CN106171298A - One is used for setting fruit automatic picking device - Google Patents
One is used for setting fruit automatic picking device Download PDFInfo
- Publication number
- CN106171298A CN106171298A CN201610711626.2A CN201610711626A CN106171298A CN 106171298 A CN106171298 A CN 106171298A CN 201610711626 A CN201610711626 A CN 201610711626A CN 106171298 A CN106171298 A CN 106171298A
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- Prior art keywords
- collecting vessel
- automatic picking
- circular
- cylindrical collecting
- picking device
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of for setting upper fruit automatic picking device, including cup dolly, described cup dolly side surface is provided with lifting supporting mechanism, described cup dolly upper surface is fixedly connected with cylindrical collecting vessel, described cylindrical collecting vessel side surface is provided with automatic picking mechanism, described cylindrical collecting vessel side surface and be positioned at below automatic picking mechanism and be provided with pushing mechanism, No. three rectangular recess are had on described cylindrical collecting vessel side surface, being embedded with accumulator in described No. three rectangular recess, described cylindrical collecting vessel side surface is provided with controller.The invention has the beneficial effects as follows, simple in construction, practical.
Description
Technical field
The present invention relates to fruit automatic picking field, particularly one be used for setting fruit automatic picking device.
Background technology
In the Farm House of some, it is substantially and can plant some eatable fruit, but due to the passage of time, water
Fruit tree can be the longest more high, and height can not be won to people with common ladder, and if fruit tree height, people is also up
Ratio is relatively hazardous, but fruit reaches, and the most just wastes, and somebodies are to rock tree, but the fruit meeting fallen down
There is situation about colliding with, therefore design a kind of safety that can protect people, can the device of automatic picking be necessary again.
Summary of the invention
The invention aims to solve the problems referred to above, devise a kind of for setting upper fruit automatic picking device.
Realizing above-mentioned purpose the technical scheme is that, one is used for setting fruit automatic picking device, including circle
Base, described cup dolly side surface is provided with lifting supporting mechanism, and described cup dolly upper surface is fixedly connected with cylinder
Collecting vessel, described cylindrical collecting vessel side surface is provided with automatic picking mechanism, described cylindrical collecting vessel side surface and being positioned at
It is provided with pushing mechanism below automatic picking mechanism, in described cylindrical collecting vessel, is provided with lifting support structure, described cylindrical receipts
Collection bucket side surface is provided with artificial stair-climbing mechanism, and described automatic picking mechanism is by fixing on connecting cylinder shape collecting vessel side surface
Arcuate base, one group of No. two circular groove being opened in arcuate base front surface, the rotation that is inlaid in each No. two circular grooves
Annulus, the semicircle telescope support being set with on each tumbler ring, the semicircle that is sleeved on each semicircle telescope support are propped up
Fagging, it is disposed therein No. two rectangular recess of a semi-circular support plate upper surface, is fixedly connected on another semicircle
Fagging upper surface and the fastening matched with No. two rectangular recess are rolled over shape frame, are opened in the arc of each semi-circular support plate upper surface
Chute, the electric controlled sliding kinetoplast being inlaid in each arc chute, it is fixedly connected on each electric controlled sliding kinetoplast upper surface and round end
A Miniature rotating motor upwards, mechanical arm, the hinge being hingedly connected on each Miniature rotating motor round end
The sliding mechanical folder that chain is connected to No. two mechanical arms on each mechanical arm, is arranged on each No. two mechanical arm side surfaces
Hands, the minisize pick-up head being arranged on each No. two mechanical arm end face collectively form, described cylindrical collecting vessel side surface
On have No. three rectangular recess, be embedded with accumulator in described No. three rectangular recess, described cylindrical collecting vessel side surface set
Having controller, the input of described controller is electrically connected with accumulator and minisize pick-up head by wire, described controller
Outfan is pressed from both sides with electric controlled sliding kinetoplast, a Miniature rotating motor, a mechanical arm, No. two mechanical arms and sliding mechanical by wire
Hands is electrically connected with.
Described lifting support structure is by driving a manhole of cylindrical collecting vessel upper surface, being opened in cylindrical collecting vessel
Multiple circular grooves of interior lower surface, be arranged on each circular groove in and a telescopic end flexible gas upwards
Cylinder, it is arranged on lift strut on each telescopic cylinder telescopic end, is fixedly connected on multiple lift strut upper surface and with one
Number hollow uncovered Carrier box that manhole matches collectively forms, and the outfan of described controller is stretched by wire and No. one
Contracting cylinder is electrically connected with.
Described artificial stair-climbing mechanism is by the one group of N shape fixed mount being fixedly connected on cylindrical collecting vessel side surface, fixing
It is connected to the vertical framework of one group of N shape fixed mount upper surface, the multiple fixing circular shafts running through in vertical framework, is sleeved on often
The bar shaped loading plate matched on individual fixing circular shaft and with vertical framework collectively forms.
Described lifting supporting mechanism by the multiple arc loading plates being arranged on cup dolly side surface, be fixedly connected on every
Horizontal clamping rings on individual arc loading plate side surface, be inlaid in each horizontal clamping rings in be provided with downward No. two of telescopic end
Telescopic cylinder, the telescope support being arranged on each No. two telescopic cylinder telescopic ends, be fixedly connected on each No. one stretch
The fixed plate of support lower surface, it is arranged on the door type frame of each fixed plate lower surface, is arranged on each door type frame two supporting leg following table
The circular shim in face, it is arranged on the support column of each circular shim lower surface, the tumbler ring being sleeved on each support column, set
Be contained on each tumbler ring rotates what universal wheel collectively formed, and the outfan of described controller is stretched by wire and No. two
Cylinder and a telescope support are electrically connected with.
One group of rectangular recess on described pushing mechanism cylinder collecting vessel side surface, it is arranged on each rectangle
The vertical circular shaft that matches in groove and with a rectangular recess, be sleeved on each vertical circular shaft and with a rectangular recess phase
The oscillating deck of coupling collectively forms.
Described each sliding mechanical tong inner surface is provided with micro pressure sensor, and the input of described controller leads to
Cross wire to be electrically connected with micro pressure sensor.
The quantity of a plurality of circular groove is 2-4.
Described accumulator is the battery of WDKH-F, and described controller is the controller of MAM-200A.
It is provided with PLC control system in described controller.
Described controller is provided with capacitance touch screen, and the outfan of described controller is electrical with capacitance touch screen by wire
Connect.
Utilize that technical scheme makes for setting upper fruit automatic picking device, a kind of operation is more convenient,
Device relatively simple for structure, it is achieved automatic picking, that can well be collected again.
Accompanying drawing explanation
Fig. 1 is the structural representation for setting upper fruit automatic picking device of the present invention；
Fig. 2 is the partial schematic diagram of automatic picking mechanism of the present invention；
Fig. 3 is the partial enlarged drawing of lifting supporting mechanism of the present invention；
Fig. 4 is the side view for setting upper fruit automatic picking device of the present invention；
In figure, 1, cup dolly；2, cylindrical collecting vessel；3, arcuate base；4, No. two circular grooves；5, tumbler ring；
6, semicircle telescope support；7, semi-circular support plate；8, No. two rectangular recess；9, fastening folding shape frame；10, arc chute；11, electricity
Control moving body；12, a Miniature rotating motor；13, a mechanical arm；14, No. two mechanical arms；15, sliding mechanical tong；16、
Minisize pick-up head；17, No. three rectangular recess；18, accumulator；19, controller；20, a manhole；21, a circle is recessed
Groove；22, a telescopic cylinder；23, lift strut；24, hollow uncovered Carrier box；25, N shape fixed mount；26, vertical framework；27、
A number fixing circular shaft；28, fixing circular shaft；29, bar shaped loading plate；30, arc loading plate；31, horizontal clamping rings；32, No. two
Telescopic cylinder；33, a telescope support；34, fixed plate；35, door type frame；36, circular shim；37, support column；38, ten thousand are rotated
To wheel；39, a rectangular recess；40, vertical circular shaft；41, oscillating deck；42, micro pressure sensor；43, PLC control system；
44, capacitance touch screen.
Detailed description of the invention
Being specifically described the present invention below in conjunction with the accompanying drawings, as Figure 1-4, one is used for setting fruit automatic picking
Device, including cup dolly (1), described cup dolly (1) side surface is provided with lifting supporting mechanism, described cup dolly (1)
Upper surface is fixedly connected with cylindrical collecting vessel (2), and described cylindrical collecting vessel (2) side surface is provided with automatic picking mechanism,
Described cylindrical collecting vessel (2) side surface and be positioned at below automatic picking mechanism and be provided with pushing mechanism, described cylindrical collecting vessel
(2) being provided with lifting support structure in, described cylindrical collecting vessel (2) side surface is provided with artificial stair-climbing mechanism, described automatically plucks
Take mechanism by the arcuate base (3) fixed on connecting cylinder shape collecting vessel (2) side surface, be opened in arcuate base (3) front surface
One group No. two circular grooves (4), the tumbler ring (5) being inlaid in each No. two circular grooves (4), it is set with each tumbler ring
(5) the semicircle telescope support (6) on, the semi-circular support plate (7) being sleeved on each semicircle telescope support (6), setting
Wherein semi-circular support plate (7) upper surface No. two rectangular recess (8), be fixedly connected on another semi-circular support plate
(7) upper surface and fastening folding shape frame (9) matched with No. two rectangular recess (8), it is opened in the upper table of each semi-circular support plate (7)
The arc chute (10) in face, the electric controlled sliding kinetoplast (11) being inlaid in each arc chute (10), be fixedly connected on each automatically controlled
Moving body (11) upper surface and round end Miniature rotating motor (12) upwards, it is hingedly connected at each miniature rotation
A mechanical arm (13) on motor (12) round end, No. two mechanical arms being hingedly connected on each mechanical arm (13)
(14) the sliding mechanical tong (15) that, is arranged on each No. two mechanical arm (14) side surfaces, it is arranged on each No. two mechanical arms
(14) minisize pick-up head on end face (16) collectively forms, and described cylindrical collecting vessel (2) side surface has No. three squares
Connected in star (17), is embedded with accumulator (18), on described cylindrical collecting vessel (2) side surface in described No. three rectangular recess (17)
Being provided with controller (19), the input of described controller (19) is electrical with accumulator (18) and minisize pick-up head (16) by wire
Connect, the outfan of described controller (19) by wire and electric controlled sliding kinetoplast (11), Miniature rotating motor (12), No. one
Mechanical arm (13), No. two mechanical arms (14) and sliding mechanical tong (15) are electrically connected with；Described lifting support structure is by opening cylinder
A number manhole (20) of shape collecting vessel (2) upper surface, it is opened in multiple circles of cylindrical collecting vessel (2) interior lower surface
Groove (21), be arranged in each circular groove (21) and a telescopic end telescopic cylinder (22) upwards, be arranged on every
Lift strut (23) on individual telescopic cylinder (22) telescopic end, it is fixedly connected on multiple lift strut (23) upper surface and with one
Number hollow uncovered Carrier box (24) that manhole (20) matches collectively forms, and the outfan of described controller (19) passes through
Wire and a telescopic cylinder (22) are electrically connected with；Described artificial stair-climbing mechanism is by being fixedly connected on cylindrical collecting vessel (2) side
One group of N shape fixed mount (25) on surface, it is fixedly connected on the vertical framework (26) of one group of N shape fixed mount (25) upper surface, passes through
Wear the multiple fixing circular shafts (27) in vertical framework (26), be sleeved on each fixing circular shaft (28) upper and with vertical framework
(26) the bar shaped loading plate (29) matched collectively forms；Described lifting supporting mechanism is by being arranged on cup dolly (1) side table
Multiple arc loading plates (30) on face, the horizontal clamping rings being fixedly connected on each arc loading plate (30) side surface
(31) it is provided with downward No. two telescopic cylinders (32) of telescopic end in, being inlaid in each horizontal clamping rings (31), is arranged on each two
A telescope support (33) on number telescopic cylinder (32) telescopic end, it is fixedly connected on each telescope support (33) lower surface
Fixed plate (34), be arranged on the door type frame (35) of each fixed plate (34) lower surface, be arranged on each door type frame (35) two
The circular shim (36) of lower limb lower surface, it is arranged on the support column (37) of each circular shim (36) lower surface, is sleeved on each
Tumbler ring (5) on dagger (37), the rotation universal wheel (38) being sleeved on each tumbler ring (5) collectively form, institute
The outfan stating controller (19) is electrically connected with by wire and No. two telescopic cylinders (32) and a telescope support (33)；Described
One group No. one rectangular recess (39) on pushing mechanism cylinder collecting vessel (2) side surface, it is arranged on each rectangular recess
(39) the vertical circular shaft (40) that matches in and with a rectangular recess (39), to be sleeved on each vertical circular shaft (40) upper and with one
Number oscillating deck (41) that rectangular recess (39) matches collectively forms；On described each sliding mechanical tong (15) inner surface
Being provided with micro pressure sensor (42), the input of described controller (19) is electrical with micro pressure sensor (42) by wire
Connect；The quantity of a plurality of circular groove (21) is 2-4；Described accumulator (18) is the battery of WDKH-F, described
Controller (19) is the controller of MAM-200A；PLC control system (43) it is provided with in described controller (19)；Described controller
(19) being provided with capacitance touch screen (44), the outfan of described controller (19) is electrically connected with capacitance touch screen (44) by wire
Connect.
The feature of the present embodiment is, cup dolly side surface is provided with lifting supporting mechanism, and cup dolly upper surface is solid
Determining connection has cylindrical collecting vessel, cylindrical collecting vessel side surface to be provided with automatic picking mechanism, cylindrical collecting vessel side surface
And be positioned at below automatic picking mechanism and be provided with pushing mechanism, it is provided with lifting support structure in cylindrical collecting vessel, cylindrical collects
Bucket side surface is provided with artificial stair-climbing mechanism, and automatic picking mechanism is by the arc base fixed on connecting cylinder shape collecting vessel side surface
Seat, be opened in one group of No. two circular groove of arcuate base front surface, the tumbler ring being inlaid in each No. two circular grooves, set
Fill the semicircle telescope support on each tumbler ring, the semi-circular support plate being sleeved on each semicircle telescope support, set
Put No. two rectangular recess of a semi-circular support plate upper surface wherein, be fixedly connected on table on another semi-circular support plate
Face and the fastening folding shape frame matched with No. two rectangular recess, it is opened in the arc chute of each semi-circular support plate upper surface, embedding
The electric controlled sliding kinetoplast that is contained in each arc chute, it is fixedly connected on each electric controlled sliding kinetoplast upper surface and round end one upwards
Number Miniature rotating motor, the mechanical arm being hingedly connected on each Miniature rotating motor round end, it is hingedly connected at
No. two mechanical arms on each mechanical arm, the sliding mechanical tong being arranged on each No. two mechanical arm side surfaces, setting
Minisize pick-up head on each No. two mechanical arm end face collectively forms, and cylindrical collecting vessel side surface has No. three squares
Connected in star, is embedded with accumulator in No. three rectangular recess, cylindrical collecting vessel side surface is provided with controller, the input of controller
Hold and be electrically connected with by wire and accumulator and minisize pick-up head, the outfan of controller by wire and electric controlled sliding kinetoplast, one
Number Miniature rotating motor, a mechanical arm, No. two mechanical arms and sliding mechanical tong are electrically connected with, and a kind of operation is more convenient,
Device relatively simple for structure, it is achieved automatic picking, that can well be collected again.
In the present embodiment, one is used for setting fruit automatic picking device by controller control.Automatic picking mechanism
By the arcuate base on fixing connecting cylinder shape collecting vessel side surface, the tumbler ring being inlaid in each No. two circular grooves,
When tumbler ring rotates, semicircle telescope support will rotate；It is sleeved on the semicircle support on each semicircle telescope support
Plate, it is fixedly connected on another semi-circular support plate upper surface and the fastening folding shape frame matched with No. two rectangular recess, when half
When circular telescope support stretches, semi-circular support plate also can and then rise or fall with fastening folding shape frame；Electric controlled sliding kinetoplast controls one
The rotation of number Miniature rotating motor, a Miniature rotating motor controls a mechanical arm and the rotation of No. two mechanical arms, is arranged on
Minisize pick-up head on each No. two mechanical arm end face collectively forms, and photographic head can facilitate to be observed at any time；Lifting undertaking machine
Structure by open a cylindrical manhole of collecting vessel upper surface, hollow uncovered Carrier box can with the flexible of a telescopic cylinder with
The lifting of lift strut moves；Artificial stair-climbing mechanism is by the one group of N shape being fixedly connected on cylindrical collecting vessel side surface
Fixed mount, the vertical framework being fixedly connected on one group of N shape fixed mount upper surface, multiple fixing circles of running through in vertical framework
Axle, fixing circular shaft can make N shape fixed mount be fixed together with vertical framework；Set on each sliding mechanical tong inner surface
There is micro pressure sensor, pressure can be observed with micro pressure sensor at any time；Described accumulator is the battery of WDKH-F, institute
State the controller that controller is MAM-200A；Accumulator provides power supply；Controller controls device.
Technique scheme only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
Some variations may made some of which part all embody the principle of the present invention, belong to protection scope of the present invention it
In.
Claims (10)
1. it is used for setting a fruit automatic picking device, including cup dolly (1), it is characterised in that described cup dolly (1)
Side surface is provided with lifting supporting mechanism, and described cup dolly (1) upper surface is fixedly connected with cylindrical collecting vessel (2), described
Cylindrical collecting vessel (2) side surface is provided with automatic picking mechanism, and described cylindrical collecting vessel (2) side surface and being positioned at is plucked automatically
Take and below mechanism, be provided with pushing mechanism, in described cylindrical collecting vessel (2), be provided with lifting support structure, described cylindrical collecting vessel
(2) side surface is provided with artificial stair-climbing mechanism, and described automatic picking mechanism is by fixing on connecting cylinder shape collecting vessel (2) side surface
Arcuate base (3), be opened in one group No. two circular grooves (4) of arcuate base (3) front surface, to be inlaid in each No. two circles recessed
Tumbler ring (5), the semicircle telescope support (6) being set with on each tumbler ring (5) in groove (4), it is sleeved on each semicircle
Semi-circular support plate (7) on shape telescope support (6), it is disposed therein No. two squares of semi-circular support plate (7) upper surface
Connected in star (8), it is fixedly connected on another semi-circular support plate (7) upper surface and tight with what No. two rectangular recess (8) matched
Admittedly folding shape frame (9), be opened in the arc chute (10) of each semi-circular support plate (7) upper surface, be inlaid in each arc chute
(10) electric controlled sliding kinetoplast (11) in, to be fixedly connected on each electric controlled sliding kinetoplast (11) upper surface and round end upwards No. one micro-
Type electric rotating machine (12), the mechanical arm (13) being hingedly connected on each Miniature rotating motor (12) round end, hinge
Chain is connected to No. two mechanical arms (14) on each mechanical arm (13), is arranged on each No. two mechanical arm (14) side surfaces
Sliding mechanical tong (15), the minisize pick-up head (16) that is arranged on each No. two mechanical arm (14) end face collectively forms
, described cylindrical collecting vessel (2) side surface has No. three rectangular recess (17), setting-in in described No. three rectangular recess (17)
Accumulator (18), described cylindrical collecting vessel (2) side surface is had to be provided with controller (19), the input of described controller (19)
Be electrically connected with by wire and accumulator (18) and minisize pick-up head (16), the outfan of described controller (19) by wire and
Electric controlled sliding kinetoplast (11), a Miniature rotating motor (12), a mechanical arm (13), No. two mechanical arms (14) and sliding mechanical folder
Hands (15) is electrically connected with.
One the most according to claim 1 is used for setting fruit automatic picking device, it is characterised in that described lifting is accepted
Mechanism is by opening a manhole (20) of cylindrical collecting vessel (2) upper surface, being opened in cylindrical collecting vessel (2) interior lower surface
Multiple circular grooves (21), it is arranged in each circular groove (21) and a telescopic end telescopic cylinder upwards
(22), it is arranged on lift strut (23) on each telescopic cylinder (22) telescopic end, is fixedly connected on multiple lift strut
(23) upper surface and the hollow uncovered Carrier box (24) that matches with a manhole (20) collectively form, described controller
(19) outfan is electrically connected with by wire and a telescopic cylinder (22).
One the most according to claim 1 is used for setting fruit automatic picking device, it is characterised in that described artificial cat ladder
Mechanism by one group of N shape fixed mount (25) being fixedly connected on cylindrical collecting vessel (2) side surface, be fixedly connected on one group of N shape
The vertical framework (26) of fixed mount (25) upper surface, the multiple fixing circular shafts (27) run through in vertical framework (26), suit
Bar shaped loading plate (29) that is upper each fixing circular shaft (28) and that match with vertical framework (26) collectively forms.
One the most according to claim 1 is used for setting fruit automatic picking device, it is characterised in that described lifting supports
Mechanism by the multiple arc loading plates (30) being arranged on cup dolly (1) side surface, be fixedly connected on each arc loading plate
(30) the horizontal clamping rings (31) on side surface, be inlaid in each horizontal clamping rings (31) in be provided with downward No. two of telescopic end
Telescopic cylinder (32), the telescope support (33) being arranged on each No. two telescopic cylinder (32) telescopic ends, it is fixedly connected on
The fixed plate (34) of each telescope support (33) lower surface, it is arranged on the door type frame of each fixed plate (34) lower surface
(35), it is arranged on the circular shim (36) of each door type frame (35) two supporting leg lower surface, is arranged under each circular shim (36)
The support column (37) on surface, the tumbler ring (5) being sleeved on each support column (37), it is sleeved on each tumbler ring (5)
Rotation universal wheel (38) collectively form, the outfan of described controller (19) by wire and No. two telescopic cylinders (32) and
A number telescope support (33) is electrically connected with.
One the most according to claim 1 is used for setting fruit automatic picking device, it is characterised in that described pushing mechanism
One group No. one rectangular recess (39) on cylindrical collecting vessel (2) side surface, be arranged on each rectangular recess (39) in and
The vertical circular shaft (40) that matches with a rectangular recess (39), to be sleeved on each vertical circular shaft (40) upper and recessed with a rectangle
The oscillating deck (41) that groove (39) matches collectively forms.
One the most according to claim 1 is used for setting fruit automatic picking device, it is characterised in that described each slip
Machinery tong (15) inner surface be provided with micro pressure sensor (42), the input of described controller (19) by wire with
Micro pressure sensor (42) is electrically connected with.
One the most according to claim 2 is used for setting fruit automatic picking device, it is characterised in that the plurality of No. one
The quantity of circular groove (21) is 2-4.
One the most according to claim 1 is used for setting fruit automatic picking device, it is characterised in that described accumulator
(18) being the battery of WDKH-F, described controller (19) is the controller of MAM-200A.
One the most according to claim 1 is used for setting fruit automatic picking device, it is characterised in that described controller
(19) PLC control system (43) it is provided with in.
One the most according to claim 1 is used for setting fruit automatic picking device, it is characterised in that described controller
(19) being provided with capacitance touch screen (44), the outfan of described controller (19) is electrically connected with capacitance touch screen (44) by wire
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610711626.2A CN106171298B (en) | 2016-08-24 | 2016-08-24 | One kind is for setting fruit automatic picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610711626.2A CN106171298B (en) | 2016-08-24 | 2016-08-24 | One kind is for setting fruit automatic picking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106171298A true CN106171298A (en) | 2016-12-07 |
| CN106171298B CN106171298B (en) | 2018-10-12 |
Family
ID=57523536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610711626.2A Expired - Fee Related CN106171298B (en) | 2016-08-24 | 2016-08-24 | One kind is for setting fruit automatic picking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106171298B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612945A (en) * | 2016-12-12 | 2017-05-10 | 李正福 | Moving device for automatically picking cotton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4718223A (en) * | 1985-10-17 | 1988-01-12 | Kubota, Ltd. | Fruit harvesting apparatus |
| CN2489930Y (en) * | 2001-06-06 | 2002-05-08 | 自贡市挚友电器有限公司 | Robot able to picking fruit |
| WO2006013593A1 (en) * | 2004-08-06 | 2006-02-09 | Valente Pali Precompressi Srl | Automated fruit and vegetables picker |
| CN202565760U (en) * | 2012-05-03 | 2012-12-05 | 浙江理工大学 | Fruit tree vibration picking hand |
| CN103081648A (en) * | 2013-01-25 | 2013-05-08 | 北京林业大学 | Telescopic forest fruit picking mechanical arm |
| CN105746087A (en) * | 2016-04-29 | 2016-07-13 | 徐志勇 | High-efficiency automatic apple picking machine |
| CN205408633U (en) * | 2016-03-10 | 2016-08-03 | 西北农林科技大学 | But machine people is plucked to many arms of crawler -type apple of self -contained navigation |
-
2016
- 2016-08-24 CN CN201610711626.2A patent/CN106171298B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4718223A (en) * | 1985-10-17 | 1988-01-12 | Kubota, Ltd. | Fruit harvesting apparatus |
| CN2489930Y (en) * | 2001-06-06 | 2002-05-08 | 自贡市挚友电器有限公司 | Robot able to picking fruit |
| WO2006013593A1 (en) * | 2004-08-06 | 2006-02-09 | Valente Pali Precompressi Srl | Automated fruit and vegetables picker |
| CN202565760U (en) * | 2012-05-03 | 2012-12-05 | 浙江理工大学 | Fruit tree vibration picking hand |
| CN103081648A (en) * | 2013-01-25 | 2013-05-08 | 北京林业大学 | Telescopic forest fruit picking mechanical arm |
| CN205408633U (en) * | 2016-03-10 | 2016-08-03 | 西北农林科技大学 | But machine people is plucked to many arms of crawler -type apple of self -contained navigation |
| CN105746087A (en) * | 2016-04-29 | 2016-07-13 | 徐志勇 | High-efficiency automatic apple picking machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612945A (en) * | 2016-12-12 | 2017-05-10 | 李正福 | Moving device for automatically picking cotton |
| CN106612945B (en) * | 2016-12-12 | 2019-10-08 | 磐安县后门山家庭农场 | A kind of mobile device of automatic picking cotton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106171298B (en) | 2018-10-12 |
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