A fruit and vegetable gripping device with adjustable jaw size
By designing a fruit and vegetable gripping device with adjustable gripper size, and utilizing linkage mechanism and telescopic rod, the problem of the robotic arm being unable to adapt to different fruit and vegetable sizes is solved, achieving efficient harvesting and reducing fruit and vegetable damage.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CENT SOUTH UNIV
- Filing Date
- 2025-07-07
- Publication Date
- 2026-06-16
AI Technical Summary
The distal fingers of existing robotic arms are difficult to adapt to fruits and vegetables of different sizes, resulting in low harvesting efficiency and easy damage to the fruits and vegetables.
Design a fruit and vegetable gripping device with adjustable gripper size. Through the combination of linkage mechanism and telescopic rod, the angle of the end finger can be adjusted and the gripping force can be controlled to adapt to fruits and vegetables of different sizes.
It enables efficient harvesting of fruits and vegetables of different sizes, reduces damage to fruits and vegetables, and improves harvesting efficiency.
Smart Images
Figure CN224356712U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of fruit and vegetable harvesting technology, specifically to a fruit and vegetable gripping device with adjustable gripper size. Background Technology
[0002] In agricultural production, fruit and vegetable harvesting is the most labor-intensive and difficult stage to mechanize. Currently, it is still largely done manually, with a very low level of automation. The high labor intensity and cost of manual harvesting are major factors hindering the modernization of the fruit and vegetable industry. Modern fruit and vegetable harvesting utilizes robotic arms to pick spherical fruits and vegetables such as apples and pears. Specifically, the robotic arm uses three gripper fingers that spread out to hold the fruit and vegetables. Currently, the distal fingers of robotic arms primarily utilize the characteristic that the deformation at the peaks is greater than at the troughs during changes in positive and negative pressure to change the angle of the distal fingers, thus enabling the grasping of fruits and vegetables. However, fruits and vegetables vary in size, and the method of using air inflation to change the angle of the distal fingers has limited applicability, making it unsuitable for harvesting fruits and vegetables of different sizes.
[0003] Therefore, how to provide a fruit and vegetable gripping device with adjustable gripper size has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content
[0004] The purpose of this invention is to design a fruit and vegetable gripping device with adjustable gripper size. It has a simple structure, small size, and can be adjusted over a wide range of angles to accommodate fruits and vegetables of different sizes.
[0005] To achieve the above objectives, this utility model provides a fruit and vegetable gripping device with adjustable gripper size, comprising: a mounting platform, a linkage mechanism, and an end finger; multiple linkage mechanisms are evenly distributed along the mounting platform, each linkage mechanism including a hinged bracket, a telescopic rod, and a connecting arm; one end hinge of the hinged bracket is hinged to the fixed end of the telescopic rod, and the other end hinge is hinged to one end of the connecting arm; the other end of the connecting arm is connected to the end finger; and the driving end of the telescopic rod is hinged to the middle of the connecting arm.
[0006] Furthermore, it also includes a support frame, one end of which is connected to the mounting platform and the other end of which is connected to the robotic arm.
[0007] Furthermore, both the hinge bracket and the connecting arm are L-shaped.
[0008] Furthermore, the distal finger includes a mounting block and a finger body, with one end of the mounting block connected to the connecting arm and the other end connected to the finger body.
[0009] Furthermore, the telescopic rod can be any one of an electric telescopic rod, a hydraulic rod, or a pneumatic telescopic rod.
[0010] The beneficial effects of this utility model are as follows:
[0011] This utility model has a simple structure and small size. By setting a linkage mechanism, it can make a wide range of angle adjustments to adapt to fruits and vegetables of different sizes. It can also control the amount of bearing force so as not to damage the fruits and vegetables. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the structure of this utility model.
[0013] In the diagram: 1-installation platform; 2-linkage mechanism; 21-hinged bracket; 22-telescopic rod; 23-connecting arm; 3-end finger; 31-installation block; 32-finger body; 4-bracket. Detailed Implementation
[0014] The technical solutions in the embodiments of this utility model are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0016] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.
[0017] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0018] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0019] See Figure 1 This utility model discloses a fruit and vegetable gripping device with adjustable gripper size, comprising: a mounting platform 1, a linkage mechanism 2, and end fingers 3; multiple linkage mechanisms 2 are evenly distributed along the mounting platform 1, each linkage mechanism 2 including a hinged bracket 21, a telescopic rod 22, and a connecting arm 23. One end hinge of the hinged bracket 21 is hinged to the fixed end of the telescopic rod 22, and the other end hinge is hinged to one end of the connecting arm 23. The other end of the connecting arm 23 is connected to the end fingers 3, and the driving end of the telescopic rod 22 is hinged to the middle of the connecting arm 23. The number of linkage mechanisms 2 can be adjusted according to the needs of different fruit and vegetable harvesting.
[0020] This utility model also includes a bracket 4, one end of which is connected to the mounting platform 1, and the other end is connected to the robotic arm through a flange, which facilitates the connection and fixation with the robotic arm.
[0021] To further optimize the technical solution, both the hinge bracket 21 and the connecting arm 23 are L-shaped. The hinge bracket 21 is L-shaped so that it can form a linkage mechanism 2 with the telescopic rod 22 and the connecting arm 23. The connecting arm 23 is L-shaped to facilitate the installation of the end fingers 3 without affecting the picking of fruits and vegetables.
[0022] To further optimize the technical solution, the distal finger 3 includes an mounting block 31 and a finger body 32. One end of the mounting block 31 is connected to the connecting arm 23, and the other end is connected to the finger body 32. The finger body 32 can be made of rigid or flexible material depending on the needs of different fruit and vegetable harvesting. The mounting block serves two purposes: firstly, it is used for mounting the finger body 32, and secondly, it serves as a transition block for tracheal connection. The finger body can be flexible or a combination of rigid and flexible. Flexible rubber is wrapped around a rigid body to form a structure that combines softness and hardness. This maintains the flexibility of the distal finger, avoiding damage to fruits and vegetables, while increasing the rigidity of the distal finger, enabling faster transmission of gripping force and providing sufficient force for quicker and more convenient harvesting of fruits and vegetables, especially mushrooms.
[0023] To further optimize the technical solution, the telescopic rod 22 can be any one of an electric telescopic rod, a hydraulic rod, or a pneumatic telescopic rod.
[0024] This utility model has a simple structure and small size. By setting a linkage mechanism, it can make a wide range of angle adjustments to adapt to fruits and vegetables of different sizes. It can also control the amount of bearing force so as not to damage the fruits and vegetables.
[0025] This invention can be used for harvesting various fruits and vegetables such as mushrooms, apples, and pears.
[0026] The working principle of this utility model is as follows:
[0027] The robotic arm moves the fruit and vegetable gripping device to the location of the fruit and vegetable. The telescopic rod extends, causing the end fingers to retract and grip the fruit and vegetable. After gripping, the robotic arm rotates the fruit and vegetable gripping device to remove the fruit and vegetable. Then, the telescopic rod shortens, causing the end fingers to open and put the fruit and vegetable down, and then the next fruit and vegetable is picked.
[0028] The above description is merely a preferred embodiment of the present utility model and does not constitute any limitation on the technical scope of the present utility model. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model shall still fall within the scope of the technical solution of the present utility model.
Claims
1. A fruit and vegetable gripping device with adjustable gripper size, characterized in that, include: The installation platform, linkage mechanism, and end finger; multiple linkage mechanisms are evenly distributed along the installation platform, each linkage mechanism including a hinged bracket, a telescopic rod, and a connecting arm. One end hinge of the hinged bracket is hinged to the fixed end of the telescopic rod, and the other end hinge is hinged to one end of the connecting arm. The other end of the connecting arm is connected to the end finger, and the driving end of the telescopic rod is hinged to the middle of the connecting arm.
2. The fruit and vegetable gripping device with adjustable gripper size as described in claim 1, characterized in that, It also includes a support frame, one end of which is connected to the mounting platform and the other end is connected to the robotic arm.
3. The fruit and vegetable gripping device with adjustable gripper size as described in claim 1, characterized in that, Both the hinge bracket and the connecting arm are L-shaped.
4. The fruit and vegetable gripping device with adjustable gripper size as described in claim 1, characterized in that, The distal finger includes a mounting block and a finger body. One end of the mounting block is connected to the connecting arm, and the other end is connected to the finger body.
5. The fruit and vegetable gripping device with adjustable gripper size as described in claim 1, characterized in that, The telescopic rod can be any one of an electric telescopic rod, a hydraulic telescopic rod, or a pneumatic telescopic rod.