CN107567815B - 一种气囊式柑橘采摘机械手末端执行器 - Google Patents
一种气囊式柑橘采摘机械手末端执行器 Download PDFInfo
- Publication number
- CN107567815B CN107567815B CN201710945161.1A CN201710945161A CN107567815B CN 107567815 B CN107567815 B CN 107567815B CN 201710945161 A CN201710945161 A CN 201710945161A CN 107567815 B CN107567815 B CN 107567815B
- Authority
- CN
- China
- Prior art keywords
- air bag
- cylinder
- fruit
- air
- blade
- 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.)
- Active
Links
- 235000020971 citrus fruits Nutrition 0.000 title claims abstract description 33
- 239000012636 effector Substances 0.000 title claims abstract description 25
- 241000207199 Citrus Species 0.000 title claims abstract description 21
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 57
- 238000000034 method Methods 0.000 claims abstract description 26
- 210000001503 joint Anatomy 0.000 claims abstract description 25
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 9
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 9
- 241001330002 Bambuseae Species 0.000 claims description 9
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 9
- 239000011425 bamboo Substances 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 6
- 241000675108 Citrus tangerina Species 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 230000007547 defect Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710945161.1A CN107567815B (zh) | 2017-10-12 | 2017-10-12 | 一种气囊式柑橘采摘机械手末端执行器 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710945161.1A CN107567815B (zh) | 2017-10-12 | 2017-10-12 | 一种气囊式柑橘采摘机械手末端执行器 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107567815A CN107567815A (zh) | 2018-01-12 |
CN107567815B true CN107567815B (zh) | 2020-08-18 |
Family
ID=61036661
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710945161.1A Active CN107567815B (zh) | 2017-10-12 | 2017-10-12 | 一种气囊式柑橘采摘机械手末端执行器 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107567815B (zh) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109005891B (zh) * | 2018-09-21 | 2023-10-24 | 西北农林科技大学 | 一种面向簇状番茄采摘的机器人末端执行器 |
CN109168636B (zh) * | 2018-10-29 | 2020-08-14 | 华南农业大学 | 球形水果采摘机器人末端执行器 |
CN109875076A (zh) * | 2019-03-12 | 2019-06-14 | 广东水利电力职业技术学院(广东省水利电力技工学校) | 一种火龙果取肉装置 |
CN110603956A (zh) * | 2019-09-24 | 2019-12-24 | 六安市兆丰商贸有限责任公司 | 一种白桃采摘装置 |
CN110506499A (zh) * | 2019-09-26 | 2019-11-29 | 滁州职业技术学院 | 一种基于主动包络的柔性气动夹持器 |
CN112352539B (zh) * | 2020-10-29 | 2022-03-22 | 江苏大学 | 单果类小体型果品软体采摘手 |
CN112352548A (zh) * | 2020-11-12 | 2021-02-12 | 张垲楠 | 一种气囊式柑橘采摘机械手末端执行器 |
CN112997694B (zh) * | 2021-03-26 | 2022-05-17 | 江苏大学 | 一种果实平留梗采摘的机器人末端执行器及作业方法 |
CN112889481B (zh) * | 2021-04-02 | 2021-11-26 | 一度智能科技(深圳)有限公司 | 一种果蔬采摘机械手、采摘机器人及其采摘方法 |
CN113597886B (zh) * | 2021-08-25 | 2022-05-10 | 贵州蓝太生物科技有限公司 | 一种气动回弹式农业用果实采摘装置 |
CN114667846B (zh) * | 2022-04-14 | 2023-09-22 | 安徽工程大学 | 一种机械臂采摘圆形果蔬末端装置 |
CN115067076B (zh) * | 2022-06-13 | 2023-07-25 | 嘉应学院 | 一种智能柑橘采摘机及采摘方法 |
CN115226496A (zh) * | 2022-08-23 | 2022-10-25 | 江苏省农业科学院 | 一种球形果实采摘回收装置及方法 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN204131997U (zh) * | 2014-10-10 | 2015-02-04 | 沈绍骁 | 采果器 |
CN204443145U (zh) * | 2015-03-11 | 2015-07-08 | 李小霞 | 一种可调节的柑橘摘果机 |
CN204741858U (zh) * | 2015-07-14 | 2015-11-11 | 衢州乐创节能科技有限公司 | 一种高处果实套剪采摘器 |
CN105993383B (zh) * | 2016-05-23 | 2017-10-31 | 北京农业智能装备技术研究中心 | 去梗式采摘手爪 |
CN206118440U (zh) * | 2016-10-11 | 2017-04-26 | 西北农林科技大学 | 一种气动环式摘果器 |
CN106363653B (zh) * | 2016-10-20 | 2018-12-28 | 中国农业大学 | 一种黄瓜采摘机器人的末端执行器 |
CN106717546B (zh) * | 2016-11-22 | 2019-05-24 | 中国计量大学 | 番茄果实串收获机械手末端执行器及其方法 |
CN106863342B (zh) * | 2017-03-23 | 2023-09-15 | 南京工程学院 | 一种采摘机器人末端执行器 |
CN107018759B (zh) * | 2017-06-08 | 2023-09-26 | 宝鸡文理学院 | 基于单片机控制的自动夹持剪蒂型苹果采摘器 |
-
2017
- 2017-10-12 CN CN201710945161.1A patent/CN107567815B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN107567815A (zh) | 2018-01-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107567815B (zh) | 一种气囊式柑橘采摘机械手末端执行器 | |
CN109105001B (zh) | 一种香梨采摘机器人末端执行器及采摘方法 | |
CN107553512B (zh) | 一种气囊式黄瓜采摘机械手末端执行器及采摘方法 | |
CN107615989B (zh) | 一种吸附式草莓自动采摘设备 | |
CN204487583U (zh) | 软体驱动径向开合式气动夹持装置 | |
CN105398635B (zh) | 外壳自动定位的方法 | |
CN111758380B (zh) | 一种果蔬采摘机械手、采摘机器人及其采摘方法 | |
CN103213128B (zh) | 一种苗木嫁接机器人控制系统 | |
US20100209576A1 (en) | Method for preparing ears of corn for automated handling, positioning and orienting | |
CN114175926A (zh) | 一种能够吸附果实的采摘机械抓手 | |
CN108207332A (zh) | 柔性草莓采摘器及应用此采摘器的全自动草莓采摘蜘蛛车 | |
CN208063850U (zh) | 全自动草莓采摘蜘蛛车 | |
CN207626137U (zh) | 一种气吸式苹果采收机器人 | |
TWI728544B (zh) | 袋式栽培菇類自動化採收系統及其方法 | |
Oliveira et al. | End-effectors for harvesting manipulators-state of the art review | |
CN217184250U (zh) | 一种马铃薯组培苗全自动高通量组培快繁装置 | |
CN104541705A (zh) | 劣质钵苗气力式剔除装置 | |
CN107484500B (zh) | 一种成排吸附管道草莓采摘设备及采摘方法 | |
CN216982645U (zh) | 一种具有吸附功能的果实采摘机械手 | |
CN114568306A (zh) | 一种马铃薯组培苗全自动高通量组培快繁装置 | |
CN214628274U (zh) | 一种多工位硬枝苗木自动化嫁接装置 | |
CN112470708B (zh) | 一种蜜桔果实的机器人采摘回收系统及作业方法 | |
CN114161436A (zh) | 一种无损采摘果实的机械抓手 | |
CN214482279U (zh) | 一种基于负压的番茄采摘机 | |
CN208001563U (zh) | 柔性草莓采摘器 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20200622 Address after: Keqiao District 312030 of Zhejiang city of Shaoxing Province Qixian town committee of Shanxi residents together Applicant after: SHAOXING KEQIAO OUXIANG MACHINERY Co.,Ltd. Address before: 712100 School of mechanical and electronic engineering, Northwest Agriculture and Forestry University, 22 West Nong Road, Xianyang street, Yangling, Shaanxi Applicant before: Gu Xinyun |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231218 Address after: Room 6118, Building 8B, No. 199 Creative Road, Keqiao District, Shaoxing City, Zhejiang Province, 312000 Patentee after: Zhejiang Xinsen Textile Co.,Ltd. Address before: 312030 Shanxi Province Shaoxing Keqiao District Qixian Town Qunxian Resident Committee Patentee before: SHAOXING KEQIAO OUXIANG MACHINERY CO.,LTD. |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: An end effector for an airbag type citrus picking robot arm Effective date of registration: 20231226 Granted publication date: 20200818 Pledgee: Industrial and Commercial Bank of China Co.,Ltd. Shaoxing Keqiao Sub branch Pledgor: Zhejiang Xinsen Textile Co.,Ltd. Registration number: Y2023980074475 |