CN107006218B - 茶叶仿生采摘指 - Google Patents
茶叶仿生采摘指 Download PDFInfo
- Publication number
- CN107006218B CN107006218B CN201710322278.4A CN201710322278A CN107006218B CN 107006218 B CN107006218 B CN 107006218B CN 201710322278 A CN201710322278 A CN 201710322278A CN 107006218 B CN107006218 B CN 107006218B
- Authority
- CN
- China
- Prior art keywords
- upper gripper
- clamping jaw
- lower clamping
- gripper jaw
- jaw
- 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
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 3
- 235000013616 tea Nutrition 0.000 description 46
- 244000269722 Thea sinensis Species 0.000 description 38
- 229920003266 Leaf® Polymers 0.000 description 14
- 238000000034 method Methods 0.000 description 10
- 235000009569 green tea Nutrition 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 235000009024 Ceanothus sanguineus Nutrition 0.000 description 3
- 240000003553 Leptospermum scoparium Species 0.000 description 3
- 235000015459 Lycium barbarum Nutrition 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
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- 230000005611 electricity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 235000006468 Thea sinensis Nutrition 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 235000014347 soups Nutrition 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- 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
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710322278.4A CN107006218B (zh) | 2017-05-09 | 2017-05-09 | 茶叶仿生采摘指 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710322278.4A CN107006218B (zh) | 2017-05-09 | 2017-05-09 | 茶叶仿生采摘指 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107006218A CN107006218A (zh) | 2017-08-04 |
CN107006218B true CN107006218B (zh) | 2019-05-21 |
Family
ID=59449575
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710322278.4A Expired - Fee Related CN107006218B (zh) | 2017-05-09 | 2017-05-09 | 茶叶仿生采摘指 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107006218B (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107046937B (zh) * | 2017-05-09 | 2019-05-21 | 南京林业大学 | 茶叶仿生采摘夹爪 |
CN109379984B (zh) * | 2017-08-07 | 2024-01-12 | 长春工业大学 | 一种带机械分离结构的苹果采摘器 |
CN108555921A (zh) * | 2018-03-30 | 2018-09-21 | 华南农业大学 | 一种丘陵山区轨道式茶叶采摘机械人 |
CN109648281B (zh) * | 2018-12-21 | 2021-08-03 | 太原重工股份有限公司 | 装卸钢套筒的装置及方法 |
CN110337906B (zh) * | 2019-08-12 | 2021-08-06 | 重庆市农业科学院 | 一种采茶机及采用该采茶机的茶叶采摘方法 |
CN110896730B (zh) * | 2019-11-18 | 2021-04-27 | 浙江理工大学 | 一种气动仿生茶叶单芽采摘机械手 |
CN111428712B (zh) * | 2020-03-19 | 2021-11-30 | 青岛农业大学 | 基于人工智能识别的名优茶采摘机及采摘机用识别方法 |
CN113892344B (zh) * | 2021-08-27 | 2022-10-18 | 北京工业大学 | 一种仿生自行分离采摘装置 |
CN114916313B (zh) * | 2022-06-20 | 2023-03-14 | 南京林业大学 | 一种柔性可感知的茶叶嫩芽采摘夹爪 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB673306A (en) * | 1949-12-03 | 1952-06-04 | William Lindsay | Improved method of and apparatus for plucking leaf from tea bushes and the like |
CN202172606U (zh) * | 2011-07-21 | 2012-03-28 | 中国农业大学 | 采摘手爪 |
CN203618384U (zh) * | 2013-12-18 | 2014-06-04 | 安顺市虹翼特种钢球制造有限公司 | 一种提升式茶青采摘头 |
CN104303707A (zh) * | 2014-11-03 | 2015-01-28 | 盛伯康 | 名茶采摘机 |
CN205266285U (zh) * | 2015-11-12 | 2016-06-01 | 重庆定青茶业有限责任公司 | 一种全自动茶叶采摘机 |
CN205865141U (zh) * | 2016-08-11 | 2017-01-11 | 王东林 | 嫩芽采茶机 |
CN107046937A (zh) * | 2017-05-09 | 2017-08-18 | 南京林业大学 | 茶叶仿生采摘夹爪 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007059570A1 (en) * | 2005-11-22 | 2007-05-31 | Williames Pty Ltd | Selective harvester |
-
2017
- 2017-05-09 CN CN201710322278.4A patent/CN107006218B/zh not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB673306A (en) * | 1949-12-03 | 1952-06-04 | William Lindsay | Improved method of and apparatus for plucking leaf from tea bushes and the like |
CN202172606U (zh) * | 2011-07-21 | 2012-03-28 | 中国农业大学 | 采摘手爪 |
CN203618384U (zh) * | 2013-12-18 | 2014-06-04 | 安顺市虹翼特种钢球制造有限公司 | 一种提升式茶青采摘头 |
CN104303707A (zh) * | 2014-11-03 | 2015-01-28 | 盛伯康 | 名茶采摘机 |
CN205266285U (zh) * | 2015-11-12 | 2016-06-01 | 重庆定青茶业有限责任公司 | 一种全自动茶叶采摘机 |
CN205865141U (zh) * | 2016-08-11 | 2017-01-11 | 王东林 | 嫩芽采茶机 |
CN107046937A (zh) * | 2017-05-09 | 2017-08-18 | 南京林业大学 | 茶叶仿生采摘夹爪 |
Also Published As
Publication number | Publication date |
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CN107006218A (zh) | 2017-08-04 |
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EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170804 Assignee: Anhui Arrow Electronics Co.,Ltd. Assignor: Nanjing Forestry University Contract record no.: 2019320000235 Denomination of invention: Tea leaf bionic picking finger Granted publication date: 20190521 License type: Common License Record date: 20190716 Application publication date: 20170804 Assignee: Chuzhou Monte tech Environmental Protection Technology Co.,Ltd. Assignor: Nanjing Forestry University Contract record no.: 2019320000234 Denomination of invention: Tea leaf bionic picking finger Granted publication date: 20190521 License type: Common License Record date: 20190716 |
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CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190521 |