CN107787679A - Portable telescopic fruits picking mechanical hand - Google Patents
Portable telescopic fruits picking mechanical hand Download PDFInfo
- Publication number
- CN107787679A CN107787679A CN201711294477.5A CN201711294477A CN107787679A CN 107787679 A CN107787679 A CN 107787679A CN 201711294477 A CN201711294477 A CN 201711294477A CN 107787679 A CN107787679 A CN 107787679A
- Authority
- CN
- China
- Prior art keywords
- shell
- control cabinet
- cabinet shell
- manipulator
- worm gear
- 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.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000008878 coupling Effects 0.000 claims abstract description 10
- 238000010168 coupling process Methods 0.000 claims abstract description 10
- 238000005859 coupling reaction Methods 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 230000007704 transition Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000003306 harvesting Methods 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 2
- 239000002420 orchard Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
- A01D46/253—Portable motorised fruit pickers
-
- 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
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
Portable telescopic fruits picking mechanical hand, including control cabinet shell, motor is provided with control cabinet shell, the working shaft of motor is connected by bevel gear transmission with the worm gear pole being rotatably supported in control cabinet shell, mutually it is furnished with worm gear with worm gear pole, and worm gear is connected with the worm-wheel shaft being rotatably supported in control cabinet shell, turbine wheel shaft is connected by shaft coupling with power transmission shaft, the power transmission shaft, which is located at, to be fixedly connected in the outer barrel in control cabinet shell, the other end of power transmission shaft is connected by shaft coupling with leading screw, mutually it is furnished with screw with described leading screw, described screw is arranged on the bottom of manipulator shell, and manipulator shell is then by the slip ring positioned at outer barrel top and outer barrel pivot bush unit, the top of the manipulator shell is then hinged with two symmetrically arranged mechanical paws.This is a kind of simple in construction, deft design, easily operated, and being capable of the portable telescopic fruits picking mechanical hand safe efficient, without damage for implementing harvesting to fruit.
Description
Technical field
The present invention relates to a kind of fruit picker, particularly a kind of portable telescopic fruits picking mechanical hand.
Background technology
At present, in the relatively small application field of area, fruit is mainly carried out by the way of manually plucking
Harvesting, this mode time and effort consuming, workload is big, but operating efficiency is relatively low, while plucker ascend a height operation when also exist one
Fixed potential safety hazard；And for the relatively large application field of area, then need to be plucked using heavy-duty machines, it is this
Although mode can improve the efficiency of harvesting, cost is higher, and can cause certain journey to substantial amounts of fruit in picking process
The damage of degree.Therefore a kind of method or apparatus that can solve the problem that above mentioned problem is needed now.
The content of the invention
The present invention is to solve the above-mentioned deficiency present in prior art, proposes a kind of simple in construction, deft design, easily
In operation, and being capable of the portable telescopic fruits picking mechanical hand safe efficient, without damage that harvesting implemented to fruit.
The present invention technical solution be：A kind of portable telescopic fruits picking mechanical hand, it is characterised in that：Described
Manipulator includes control cabinet shell, and motor is provided with control cabinet shell, and the working shaft of motor by bevel gear transmission and turns
The dynamic worm gear pole being supported in control cabinet shell is connected, and is mutually furnished with worm gear with worm gear pole, and worm gear is with being rotatably supported in control cabinet
Worm-wheel shaft in shell is connected, and turbine wheel shaft is connected by shaft coupling with power transmission shaft, and the power transmission shaft, which is located at, is fixedly connected on control
In outer barrel on case shell, the other end of power transmission shaft is connected by shaft coupling with leading screw, is mutually furnished with screw, institute with described leading screw
The screw stated is arranged on the bottom of manipulator shell, and manipulator shell then passes through the slip ring positioned at outer barrel top and outer barrel activity
Socket, the top of the manipulator shell are then hinged with two symmetrically arranged mechanical paws, mechanical paw by being connected with each other and
Horizontal component at an angle to each other and vertical portion composition, the end of horizontal component is connected with steel wire rope, at two horizontal component ends
Restoring board is additionally provided with below head, back-moving spring is provided with below restoring board.
Also rotational support has roll in control cabinet shell, and roll is entered by the handle outside control cabinet shell
Row driving, also key connection has reel on roll, and reel is connected with the steel wire rope bottom, and steel wire rope passes through setting
Multiple transition wheels in outer barrel and manipulator shell are supported, and handle, handle are additionally provided with the outside of control cabinet shell
On be hinged with paw control swing rod, paw control swing rod is also connected by connecting rope with the towing point on steel wire rope.
Positioning screw is provided with the slip ring, is offered vertically on the outer wall of manipulator shell and the positioning spiral shell
Follow closely the stopper slot to match.
The present invention compared with the existing technology, has the following advantages that：
There is the problems such as time and effort consuming, efficiency is low in the mode of traditional picked by hand fruit, while certain safety also be present
Hidden danger；And if operated using large-scale picking mechanical, although being greatly improved operating efficiency, picking mechanical entirety body
Product is big, can take larger space, while fruit can also be caused certain and damaged, and cost is of a relatively high.For upper
Problem is stated, the application designs a kind of special structure, and the output torque of motor is converted into machinery by it using a variety of transmissions
The linear motion of hand, and control swing rod to be acted come the crawl of control machinery paw or release by paw.The price of the present apparatus is low
It is honest and clean, it is easy to operate, it is easier to be received by numerous orchard workers, its wider, either large-scale orchard planting harvesting ground of benefiting from scope
Or small-sized orchard planting harvesting ground can be used, and can be directed to the harvesting work of all hard fruit, facilitate orchard worker's fruit-picking,
Efficiency is improved, easy to operate due to its small volume, cost, closer to domestic orchard worker's investment of production cost budgeting, is more held with price
Easily occupied a tiny space in selling market, development prospect is optimistic.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention.
Embodiment
Below in conjunction with the embodiment of the brief description of the drawings present invention.As shown in Figure 1：A kind of portable telescopic fruit is adopted
Manipulator, including a control cabinet shell 1 are plucked, motor 2 is provided with control cabinet shell 1, the working shaft of motor 2 passes through umbrella tooth
Wheel transmission 3 is connected with the worm gear pole 4 being rotatably supported in control cabinet shell 1, is furnished with worm gear 5, and snail with this phase of worm gear pole 4
Wheel 5 is connected with the worm-wheel shaft 6 being rotatably supported in control cabinet shell 1, and turbine wheel shaft 6 is then connected by shaft coupling 7 with power transmission shaft 8,
Power transmission shaft 8 positioned at being fixedly connected in the outer barrel 9 in control cabinet shell 1, the other end of power transmission shaft 8 again by shaft coupling 7 with
Leading screw 10 is connected, and is furnished with screw 11 with the described phase of leading screw 10, this screw is arranged on the bottom of manipulator shell 12, and mechanical
For hand shell 12 then by the slip ring 27 positioned at the top of outer barrel 9 and the pivot bush unit of outer barrel 9, i.e. manipulator shell 12 can along its axial direction
Moved back and forth relative to outer barrel 9；Two symmetrically arranged mechanical paws 13 are then hinged with the top of manipulator shell 12, machinery
Paw 3 is made up of interconnection and horizontal component 14 at an angle to each other and vertical portion 15, and the end of horizontal component 14 is connected with
Steel wire rope 16（I.e. two steel wire ropes 16 are connected with two horizontal components 14 respectively）, in the lower section of two end heads of horizontal component 14
Restoring board 17 is additionally provided with, the lower section of restoring board 17 is provided with back-moving spring 18, and restoring board 17 promotes two water simultaneously from below
Move upwards flat part 14；
Also rotational support has roll 19 in control cabinet shell 1, and roll 19 passes through the handle outside control cabinet shell 1
20 are driven, and also key connection has reel 21 on roll 19, and reel 21 is connected with the bottom of steel wire rope 16（With water
Two connected steel wire ropes 16 of flat part 14 are combined into one）, and steel wire rope 16 is by being arranged in outer barrel 9 and manipulator shell 12
Multiple transition wheels be supported, handle 22 is additionally provided with the outside of control cabinet shell 1, paw control is hinged with handle 22
Swing rod 23, and paw control swing rod 23 is also connected by connecting rope 24 with the towing point on steel wire rope 16.
Be provided with positioning screw 25 in above-mentioned slip ring 27, offered vertically on the outer wall of manipulator shell 12 with
The stopper slot 26 that the positioning screw 25 matches.
The course of work of the portable telescopic fruits picking mechanical hand of the embodiment of the present invention is as follows：Carried out using this manipulator
During the harvesting of fruit, operating personnel start motor 2 hold the part of control cabinet shell 1, and motor 2 is driven by bevel gear
Pair 3 drives worm gear pole 4 to rotate, and then drives worm gear 5, turbine wheel shaft 6, shaft coupling 7 and power transmission shaft 8 to rotate, another due to power transmission shaft 8
One end is connected also by shaft coupling 7 with leading screw 10, therefore leading screw 10 can be rotated, because manipulator shell 12 is in positioning screw
It can not be rotated in the presence of 25 relative to outer barrel 9, therefore eventually driving manipulator shell 12 is done relative to outer barrel 9 for above-mentioned action
The action of stretching；
When the mechanical paw 13 of the end of manipulator shell 12 is moved at the fruit for needing to pluck, operator's handle holds handle 22
And paw control swing rod 23 is pulled, the paw control swing rod 23 being hinged on handle 22 is swung, and will be pulled by pull rope 24
Towing point transverse movement, and then pull the steel wire rope 16 being connected with two horizontal components 14 to move downward, in two steel wire ropes 16
In the presence of, horizontal component 14 two move toward one anothers of mechanical paw 13, fruit is clamped to lower swing；Now operating personnel can
Fruit picking is got off with moving integrally the present apparatus, can also be overall relative to outer barrel 9 by 2 control machinery hand shell of motor 12
Move downward, fruit is picked from fruit tree；
When needing to allow the mechanical paw 13 decontrol fruit, operator unclamps paw control swing rod 23, and back-moving spring 18 can pass through reset
Plate 17 pushes up two horizontal components 14, and two horizontal components 14 are swung up, and then drives two mechanical paws 13 to decontrol,
Fruit is fallen in Fruit basket；And steel wire rope 16 also can above carry again in the presence of horizontal component 14, tensioned state is returned to；
If it find that using paw control swing rod 23 can not driving manipulator pawl 13 act, it may be possible to repeatedly action after steel wire rope 16
There is relaxation, now by handle 20 roll 19 and reel 20 can be driven to rotate, allow steel wire rope 16 to be in tensioned state
.
Claims (2)
- A kind of 1. portable telescopic fruits picking mechanical hand, it is characterised in that：Described manipulator includes control cabinet shell（1）, Control cabinet shell（1）Inside it is provided with motor（2）, motor（2）Working shaft pass through bevel gear transmission（3）With being rotatably supported in control Case shell processed（1）In worm gear pole（4）It is connected, with worm gear pole（4）Mutually it is furnished with worm gear（5）, and worm gear（5）With being rotatably supported in control Case shell processed（1）Interior worm-wheel shaft（6）It is connected, turbine wheel shaft（6）Pass through shaft coupling（7）With power transmission shaft（8）It is connected, the power transmission shaft （8）Positioned at being fixedly connected on control cabinet shell（1）On outer barrel（9）It is interior, power transmission shaft（8）The other end pass through shaft coupling（7）With Leading screw（10）It is connected, with described leading screw（10）Mutually it is furnished with screw（11）, described screw is arranged on manipulator shell（12）'s Bottom, and manipulator shell（12）Then by positioned at outer barrel（9）The slip ring on top（27）With outer barrel（9）Pivot bush unit, the machine Tool hand shell（12）Top be then hinged with two symmetrically arranged mechanical paws（13）, mechanical paw（13）By be connected with each other and Horizontal component at an angle to each other（14）And vertical portion（15）Composition, horizontal component（14）End be connected with steel wire rope（16）, In two horizontal components（14）Restoring board is additionally provided with below end head（17）, restoring board（17）Lower section be provided with reset bullet Spring（18）,In control cabinet shell（1）Interior also rotational support has roll（19）, roll（19）By positioned at control cabinet shell（1）Outside The handle in portion（20）It is driven, in roll（19）Upper also key connection has reel（21）, reel（21）With the steel wire Rope（16）Bottom is connected, and steel wire rope（16）By being arranged on outer barrel（9）With manipulator shell（12）Interior multiple transition wheels enter Row support, in control cabinet shell（1）Outside be additionally provided with handle（22）, handle（22）On be hinged with paw control swing rod （23）, the paw control swing rod（23）Also pass through connecting rope（24）With steel wire rope（16）On towing point connection.
- 2. the slip ring（27）Inside it is provided with positioning screw（25）, in manipulator shell（12）Outer wall on offer vertically with The positioning screw（25）The stopper slot of matching（26）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294477.5A CN107787679A (en) | 2017-12-08 | 2017-12-08 | Portable telescopic fruits picking mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294477.5A CN107787679A (en) | 2017-12-08 | 2017-12-08 | Portable telescopic fruits picking mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107787679A true CN107787679A (en) | 2018-03-13 |
Family
ID=61537682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711294477.5A Pending CN107787679A (en) | 2017-12-08 | 2017-12-08 | Portable telescopic fruits picking mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107787679A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107379010A (en) * | 2017-06-20 | 2017-11-24 | 芜湖蓝天工程塑胶有限公司 | New mechanical arm |
| CN108370719A (en) * | 2018-04-17 | 2018-08-07 | 青岛理工大学 | Fruit picking device |
| CN108406757A (en) * | 2018-05-18 | 2018-08-17 | 河南理工大学 | A kind of manipulator and robot movement method |
| CN108401673A (en) * | 2018-05-14 | 2018-08-17 | 西安交通大学 | A kind of wearable fruit picking scissors |
| CN108522004A (en) * | 2018-03-16 | 2018-09-14 | 湖北工业大学 | A kind of rotary conformal picking hands |
| CN108582157A (en) * | 2018-05-04 | 2018-09-28 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of mechanical arm of adjustable length |
| CN108633468A (en) * | 2018-04-26 | 2018-10-12 | 西安交通大学 | Detachably stretch torsion formula fruit picking transport device and its picking method |
| CN108767716A (en) * | 2018-05-28 | 2018-11-06 | 国网山东省电力公司济南市章丘区供电公司 | A kind of deformable up-flow wick gripper |
| CN108811753A (en) * | 2018-07-10 | 2018-11-16 | 陕西智多搭智能科技有限公司 | A kind of apple-picking is with holding scalable apple picking device |
| CN108811744A (en) * | 2018-06-25 | 2018-11-16 | 吉林工程技术师范学院 | A kind of bionical picking mechanical arm device of indirect labor's fruit |
| CN109304699A (en) * | 2018-11-20 | 2019-02-05 | 段淑芬 | A kind of sundries salvaging binder of house joints cement slurry |
| CN109644617A (en) * | 2019-01-09 | 2019-04-19 | 贵州省旱粮研究所 | A kind of layering culture dish and its transfer tool handgrip |
| CN109769475A (en) * | 2019-04-01 | 2019-05-21 | 农业部农业生态与资源保护总站 | A kind of portable picking fruit device |
| CN110169262A (en) * | 2019-03-14 | 2019-08-27 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | A kind of self-replaced type fruit picker with sorting function |
| CN110810009A (en) * | 2019-11-25 | 2020-02-21 | 郑州轻工业大学 | Automatic telescopic apical branch apple picking device based on worm transmission |
| CN111941394A (en) * | 2020-08-07 | 2020-11-17 | 北京交通大学 | Flexible dexterous manipulator based on parallel connection continuum mechanism |
| CN111972130A (en) * | 2020-08-26 | 2020-11-24 | 上海大学 | Hollow telescopic mechanical arm |
| CN112743522A (en) * | 2021-01-15 | 2021-05-04 | 许昌学院 | Artificial intelligence robot arm extends and snatchs mechanism |
| CN113070897A (en) * | 2021-04-09 | 2021-07-06 | 燕山大学 | Mechanical claw capable of rapidly moving transversely |
| CN114097427A (en) * | 2021-11-23 | 2022-03-01 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
| CN117516340A (en) * | 2024-01-08 | 2024-02-06 | 济南汇通热力有限公司 | Long-conveying large-pipe-diameter heat distribution pipe network 'bump-up opening' heat preservation pipe measuring device |
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| GB368804A (en) * | 1930-12-02 | 1932-03-02 | Albert Edward Instone | Improved apparatus for picking or harvesting fruit from trees |
| CN202077399U (en) * | 2011-03-24 | 2011-12-21 | 哈尔滨理工大学 | Fruit picking mechanical device adjusted with fruit sizes |
| CN103026864A (en) * | 2012-12-31 | 2013-04-10 | 集美大学 | Fruit-plucking machine |
| CN203279525U (en) * | 2013-06-02 | 2013-11-13 | 程米红 | Telescopic fruit picker |
| CN204031841U (en) * | 2014-08-20 | 2014-12-24 | 青岛理工大学 | Fruit picking manipulator |
| CN207626131U (en) * | 2017-12-08 | 2018-07-20 | 大连海洋大学 | Portable telescopic fruits picking mechanical hand |
-
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB368804A (en) * | 1930-12-02 | 1932-03-02 | Albert Edward Instone | Improved apparatus for picking or harvesting fruit from trees |
| CN202077399U (en) * | 2011-03-24 | 2011-12-21 | 哈尔滨理工大学 | Fruit picking mechanical device adjusted with fruit sizes |
| CN103026864A (en) * | 2012-12-31 | 2013-04-10 | 集美大学 | Fruit-plucking machine |
| CN203279525U (en) * | 2013-06-02 | 2013-11-13 | 程米红 | Telescopic fruit picker |
| CN204031841U (en) * | 2014-08-20 | 2014-12-24 | 青岛理工大学 | Fruit picking manipulator |
| CN207626131U (en) * | 2017-12-08 | 2018-07-20 | 大连海洋大学 | Portable telescopic fruits picking mechanical hand |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107379010A (en) * | 2017-06-20 | 2017-11-24 | 芜湖蓝天工程塑胶有限公司 | New mechanical arm |
| CN108522004A (en) * | 2018-03-16 | 2018-09-14 | 湖北工业大学 | A kind of rotary conformal picking hands |
| CN108522004B (en) * | 2018-03-16 | 2021-02-02 | 湖北工业大学 | Rotary conformal picking hand |
| CN108370719A (en) * | 2018-04-17 | 2018-08-07 | 青岛理工大学 | Fruit picking device |
| CN108633468A (en) * | 2018-04-26 | 2018-10-12 | 西安交通大学 | Detachably stretch torsion formula fruit picking transport device and its picking method |
| CN108582157A (en) * | 2018-05-04 | 2018-09-28 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of mechanical arm of adjustable length |
| CN108401673A (en) * | 2018-05-14 | 2018-08-17 | 西安交通大学 | A kind of wearable fruit picking scissors |
| CN108401673B (en) * | 2018-05-14 | 2020-05-22 | 西安交通大学 | Scissors is picked to wearable fruit |
| CN108406757A (en) * | 2018-05-18 | 2018-08-17 | 河南理工大学 | A kind of manipulator and robot movement method |
| CN108767716A (en) * | 2018-05-28 | 2018-11-06 | 国网山东省电力公司济南市章丘区供电公司 | A kind of deformable up-flow wick gripper |
| CN108811744A (en) * | 2018-06-25 | 2018-11-16 | 吉林工程技术师范学院 | A kind of bionical picking mechanical arm device of indirect labor's fruit |
| CN108811753A (en) * | 2018-07-10 | 2018-11-16 | 陕西智多搭智能科技有限公司 | A kind of apple-picking is with holding scalable apple picking device |
| CN109304699A (en) * | 2018-11-20 | 2019-02-05 | 段淑芬 | A kind of sundries salvaging binder of house joints cement slurry |
| CN109644617A (en) * | 2019-01-09 | 2019-04-19 | 贵州省旱粮研究所 | A kind of layering culture dish and its transfer tool handgrip |
| CN109644617B (en) * | 2019-01-09 | 2022-02-01 | 贵州省旱粮研究所 | Layered culture dish and transfer tool tongs thereof |
| CN110169262A (en) * | 2019-03-14 | 2019-08-27 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | A kind of self-replaced type fruit picker with sorting function |
| CN109769475A (en) * | 2019-04-01 | 2019-05-21 | 农业部农业生态与资源保护总站 | A kind of portable picking fruit device |
| CN110810009A (en) * | 2019-11-25 | 2020-02-21 | 郑州轻工业大学 | Automatic telescopic apical branch apple picking device based on worm transmission |
| CN110810009B (en) * | 2019-11-25 | 2021-10-22 | 郑州轻工业大学 | Automatic telescopic apical branch apple picking device based on worm transmission |
| CN111941394A (en) * | 2020-08-07 | 2020-11-17 | 北京交通大学 | Flexible dexterous manipulator based on parallel connection continuum mechanism |
| CN111972130A (en) * | 2020-08-26 | 2020-11-24 | 上海大学 | Hollow telescopic mechanical arm |
| CN111972130B (en) * | 2020-08-26 | 2022-07-01 | 上海大学 | Hollow telescopic mechanical arm |
| CN112743522A (en) * | 2021-01-15 | 2021-05-04 | 许昌学院 | Artificial intelligence robot arm extends and snatchs mechanism |
| CN113070897A (en) * | 2021-04-09 | 2021-07-06 | 燕山大学 | Mechanical claw capable of rapidly moving transversely |
| CN114097427A (en) * | 2021-11-23 | 2022-03-01 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
| CN114097427B (en) * | 2021-11-23 | 2023-01-03 | 河南科技大学 | Polymerization type sphere-like single fruit picking manipulator and control method |
| CN117516340A (en) * | 2024-01-08 | 2024-02-06 | 济南汇通热力有限公司 | Long-conveying large-pipe-diameter heat distribution pipe network 'bump-up opening' heat preservation pipe measuring device |
| CN117516340B (en) * | 2024-01-08 | 2024-04-30 | 济南汇通热力有限公司 | Long-conveying large-pipe-diameter heat distribution pipe network 'bump-up opening' heat preservation pipe measuring device |
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Application publication date: 20180313 |