Mechanical arm for picking up bergamot pears

Abstract

The invention relates to the field of bergamot pear picking, and provides a mechanical arm for picking up bergamot pears. The mechanical arm for picking up bergamot pears comprises a clamping mechanism, wherein the clamping mechanism comprises a fruit clamping component, a fruit stem clamping component and a clamping driving mechanism; the fruit clamping component comprises a supporting disk and aplurality of clamping jaws hinged to the circumferential direction of the supporting disk; a cambered surface space matched with the outer surface of a bergamot pear is formed among the plurality ofclamping jaws; the fruit stem clamping component comprises a first fruit stem clamping plate and a second fruit clamping plate, wherein the first fruit stem clamping plate and the second fruit clamping plate are rotatably connected to the upper ends of the two clamping jaws, and one end of the first fruit stem clamping plate and one end of the second fruit clamping plate are connected through an elastic element; the clamping driving mechanism is arranged below the supporting disk and is independently hinged to the lower end of a thumb clamping jaw, the lower end of an index finger clamping jawand the lower end of a middle finger clamping jaw through a hinging rod; a rotation mechanism comprises a horizontal rotation mechanism and a vertical rotation mechanism and is used for driving the clamping mechanism to simultaneously carry out horizontal rotation and vertical rotation; and a control mechanism is independently connected with the clamping driving mechanism and the rotation mechanism. The mechanical arm of the invention has proper clamping force for the bergamot pear, and can conveniently pick up the bergamot pear.

Description

technical field [0001] The invention relates to the technical field of picking fragrant pears, in particular to a manipulator for picking fragrant pears. Background technique [0002] Fragrant pears are characterized by strong fragrance, thin skin, fine meat, juicy, sweet and crisp, refreshing and delicious, and are the top grade of pears. The quality of fragrant pears determines the value of fragrant pears, so it is very important for the picking of fragrant pears. At present, most of the fragrant pears are picked manually, but the picking efficiency is very low, and the picking strength varies from person to person, which is not conducive to the quality of fragrant pears. ensure. Although there has also been the use of manipulators to pick fragrant pears, there is a problem that needs to be solved urgently, that is, the existing manipulators do not control the clamping force accurately enough, and often occur that the clamping force is too small and the pears are not clam...

AI Technical Summary

Problems solved by technology

The quality of fragrant pears determines the value of fragrant pears, so it is very important for the picking of fragrant pears. At present, most of the fragrant pears are picked manually, but the picking efficiency is very low, and the picking strength varies from person to person, which is not conducive to the quality of fragrant pears. ensure

Although it has also appeared to use manipulators to pick fragrant pears, there is a problem that needs to be solved urgently. The control of the gripping force by the existing manipulators is not accurate enough, and there are often phenomena that the gripping force is too small and the pears are not caught, and the pears are damaged if they are too large.

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