CN107969221A - A kind of full-automatic watermelon picking machine - Google Patents
A kind of full-automatic watermelon picking machine Download PDFInfo
- Publication number
- CN107969221A CN107969221A CN201810029975.5A CN201810029975A CN107969221A CN 107969221 A CN107969221 A CN 107969221A CN 201810029975 A CN201810029975 A CN 201810029975A CN 107969221 A CN107969221 A CN 107969221A
- Authority
- CN
- China
- Prior art keywords
- motor
- arm
- forearm
- hinged
- watermelon
- 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
- 241000219109 Citrullus Species 0.000 title claims abstract description 100
- 235000012828 Citrullus lanatus var citroides Nutrition 0.000 title claims abstract description 100
- 210000000245 forearm Anatomy 0.000 claims abstract description 44
- 239000012636 effector Substances 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 235000013399 edible fruits Nutrition 0.000 description 10
- 239000004576 sand Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000009508 confectionery Nutrition 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000796 flavoring agent Substances 0.000 description 1
- 235000019634 flavors Nutrition 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000035922 thirst 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
- A01D46/30—Robotic devices for individually picking crops
Abstract
Present invention mainly discloses a kind of full-automatic watermelon picking machine, including running gear, end effector and transmission device, running gear to be equipped with the first column, and the upper end of the first column is equipped with turntable, and turntable is equipped with the second column；Transmission device includes large arm and the forearm being hinged, and the inner and the upper end of the second column of large arm are hinged, and the outer end of large arm and the inner of forearm are hinged, and the outer end of forearm is connected with end effector；End effector includes mechanical arm, the upper end of mechanical arm and the outer end of forearm are hinged, disk is arranged with mechanical arm, disk is equipped with reciprocating mechanism, the lower end of mechanical arm is equipped with connecting shaft and suction means, a pair of symmetrical tong arm is rotatably connected in connecting shaft, upper end and the disk of tong arm are hinged, and the lower end of tong arm is equipped with handgrip.Present invention picking scope is wide, and using flexible is changeable, saves manual labor and time, greatly improves the picking efficiency of watermelon.
Description
Technical field
The present invention relates to robotic technology field, particularly a kind of full-automatic watermelon picking machine.
Background technology
Watermelon extensively liked as the fruit of summer indispensability by masses, its sweet flavor succulence in terms of the characteristics of watermelon itself
And it is cold in nature, clearly quench one's thirst, be midsummer good fruit.Its market price is considerable as one of important fruit for watermelon, in international and domestic city
Field has very big consumption potentiality.China is growth of watermelon big country, consumption big country, the national growth of watermelon area in China 2010
181.25 ten thousand hectares, produce 6818.1 ten thousand tons of total amount, as people are continuously increased the demand of watermelon, the cultivated area of watermelon per year
Also increasing year by year with yield, the yield of national watermelon is huge and occupies first of other fruit, in the picking process of watermelon, also with people
Based on work picking, manually picking watermelon labor intensity is big, and bothersome laborious, watermelon picking efficiency is low.
The content of the invention
In view of the deficienciess of the prior art, the present invention provides a kind of full-automatic watermelon picking machine, picking scope is wide, uses
It is flexible and changeable, manual labor and time are saved, greatly improves the picking efficiency of watermelon.
In order to achieve the above object, the present invention is achieved through the following technical solutions：
A kind of full-automatic watermelon picking machine, including running gear, end effector and respectively with running gear and end
The transmission device of actuator connection, the running gear are equipped with the first column, and the upper end of first column is equipped with turntable,
The turntable is equipped with the second column；The transmission device includes large arm and the forearm being hinged, the inner of the large arm
It is hinged with the upper end of the second column, the outer end of the large arm and the inner of forearm are hinged, and outer end and the end of the forearm perform
Device connects；The end effector includes mechanical arm, and the upper end of the mechanical arm and the outer end of forearm are hinged, the machinery
Disk is arranged with arm, the disk is equipped with reciprocating mechanism, and the reciprocating mechanism drives disk to slide up and down
It is connected on mechanical arm, the lower end of the mechanical arm is equipped with connecting shaft and suction means, is rotatablely connected in the connecting shaft
There is a pair of symmetrical tong arm, upper end and the disk of the tong arm are hinged, and the lower end of the tong arm is equipped with handgrip.
The present invention be moved to by running gear at watermelon to be picked, by the first column, turntable, the second column,
The position of large arm and forearm adjustment end effector so that end effector is located exactly at the top of watermelon to be picked, then
End effector is slowly declined to close watermelon using forearm, reciprocating mechanism drives disk downward along mechanical arm at this time
It is mobile, open handgrip, hold watermelon followed by suction means, watermelon is fixed, after holding, then by forearm by watermelon to
Upper movement, makes watermelon and surface separation, at this time reciprocating mechanism drive disk moved up along mechanical arm, make handgrip to
Centre is drawn close, and watermelon is put into handgrip by last suction means, realizes the picking process of watermelon.
The present invention is further arranged to：The reciprocating mechanism includes motor vertical, and the top surface of the disk is equipped with peace
Loading board, the installing plate are fixedly connected with disk, and the motor vertical is fixed on the top surface of installing plate, the motor vertical it is defeated
Shaft is equipped with gear, and mechanical arm surface side is equipped with rack, and the wheel and rack is meshed.The vertical electricity set
Machine, so as to drive disk to be moved up and down at mechanical arm, so that tong arm rotates, is driven by the engagement of gear and rack
Handgrip collapses or expansion.
The present invention is further arranged to：First column is internally provided with the first motor, the output of first motor
The bottom of axis and turntable connects, and first motor drives 360 degree of turntable to horizontally rotate.
The present invention is further arranged to：The side of the second column upper end is equipped with the second motor, second motor
The inner connection of output shaft and large arm, second motor drive large arm to be rotated on vertical plane, the outer end side of the large arm
Equipped with the 3rd motor, the inner connection of the output shaft and forearm of the 3rd motor, the 3rd motor drives forearm vertical
Rotated on face, the outer end top surface of the forearm is equipped with the 4th motor, the output shaft of the 4th motor and the top surface of mechanical arm
Connection, the 4th motor drive mechanical arm to rotate in the horizontal plane.
The present invention is further arranged to：The tong arm includes clamp handle large arm and clamp handle forearm, the upper end of the clamp handle large arm
It is hinged with disk, the lower end and the upper end of clamp handle forearm of the clamp handle large arm are hinged, and lower end and the handgrip of the clamp handle forearm are cut with scissors
Connect.
The present invention is further arranged to：The handgrip is equipped with holding tank, and the holding tank is equipped with the first rubber layer, institute
The head for stating handgrip is equipped with sawtooth blade, and the sawtooth blade of two handgrips is staggered.The holding tank is used for placing picking
Watermelon, first rubber layer are used for protecting the crust of watermelon, prevent watermelon to be damaged, ensure the complete appearance of watermelon；Set
Sawtooth blade be used for cut watermelon vine so that watermelon smoothly comes off, and the sawtooth blade on two handgrips is staggered, is easy to
Cutting to watermelon vine, improves cutting efficiency, while when can collapse two handgrips, sawtooth blade can be mutually fitted together to, and be made
It is tight to obtain two handgrips closures, reduces loophole.
The present invention is further arranged to：The outside that the lower end of the tong arm is located at handgrip is equipped with swing motor, described to wave
The top of motor output shaft and handgrip connects, and the swing motor drives handgrip swing.The swing motor of setting drives and grabs
Hand swing, so as to drive the swing of sawtooth blade to cut watermelon vine.
The present invention is further arranged to：The suction means includes powerful electromagnetic chuck, and the connecting shaft is equipped with fixed plate, institute
State fixed plate and be equipped with minipump, the outlet side of the minipump is equipped with hollow steel pipe, the hollow steel pipe it is interior
Portion is equipped with steam hose, and the lower end of the steam hose is connected with powerful electromagnetic chuck, and the powerful electromagnetic chuck is located between two tong arms,
The inner wall of the powerful electromagnetic chuck is equipped with the second rubber layer.Watermelon is drawn using minipump control powerful electromagnetic chuck,
Easy to capture watermelon, the second rubber layer of setting is used for protecting watermelon appearance, prevents watermelon exocuticle to be damaged, and ensures the outer of watermelon
See integrality.
The present invention is further arranged to：The front end of the connecting shaft is equipped with terminal pad, and the front side of the terminal pad, which is equipped with, to be taken the photograph
As head.Be equipped with fruit maturity somascope in camera, the camera of setting by shooting or recording the appearance picture of watermelon,
Then appearance picture is sent to fruit maturity somascope, fruit maturity somascope is examined by the watermelon appearance on picture
Survey the maturity for understanding watermelon.
The present invention is further arranged to：The running gear includes a pair of of Athey wheel, is equipped between two Athey wheels
Support plate, first column are installed on the supporting plate by securing supports.The bottom surface for planting watermelon is usually sand mud ground,
Common wheel is difficult to normally walk on the ground in sand mud in the normal walking in sand mud ground, the Athey wheel of setting, so as to
The movement of watermelon picking machine is smoothly driven, design is reasonable, and action is convenient, stable structure.
The present invention has the beneficial effect that：The present invention is moved to by running gear at watermelon to be picked, and passes through first
Column, turntable, the second column, large arm and forearm adjust the position of end effector so that end effector, which is located exactly at, to be treated
End effector, is then slowly declined close watermelon, at this time reciprocating mechanism band by the top of the watermelon of picking using forearm
Dynamic disk is moved down along mechanical arm, is opened handgrip, is held watermelon followed by suction means, watermelon is fixed, and is inhaled
After firmly, then by forearm watermelon is moved up, make watermelon and surface separation, reciprocating mechanism drives disk along machine at this time
Tool arm moves up, and handgrip is drawn close to centre, and watermelon is put into handgrip by last suction means, realizes the picking of watermelon
Process.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the top view of the present invention；
Fig. 3 is the structure diagram of reciprocating mechanism in the present invention；
Fig. 4 is the mounting structure schematic diagram of the camera in the present invention；
Fig. 5 is the structure diagram of suction means in the present invention.
Reference numeral：1st, running gear；11st, Athey wheel；12nd, support plate；2nd, transmission device；21st, large arm；22nd, forearm；
23rd, the 3rd motor；24th, the 4th motor；31st, mechanical arm；311st, rack；32nd, disk；321st, installing plate；33rd, machine is moved up and down
Structure；331st, motor vertical；332nd, gear；34th, connecting shaft；35th, suction means；36th, tong arm；361st, clamp handle large arm；362nd, clamp handle
Forearm；37th, handgrip；371st, holding tank；372nd, the first rubber layer；373rd, sawtooth blade；38th, swing motor；41st, the first column；
411st, securing supports；42nd, turntable；43rd, the second column；44th, the second motor；51st, fixed plate；52nd, minipump；53、
Hollow steel pipe；54th, powerful electromagnetic chuck；55th, the second rubber layer；61st, terminal pad；62nd, camera.
Embodiment
With reference to attached drawing, present pre-ferred embodiments are described in further details.
As shown in Figs. 1-5, a kind of full-automatic watermelon picking machine, including running gear 1, end effector and respectively with row
The transmission device 2 that walking apparatus 1 is connected with end effector, the running gear 1 are equipped with the first column 41, the running gear
1 includes a pair of of Athey wheel 11, and support plate 12 is equipped between two Athey wheels 11, and first column 41 is supported by fixed
Part 411 is installed in support plate 12.The bottom surface of plantation watermelon is usually sand mud ground, and common wheel is difficult in sand mud ground just
Often walking, the Athey wheel 11 of setting can normally walk on the ground in sand mud, so as to smoothly drive watermelon picking machine to move, if
Meter is reasonable, and action is convenient, stable structure.The upper end of first column 41 is equipped with turntable 42, and the turntable 42 is equipped with
Second column 43.First column 41 is internally provided with the first motor, output shaft and the turntable 42 of first motor
Bottom connects, and first motor drives turntable 42 to horizontally rotate.
The transmission device 2 includes large arm 21 and the forearm 22 being hinged, the inner and the second column of the large arm 21
43 upper end is hinged, and the side of 43 upper end of the second column is equipped with the second motor 44, the output shaft of second motor 44 with
The inner connection of large arm 21, second motor 44 drive large arm 21 to be rotated on vertical plane.
The outer end and the inner of forearm 22 of the large arm 21 are hinged, and the outer end side of the large arm 21 is equipped with the 3rd motor
23, the output shaft of the 3rd motor 23 is connected with the inner of forearm 22, and the 3rd motor 23 drives forearm 22 in vertical plane
Upper rotation.
The outer end of the forearm 22 is connected with end effector, and the end effector includes mechanical arm 31, the machine
The upper end of tool arm 31 and the outer end of forearm 22 are hinged, and the outer end top surface of the forearm 22 is equipped with the 4th motor 24, and the described 4th
The output shaft of motor 24 is connected with the top surface of mechanical arm 31, and the 4th motor 24 drives mechanical arm 31 to revolve in the horizontal plane
Turn.
Disk 32 is arranged with the mechanical arm 31, the disk 32 is equipped with reciprocating mechanism 33, described upper and lower
Moving mechanism 33 drives disk 32 to slide up and down and is connected on mechanical arm 31, and the reciprocating mechanism 33 includes motor vertical
331, the top surface of the disk 32 is equipped with installing plate 321, and the installing plate 321 is fixedly connected with disk 32, the motor vertical
331 are fixed on the top surface of installing plate 321, and the output shaft of the motor vertical 331 is equipped with gear 332, the mechanical arm 31
Surface side is equipped with rack 311, and the gear 332 is meshed with rack 311.The motor vertical 331 of setting passes through 332 He of gear
The engagement of rack 311, so as to drive disk 32 to be moved up and down at mechanical arm 31, so that tong arm 36 rotates, drive is grabbed
Hand 37 is collapsed or is unfolded.
The lower end of the mechanical arm 31 is equipped with connecting shaft 34 and suction means 35, is rotatably connected in the connecting shaft 34
A pair of symmetrical tong arm 36, the upper end of the tong arm 36 is hinged with disk 32, and the lower end of the tong arm 36 is equipped with handgrip 37.It is described
Tong arm 36 includes clamp handle large arm 361 and clamp handle forearm 362, and the upper end of the clamp handle large arm 361 and disk 32 are hinged, the clamp handle
The lower end of large arm 361 and the upper end of clamp handle forearm 362 are hinged, and the lower end of the clamp handle forearm 362 and handgrip 37 are hinged.
The handgrip 37 is equipped with holding tank 371, and the holding tank 371 is equipped with the first rubber layer 372, the handgrip 37
Head be equipped with sawtooth blade 373, the sawtooth blade 373 of two handgrips 37 is staggered.The holding tank 371 is used for placing adopting
The watermelon plucked, first rubber layer 372 are used for protecting the crust of watermelon, prevent watermelon to be damaged, ensure the complete appearance of watermelon
Property；The sawtooth blade 373 of setting is used for cutting watermelon vine so that watermelon smoothly comes off, by the sawtooth blade on two handgrips 37
373 are staggered, when easy to the cutting to watermelon vine, improving cutting efficiency, while two gatherings of handgrips 37 can be made, serrated knife
Piece 373 can be mutually fitted together to so that two handgrips 37 close tightly, reduce loophole.
The outside that the lower end of the tong arm 36 is located at handgrip 37 is equipped with swing motor 38,38 output shaft of swing motor with
The top connection of handgrip 37, the swing motor 38 drive 37 swing of handgrip.The swing motor 38 of setting drives handgrip 37
Swing, so as to drive 373 swing of sawtooth blade to cut watermelon vine.
The suction means 35 includes powerful electromagnetic chuck 54, and the connecting shaft 34 is equipped with fixed plate 51, the fixed plate 51
Be equipped with minipump 52, the outlet side of the minipump 52 is equipped with hollow steel pipe 53, the hollow steel pipe 53 it is interior
Portion is equipped with steam hose, and the lower end of the steam hose is connected with powerful electromagnetic chuck 54, and the powerful electromagnetic chuck 54 is located at two tong arms
Between 36, the inner wall of the powerful electromagnetic chuck 54 is equipped with the second rubber layer 55.Powerful electromagnetic chuck 54 is controlled using minipump 52
Watermelon is drawn, easy to capture watermelon, the second rubber layer 55 of setting is used for protecting watermelon appearance, prevents watermelon exocuticle
It is impaired, ensure the complete appearance of watermelon.
The front end of the connecting shaft 34 is equipped with terminal pad 61, and the front side of the terminal pad 61 is equipped with camera 62.Camera
Be equipped with fruit maturity somascope in 62, the camera 62 of setting is by shooting or recording the appearance picture of watermelon, then general
Appearance picture is sent to fruit maturity somascope, and fruit maturity somascope is understood by the watermelon appearance on picture to detect
The maturity of watermelon.
With reference to attached drawing, when the present invention works, it is moved in melonry by running gear 1, is clapped by camera 62 first
Watermelon picture is taken the photograph, detects the mature condition of watermelon, watermelon picking machine is moved near the watermelon of maturation, then utilizes the first electricity
Machine drives turntable 42 to rotate, so that end effector is above watermelon to be picked；Pass through 44 He of the second motor at this time
3rd motor 23 controls large arm 21 and forearm 22 slowly to decline end effector respectively, close to watermelon, while starts vertical electricity
Machine 331, drives disk 32 to be moved down along mechanical arm 31, opens handgrip 37, restart the 4th using motor vertical 331
Motor 24, drives 31 rotation angle of mechanical arm so that powerful electromagnetic chuck 54 falls in the surface of watermelon just, is then turned on miniature true
Sky pump 52 so that powerful electromagnetic chuck 54 tightly holds watermelon；Large arm is controlled respectively followed by the second motor 44 and the 3rd motor 23
21 and forearm 22 end effector is slowly moved up so that watermelon is slightly liftoff, restarts motor vertical 331 at this time, using hang down
Straight motor 331 drives disk 32 to be moved up along mechanical arm 31, the handgrip 37 of both sides is collapsed to centre, until serrated knife
Piece 373 is contacted with watermelon vine, then starts swing motor 38, drives handgrip 37 to wave using swing motor 38 so that serrated knife
Piece 373 cuts watermelon vine back and forth, and watermelon is thoroughly departed from watermelon vine, and after the completion of to be cut, motor vertical 331 drives disk again
32 move up, and handgrip 37 continues to collapse until closing, and minipump 52 is deflated at this time, powerful electromagnetic chuck 54 is no longer adsorbed watermelon,
Watermelon drops in handgrip 37 naturally, then realizes complete watermelon picking process.
Above-described embodiment is only used for illustrating the inventive concept of the present invention, rather than the restriction to rights protection of the present invention,
All changes for carrying out unsubstantiality to the present invention using this design, should all fall into protection scope of the present invention.
Claims (10)
1. a kind of full-automatic watermelon picking machine, including running gear (1), end effector and respectively with running gear (1) and
The transmission device (2) of end effector connection, it is characterised in that：The running gear (1) is equipped with the first column (41), described
The upper end of first column (41) is equipped with turntable (42), and the turntable (42) is equipped with the second column (43)；The transmission dress
Put large arm (21) and forearm (22) that (2) include being hinged, the inner and the upper end of the second column (43) of the large arm (21)
Hinged, the outer end and the inner of forearm (22) of the large arm (21) are hinged, and outer end and the end effector of the forearm (22) connect
Connect；The end effector includes mechanical arm (31), and the upper end and the outer end of forearm (22) of the mechanical arm (31) are hinged,
Disk (32) is arranged with the mechanical arm (31), the disk (32) is equipped with reciprocating mechanism (33), described upper and lower
Moving mechanism (33) drives disk (32) to slide up and down and is connected on mechanical arm (31), and the lower end of the mechanical arm (31) is set
There are connecting shaft (34) and suction means (35), a pair of symmetrical tong arm (36) is rotatably connected on the connecting shaft (34), it is described
The upper end of tong arm (36) is hinged with disk (32), and the lower end of the tong arm (36) is equipped with handgrip (37).
A kind of 2. full-automatic watermelon picking machine according to claim 1, it is characterised in that：The reciprocating mechanism (33)
Including motor vertical (331), the top surface of the disk (32) is equipped with installing plate (321), the installing plate (321) and disk (32)
It is fixedly connected, the motor vertical (331) is fixed on the top surface of installing plate (321), on the output shaft of the motor vertical (331)
Equipped with gear (332), mechanical arm (31) the surface side is equipped with rack (311), the gear (332) and rack (311)
It is meshed.
A kind of 3. full-automatic watermelon picking machine according to claim 1, it is characterised in that：First column (41) it is interior
Portion is equipped with the first motor, and the output shaft of first motor is connected with the bottom of turntable (42), and first motor drives rotation
(42) 360 degree of turntable horizontally rotates.
A kind of 4. full-automatic watermelon picking machine according to claim 1, it is characterised in that：Second column (43) upper end
Side be equipped with the second motor (44), the output shaft of second motor (44) is connected with the inner of large arm (21), described second
Motor (44) drives large arm (21) to be rotated on vertical plane, and the outer end side of the large arm (21) is equipped with the 3rd motor (23), institute
State the output shaft of the 3rd motor (23) to be connected with the inner of forearm (22), the 3rd motor (23) drives forearm (22) vertical
Rotated on face, the outer end top surface of the forearm (22) is equipped with the 4th motor (24), the output shaft and machine of the 4th motor (24)
The top surface connection of tool arm (31), the 4th motor (24) drive mechanical arm (31) to rotate in the horizontal plane.
A kind of 5. full-automatic watermelon picking machine according to claim 1, it is characterised in that：The tong arm (36) includes clamp handle
Large arm (361) and clamp handle forearm (362), the upper end of the clamp handle large arm (361) and disk (32) are hinged, the clamp handle large arm
(361) upper end of lower end and clamp handle forearm (362) is hinged, and the lower end of the clamp handle forearm (362) and handgrip (37) are hinged.
A kind of 6. full-automatic watermelon picking machine according to claim 1, it is characterised in that：The handgrip (37), which is equipped with, holds
Receive groove (371), the holding tank (371) is equipped with the first rubber layer (372), and the head of the handgrip (37) is equipped with sawtooth blade
(373), the sawtooth blade (373) of two handgrips (37) is staggered.
A kind of 7. full-automatic watermelon picking machine according to claim 6, it is characterised in that：The lower end position of the tong arm (36)
Swing motor (38) is equipped with the outside of handgrip (37), swing motor (38) output shaft is connected with the top of handgrip (37),
The swing motor (38) drives handgrip (37) swing.
A kind of 8. full-automatic watermelon picking machine according to claim 1, it is characterised in that：The suction means (35) includes
Powerful electromagnetic chuck (54), the connecting shaft (34) are equipped with fixed plate (51), and the fixed plate (51) is equipped with minipump
(52), the outlet side of the minipump (52) is equipped with hollow steel pipe (53), and being internally provided with for the hollow steel pipe (53) is logical
Gas hose, the lower end of the steam hose are connected with powerful electromagnetic chuck (54), and the powerful electromagnetic chuck (54) is located at two tong arms (36)
Between, the inner wall of the powerful electromagnetic chuck (54) is equipped with the second rubber layer (55).
A kind of 9. full-automatic watermelon picking machine according to claim 1, it is characterised in that：The front end of the connecting shaft (34)
Equipped with terminal pad (61), the front side of the terminal pad (61) is equipped with camera (62).
A kind of 10. full-automatic watermelon picking machine according to claim 1, it is characterised in that：The running gear (1) includes
A pair of of Athey wheel (11), is equipped with support plate (12) between two Athey wheels (11), first column (41) passes through fixation
Supporting item (411) is installed in support plate (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029975.5A CN107969221A (en) | 2018-01-12 | 2018-01-12 | A kind of full-automatic watermelon picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029975.5A CN107969221A (en) | 2018-01-12 | 2018-01-12 | A kind of full-automatic watermelon picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107969221A true CN107969221A (en) | 2018-05-01 |
Family
ID=62005920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810029975.5A Pending CN107969221A (en) | 2018-01-12 | 2018-01-12 | A kind of full-automatic watermelon picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107969221A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522008A (en) * | 2018-06-12 | 2018-09-14 | 电子科技大学中山学院 | Remotely-controllable fruit picking manipulator with blades |
| CN108738711A (en) * | 2018-07-28 | 2018-11-06 | 河南东润电子有限公司 | A kind of Honeysuckle picking machine device people |
| CN109335671A (en) * | 2018-09-26 | 2019-02-15 | 芜湖优能自动化设备有限公司 | Vacuum sucking device is used in a kind of production of oil discharging seat |
| CN109548470A (en) * | 2019-01-08 | 2019-04-02 | 南京清中环境技术有限公司 | A kind of water plant cutting equipment |
| CN109769477A (en) * | 2019-03-14 | 2019-05-21 | 尹斐 | A kind of watermelon picking robot |
| CN114193771A (en) * | 2020-09-18 | 2022-03-18 | 成都秦川物联网科技股份有限公司 | Thing networking intelligent gas table involucra hot melt connecting device |
| CN114731847A (en) * | 2022-04-30 | 2022-07-12 | 浙江工业大学 | Turnover type automatic picking mechanism suitable for melon crops |
| CN116141296A (en) * | 2023-04-20 | 2023-05-23 | 北京智能智造科技有限公司 | Industrial robot's forearm and industrial robot |
| WO2023235922A1 (en) * | 2022-06-06 | 2023-12-14 | Ripe Robotics Pty Ltd | Produce picking device and method |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066022A (en) * | 2007-04-03 | 2007-11-07 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| JP2013202728A (en) * | 2012-03-28 | 2013-10-07 | Hidejiro Otsutake | Harvest hand device |
| CN203251648U (en) * | 2013-05-16 | 2013-10-30 | 四川农业大学 | Mechanical device of intelligent watermelon picking machine |
| CN103548496A (en) * | 2013-10-21 | 2014-02-05 | 华南农业大学 | Quasi-circular fruit and vegetable picking end executor, method and robot |
| CN203563360U (en) * | 2013-12-02 | 2014-04-30 | 四川农业大学 | End actuator for picking watermelons |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| CN204762223U (en) * | 2015-07-14 | 2015-11-18 | 四川农业大学 | Mechanical hand device is plucked to watermelon |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN205232839U (en) * | 2015-11-02 | 2016-05-18 | 浙江师范大学 | Mobilizable automatic acquisition apple machine people |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| DE102015111682A1 (en) * | 2015-07-17 | 2017-02-02 | Klaus Spies | Fully automatic picking system and method for operating the picking system |
| CN206118435U (en) * | 2016-10-27 | 2017-04-26 | 四川农业大学 | Pick arm device of large -scale melon and fruit |
| CN206294550U (en) * | 2016-10-26 | 2017-07-04 | 华北理工大学 | A kind of mechanical arm |
| CN207766918U (en) * | 2018-01-12 | 2018-08-28 | 浙江师范大学 | A kind of full-automatic watermelon picking machine |
-
2018
- 2018-01-12 CN CN201810029975.5A patent/CN107969221A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066022A (en) * | 2007-04-03 | 2007-11-07 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| JP2013202728A (en) * | 2012-03-28 | 2013-10-07 | Hidejiro Otsutake | Harvest hand device |
| CN203251648U (en) * | 2013-05-16 | 2013-10-30 | 四川农业大学 | Mechanical device of intelligent watermelon picking machine |
| CN103548496A (en) * | 2013-10-21 | 2014-02-05 | 华南农业大学 | Quasi-circular fruit and vegetable picking end executor, method and robot |
| CN203563360U (en) * | 2013-12-02 | 2014-04-30 | 四川农业大学 | End actuator for picking watermelons |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN204762223U (en) * | 2015-07-14 | 2015-11-18 | 四川农业大学 | Mechanical hand device is plucked to watermelon |
| DE102015111682A1 (en) * | 2015-07-17 | 2017-02-02 | Klaus Spies | Fully automatic picking system and method for operating the picking system |
| CN205232839U (en) * | 2015-11-02 | 2016-05-18 | 浙江师范大学 | Mobilizable automatic acquisition apple machine people |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN206294550U (en) * | 2016-10-26 | 2017-07-04 | 华北理工大学 | A kind of mechanical arm |
| CN206118435U (en) * | 2016-10-27 | 2017-04-26 | 四川农业大学 | Pick arm device of large -scale melon and fruit |
| CN207766918U (en) * | 2018-01-12 | 2018-08-28 | 浙江师范大学 | A kind of full-automatic watermelon picking machine |
Non-Patent Citations (3)
| Title |
|---|
| 吕干云;吴传满;孙维蒙;汪晓东;蔡秀珊;: "基于RVM和ANF的电压暂降检测识别" * |
| 崔嫱;朱丽东;李凤全;姜永见;叶玮;: "浙江省主要农作物虚拟水含量的初步研究" * |
| 李建伟;陈艳艳;: "苹果采摘机器人末端执行器的原理及试验研究" * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522008A (en) * | 2018-06-12 | 2018-09-14 | 电子科技大学中山学院 | Remotely-controllable fruit picking manipulator with blades |
| CN108738711A (en) * | 2018-07-28 | 2018-11-06 | 河南东润电子有限公司 | A kind of Honeysuckle picking machine device people |
| CN109335671A (en) * | 2018-09-26 | 2019-02-15 | 芜湖优能自动化设备有限公司 | Vacuum sucking device is used in a kind of production of oil discharging seat |
| CN109548470A (en) * | 2019-01-08 | 2019-04-02 | 南京清中环境技术有限公司 | A kind of water plant cutting equipment |
| CN109548470B (en) * | 2019-01-08 | 2020-05-22 | 南京清中环境技术有限公司 | Aquatic plant cutting equipment |
| CN109769477A (en) * | 2019-03-14 | 2019-05-21 | 尹斐 | A kind of watermelon picking robot |
| CN109769477B (en) * | 2019-03-14 | 2021-11-30 | 浙江咨成软件科技有限公司 | Watermelon picking robot |
| CN114193771A (en) * | 2020-09-18 | 2022-03-18 | 成都秦川物联网科技股份有限公司 | Thing networking intelligent gas table involucra hot melt connecting device |
| CN114731847A (en) * | 2022-04-30 | 2022-07-12 | 浙江工业大学 | Turnover type automatic picking mechanism suitable for melon crops |
| WO2023235922A1 (en) * | 2022-06-06 | 2023-12-14 | Ripe Robotics Pty Ltd | Produce picking device and method |
| CN116141296A (en) * | 2023-04-20 | 2023-05-23 | 北京智能智造科技有限公司 | Industrial robot's forearm and industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107969221A (en) | A kind of full-automatic watermelon picking machine | |
| CN207766918U (en) | A kind of full-automatic watermelon picking machine | |
| CN208002263U (en) | Multifunctional jewelry jewelry machine table | |
| CN110366938A (en) | The anti-down quasi- wearable walking clothing of classification of defoliation air-flow is dragged in toad's-mouth harvesting integration rotation | |
| CN108990531A (en) | A kind of booth vegetable harvesting robotic | |
| CN107926331A (en) | A kind of device that can be convenient to tree trimming | |
| CN110337902A (en) | A kind of watermelon picker | |
| CN205584970U (en) | Multi -functional gardens watering device | |
| CN108668631B (en) | Positioning device and fruit picking device | |
| CN207941576U (en) | A kind of efficient fructus amomi grinding device | |
| CN207286518U (en) | A kind of hose reel device | |
| CN110883656A (en) | Table tennis bat surface polishing device | |
| CN215735930U (en) | Expressway green plant quick trimming equipment | |
| CN109479517A (en) | A kind of fruit picker and its fruit picking work head | |
| CN207744405U (en) | A kind of tea picking equipment for ancient tea tree | |
| CN206283796U (en) | Multi-functional weeder | |
| CN220369198U (en) | Harvesting device is cultivated with white beech mushroom fruiting | |
| CN220044169U (en) | Road green belt maintenance device | |
| CN218680461U (en) | Leaf cutting device for seedling culture | |
| CN205623222U (en) | Crops reaping apparatus | |
| CN108994697A (en) | A kind of bamboo handicraft article grinding apparatus | |
| CN205727112U (en) | A kind of rotary hickory nut beat-off device | |
| CN215269714U (en) | Big-arch shelter is planted to melon and fruit of utensil automatically regulated temperature function | |
| CN218746879U (en) | Surface polishing device for metal product processing | |
| CN219291555U (en) | Stone roller grinding device for processing and producing chilli powder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180501 |
|
| WD01 | Invention patent application deemed withdrawn after publication |