A flexible passion fruit picking manipulator end effector
A technology of end effector and passion fruit, which is applied in the direction of picking machines, agricultural machinery and implements, harvesters, etc., can solve the problems that the flexible fruit picking method cannot be realized, and achieve the effect of avoiding damage and ingenious and reasonable structure
Active Publication Date: 2022-06-17
NANNING UNIV
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Problems solved by technology
[0003] In order to solve the above technical problems, the present invention provides a flexible passion fruit picking manipulator end effector, which can solve the flexible fruit picking method that cannot be realized in the prior art, and ensure the integrity of the picked fruit as well as the effectiveness and stability of picking The problem
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Embodiment 1
[0023] like figure 1 As shown, a flexible passion fruit picking manipulator end effector includes a joint 1 1, a joint 2 2, a joint 3 3, a support plate 5, a pull rod part and a transmission part; its structural connection relationship is: the lower end of the joint 1 is hinged to the joint The upper end of joint 22, the lower end of joint 22 is hinged to the upper end of joint 33, and the lower end of joint 33 is hinged to the support plate 5.
[0024] The pull rod part includes a support frame 6, a cylindrical pull rod 7, a hinge support A8, a pull rod 9, and a swing rod 10; its structural connection relationship is: the support frame 6 is fixedly connected to the bottom of the support plate 5, and the cylindrical pull rod 7 is slidably installed and inserted into the support frame In the vertical center hole of 6, the lower end of the pull rod 9 is hinged to the upper end of the cylindrical pull rod 7, the upper end of the pull rod 9 is hinged to the end of the swing rod 10...
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The invention discloses an end effector of a flexible passion fruit picking manipulator, which comprises joint one, joint two, joint three, a support plate, a pull rod part and a transmission part. The lower end of the second joint is hinged to the upper end of the third joint, and the lower end of the third joint is hinged on the support plate, the transmission part is fixedly arranged on the top of the support plate, and the tie rod part is fixedly arranged on the bottom of the support plate. In the present invention, a three-stage spring design is adopted to realize the gradual clamping of the three joints in sequence, and to ensure a certain flexible clamping, so as to avoid damage to the passion fruit due to excessive pressure; the present invention only needs to pull The cylindrical rod can realize the clamping action of the three joints in sequence, and the structure is ingenious and reasonable.
Description
technical field [0001] The invention belongs to the technical field of agricultural machinery and equipment, in particular to a flexible passion fruit picking manipulator end effector. Background technique [0002] my country's agricultural mechanization is gradually developing, but the overall level is relatively backward, especially in the mechanized equipment for fruit picking. The current fruit picking method is mainly manual, and the picking of passion fruit is still manual picking, which is labor-intensive, low in efficiency, high in labor cost and low in safety. At present, there are some robots or devices for fruit picking, but most of them are still in the research and test stage, and have not been put into production and used in practice, mainly because the picking technology is not mature enough. No device or robotic arm for passion fruit picking has yet been found. SUMMARY OF THE INVENTION [0003] In order to solve the above technical problems, the present i...
Claims
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IPC IPC(8): A01D46/24
CPCA01D46/24
Inventor 黄才贵陈坚辛华健
Owner NANNING UNIV