CN107637280A - A kind of strawberry automatic picking apparatus based on delta parallel institutions - Google Patents
A kind of strawberry automatic picking apparatus based on delta parallel institutions Download PDFInfo
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- CN107637280A CN107637280A CN201711093843.0A CN201711093843A CN107637280A CN 107637280 A CN107637280 A CN 107637280A CN 201711093843 A CN201711093843 A CN 201711093843A CN 107637280 A CN107637280 A CN 107637280A
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Abstract
The invention provides a kind of strawberry automatic picking apparatus based on delta parallel institutions, belong to agricultural mechanical field.It can realize ridge planting strawberry automatic picking apparatus it include support frame, longitudinal moving device, horizontal mobile device, delta parallel institutions, harvesting performs device, adsorbent equipment and camera；Wherein, longitudinal moving device and horizontal mobile device are located at the upper end of support frame, and delta parallel institutions are located at the lower section of horizontal mobile device, and harvesting performs device is located at below the moving platform of delta parallel institutions, and adsorbent equipment is placed in harvesting executing agency.The present invention strawberry automatic picking apparatus use hanging type, reduce floor space so as to increase cultivated area, bring more economic benefits, and can be automatically positioned, not damaged harvesting, efficiency high, it is simple in construction, stable and reliable in work the advantages that.
Description
Technical field
The invention belongs to agricultural mechanical field, is related to a kind of strawberry automatic picking apparatus based on delta parallel institutions, its
The automatic picking apparatus of ridge planting strawberry can be realized, specifically a kind of strawberry based on delta parallel institutions is plucked automatically
Device.
Background technology
At present, the harvest of strawberry fully relies on artificial harvesting, and labor intensity is big, efficiency is low, has both consumed substantial amounts of manpower,
Waste the more time.Domestic and foreign scholars are all finding the strawberry harvesting method of mechanization, automation always.However, by
It is easily injured in strawberry soft and succulency, and unique outlook, realize that mechanized harvest has certain difficulty.
China carries out the cultivation of ridge culture strawberry typically in heliogreenhouse.Also, in order to make full use of luminous energy, be advantageous to grass
The certain kind of berries grows, and furrow ridge direction is typically vertical with greenhouse length direction, i.e., consistent with greenhouse width.But due to the grass of ridge planting
The furrow of the certain kind of berries is narrow, and fruit hanging position is shorter, thus the harvesting of ridge planting strawberry fruit requires that mechanical body must be compact
Flexibly.Japan have developed the robot device that alley surface is laid in for harvesting strawberry fruit, but its picking methods can not
Plucked for China's heliogreenhouse ridge culture strawberry fruit, and structure is more complicated, therefore it is badly in need of a kind of new strawberry harvesting
Device.
The content of the invention
It is in parallel based on delta the technical problem to be solved in the present invention is to provide one kind for above-mentioned the deficiencies in the prior art
The strawberry automatic picking apparatus of mechanism.
In order to solve the above technical problems, the invention provides following technical scheme：
A kind of strawberry automatic picking apparatus based on delta parallel institutions, it can realize the automatic of ridge planting strawberry
Picker.
As the further improvement project of the present invention：It is characterized in that：Including support frame, longitudinal moving device, laterally move
Dynamic device, delta parallel institutions, harvesting performs device, adsorbent equipment and camera；Wherein, described longitudinal moving device and
Horizontal mobile device is located at the upper end of support frame；Described delta parallel institutions are located at the lower section of horizontal mobile device, described
Harvesting performs device is located at below the moving platform of delta parallel institutions, and described adsorbent equipment is placed in harvesting performs device.
As the further improvement project of the present invention：Described longitudinal moving device 2 include Ω types guide rail 21, sliding block 22,
Mobile device support frame 23, vertical drive motor 24, around cheese 25, rope fixed column 26 and drag rope 27；Described wiring
Disk 25 has two above the both sides of mobile device support frame 23, and one of them is defeated around cheese 25 and vertical drive motor 24
Shaft is connected, and another is connected around cheese 25 with mobile device support frame 23 by prismatic pair；Described drag rope 27 has two
Root, one end and the rope fixed column 26 of drag rope 27 are connected, and the other end of drag rope 27 is successively staggeredly around two around cheese
It is connected after 25 with diagonal rope fixed column 26.
As the further improvement project of the present invention：Described horizontal mobile device 3 is by transverse mobile motor 31, traversing silk
Bar 32 and delta mechanisms link 33 form；The described both ends of traversing screw mandrel 32 are with the both sides of mobile device support frame 23 by turning
Dynamic secondary connection；The described upper end of delta mechanisms link 33 is connected with mobile device support frame 23 by dovetail groove profile respective outer side edges
Connect, the middle part of delta mechanisms link 33 is connected by screw pair and traversing screw mandrel 32.
As the further improvement project of the present invention：Described delta parallel institutions 4 are by fixed platform 41, motor cabinet 42, simultaneously
Join motor 43, one-level small synchronous pulley 44, level synchronization band 45, the big synchronous pulley 46 of one-level, two level small synchronous pulley 47, two level
The big synchronous pulley 49 of timing belt 48, two level, first connecting rod 410, second connecting rod 411 and moving platform 412 form；Described motor cabinet
42 quantity are three, and motor cabinet 42 is fixed on the bottom face of fixed platform 41 centered on the center of circle of fixed platform 41 in positive triangle shape；
Described second connecting rod 411 has three groups, and every group has two and be arranged symmetrically, and the upper end of second connecting rod 411 passes through with first connecting rod 410
The secondary connection of ball, the lower end of second connecting rod 411 is secondary with moving platform 412 by ball, and the connection of second connecting rod 411 and moving platform 412
Point is fixed on the upper surface of moving platform 412 centered on the center of circle of moving platform 412 in positive triangle shape.
As the further improvement project of the present invention：Described harvesting performs device 5 is by electric rotating frame 51, electric rotating machine
52nd, rotation platform 53, harvesting motor 54 and harvesting handgrip 55 form；Described harvesting handgrip 55 has two and is arranged symmetrically, and adopts
Handgrip 55 to be plucked to be connected by revolute pair with electric rotating frame 51, the described side of harvesting handgrip 55 is provided with partial gear 551, and two
Pluck handgrip 55 to connect by the gear pair between partial gear 551, described one of harvesting handgrip 55 and harvesting electricity
The output shaft of machine 54 is fixedly connected.
As the further improvement project of invention：Described adsorbent equipment 6 is by absorption cylinder 61, absorption connecting rod 62, absorption
Tracheae 63 and adsorption head 64 form；Described absorption cylinder 61 has two, be symmetrically placed in the top both sides of rotation platform 53 and with rotation
Turning platform 53 to be bolted, described absorption connecting rod 62 is located at the lower section of rotation platform 53, and positioned at two harvesting handgrips 55
Between, the both ends for adsorbing connecting rod 62 are connected with two absorption cylinders 61 stalks that stretch respectively；Described adsorption head 64 is positioned at absorption connecting rod
Between 62；
As the further improvement project of the present invention：Described camera is placed in below fixed platform.
As the further improvement project of the present invention：Have one layer of sponge inside described harvesting handgrip.
As the further improvement project of the present invention：Described adsorption head has flexible and contractility.
Compared with prior art, the beneficial effects of the invention are as follows：A kind of strawberry based on delta parallel institutions is adopted automatically
The position and attitude error of device and picking is amplified without accumulation, and kinematic accuracy is high；Manufacture is low with control cost, it is easy to accomplish modularization.Small volume,
Using hanging type, floor space is small, easily operated, unsuitable injured surface during harvest.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the strawberry automatic picking apparatus based on delta parallel institutions of the present invention；
Fig. 2 is a kind of accurate harvesting executing agency of the strawberry automatic picking apparatus based on delta parallel institutions of the present invention
Schematic diagram；
Fig. 3 is the harvesting performs device and adsorbent equipment structural representation of the present invention.
Fig. 4 is the harvesting performs device and adsorbent equipment partial structural diagram of the present invention
In figure：1 it is support frame, 2 be longitudinal moving device, 3 be horizontal mobile device, 4 is delta parallel institutions, 5 to adopt
Pluck performs device, 6 be adsorbent equipment, 7 be camera, 21 be Ω types guide rail, 22 be sliding block, 23 be mobile device support frame, 24
For vertical drive motor, 25 be around cheese, 26 be rope fixed column, 27 be drag rope, 31 be transverse mobile motor, 32 be
Traversing screw mandrel, 33 be delta mechanisms link, 41 be fixed platform, 42 be motor cabinet, 43 be parallel-connected induction motorses, 44 be that one-level is small same
Step belt wheel, 45 be level synchronization band, 46 be the big synchronous pulley of one-level, 47 be two level small synchronous pulley, 48 be secondary synchronization band, 49
It is first connecting rod for the big synchronous pulley of two level, 410,411 be second connecting rod, 412 be moving platform, 51 be electric rotating frame, 52 is
Electric rotating machine, 53 be rotation platform, 54 be harvesting motor, 55 be harvesting handgrip, 551 be partial gear, 61 be absorption cylinder,
62 it is absorption connecting rod, 63 be absorption tracheae, 64 is adsorption head.
Embodiment
The technical scheme of this patent is described in more detail with reference to embodiment.
The present invention is to provide a kind of strawberry automatic picking apparatus based on delta parallel institutions, it is characterised in that：Including branch
Support 1, longitudinal moving device 2, horizontal mobile device 3, delta parallel institutions 4, harvesting and are taken the photograph performs device 5, adsorbent equipment 6
As first 7；Wherein, described longitudinal moving device 2 and horizontal mobile device 3 are located at the upper end of support frame 1；Described delta is simultaneously
Online structure 4 is located at the lower section of horizontal mobile device 3；Described harvesting performs device 5 is located at the moving platform of delta parallel institutions 4
412 lower sections, described adsorbent equipment 6 are placed in harvesting performs device 5.
The longitudinal moving device 2 of the present invention includes Ω types guide rail 21, sliding block 22, mobile device support frame 23, zigzag tread patterns
Motor 24, around cheese 25, rope fixed column 26 and drag rope 27, described Ω types guide rail 21 has two, and is symmetrically placed in branch
The both sides of support 1, described sliding block 22 have the top for being placed in Ω types guide rail 21, and sliding block 22 uses with the pairing of Ω types guide rail 21；Institute
The mobile device support frame 23 stated is placed in the top of sliding block 22, and both sides and the sliding block 22 of mobile device support frame 23 are connected by bolt
Connect；Described vertical drive motor 24 is placed in below the left side of mobile device support frame 23；Described has two positions around cheese 25
Above the both sides of mobile device support frame 23, one of them is another around cheese 25 and the output shaft fixed connection of vertical drive motor 24
It is individual to be connected around cheese 25 with mobile device support frame 23 by prismatic pair；Described rope fixed column 26 is located at the four of support frame 1
Angle, described drag rope 27 have two, and one end and the rope fixed column 26 of drag rope 27 are connected, drag rope 27 it is another
One end is staggeredly connected around two after cheese 25 with diagonal rope fixed column 26 successively.
The horizontal mobile device 3 of the present invention is by 33 groups of transverse mobile motor 31, traversing screw mandrel 32 and delta mechanisms link
Into；Described transverse mobile motor 31 is placed in the side of mobile device support frame 23, the side of the rotary shaft of transverse mobile motor 31
To vertical with the direction of Ω types guide rail 21；The described both ends of traversing screw mandrel 32 pass through revolute pair with the both sides of mobile device support frame 23
Connection, and one end of traversing screw mandrel 32 and the output shaft fixed connection of transverse mobile motor 31；On described delta mechanisms link 33
End is connected with mobile device support frame 23 by dovetail groove profile respective outer side edges, and the middle part of delta mechanisms link 33 passes through spiral
It is secondary to be connected with traversing screw mandrel 32.
The delta parallel institutions 4 of the present invention are by fixed platform 41, motor cabinet 42, parallel-connected induction motorses 43, one-level small synchronous pulley
44th, the big synchronous pulley 46 of level synchronization band 45, one-level, two level small synchronous pulley 47, secondary synchronization band 48, the big synchronous pulley of two level
49th, first connecting rod 410, second connecting rod 411 and moving platform 412 form；The described quantity of motor cabinet 42 be three, motor cabinet 42 with
It is fixed on centered on the center of circle of fixed platform 41 in positive triangle shape on the bottom face of fixed platform 41, delta parallel institutions 4 pass through motor
Seat 42 is bolted with delta mechanisms link 33, described parallel-connected induction motorses 43 be fixedly mounted and motor cabinet 42 on；It is described
One-level small synchronous pulley 44 and the output shaft fixed connection of parallel-connected induction motorses 43, the big synchronous pulley 46 of described one-level is logical with motor cabinet 42
Revolute pair connection is crossed, is connected between described one-level small synchronous pulley 44 and the big synchronous pulley 46 of one-level by level synchronization band 45
Connect, described two level small synchronous pulley 47 synchronous pulley 46 big with one-level is coaxially connected, the big synchronous pulley 49 of described two level with
Motor cabinet 42 is connected by revolute pair, same by two level between described two level small synchronous pulley 47 and the big synchronous pulley 49 of two level
Step band 48 connects；Described first connecting rod 410 synchronous pulley 49 big with two level is coaxially connected, and described second connecting rod 411 has three
Group, every group has two and is arranged symmetrically, and the upper end of second connecting rod 411 is connected with first connecting rod 410 by the way that ball is secondary, second connecting rod 411
Lower end it is secondary with moving platform 412 by ball, and the tie point of second connecting rod 411 and moving platform 412 is with the center of circle of moving platform 412
Centered on be fixed in positive triangle shape on the upper surface of moving platform 412.
The harvesting performs device 5 of the present invention is by electric rotating frame 51, electric rotating machine 52, rotation platform 53, harvesting motor 54
Formed with harvesting handgrip 55；Described electric rotating frame 51 is located at the lower section of moving platform 412 and is connected with moving platform 412, institute
The electric rotating machine 52 stated is placed between electric rotating frame 51 and moving platform 412, and described rotation platform 53 is located at electric rotating frame
51 lower section and with the output shaft fixed connection of electric rotating machine 52；Described harvesting motor 54 is located at the lower section of rotation platform 53, and described adopts
Plucking handgrip 55 has two and is arranged symmetrically, and harvesting handgrip 55 is connected with electric rotating frame 51 by revolute pair, and described harvesting is grabbed
The side of hand 55 is provided with partial gear 551, and two harvesting handgrips 55 are connected by the gear pair between partial gear 551, described
One of harvesting handgrip 55 with pluck motor 54 output shaft be fixedly connected.
The adsorbent equipment 6 of the present invention is made up of absorption cylinder 61, absorption connecting rod 62, absorption tracheae 63 and adsorption head 64；Institute
The absorption cylinder 61 stated has two, is symmetrically placed in the top both sides of rotation platform 53 and is bolted with rotation platform 53；Institute
The absorption connecting rod 62 stated is located at the lower section of rotation platform 53, and between two harvesting handgrips 55, the both ends point of absorption connecting rod 62
The stalk that do not stretched with two absorption cylinders 61 is connected；Between absorption connecting rod 62, described adsorption head 64 is described adsorption head 64
Flexible folding structure, one end of described absorption tracheae 63 are connected with source of the gas, other end through absorption connecting rod 62 and with suction
Attached first 64 connection.
The camera 7 of the present invention is placed in the lower section of fixed platform 41.
Have one layer of sponge in the inside of harvesting handgrip 55 of the present invention.
The adsorption head 64 of the present invention has flexible and contractility.
The present invention operation principle be：It is used for distinguishing the degree of Strawberry ripening, size and accurately positioning using camera 7
The position of strawberry.When camera 7 finds ripe strawberry, the position of ripe strawberry is may be positioned to, if harvesting handgrip 55 is with determining
The ripe strawberry of position is when exceeding certain distance, and control system will control vertical drive motor 24 to drive to rotate around cheese 25 and horizontal stroke
Drive traversing screw mandrel 32 to rotate so that plucking handgrip 55 to mobile motor 31 laterally and longitudinally to move, realize harvesting handgrip 55 with
The distance of the ripe strawberry positioned reduces, and when distance is less than certain distance, following control system will control delta simultaneously
Online structure 4 moves the surface for making harvesting handgrip 55 move to strawberry；Then control system is signaled to absorption cylinder 61, makes
Absorption cylinder 61 extends, and drives adsorption head 64 to move downward, and adsorbs pressure in tracheae 63 and strongly reduces so that adsorption head 64 is held
Strawberry, then adsorb cylinder 61 and shrink, the rotation of harvesting motor 54 drives harvesting gripper 55 to catch strawberry by partial gear 551
The work of electric rotating machine 52 afterwards drives rotation platform 53 and harvesting handgrip 55 to rotate force strawberry stem to be broken together, finally utilizes
Delta parallel institutions 4 are put into the strawberry of harvesting in the place specified, and adsorb pressure increase in tracheae 63, and harvesting handgrip 55 is opened
Open, strawberry falls down from adsorption head, it is achieved thereby that the picking process of whole strawberry.
The better embodiment of this patent is explained in detail above, but this patent is not limited to above-mentioned embodiment party
Formula, can also be on the premise of this patent objective not be departed from one skilled in the relevant art's possessed knowledge
Make a variety of changes.
Claims (5)
- A kind of 1. strawberry automatic picking apparatus based on delta parallel institutions, it is characterised in that：Including support frame, vertically move Device, horizontal mobile device, delta parallel institutions, harvesting performs device, adsorbent equipment and camera；Wherein, described longitudinal direction Mobile device and horizontal mobile device are located at the upper end of support frame；Described delta parallel institutions are located at horizontal mobile device Lower section, described harvesting performs device are located at below the moving platform of delta parallel institutions, and described adsorbent equipment is placed in harvesting and held Luggage is put；Described longitudinal moving device include Ω types guide rail, sliding block, mobile device support frame, vertical drive motor, around cheese, rope Rope fixed column and drag rope；Described Ω type guide rails have two, and are symmetrically placed in the both sides of support frame, and described sliding block is put In the top of Ω type guide rails, sliding block uses with the pairing of Ω types guide rail；Described mobile device support is placed on above sliding block, mobile The both sides of device support stand are bolted with sliding block；Described vertical drive motor is placed in the left side of mobile device support frame Lower section；Described has two above the both sides of mobile device support frame around cheese, and one of them is moved around cheese and driving Motor output shaft is connected, and another is connected around cheese with mobile device support frame by prismatic pair；Described rope fixed column position In the corner of support frame, described drag rope has two, and one end and the rope fixed column of drag rope are connected, drag rope The other end is staggeredly connected around two after cheese with diagonal rope fixed column successively；Described horizontal mobile device is made up of transverse mobile motor, traversing screw mandrel and delta mechanisms link；Described transverse direction Mobile motor is placed in the side of mobile device support frame, and the direction and the direction of Ω type guide rails of the rotary shaft of transverse mobile motor are hung down Directly；Described traversing screw mandrel both ends are connected with mobile device support frame both sides by revolute pair, and one end of traversing screw mandrel and horizontal stroke To the output shaft fixed connection of mobile motor；Described delta mechanisms link upper end passes through dovetail groove profile with mobile device support frame Respective outer side edges are connected, and the middle part of delta mechanisms link is connected by screw pair and traversing screw mandrel；Described delta parallel institutions are by fixed platform, motor cabinet, parallel-connected induction motorses, one-level small synchronous pulley, level synchronization band, one The big synchronous pulley of level, two level small synchronous pulley, secondary synchronization band, the big synchronous pulley of two level, first connecting rod, second connecting rod and dynamic flat Platform forms；Described motor cabinet quantity is three, and motor cabinet is fixed in positive triangle shape centered on the center of circle of fixed platform and allocated On platform bottom face, delta parallel institutions are bolted by motor cabinet with delta mechanisms links, described parallel connection electricity In machine fixed installation and motor cabinet；Described one-level small synchronous pulley and parallel-connected induction motorses output shaft fixed connection, described one-level Datong District Step belt wheel is connected with motor cabinet by revolute pair, passes through one-level between described one-level small synchronous pulley and the big synchronous pulley of one-level Synchronous band connection, described two level small synchronous pulley are coaxially connected with the big synchronous pulley of one-level, the big synchronous pulley of described two level It is connected with motor cabinet by revolute pair, passes through secondary synchronization band between described two level small synchronous pulley and the big synchronous pulley of two level Connection；Described first connecting rod is coaxially connected with the big synchronous pulley of two level, and described second connecting rod has three groups, every group have two and Be arranged symmetrically, second connecting rod upper end and first connecting rod be connecteds by the way that ball is secondary, the lower end of second connecting rod by ball pair and moving platform, and The tie point of second connecting rod and moving platform is fixed on moving platform upper surface centered on the center of circle of moving platform in positive triangle shape；Described harvesting performs device is made up of electric rotating frame, electric rotating machine, rotation platform, harvesting motor and harvesting handgrip, Described electric rotating frame is located at the lower section of moving platform and is connected with moving platform, and described electric rotating machine is placed in electric rotating frame Between moving platform, described rotation platform be located at the lower section of electric rotating frame and with electric rotating machine output shaft fixed connection, it is described Harvesting motor is located at below rotation platform, and described harvesting handgrip has two and is arranged symmetrically, harvesting handgrip and electric rotating frame Connected by revolute pair；Described harvesting handgrip side is provided with partial gear, and two harvesting handgrips pass through between partial gear Gear pair connection, described one of harvesting handgrip with harvesting motor output shaft be fixedly connected.
- A kind of 2. strawberry automatic picking apparatus based on delta parallel institutions according to claim 1, it is characterised in that：Institute The adsorbent equipment stated is made up of absorption cylinder, absorption connecting rod, absorption tracheae and adsorption head；Described absorption cylinder has two, right Title is placed in both sides above rotation platform and is bolted with rotation platform, and described absorption connecting rod is located under rotation platform Side, and between two harvesting handgrips, the both ends for adsorbing connecting rod are connected with two absorption Telescopic-cylinder stalks respectively, described adsorption head Between absorption connecting rod；One end of described absorption tracheae is connected with source of the gas, other end through absorption connecting rod and with suction Attached head connection.
- A kind of 3. strawberry automatic picking apparatus based on delta parallel institutions according to claim 1, it is characterised in that：Institute The camera stated is placed in below fixed platform.
- A kind of 4. strawberry automatic picking apparatus based on delta parallel institutions according to claim 1, it is characterised in that：Institute Have one layer of sponge inside the harvesting handgrip stated.
- A kind of 5. strawberry automatic picking apparatus based on delta parallel institutions according to claim 2, it is characterised in that：Institute The adsorption head stated has flexible and contractility.
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| CN108142096A (en) * | 2018-02-09 | 2018-06-12 | 江西理工大学 | Strawberry picking vehicle picks executing agency and greenhouse alley formula strawberry picking vehicle |
| CN108207332A (en) * | 2018-03-27 | 2018-06-29 | 郑州大学 | The full-automatic strawberry picking spider vehicle of this device for picking of flexible strawberry device for picking and application |
| CN108271525A (en) * | 2018-03-26 | 2018-07-13 | 西南石油大学 | A kind of small-sized strawberry acquisition trolley |
| CN108377750A (en) * | 2018-04-26 | 2018-08-10 | 南昌大学 | A kind of stereoscopic frame strawberry picking auxiliary machinery |
| CN108534487A (en) * | 2018-04-13 | 2018-09-14 | 来安县劲松车辆零部件有限公司 | A kind of stoving rack of auto parts machinery |
| CN108684310A (en) * | 2018-07-02 | 2018-10-23 | 浙江工业大学 | A kind of semi-automation auxiliary flexible strawberry picking mechanism |
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| CN108142096A (en) * | 2018-02-09 | 2018-06-12 | 江西理工大学 | Strawberry picking vehicle picks executing agency and greenhouse alley formula strawberry picking vehicle |
| CN108271525A (en) * | 2018-03-26 | 2018-07-13 | 西南石油大学 | A kind of small-sized strawberry acquisition trolley |
| CN108207332A (en) * | 2018-03-27 | 2018-06-29 | 郑州大学 | The full-automatic strawberry picking spider vehicle of this device for picking of flexible strawberry device for picking and application |
| CN108207332B (en) * | 2018-03-27 | 2024-01-26 | 郑州大学 | Flexible strawberry picker and full-automatic strawberry picking spider car applying same |
| CN108534487A (en) * | 2018-04-13 | 2018-09-14 | 来安县劲松车辆零部件有限公司 | A kind of stoving rack of auto parts machinery |
| CN108377750A (en) * | 2018-04-26 | 2018-08-10 | 南昌大学 | A kind of stereoscopic frame strawberry picking auxiliary machinery |
| CN108377750B (en) * | 2018-04-26 | 2024-02-09 | 南昌大学 | Auxiliary machinery is picked to three-dimensional frame strawberry |
| CN108684310B (en) * | 2018-07-02 | 2023-07-21 | 浙江工业大学 | Semi-automatic auxiliary flexible strawberry picking mechanism |
| CN108684310A (en) * | 2018-07-02 | 2018-10-23 | 浙江工业大学 | A kind of semi-automation auxiliary flexible strawberry picking mechanism |
| CN108848898A (en) * | 2018-07-02 | 2018-11-23 | 浙江工业大学 | Stolon cutting mechanism based on the picking of semi-automatic strawberry flexibility |
| CN108848898B (en) * | 2018-07-02 | 2023-07-21 | 浙江工业大学 | Creeping stem cutting mechanism based on semi-automatic strawberry flexible picking |
| CN109089648A (en) * | 2018-08-01 | 2018-12-28 | 芜湖彰鸿工程技术有限公司 | Utilize the greenhouse of picking robot |
| CN109041807A (en) * | 2018-08-01 | 2018-12-21 | 芜湖彰鸿工程技术有限公司 | Utilize the greenhouse fruit picking method of picking robot |
| CN109451982A (en) * | 2018-12-19 | 2019-03-12 | 衢州职业技术学院 | 3-PRS tea picking parallel institution and its picking method |
| CN109997515A (en) * | 2019-04-12 | 2019-07-12 | 浙江农林大学 | A kind of cones of Pinus koraiensis picking mechanical arm |
| CN110337913B (en) * | 2019-07-10 | 2021-07-20 | 华中农业大学 | Automatic strawberry picking equipment based on image recognition |
| CN110337913A (en) * | 2019-07-10 | 2019-10-18 | 华中农业大学 | A kind of automation strawberry seed harvester based on image recognition |
| CN113812264A (en) * | 2021-10-20 | 2021-12-21 | 山东科技大学 | Parallel robot strawberry picking harvester with reconfigurable characteristic |
| CN114365624A (en) * | 2022-01-25 | 2022-04-19 | 皖西学院 | Efficient agricultural picking device based on DELTA parallel mechanical arms |
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