A torsion spring fruit picking device

Abstract

The invention provides a torsional spring type fruit picking device. The torsional spring type fruit picking device is that a clamping part comprises a left palm part and a right palm part; a spiral torsional spring sleeves a rotating shaft; one end of the spiral torsional spring is fixed to the palm parts, and the other end of the spiral torsional spring is fixed to the rotating shaft; one end of the rotating shaft passes through the palms, and the other end of the rotating shaft passes through a fixing circular ring to be connected with a coupling of a servo motor; pressure sensors are uniformly and symmetrically distributed as a curved circle at two sides of the two palms; a weak voltage signals acquired by the pressure sensors are amplified through an amplifier; an A / D converter converts an analogue signal processed by the amplifier into a digital signal to be transmitted to a CPU; and after receiving the signal, the CPU controls a controller of the corresponding servo motor through an interface circuit, and then the controller controls the corresponding servo motor to work. The torsional spring type fruit picking device is fixedly connected to a mechanical arm through connecting parts for conducting various picking works; the operation is flexible, the structure is simple, and the multi-directional and high-efficiency works can be met.

Description

technical field [0001] The patent of the present invention relates to the technical field of manual machinery, in particular to a torsion spring type fruit picking device. Background technique [0002] At this stage, part of the fruit picking is directly picked by people standing on a stool or a ladder, or using some special tools, such as bagging, scissors, etc. to pick fruit; however, manual picking is mainly limited to the relatively low height from the ground and the labor intensity. Not too many occasions. The possible problems of manual picking are that the hand is easily scratched by the branches during the picking process, and it is easy to fall when working at a high place. When picking with one hand, it may also damage the fruit or make the fruit fall off. Fruit picking is also partly picked by fruit pickers. The fruit picking device is mainly composed of fruit picking scissors, operating rod, fruit holding net and so on. The user operates on the ground, and the...

AI Technical Summary

Problems solved by technology

The user operates on the ground, and the shortcomings of this type of fruit picker are: first, the user is easy to slip off the fruit picking scissors or cutting blades during operation, and it is easy to cause scratches to the fruit; second, the fruit holding net is fixed , it is easy to block the user's line of sight, making the positioning inaccurate or too difficult to capture

In addition, with the development of agricultural picking robots in recent years, fruit picking robots have also achieved rapid development, and there are many kinds of end effectors, but their outstanding problems are: high cost, poor versatility, and complicated debugging and installation process

If the particularly highly integrated end effector fails, its maintenance cost is also high

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