: A smart bamboo sorting and transfer system includes a material platform, a first robotic arm, a working platform, and a second robotic arm. The material platform includes a bamboo frame, a first sensor, and a fixed bracket. The bamboo frame is used to place bamboo, and the first sensor is fixedly connected via the fixed bracket. The first robotic arm is equipped with a first pneumatic end effector for gripping bamboo. The working platform includes a work surface and a second sensor. The work surface is used to place bamboo gripped by the first robotic arm, and the second sensor is fixed to the working platform. The second robotic arm is equipped with a second pneumatic end effector for gripping bamboo on the work surface. The material platform is located on one side of the working platform, and the first and second robotic arms are fixedly installed above the working platform.

[0006] In some embodiments, the first sensor is a vision sensor, which is fixed to the material platform by the fixed bracket and is used to collect image position information of the bamboo in the bamboo frame; the second sensor is a vision sensor, which is fixed to the work platform and is used to collect image position information of the bamboo on the work platform.

[0007] In some embodiments, the first pneumatic end effector includes a first mounting base, a three-jaw gripping end, a connecting rod, and a first drive mechanism. The first mounting base fixes the first pneumatic end effector to a first robotic arm. The three-jaw gripping end is connected to the first drive mechanism via the connecting rod. The first drive mechanism is a welding clamping cylinder.

[0008] In some embodiments, the second pneumatic end effector includes a second mounting base, a pneumatic gripper, a mounting flange, a second drive mechanism, and a third sensor. The second mounting base fixes the second pneumatic end effector to a second robotic arm. The pneumatic gripper is connected to the drive mechanism via the mounting flange. The second drive mechanism is a gear cylinder. The third sensor is mounted on one side of the second pneumatic end effector and is a laser rangefinder.

[0009] In some embodiments, the working platform further includes a detection module, which integrates an image acquisition unit, a laser diameter detector, and an ultrasonic thickness gauge.

[0010] In some embodiments, a control unit is further included, which is electrically connected to the first sensor, the second sensor, the first robotic arm, the second robotic arm, and the detection module. The control unit includes a PLC controller and an image processing module.

[0011] In some embodiments, the control unit is fixed to a work platform or external rack and connected to various sensors and actuators via cables.

[0012] In some embodiments, the first and second robotic arms are multi-axis robotic arms, which are fixed above the work platform by the first and second mounting bases.

[0013] In some embodiments, the bamboo frame is positioned on top of the material platform, and the fixed bracket supports the first sensor located above or to the side of the bamboo frame.

[0014] By adopting the above technical solution, the beneficial effects of this utility model compared with the prior art are as follows: This application provides an intelligent bamboo sorting and transfer system, including a material platform, a first robotic arm, a working platform, and a second robotic arm. The material platform includes a bamboo frame, a first sensor, and a fixed bracket. The bamboo frame is used to place bamboo, and the first sensor is fixedly connected via the fixed bracket. The first robotic arm is equipped with a first pneumatic end effector for gripping bamboo. The working platform includes a work surface and a second sensor. The work surface is used to place bamboo gripped by the first robotic arm, and the second sensor is fixed to the working platform. The second robotic arm is equipped with a second pneumatic end effector for gripping bamboo on the work surface. The material platform is located on one side of the working platform, and the first and second robotic arms are fixedly installed above the working platform. This invention, through the cooperation of the sensor and the fixed bracket in the material platform, can accurately obtain the three-dimensional position information of the bamboo within the bamboo frame; the first robotic arm achieves precise gripping of the bamboo through the first pneumatic end effector; the working platform uses the second sensor to accurately position the bamboo on the work surface, and then the second pneumatic end effector of the second robotic arm completes the reliable transfer of the bamboo. The entire system, through the rational spatial layout and orderly coordination of its components, enables the automatic and continuous transfer of bamboo materials from the material platform to the designated workstation, effectively improving the accuracy and efficiency of sorting and transfer. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is an overall schematic diagram of an intelligent bamboo sorting and transfer system proposed in this utility model; Figure 2 This is a three-dimensional structural diagram of the first pneumatic end effector proposed in a specific embodiment of this utility model; Figure 3 This is a three-dimensional structural diagram of the second pneumatic end effector proposed in a specific embodiment of this utility model.

[0017] Figure label: 1. Material platform; 11. Bamboo frame; 12. First sensor; 13. Fixed bracket; 2. First robotic arm; 21. First pneumatic end effector; 211. First mounting base; 212. Three-jaw gripper; 213. Connecting rod; 214. First drive mechanism; 3. Working platform; 31. Worktable surface; 32. Second sensor; 33. Detection module; 4. Second robotic arm; 41. Second pneumatic end effector; 411. Second mounting base; 412. Pneumatic gripper; 413. Mounting flange; 414. Second drive mechanism; 415. Third sensor; 5. Control unit. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the invention. Similarly, the following embodiments are only some, not all, embodiments of the present invention, and all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1-3 This embodiment provides an intelligent bamboo sorting and transfer system, including a material platform 1, a first robotic arm 2, a working platform 3, and a second robotic arm 4. The material platform 1 includes a bamboo frame 11, a first sensor 12, and a fixed bracket 13. The bamboo frame 11 is used to place bamboo, and the first sensor 12 is fixedly connected through the fixed bracket 13. The first robotic arm 2 is equipped with a first pneumatic end effector 21, which is used to grip bamboo. The working platform 3 includes a work surface 31 and a second sensor 32. The work surface 31 is used to place bamboo gripped by the first robotic arm 2, and the second sensor 32 is fixed on the working platform 3. The second robotic arm 4 is equipped with a second pneumatic end effector 41, which is used to grip bamboo on the work surface 31. The material platform 1 is located on one side of the working platform 3, and the first robotic arm 2 and the second robotic arm 4 are fixedly installed above the working platform 3.

[0020] In this embodiment, the material platform 1 mainly consists of a bamboo frame 11, a first sensor 12, and a fixed support 13. The bamboo frame 11 is a container used to centrally hold the bamboo to be processed; it is typically made of metal or high-strength plastic with a rectangular open structure for easy gripping by the robotic arm. The first sensor 12 is a depth vision sensor, suspended above the bamboo frame 11 via the fixed support 13, used to collect the three-dimensional position information of the bamboo. The fixed support 13 is a rigid component that supports and positions the sensor, and can be made of welded profiles. The first robotic arm 2 is a multi-joint industrial robot, with a first pneumatic end effector 21 connected to its end. This actuator is a three-jaw gripping mechanism driven by a cylinder, used to accurately grip the bamboo within the bamboo frame 11 based on sensor information. The work platform 3 includes a work surface 31 and a second sensor 32. The work surface 31 is a precision-machined horizontal metal surface used to temporarily place the gripped bamboo. The second sensor 32 is also a depth vision sensor, fixed to the platform support, used for precise positioning of the bamboo on the work surface. The second robotic arm 4 is structurally similar to the first robotic arm 2. Its end effector 41 is a gripper device with a ranging function, used to transfer bamboo from the workbench 31 to a designated workstation. In terms of spatial layout, the material platform 1 is located to the side of the work platform 3, and the two robotic arms are fixedly mounted above the work platform 3 via bases, forming a continuous material flow path. The entire system achieves automatic sorting and transfer of bamboo through the coordinated operation of its components.

[0021] In this embodiment, the depth vision sensor in the material platform 1, in conjunction with the fixed bracket 13, accurately acquires the three-dimensional position information of the bamboo within the bamboo frame 11. The first robotic arm 2 precisely grasps the bamboo using the first pneumatic end effector 21. The work platform 3 uses the second sensor 32 to precisely position the bamboo on the worktable 31, and then the second pneumatic end effector 41 of the second robotic arm 4 completes the reliable transfer of the bamboo. Through the rational spatial layout and orderly coordination of the components, the entire system achieves the automatic and continuous flow of bamboo from the material platform 1 to the designated workstation, effectively improving the accuracy and efficiency of sorting and transfer.

[0022] Furthermore, in some embodiments, the first pneumatic end effector 21 includes a first mounting base 211, a three-jaw gripping end 212, a connecting rod 213, and a first drive mechanism 214. The first mounting base 211 fixes the first pneumatic end effector 21 on the first robotic arm 2. The three-jaw gripping end 212 is connected to the first drive mechanism 214 through the connecting rod 213. The first drive mechanism 214 is a welding clamping cylinder.

[0023] In this embodiment, the first mounting base 211 refers to the interface component that fixes the first pneumatic end effector 21 to the end of the first robotic arm 2. It is typically a metal base with a standard flange, used to ensure a stable connection between the actuator and the robotic arm. The three-jaw gripping end 212 refers to a gripping component consisting of three claws that can open and close synchronously for directly gripping bamboo. The connecting rod 213 refers to the transmission component connecting the three-jaw gripping end 212 and the first drive mechanism 214. It is typically a rigid connecting rod, used to accurately transmit the linear motion of the drive mechanism to the claws. The first drive mechanism 214 is a welded clamping cylinder, a linear drive element that controls the extension and retraction of a push rod via air pressure. Its cylinder body is typically welded integrally with the actuator structure, used to provide power for the opening and closing action of the three-jaw gripping end 212. Through the air pressure change of the first drive mechanism 214, the connecting rod 213 drives the three-jaw gripping end 212 to complete the gripping and releasing operation of the bamboo.

[0024] In this embodiment, a stable connection between the first pneumatic end effector 21 and the first robotic arm 2 is achieved through the first mounting base 211, ensuring the rigidity of the overall structure. The three-jaw gripping end 212 reliably grips the bamboo material through the synchronous opening and closing motion of its three claws. The connecting rod 213 precisely transmits the linear motion of the welding clamping cylinder to the three-jaw gripping end 212, enabling the air pressure change of the first drive mechanism 214 to effectively drive the gripping action. This structural design ensures the stability and synchronization of the bamboo gripping process, allowing the first pneumatic end effector 21 to accurately complete the gripping and releasing operations of the bamboo material.

[0025] Furthermore, in some embodiments, the second pneumatic end effector 41 includes a second mounting base 411, a pneumatic gripper 412, a mounting flange 413, a second drive mechanism 414, and a third sensor 415. The second mounting base 411 fixes the second pneumatic end effector 41 to the second robotic arm 4. The pneumatic gripper 412 is connected to the drive mechanism through the mounting flange 413. The second drive mechanism 414 is a gear cylinder. The third sensor 415 is mounted on one side of the second pneumatic end effector 41 and is a laser rangefinder sensor.

[0026] In this embodiment, the second mounting base 411 is an interface component that fixes the second pneumatic end effector 41 to the end of the second robotic arm 4. It is typically a metal base plate with positioning holes to ensure precise docking between the actuator and the robotic arm. The pneumatic gripper 412 is a pneumatically driven gripping component that achieves stable holding of the bamboo material through the opening and closing of the gripper. The mounting flange 413 is a transition connector that connects the pneumatic gripper 412 and the second drive mechanism 414. It is typically a disc-shaped structure with bolt holes to ensure concentricity of power transmission. The second drive mechanism 414 is a gear-type cylinder, a special cylinder that converts the linear motion of the cylinder into the rotational opening and closing of the gripper through a gear and rack mechanism, providing stable gripping torque. The third sensor 415 is a laser rangefinder sensor, a detection element that measures distance using the principle of laser reflection. It is installed on the primary actuator to detect the relative position of the gripper and the bamboo material in real time. Through the coordinated operation of these components, precise gripping and displacement control of the bamboo material are achieved.

[0027] In this embodiment, the second pneumatic end effector 41 and the second robotic arm 4 are precisely docked via the second mounting base 411, ensuring structural stability. The pneumatic gripper 412 achieves stable holding of the bamboo material through the opening and closing of its gripper, and the mounting flange 413 ensures the concentricity of power transmission between the pneumatic gripper 412 and the gear cylinder. The gear cylinder converts linear motion into rotary opening and closing, providing stable gripping torque. A laser rangefinder sensor detects the relative position of the gripper and the bamboo material in real time. Through the coordinated operation of all components, precise gripping and reliable displacement control of the bamboo material are achieved.

[0028] Furthermore, in some embodiments, the working platform 3 also includes a detection module 33, which integrates an image acquisition unit, a laser diameter detector, and an ultrasonic thickness gauge.

[0029] In this embodiment, the detection module 33 refers to a detection device integrated on the working platform 3 for acquiring multi-dimensional characteristic parameters of bamboo. This detection module 33 integrates an image acquisition unit, a laser diameter measuring instrument, and an ultrasonic thickness gauge. The image acquisition unit is a vision acquisition system composed of an industrial camera and a matching light source, used to acquire high-definition image information of the bamboo surface. The laser diameter measuring instrument is a non-contact measuring instrument that uses the laser scanning principle to accurately determine the outer diameter of the bamboo by emitting a laser beam and receiving the reflected signal. The ultrasonic thickness gauge is a device that uses the propagation characteristics of ultrasonic waves in materials to measure thickness, detecting the wall thickness parameters of the bamboo by emitting ultrasonic waves and receiving the echo signal. These detection devices work together to comprehensively inspect the appearance and geometric characteristics of the bamboo.

[0030] In this embodiment, the detection module 33 comprehensively collects multi-dimensional characteristic parameters of the bamboo, the image acquisition unit acquires high-definition image information of the bamboo surface, the laser diameter detector accurately measures the outer diameter of the bamboo, and the ultrasonic thickness gauge detects the wall thickness parameters of the bamboo. These detection devices work together to complete the comprehensive detection of the bamboo's appearance and geometric features, providing an accurate data foundation for subsequent sorting.

[0031] Furthermore, in some embodiments, a control unit 5 is also included. The control unit 5 is electrically connected to the first sensor 12, the second sensor 32, the first robotic arm 2, the second robotic arm 4, and the detection module 33. The control unit 5 includes a PLC controller and an image processing module.

[0032] In this embodiment, the control unit 5 refers to an electronic device that centrally controls the various components of the system. It is electrically connected to the first sensor 12, the second sensor 32, the first robotic arm 2, the second robotic arm 4, and the detection module 33 via cables or a communication interface. The control unit 5 includes a PLC controller and an image processing module. The PLC controller is an industrial control computer employing programmable logic control technology, used to receive sensor signals and output motion control commands to the robotic arms and actuators. The image processing module is a dedicated processing unit that performs calculations and analyses on the image data acquired by the vision sensors, used to extract the position, posture, and characteristic parameters of the bamboo from the image information. Through the coordinated control of the control unit 5, the automated operation of the bamboo sorting and transfer process is achieved.

[0033] In this embodiment, the control unit 5 enables centralized control of all components of the system. The PLC controller reliably receives signals from the first sensor 12 and the second sensor 32, and outputs precise motion commands for the first robotic arm 2 and the second robotic arm 4. The image processing module performs efficient computation and analysis on the image data collected by the vision sensor, accurately extracting the position, posture, and characteristic parameters of the bamboo. Through the coordinated control of the control unit 5 over each execution unit and the detection module 33, the automated operation of the entire bamboo sorting and transfer process is ensured.

[0034] Furthermore, in some embodiments, the control unit 5 is fixed to the work platform 3 or an external rack and connected to the various sensors and actuators via cables.

[0035] In this embodiment, the work platform 3 refers to the main support structure that supports the worktable 31 and the detection module 33. It is typically made of welded metal profiles and has sufficient rigidity and stability to support the various functional components. The external frame refers to a support frame that is set independently of the work platform 3 and can be flexibly configured according to the site layout requirements. The control unit 5 is connected to each sensor and actuator via cables. The cables are wire harnesses containing power lines and signal lines, used to establish a stable electrical connection between the control unit 5 and the first sensor 12, the second sensor 32, the first robotic arm 2, the second robotic arm 4, and the detection module 33, realizing power transmission and control signal interaction. This connection method ensures reliable communication and coordinated operation between the various components of the system.

[0036] In this embodiment, the working platform 3 provides a stable main support structure for the worktable 31 and the detection module 33. The external frame can be flexibly configured to install the control unit 5 according to the site layout. The control unit 5 establishes a reliable electrical connection with the first sensor 12, the second sensor 32, the first robotic arm 2, the second robotic arm 4, and the detection module 33 through a cable containing power lines and signal lines, realizing stable power transmission and control signal interaction, and ensuring reliable communication and coordinated operation between the various components of the system.

[0037] Furthermore, in some embodiments, the first robotic arm 2 and the second robotic arm 4 are multi-axis robotic arms, which are fixed above the work platform 3 by the first mounting base 211 and the second mounting base 411.

[0038] In this embodiment, a multi-axis robotic arm refers to an industrial robot with multiple rotary joints, which can achieve precise movement of complex trajectories in three-dimensional space through the coordinated movement of each joint. The first robotic arm 2 is fixed above the work platform 3 via a first mounting base 211, which is a dedicated mounting component connecting the first robotic arm 2 and the work platform 3, typically a metal base with reinforcing ribs. The second robotic arm 4 is fixed above the work platform 3 via a second mounting base 411, which is a mounting component connecting the second robotic arm 4 and the work platform 3, and its structure is similar to the first mounting base 211. This mounting method allows the first robotic arm 2 and the second robotic arm 4 to form a stable cantilever structure above the work platform 3, providing a reliable spatial positioning basis for bamboo grasping and transfer operations.

[0039] In this embodiment, precise trajectory control in three-dimensional space is achieved through the coordinated movement of the joints of the multi-axis robotic arm. The first robotic arm 2 is fixed above the work platform 3 via a first mounting base 211 with reinforcing ribs, and the second robotic arm 4 is simultaneously fixed via a second mounting base 411 with a similar structure. This mounting method creates a stable cantilever structure between the first robotic arm 2 and the second robotic arm 4 above the work platform 3, providing a reliable spatial positioning basis for the gripping and transporting of bamboo materials.

[0040] Furthermore, in some embodiments, the bamboo frame 11 is disposed on the top of the material platform 1, and the fixing bracket 13 supports the first sensor 12 located above or to the side of the bamboo frame 11.

[0041] In this embodiment, the bamboo frame 11 refers to an open container used to centrally hold the bamboo to be sorted, typically constructed of metal mesh or sheet metal, with its bottom fixedly connected to the surface of the material platform 1. The material platform 1 refers to the base structure supporting the bamboo frame 11 and the sensing components, typically constructed of welded steel sections to form a stable frame. The fixed bracket 13 supports the first sensor 12 above or to the side of the bamboo frame 11. The fixed bracket 13 is a supporting component used to fix and position the first sensor 12, and can be a column or cantilever structure. When located above the bamboo frame 11, the fixed bracket 13 is arranged in a gate-like or suspended manner; when located to the side of the bamboo frame 11, the fixed bracket 13 is installed in a side-standing manner. This arrangement ensures that the first sensor 12 can fully cover the bamboo stacking area within the bamboo frame 11, providing complete visual information for subsequent grasping operations.

[0042] In this embodiment, the bamboo materials to be sorted are centrally supported by the bamboo frame 11, and the material platform 1 provides stable support for the bamboo frame 11 and the sensing components. The fixed bracket 13 reliably positions the first sensor 12 above or to the side of the bamboo frame 11. When a gate-type or suspended arrangement is adopted, it can achieve top coverage; when a side-mounted installation is adopted, it can achieve side monitoring. This arrangement ensures that the first sensor 12 can fully cover the bamboo stacking area within the bamboo frame 11, providing a complete visual information basis for subsequent grasping operations.

[0043] By adopting the above technical solution, the beneficial effects of this utility model compared with the prior art are as follows: This application provides an intelligent bamboo sorting and transfer system, including a material platform 1, a first robotic arm 2, a working platform 3, and a second robotic arm 4. The material platform 1 includes a bamboo frame 11, a first sensor 12, and a fixed bracket 13. The bamboo frame 11 is used to place bamboo, and the first sensor 12 is fixedly connected through the fixed bracket 13. The first robotic arm 2 is equipped with a first pneumatic end effector 21, which is used to grip bamboo. The working platform 3 includes a work surface 31 and a second sensor 32. The work surface 31 is used to place bamboo gripped by the first robotic arm 2, and the second sensor 32 is fixed on the working platform 3. The second robotic arm 4 is equipped with a second pneumatic end effector 41, which is used to grip bamboo on the work surface 31. The material platform 1 is located on one side of the working platform 3, and the first robotic arm 2 and the second robotic arm 4 are fixedly installed above the working platform 3. This invention utilizes the cooperation of a depth vision sensor in the material platform 1 and a fixed support 13 to accurately acquire the three-dimensional position information of the bamboo within the bamboo frame 11. The first robotic arm 2 precisely grasps the bamboo using a first pneumatic end effector 21. The work platform 3 uses a second sensor 32 to precisely position the bamboo on the worktable 31, and then the second robotic arm 4's second pneumatic end effector 41 completes the reliable transfer of the bamboo. Through the rational spatial layout and orderly coordination of its components, the entire system achieves automatic and continuous flow of bamboo from the material platform 1 to the designated workstation, effectively improving the accuracy and efficiency of sorting and transfer.

[0044] The above description is only a part of the embodiments of this utility model, and does not limit the scope of protection of this utility model. Any equivalent device or equivalent process transformation made based on the contents of this utility model specification and drawings, or direct or indirect application in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A bamboo intelligent sorting and transfer system, characterized in that, include: A material platform, comprising a bamboo frame, a first sensor, and a fixed bracket, wherein the bamboo frame is used to hold bamboo materials and the first sensor is fixedly connected via the fixed bracket; A first robotic arm, on which a first pneumatic end effector is provided, is used to grip bamboo materials; The work platform includes a work surface and a second sensor. The work surface is used to place bamboo material gripped by a first robotic arm, and the second sensor is fixed on the work platform. The second robotic arm is equipped with a second pneumatic end effector, which is used to grip bamboo on the workbench. The material platform is located on one side of the work platform, and the first and second robotic arms are fixedly installed above the work platform.

2. The intelligent bamboo sorting and transfer system as described in claim 1, characterized in that, The first sensor is a vision sensor, which is fixed to the material platform by the fixed bracket and is used to collect image position information of bamboo in the bamboo frame; the second sensor is a vision sensor, which is fixed to the work platform and is used to collect image position information of bamboo on the work platform.

3. The intelligent bamboo sorting and transfer system as described in claim 1, characterized in that, The first pneumatic end effector includes a first mounting base, a three-jaw gripping end, a connecting rod, and a first drive mechanism. The first mounting base fixes the first pneumatic end effector to a first robotic arm. The three-jaw gripping end is connected to the first drive mechanism via the connecting rod. The first drive mechanism is a welding clamping cylinder.

4. The intelligent bamboo sorting and transfer system as described in claim 1, characterized in that, The second pneumatic end effector includes a second mounting base, a pneumatic gripper, a mounting flange, a second drive mechanism, and a third sensor. The second mounting base fixes the second pneumatic end effector to the second robotic arm. The pneumatic gripper is connected to the drive mechanism through the mounting flange. The second drive mechanism is a gear cylinder. The third sensor is mounted on one side of the second pneumatic end effector and is a laser rangefinder.

5. The intelligent bamboo sorting and transfer system as described in claim 1, characterized in that, The working platform also includes a detection module, which integrates an image acquisition unit, a laser diameter detector, and an ultrasonic thickness gauge.

6. The intelligent bamboo sorting and transfer system as described in claim 1, characterized in that, It also includes a control unit, which is electrically connected to the first sensor, the second sensor, the first robotic arm, the second robotic arm, and the detection module. The control unit includes a PLC controller and an image processing module.

7. The intelligent bamboo sorting and transfer system as described in claim 6, characterized in that, The control unit is fixed on the work platform or external frame and is connected to each sensor and actuator via cables.

8. The intelligent bamboo sorting and transfer system as described in claim 1, characterized in that, The first and second robotic arms are multi-axis robotic arms, which are fixed above the work platform by the first and second mounting bases.

9. The intelligent bamboo sorting and transfer system as described in claim 1, characterized in that, The bamboo frame is set on top of the material platform, and the fixed bracket supports the first sensor located above or to the side of the bamboo frame.

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