Grabbing force self-balancing adaptive tomato picking manipulator

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...

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.

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