Gripping device for grasping and picking objects sensitive to shock, in particular fruit, such as apples, pears, citrus fruits, situated on trees

摘要

The invention relates to a gripping device for grasping and picking objects sensitive to shock, in particular fruit situated on trees, a gripping device being assembled, on the one hand, from mechanical, electronic and electrical components and, on the other hand, from pneumatic and hydraulic components, which gripping device has three or more gripping fingers which are fixed by means of swing bolts to a holder housing or to the finger-holder head used for positioning, but which are movable on the swing bolts in the manner of an arc of a circle so as to enclose an angle with the axis of the housing, and which are connected to a current source or some other energy source, via the electrical, pneumatic, hydraulic or mechanical lines passing through the holes in the gripper arm, by way of an electric motor or pull-in core, with interposition of a shaft and a bevel gear used to rotate the finger, the gear rotating the gripper-head holder, and furthermore of break-contact springs by way of a switch.