CN106171298B - One kind is for setting fruit automatic picking device - Google Patents
One kind is for setting fruit automatic picking device Download PDFInfo
- Publication number
- CN106171298B CN106171298B CN201610711626.2A CN201610711626A CN106171298B CN 106171298 B CN106171298 B CN 106171298B CN 201610711626 A CN201610711626 A CN 201610711626A CN 106171298 B CN106171298 B CN 106171298B
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- CN
- China
- Prior art keywords
- collecting vessel
- circular
- automatic picking
- controller
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind for setting upper fruit automatic picking device, including cup dolly, the cup dolly side surface is equipped with lifting supporting mechanism, the cup dolly upper surface is fixedly connected with cylindrical collecting vessel, the cylinder collecting vessel side surface is equipped with automatic picking mechanism, the cylinder collecting vessel side surface and pushing mechanism is equipped with below the automatic picking mechanism, it is provided with No. three rectangular recess on the cylinder collecting vessel side surface, accumulator is embedded in No. three rectangular recess, the cylinder collecting vessel side surface is equipped with controller.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to fruit automatic picking fields, especially a kind of for setting fruit automatic picking device.
Background technology
In the Farm House of some, some eatable fruit can be planted by being substantially, but due to the passage of time, water
The longer fruit tree can be the higher, and height cannot be won to people with common ladder, and if fruit tree height, and people is also up
Than relatively hazardous, but fruit reaches, and just wastes in the tree, and somebodies are the fruit meetings for rocking tree, but fall down
The case where colliding with, therefore a kind of safety that can protect people is designed, and the device of energy automatic picking is necessary.
Invention content
The purpose of the present invention is to solve the above problems, devise a kind of for setting fruit automatic picking device.
Realize above-mentioned purpose the technical scheme is that, one kind is for setting fruit automatic picking device, including circle
Pedestal, the cup dolly side surface are equipped with lifting supporting mechanism, and the cup dolly upper surface is fixedly connected with cylinder
Collecting vessel, the cylinder collecting vessel side surface are equipped with automatic picking mechanism, the cylinder collecting vessel side surface and are located at
It is equipped with pushing mechanism below automatic picking mechanism, lifting support structure, the cylindrical receipts are equipped in the cylindrical collecting vessel
Collect barrel side surface and be equipped with artificial stair-climbing mechanism, the automatic picking mechanism is by being fixedly connected on cylindrical collecting vessel side surface
Arcuate base, one group of No. two circular groove for being opened in arcuate base front surface, the rotation being inlaid in each No. two circular grooves
The each semicircle telescope support rotated on annulus of annulus, suit, the semicircle branch being sleeved on each semicircle telescope support
Fagging, No. two rectangular recess for being disposed therein a semi-circular support plate upper surface are fixedly connected on another semicircle branch
Fagging upper surface and the fastening folding shape frame to match with No. two rectangular recess, the arc for being opened in each semi-circular support plate upper surface
Sliding slot, the automatically controlled moving body being inlaid in each arc chute are fixedly connected on each automatically controlled moving body upper surface and round end
The miniature electric rotating machine of upward No.1, the No.1 mechanical arm being hingedly connected on the miniature electric rotating machine round end of each No.1, hinge
No. two mechanical arms of the chain link on each No.1 mechanical arm, the sliding mechanical being arranged on each No. two mechanical arm side surfaces folder
Hand, the miniature webcam being arranged on each No. two mechanical arm end faces collectively form, the cylinder collecting vessel side surface
On be provided with No. three rectangular recess, accumulator is embedded in No. three rectangular recess, is set on the cylinder collecting vessel side surface
There are controller, the input terminal of the controller to be electrically connected by conducting wire and accumulator and miniature webcam, the controller
Output end is pressed from both sides by conducting wire and automatically controlled moving body, the miniature electric rotating machine of No.1, No.1 mechanical arm, No. two mechanical arms and sliding mechanical
Hand is electrically connected.
The lifting support structure is by opening the No.1 circular through hole of cylindrical collecting vessel upper surface, being opened in cylindrical collecting vessel
Multiple No.1 circular grooves of interior lower surface are arranged in each No.1 circular groove and No.1 that telescopic end is upward is stretched gas
Cylinder is arranged on each No.1 telescopic cylinder telescopic end lift strut, is fixedly connected on multiple lift strut upper surfaces and with one
What the hollow uncovered Carrier box that number circular through hole matches collectively formed, the output end of the controller is stretched by conducting wire and No.1
Contracting cylinder is electrically connected.
The artificial stair-climbing mechanism is by one group of N shapes fixed frame, fixation being fixedly connected on cylindrical collecting vessel side surface
It is connected to the vertical frame of one group of N shape fixed frames upper surface, multiple No.1s in vertical frame fix circular shaft, it is every to be sleeved on
What the bar shaped loading plate to match on a fixed circular shaft and with vertical frame collectively formed.
The lifting supporting mechanism by be arranged on cup dolly side surface multiple arcs loading plate, be fixedly connected on it is every
Horizontal clamping rings on a arc loading plate side surface is inlaid in each horizontal clamping rings and is equipped with downward No. two of telescopic end
Telescopic cylinder, the No.1 telescope support being arranged on each No. two telescopic cylinder telescopic ends, to be fixedly connected on each No.1 flexible
The fixed plate of holder lower surface, be arranged each fixed plate lower surface door type frame, be arranged in two supporting leg following table of each door type frame
The circular shim in face is arranged in the support column of each circular shim lower surface, the rotation annulus being sleeved on each support column, set
What the rotation universal wheel on each rotation annulus collectively formed, the output end of the controller is flexible by conducting wire and No. two
Cylinder and No.1 telescope support are electrically connected.
One group of No.1 rectangular recess, setting on the pushing mechanism cylinder collecting vessel side surface is in each No.1 rectangle
The vertical circular shaft that matches in groove and with No.1 rectangular recess, be sleeved on each vertical circular shaft and with No.1 rectangular recess phase
What matched oscillating deck collectively formed.
Each sliding mechanical clamp hand inner surface is equipped with micro pressure sensor, and the input terminal of the controller is logical
Conducting wire is crossed to be electrically connected with micro pressure sensor.
The quantity of the multiple No.1 circular groove is 2-4.
The model WDKH-F of the accumulator, the model MAM-200A of the controller.
PLC control system is equipped in the controller.
The controller is equipped with capacitance touch screen, and the output end of the controller is electrical with capacitance touch screen by conducting wire
Connection.
It is used to set upper fruit automatic picking device using what technical scheme of the present invention made, a kind of operation is more convenient,
It is relatively simple for structure, realize automatic picking, and the device that can be collected well.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention for setting fruit automatic picking device；
Fig. 2 is the partial schematic diagram of automatic picking mechanism of the present invention；
Fig. 3 is the partial enlarged view of lifting supporting mechanism of the present invention；
Fig. 4 is the side view of the present invention for setting fruit automatic picking device；
In figure, 1, cup dolly；2, cylindrical collecting vessel；3, arcuate base；4, No. two circular grooves；5, annulus is rotated；
6, semicircle telescope support；7, semi-circular support plate；8, No. two rectangular recess；9, fastening folding shape frame；10, arc chute；11, electric
Control moving body；12, the miniature electric rotating machine of No.1；13, No.1 mechanical arm；14, No. two mechanical arms；15, sliding mechanical clamp hand；16、
Miniature webcam；17, No. three rectangular recess；18, accumulator；19, controller；20, No.1 circular through hole；21, No.1 circle is recessed
Slot；22, No.1 telescopic cylinder；23, lift strut；24, hollow uncovered Carrier box；25, N shapes fixed frame；26, vertical frame；27、
No.1 fixes circular shaft；28, fixed circular shaft；29, bar shaped loading plate；30, arc loading plate；31, horizontal clamping rings；32, No. two
Telescopic cylinder；33, No.1 telescope support；34, fixed plate；35, door type frame；36, circular shim；37, support column；38, ten thousand are rotated
To wheel；39, No.1 rectangular recess；40, vertical circular shaft；41, oscillating deck；42, micro pressure sensor；43, PLC control system；
44, capacitance touch screen.
Specific implementation mode
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in Figs 1-4, one kind is for setting fruit automatic picking
Device, including cup dolly 1,1 side surface of the cup dolly are equipped with lifting supporting mechanism, 1 upper surface of the cup dolly
It is fixedly connected with cylindrical collecting vessel 2,2 side surface of the cylinder collecting vessel is equipped with automatic picking mechanism, the cylinder
2 side surface of collecting vessel and pushing mechanism is equipped with below the automatic picking mechanism, being equipped with lifting in the cylinder collecting vessel 2 holds
Connection mechanism, 2 side surface of the cylinder collecting vessel are equipped with artificial stair-climbing mechanism, and the automatic picking mechanism is by being fixedly connected with circle
Arcuate base 3 on 2 side surface of cylindricality collecting vessel, is inlaid in one group of No. two circular groove 4 for being opened in 3 front surface of arcuate base
Semicircle telescope support 6 on each rotation annulus 5 of rotation annulus 5 in each No. two circular grooves 4, suit, be sleeved on it is every
Semi-circular support plate 7 on a semicircle telescope support 6, No. two squares for being disposed therein 7 upper surface of semi-circular support plate
Connected in star 8, the fastening folding shape for being fixedly connected on another 7 upper surface of semi-circular support plate and matching with No. two rectangular recess 8
Frame 9, the arc chute 10 for being opened in 7 upper surface of each semi-circular support plate, the automatically controlled movement being inlaid in each arc chute 10
Body 11 is fixedly connected on each 11 upper surface of automatically controlled moving body and the upward miniature electric rotating machine 12 of No.1 of round end, hinge connect
The No.1 mechanical arm 13 that is connected on miniature 12 round end of electric rotating machine of each No.1 is hingedly connected on each No.1 mechanical arm 13
No. two mechanical arms 14, be arranged on 14 side surface of each No. two mechanical arms sliding mechanical clamp hand 15, be arranged at each No. two
What the miniature webcam 16 on 14 end face of mechanical arm collectively formed, the cylinder collecting vessel is provided with No. three squares on 2 side surface
Connected in star 17, No. three rectangular recess 17 are interior to be embedded with accumulator 18, and 2 side surface of the cylinder collecting vessel is equipped with control
The input terminal of device 19, the controller 19 is electrically connected by conducting wire and accumulator 18 and miniature webcam 16, the controller
19 output end passes through conducting wire and 13, No. two automatically controlled moving body 11, the miniature electric rotating machine 12 of No.1, No.1 mechanical arm mechanical arms 14
It is electrically connected with sliding mechanical clamp hand 15；The lifting support structure is led to by the No.1 circle for opening 2 upper surface of cylindrical collecting vessel
Hole 20 is opened in multiple No.1 circular grooves 21 of lower surface in cylindrical collecting vessel 2, is arranged in each No.1 circular groove 21
And the upward No.1 telescopic cylinder 22 of telescopic end, lift strut 23 is set on each 22 telescopic end of No.1 telescopic cylinder, is fixed
It is connected to 23 upper surface of multiple lift struts and the hollow uncovered Carrier box 24 to match with No.1 circular through hole 20 collectively forms
, the output end of the controller 19 is electrically connected by conducting wire and No.1 telescopic cylinder 22；The artificial stair-climbing mechanism is by solid
Surely one group of N shapes fixed frame 25 being connected on 2 side surface of cylindrical collecting vessel is fixedly connected on one group of 25 upper table of N shapes fixed frame
The vertical frame 26 in face, multiple No.1s in vertical frame 26 fix circular shaft 27, be sleeved on each fixed circular shaft 28 and
What the bar shaped loading plate 29 to match with vertical frame 26 collectively formed；The lifting supporting mechanism is by being arranged in cup dolly 1
Multiple arcs loading plate 30 on side surface, the horizontal clamping rings being fixedly connected on each 30 side surface of arc loading plate
31, it is inlaid in each horizontal clamping rings 31 and is equipped with downward No. two telescopic cylinders 32 of telescopic end, be arranged and stretch at each No. two
No.1 telescope support 33 on 32 telescopic end of cylinder, the fixed plate 34 for being fixedly connected on each 33 lower surface of No.1 telescope support,
Be arranged 34 lower surface of each fixed plate door type frame 35, circular shim in 35 liang of supporting leg lower surfaces of each door type frame is set
36, it is arranged in the support column 37 of 36 lower surface of each circular shim, the rotation annulus 5 being sleeved on each support column 37, suit
What the rotation universal wheel 38 on each rotation annulus 5 collectively formed, the output end of the controller 19 passes through conducting wire and No. two
Telescopic cylinder 32 and No.1 telescope support 33 are electrically connected；One group one on 2 side surface of pushing mechanism cylinder collecting vessel
Number rectangular recess 39, the vertical circular shaft 40 for being arranged in each No.1 rectangular recess 39 and matching with No.1 rectangular recess 39,
It is sleeved on what the oscillating deck 41 to match on each vertical circular shaft 40 and with No.1 rectangular recess 39 collectively formed；Each cunning
15 inner surface of motivation tool clamp hand is equipped with micro pressure sensor 42, the input terminal of the controller 19 by conducting wire with it is miniature
Pressure sensor 42 is electrically connected；The quantity of the multiple No.1 circular groove 21 is 2-4；The model in 18 pond of the electric power storage
WDKH-F, the model MAM-200A of the controller 19；PLC control system 43 is equipped in the controller 19；The control
Device 19 is equipped with capacitance touch screen 44, and the output end of the controller 19 is electrically connected by conducting wire and capacitance touch screen 44.
The characteristics of the present embodiment is that cup dolly side surface is equipped with lifting supporting mechanism, and cup dolly upper surface is solid
Surely it is connected with cylindrical collecting vessel, cylindrical collecting vessel side surface is equipped with automatic picking mechanism, cylindrical collecting vessel side surface
And pushing mechanism is equipped with below automatic picking mechanism, lifting support structure is equipped in cylindrical collecting vessel, cylinder is collected
Barrel side surface is equipped with artificial stair-climbing mechanism, and automatic picking mechanism is by the arc base that is fixedly connected on cylindrical collecting vessel side surface
Seat, one group of No. two circular groove for being opened in arcuate base front surface, the rotation annulus being inlaid in each No. two circular grooves, set
The each semicircle telescope support rotated on annulus of dress, is set the semi-circular support plate being sleeved on each semicircle telescope support
It sets No. two rectangular recess of a semi-circular support plate upper surface wherein, be fixedly connected on another semi-circular support plate upper table
Face and the fastening folding shape frame to match with No. two rectangular recess, the arc chute, embedding for being opened in each semi-circular support plate upper surface
Automatically controlled moving body in each arc chute, be fixedly connected on each automatically controlled moving body upper surface and round end it is upward one
Number miniature electric rotating machine, is hingedly connected at the No.1 mechanical arm being hingedly connected on the miniature electric rotating machine round end of each No.1
Each No. two mechanical arms on No.1 mechanical arm, the sliding mechanical clamp hand being arranged on each No. two mechanical arm side surfaces, setting
What the miniature webcam on each No. two mechanical arm end faces collectively formed, No. three squares are provided on cylindrical collecting vessel side surface
Connected in star, No. three rectangular recess are interior to be embedded with accumulator, and cylindrical collecting vessel side surface is equipped with controller, the input of controller
End is electrically connected by conducting wire and accumulator and miniature webcam, and the output end of controller passes through conducting wire and automatically controlled moving body, one
Number miniature electric rotating machine, No.1 mechanical arm, No. two mechanical arms and sliding mechanical clamp hand are electrically connected, and a kind of operation is more convenient,
It is relatively simple for structure, realize automatic picking, and the device that can be collected well.
In the present embodiment, a kind of to be controlled by controller for setting fruit automatic picking device.Automatic picking mechanism
By the arcuate base being fixedly connected on cylindrical collecting vessel side surface, the rotation annulus being inlaid in each No. two circular grooves,
Semicircle telescope support will rotate when rotation annulus rotation；The semicircle support being sleeved on each semicircle telescope support
Plate, the fastening for being fixedly connected on another semi-circular support plate upper surface and matching with No. two rectangular recess roll over shape frame, when half
Semi-circular support plate also can and then rise or fall with fastening folding shape frame when round telescope support is flexible；Automatically controlled moving body control one
The rotation of number miniature electric rotating machine, the rotation of No.1 miniature electric rotating machine control No.1 mechanical arm and No. two mechanical arms, is arranged and exists
What the miniature webcam on each No. two mechanical arm end faces collectively formed, camera can be observed conveniently at any time；Lift undertaking machine
Structure by open the No.1 circular through hole of cylindrical collecting vessel upper surface, hollow uncovered Carrier box can with the flexible of No.1 telescopic cylinder with
The lifting of lift strut is moved；Artificial stair-climbing mechanism is by one group of N shape being fixedly connected on cylindrical collecting vessel side surface
Fixed frame, the vertical frame for being fixedly connected on one group of N shape fixed frames upper surface, multiple No.1s in vertical frame fix circle
Axis, fixed circular shaft can be such that N shapes fixed frame is fixed together with vertical frame；It is set on each sliding mechanical clamp hand inner surface
There is micro pressure sensor, pressure can be observed with micro pressure sensor at any time；The model WDKH-F of the accumulator, institute
State the model MAM-200A of controller；Accumulator provides power supply；Controller control device.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of which part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. one kind is for setting fruit automatic picking device, including cup dolly (1), which is characterized in that the cup dolly (1)
Side surface is equipped with lifting supporting mechanism, and cup dolly (1) upper surface is fixedly connected with cylindrical collecting vessel (2), described
Cylindrical collecting vessel (2) side surface is equipped with automatic picking mechanism, cylinder collecting vessel (2) side surface and positioned at plucking automatically
It takes and is equipped with pushing mechanism below mechanism, lifting support structure, the cylinder collecting vessel are equipped in the cylinder collecting vessel (2)
(2) side surface is equipped with artificial stair-climbing mechanism, and the automatic picking mechanism is by being fixedly connected on cylindrical collecting vessel (2) side surface
Arcuate base (3), be opened in arcuate base (3) front surface one group of No. two circular groove (4), to be inlaid in each No. two circles recessed
Semicircle telescope support (6) on each rotation annulus (5) of rotation annulus (5) in slot (4), suit is sleeved on each semicircle
Semi-circular support plate (7) on shape telescope support (6), No. two squares for being disposed therein semi-circular support plate (7) upper surface
Connected in star (8) is fixedly connected on another semi-circular support plate (7) upper surface and matches with No. two rectangular recess (8) tight
Admittedly folding shape frame (9), is inlaid in each arc chute at the arc chute (10) for being opened in each semi-circular support plate (7) upper surface
(10) automatically controlled moving body (11) in, be fixedly connected on each automatically controlled moving body (11) upper surface and round end it is upward No.1 it is micro-
Type electric rotating machine (12), the No.1 mechanical arm (13) being hingedly connected on the miniature electric rotating machine of each No.1 (12) round end, hinge
No. two mechanical arms (14) of the chain link on each No.1 mechanical arm (13) are arranged on each No. two mechanical arms (14) side surface
Sliding mechanical clamp hand (15), miniature webcam (16) on each No. two mechanical arms (14) end face be set collectively form
, it is provided with No. three rectangular recess (17) on described cylinder collecting vessel (2) side surface, is embedded in No. three rectangular recess (17)
There are accumulator (18), described cylinder collecting vessel (2) side surface to be equipped with controller (19), the input terminal of the controller (19)
Be electrically connected by conducting wire and accumulator (18) and miniature webcam (16), the output end of the controller (19) by conducting wire and
Automatically controlled moving body (11), the miniature electric rotating machine of No.1 (12), No.1 mechanical arm (13), No. two mechanical arms (14) and sliding mechanical folder
Hand (15) is electrically connected.
2. according to claim 1 a kind of for setting fruit automatic picking device, which is characterized in that the lifting is accepted
Mechanism is by opening the No.1 circular through hole (20) of cylindrical collecting vessel (2) upper surface, being opened in cylindrical collecting vessel (2) interior lower surface
Multiple No.1 circular grooves (21), the No.1 telescopic cylinder that setting is in each No.1 circular groove (21) and telescopic end is upward
(22), lift strut (23) is set on each No.1 telescopic cylinder (22) telescopic end, is fixedly connected on multiple lift struts
(23) upper surface and the hollow uncovered Carrier box (24) to match with No.1 circular through hole (20) collectively form, the controller
(19) output end is electrically connected by conducting wire and No.1 telescopic cylinder (22).
3. according to claim 1 a kind of for setting fruit automatic picking device, which is characterized in that the artificial cat ladder
Mechanism by be fixedly connected on cylindrical collecting vessel (2) side surface one group of N shapes fixed frame (25), be fixedly connected on one group of N shape
The vertical frame (26) of fixed frame (25) upper surface, multiple No.1s in vertical frame (26) fix circular shaft (27), suit
What the bar shaped loading plate (29) to match on each fixed circular shaft (28) and with vertical frame (26) collectively formed.
4. according to claim 1 a kind of for setting fruit automatic picking device, which is characterized in that the lifting support
Mechanism by be arranged on cup dolly (1) side surface multiple arcs loading plate (30), 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) and be equipped with downward No. two of telescopic end
Telescopic cylinder (32), is fixedly connected on the No.1 telescope support (33) being arranged on each No. two telescopic cylinders (32) telescopic end
The fixed plate (34) of each No.1 telescope support (33) lower surface, setting each fixed plate (34) lower surface door type frame
(35), setting (35) two supporting leg lower surface of each door type frame circular shim (36), be arranged under each circular shim (36)
The support column (37) on surface, is sleeved on each rotation annulus (5) the rotation annulus (5) being sleeved on each support column (37)
Rotation universal wheel (38) collectively form, the output end of the controller (19) by conducting wire and No. two telescopic cylinders (32) and
No.1 telescope support (33) is electrically connected.
5. according to claim 1 a kind of for setting fruit automatic picking device, which is characterized in that the pushing mechanism
One group of No.1 rectangular recess (39) on cylindrical collecting vessel (2) side surface, setting in each No.1 rectangular recess (39) and
The vertical circular shaft (40) that matches with No.1 rectangular recess (39), be sleeved on it is on each vertical circular shaft (40) and recessed with No.1 rectangle
What the oscillating deck (41) that slot (39) matches collectively formed.
6. according to claim 1 a kind of for setting fruit automatic picking device, which is characterized in that each sliding
Mechanical clamp hand (15) inner surface is equipped with micro pressure sensor (42), the input terminal of the controller (19) by conducting wire with
Micro pressure sensor (42) is electrically connected.
7. according to claim 2 a kind of for setting fruit automatic picking device, which is characterized in that the multiple No.1
The quantity of circular groove (21) is 2-4.
8. according to claim 1 a kind of for setting fruit automatic picking device, which is characterized in that the accumulator
(18) model WDKH-F, the model MAM-200A of the controller (19).
9. according to claim 1 a kind of for setting fruit automatic picking device, which is characterized in that the controller
(19) PLC control system (43) is equipped in.
10. according to claim 1 a kind of for setting fruit automatic picking device, which is characterized in that the controller
(19) it is equipped with capacitance touch screen (44), the output end of the controller (19) is electrically connected by conducting wire and capacitance touch screen (44)
It connects.
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 CN106171298A (en) | 2016-12-07 |
| CN106171298B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106171298A (en) | 2016-12-07 |
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