CN107696047A - A kind of cucumber flexibility picking mechanical arm end effector and picking method - Google Patents
A kind of cucumber flexibility picking mechanical arm end effector and picking method Download PDFInfo
- Publication number
- CN107696047A CN107696047A CN201710945164.5A CN201710945164A CN107696047A CN 107696047 A CN107696047 A CN 107696047A CN 201710945164 A CN201710945164 A CN 201710945164A CN 107696047 A CN107696047 A CN 107696047A
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- China
- Prior art keywords
- cucumber
- clamping wall
- flexible clamping
- cutting
- finger
- Prior art date
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Links
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000012636 effector Substances 0.000 title claims abstract description 24
- 244000299906 Cucumis sativus var. sativus Species 0.000 title 1
- 240000008067 Cucumis sativus Species 0.000 claims abstract description 110
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 25
- 239000000741 silica gel Substances 0.000 claims abstract description 25
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 25
- 230000004438 eyesight Effects 0.000 claims abstract description 11
- 230000003287 optical effect Effects 0.000 claims abstract description 8
- 238000003306 harvesting Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 239000011435 rock Substances 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 4
- 235000013399 edible fruits Nutrition 0.000 description 4
- 241000219112 Cucumis Species 0.000 description 2
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 2
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/008—Harvesting of standing crops of cucumbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
Abstract
The invention provides a kind of cucumber flexibility picking mechanical arm end effector and picking method, it is related to Agriculture pick robot field, it is made up of stepper motor, optical axis, leading screw, installing plate, supporting plate, nut slider, upper plate, vision sensor, cutting cylinder, cutting finger, gripper cylinder, holding finger, spring, flexible clamping wall, silica gel push-button, laser sensor, clamping wall rotating shaft and electric rotating machine, it is characterized in that：The flexible clamping wall is arranged on installing plate both sides by clamping wall rotating shaft, the silica gel push-button is connected by spring with flexible clamping wall, complete alignment cucumber, hypomere and the cut-out carpopodium course of work in cucumber, clamping cucumber epimere, flexible clamping cucumber, the present invention uses flexible clamping wall flexible clamping cucumber stage casing and hypomere, holding finger clamps cucumber epimere, the Softening of finger cutting carpopodium is cut, solves that cucumber picking efficiency is low, clamp easy damaged and rocks the technical barrier of frangibility.
Description
Technical field
The present invention relates to Agriculture pick robot field, in particular it relates to which a kind of cucumber flexibility picking mechanical arm end is held
Row device and picking method.
Background technology
With the development of warmhouse booth technology, cucumber is vast in the current cultivated area in China, and it is cucumber life to pluck operation
A link most time-consuming, most laborious in chain is produced, seasonality is strong, labor intensity is big, relies primarily on artificial harvesting, cost at present
Height, therefore it is the important channel to get agricultural profit to ensure cucumber timely collecting, reduce harvest cost, studies and is applicable greenhouse cucumber
Picking robot is significant.
Test data analyzer cucumber physical characteristic has at 3 points, and first：Cucumber stage casing and lower intersegmental part contain a large amount of seeds, and
And seed is very big, anti-pressure ability is low, rocks frangibility；Second：Seed is few contained by intersegmental part on cucumber, and anti-pressure ability is good；3rd：
Cucumber upper semisection does not pierce.The arm end effector of cucumber picking robot is mounted in mechanical arm front end, directly with Huang
Melon is in contact, and is the crucial executable portion of harvesting.Can arm end effector accurately capture cucumber epimere, and flexible grabs
Hold hypomere in cucumber and ensure that cucumber hypomere does not rock, accurately cut carpopodium, determine the efficiency and successfully of picking fruit
Rate, it is therefore desirable to a kind of cucumber flexibility picking mechanical arm end effector and picking method, and this flexible picking mechanical at present
Hand end effector in the market is no.
The content of the invention
For it is above-mentioned in the prior art the defects of, the present invention provide a kind of cucumber flexibility picking mechanical arm end effector and
Picking method, overcomes the defects of existing cucumber handmade picking efficiency is low, mechanization degree is low, and the present invention is pressed from both sides using flexible clamping wall
Hypomere in cucumber is held, holding finger clamping cucumber epimere, the Softening of cutting finger cutting carpopodium, solves cucumber harvesting effect
Rate is low, clamp easy damaged and rocks the technical barrier of frangibility.
The technical scheme adopted by the invention to solve the technical problem is that：
A kind of cucumber flexibility picking mechanical arm end effector, is by stepper motor, optical axis, leading screw, installing plate, support
Plate, nut slider, upper plate, vision sensor, cutting cylinder, cutting finger, gripper cylinder, holding finger, spring, flexible folder
Wall, silica gel push-button, laser sensor, clamping wall rotating shaft and electric rotating machine composition are held, it is characterized in that：The stepper motor installation
In installing plate bottom, optical axis lower end connection plate, through supporting plate, upper end connection upper plate；The leading screw lower end with
Stepper motor axis connection, through supporting plate, coordinate with nut slider, upper end connection upper plate, the supporting plate is arranged on installation
Back, the nut slider are arranged on leading screw, and the vision sensor is arranged on upper plate front end, the cutting gas
Cylinder is connected with nut slider, and the cutting finger mounted is on cutting cylinder slide rail, and the gripper cylinder installation is on a mounting board
End, the holding finger are arranged on gripper cylinder slide rail, and the flexible clamping wall is arranged on installing plate by clamping wall rotating shaft
Both sides, the silica gel push-button are connected by spring with flexible clamping wall, and the laser sensor is arranged on installing plate, positioned at a left side
Between right flexible clamping wall, the electric rotating machine is connected with clamping wall rotating shaft, is fixed on installing plate.
Preferably, the silica gel push-button arranges setting, above and below left and right gap 3mm into the strip of the wide 15mm length of 3mm into 6 rows 6
Gap 5mm, all silica gel push-buttons are connected by spring with flexible clamping wall, in one plane, all silica gel push-button surface peaces
Equipped with pressure sensor, the flexible clamping wall is provided with arcwall face, and arcwall face span is 50mm, and installing plate both sides respectively set one
Individual flexible clamping wall.
Preferably, the cutting finger distalmost end spacing is 30mm, and the holding finger distalmost end spacing is 50mm.
Preferably, spacing is 60mm between the gripper cylinder and upper plate, and effective travel is 40mm to cutting cylinder up and down.
A kind of picking method of cucumber flexibility picking mechanical arm end effector, comprises the following steps：It is directed at cucumber, close
Hypomere and cut-out carpopodium, its detailed operation are in cucumber, clamping cucumber epimere, flexible clamping cucumber：Vision sensor is clapped
Cucumber image is taken the photograph, obtains cucumber upper end space three-dimensional coordinate through image procossing, robotic arm path planning performs arm end
Device delivers to specified location, and the flexible clamping wall of left and right two is slowly opened under electric rotating machine driving, and cutting cylinder operation opens cutting
Holding finger is opened in finger, gripper cylinder work, completes alignment cucumber process；Arm end effector slowly close to cucumber,
Cucumber epimere enters among two holding fingers, and cucumber carpopodium enters among two cutting fingers, when laser sensor detects distance
During less than 30mm, stop motion, complete close to cucumber process；Gripper cylinder works, and two holding finger move toward one anothers slowly clamp
Firmly cucumber epimere, complete clamping cucumber epimere process；Electric rotating machine rotates, and two flexible clamping wall angles slowly diminish, silica gel
The adaptive cucumber outline of button, when the pressure sensor on silica gel push-button surface detects that harvesting pressure within threshold value, rotates
Motor stalls, complete hypomere process in flexible clamping cucumber；Stepper motor is rotated, and cutting cylinder is driven by nut slider
To correct position, cylinder operation is cut, two cutting fingers are quickly close, complete cut-out carpopodium process.
Compared with prior art, the present invention has following beneficial effect：
A kind of the cucumber flexibility picking mechanical arm end effector and picking method that the present invention designs utilize multi-joint machinery
Arm, obtained in real time by multi-sensor information fusion, perceive working environment and cucumber information, it is ensured that do not damaging the premise of cucumber
Under, alignment cucumber, hypomere and the cut-out carpopodium course of work in cucumber, clamping cucumber epimere, flexible clamping cucumber are completed, this
Invention uses flexible clamping wall flexible clamping cucumber stage casing and hypomere, holding finger clamping cucumber epimere, cutting finger cutting fruit
The Softening of stalk, solves that cucumber picking efficiency is low, clamp easy damaged and rocks the technical barrier of frangibility.
(1) present invention is clamped using flexible clamping wall to cucumber, and the silica gel push-button of connecting spring can be adaptively yellow
Melon outline, and hypomere in firm cucumber, prevent it is rocked from avoiding fractureing, ensure lossless harvesting；
(2) present invention drives cutting cylinder to move up and down using leading screw and nut slider, can adjust suitable cutting fruit
Obstruct position, adaptability is stronger；
(3) present invention fixes the harvesting flow of hypomere in cucumber using first fixed cucumber epimere again, reduces the rolling of cucumber
It is dynamic.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Drawings below be used for a further understanding of the present invention, and a part for constitution instruction are provided, its with it is following
Embodiment be used to explain the present invention together, but protection scope of the present invention is not limited to following accompanying drawings and specific real
Apply mode.In the accompanying drawings：
Fig. 1 is the overall structure normal axomometric drawing of the present invention；
Fig. 2 is the three dimensional structure diagram of the overall structure other direction of the present invention；
Fig. 3 is the flexible clamping wall three dimensional structure diagram of the present invention；
Fig. 4 is the alignment cucumber working state schematic representation of present invention harvesting step；
Fig. 5 is the close cucumber working state schematic representation of present invention harvesting step；
Fig. 6 is the clamping cucumber epimere working state schematic representation of present invention harvesting step；
Fig. 7 is hypomere working state schematic representation in the flexible clamping cucumber of the invention for plucking step；
Fig. 8 is the cut-out carpopodium working state schematic representation of present invention harvesting step；
In figure：1 stepper motor, 2 optical axises, 3 leading screws, 4 installing plates, 5 supporting plates, 6 nut sliders, 7 upper plates, 8 visions pass
Sensor, 9 cutting cylinders, 10 cutting fingers, 11 gripper cylinders, 12 holding fingers, 13 springs, 14 flexible clamping walls, 15 silica gel are pressed
Key, 16 laser sensors, 17 clamping wall rotating shafts, 18 electric rotating machines.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing, it should be appreciated that retouch in this place
The embodiment stated is merely to illustrate and explain the present invention, and protection scope of the present invention is not limited to following specific realities
Apply mode.
A kind of the cucumber flexibility picking mechanical arm end effector and picking method that the present invention designs utilize multi-joint machinery
Arm, obtained in real time by multi-sensor information fusion, perceive working environment and cucumber information, it is ensured that do not damaging the premise of cucumber
Under, alignment cucumber, hypomere and the cut-out carpopodium course of work in cucumber, clamping cucumber epimere, flexible clamping cucumber are completed, this
Invention uses flexible clamping wall flexible clamping cucumber stage casing and hypomere, holding finger clamping cucumber epimere, cutting finger cutting fruit
The Softening of stalk, solves that cucumber picking efficiency is low, clamp easy damaged and rocks the technical barrier of frangibility.
Referring to shown in Fig. 1 to Fig. 3, a kind of cucumber flexibility picking mechanical arm end effector, is by stepper motor 1, optical axis
2nd, leading screw 3, installing plate 4, supporting plate 5, nut slider 6, upper plate 7, vision sensor 8, cutting cylinder 9, cutting finger 10, folder
Hold cylinder 11, holding finger 12, spring 13, flexible clamping wall 14, silica gel push-button 15, laser sensor 16, clamping wall rotating shaft 17
Formed with electric rotating machine 18, it is characterized in that：The stepper motor 1 is arranged on the bottom of installing plate 4, the lower end of optical axis 2 connection
Installing plate 4, through supporting plate 5, upper end connection upper plate 7；The lower end of leading screw 3 and the axis connection of stepper motor 1, through supporting plate
5, coordinate with nut slider 6, upper end connection upper plate 7, the supporting plate 5 is arranged on the back side of installing plate 4, the nut slider 6
On leading screw 3, the vision sensor 8 is arranged on the front end of upper plate 7, and the cutting cylinder 9 connects with nut slider 6
Connect, the cutting finger 9 is arranged on the cutting slide rail of cylinder 9, and the gripper cylinder 11 is arranged on the upper end of installing plate 4, the folder
Finger 12 is held on the slide rail of gripper cylinder 11, the flexible clamping wall 14 is arranged on installing plate 4 by clamping wall rotating shaft 17
Both sides, the silica gel push-button 15 are connected by spring 13 with flexible clamping wall 14, and the laser sensor 16 is arranged at installing plate 5
On, between left and right flexible clamping wall 14, the electric rotating machine 18 is connected with clamping wall rotating shaft 17, is fixed on installing plate 4.
It is shown in Figure 3, it is preferable that the strip that the silica gel push-button 15 is grown into the wide 15mm of 3mm, arrange and set into 6 rows 6,
Above and below left and right gap 3mm gap 5mm, all silica gel push-buttons 15 are connected by spring 13 with flexible clamping wall 14, in a plane
On, all surfaces of silica gel push-button 15 are provided with pressure sensor, and the flexible clamping wall 14 is provided with arcwall face, arcwall face span
For 50mm, the both sides of installing plate 4 respectively set a flexible clamping wall 14.
Referring to shown in Fig. 1 and Fig. 2, it is preferable that the cutting distalmost end spacing of finger 10 is 30mm, the holding finger 12
Distalmost end spacing is 50mm.
Referring to shown in Fig. 1 and Fig. 2, it is preferable that spacing is 60mm between the gripper cylinder 11 and upper plate 7, cuts gas
Cylinder about 9 effective travel be 40mm.
In order to help to understand the above-mentioned basic embodiment of the present invention, reference picture 4 to Fig. 8 is operated procedure declaration, this
A kind of picking method of cucumber flexibility picking mechanical arm end effector is invented, is comprised the following steps：It is directed at cucumber, close to yellow
Hypomere and cut-out carpopodium, its detailed operation are in melon, clamping cucumber epimere, flexible clamping cucumber：Vision sensor 8 is shot
Cucumber image, cucumber upper end space three-dimensional coordinate is obtained through image procossing, robotic arm path is planned arm end effector
Specified location is delivered to, the flexible clamping wall 17 of left and right two is slowly opened under the driving of electric rotating machine 18, and the cutting work of cylinder 9 opening is cut
Finger 10 is cut, holding finger 12 is opened in the work of gripper cylinder 11, completes alignment cucumber process；Arm end effector slowly leans on
Nearly cucumber, cucumber epimere enter among two holding fingers 12, and cucumber carpopodium enters among two cutting fingers 9, works as laser sensor
16 detect apart from when being less than 30mm, stop motion, complete close to cucumber process；Gripper cylinder 11 works, two holding fingers 12
Move toward one another slowly clamps cucumber epimere, completes clamping cucumber epimere process；Electric rotating machine 18 rotates, two flexible clamping walls
17 angles slowly diminish, the adaptive cucumber outline of silica gel push-button 15, when the pressure sensor on the surface of silica gel push-button 15 detects
Pressure is plucked within threshold value, electric rotating machine 18 stops operating, and completes hypomere process in flexible clamping cucumber；Stepper motor 1 revolves
Turn, drive cutting cylinder 9 to arrive correct position by nut slider 6, cutting cylinder 9 works, and two cutting fingers 10 are quickly close, complete
Into cut-out carpopodium process.
The embodiment of the present invention is described in detail above in association with accompanying drawing, it is necessary to illustrate, above-mentioned specific real
Each particular technique feature described in mode is applied, in the case of reconcilable, can be carried out by any suitable means
Combination, in order to avoid unnecessary repetition, the present invention no longer separately illustrates to various combinations of possible ways.It is but of the invention
The detail being not limited in above-mentioned embodiment, for the ordinary skill in the art, according to the religion of the present invention
Lead, in the case where not departing from the principle of the present invention and spirit, the changes, modifications, replacement and the modification that are carried out to embodiment
Still fall within protection scope of the present invention.
Claims (5)
1. a kind of cucumber flexibility picking mechanical arm end effector, it is characterized in that：It is by stepper motor, optical axis, leading screw, installation
Plate, supporting plate, nut slider, upper plate, vision sensor, cutting cylinder, cutting finger, gripper cylinder, holding finger, bullet
What spring, flexible clamping wall, silica gel push-button, laser sensor, clamping wall rotating shaft and electric rotating machine formed, the stepper motor installation
In installing plate bottom, optical axis lower end connection plate, through supporting plate, upper end connection upper plate；The leading screw lower end with
Stepper motor axis connection, through supporting plate, coordinate with nut slider, upper end connection upper plate, the supporting plate is arranged on installation
Back, the nut slider are arranged on leading screw, and the vision sensor is arranged on upper plate front end, the cutting gas
Cylinder is connected with nut slider, and the cutting finger mounted is on cutting cylinder slide rail, and the gripper cylinder installation is on a mounting board
End, the holding finger are arranged on gripper cylinder slide rail, and the flexible clamping wall is arranged on installing plate by clamping wall rotating shaft
Both sides, the silica gel push-button are connected by spring with flexible clamping wall, and the laser sensor is arranged on installing plate, positioned at a left side
Between right flexible clamping wall, the electric rotating machine is connected with clamping wall rotating shaft, is fixed on installing plate.
2. a kind of cucumber flexibility picking mechanical arm end effector according to claim 1, it is characterized in that：The silica gel is pressed
Key is arranged into 6 rows 6 and set, gap 5mm, all silica gel push-buttons pass through left and right gap 3mm up and down into the strip of the wide 15mm length of 3mm
Spring is connected with flexible clamping wall, and in one plane, all silica gel push-button surfaces are provided with pressure sensor, the flexible folder
Hold wall and be provided with arcwall face, arcwall face span is 50mm, and installing plate both sides respectively set a flexible clamping wall.
3. a kind of cucumber flexibility picking mechanical arm end effector according to claim 1, it is characterized in that：The cutting hand
It is 30mm to refer to distalmost end spacing, and the holding finger distalmost end spacing is 50mm.
4. a kind of cucumber flexibility picking mechanical arm end effector according to claim 1, it is characterized in that：The clamping gas
Spacing is 60mm between cylinder and upper plate, and effective travel is 40mm to cutting cylinder up and down.
5. a kind of picking method of cucumber flexibility picking mechanical arm end effector according to claim 1, it is characterized in that：
Comprise the following steps：
1) it is directed at cucumber
Vision sensor shoots cucumber image, and cucumber upper end space three-dimensional coordinate, robotic arm path planning are obtained through image procossing
Arm end effector is delivered into specified location, the flexible clamping wall of left and right two is slowly opened under electric rotating machine driving, cut
Cylinder operation opens cutting finger, and holding finger is opened in gripper cylinder work, completes alignment cucumber process；
2) close to cucumber
Arm end effector slowly enters among two holding fingers close to cucumber, cucumber epimere, and cucumber carpopodium is cut into two
Cut among finger, when laser sensor detects that distance is less than 30mm, stop motion, complete close to cucumber process；
3) cucumber epimere is clamped
Gripper cylinder works, and two holding finger move toward one anothers slowly clamp cucumber epimere, completes clamping cucumber epimere process；
4) hypomere in flexible clamping cucumber
Electric rotating machine rotates, and two flexible clamping wall angles slowly diminish, the adaptive cucumber outline of silica gel push-button, when silica gel is pressed
The pressure sensor of key surface detects harvesting pressure within threshold value, and electric rotating machine stops operating, and completes flexible clamping cucumber
Middle hypomere process；
5) carpopodium is cut off
Stepper motor rotates, and drives cutting cylinder to cut cylinder operation, two cutting fingers are fast to correct position by nut slider
Speed is close, completes cut-out carpopodium process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945164.5A CN107696047B (en) | 2017-10-12 | 2017-10-12 | End effector of cucumber flexible picking manipulator and picking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945164.5A CN107696047B (en) | 2017-10-12 | 2017-10-12 | End effector of cucumber flexible picking manipulator and picking method |
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| Publication Number | Publication Date |
|---|---|
| CN107696047A true CN107696047A (en) | 2018-02-16 |
| CN107696047B CN107696047B (en) | 2020-11-03 |
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ID=61184908
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| CN201710945164.5A Active CN107696047B (en) | 2017-10-12 | 2017-10-12 | End effector of cucumber flexible picking manipulator and picking method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575423A (en) * | 2018-03-27 | 2018-09-28 | 芜湖天梦信息科技有限公司 | A kind of agricultural planting device |
| CN110235607A (en) * | 2019-07-12 | 2019-09-17 | 南京工程学院 | A kind of carpopodium folder cut type terminal executor of picking robot |
| WO2020127562A1 (en) * | 2018-12-19 | 2020-06-25 | Poly-Clip System Gmbh & Co. Kg | Gripping apparatus |
| CN113618747A (en) * | 2021-07-13 | 2021-11-09 | 安徽工程大学 | Terminal actuating mechanism of apple picking robot |
| CN113711774A (en) * | 2021-06-25 | 2021-11-30 | 中苏科技股份有限公司 | Bar fruit picking system and method |
| CN114589103A (en) * | 2021-07-06 | 2022-06-07 | 深圳蓝胖子机器智能有限公司 | Control method for cargo sorting system |
| RU2774701C1 (en) * | 2018-12-19 | 2022-06-21 | Поли-Клип Зюстем Гмбх Унд Ко. Кг | Gripping device |
| CN114731835A (en) * | 2022-05-06 | 2022-07-12 | 中国农业大学 | Cluster tomato grain picking mechanical arm and method |
| CN114734432A (en) * | 2021-07-06 | 2022-07-12 | 深圳蓝胖子机器智能有限公司 | Manipulator is accepted to material |
| IT202200000287A1 (en) * | 2022-01-11 | 2023-07-11 | Bm Group Holding S P A | Equipment for taking and/or cutting samples in a rolling process. |
| CN116602121A (en) * | 2023-07-20 | 2023-08-18 | 无锡学院 | Picking machine with sorting function |
| EP4272563A1 (en) * | 2022-05-06 | 2023-11-08 | Poly-clip System GmbH & Co. KG | Gripping device for picking up, conveying and delivering a sausage casing tube |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575423A (en) * | 2018-03-27 | 2018-09-28 | 芜湖天梦信息科技有限公司 | A kind of agricultural planting device |
| RU2774701C1 (en) * | 2018-12-19 | 2022-06-21 | Поли-Клип Зюстем Гмбх Унд Ко. Кг | Gripping device |
| WO2020127562A1 (en) * | 2018-12-19 | 2020-06-25 | Poly-Clip System Gmbh & Co. Kg | Gripping apparatus |
| CN110235607A (en) * | 2019-07-12 | 2019-09-17 | 南京工程学院 | A kind of carpopodium folder cut type terminal executor of picking robot |
| CN110235607B (en) * | 2019-07-12 | 2023-12-19 | 南京工程学院 | End effector of fruit stem clamping and cutting type picking robot |
| CN113711774A (en) * | 2021-06-25 | 2021-11-30 | 中苏科技股份有限公司 | Bar fruit picking system and method |
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| CN114589103A (en) * | 2021-07-06 | 2022-06-07 | 深圳蓝胖子机器智能有限公司 | Control method for cargo sorting system |
| CN113618747B (en) * | 2021-07-13 | 2023-08-08 | 安徽工程大学 | End actuating mechanism of apple picking robot |
| CN113618747A (en) * | 2021-07-13 | 2021-11-09 | 安徽工程大学 | Terminal actuating mechanism of apple picking robot |
| IT202200000287A1 (en) * | 2022-01-11 | 2023-07-11 | Bm Group Holding S P A | Equipment for taking and/or cutting samples in a rolling process. |
| CN114731835A (en) * | 2022-05-06 | 2022-07-12 | 中国农业大学 | Cluster tomato grain picking mechanical arm and method |
| CN114731835B (en) * | 2022-05-06 | 2023-01-17 | 中国农业大学 | Cluster tomato grain picking mechanical arm and method |
| EP4272563A1 (en) * | 2022-05-06 | 2023-11-08 | Poly-clip System GmbH & Co. KG | Gripping device for picking up, conveying and delivering a sausage casing tube |
| WO2023214006A1 (en) * | 2022-05-06 | 2023-11-09 | Poly-Clip System Gmbh & Co. Kg | Gripping device for picking up, conveying and delivering a sausage casing tube |
| CN116602121A (en) * | 2023-07-20 | 2023-08-18 | 无锡学院 | Picking machine with sorting function |
| CN116602121B (en) * | 2023-07-20 | 2023-09-19 | 无锡学院 | Picking machine with sorting function |
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