End effector applicable to clamping spheroidal fruits

Abstract

The invention discloses an end effector applicable to clamping spheroidal fruits. The end effector applicable to clamping the spheroidal fruits comprises an effector body, an effecting module mountedon the effector body, and a driving module for driving the effecting module to achieve gripping operation, wherein the effecting module comprises a pair of lower clamping fingers and a pair of upper clamping fingers, the pair of lower clamping fingers are matched with the effector bod, are in a swing arm structure, extend downwards and are arranged left and right, and the pair of upper clamping fingers are connected to the effector body, extend downwards and are arranged left and right; the upper clamping fingers are arranged in front of the lower clamping fingers and in a clamping area whichis formed by projection of the lower clamping fingers from back to front and enclose a space together with the lower clamping fingers for circumferentially clamping the fruits. According to the end effector applicable to clamping the spheroidal fruits, the pair of upper clamping fingers and the pair of lower clamping fingers enclose the clamping space, and the lower clamping fingers and the upperclamping fingers are matched to achieve circumferential clamping of the fruits and improve the clamping stability; by circumferentially clamping the fruits, clamping force can be uniformly diffused tothe circumference of the fruits to avoid mechanical damage to the fruits due to stress concentration.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to an end effector suitable for clamping spherical fruits. Background technique [0002] my country is a big country in the fruit industry, but due to the lack of post-harvest processing technology, the disadvantages that my country's fruit industry is currently facing are the low degree of automation of the fruit industry machinery, the lack of a unified processing process, and the fruit quality is not high. The fruit grabbing manipulator can be widely used in the field of fruit online detection and sorting in the fruit industry chain, which can improve the efficiency of fruit sorting and reduce labor force, which is of positive significance to promote the mechanization of my country's fruit industry. [0003] At present, there is less research and development on the end effector of fruit picking robots at home and abroad, and the production cost is relatively high, ...

AI Technical Summary

Problems solved by technology

[0003] At present, there is less research and development on the end effector of fruit picking robots at home and abroad, and the production cost is relatively high, and the adaptability to the environment is limited.

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