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Fruit grabbing manipulator and grabbing method thereof

A technology for grasping manipulators and fruits, which is applied in the field of fruit packaging, can solve problems such as skin bruises, and achieve the effects of flexible and accurate grasping, rapid displacement, and simple structure

Inactive Publication Date: 2019-03-19
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

However, this vacuum suction type manipulator can only be used for smooth and tough fruits, and it is difficult to adapt to fruits with fluff or folds on the skin, especially for fruits with soft and tender skins, it is very easy to cause silt on the skin of the suction position. injury, its application has great limitations

Method used

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  • Fruit grabbing manipulator and grabbing method thereof
  • Fruit grabbing manipulator and grabbing method thereof
  • Fruit grabbing manipulator and grabbing method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] A kind of fruit grasping manipulator of present embodiment, as figure 1 or figure 2As shown, it includes a flexible jaw 6, a rigid jaw 11 and an opening and closing drive mechanism. The opening and closing drive mechanism includes a base 1, a first cylinder 2, a first cylinder seat 3, a first support 4, a first hinge support 5, The second cylinder 7, the second cylinder block 8, the second support 9 and the second hinge support 10; the first cylinder and the second cylinder are respectively installed on both sides of the base, and the bottom of the base is provided with the first support and the second support. Two supports, the first cylinder base and the second cylinder base are respectively arranged on both sides of the base, the first cylinder is fixedly installed on the base through the first cylinder base, and the second cylinder is fixedly installed on the base through the second cylinder base The end of the piston rod of the first cylinder is provided with a f...

Embodiment 2

[0052] This embodiment is the grabbing method of the fruit grabbing manipulator described in Example 1. After the fruit grabbing manipulator moves to the top of the fruit to be grabbed, the opening and closing driving mechanism drives the flexible gripper and the rigid gripper to open to both sides. After the fruit enters the fruit holding space, the opening and closing driving mechanism drives the flexible gripper and the rigid gripper. The jaws are retracted, and the fruit is flexibly clamped by the elastic force of the elastic string on the flexible jaws.

[0053] The whole of the fruit grabbing manipulator is externally connected to the wrist of the industrial robot through the top of the base, and is driven by the industrial robot to perform actions such as grabbing, moving, and letting go of the fruit. Such as Figure 11 As shown, the specific process is:

[0054] (1) The fruit grabbing manipulator is moved by the industrial robot above the fruit to be grabbed;

[005...

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Abstract

The invention discloses a fruit grabbing manipulator and a grabbing method thereof. The fruit grabbing manipulator comprises a flexible clamping jaw, a rigid clamping jaw and an opening and closing driving mechanism; the flexible clamping jaw and the rigid clamping jaw are connected with the opening and closing driving mechanism, and a fruit clamping space is formed between the flexible clamping jaw and the rigid clamping jaw; and the flexible clamping jaw comprises a jaw frame and elastic strings, and a plurality of the elastic strings are distributed on the side, facing the rigid clamping jaw, of the jaw frame. The grabbing method comprises the steps that after the fruit grabbing manipulator moves to the position over to-be-grabbed fruit, the opening and closing driving mechanism drivesthe flexible clamping jaw and the rigid clamping jaw to be opened towards the two sides, after the fruit enters the fruit clamping space, the opening and closing driving mechanism drives the flexibleclamping jaw and the rigid clamping jaw to be folded, and the fruit is flexibly clamped through the elastic force of the elastic strings arranged on the flexible clamping jaw. The fruit grabbing manipulator can achieve flexible clamping, can effectively adapt to fruit appearance and outer diameter size changes and is wide in application range.

Description

technical field [0001] The invention relates to the technical field of fruit packaging, in particular to a fruit grabbing manipulator capable of flexible clamping and adapting to changes in fruit shape and outer diameter and a grabbing method thereof. Background technique [0002] In the automatic fruit packaging production line, the application of industrial robot technology is becoming more and more widespread, but at present it is mainly used for palletizing and handling after packaging, and is less used for the boxing and packing process in the packaging process. Especially for some high-quality packaging, such as fruit blister tray packaging, at present, the method of manually filling one by one is basically used, and ordinary manipulators are difficult to adapt to. [0003] Fruits are different from industrial products. Even after grading, their dimensions are different. If ordinary clamping manipulators are used to grasp, in order to avoid pinching the fruits, it is n...

Claims

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Application Information

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IPC IPC(8): B65B35/16B65B9/00B65B25/04
CPCB65B9/00B65B25/04B65B35/16
Inventor 张聪秦晓阳
Owner GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
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