Pneumatic jaw crusher for non-destructive sorting of potatoes
Patent Information
- Application Number
- CN202522202916.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-10-27
- Estimated Expiration
- 2035-10-17
AI Technical Summary
传统分选设备多采用滚筒筛、振动筛等机械筛分方式，仅能依据尺寸粗略分级，且筛分过程中频繁碰撞易导致表皮破损，造成15%-30%的采后损失，而人工分拣不仅成本高昂，且受主观因素影响，难以满足规模化生产需求
[0011]本实用新型实施例的有益效果在于：气缸输出动力时，其动力通过连杆机构传递，使得左夹爪座和右夹爪座相对靠近或远离，来实现对马铃薯的抓取和放置，而且对马铃薯表面的损伤较小，可用于农产品分选产线上机械臂的末端执行上。
Smart Images
Figure CN224897251U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of agricultural product sorting technology, and in particular relates to a pneumatic jaw gripper for non-destructive sorting of potatoes. Background Technology
[0002] Automated potato sorting technology faces multiple bottlenecks due to the characteristics of the crop itself (irregular shape, fragile skin) and the complexity of agricultural scenarios. Traditional sorting equipment mostly uses mechanical screening methods such as drum screens and vibrating screens, which can only roughly grade according to size. Moreover, frequent collisions during the screening process can easily cause skin damage, resulting in 15%-30% post-harvest losses. Manual sorting is not only costly but also affected by subjective factors, making it difficult to meet the needs of large-scale production.
[0003] Pneumatic grippers are widely used in industrial automation, such as material handling, assembly, sorting, and machine tool loading and unloading. They drive a cylinder piston to move, which in turn moves the gripper to quickly grasp and release workpieces. They offer advantages such as simple structure, fast response speed, strong overload resistance, strong environmental adaptability, and low maintenance costs. They are particularly suitable for high-speed, high-frequency, or harsh environments (such as explosion-proof, high-temperature, and dusty environments). Furthermore, pneumatic grippers can flexibly control the gripping force by adjusting air pressure and support modular design, making them easy to adapt to workpieces of different shapes and sizes, improving the efficiency of automated production lines while reducing overall costs.
[0004] Based on this, this application proposes a pneumatic jaw gripper for non-destructive potato sorting. Utility Model Content
[0005] The purpose of this utility model embodiment is to provide a pneumatic jaw gripper for non-destructive potato sorting, which aims to solve the technical problems existing in the prior art mentioned in the background art.
[0006] This utility model embodiment is implemented as follows: a pneumatic jaw gripper for non-destructive potato sorting. The gripper includes a connecting frame and a cylinder hinged to the connecting frame. A left gripper seat and a right gripper seat are hinged to the connecting frame and are positioned opposite each other. A plurality of gripping fingers are installed on both the left and right gripper seats. The cylinder drives the left and right gripper seats to move closer or further apart relative to each other through a linkage mechanism to realize the opening and closing of the gripping fingers.
[0007] Preferably, each of the gripping fingers has a cushioning silicone layer on its surface.
[0008] More preferably, a miniature camera and a spectral sensor are also installed on the connecting frame.
[0009] More preferably, the linkage mechanism includes a first link, a second link, and a third link. The two ends of the first link are respectively hinged to the output end of the cylinder and the connecting frame. The two ends of the second link are respectively hinged to the first link and the left gripper seat. The third link is hinged between the left gripper seat and the right gripper seat.
[0010] More preferably, the buffer silicone layer is also provided with anti-slip texture.
[0011] The beneficial effects of this utility model embodiment are as follows: when the cylinder outputs power, its power is transmitted through the linkage mechanism, so that the left gripper seat and the right gripper seat are relatively close or far apart, so as to realize the gripping and placement of potatoes, and the damage to the surface of potatoes is small. It can be used for the end effector of the robotic arm on the agricultural product sorting production line. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the structure of a pneumatic jaw gripper for non-destructive potato sorting provided in an embodiment of the present invention.
[0013] In the diagram: 1-Connecting frame, 2-Cylinder, 3-First connecting rod, 4-Second connecting rod, 5-Left gripper seat, 6-Grip finger, 7-Right gripper seat, 8-Third connecting rod. Detailed Implementation
[0014] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0015] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but unless otherwise stated, these elements are not limited by these terms. These terms are used only to distinguish one element from another.
[0016] like Figure 1 As shown, in one embodiment, a pneumatic jaw gripper for non-destructive potato sorting is proposed. The gripper includes a connecting frame 1 and a cylinder 2 hinged to the connecting frame 1. A left gripper seat 5 and a right gripper seat 7 are hinged to the connecting frame 1 and are positioned opposite each other. A plurality of gripping fingers 6 are installed on both the left gripper seat 5 and the right gripper seat 7. The cylinder 2 drives the left gripper seat 5 and the right gripper seat 7 to move closer or further away from each other through a linkage mechanism to realize the opening and closing of the gripping fingers 6.
[0017] In practical application, when the cylinder 2 outputs power, the power is transmitted through the linkage mechanism, causing the left gripper seat 5 and the right gripper seat 7 to move closer or further apart, thereby achieving the gripping and placement of potatoes.
[0018] In one embodiment of this utility model, the cylinder 2 is an adjustable stroke cylinder, which, in conjunction with the gripper 6, can be used to grip potatoes with a diameter of 50-150mm, without the need for manual replacement of the gripper 6.
[0019] In a preferred embodiment of the present invention, each of the gripping fingers 6 has a buffer silicone layer on its surface.
[0020] In this embodiment of the invention, the buffer silicone layer can achieve flexible contact when grasping potatoes. Preferably, the buffer silicone layer is also provided with anti-slip textures, which can be arranged in a biomimetic manner, such as fingerprint-like arrangement. Combined with the closed-loop air pressure control technology of cylinder 2, the damage rate of potato skin can be reduced to below 2%.
[0021] In a preferred embodiment of this utility model, a miniature camera and a spectral sensor are also installed on the connecting frame 1.
[0022] In this embodiment of the invention, the purpose of setting up the miniature camera and the spectral sensor is to detect external defects simultaneously during the grasping process through image detection and recognition technology. In practical applications, it can also be quickly connected to mainstream agricultural robotic arms through a standardized interface to realize sorting and other operations during the grasping process.
[0023] like Figure 1 As shown, in a preferred embodiment of the present invention, the linkage mechanism includes a first link 3, a second link 4 and a third link 8. The two ends of the first link 3 are respectively hinged to the output end of the cylinder 2 and the connecting frame 1. The two ends of the second link 4 are respectively hinged to the first link 3 and the left gripper seat 5. The third link 8 is hinged between the left gripper seat 5 and the right gripper seat 7.
[0024] In practical applications, this utility model embodiment, through the cooperation of the first link 3, the second link 4, and the third link 8, can conveniently realize the opening and closing of the gripper 6 when the cylinder 2 outputs power. It is worth noting that the left gripper seat 5 and the right gripper seat 7 are hinged together by the third link 8. Here, the third link 8 and the connecting parts on the corresponding left gripper seat 5 and right gripper seat 7 form an N or Z shape structure to realize the power transmission between the left gripper seat 5 and the right gripper seat 7. There is no need to arrange additional power components, thus achieving the purpose of saving costs.
[0025] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0026] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
[0027] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A pneumatic jaw gripper for non-destructive potato sorting, the gripper comprising a connecting frame (1) and a cylinder (2) hinged to the connecting frame (1), characterized in that, The connecting frame (1) is hinged to a left gripper seat (5) and a right gripper seat (7) with opposite positions. Both the left gripper seat (5) and the right gripper seat (7) are equipped with several gripping fingers (6). The cylinder (2) drives the left gripper seat (5) and the right gripper seat (7) to move closer or further apart through a linkage mechanism to open and close the gripping fingers (6).
2. The pneumatic jaw gripper for non-destructive potato sorting according to claim 1, characterized in that, Each of the gripping fingers (6) has a buffer silicone layer on its surface.
3. The pneumatic jaw gripper for non-destructive potato sorting according to claim 1, characterized in that, The connecting frame (1) is also equipped with a miniature camera and a spectral sensor.
4. The pneumatic jaw gripper for non-destructive potato sorting according to claim 1, 2, or 3, characterized in that, The linkage mechanism includes a first link (3), a second link (4) and a third link (8). The two ends of the first link (3) are respectively hinged to the output end of the cylinder (2) and the connecting frame (1). The two ends of the second link (4) are respectively hinged to the first link (3) and the left gripper seat (5). The third link (8) is hinged between the left gripper seat (5) and the right gripper seat (7).
5. The pneumatic jaw gripper for non-destructive potato sorting according to claim 2, characterized in that, The buffer silicone layer also has anti-slip textures.