CN107018754A - Automatic classification orange picking machine - Google Patents
Automatic classification orange picking machine Download PDFInfo
- Publication number
- CN107018754A CN107018754A CN201710282538.XA CN201710282538A CN107018754A CN 107018754 A CN107018754 A CN 107018754A CN 201710282538 A CN201710282538 A CN 201710282538A CN 107018754 A CN107018754 A CN 107018754A
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- Prior art keywords
- fruit
- classification
- orange
- automatic classification
- mechanical arm
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- 235000013399 edible fruits Nutrition 0.000 claims abstract description 109
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000000758 substrate Substances 0.000 claims description 19
- 238000000926 separation method Methods 0.000 claims description 13
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012271 agricultural production Methods 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 abstract description 3
- 238000003860 storage Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000005089 fruit drop Effects 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 4
- 239000000047 product Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005070 ripening Effects 0.000 description 2
- 229920006706 PC-C Polymers 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- A01D46/24—Devices for picking apples or like fruit
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B13/00—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
- B07B13/04—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices according to size
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention provides a kind of automatic classification orange picking machine, belong to field of agricultural production technologies.It is slow that it solves existing picking rate, it is impossible to the technical problem such as classification storage.It includes support, it is provided with above support and is divided into the classification freight house that several sizes can adjust relatively independent chamber, it is provided with above classification freight house above the clasfficiator for traversing classification freight house, clasfficiator and is provided with operating desk, operating desk both sides is respectively arranged with separate picking mechanism.There is the present invention mechanical arm to carry by color sensor, and identification orange position, locating speed is fast, picking mechanism simulation human hand work, plucks fast and stable, it is adaptable to single fruit and fruit of growing thickly, stored using mechanical system according to automatic be classified orange of volume, efficient stable.
Description
Technical field
The invention belongs to field of agricultural production technologies, it is related to heating installation, is adopted more particularly, to a kind of automatic classification orange
Off-hook.
Background technology
With the improvement of living standards, market is increasing to the demand of fruit, people are continuous to the consumption figure of fruit
Increase, therefore, the cultivated area of fruit is greatly increased in agricultural production, is different from the farming production of cereal crops, application
Manufacturing requirements it is higher, labor intensity is bigger, especially the harvesting work of fruit, deep by time conditions and steric requirements
Influence, completes the harvesting task of high work density in a short time, for the labor intensity and danger of reduction production, industry inner product
Research and develop picker to realize that machine, for people, reduces the demand of labour, reduces the working strength of labour, improve agricultural raw in pole
Produce water product and product quality.By constantly research and development, people design diversified picking mechanical.
For example, Chinese patent literature discloses a kind of fruits picking mechanical [application number：201510356566.2], including machine
It is provided with to be hinged with grabbing arm, grabbing arm on manipulation device and operation end, job platform above frame, frame and is provided with angle position
Displacement sensor, angular displacement sensor is connected with transmission circuit, control grabbing arm crawl fruit.
Although such scheme tool energy preferably fruit-picking, grabbing arm needs artificial control position and crawl fruit,
And a fruit is captured in the once crawl cycle, operator, which remains unchanged, possesses larger workload, and inefficiency, it is impossible to suitable
Largely it should pluck and shape fruit of growing thickly the short time.
The content of the invention
Regarding the issue above, the present invention provides a kind of automatic classification orange picking machine.
To reach above-mentioned purpose, present invention employs following technical proposal：A kind of automatic classification orange picking machine, including machine
It is provided with above seat, described support and is divided into the classification freight house that several sizes can adjust relatively independent chamber, described classification
It is provided with above freight house above the clasfficiator for traversing classification freight house, described clasfficiator and is provided with operating desk, described operating desk
Both sides are respectively arranged with separate picking mechanism.
In above-mentioned automatic classification orange picking machine, described picking mechanism includes mechanical arm and fruit picker, described machine
Tool arm includes being installed with first rotary joint of the rotation axis perpendicular to horizontal plane above base, described base, described
The first rotary joint in cylinder and rotation axis is provided with the face of cylinder perpendicular to the first rotary joint rotation axis
Second rotary joint.
First mechanical arm is fixedly connected with above-mentioned automatic classification orange picking machine, the second described rotary joint
Body, the described one end of first mechanical arm body away from the second rotary joint has been rotatably connected second mechanical arm body, described
Two one end of mechanical arm body away from first mechanical arm body are provided with expansion link, and described telescopic rod end is fixedly connected with fruit picking
Device, is provided with the 3rd rotary joint that can be rotated in a circumferential direction along flexible rod axis between described fruit picker and expansion link.
In above-mentioned automatic classification orange picking machine, described fruit picker is provided with fruit inlet and through the logical of fruit picker
It is provided with above road, described fruit inlet on fruit picking pawl, described fruit picking pawl and the flexible driver of driving fruit picking pawl is set, it is described
Fruit picking mouthful lower section be provided with below color sensor and range sensor, described passage and be connected with hundred section pipes, described hundred
Section pipe leads to operating desk.
In above-mentioned automatic classification orange picking machine, described operating desk is provided with console and pigeonholes, described point
Pick and conveyer belt is provided with the middle of platform, the hundred described section pipe mouths of pipe are connected on one end of conveyer belt, and described conveyer belt is away from hundred section pipes
The other end be provided with buffer table, described buffer table both sides are provided with guide plate.
In above-mentioned automatic classification orange picking machine, described guide plate is inwardly tightened up to form single fruit in the end of conveyer belt
Passage, described single fruit channel end is provided with distributor.
In above-mentioned automatic classification orange picking machine, described distributor includes fan-shaped substrate, and described fan-shaped substrate is set
Put in lower section of the single fruit passage away from belt direction, described fan-shaped substrate is close to fan outer is in the side of single fruit passage and inclines
Obliquely.
In above-mentioned automatic classification orange picking machine, described fan-shaped upper surface of base plate is provided with lane separation device, described point
Logos and utensils includes shunting plate, and described shunting plate is detachably arranged on fan-shaped substrate, described fan-shaped substrate at least provided with
The regulation waist hole of twice arc, described shunting plate can slide the spacing changed between the plate of shunting along regulation waist hole.
Cover plate, described cover plate are provided with above above-mentioned automatic classification orange picking machine, described lane separation device end
The shunting mouth described in several shuntings mouthful is constituted with lane separation device and is connected to a clasfficiator, described clasfficiator include slideway and
Backplate, described slideway is gradually reduced along the direction away from distributor, and inner side is provided with several classification gears on described backplate
Plate, described classification baffle plate successively increases perpendicular to backplate and along the direction height away from distributor.
Drive device, described driving dress are provided with below above-mentioned automatic classification orange picking machine, described support
Put including deflecting roller and crawler belt.
Compared with prior art, the advantage of the invention is that：
1. mechanical arm is carried by color sensor, identification orange position, locating speed is fast.
2. picking mechanism simulation human hand work, plucks fast and stable, it is adaptable to single fruit and fruit of growing thickly.
3. stored using mechanical system according to automatic be classified orange of volume, efficient stable.
Brief description of the drawings
Fig. 1 is the structural scheme of mechanism that the present invention is provided；
Fig. 2 is the picking mechanism schematic diagram that the present invention is provided；
Fig. 3 is the operating desk structural representation that the present invention is provided；
Fig. 4 is the partial sectional view that the present invention is provided.
In figure, support 1, classification freight house 2, clasfficiator 3, slideway 31, backplate 32, classification baffle plate 33, operating desk 4, console
41st, pigeonholes 42, conveyer belt 421, single fruit passage 422, buffer table 43, guide plate 431, picking mechanism 5, mechanical arm 6, base
61st, the first rotary joint 62, the second rotary joint 63, first mechanical arm body 64, second mechanical arm body 65, expansion link the 66, the 3rd
Rotary joint 67, fruit picker 7, fruit inlet 71, passage 72, fruit picking pawl 73, driver 74, color sensor 75, range sensor
76th, hundred section pipes 77, distributor 8, fan-shaped substrate 81, lane separation device 82, cover plate 821, shunting mouthful 822, shunting plate 83, regulation waist hole
84th, drive device 9, deflecting roller 91, crawler belt 92.
Embodiment
As shown in figure 1, a kind of automatic classification orange picking machine, including support 1, the described top of support 1, which is provided with, to be divided into
Several sizes can adjust the classification freight house 2 of relatively independent chamber, and the described top of classification freight house 2, which is provided with, traverses classification freight house
2 clasfficiator 3, the described top of clasfficiator 3 is provided with operating desk 4, and the described both sides of operating desk 4 are respectively arranged with separate
Picking mechanism 5.
It is in yellow after orange is ripe, has any different in the green of leaf, color sensor 75 determines the direction of ripening fruits, away from
Fruit picker 7 is determined from sensor 76 and with a distance from fruit, mechanical arm 6 is gathered according to color sensor 75 and range sensor 76
Fruit positional information, fruit picker 7 is delivered to the position of harvesting fruit, fruit picker 7 adopts down fruit, fruit enters fruit picker 7
And operating desk is sent to by hundred section pipes 77, hand picking is carried out, the problems such as selecting breakage fruit, qualified fruit passes through distributor 8
Clasfficiator 3 uniformly is delivered to, according to classification freight house 2 is entered after volume automatic classification, waits to be transported.
Specifically, as shown in Fig. 2 picking mechanism 5 includes mechanical arm 6 and fruit picker 7, described mechanical arm 6 includes base
61, the described top of base 61 is installed with first rotary joint 62 of the rotation axis perpendicular to horizontal plane, described first
Rotary joint 62 is in cylinder and rotation axis is provided with the face of cylinder perpendicular to the of the rotation axis of the first rotary joint 62
Two rotary joints 63.Two frees degree are obtained by the first rotary joint 62 and the second rotary joint 63.
First mechanical arm body 64 is fixedly connected with second rotary joint 63, described first mechanical arm body 64 is away from second
One end of rotary joint 63 has been rotatably connected second mechanical arm body 65, and described second mechanical arm body 65 is away from first mechanical arm
One end of body 64 is provided with expansion link 66, and the described end of expansion link 66 is fixedly connected with fruit picker 7, described fruit picker 7 with
The 3rd rotary joint 67 that can be rotated in a circumferential direction along the axis of expansion link 66 is provided between expansion link 66.Expansion link 66 can freely be stretched
Contracting, fruit picker 7 can be done along second mechanical arm body by expansion link 66 and be moved along a straight line repeatedly, determined after fruit locality, be changed
Fruit picker position makes it reach fruit position.
Fruit picker 7 is provided with fruit inlet 71 and the passage 72 through fruit picker 7, and the described top of fruit inlet 71, which is provided with, adopts
The driver 74 for setting driving fruit picking pawl flexible on fruit pawl 73, described fruit picking pawl 73, the described lower section of fruit inlet 71 is provided with
Color sensor 75 and range sensor 76, the described lower section of passage 72 are connected with hundred section pipes 77, and hundred described section pipes 77 lead to
Operating desk 4.The driving fruit picking of driver 74 pawl 73 is caught after fruit, and driving fruit picking pawl 73 is retreated picking fruit.The fruit taken
After into passage 72 operating desk is transported to by hundred section pipes 77.
Preferably.As shown in Figure 3, operating desk 4 is provided with the middle of console 41 and pigeonholes 42, described pigeonholes 42
Conveyer belt 421 is provided with, the hundred described section mouths of pipe of pipe 77 are connected on one end of conveyer belt 421, and described conveyer belt 421 is away from hundred sections
The other end of pipe 77 is provided with buffer table 43, and the described both sides of buffer table 43 are provided with guide plate 431.
Specifically, guide plate 431 is inwardly tightened up to form single fruit passage 422 in the end of conveyer belt 421, described single fruit leads to
The end of road 422 is provided with distributor 8.
As shown in figure 4, distributor 8 includes fan-shaped substrate 81, described fan-shaped substrate 81 is arranged under single fruit passage 72
Side, described fan-shaped substrate 81 close to the side of single fruit passage 72 for fan outer and diagonally downward.
The fan-shaped upper surface of substrate 81 is provided with lane separation device 82, and described lane separation device 82 includes shunting plate 83, described shunting
Plate 83 is detachably arranged on fan-shaped substrate 81, the regulation waist hole of described fan-shaped substrate 81 at least provided with twice arc
84, described shunting plate 83 can slide the spacing changed between shunting plate 83 along regulation waist hole 84.
Preferably, cover plate 821 is provided with above the end of lane separation device 82, described cover plate 821 and lane separation device 82 constitutes some
Individual shunting mouthful 822, described shunting mouthful 822 is connected to a clasfficiator 3, and described clasfficiator 3 includes slideway 31 and backplate
32, described slideway 31 is gradually reduced along the direction away from distributor 8, and inner side is provided with several classifications on described backplate 32
Baffle plate 33, described classification baffle plate 33 successively increases perpendicular to backplate 32 and along the direction height away from distributor 8.
Fruit is rolled along slideway 31, on the way by classification baffle plate 33, be graded baffle plate 33 stop and by jack-up, fruit center
Fall outside slide rail 31, and during slip, fruit drops, and the fruit of small volume, center offset is small, and center falls
In slide rail 31, portion drops and continued along slide rail forward slip.
With the height increase of classification baffle plate 33, when fruit runs into classification baffle plate 33, center offset gradually increases, larger
Volume fruit drops into classification freight house prior to smaller size smaller fruit, realizes automatic classification.
Drive device 9 is provided with below support, described drive device 9 includes deflecting roller 91 and crawler belt 92.
The principle of the present invention：
It is in yellow after orange is ripe, has any different in the green of leaf, color sensor 75 determines the direction of ripening fruits, away from
Fruit picker 7 is determined from sensor 76 and with a distance from fruit, mechanical arm 6 is gathered according to color sensor 75 and range sensor 76
Fruit positional information, fruit picker 7 is delivered to the position of harvesting fruit, fruit picker 7 adopts down fruit, fruit enters fruit picker 7
And operating desk is sent to by hundred section pipes 77, hand picking is carried out, the problems such as selecting breakage fruit, qualified fruit passes through distributor 8
Clasfficiator 3 uniformly is delivered to, according to classification freight house 2 is entered after volume automatic classification, waits to be transported.
Color sensor 75 and range sensor 76 can select commercially available product, and such as color sensor 75 can select Shenzhen
The PC-C color spectrum sensors of Shen Pu Electric Applicance Co., Ltd production, it is limited that range sensor 76 can select Dongguan City cloud brightness electronics
The cloud brightness HC-SR04 range finder modules of company's production.
Fruit is rolled along slideway 31, on the way by classification baffle plate 33, be graded baffle plate 33 stop and by jack-up, fruit center
Fall outside slide rail 31, and during slip, fruit drops, and the fruit of small volume, center offset is small, and center falls
In slide rail 31, portion drops and continued along slide rail forward slip.
With the height increase of classification baffle plate 33, when fruit runs into classification baffle plate 33, center offset gradually increases, larger
Volume fruit drops into classification freight house prior to smaller size smaller fruit, realizes automatic classification.
Advantages of the present invention：
1. mechanical arm is carried by color sensor, identification orange position, locating speed is fast.
2. picking mechanism simulation human hand work, plucks fast and stable, it is adaptable to single fruit and fruit of growing thickly.
3. stored using mechanical system according to automatic be classified orange of volume, efficient stable.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more used herein support 1, classification freight house 2, clasfficiator 3, slideway 31, backplate 32, classification baffle plate 33,
Operating desk 4, console 41, pigeonholes 42, conveyer belt 421, single fruit passage 422, buffer table 43, guide plate 431, picking mechanism 5,
Mechanical arm 6, base 61, the first rotary joint 62, the second rotary joint 63, first mechanical arm body 64, second mechanical arm body 65, stretch
Contracting bar 66, the 3rd rotary joint 67, fruit picker 7, fruit inlet 71, passage 72, fruit picking pawl 73, driver 74, color sensor 75,
The section of range sensor 76, hundred pipe 77, distributor 8, fan-shaped substrate 81, lane separation device 82, cover plate 821, shunting mouthful 822, shunting plate 83,
The terms such as waist hole 84, drive device 9, deflecting roller 91, crawler belt 92 are adjusted, but are not precluded from the possibility using other terms.Make
It is used for the purpose of more easily describing and explaining the essence of the present invention with these terms, is construed as what any one was added
Limitation is all disagreed with spirit of the present invention.
Claims (10)
1. a kind of automatic classification orange picking machine, including support (1), it is characterised in that be provided with above described support (1) point
It can adjust the classification freight house (2) of relatively independent chamber for several sizes, be provided with and traverse point above described classification freight house (2)
Operating desk (4), described operating desk (4) both sides point are provided with above the clasfficiator (3) of level freight house (2), described clasfficiator (3)
Separate picking mechanism (5) is not provided with.
2. automatic classification orange picking machine according to claim 1, it is characterised in that described picking mechanism (5) includes
Mechanical arm (6) and fruit picker (7), described mechanical arm (6) include being installed with above base (61), described base (61)
Rotation axis is perpendicular to the first rotary joint (62) of horizontal plane, and described the first rotary joint (62) is in cylinder and in cylinder
Second rotary joint (63) of the rotation axis perpendicular to the first rotary joint (62) rotation axis is provided with face.
3. automatic classification orange picking machine according to claim 2, it is characterised in that described the second rotary joint (63)
On be fixedly connected with first mechanical arm body (64), the described one end of first mechanical arm body (64) away from the second rotary joint (63)
It has been rotatably connected second mechanical arm body (65), the described one end of second mechanical arm body (65) away from first mechanical arm body (64)
Expansion link (66) is provided with, described expansion link (66) end is fixedly connected with fruit picker (7), and described fruit picker (7) is with stretching
The 3rd rotary joint (67) that can be rotated in a circumferential direction along expansion link (66) axis is provided between contracting bar (66).
4. automatic classification orange picking machine according to claim 3, it is characterised in that described fruit picker (7) is provided with
Fruit picking pawl (73) is provided with above fruit inlet (71) and the passage (72) through fruit picker (7), described fruit inlet (71), it is described
Fruit picking pawl (73) on set and be provided with color biography below the flexible driver (74) of driving fruit picking pawl, described fruit inlet (71)
Hundred section pipes (77), hundred described section pipes (77) are connected with below sensor (75) and range sensor (76), described passage (72)
Lead to operating desk (4).
5. automatic classification orange picking machine according to claim 5, it is characterised in that described operating desk (4) is provided with
Conveyer belt (421), hundred described section pipes (77) are provided with the middle of console (41) and pigeonholes (42), described pigeonholes (42)
The mouth of pipe is connected on one end of conveyer belt (421), and the described other end of the conveyer belt (421) away from hundred section pipes (77) is provided with buffer table
(43), described buffer table (43) both sides are provided with guide plate (431).
6. automatic classification orange picking machine according to claim 5, it is characterised in that described guide plate (431) is defeated
The end of band (421) is sent inwardly to tighten up to form single fruit passage (422), described single fruit passage (422) end is provided with distributor
(8)。
7. automatic classification orange picking machine according to claim 6, it is characterised in that described distributor (8) includes fan
Shape substrate (81), described fan-shaped substrate (81) is arranged on the lower section of single fruit passage (422), and described fan-shaped substrate (81) is close
The side of single fruit passage (422) is fan outer and diagonally downward.
8. automatic classification orange picking machine according to claim 7, it is characterised in that described fan-shaped substrate (81) upper table
Face is provided with lane separation device (82), and described lane separation device (82) includes shunting plate (83), and described shunting plate (83) is removably pacified
On fan-shaped substrate (81), described fan-shaped substrate (81) at least provided with twice arc regulation waist hole (84), it is described
Shunting plate (83) can slide the spacing changed between shunting plate (83) along regulation waist hole (84).
9. automatic classification orange picking machine according to claim 8, it is characterised in that on described lane separation device (82) end
Side is provided with cover plate (821), and described cover plate (821) and lane separation device (82) constitutes several shuntings mouthful (822), described shunting
Mouth (822) is connected to a clasfficiator (3), and described clasfficiator (3) includes slideway (31) and backplate (32), described slideway
(31) gradually reduced along the direction away from distributor (8), inner side is provided with several classification baffle plates on described backplate (32)
(33), described classification baffle plate (33) successively increases perpendicular to backplate (32) and along the direction height away from distributor (8).
10. automatic classification orange picking machine according to claim 1, it is characterised in that be provided with below described support
Drive device (9), described drive device (9) includes deflecting roller (91) and crawler belt (92).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710282538.XA CN107018754A (en) | 2017-04-26 | 2017-04-26 | Automatic classification orange picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710282538.XA CN107018754A (en) | 2017-04-26 | 2017-04-26 | Automatic classification orange picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107018754A true CN107018754A (en) | 2017-08-08 |
Family
ID=59527549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710282538.XA Pending CN107018754A (en) | 2017-04-26 | 2017-04-26 | Automatic classification orange picking machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN107018754A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109952865A (en) * | 2019-05-08 | 2019-07-02 | 西北农林科技大学 | A kind of Kiwi berry field picking hierarchical modularity robot |
| CN110192472A (en) * | 2019-03-25 | 2019-09-03 | 山东交通学院 | Both arms apple-picking circle is classified collecting robot people |
| CN113080190A (en) * | 2021-05-17 | 2021-07-09 | 河北联兴佳垚农业科技有限公司 | Chicory root low-temperature storage system based on temperature self-regulation |
| CN113455194A (en) * | 2021-07-05 | 2021-10-01 | 上海电机学院 | Apple picking, classifying and collecting all-in-one machine |
| CN113575131A (en) * | 2021-08-23 | 2021-11-02 | 河北省科学院应用数学研究所 | Oranges and tangerines are picked letter sorting integrated device based on symmetry indicates holder more |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192472A (en) * | 2019-03-25 | 2019-09-03 | 山东交通学院 | Both arms apple-picking circle is classified collecting robot people |
| CN110192472B (en) * | 2019-03-25 | 2024-02-27 | 山东交通学院 | Round grading collection robot for picking apples with two arms |
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| CN113080190A (en) * | 2021-05-17 | 2021-07-09 | 河北联兴佳垚农业科技有限公司 | Chicory root low-temperature storage system based on temperature self-regulation |
| CN113455194A (en) * | 2021-07-05 | 2021-10-01 | 上海电机学院 | Apple picking, classifying and collecting all-in-one machine |
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Application publication date: 20170808 |