CN107852961A - Lowering or hoisting gear and fruit picking robot - Google Patents
Lowering or hoisting gear and fruit picking robot Download PDFInfo
- Publication number
- CN107852961A CN107852961A CN201711349159.4A CN201711349159A CN107852961A CN 107852961 A CN107852961 A CN 107852961A CN 201711349159 A CN201711349159 A CN 201711349159A CN 107852961 A CN107852961 A CN 107852961A
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- China
- Prior art keywords
- bevel gear
- connecting rod
- elevating
- fine tuning
- lowering
- 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.)
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Classifications
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- 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
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
Abstract
The invention discloses a kind of lowering or hoisting gear and fruit picking robot, the lowering or hoisting gear includes：Fast lifting mechanism, fast lifting mechanism include lower bracing frame, upper support frame, the first scissors connecting rod, the second scissors connecting rod, fine tuning elevating mechanism mounting platform, thread slider and screw thread slide bar；Wherein, the first scissors connecting rod and the second scissors connecting rod are arranged at lower bracing frame both sides, and fine tuning elevating mechanism mounting platform is arranged at the top of upper support frame, and thread slider is arranged in lower bracing frame, and the threaded one end of screw thread slide bar is connected to thread slider；Fine tuning elevating mechanism, fine tuning elevating mechanism are arranged on fine tuning elevating mechanism mounting platform, and fine tuning elevating mechanism includes hydraulic pump and hydraulic pump mounting bracket, vertical lifting mechanism, horizontal mobile mechanism.The lowering or hoisting gear being capable of fast lifting while accurate control vertical height and horizontal level.
Description
Technical field
The invention belongs to agricultural mechanical field, more particularly, to lowering or hoisting gear and fruit picking robot.
Background technology
Production of fruit big country of China, and the big fruit country of consumption of the first in the world.Developing rapidly for fruit-growing industry improves
The market demand of Machinery for orchard.Labour used in harvesting operation accounts for 33%~50% of labour used in whole production process, mesh
The fruit picking overwhelming majority in preceding China is still based on artificial pluck.It is more complicated to pluck operation, it is seasonal very strong, if using
Artificial harvesting, not only efficiency is low, the amount of labour is big, and easily causes the damage of fruit, if human hand can not enough be plucked in time
Also result in loss economically.With the development of robot technology, it is expected to solve manpower shortage, reduces worker's work by force
Degree, the work danger for improving worker's work comfort level, reducing worker, also improve the economic benefit of orchard worker in addition, thus carry
Height harvesting mechanization of operation degree has important meaning.
Existing fruit picking robot can not adjust the height of robot collection cutter in time according to the height of fruit, no
The position of cutter can be adjusted according to the high precision of fruit.Simultaneously current fruit picking robot regulation fruit picking cutter
Speed is excessively slow, causes cutter to damage fruit, and harvesting is inconvenient, picking efficiency is relatively low, is unfavorable for fruit picking robot
Popularization.
Therefore, it is necessary to develop one kind can quick regulation lifting, while accurate adjustment horizontal level and vertical height
Lift scissors and fruit picking robot.
The information for being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solution, and be not construed as recognizing or imply known to those skilled in the art existing of the information structure in any form
Technology.
The content of the invention
It is an object of the invention to provide a kind of lowering or hoisting gear and fruit picking robot, the lowering or hoisting gear being capable of fast lifting
Accurate control vertical height and horizontal level simultaneously.
To achieve these goals, a kind of lowering or hoisting gear is provided according to an aspect of the present invention, and the lowering or hoisting gear includes：
Fast lifting mechanism, the fast lifting mechanism include lower bracing frame, upper support frame, the first scissors connecting rod, second
Scissors connecting rod, fine tuning elevating mechanism mounting platform, thread slider and screw thread slide bar；Wherein, the first scissors connecting rod and described
Second scissors connecting rod is arranged at lower bracing frame both sides, and the fine tuning elevating mechanism mounting platform is arranged on the upper support frame top
Portion, the thread slider are arranged in the lower bracing frame, and the threaded one end of the screw thread slide bar is connected to the thread slider；
Fine tuning elevating mechanism, the fine tuning elevating mechanism are arranged on the fine tuning elevating mechanism mounting platform, described thin
Increasing descending mechanism includes hydraulic pump and hydraulic pump mounting bracket, vertical lifting mechanism, horizontal mobile mechanism；
Wherein, the hydraulic pump mounting bracket is arranged on fine tuning elevating mechanism mounting platform, and the hydraulic pump is arranged on institute
State on hydraulic pump mounting bracket；The vertical lifting mechanism include driving tapered gear shaft, first bevel gear axle, second bevel gear axle and
Elevating lever, one end of the driving tapered gear shaft are connected to the output end of the hydraulic pump, one end of the first bevel gear axle
One end of the driving tapered gear shaft is engaged in, the second bevel gear axle is engaged in the other end of the first bevel gear axle,
One end of the elevating lever is engaged in one end of the second bevel gear axle, and the driving tapered gear shaft rotation can drive described
Elevating lever rises or falls；The horizontal mobile mechanism is arranged at the top of the elevating lever.
A kind of fruit picking robot is provided according to another aspect of the present invention, and the fruit picking robot includes：
Above-mentioned lowering or hoisting gear；
Module is plucked, the harvesting module is arranged at the top of the fine tuning elevating mechanism；
Hand steered stroller, the hand steered stroller are arranged at the fast lifting mechanism bottom；
Fruit transmission module, described fruit transmission module one end are connected to the harvesting module, and the other end passes through described fast
Fast elevating mechanism, it is communicated at the top of the hand steered stroller.
The beneficial effects of the present invention are：By the setting of thread slider and screw thread slide bar, driving screw thread slide bar rotates, band
Unfolding and folding for dynamic first scissors connecting rod and the second scissors connecting rod, have adjusted the height between lower bracing frame and upper support frame,
Realize the lifting of quick regulation upper support frame；Pass through vertical lifting mechanism driving tapered gear shaft, first bevel gear axle, the second cone
The setting of gear shaft and elevating lever, the lifting of control elevating lever is driven by multiple bevel gear shafts, accurate control vertical direction
Position.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein, in exemplary embodiment of the invention, identical reference number
Typically represent same parts.
Fig. 1 shows the schematic diagram of the lowering or hoisting gear according to an embodiment of the invention.
Fig. 2 shows the schematic diagram of the fast lifting mechanism according to an embodiment of the invention.
Fig. 3 shows the schematic diagram of the fine tuning elevating mechanism according to an embodiment of the invention.
Fig. 4 shows the schematic diagram of the vertical lifting mechanism according to an embodiment of the invention.
Fig. 5 shows the schematic diagram of the horizontal mobile mechanism according to an embodiment of the invention.
Fig. 6 shows the schematic diagram of fruit picking robot according to an embodiment of the invention.
Fig. 7 shows the schematic diagram of picker according to an embodiment of the invention.
Fig. 8 shows the schematic diagram of harvesting sleeve transmission mechanism according to an embodiment of the invention.
Fig. 9 shows the schematic diagram of harvesting frame according to an embodiment of the invention.
Figure 10 shows the schematic diagram of harvesting sleeve and cutter according to an embodiment of the invention.
Figure 11 shows the schematic diagram of harvesting sleeve according to an embodiment of the invention.
Figure 12 shows the schematic diagram of harvesting ratch according to an embodiment of the invention.
Figure 13 shows the schematic diagram of picker according to an embodiment of the invention.
Figure 14 shows the schematic diagram of fruit branch separator according to an embodiment of the invention.
Figure 15 shows the schematic of fruit transmission device and fruit branch separator according to an embodiment of the invention
Structure chart.
Figure 16 shows the schematic diagram of fruit transmission device according to an embodiment of the invention.
Figure 17 shows the scheme of installation of wriggling magnetic valve according to an embodiment of the invention.
Figure 18 shows the schematic diagram of wriggling magnetic valve according to an embodiment of the invention.
Figure 19 shows the schematic diagram of cutter according to an embodiment of the invention.
Description of reference numerals
21st, hydraulic pump motor；22nd, hydraulic oil container；23rd, hydraulic pump；24th, fine tuning elevating mechanism mounting platform；31st, upper support
Frame；32nd, upper slide bar；33rd, the first scissors connecting rod；34th, lower bracing frame；35th, screw thread slide bar；36th, drop shot；37th, thread slider；
242nd, movable stand；243rd, hydraulic cylinder；244th, horizontal shifting platform；246th, stable expansion link is lifted；2452nd, driving tapered gear shaft；
2451st, first bevel gear axle；2455th, second bevel gear axle；2454th, elevating screw；2453rd, elevating screw sleeve；
1st, picker；2nd, fine tuning elevating mechanism；3rd, fast lifting mechanism；4th, fruit branch separator；5th, robot chassis；
11st, frame is plucked；12nd, crank；13rd, crank parallel connection connecting rod；14th, bush connecting rod；15th, bar is dredged in harvesting；16th, duct frame；17th, shelves
Bar；18th, ratch is plucked；2454th, elevating screw；2453rd, elevating screw sleeve；111st, crankshaft；112nd, lever chute；182、
Pluck sleeve；183rd, the second lips；185th, cutter；1821st, duct frame mounting groove；1812nd, waveform cam；1723rd, branch blocks
Bar；1531st, lever translating cam；171st, branch steps up pin；
41st, import；42nd, rotary unit；43rd, power unit；44th, export；45th, sieve plate；46th, coaming plate；47th, fixed mount；6、
Fruit transmission mechanism；7th, pipeline creeping mechanism；61st, three-way pipeline 61, three-way pipeline；62nd, horizontal pipeline；63rd, connecting pipe；
64th, wide opening pipeline；65th, fixed dam；66th, outlet conduit；71st, wriggling magnetic valve；711st, coil；712nd, valve seat；713rd, upper cunning
Block；714th, back-moving spring；715th, upper valve rod；716th, upper valve head；717th, lower valve rod；718th, connecting rod rotating shaft is interlocked；719th, interlock
Bar；720th, lower valve head；721st, upper valve inhales iron；722nd, sliding block；
1851st, cutter；1852nd, bottom knife；1853rd, back-moving spring；1854th, blade bearing pin fixing hole；1856th, picking knife
Frame.
Embodiment
The preferred embodiment of the present invention is described in more detail below.Although the following describe being preferable to carry out for the present invention
Mode, however, it is to be appreciated that may be realized in various forms the present invention without should be limited by embodiments set forth herein.Phase
Instead, there is provided these embodiments be in order that the present invention is more thorough and complete, and can be by the scope of the present invention intactly
It is communicated to those skilled in the art.
Provide a kind of lowering or hoisting gear according to an aspect of the present invention as Figure 1-Figure 5, the lowering or hoisting gear includes：Quickly
Elevating mechanism, fast lifting mechanism include lower bracing frame 34, upper support frame 31, the first scissors connecting rod 33, the second scissors connecting rod, thin
Increase descending mechanism mounting platform, thread slider 37 and screw thread slide bar 35；Wherein, the first scissors connecting rod 33 and the second scissors connecting rod are set
The both sides of lower bracing frame 34 are placed in, fine tuning elevating mechanism mounting platform is arranged on the top of upper support frame 31, and thread slider 35 is arranged on
In lower bracing frame 31, the threaded one end of screw thread slide bar 35 is connected to thread slider 37；Fine tuning elevating mechanism, fine tuning elevating mechanism are set
Put on fine tuning elevating mechanism mounting platform, fine tuning elevating mechanism includes hydraulic pump 23 and hydraulic pump mounting bracket, vertical conveyor
Structure, horizontal mobile mechanism；Wherein, hydraulic pump mounting bracket is arranged on fine tuning elevating mechanism mounting platform, and hydraulic pump 23 is arranged on
On hydraulic pump mounting bracket；Vertical lifting mechanism includes driving tapered gear shaft 2452, first bevel gear axle 2451, second bevel gear axle
2455 and elevating lever, one end of driving tapered gear shaft 2452 be connected to the output end of hydraulic pump 23, first bevel gear axle 2451
One end is engaged in one end of driving tapered gear shaft 2452, and second bevel gear axle 2455 is engaged in the another of first bevel gear axle 2451
End, one end of elevating lever are engaged in one end of second bevel gear axle 2455, and the rotation of driving tapered gear shaft 2452 can drive lifting
Bar rises or falls；Horizontal mobile mechanism is arranged at the top of elevating lever.
Specifically, rotated by the setting of thread slider and screw thread slide bar, driving screw thread slide bar, drive the first scissors connecting rod
And second scissors connecting rod unfold and fold, have adjusted the height between lower bracing frame and upper support frame, realize quick regulation
The lifting of upper support frame；Pass through vertical lifting mechanism driving tapered gear shaft, first bevel gear axle, second bevel gear axle and elevating lever
Setting, pass through the lifting of multiple bevel gear shafts transmission control elevating lever, the accurate position for controlling vertical direction.
Preferably, horizontal mobile mechanism includes horizontal shifting platform 244, movable stand 242 and hydraulic cylinder 243, water
Translation moving platform 244 is fixed at the top of elevating lever, and movable stand 242 is slidedly arranged on the top of horizontal shifting platform 244, hydraulic cylinder 243 1
End, which is connected to, moves horizontally flat 244, and the other end is connected to movable stand 242.
Specifically, by the setting of horizontal mobile mechanism hydraulic cylinder 243, level is accurately and fast adjusted by hydraulic control
The position in direction.
Preferably, first bevel gear axle 2451, second bevel gear axle 2455 and elevating lever are two, two first
Bevel gear shaft 2451 is engaged in the bevel gear of the both sides of driving tapered gear shaft 2452 respectively, and two second bevel gear axles 2455 are nibbled respectively
Together in the other end of two first bevel gear axles 2451, two elevating levers are engaged in the another of two second bevel gear axles 2455 respectively
One end.
Preferably, horizontal mobile mechanism is two, is respectively arranged at the top of two elevating levers.
Specifically, two first bevel gear axles 2451, second bevel gear axle are driven by a driving tapered gear shaft 2452
2455 rotate, and then control the lifting of two elevating levers, adjust the vertical height of two horizontal mobile mechanisms, improve lifting and cut
The processing speed of frame, has saved the energy, improves the operating efficiency of equipment.
Preferably, 34 framves of lower support include a pair lower support slide rail, lower fix bar and drop shots 36, and lower support is slided
Chute is provided with the middle part of rail, a pair of lower support slide rails are respectively arranged at lower fix bar both sides, and the both ends of drop shot 36 are set respectively
In lower support slide rail；Upper support frame 31 includes supporting slide rail, upper fix bar and upper slide bar 32 on a pair, is set in the middle part of upper support slide rail
Chute is equipped with, support slide rail is respectively arranged at fix bar both sides on a pair, and the both ends of upper slide bar 32 are respectively arranged at lower support
Slide rail；First scissors connecting rod 33 and the second scissors connecting rod are arranged at the both sides of lower bracing frame 34, the connection of the one end of the first scissors connecting rod 33
Upper slide bar 32 is connected in the other end of drop shot 36, second scissors connecting rod one end is connected to lower fix bar, and the other end is connected to
Fix bar；Thread slider is arranged on drop shot 36, and the threaded one end of screw thread slide bar is connected to thread slider.
Specifically, rotated by the setting of thread slider and screw thread slide bar, driving screw thread slide bar, drive drop shot to pass through cunning
Groove drives unfolding and folding for the first scissors connecting rod and the second scissors connecting rod closer or far from lower fix bar, have adjusted down
Height between support frame and upper support frame, realize the lifting of quick regulation upper support frame；Pass through lower bracing frame, upper support
The setting of frame, the first scissors connecting rod and the second scissors connecting rod is simple in construction while making fast lifting mechanism firm, for ease of maintenaince
The generation of failure can be efficiently avoided with safeguarding.
Preferably, vertical lifting mechanism also includes the stable expansion link 246 of lifting, lifts stable expansion link 246 1
End is connected to fine tuning elevating mechanism mounting platform 24, and the other end is connected to horizontal shifting platform 244.
Specifically, it can be multiple to lift stable expansion link, and it is 3-5 more preferably to lift stable expansion link, passes through liter
The setting of the stable expansion link of drop is improved the standard the enabling capabilities of travel mechanism, prevents elevating lever and bevel gear shaft from bearing excessive pressure
Power, cause and lift scissors transmission failure, lift stable expansion link and follow elevating lever rising and decline to make the operation of lifting scissors more
For stabilization.
It is highly preferred that the stable expansion link of lifting is 3.
Preferably, elevating lever includes elevating screw 2454 and elevating screw sleeve 2453, elevating screw 2,454 1
End is engaged in second bevel gear axle, and the other end is connected to elevating screw sleeve 2453, and elevating screw sleeve 2453 is connected to level
Mobile platform 244.
Specifically, using elevating screw and the screw thread up-down mode of elevating screw sleeve, elevating screw and elevating screw set
The annexation of cylinder is more stable, makes the enabling capabilities of lifting scissors stronger.
It is highly preferred that also including hydraulic pump motor 21 and hydraulic oil container 22, hydraulic pump motor 21 and hydraulic oil container 22 are set
On fine tuning elevating mechanism mounting platform 24.
Preferably, the installation direction of first bevel gear axle 2451 is perpendicular to driving tapered gear shaft 2452, the second cone
The installation direction of gear shaft 2455 is perpendicular to first bevel gear axle 2451, and the installation direction of elevating lever is perpendicular to second bevel gear axle
2455, setting in this way realizes the regulation of driving direction, while orthogonal set-up mode makes active conical tooth
Mutually supported between wheel shaft, first bevel gear axle, second bevel gear axle and elevating lever, make vertical lifting mechanism more firm, prevented
Only stress is excessive causes part in vertical lifting mechanism to be subjected to displacement, and triggers failure.
It is highly preferred that the first scissors connecting rod and the second scissors connecting rod include the first scissors bar and the second scissors bar respectively, the
One end of one scissors bar is articulated with one end of the second scissors bar, by the setting of two level scissors connecting rod be easy to the first scissors connecting rod and
Second scissors connecting rod is unfolded and folded.
It is highly preferred that the first scissors bar of the first scissors connecting rod in the middle part of the first scissors bar of the second scissors connecting rod with being provided with
Locating pin is provided with the middle part of locating pin, the second scissors bar of the first scissors connecting rod and the second scissors bar of the second scissors connecting rod.
It is highly preferred that the hinged place of the first scissors bar and the second scissors bar is provided with bracing piece, pass through the setting of bracing piece
Prevent from sending the displacement of horizontal direction between the first scissors bar and the second scissors bar, it is possible to increase the resistance to compression energy of fast lifting mechanism
Power.
It is highly preferred that also including drive device, drive device is arranged in lower bracing frame, and screw thread slide bar can be driven to revolve
Turn, drive lower fix bar and drop shot close to each other or remote.
A kind of fruit picking robot is provided according to another aspect of the present invention, and the fruit picking robot includes：On
The lowering or hoisting gear stated；Module is plucked, harvesting module is arranged at the top of fine tuning elevating mechanism；Hand steered stroller, hand steered stroller are arranged at
Fast lifting mechanism bottom；Fruit transmission module, fruit transmission module one end are connected to harvesting module, and the other end rises through quick
Descending mechanism, it is communicated at the top of hand steered stroller.
Preferably, in addition to fruit branch separation module, fruit branch separation module are arranged at the middle part of fruit transmission module.
Embodiment
As shown in Fig. 1-Figure 19, the fruit picking robot includes：
Robot chassis 5；Lowering or hoisting gear, lowering or hoisting gear are arranged on the top of robot chassis 5；Picker 1, picker
1 is arranged at the top of lowering or hoisting gear；Fruit transmission device, one end of fruit transmission device are connected to the bottom of picker 1, the other end
It is communicated in fruit branch separator；Fruit branch separator 4, fruit branch separator 4 are arranged on the top of robot chassis 5；Wherein, pluck
Device includes harvesting frame 11, harvesting ratch 18, harvesting sleeve 182, harvesting sleeve transmission mechanism, cutter 185, plucks frame 11
It is arranged at the top of lowering or hoisting gear, harvesting ratch 18 is vertically installed in harvesting frame 11, and harvesting sleeve 182 is sheathed on harvesting ratch
18, harvesting sleeve transmission mechanism one end is fixed on the harvesting other end of frame 11 and is fixed on harvesting sleeve 182, plucks sleeve driver
Structure can drive axis direction of the harvesting sleeve 182 along harvesting ratch 18 to move back and forth, and one end of cutter 185 passes through harvesting sleeve
182 connection harvesting ratch 18.
Specifically, the present invention drives robot displacement by robot chassis 5, and more preferably robot tray bottom can be with
Universal wheel and locating rod are set, play a part of firm robot, drives picker 1 to rise and decline by lowering or hoisting gear；
By the fruit-picking of picker 1, the fruit after harvesting is delivered to robot by fruit transmission device and fruit branch separator 4
The top of chassis 5.Picker 1 drives harvesting sleeve 182 to move back and forth in the axial direction by plucking sleeve transmission mechanism, enters
And driving harvesting ratch 18 to move, cutter 185 realizes cutting to branch by plucking ratch 18, and the fruit after cutting falls into water
Fruit transmitting device is reclaimed, can rapid picking fruit, while substantially increase picking efficiency.
Preferably, it is rectangular slab to pluck frame 11, and lever parallel to each other is provided with along the long side direction of rectangular slab
Chute 112 and crank pit, the medial surface of crank pit have been equidistantly positioned multiple crankshafts 111.
Ratch 18 is plucked to be multiple, harvesting ratch 18 is semicircle mast, and semicircle mast is provided with the ripple perpendicular to semi-cylindrical
Shape wave cam 1812, it is multiple to pluck the position correspondence with multiple crankshafts 111 successively of ratch 18, pluck the semicolumn of ratch 18
Face is vertically arranged at the broadside surfaces of rectangular slab.
Sleeve 182 is plucked to be multiple, the barrel of multiple harvesting sleeves 182 in the axial direction is provided with opening, plucks sleeve 182
Multiple harvesting ratch 18 are sheathed on, and waveform cam 1812 is arranged at opening, one end of cutter 185 is connected to through opening
Waveform cam 1812.
Sleeve transmission mechanism is plucked, harvesting sleeve transmission mechanism includes crank 12, crank parallel connection connecting rod 13, bush connecting rod
14, one end crankshaft 111 of crank 12 is connected, and the other end is connected with crank parallel connection connecting rod 13, the one end of bush connecting rod 14 and harvesting
Sleeve 182 is connected, and the other end is connected with crank parallel connection connecting rod 13.
Preferably, picker also includes：Harvesting catches mechanism, and harvesting, which catches mechanism, includes multiple levers 17,
Multiple equidistant parallels of lever 17 are arranged on lever slide bar, lever slide bar with multiple harvesting parallel equidistants of ratch 18 from staggering, if
It is placed in lever chute 112, harvesting catches picking machine framework and can moved along lever chute 112.
Preferably, the top of lever 17 is provided with the first lips, and the top of harvesting sleeve 182 is provided with the second lips
183。
It is highly preferred that harvesting frame 1 bottom is provided with crank driving device, crank driving device is connected with crank 12.
It is highly preferred that the frame side surface of multiple upsides of crankshaft 111, which is provided with multiple harvestings, dredges bar 15.
It is highly preferred that the downside of harvesting sleeve 182 is provided with duct frame mounting groove 1821, the one end of duct frame 16 is arranged at pipeline
Harvesting ratch 18 in frame mounting groove 1821, the other end are arranged at the downside of multiple levers 17.
It is highly preferred that harvesting frame 11 divides into organic frame support base 113, the downside of lever 17 is provided with lever mobile putter.
It is highly preferred that bar 1723 is blocked in the end of multiple levers 17 provided with the branch vertical with lever.
Specifically, harvesting catches mechanism and moved along lever chute, and lever can adjust and pluck the distance between ratch,
First lip and the second lip are fixed on harvesting sleeve and lever, are easy to fruit being fixed on the first lip and the second lip
Top, the harvesting sleeve of harvesting transmission mechanism driving picking mechanism moves back and forth in the axial direction, and then plucks sleeve drive and adopt
Pluck cutter to move back and forth along harvesting ratch, the blade push rod for plucking cutter moves along wave cam so that two on harvesting cutter
During the knife-blade of individual superposition and the when of staggering and align, the limb of fruit bottom is sheared, the fruit under being sheared rolls into
In the duct frame for plucking cutter side, completion harvesting action, multiple harvesting sleeves work simultaneously, and each sleeve of plucking is provided with more
Individual harvesting cutter, realize that high-volume is plucked.Bar is dredged by being arranged above multiple harvestings in picking mechanism, when fruit picking fills
Put insertion be inserted into from fruit tree lower end in tree crown, it is multiple harvesting dredge bar larger limb can be supported on harvesting cutter it
On, fruit is being exposed between the first lip and the second lip as far as possible, and then cause the branch and picking knife of fruit lower end
Tool fully contact, improves picking efficiency, and prevent Cutting Tool Damage fruit.Fruit picker is arranged on fine tuning lifting platform
Side, the lever for catching mechanism with harvesting by lever mobile putter one end are connected, and the other end is with inserting the bar on trickle lifting platform
In the deep-slotted chip breaker of translating cam, trickle hoistable platform drive device drives trickle hoistable platform to move horizontally, and then drives harvesting
Catch mechanism to move along chute, realize that lever and harvesting sleeve are close, the first lip is contacted and fixed with the second lip with fruit.
Preferably, lowering or hoisting gear includes：Fast lifting mechanism 3, fine tuning elevating mechanism 2；Wherein, rapid elevator
Structure 3 includes lower bracing frame 34, upper support frame 31, the first scissors connecting rod 33, the second scissors connecting rod, fine tuning elevating mechanism mounting platform
24th, thread slider 37 and screw thread slide bar 35；Wherein, the first scissors connecting rod 33 and the second scissors connecting rod are arranged at 34 liang of lower bracing frame
Side, fine tuning elevating mechanism mounting platform 24 are arranged on the top of upper support frame 31, and thread slider 37 is arranged in lower bracing frame 34, spiral shell
The threaded one end of line slide bar 35 is connected to thread slider 37；Fine tuning elevating mechanism is arranged on fine tuning elevating mechanism mounting platform 24
On.
Preferably, fine tuning elevating mechanism includes hydraulic pump 23 and hydraulic pump mounting bracket, vertical lifting mechanism, level
Travel mechanism；Wherein, the mounting bracket of hydraulic pump 23 is arranged on fine tuning elevating mechanism mounting platform 24, and hydraulic pump 23 is arranged on hydraulic pressure
On pump mounting bracket；Vertical lifting mechanism includes driving tapered gear shaft 2452, first bevel gear axle 2451, second bevel gear axle 2455
And elevating lever 245, one end of driving tapered gear shaft 2452 are connected to the output end of hydraulic pump 23, the one of first bevel gear axle 2451
End is engaged in one end of driving tapered gear shaft 2451, and second bevel gear axle 2455 is engaged in the another of first bevel gear axle 2451
End, one end of elevating lever 245 are engaged in one end of second bevel gear axle 2455, and the rotation of driving tapered gear shaft 2452 can drive liter
Drop bar 245 rises or falls；Wherein, horizontal mobile mechanism includes horizontal shifting platform 244, movable stand 242 and hydraulic cylinder 243,
Horizontal shifting platform 244 is fixed on the top of elevating lever 245, and movable stand 242 is slidedly arranged on the top of horizontal shifting platform 244, hydraulic cylinder
243 one end are connected to horizontal shifting platform 244, and the other end is connected to movable stand 242；Picker 1 is arranged on movable stand 242 and pushed up
Portion.
Preferably, the top of movable stand 242 is provided with lever translating cam 1531, is set on lever translating cam 1531
There is deep-slotted chip breaker, be arranged in the lever mobile putter insertion deep-slotted chip breaker of harvesting sleeve transmission mechanism bottom, and being capable of arcuately groove
Slide.
Specifically, pluck sleeve transmission mechanism bottom and be provided with branch and step up pin 171, branch steps up pin 171 and plugged
In the deep-slotted chip breaker of lever translating cam 1531, when harvesting sleeve transmission mechanism driving harvesting sleeve moves reciprocatingly, pass through
The setting of deep-slotted chip breaker can avoid plucking sleeve and branch and the rigid Mechanical Contact of plant equipment generation.
It is highly preferred that the first scissors connecting rod 33 and the second scissors connecting rod include the first scissors bar and the second scissors bar respectively,
One end of first scissors bar is articulated with one end of the second scissors bar.
It is highly preferred that lower bracing frame 34 includes a pair lower support slide rail, lower fix bar and drop shots 36, it is lower to support in slide rail
Portion is provided with chute, and a pair of lower support slide rails are respectively arranged at lower fix bar both sides, and the both ends of drop shot are respectively arranged at lower branch
Support slide rail；Upper support frame 31 includes supporting slide rail, upper fix bar and upper slide bar 32 on a pair, and cunning is provided with the middle part of upper support slide rail
Groove, support slide rail is respectively arranged at fix bar both sides on a pair, and the both ends of upper slide bar 32 are respectively arranged at lower support slide rail；The
One scissors connecting rod 33 and the second scissors connecting rod are arranged at the both sides of lower bracing frame 34, and the one end of the first scissors connecting rod 33 is connected to drop shot
36 other ends are connected to upper slide bar 32, and second scissors connecting rod one end is connected to lower fix bar, and the other end is connected to fix bar；Spiral shell
Line sliding block is arranged on drop shot 36, and the threaded one end of screw thread slide bar 35 is connected to thread slider 37.
It is highly preferred that set in the middle part of the first scissors bar of the first scissors connecting rod 33 and the first scissors bar of the second scissors connecting rod
There is locating pin, locating pin is provided with the middle part of the second scissors bar of the first scissors connecting rod and the second scissors bar of the second scissors connecting rod.
It is highly preferred that the hinged place of the first scissors bar and the second scissors bar is provided with bracing piece.
It is highly preferred that also including drive device, drive device is arranged in lower bracing frame, and screw thread slide bar can be driven to revolve
Turn, drive lower fix bar and drop shot close to each other or remote.
It is highly preferred that first bevel gear axle 2451, second bevel gear axle 2455 and elevating lever 245 are two, two first
Bevel gear shaft 2451 is engaged in the bevel gear of the both sides of driving tapered gear shaft 2455 respectively, and two second bevel gear axles 2455 are nibbled respectively
Together in the other end of two first bevel gear axles 2451, two elevating levers 245 are engaged in two second bevel gear axles 2455 respectively
The other end.
It is highly preferred that horizontal mobile mechanism is two, the top of two elevating levers 245 is respectively arranged at.
It is highly preferred that vertical lifting mechanism also includes the stable expansion link 246 of lifting, lift stable one end of expansion link 246 and connect
Movable stand 242 is connected to, the other end is connected to fine tuning elevating mechanism mounting platform 24.
It is highly preferred that the stable expansion link 246 of lifting is multiple.
It is highly preferred that the installation direction of first bevel gear axle 2451 is perpendicular to driving tapered gear shaft 2452, second bevel gear
The installation direction of axle 2455 is perpendicular to first bevel gear axle 2451, and the installation direction of elevating lever 245 is perpendicular to second bevel gear axle
2455。
It is highly preferred that also including hydraulic pump motor 21 and hydraulic oil container 22, hydraulic pump motor 21 and hydraulic oil container 22 are set
On fine tuning elevating mechanism mounting platform 24.
It is highly preferred that elevating lever 245, which includes elevating lever 245, includes elevating screw 2454 and elevating screw sleeve 2453, rise
Drop screw mandrel 2454 one end is engaged in second bevel gear axle 2455, and the other end is connected to elevating screw sleeve 2453, elevating screw set
Cylinder 2453 is connected to horizontal shifting platform 244.
Specifically, rotated by the setting of thread slider and screw thread slide bar, driving screw thread slide bar, drive the first scissors connecting rod
And second scissors connecting rod unfold and fold, have adjusted the height between lower bracing frame and upper support frame, realize quick regulation
The lifting of upper support frame；Pass through vertical lifting mechanism driving tapered gear shaft, first bevel gear axle, second bevel gear axle and elevating lever
Setting, pass through the lifting of multiple bevel gear shafts transmission control elevating lever, the accurate position for controlling vertical direction.
Specifically, by the setting of horizontal mobile mechanism hydraulic cylinder 243, level is accurately and fast adjusted by hydraulic control
The position in direction.
Specifically, two first bevel gear axles 2451, second bevel gear axle are driven by a driving tapered gear shaft 2452
2455 rotate, and then control the lifting of two elevating levers, adjust the vertical height of two horizontal mobile mechanisms, improve lifting and cut
The processing speed of frame, has saved the energy, improves the operating efficiency of equipment.
Specifically, rotated by the setting of thread slider and screw thread slide bar, driving screw thread slide bar, drive drop shot to pass through cunning
Groove drives unfolding and folding for the first scissors connecting rod and the second scissors connecting rod closer or far from lower fix bar, have adjusted down
Height between support frame and upper support frame, realize the lifting of quick regulation upper support frame；Pass through lower bracing frame, upper support
The setting of frame, the first scissors connecting rod and the second scissors connecting rod is simple in construction while making fast lifting mechanism firm, for ease of maintenaince
The generation of failure can be efficiently avoided with safeguarding.
Specifically, it can be multiple to lift stable expansion link, and it is 3-5 more preferably to lift stable expansion link, passes through liter
The setting of the stable expansion link of drop is improved the standard the enabling capabilities of travel mechanism, prevents elevating lever and bevel gear shaft from bearing excessive pressure
Power, cause and lift scissors transmission failure, lift stable expansion link and follow elevating lever rising and decline to make the operation of lifting scissors more
For stabilization.
Preferably, fruit transmission device includes：Fruit transmission mechanism 6, fruit transmission mechanism 6 include being sequentially connected
Transmission pipeline, connecting pipe, wide opening pipeline 64 and outlet conduit 66, transmission pipeline is arranged in duct frame, transmits fruit
Mechanism 6 is connected with picker；Pipeline creeping mechanism 7, pipeline creeping mechanism 7 include electromagnetism installing plate 72 and are arranged at abampere
Multiple wriggling magnetic valves 71 in loading board 72, multiple wriggling magnetic valves 71 are corresponding with the wide opening pipeline 64 of fruit transmission mechanism 6 to be set
Put, for driving fruit transmission mechanism 6.
Preferably, transmission pipeline includes three-way pipeline 61 and a pair of horizontal pipelines 62, and three-way pipeline 61 includes two
Individual input port and a delivery outlet, a pair of horizontal pipelines 62 are respectively connecting to two input ports, and horizontal pipeline 62 is arranged at harvesting
The side of sleeve 182；Connecting pipe 63, one end of connecting pipe 63 are connected to delivery outlet, the other end and wide opening of connecting pipe 63
One end of pipeline 64 is connected；Wide opening pipeline 64, the other end of wide opening pipeline 4 are connected to one end of outlet conduit 66；Outlet
Road 64, the other end of outlet conduit 64 are connected to the import of fruit branch separator 4；Fixed dam 65, fixed dam 65 and wide opening
The side of pipeline 64 is fixedly connected；Wherein, a pair of horizontal pipelines 62 are arranged in duct frame by buckle.
It is highly preferred that wide opening pipeline 64 include it is multiple be sequentially communicated heave section and vertical section, heave section and vertical section exist
Substitute repeatedly under the driving of pipeline creeping mechanism.
It is highly preferred that wriggling magnetic valve 71 includes：Valve seat 712, valve seat 712 include bottom plate, be fixed on it is parallel above bottom plate
The starting stave of setting and the second riser, and it is arranged at the lower plate below bottom plate；Valve seat 712, valve seat include bottom plate, are fixed on
The starting stave and the second riser that bottom plate both ends be arranged in parallel；Coil 711, coil 711 are arranged on bottom plate, perpendicular close to first
Plate；Upper valve rod 715, upper valve rod 715 are arranged on the front of the second riser, through the second riser；Upper valve inhales iron 721, and upper valve inhales iron
721 are arranged at the rear of the second riser, adsorb upper valve rod 715；Upper valve head 716, upper valve head 716 are arranged at the front end of upper valve rod 715,
It is correspondingly arranged with the depression section of wide opening pipeline 64.
It is connected it is highly preferred that upper valve inhales iron 721 with upper valve rod 715 by the property of back-moving spring bullet 714.
It is highly preferred that upper valve, which inhales iron 721, is provided with top shoe 713.
It is highly preferred that bottom plate, which is provided with, interlocks connecting rod rotating shaft 718.
It is highly preferred that wriggling magnetic valve 71 also includes：Lower valve rod 717, lower valve rod 717 is by interlocking connecting rod 719 and upper valve
Inhale iron 721 to connect, lower valve rod 717 passes through lower plate, and lower valve rod 717 is provided with sliding block；Interlock connecting rod 719, interlock connecting rod 719 with
Interlock connecting rod rotating shaft 718 to be rotatably connected, interlock connecting rod 719 and be provided with upper hopper chute and gliding groove, upper hopper chute and gliding groove respectively with
Top shoe 713 slides with sliding block 722 to be connected；Lower valve head 720, lower Electrical heads are arranged at the front end of lower valve rod 717, with wide opening pipeline
65 section of heaving is correspondingly arranged.
Specifically, when wriggling magnetic valve 71 is powered, upper valve inhales the absorption upper valve rod 715 of iron 721, and valve head 716 leaves in drive
The depression section of wide opening pipeline, in the presence of interlocking connecting rod 719, lower valve head 720 contacts with the section of heaving of wide opening pipeline, power-off
When, in the presence of back-moving spring 714, upper valve rod 715 is released, upper valve head 716 presses close to the section that is recessed, by interlocking connecting rod 719
In the presence of, lower valve head 720 separates with the section of heaving of wide opening pipeline, and driving wide opening pipeline heaves section and the progress of depression section repeatedly
Substitute.
Specifically, power unit is connected with rotary shaft, is uniformly fixedly installed multiple blades in rotary shaft, power unit according to
Blade rotation in sub-band turn turn and rotary shaft, the fruit of harvesting are entered on sieve plate from import, rotary unit rotation, branch
Leaf meeting nature falls to the lower section of more horizontal stripes of sieve plate, and fruit continues to rotate, branches and leaves are fractureed with two adjacent blades, fruit
It is real to be exported from outlet.
It is highly preferred that fruit branch separator 4 includes：Sieve plate 45, sieve plate 45 include more horizontal stripes；Coaming plate 46, coaming plate 46 are set
It is placed on sieve plate 45, coaming plate 46 is provided with import 41 and outlet 44；Rotary unit 42, rotary unit 42 are arranged in coaming plate 46
Portion, it is arranged at 45 side on sieve plate；Power unit 43, power unit 43 are arranged at the lower section of sieve plate 45, are connected with rotary unit 42；Its
In, the outlet conduit of fruit transmission mechanism 6 is connected to the import 41 of fruit branch separator 6.
It is highly preferred that fruit branch separating mechanism also includes：Fixed mount 47, fixed mount 47 are arranged at the lower section of sieve plate 45, fruit branch point
Structure 4 of disembarking is fixed on fast lifting mechanism 3 by fixed mount 47.
It is highly preferred that more horizontal stripes are set in the same direction, more horizontal stripes are successively away from the first distance.
It is highly preferred that the first distance is 5cm.
It is highly preferred that rotary unit 42 includes：Rotary shaft, rotary shaft are arranged at the center of sieve plate；Blade, multiple blades
Uniformly it is arranged in rotary shaft.
It is highly preferred that multiple blades are 3 blades.
It is highly preferred that power unit 43 is with rotating axis connection.
It is highly preferred that power unit 43 is hydraulic motor.
It is highly preferred that sieve plate 45 is metal sieve plate, wooden sieve plate or plastics sieve plate.
It is highly preferred that import 41 is connected with fruit transmission mechanism 6.
Specifically, by the cooperation of rotary unit 43 and sieve plate 45, fruit and branches and leaves are automatically separated, improve the machine of harvesting
Tool efficiency, the labor intensity of worker is reduced, improve the efficiency of fruit branch separation, reduced the work danger of worker, avoid by branch
Leaf scratches.
Specifically, power unit 43 is connected with rotary shaft, and multiple blades, power unit are uniformly fixedly installed in rotary shaft
43 drive the blade rotation rotated with rotary shaft successively, and the fruit of harvesting is entered on sieve plate 45 from import, rotary unit
42 rotations, branches and leaves meeting nature fall to the lower section of more horizontal stripes of sieve plate, and fruit continues to rotate with two adjacent blades, by branch
Leaf fractures, and fruit exports from outlet 44.
It is highly preferred that cutter 185 includes：Knife rest 1856 is plucked, blade bearing pin fixing hole is provided among harvesting knife rest 1856
1854；Cutter 1851, the side of cutter 1851 are symmetrically provided with two row's blade grooves, and the axis of cutter 1851 is provided with laterally
Fixed sliding block and pin shaft hole, pin shaft hole are connected by bearing pin with blade bearing pin fixing hole；Bottom knife 1852, bottom knife 1852 include
Bottom knife push rod and the upper knife edge for being arranged at the side of bottom knife push rod two, the first cunning is sequentially provided with the axis of bottom knife push rod
Groove, spring fixing glue and the second chute, laterally fix sliding block and be arranged in the first chute, bearing pin is arranged in the second chute, bullet
Back-moving spring 1853 is provided between spring fixing glue and bearing pin, bottom knife can move up and down along the first chute and the second chute.
It is highly preferred that the both sides of blade bearing pin fixing hole, which are arranged with, evades the buckle of back-moving spring 1853.
It is highly preferred that evading back-moving spring buckle is provided with back-moving spring 1853, the steel wire of back-moving spring 1853 is close to
The both sides of cutter.
It is highly preferred that harvesting knife rest 1856 is halfround bar slice, the bottom of halfround bar slice is provided with fold-type side, and the both ends on fold-type side are provided with
Fixing threaded hole is installed.
It is highly preferred that harvesting knife rest 1856 is arranged on harvesting sleeve 182 by installing fixing threaded hole.
It is highly preferred that cutter 1851 is ellipse.It is highly preferred that blade groove is barb-shaped.
It is highly preferred that during spring relaxation, blade groove staggers with upper knife edge, during spring compression, blade groove with upper knife edge simultaneously.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Claims (10)
1. a kind of lowering or hoisting gear, it is characterised in that the lowering or hoisting gear includes：
Fast lifting mechanism, the fast lifting mechanism include lower bracing frame, upper support frame, the first scissors connecting rod, the second scissors
Connecting rod, fine tuning elevating mechanism mounting platform, thread slider and screw thread slide bar；Wherein, the first scissors connecting rod and described second
Scissors connecting rod is arranged at lower bracing frame both sides, and the fine tuning elevating mechanism mounting platform is arranged at the top of the upper support frame, institute
State thread slider to be arranged in the lower bracing frame, the threaded one end of the screw thread slide bar is connected to the thread slider；
Fine tuning elevating mechanism, the fine tuning elevating mechanism are arranged on the fine tuning elevating mechanism mounting platform, the fine tuning liter
Descending mechanism includes hydraulic pump and hydraulic pump mounting bracket, vertical lifting mechanism, horizontal mobile mechanism；
Wherein, the hydraulic pump mounting bracket is arranged on fine tuning elevating mechanism mounting platform, and the hydraulic pump is arranged on the liquid
On press pump mounting bracket；The vertical lifting mechanism includes driving tapered gear shaft, first bevel gear axle, second bevel gear axle and lifting
Bar, one end of the driving tapered gear shaft are connected to the output end of the hydraulic pump, one end engagement of the first bevel gear axle
In one end of the driving tapered gear shaft, the second bevel gear axle is engaged in the other end of the first bevel gear axle, described
One end of elevating lever is engaged in one end of the second bevel gear axle, and the driving tapered gear shaft rotation can drive the lifting
Bar rises or falls；The horizontal mobile mechanism is arranged at the top of the elevating lever.
2. lowering or hoisting gear according to claim 1, it is characterised in that the horizontal mobile mechanism is flat including moving horizontally
Platform, movable stand and hydraulic cylinder, the horizontal shifting platform are fixed at the top of the elevating lever, and the movable stand is slidedly arranged on the water
Translate at the top of moving platform, described hydraulic cylinder one end is connected to the horizontal shifting platform, and the other end is connected to the movable stand.
3. lowering or hoisting gear according to claim 2, it is characterised in that the first bevel gear axle, the second bevel gear
Axle and the elevating lever are two, and two first bevel gear axles are engaged in the cone tooth of the driving tapered gear shaft both sides respectively
Wheel, two second bevel gear axles are engaged in the other end of two first bevel gear axles, two elevating levers respectively
The other end of described two second bevel gear axles is engaged in respectively.
4. lowering or hoisting gear according to claim 3, it is characterised in that the horizontal mobile mechanism is two, is set respectively
In the top of two elevating levers.
5. lowering or hoisting gear according to claim 1, it is characterised in that the lower bracing frame include a pair of lower support slide rails,
Lower fix bar and drop shot, the lower support slide rail middle part are provided with chute, and the pair of lower support slide rail is respectively arranged at institute
Lower fix bar both sides are stated, the both ends of the drop shot are respectively arranged at the lower support slide rail；
The upper support frame includes supporting slide rail, upper fix bar and upper slide bar on a pair, is provided with the middle part of the upper support slide rail
Chute, the pair of upper support slide rail are respectively arranged at fixed bar both sides, and the both ends of the upper slide bar are respectively arranged at
The lower support slide rail；
The first scissors connecting rod and the second scissors connecting rod are arranged at lower bracing frame both sides, described first scissors connecting rod one end
It is connected to the drop shot other end and is connected to upper slide bar, described second scissors connecting rod one end is connected to the lower fix bar, the other end
It is connected to fixed bar；
The thread slider is arranged on the drop shot, and the threaded one end of the screw thread slide bar is connected to the thread slider.
6. lowering or hoisting gear according to claim 2, it is characterised in that the vertical lifting mechanism also includes lifting stabilization and stretched
Contracting bar, described stable expansion link one end of lifting are connected to the fine tuning elevating mechanism mounting platform, and the other end is connected to the water
Translate moving platform.
7. lowering or hoisting gear according to claim 1, it is characterised in that the elevating lever includes elevating screw and elevating screw
Sleeve, described elevating screw one end are engaged in the second bevel gear axle, and the other end is connected to the elevating screw sleeve, described
Elevating screw sleeve connection is in the horizontal shifting platform.
8. lowering or hoisting gear according to claim 1, it is characterised in that the installation direction of the first bevel gear axle perpendicular to
The driving tapered gear shaft, the installation direction of the second bevel gear axle is perpendicular to first bevel gear axle, the peace of the elevating lever
Direction is filled perpendicular to second bevel gear axle.
9. a kind of fruit picking robot, it is characterised in that the fruit picking robot includes：
Lowering or hoisting gear in claim 1-8 described in any one；
Module is plucked, the harvesting module is arranged at the top of the fine tuning elevating mechanism；
Hand steered stroller, the hand steered stroller are arranged at the fast lifting mechanism bottom；
Fruit transmission module, described fruit transmission module one end are connected to the harvesting module, and the other end quickly rises through described
Descending mechanism, it is communicated at the top of the hand steered stroller.
10. fruit picking robot according to claim 9, it is characterised in that also including fruit branch separation module, the fruit
Branch separation module is arranged at the end of the fruit transmission module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711349159.4A CN107852961B (en) | 2017-12-15 | 2017-12-15 | Lifting device and fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711349159.4A CN107852961B (en) | 2017-12-15 | 2017-12-15 | Lifting device and fruit picking robot |
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| CN107852961A true CN107852961A (en) | 2018-03-30 |
| CN107852961B CN107852961B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711349159.4A Active CN107852961B (en) | 2017-12-15 | 2017-12-15 | Lifting device and fruit picking robot |
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| CN108782217A (en) * | 2018-05-29 | 2018-11-13 | 霍邱金木鱼农业科技有限公司 | A kind of flow-type nutrient solution cycle supply vegetable planting rack |
| CN109121704A (en) * | 2018-08-27 | 2019-01-04 | 昆明理工大学 | A kind of fruit picking |
| CN111998795A (en) * | 2020-09-09 | 2020-11-27 | 哈尔滨科能熔敷科技有限公司 | Quick intelligent detection device for water wall abrasion |
| CN113958811A (en) * | 2021-10-20 | 2022-01-21 | 温州职业技术学院 | VR is auxiliary device for live broadcast convenient to use |
| US11910751B1 (en) * | 2023-03-17 | 2024-02-27 | King Saud University | Robotic system for harvesting and maintaining date palms |
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|---|---|
| CN107852961B (en) | 2023-09-26 |
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