CN107584506B - End effector of mechanical arm for picking multiple strawberries simultaneously - Google Patents
End effector of mechanical arm for picking multiple strawberries simultaneously Download PDFInfo
- Publication number
- CN107584506B CN107584506B CN201710945229.6A CN201710945229A CN107584506B CN 107584506 B CN107584506 B CN 107584506B CN 201710945229 A CN201710945229 A CN 201710945229A CN 107584506 B CN107584506 B CN 107584506B
- Authority
- CN
- China
- Prior art keywords
- fruit
- blade
- cutting
- end effector
- strawberries
- 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
Images
Landscapes
- Harvesting Machines For Specific Crops (AREA)
- Cultivation Of Plants (AREA)
Abstract
The invention provides a manipulator end effector for simultaneously picking a plurality of strawberries, which relates to the field of agricultural picking robots and comprises a fruit holding plate, a side vertical plate, a cutting mechanism, a visual unit, a rear vertical plate, a cylinder, an air inlet, an air outlet, a mounting seat, a containing bag and a storage battery, wherein the fruit holding plate comprises a fruit pressing handle bulge, a blade groove, a rubber triangular cone, an electromagnet and an electromagnet switch, the cutting mechanism comprises a slide rail, a trigger, a cutting blade mechanism chute, a fruit handle groove and a cutting blade mechanism, the cutting blade mechanism comprises a spring mounting seat, a spring, a blade bottom support and a blade, the manipulator end effector has small and flexible volume, overcomes the defects of low manual picking efficiency and low mechanization degree of the existing strawberries, has small mechanical structure volume, high positioning precision and high simultaneous picking efficiency of a plurality of strawberries, the technical problems that the strawberries are easy to damage during picking and the single strawberry picking efficiency is low are solved.
Description
Technical Field
The invention relates to the field of agricultural picking robots, in particular to an end effector of a mechanical arm for simultaneously picking multiple strawberries.
Background
The strawberry cultivation area in China is large and is 1 st in the world. The strawberry is delicious in taste, rich in nutrition, popular with people and high in economic value. At present, the harvest of strawberries completely depends on manual picking, the manual harvesting workload of strawberries in China is large, the labor intensity is high, the efficiency is low, the phenomenon of rural labor shortage becomes more and more obvious along with the urbanization process and the aging of population in China, and the research and the popularization of the automatic strawberry harvesting technology become problems to be solved urgently at the present stage.
At present, the strawberry cultivation mode in China is ridge culture, in order to fully utilize light energy and be beneficial to the growth of strawberries, the ridge direction of a ridge is generally vertical to the length direction of a greenhouse, namely, the direction is consistent with the width direction of the greenhouse, but because the furrow of the strawberries cultivated by ridge culture is narrow and the hanging position of fruits is short, the mechanical hand for picking the strawberries cultivated by ridge culture needs to be small in size and flexible. A robot device for picking strawberry fruits and paving the strawberry fruits on the surface of a ridge is developed in Japan, however, the picking mode of the robot device cannot be used for picking the strawberry fruits planted in ridges in a sunlight greenhouse in China, and the structure is relatively complex. Therefore, it becomes necessary to research a small-volume manipulator end effector which is suitable for ridge culture of strawberries in China to replace manual picking.
In the research on the strawberry picking robot at present, the strawberry picking method mainly comprises the steps of detecting mature fruits through machine vision, dividing and positioning single mature fruits, cutting off or thermally cutting off fruit stalks through an end effector, clamping the fruits or the fruit stalks and putting the fruits or the fruit stalks into a storage container.
When the strawberries arrive at a harvesting season every year, a picker needs to perform stoop picking on the mature strawberries at intervals until the end of the growth period of the strawberries, selective fruit picking is the most time-consuming and labor-consuming operation link in agriculture, and in addition, two major difficulties exist in realizing automatic picking of the strawberries, namely, the strawberries are soft and juicy, clamping is easy to hurt, an end effector of a strawberry picking manipulator directly contacts the strawberries, and the design problem of the end effector of the strawberry picking manipulator must be solved for realizing automation of the strawberry picking due to the fact that fruits cannot be damaged in the picking operation process and the flexibility of the strawberries and the complex variability of; secondly, the strawberry fruits are mostly distributed in clusters, and often several mature fruits are gathered together. The picking times and picking difficulty of the mechanical arm are increased by picking single strawberries, and the operation efficiency is reduced, so that an end effector of the mechanical arm for picking a plurality of strawberries simultaneously is needed, and the end effector of the picking mechanical arm does not exist in the market at present. The picking efficiency and success rate are seriously influenced by the mechanism parameters of the end effector of the strawberry picking manipulator, and the research and development of the end effector play a vital role in improving the agricultural production efficiency and the market value of strawberries.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the end effector of the multiple strawberry simultaneous picking manipulator, which overcomes the defects of low manual picking efficiency and low mechanization degree of the existing strawberries.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a manipulator end effector is picked simultaneously to many strawberries, is by holding together fruit board, side riser, cutting mechanism, visual unit, back riser, cylinder, inlet port, venthole, mount pad, accomodate bag and battery and constitute, hold together the fruit board including pressing the fruit handle arch, blade recess, rubber triangular cone, electro-magnet and electro-magnet switch, cutting mechanism include slide rail, trigger, cutting blade mechanism spout, fruit handle recess and cutting blade mechanism, cutting blade mechanism include spring mounting seat, spring, blade collet and blade, characterized by: the fruit gathering plate is arranged at the front end of the side vertical plate, the cutting mechanism is arranged inside the left vertical plate and the right vertical plate through a slide rail and is parallel to the fruit gathering plate, the air cylinder is arranged on the rear vertical plate, the shaft end of the air cylinder is connected with the cutting mechanism, the air inlet and the air outlet are arranged on the side surface of the air cylinder, the mounting seat is connected with the mechanical arm, the containing bag is arranged below the cutting mechanism, the storage battery is arranged on one side of the side vertical plate, and the visual unit is arranged at the upper end of the rear vertical plate; the 24 fruit pressing handle bulges are arranged at the front part of the fruit holding plate, the blade groove is arranged in the middle part of the fruit holding plate, the rubber triangular cone is arranged at the upper end of the fruit holding plate, the electromagnet is arranged in the blade groove, and the electromagnet switch is arranged at one end of the fruit holding plate; the sliding rails are mounted at two ends of the cutting mechanism, the trigger is mounted right opposite to the electromagnet switch, the cutting blade mechanism sliding groove is arranged in the middle of the cutting mechanism and right opposite to the blade grooves, 24 fruit handle grooves are arranged at the lower part of the cutting mechanism and right opposite to the fruit pressing handle bulges, and the cutting blade mechanism is mounted inside the cutting blade mechanism sliding groove; the left end of the spring mounting seat is fixed inside a sliding groove of the blade cutting mechanism, the right end of the spring mounting seat is connected with a spring, the other end of the spring is connected with a blade bottom support, and a blade is mounted inside the blade bottom support.
Preferably, the right end face of the rubber triangular cone is vertical to the horizontal plane, and the left end face of the rubber triangular cone is 60 degrees to the horizontal plane.
Preferably, the clearance between every two of the 24 fruit stem grooves and the clearance between every two of the 24 fruit stem pressing bulges are 3 mm.
More preferably, the storage battery supplies power to the electromagnet, and the power supply line starting button is arranged on the electromagnet switch.
More preferably, the trigger is telescopic.
Specifically, the surface of the fruit pressing handle protrusion and the surface of the fruit handle groove are both attached with a layer of soft silica gel material, and the inner surface of the containing bag is attached with a 10mm soft silica gel material.
The working process of the end effector of the mechanical arm for picking the multiple strawberries simultaneously comprises fruit approaching, fruit gathering, handle pressing, fruit handle cutting and fruit placing, the detailed working process comprises the steps that a visual unit shoots strawberry images, the spatial coordinate position of the strawberries is determined, and the mechanical arm sends the end effector of the mechanical arm to the position right below the strawberries to finish the fruit approaching process; the mechanical arm moves along the direction of the ridge wall, and the left end face of a rubber triangular cone of the mechanical arm end effector shifts a plurality of strawberries to the inner side of the fruit gathering plate to complete the fruit gathering process; the air inlet works, the air cylinder drives the cutting mechanism to move forward along the direction of the side vertical plate, the fruit pressing handle bulge and the fruit pressing handle groove are matched to clamp the fruit handle in the gap of the fruit pressing handle bulge, and the fruit pressing process is finished; the trigger touches the electromagnet switch, the storage battery supplies power to the electromagnet to generate magnetic force, the absorption cutting blade mechanism moves rightwards along the sliding groove of the cutting blade mechanism, the blade cuts off the fruit stalks and enters the blade groove, and the fruit stalk cutting process is completed; the cylinder drives cutting mechanism and moves left, and the trigger leaves the electro-magnet switch, and the electro-magnet outage loses magnetic force, and cutting blade mechanism retracts into cutting blade mechanism spout under the spring action, presses the protruding and fruit stalk recess separation of fruit stalk simultaneously, and the strawberry is just in the landing is received the bag, accomplishes and puts the fruit process.
Compared with the prior art, the invention has the following beneficial effects:
the end effector of the multi-strawberry simultaneous picking manipulator designed by the invention utilizes the multi-joint manipulator to acquire and sense the working environment and strawberry information in real time through multi-sensor information fusion, so that the working processes of approaching fruits, gathering fruits, pressing handles, cutting fruit handles and putting fruits are ensured to be completed on the premise of not damaging the strawberries, the strawberries in the storage bag are recovered through the control of the manipulator, and the full-process automatic harvesting operation of the strawberries is realized.
(1) The telescopic mechanism of the invention adopts the air cylinder as power, can more conveniently and rapidly adjust the working speed, and the air cylinder has higher reliability and longer service life, the action speed of the air cylinder is generally less than 1M/S, and the speed is higher than that of a hydraulic cylinder and an electric cylinder;
(2) the manipulator end effector can realize the simultaneous picking of a plurality of strawberries, so that the efficiency is improved to a great extent, and the reliability of the system is improved;
(3) the manipulator end effector has small and flexible volume and can meet the picking requirement of the ridge culture strawberries in China;
(4) the manipulator end effector clamps the fruit handle through the gap between the fruit handle protrusion and the fruit handle groove, so that the problem of damage caused by clamping strawberry fruits is avoided.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The following drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the scope of the invention. In the drawings:
FIG. 1 is an isometric view of the overall structure of the present invention;
FIG. 2 is a schematic view of a three-dimensional structure of the fruit gathering plate of the present invention;
FIG. 3 is a schematic three-dimensional structure of the cutting mechanism of the present invention;
FIG. 4 is a schematic three-dimensional view of the cutting blade mechanism of the present invention;
FIG. 5 is a schematic view of the present invention showing the working conditions near the fruit during the picking step;
FIG. 6 is a schematic view of the working state of fruit gathering in the picking step of the present invention;
FIG. 7 is a schematic view of the working state of the pressing handle in the picking step of the present invention;
FIG. 8 is a schematic view of the working state of the cut stem at the picking step of the present invention;
FIG. 9 is a schematic view of the fruit placement operation of the picking step of the present invention.
In the figure: 1 holds together the fruit board, 101 press the fruit stalk protruding, 102 blade recess, 103 rubber triangular cone, 104 electro-magnet, 105 electro-magnet switch, 2 side riser, 3 cutting mechanism, 301 slide rail, 302 triggers, 303 cutting blade mechanism spout, 304 fruit stalk recess, 305 cutting blade mechanism, 3051 spring mount pad, the 3052 spring, the 3053 blade collet, the 3054 blade, 4 visual unit, 5 back riser, 6 cylinders, 7 inlet ports, 8 ventholes, 9 mount pads, 10 accomodate the bag, 11 batteries.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, and it is to be understood that the detailed description is provided for purposes of illustration and explanation and is not intended to limit the scope of the invention.
The end effector of the multi-strawberry simultaneous picking manipulator designed by the invention utilizes the multi-joint manipulator to acquire and sense the working environment and strawberry information in real time through multi-sensor information fusion, so that the working processes of approaching fruits, gathering fruits, pressing handles, cutting fruit handles and putting fruits are ensured to be completed on the premise of not damaging the strawberries, the strawberries in the storage bag are recovered through the control of the manipulator, and the full-process automatic harvesting operation of the strawberries is realized.
Referring to fig. 1 to 4, an end effector of a mechanical arm for picking multiple strawberries simultaneously is composed of a fruit gathering plate 1, a side vertical plate 2, a cutting mechanism 3, a vision unit 4, a rear vertical plate 5, a cylinder 6, an air inlet 7, an air outlet 8, a mounting seat 9, a storage bag 10 and a storage battery 11, wherein the fruit gathering plate 1 comprises a fruit pressing handle protrusion 101, a blade groove 102, a rubber triangular cone 103, an electromagnet 104 and an electromagnet switch 105, the cutting mechanism 3 comprises a sliding rail 301, a trigger 302, a cutting blade mechanism sliding groove 303, a fruit handle groove 304 and a cutting blade mechanism 305, and the cutting blade mechanism 305 comprises a spring mounting seat 3051, a spring 3052, a blade collet 3053 and a blade 3054, and is characterized in that: the fruit gathering plate 1 is arranged at the front end of the side vertical plate 2, the cutting mechanism 3 is arranged inside the left and right vertical plates 2 through a slide rail 301 and is parallel to the fruit gathering plate 1, the cylinder 6 is arranged on the rear vertical plate 5, the shaft end of the cylinder 6 is connected with the cutting mechanism 3, the air inlet 7 and the air outlet 8 are arranged on the side surface of the cylinder 6, the mounting seat 9 is connected with an mechanical arm, the accommodating bag 10 is arranged below the cutting mechanism 3, the storage battery 11 is arranged on one side of the side vertical plate 2, and the visual unit 4 is arranged at the upper end of the rear vertical plate 5; the 24 fruit pressing handle protrusions 101 are arranged at the front part of the fruit gathering plate 1, the blade groove 102 is arranged at the middle part of the fruit gathering plate 1, the rubber triangular cone 103 is arranged at the upper end of the fruit gathering plate 1, the electromagnet 104 is arranged in the blade groove 102, and the electromagnet switch 105 is arranged at one end of the fruit gathering plate 1; the sliding rails 301 are mounted at two ends of the cutting mechanism 3, the trigger 302 is mounted right opposite to the electromagnet switch 105, the cutting blade mechanism sliding groove 303 is arranged in the middle of the cutting mechanism 3 and right opposite to the blade groove 102, the 24 fruit handle grooves 304 are arranged at the lower part of the cutting mechanism 3 and right opposite to the fruit handle pressing protrusion 101, and the cutting blade mechanism 305 is mounted inside the cutting blade mechanism sliding groove 303; the left end of the spring mounting seat 3051 is fixed inside the sliding chute 303 of the blade cutting mechanism, the right end of the spring mounting seat 3051 is connected with the spring 3052, the other end of the spring 3052 is connected with the blade support 3053, and the blade 3054 is mounted inside the blade support 3053.
Referring to fig. 2, preferably, the right end surface of the rubber triangular cone 103 is perpendicular to the horizontal plane, and the left end surface of the rubber triangular cone is 60 degrees to the horizontal plane.
Referring to fig. 2 and 3, preferably, the gap between every two left and right of the 24 fruit stalk grooves 304 is 3mm, and the gap between every two left and right of the 24 fruit stalk pressing protrusions 101 is 3 mm.
Referring to fig. 2, it is more preferable that the battery 11 supplies power to the electromagnet 104, and the power supply line start button is provided on the electromagnet switch 105.
Referring to fig. 3, it is more preferable that the trigger 302 has a telescopic property.
Referring to fig. 1 to 3, specifically, a layer of soft silica gel material is attached to the surface of each of the fruit stem pressing protrusion 101 and the fruit stem groove 304, and a layer of soft silica gel material of 10mm is attached to the inner surface of the storage bag 10.
In order to help understand the basic embodiment of the invention, the working process is described with reference to fig. 5 to 9, the working process of the end effector of the multi-strawberry simultaneous picking manipulator comprises fruit approaching, fruit gathering, handle pressing, fruit handle cutting and fruit placing, the detailed working process is that the vision unit 4 shoots strawberry images, the spatial coordinate position of the strawberry is determined, and the mechanical arm sends the end effector of the manipulator to the position right below the strawberry to finish the fruit approaching process; the mechanical arm moves along the direction of the ridge wall, and the left end face of a rubber triangular cone 103 of the mechanical arm end effector shifts a plurality of strawberries to the inner side of the fruit gathering plate 1 to complete the fruit gathering process; when the air inlet works, the air cylinder 6 drives the cutting mechanism 3 to move forward along the direction of the side vertical plate 2, the fruit stem pressing protrusion 101 is matched with the fruit stem groove 304 to clamp the fruit stem in the gap of the fruit stem pressing protrusion 101, and the stem pressing process is completed; the trigger 302 touches the electromagnet switch 105, the storage battery 11 supplies power to the electromagnet 104 to generate magnetic force, the absorption cutting blade mechanism 305 moves rightwards along the cutting blade mechanism sliding groove 303, the blade 3054 cuts off the carpopodium and enters the blade groove 102, and the carpopodium cutting process is completed; the cylinder 6 drives the cutting mechanism 3 to move leftwards, the trigger 302 leaves the electromagnet switch 105, the electromagnet 104 is powered off and loses magnetic force, the cutting blade mechanism 305 retracts into the cutting blade mechanism sliding groove 303 under the action of the spring 3052, meanwhile, the fruit stem protrusion 101 and the fruit stem groove 304 are separated, strawberries slide into the containing bag 10, and the fruit placing process is completed.
The present invention is not limited to the above embodiments, and various combinations of the above embodiments can be combined in any suitable manner without departing from the scope of the present invention. However, the present invention is not limited to the details of the above embodiments, and it will be apparent to those skilled in the art that the embodiments may be changed, modified, replaced and modified without departing from the principle and spirit of the present invention.
Claims (6)
1. The utility model provides a manipulator end effector is picked simultaneously to many strawberries which characterized by: the fruit gathering device comprises a fruit gathering plate, a side vertical plate, a cutting mechanism, a visual unit, a rear vertical plate, a cylinder, an air inlet, an air outlet, a mounting seat, a storage bag and a storage battery, wherein the fruit gathering plate comprises a fruit pressing handle protrusion, a blade groove, a rubber triangular cone, an electromagnet and an electromagnet switch, the cutting mechanism comprises a slide rail, a trigger, a cutting blade mechanism chute, a fruit handle groove and a cutting blade mechanism, the cutting blade mechanism comprises a spring mounting seat, a spring, a blade bottom support and a blade, the fruit gathering plate is arranged at the front end of the side vertical plate, the cutting mechanism is arranged inside the left side vertical plate and the right side vertical plate through the slide rail and is arranged in parallel with the fruit gathering plate, the cylinder is arranged on the rear vertical plate, the end of the cylinder is connected with the cutting mechanism, the air inlet and the air outlet are arranged on the side face of the cylinder, the mounting, the storage battery is arranged on one side of the side vertical plate, and the visual unit is arranged at the upper end of the rear vertical plate; the 24 fruit pressing handle bulges are arranged at the front part of the fruit holding plate, the blade groove is arranged in the middle part of the fruit holding plate, the rubber triangular cone is arranged at the upper end of the fruit holding plate, the electromagnet is arranged in the blade groove, and the electromagnet switch is arranged at one end of the fruit holding plate; the sliding rails are mounted at two ends of the cutting mechanism, the trigger is mounted right opposite to the electromagnet switch, the cutting blade mechanism sliding groove is arranged in the middle of the cutting mechanism and right opposite to the blade grooves, 24 fruit handle grooves are arranged at the lower part of the cutting mechanism and right opposite to the fruit pressing handle bulges, and the cutting blade mechanism is mounted inside the cutting blade mechanism sliding groove; the left end of the spring mounting seat is fixed inside a sliding groove of the blade cutting mechanism, the right end of the spring mounting seat is connected with a spring, the other end of the spring is connected with a blade bottom support, and a blade is mounted inside the blade bottom support.
2. The end effector of the multi-strawberry simultaneous picking manipulator as claimed in claim 1, wherein: the right end face of the rubber triangular cone is vertical to the horizontal plane, and the left end face of the rubber triangular cone is 60 degrees to the horizontal plane.
3. The end effector of the multi-strawberry simultaneous picking manipulator as claimed in claim 1, wherein: the gap between every two of the left and right of the 24 fruit handle grooves is 3mm, and the gap between every two of the left and right of the 24 fruit handle pressing protrusions is 3 mm.
4. The end effector of the multi-strawberry simultaneous picking manipulator as claimed in claim 1, wherein: the storage battery supplies power to the electromagnet, and the power supply circuit starting button is arranged on the electromagnet switch.
5. The end effector of the multi-strawberry simultaneous picking manipulator as claimed in claim 1, wherein: the trigger is telescopic.
6. The end effector of the multi-strawberry simultaneous picking manipulator as claimed in claim 1, wherein: the surface of the fruit pressing handle protrusion and the surface of the fruit handle groove are both attached with a layer of soft silica gel material, and the inner surface of the accommodating bag is attached with a 10mm soft silica gel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945229.6A CN107584506B (en) | 2017-10-12 | 2017-10-12 | End effector of mechanical arm for picking multiple strawberries simultaneously |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945229.6A CN107584506B (en) | 2017-10-12 | 2017-10-12 | End effector of mechanical arm for picking multiple strawberries simultaneously |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107584506A CN107584506A (en) | 2018-01-16 |
| CN107584506B true CN107584506B (en) | 2020-08-14 |
Family
ID=61052720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710945229.6A Active CN107584506B (en) | 2017-10-12 | 2017-10-12 | End effector of mechanical arm for picking multiple strawberries simultaneously |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107584506B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109451994B (en) * | 2018-11-19 | 2021-10-15 | 江苏科技大学 | Strawberry fruit stalk separation device based on image recognition and working process thereof |
| CN113508686B (en) * | 2021-05-27 | 2022-04-12 | 中国农业大学 | String tomato picking end effector, robot and picking method thereof |
| CN113491201B (en) * | 2021-08-05 | 2022-01-28 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Picking robot |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4013351B2 (en) * | 1998-09-22 | 2007-11-28 | 井関農機株式会社 | Fruit harvesting robot |
| JP2005231711A (en) * | 2004-02-23 | 2005-09-02 | Yanmar Co Ltd | Boxing machine |
| CN202354089U (en) * | 2011-12-06 | 2012-08-01 | 贺新聪 | Wolfberry picker |
| US20140265183A1 (en) * | 2013-03-13 | 2014-09-18 | Dario Grossberger | Strawberry box cart with worker support |
| CN103766073B (en) * | 2014-02-14 | 2015-08-05 | 江苏大学 | A kind of booth ridge culture formula strawberry picker and method |
| CN104206121B (en) * | 2014-09-16 | 2016-03-23 | 中国农业大学 | A kind of strawberry picking end effector and the course of work thereof |
| CN204131990U (en) * | 2014-10-22 | 2015-02-04 | 河北农业大学 | A kind of four paw formula self adaptation strawberry picking mechanical arms |
| CN205017872U (en) * | 2015-09-08 | 2016-02-10 | 重庆乐嚼食品有限公司 | Strawberry cultivation picks platform |
| CN106584446B (en) * | 2017-03-14 | 2023-04-25 | 四川农业大学 | Tea-leaf picking manipulator |
-
2017
- 2017-10-12 CN CN201710945229.6A patent/CN107584506B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107584506A (en) | 2018-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107624367B (en) | End effector for simultaneously picking multiple strawberries and corresponding picking mechanism and method | |
| CN107584506B (en) | End effector of mechanical arm for picking multiple strawberries simultaneously | |
| CN110249785B (en) | Multi-manipulator tomato stringing picking robot and picking method thereof | |
| CN107615989B (en) | Automatic equipment of picking of absorption formula strawberry | |
| CN211210573U (en) | Small comb-tooth type fruit picking machine | |
| CN107484500B (en) | Row adsorption pipeline strawberry picking equipment and picking method | |
| CN205232839U (en) | Mobilizable automatic acquisition apple machine people | |
| CN115176596A (en) | Self-propelled picking robot with low damage to tender tips of famous and high-quality tea | |
| CN204560259U (en) | Leaf vegetables recovering device during a kind of plant factor produces | |
| CN212164249U (en) | Agricultural production is automatic with picking equipment | |
| CN108323325A (en) | A kind of strawberry picking machine and picking method imitating human hand type | |
| CN205105658U (en) | High -efficient leaves of mulberry picker | |
| CN208079863U (en) | A kind of strawberry picking machine imitating human hand type | |
| CN207185467U (en) | A kind of asparagus plucks apparatus for placing | |
| CN208143788U (en) | A kind of milli chrysanthemum seedling replanting travelling bogie | |
| CN215188328U (en) | Intelligent frequency-adjustable walnut vibration picking trolley | |
| CN114568306A (en) | Full-automatic high flux group of potato tissue culture seedling banks up rapid propagation device with earth | |
| CN109845482A (en) | A kind of garlic stems harvesting intelligent robot and its working method | |
| CN108684310B (en) | Semi-automatic auxiliary flexible strawberry picking mechanism | |
| CN212381707U (en) | Pepper picking device | |
| CN112314177A (en) | Device is picked to tealeaves intelligence | |
| CN205727361U (en) | A kind of automatization young fruit packing machine | |
| CN213044255U (en) | Finger-stall type vegetable grafting cutter based on splicing method | |
| CN218163616U (en) | Auxiliary collecting device is picked to bright fruit | |
| CN212034912U (en) | Auxiliary tool is picked to strawberry |
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 |
Effective date of registration: 20200630 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 |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211125 Address after: 409100 Fenghuang group, Balong village, Lengshui Town, Shizhu Tujia Autonomous County, Chongqing Patentee after: Shizhu Tujia Autonomous County Balong Agricultural Development Co.,Ltd. Address before: 312030 Shanxi Province Shaoxing Keqiao District Qixian Town Qunxian Resident Committee Patentee before: SHAOXING KEQIAO OUXIANG MACHINERY CO.,LTD. |
|
| TR01 | Transfer of patent right |