Citrus picking and sorting integrated device based on symmetrical multi-finger clamp holders

Abstract

The invention provides a citrus picking and sorting integrated device based on symmetrical multi-finger clamp holders, and belongs to the technical field of agricultural intelligent equipment. The citrus picking and sorting integrated device comprises a picking mechanism, a sorting mechanism and a control unit; the picking mechanism is mounted at the action end of a mechanical arm and comprises a plurality of claw fingers and a driving unit; the sorting mechanism comprises a main track and a plurality of grading tracks, a plurality of rotating units are arranged on the main track at intervals, and the grading tracks are connected to the rotating units in a one-to-one correspondence mode; the control unit is electrically connected with the driving unit and controls the plurality of claw fingers to act through the driving unit; and the control unit is electrically connected with the plurality of rotating units, and the citrus fruits are controlled by the rotating units to enter the corresponding grading tracks from the main track. The citrus picking and sorting integrated device based on the symmetrical multi-finger clamp holders can completely replace manual operation, the cost and the labor intensity are reduced, the picking and sorting efficiency is improved, and the sorting precision can be ensured.

Description

technical field [0001] The invention belongs to the technical field of agricultural intelligent equipment, and more specifically relates to an integrated citrus picking and sorting device based on a symmetrical multi-finger gripper. Background technique [0002] my country's citrus production ranks among the top in the world, and its quality is excellent. With the strong support of the country's agricultural support policy, the citrus industry has broad prospects for development. In the process of citrus commercialization, citrus picking and sorting are two very important links, which directly affect the market price and economic benefits of citrus. At present, citrus picking is still basically a manual operation, which has high labor costs and high labor intensity, but the picking efficiency is low; due to the lack of automatic detection technology, citrus sorting mainly adopts the classification method of manual detection, the classification speed is slow, and the classifi...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide an integrated citrus picking and sorting device based on a symmetrical multi-finger gripper, which aims to solve the manual work of citrus picking and sorting, which has high picking costs, high labor intensity and low efficiency; The problem that the slow precision is difficult to guarantee

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