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Fruit and vegetable picking actuator integrating flexible grabbing and clamping shearing and picking method thereof

A technology of actuators and clipping shears, which is applied in the field of fruit and vegetable picking actuators. It can solve the problems of flexible position change, limit the effect of fruit string protection, etc., and achieve the effects of reducing labor costs, increasing the rate of non-destructive picking, and improving work efficiency.

Pending Publication Date: 2019-11-12
FOSHAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the existing flexible grippers with soft fingers, the base of the fingers is fixed, and the soft fingers cannot flexibly change positions according to the characteristics of the bunch of fruits, thus limiting the protective effect of the soft fingers on the bunch of fruits when lifting them

Method used

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  • Fruit and vegetable picking actuator integrating flexible grabbing and clamping shearing and picking method thereof
  • Fruit and vegetable picking actuator integrating flexible grabbing and clamping shearing and picking method thereof
  • Fruit and vegetable picking actuator integrating flexible grabbing and clamping shearing and picking method thereof

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Embodiment

[0053] In this embodiment, a fruit and vegetable picking actuator based on flexible grasping and clamping and shearing is integrated, and its structure is as follows: Figure 1 to Figure 12 As shown, including the clamping mechanism and the gripping mechanism.

[0054] The clamping and shearing mechanism includes mutually hinged shearing blade one 8 and shearing blade two 7, and a joint shaft 12; the shearing blade one 8 is provided with a guide groove, and the shearing blade two 7 is provided with a movable groove; the guide groove and the movable groove form an angle, and The guide groove and the movable groove are partially superimposed; the joint shaft 12 is movably arranged at the overlapping place of the guide groove and the movable groove;

[0055] Shearing blade-8 is provided with shearing driving device; Present embodiment, shearing driving device adopts prior art, such as cylinder 9; Combined shaft 12 is connected with cylinder 9, to realize that cylinder 9 drives co...

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Abstract

The invention provides a fruit and vegetable picking actuator integrating flexible grabbing and clamping shearing and a picking method thereof. The fruit and vegetable picking actuator comprises a clamping shearing mechanism and a grabbing mechanism and is characterized in that the clamping shearing mechanism comprises a first shear blade and a second shear blade which are hinged to each other anda combining shaft, the first shear blade is provided with a guide groove, the second shear blade is provided with a moving groove, an included angle is formed between the guide groove and the movinggroove, the combining shaft is movably arranged at the overlapping position of the guide groove and the moving groove, the first shear blade is provided with a shearing drive device, the combining shaft is connected with the shearing drive device, one side, close to the grabbing mechanism, of the first shear blade is provided with a first clamping part, and one side, close the grabbing mechanism,of the second shear blade is provided with a second clamping part; the grabbing mechanism comprises a grabbing base and at least two soft fingers, and the grabbing base is connected with the first shear blade. The fruit and vegetable picking actuator can increase work efficiency, reduce labor cost, increase fruit and vegetable damage-free picking rate and provide sufficient shearing force to shearoff fruit stems.

Description

technical field [0001] The invention relates to the technical field of fruit and vegetable picking, and more specifically relates to a fruit and vegetable picking actuator and a picking method based on the integration of flexible grasping and clipping and shearing. Background technique [0002] my country is the main producer of string-shaped fruits such as lychees and grapes. However, in the process of picking these string-shaped fruits, we still mainly rely on manual picking, which is labor-intensive and takes up a certain amount of labor costs. With the aging of the population and the reduction of the labor force, problems such as the non-destructive and timely picking of fruits have gradually emerged. With the continuous development and maturity of intelligent industries such as robotics, the introduction of "Industry 4.0" and the successive introduction and deepening of policies such as "Made in China 2025", the manufacturing industry is undergoing profound changes, and...

Claims

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Application Information

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IPC IPC(8): A01D46/30
CPCA01D46/30
Inventor 罗陆锋陈文伟谭嘉铭文汉锦朱耀扬卢清华
Owner FOSHAN UNIVERSITY
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