A fruit passive grasping end effector

Abstract

The invention relates to a passive fruit gripping end executor. The passive fruit gripping end executor comprises an upper slide table, sliders, a crank, connecting rods, a lower slide table, gripping finger connecting blocks, twist springs, three gripping fingers, press switches and rubber, wherein two ends of each connecting rod are connected with the crank and the corresponding slider respectively, each slider is arranged in corresponding slide grooves of the upper slide table and the lower slide table in a sleeved manner, and the tail end of each slider is connected with the corresponding gripping finger through the corresponding gripping finger connecting block. Each press switch is adhered to the side face of the corresponding gripping finger connecting block, a press switch press block is fixedly connected to each gripping finger, and one end of each press switch press block extends out to press the corresponding press switch. Each gripping finger connecting block is connected with the corresponding gripping finger through a pin. The passive fruit gripping end executor has the advantages that rotation of the three gripping fingers is achieved completely with the aid of mechanical movement so as to achieve gripping of fruits; the passive fruit gripping end executor is simple in structure, low in cost, practical and reliable and can be widely used for fruit sorting and picking operation; the requirements on gripping different kinds of fruits can be met by the aid of spring buffer devices.

Description

technical field [0001] The invention relates to a grasping mechanism, in particular to a fruit passive grasping end effector. Background technique [0002] my country is a big country in the fruit industry, but due to the lack of post-harvest processing technology, the disadvantages that my country's fruit industry is currently facing are the low degree of automation of the fruit industry machinery, the lack of a unified processing process, and the fruit quality is not high. The fruit grabbing manipulator can be widely used in the field of fruit online detection and sorting in the fruit industry chain, which can improve the efficiency of fruit sorting and reduce labor force, which is of positive significance to promote the mechanization of my country's fruit industry. [0003] In recent years, domestic scholars have conducted in-depth research on fruit passive grasping end effectors. In 2009, Cai Jianrong of Jiangsu University and others invented an end effector for a fruit...

AI Technical Summary

Problems solved by technology

[0004] The present invention mainly solves the technical problems of existing fruit passive grasping end effectors in the prior art that the structure is relatively complex and the operating cost is high; the grasping object is single and large-scale production is not used; The crank slider mechanism completes the grasping of various fruits by the manipulator, which can reduce costs and improve production efficiency. It is a fruit passive grasping end effector

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