CN102318473A - Melon and fruit picking device and picking method thereof - Google Patents
Melon and fruit picking device and picking method thereof Download PDFInfo
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- CN102318473A CN102318473A CN201110144820A CN201110144820A CN102318473A CN 102318473 A CN102318473 A CN 102318473A CN 201110144820 A CN201110144820 A CN 201110144820A CN 201110144820 A CN201110144820 A CN 201110144820A CN 102318473 A CN102318473 A CN 102318473A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 57
- 241000219112 Cucumis Species 0.000 title claims abstract description 54
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 title claims abstract description 54
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000003306 harvesting Methods 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 3
- 238000007514 turning Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 208000037805 labour Diseases 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 235000000832 Ayote Nutrition 0.000 description 1
- 244000241235 Citrullus lanatus Species 0.000 description 1
- 235000012828 Citrullus lanatus var citroides Nutrition 0.000 description 1
- 241000675108 Citrus tangerina Species 0.000 description 1
- 240000008067 Cucumis sativus Species 0.000 description 1
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 description 1
- 240000004244 Cucurbita moschata Species 0.000 description 1
- 235000009854 Cucurbita moschata Nutrition 0.000 description 1
- 235000009804 Cucurbita pepo subsp pepo Nutrition 0.000 description 1
- 244000061458 Solanum melongena Species 0.000 description 1
- 235000002597 Solanum melongena Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000015136 pumpkin Nutrition 0.000 description 1
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Abstract
The invention discloses a melon and fruit picking device and a picking method thereof, which relate to the technical field of agricultural equipment. The melon and fruit picking device comprises a clamping device, a cutting device and a control device, wherein the clamping device comprises a step motor, a driven gear, a left support swinging rod, a left finger, a driving gear, a right support swinging rod, a right finger and supporting blocks, the supporting blocks are arranged under the left finger and the right finger, the driving gear and the step motor are connected, the driving gear and the driven gear are connected through a gear pair, the left finger is arranged at the end parts of the left support swinging rod and the driven gear, the right finger is arranged at the end parts of the right support swinging rod and the driving gear, the cutting device comprises a cutter, a swinging air cylinder and an electromagnetic reversing valve, the cutter is arranged on an output shaft of the swinging air cylinder, the electromagnetic reversing valve is arranged on the swinging air cylinder, the swinging air cylinder is arranged on a cutter frame, and the cutter frame is arranged on a back seat vertically and fixedly arranged on a base. The melon and fruit picking device and the method can be used for automatically picking melons and fruits, and a large amount of time and labor can be saved for laborers.
Description
Technical field
The present invention relates to the agricultural equipment technical field, relate in particular to a kind of melon and fruit picker and harvesting method thereof.
Background technology
Traditional melon and fruit is gathered and is adopted the mode of manual picking usually, and labourer's labour intensity is big, and operating efficiency is low, needs the time and the muscle power of labor.Development melon and fruit picking robot can free a large amount of labours from these numerous and diverse, dull work.The melon and fruit picking robot belongs to a kind of of agricultural robot, and along with popularizing of intelligentized development of agricultural equipment and related science technology, picking robot will have wide prospect more.
Existing melon and fruit picker mainly is to concentrate on the gathering of minitype fruits such as apple, oranges and tangerines and cucumber, eggplant.And be not suitable for all bigger large-scale melon and fruit of volume, weight such as the gathering of watermelon, pumpkin etc., large-scale melon and fruit has different requirement to the load of picker, weight, flexibility, Grasp Modes etc.Therefore be necessary to design and a kind ofly can be used for the picker that large-scale melon and fruit is gathered.
Summary of the invention
The technical problem that (one) will solve
The technical problem that the present invention will solve is: a kind of melon and fruit picker and harvesting method thereof are provided, and it can carry out melon and fruit automatically plucks, and has improved the efficient of melon and fruit harvesting work, makes labourer practice thrift great amount of time and muscle power simultaneously.
(2) technical scheme
For addressing the above problem; The invention provides a kind of melon and fruit picker; Comprise: clamping device, cutter sweep and control device; Wherein, said clamping device comprises: stepper motor, driven gear, a left side support that fork, left hand refer to, driving gear, rightly support fork, the right hand refers to and be installed on the piece of lifting that left hand refers to refer to the right hand below;
Said stepper motor is installed on the base bottom, and driven gear, a left side support that fork, left hand refer to, driving gear, rightly support fork and the right hand refers to be installed on base top;
Said stepper motor is used to drive the driving gear rotation, thereby driving gear and driven gear are rotated in opposite directions;
Said driving gear is connected with stepper motor; Be connected for gear pair between driving gear and the driven gear; Said driving gear and driven gear are used to drive left hand and refer to point to preceding or translation to the left and right with the right hand;
Left hand refers to be installed on the end that fork and driven gear are supported in a left side, makes driven gear, left side support fork and left hand refer to constitute a parallel-crank mechanism;
The right hand refers to be installed on the right end of supporting fork and driving gear, makes driving gear, right support fork and the right hand refer to also constitute a parallel-crank mechanism;
Said cutter sweep comprises: cutter, oscillating cylinder and solenoid directional control valve;
Said cutter is installed on the output shaft of oscillating cylinder, and solenoid directional control valve is installed on the oscillating cylinder, is used for oscillating cylinder is controlled; Said oscillating cylinder is used to drive cutter and rotates;
Said oscillating cylinder is installed on the knife rest, and knife rest is installed in vertical fixing on the back of the body seat of base.
Wherein, said device also comprises control device, and said control device comprises: single-chip microcomputer, electromagnetic relay and stepper motor driver; Said single-chip microcomputer is electrically connected with electromagnetic relay and stepper motor driver respectively, and said stepper motor driver is electrically connected with stepper motor, and said electromagnetic relay is electrically connected with solenoid directional control valve;
Said electromagnetic relay is used for solenoid directional control valve is controlled;
Said stepper motor driver is used for step motor control.
Wherein, said device comprises that also being installed on left hand refers to the rubber strip that refers to the right hand make left hand refer to refer to the melon and fruit surface of fitting more in large area with the right hand when being used to grasp, and increases frictional force, and avoids the mechanical damage to melon and fruit.
Wherein, have the strip hole on the said back of the body seat, be used to regulate the distance between knife rest and the base, knife rest is installed on the back of the body seat through the strip hole.
Wherein, said back of the body seat is provided with the connection annulus, is used to make the melon and fruit picker to be connected with mechanical arm.
Described melon and fruit picker carries out the method that melon and fruit is plucked before a kind of the utilization, may further comprise the steps:
S1, stepper motor are just changeing the drive driving gear and are being rotated counterclockwise, and driving gear drives driven gear and turns clockwise; The angle that a left side is supported between fork and the right support fork reduces gradually; Left hand refers to refer to protract with the right hand, and left hand refers to and the distance of the right hand between referring to reduces, and then clamps melon and fruit;
S2, solenoid directional control valve drive the oscillating cylinder axle and rotate, thereby drive cutter Rotate 180 °, accomplish cutting action; Solenoid directional control valve makes the gas circuit switching-over in the oscillating cylinder then, resets behind 180 ° of the cutter reversed turnings;
S3, the stepper motor counter-rotating drives driving gear and clockwise rotates, and driven gear rotates counterclockwise thereupon, and fork is supported on a left side and the right angle that supports between the fork increases gradually, and left hand refers to refer to retraction and then break away from melon and fruit with the right hand.
Wherein, said method comprises that also single-chip microcomputer sends pulse signal and gives stepper motor driver with direction signal, and then the rotation of control step motor and single-chip microcomputer transmit button signal be to electromagnetic relay, and then controls the step of electromagnetic switch valve events.
Wherein, said step S2 also comprises through regulating the distance between knife rest and the base, the step of regulating cutting position.
(3) beneficial effect
The present invention can carry out melon and fruit automatically and pluck, and has improved the efficient of melon and fruit harvesting work, makes labourer practice thrift great amount of time and muscle power simultaneously.In addition, control mode of the present invention is simple, only needs the folding of control finger and the swing of cutter, and control signal is few, implements simple, reliable.The present invention adopts the mode of rigidity finger and the combination of flexible rubber band, has increased the contact area with melon and fruit, with difformity and the frictional force that adapts to melon and fruit.It adopts and embraces-mode that Tuo combines, can reduce chucking power, in order to avoid destroy fruit.Adopt the mode of two gears engaged, can guarantee the synchronism of left and right sides finger motion.About finger adopted parallel-crank mechanism, it is parallel that relative bar is remained, and the angular displacement of two connecting rods, angular speed and angular acceleration also equate all the time, can help to tide over the motion undefined position, can increase the maximum tractive force that starts again.Cutter adopts oscillating cylinder to drive, and can make cutter have fast, the sensitive characteristics of movement velocity.Gap between knife rest and the base is variable, can realize the cutting of fruit diverse location.
Description of drawings
Fig. 1 is the structural representation (a) of melon and fruit picker according to the invention;
Fig. 2 is the structural representation (b) of melon and fruit picker according to the invention;
Fig. 3 is the flow chart of melon and fruit harvesting method according to the invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to explain the present invention, but are not used for limiting scope of the present invention.
Shown in Fig. 1-2; Melon and fruit picker of the present invention comprises: clamping device and cutter sweep, wherein,
Said clamping device comprises: stepper motor 2, driven gear 3, a left side support that fork 4, left hand refer to 5, driving gear 6, right support fork 7, the right hand refer to 8 and be installed on left hand refer to 5 and the right hand refer to 8 belows lift piece 9;
Said stepper motor 2 is installed on base 1 bottom, and driven gear 3, a left side support that fork 4, left hand refer to 5, driving gear 6, rightly support fork 7 and the right hand refers to that 8 are installed on base 1 top;
Said stepper motor 2 is used to drive driving gear 6 rotations, thereby driving gear 6 and driven gear 3 are rotated in opposite directions;
Said driving gear 6 is connected with stepper motor 2; Be connected for gear pair between driving gear 6 and the driven gear 3; Said driving gear 6 and driven gear 3 are used to drive left hand and refer to that 5 refer to 8 forward or translation to the left and right with the right hand;
Left hand refers to that 5 are installed on the end that fork 4 and driven gear 3 are supported in a left side through straight pin, makes driven gear 3, a left side support fork 4 and left hand refers to that 5 constitute a parallel-crank mechanism;
The right hand refers to that 8 are installed on the right end of supporting fork 7 and driving gear 6 through straight pin, makes driving gear 6, rightly supports fork 7 and the right hand refers to that 8 also constitute a parallel-crank mechanism;
Left hand refers to that 5 refer to rubber strip 14 is installed on 8 with the right hand, makes left hand refer to that 5 refer to the 8 melon and fruit surfaces of fitting more in large area with the right hand when being used to grasp, and increases frictional force, and avoid the mechanical damage to melon and fruit.
Said cutter sweep comprises: cutter 10, oscillating cylinder 11 and solenoid directional control valve;
Said cutter 10 is installed on the output shaft of oscillating cylinder 11, and solenoid directional control valve is installed on the oscillating cylinder 11, is used for oscillating cylinder 11 controls; Said oscillating cylinder 11 is used to drive cutter 10 and rotates;
Said oscillating cylinder 11 is installed on the knife rest 12, and knife rest 12 is installed in vertical fixing on the back of the body seat 13 of base 1.
Have the strip hole on the said back of the body seat 13, be used to regulate the distance between knife rest 12 and the base 1, knife rest 12 is fixed on the back of the body seat 13 through the strip hole.Said back of the body seat is provided with and connects annulus 15, is used to make the melon and fruit picker to be connected with mechanical arm.
Said device also comprises control device, and said control device comprises: single-chip microcomputer, electromagnetic relay and stepper motor driver; Said single-chip microcomputer is electrically connected with electromagnetic relay and stepper motor driver respectively, and said stepper motor driver is electrically connected with stepper motor, and said electromagnetic relay is electrically connected with solenoid directional control valve;
Said electromagnetic relay is used for solenoid directional control valve is controlled;
Said stepper motor driver is used for step motor control.
As shown in Figure 3, a kind of method of utilizing aforesaid melon and fruit picker to carry out the melon and fruit harvesting of the present invention may further comprise the steps:
S1; Stepper motor 2 is just changeing drive driving gear 6 and is being rotated counterclockwise; Driving gear 6 drives driven gears 3 and turns clockwise, and makes a left side support fork 4 and the right angle that supports between the fork 7 reduces gradually, and left hand refers to that 5 refer to that with the right hand 8 protract; Left hand refer to 5 and the right hand refer to that the distance between 8 reduces, and then clamp melon and fruit;
In this step, single-chip microcomputer sends pulse signal and direction signal is given stepper motor driver, and then stepper motor is just changeed.
S2, solenoid directional control valve drive oscillating cylinder axle 11 and rotate, thereby drive cutter 10 Rotate 180s °, accomplish cutting action; Solenoid directional control valve makes the gas circuits switching-over in the oscillating cylinder 11 then, resets behind 180 ° of cutter 10 reversed turnings;
In this step, single-chip microcomputer is given electromagnetic relay through the transmit button signal, controls the electromagnetic switch valve events; This step can be regulated the cutting position of cutter 10 through regulating the distance between knife rest 12 and the base 1.
S3, stepper motor 2 counter-rotating drives driving gears 6 and clockwise rotates, and driven gear 3 rotates counterclockwise thereupon, and fork 4 is supported on a left side and the right angle that supports between the fork 7 increases gradually, and left hand refers to that 5 refer to 8 retractions and then break away from melon and fruit with the right hand.
In this step, single-chip microcomputer sends pulse signal and direction signal is given stepper motor driver, and then makes the stepper motor backward rotation.
Above embodiment only is used to explain the present invention; And be not limitation of the present invention; The those of ordinary skill in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also be made various variations and modification; Therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (8)
1. a melon and fruit picker is characterized in that, comprising: clamping device and cutter sweep, wherein,
Said clamping device comprises: stepper motor (2), driven gear (3), a left side are supported fork (4), left hand and are referred to that (5), driving gear (6), the right fork (7), the right hand of supporting refer to (8) and be installed on left hand refer to that (5) and the right hand refer to lift piece (9) below (8);
Said stepper motor (2) is installed on base (1) bottom, and fork (4) is supported on driven gear (3), a left side, left hand refers to that (5), driving gear (6), right support fork (7) and the right hand refer to that (8) are installed on base (1) top;
Said stepper motor (2) is used to drive driving gear (6) rotation, thereby driving gear (6) and driven gear (3) are rotated in opposite directions;
Said driving gear (6) is connected with stepper motor (2); Be connected for gear pair between driving gear (6) and the driven gear (3); Said driving gear (6) and driven gear (3) are used to drive left hand and refer to that (5) and the right hand refer to that (8) forward or translation to the left and right;
Left hand refers to that (5) are installed on the end that fork (4) and driven gear (3) are supported in a left side, makes driven gear (3), left side support fork (4) and left hand refer to that (5) constitute a parallel-crank mechanism;
The right hand refers to that (8) are installed on the right end of supporting fork (7) and driving gear (6), makes driving gear (6), right support fork (7) and the right hand refer to that (8) also constitute a parallel-crank mechanism;
Said cutter sweep comprises: cutter (10), oscillating cylinder (11) and solenoid directional control valve;
Said cutter (10) is installed on the output shaft of oscillating cylinder (11), and solenoid directional control valve is installed on the oscillating cylinder (11), is used for oscillating cylinder (11) is controlled; Said oscillating cylinder (11) is used to drive cutter (10) and rotates;
Said oscillating cylinder (11) is installed on the knife rest (12), and knife rest (12) is installed in vertical fixing on the back of the body seat (13) of base (1).
2. melon and fruit picker as claimed in claim 1 is characterized in that, also comprises control device, and said control device comprises: single-chip microcomputer, electromagnetic relay and stepper motor driver; Said single-chip microcomputer is electrically connected with electromagnetic relay and stepper motor driver respectively, and said stepper motor driver is electrically connected with stepper motor, and said electromagnetic relay is electrically connected with solenoid directional control valve;
Said electromagnetic relay is used for solenoid directional control valve is controlled;
Said stepper motor driver is used for step motor control.
3. melon and fruit picker as claimed in claim 1; It is characterized in that; Comprise that also being installed on left hand refers to that (5) and the right hand refer to the rubber strip (14) on (8); Make left hand refer to that (5) and the right hand refer to (8) the melon and fruit surface of fitting more in large area, increase frictional force, and avoid the mechanical damage to melon and fruit when being used to grasp.
4. melon and fruit picker as claimed in claim 1 is characterized in that, has the strip hole on the said back of the body seat (13), is used to regulate the distance between knife rest (12) and the base (1), and knife rest (12) is installed on the back of the body seat (13) through the strip hole.
5. melon and fruit picker as claimed in claim 1 is characterized in that, said back of the body seat (13) is provided with and connects annulus (15), is used to make the melon and fruit picker to be connected with mechanical arm.
6. one kind is utilized the method that each described melon and fruit picker carries out the melon and fruit harvesting among the claim 1-5, it is characterized in that, may further comprise the steps:
S1; Stepper motor (2) is just changeing drive driving gear (6) and is being rotated counterclockwise; Driving gear (6) drives driven gear (3) and turns clockwise, and makes a left side support fork (4) and reduces gradually with angle between the right support fork (7), and left hand refers to that (5) and the right hand refer to that (8) protract; Left hand refers to that (5) and the right hand refer to that the distance between (8) reduces, and then clamps melon and fruit;
S2, solenoid directional control valve drive oscillating cylinder axle (11) and rotate, thereby drive cutter (10) Rotate 180 °, accomplish cutting action; Solenoid directional control valve makes the gas circuit switching-over in the oscillating cylinder (11) then, resets behind 180 ° of cutter (10) reversed turnings;
S3, stepper motor (2) counter-rotating drives driving gear (6) and clockwise rotates, and driven gear (3) rotates counterclockwise thereupon, and fork (4) is supported on a left side and the right angle that supports between the fork (7) increases gradually, and left hand refers to that (5) and the right hand refer to (8) retraction and then break away from melon and fruit.
7. melon and fruit harvesting method as claimed in claim 6; It is characterized in that; Also comprise; Single-chip microcomputer sends pulse signal and gives stepper motor driver with direction signal, and then the rotation of control step motor and single-chip microcomputer transmit button signal be to electromagnetic relay, and then controls the step of electromagnetic switch valve events.
8. melon and fruit harvesting method as claimed in claim 6 is characterized in that, said step S2 also comprises through regulating the distance between knife rest (12) and the base (1), the step of regulating cutting position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110144820 CN102318473B (en) | 2011-05-31 | 2011-05-31 | Melon and fruit picking device and picking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110144820 CN102318473B (en) | 2011-05-31 | 2011-05-31 | Melon and fruit picking device and picking method thereof |
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| CN102318473A true CN102318473A (en) | 2012-01-18 |
| CN102318473B CN102318473B (en) | 2013-06-12 |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102640623A (en) * | 2012-05-16 | 2012-08-22 | 苏州博田自动化技术有限公司 | Automatic picking machine for stripped fruit and vegetables |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN103858600A (en) * | 2014-02-26 | 2014-06-18 | 浙江机电职业技术学院 | Greenhouse cultivated vegetable harvesting mechanical hand |
| CN105123126A (en) * | 2015-10-10 | 2015-12-09 | 南京工程学院 | End effector of spherical fruit picking robot |
| CN105284298A (en) * | 2015-11-27 | 2016-02-03 | 贵州大学 | Fruit picking manipulator |
| CN105580557A (en) * | 2016-03-09 | 2016-05-18 | 广西大学 | Banana picking mechanism |
| CN106508282A (en) * | 2016-09-22 | 2017-03-22 | 华南农业大学 | Clamping and shearing type manipulator end effector |
| CN106576593A (en) * | 2017-02-24 | 2017-04-26 | 四川农业大学 | Efficient tea-leaf picker clamping end transmission device |
| CN106576568A (en) * | 2016-12-01 | 2017-04-26 | 广西大学 | Double gear driven cassava clamping and pulling-up mechanism |
| CN107371618A (en) * | 2017-09-15 | 2017-11-24 | 贵州大学 | A kind of end effector of strawberry picking robot |
| CN108124591A (en) * | 2018-03-19 | 2018-06-08 | 杨雪锋 | Automatic watermelon picking vehicle |
| CN108770479A (en) * | 2018-04-27 | 2018-11-09 | 上海工程技术大学 | A kind of device and method for assisting picking pineapple class fruit |
| CN108781754A (en) * | 2018-05-29 | 2018-11-13 | 杭州电子科技大学 | Citrus assists device for picking and its picking method |
| CN108811731A (en) * | 2018-06-15 | 2018-11-16 | 苏州艾捷尔斯生物科技有限公司 | A kind of agricultural vegetables and fruits are with facilitating picking clamping device |
| CN109769467A (en) * | 2019-03-15 | 2019-05-21 | 西安航空职业技术学院 | A kind of automation watermelon picking loading machine |
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| CN111713257A (en) * | 2020-07-03 | 2020-09-29 | 浙江理工大学 | Spherical cutter type self-propelled famous and high-quality tea plucking machine |
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| CN102640623B (en) * | 2012-05-16 | 2015-07-01 | 苏州博田自动化技术有限公司 | Automatic picking machine for stripped fruit and vegetables |
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| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN103444359B (en) * | 2013-08-30 | 2016-07-13 | 华南农业大学 | A kind of Banana device and picking and picking method |
| CN103858600B (en) * | 2014-02-26 | 2016-09-28 | 浙江机电职业技术学院 | A kind of greenhouse cultivation vegetable is gathered mechanical hand |
| CN103858600A (en) * | 2014-02-26 | 2014-06-18 | 浙江机电职业技术学院 | Greenhouse cultivated vegetable harvesting mechanical hand |
| CN105123126A (en) * | 2015-10-10 | 2015-12-09 | 南京工程学院 | End effector of spherical fruit picking robot |
| CN105284298A (en) * | 2015-11-27 | 2016-02-03 | 贵州大学 | Fruit picking manipulator |
| CN105580557A (en) * | 2016-03-09 | 2016-05-18 | 广西大学 | Banana picking mechanism |
| CN106508282A (en) * | 2016-09-22 | 2017-03-22 | 华南农业大学 | Clamping and shearing type manipulator end effector |
| CN106508282B (en) * | 2016-09-22 | 2018-10-30 | 华南农业大学 | A kind of tongs formula robot arm end effector |
| CN106576568A (en) * | 2016-12-01 | 2017-04-26 | 广西大学 | Double gear driven cassava clamping and pulling-up mechanism |
| CN106576593A (en) * | 2017-02-24 | 2017-04-26 | 四川农业大学 | Efficient tea-leaf picker clamping end transmission device |
| CN107371618A (en) * | 2017-09-15 | 2017-11-24 | 贵州大学 | A kind of end effector of strawberry picking robot |
| CN108124591B (en) * | 2018-03-19 | 2019-11-01 | 杨柳锋 | Automatic watermelon picking vehicle |
| CN108124591A (en) * | 2018-03-19 | 2018-06-08 | 杨雪锋 | Automatic watermelon picking vehicle |
| CN108770479A (en) * | 2018-04-27 | 2018-11-09 | 上海工程技术大学 | A kind of device and method for assisting picking pineapple class fruit |
| CN108781754A (en) * | 2018-05-29 | 2018-11-13 | 杭州电子科技大学 | Citrus assists device for picking and its picking method |
| CN108781754B (en) * | 2018-05-29 | 2019-12-24 | 杭州电子科技大学 | Auxiliary picking device and picking method for oranges |
| CN108811731A (en) * | 2018-06-15 | 2018-11-16 | 苏州艾捷尔斯生物科技有限公司 | A kind of agricultural vegetables and fruits are with facilitating picking clamping device |
| CN108811731B (en) * | 2018-06-15 | 2021-02-09 | 海安爵珈机械科技有限公司 | Agricultural vegetables and fruits are with conveniently picking clamping device |
| CN109769467A (en) * | 2019-03-15 | 2019-05-21 | 西安航空职业技术学院 | A kind of automation watermelon picking loading machine |
| CN109769467B (en) * | 2019-03-15 | 2022-03-25 | 西安航空职业技术学院 | Automatic watermelon picking and loading machine |
| CN110741809A (en) * | 2019-11-29 | 2020-02-04 | 福州大学 | Fruit and vegetable picking device and working method thereof |
| CN111226601A (en) * | 2020-03-26 | 2020-06-05 | 姜发威 | Automatic watermelon picking device capable of judging sequential arrangement during transfer |
| CN111226601B (en) * | 2020-03-26 | 2021-03-02 | 广州飞利信息科技有限公司 | Automatic watermelon picking device capable of judging sequential arrangement during transfer |
| CN111713257A (en) * | 2020-07-03 | 2020-09-29 | 浙江理工大学 | Spherical cutter type self-propelled famous and high-quality tea plucking machine |
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