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Accommodating type fruit grabbing manipulator and method

A grasping manipulator, a permissive technology, applied in the field of permissive fruit grasping manipulators, can solve problems such as difficulty in adapting to fruit clamping, achieve the effects of avoiding damage to the fruit surface, wide application range, and reducing development and maintenance costs

Active Publication Date: 2022-02-18
GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of manipulator is difficult to adapt to the gripping of fruits

Method used

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  • Accommodating type fruit grabbing manipulator and method
  • Accommodating type fruit grabbing manipulator and method
  • Accommodating type fruit grabbing manipulator and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] A kind of allowable fruit grasping manipulator of this embodiment, such as Figure 1 to Figure 3 As shown, it mainly includes a power drive mechanism 1 , two groups of swing bar mechanisms 2 , two claw seats 3 and two jaws 4 . The specific structure of each component is as follows:

[0032] The jaws are arc-shaped curved jaws with a rigid structure, which are installed symmetrically in pairs; the jaws include a connected installation part 4-1 and a grasping part 4-2, the grasping part is located under the installation part, and the installation part is connected to the claw seat , the grasping part is an arc-shaped frame structure (according to the actual demand for grasping fruit, the grasping part can also adopt an arc-shaped plate structure). The upper end of the jaw is provided with a pin hole, and the bottom of the claw seat is provided with a groove 5, and the pin hole of the jaw is installed in the groove of the claw seat through a hinge shaft 6. There is also ...

Embodiment 2

[0043] This embodiment is a tolerant fruit grabbing manipulator. Compared with Embodiment 1, the difference lies in that a flexible pad is provided inside the grabbing part. Through the setting of the flexible spacer, it can further play a buffering role, and avoid damage to the surface of the fruit when the jaws grab the fruit.

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Abstract

The invention discloses an accommodating type fruit grabbing manipulator and method. The manipulator comprises a power driving mechanism, swing rod mechanisms and at least two clamping jaws; one end of each clamping jaw is provided with a jaw seat; each clamping jaw is connected with a set of swing rod mechanism through the corresponding jaw seat; and all the swing rod mechanisms are jointly connected to the power driving mechanism; a torsional spring is arranged in each claw seat, one end of each torsional spring is pressed in the corresponding claw seat, and the other end of each torsional spring is pressed on the side wall of the corresponding clamping claw. The method comprises the steps that: when a fruit need to be grabbed, the power driving mechanism provides power to drive the swing rod mechanisms to drive the clamping jaws to open, and after the fruit enters an inner cavity formed among the clamping jaws, the power driving mechanism drives the swing rod mechanisms to drive the clamping jaws to close to form a grabbing state; and then, after the clamping jaws press the surface of the fruit, the clamping jaws overcome the pressure of the torsional springs to swing outwards and make an accommodating action, so that the inner cavity formed between the clamping jaws is adaptive to the outer diameter of the fruit, and the fruit is clamped through the pressure of the torsional springs. According to the accommodating type fruit grabbing manipulator and method of the invention, self-adaptive clamping during fruit grabbing can be achieved.

Description

technical field [0001] The invention relates to the technical field of fruit automatic sorting and packaging, in particular to a permissible fruit grabbing manipulator and method. Background technique [0002] At present, in the fruit packaging production line, some high-quality fruit packages that are neatly packed according to the number are basically still manually operated. Since the fruit is packaged according to grade specifications, it needs to be graded before packaging to ensure that the size or weight of a single fruit is basically the same. However, even after strict grading, there will be certain differences in the dimensions of individual fruits, which cannot be as precise as industrial products. If the conventional clamping manipulator is used to grab the fruit, it is easy to damage the fruit due to unstable clamping or too tight clamping. In order to avoid fruit damage, it is necessary to adjust the clamping force frequently during the working process of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65B59/00B65B57/14B65B35/16B65B35/36
CPCB65B59/001B65B59/005B65B57/14B65B35/16B65B35/36
Inventor 张聪秦晓阳何俊辉佘灿勋
Owner GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
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