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Grabbing force self-balancing adaptive tomato picking manipulator

A self-balancing, grasping force technology, applied in the field of manipulators, can solve the problems of affecting tomato picking efficiency and picking quality, low work efficiency, high picking cost, etc., to improve the success rate of grasping, not easy to damage, and the movement connection part is simple Effect

Active Publication Date: 2022-07-29
HENAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Traditionally, tomato picking is mostly manual, which not only requires a large number of pickers, but also takes time and effort, with low work efficiency and high picking costs; although some tomato picking machines have appeared on the market in recent years, due to the existing technology Among them, mechanical picking is usually multi-finger picking, which often causes fruit crushing or dropping due to the imbalance of grasping force or clamping force between multiple fingers, which affects the picking efficiency and quality of tomatoes.

Method used

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  • Grabbing force self-balancing adaptive tomato picking manipulator
  • Grabbing force self-balancing adaptive tomato picking manipulator
  • Grabbing force self-balancing adaptive tomato picking manipulator

Examples

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Embodiment Construction

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0026] As shown in the figure, a tomato picking manipulator with self-balancing adaptive gripping force includes a gripper component, a support component, a power component for driving the action of the gripper component, and a self-balancing support for assisting the gripper component to adjust the position of the tomato Lift components.

[0027] In this embodiment, the gripper assembly includes two clamping jaws 1 , two connecting rods 3 and a fixing seat 4 , and each clamping jaw includes a connecting arm 101 and a clamping jaw body 102 disposed at one end of the connecting arm 101 ; One end of the connecting arm 102 is hinged with the fixing base 4 through the respective connecting rods 3 .

[0028] Specifically, the connecting rod 3 and the fixed seat are hinged through the hinge shaft 10 . The specific hinge method is in the prior art,...

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Abstract

A tomato picking manipulator with self-balancing adaptive grabbing force comprises a grabbing hand assembly, a supporting assembly, a power assembly used for driving the grabbing hand assembly to act and a self-balancing lifting assembly assisting the grabbing hand assembly and used for adjusting the position of tomatoes. According to the self-balancing lifting assembly, a gyroscope is arranged on a lifting clamping jaw, so that the lifting clamping jaw has an aligning function, the gravity center of a tomato can be automatically found, the lifting clamping jaw can be adjusted to enable the center line of a lifting ring to coincide with the gravity center line of the tomato, the flexible strain capacity is achieved, and the clamping force of fingers of the clamping jaw on the skin of the tomato can be effectively reduced; and the clamping force of each finger is uniform and adjustable, the grabbing success rate is improved, and the breakage rate is reduced.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a tomato picking manipulator with self-balancing adaptive grasping force. Background technique [0002] Tomato is known as a magical fruit in vegetables because it is rich in nutrients and has many functions such as inhibiting bacteria, helping digestion, and lowering cholesterol, and is deeply loved by people. [0003] Traditionally, most tomato picking is done manually, which not only requires a large number of picking personnel, but also is time-consuming and labor-intensive, with low work efficiency and high picking costs. Among them, mechanical picking is usually multi-fingered picking, which often causes fruit crushing or falling due to the unbalanced grasping force or clamping force between the fingers, thus affecting the picking efficiency and picking quality of tomatoes. SUMMARY OF THE INVENTION [0004] The purpose of the present invention is to prov...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D45/00B25J11/00B25J15/08B25J18/00
CPCA01D45/006B25J11/0045B25J15/08B25J18/00
Inventor 金鑫祝晓武陈卓张恒毅李明勇赵一荣刘孟楠
Owner HENAN UNIV OF SCI & TECH
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