CN108370740B - Topping end effector and topping machine comprising same - Google Patents
Topping end effector and topping machine comprising same Download PDFInfo
- Publication number
- CN108370740B CN108370740B CN201810431497.0A CN201810431497A CN108370740B CN 108370740 B CN108370740 B CN 108370740B CN 201810431497 A CN201810431497 A CN 201810431497A CN 108370740 B CN108370740 B CN 108370740B
- Authority
- CN
- China
- Prior art keywords
- topping
- end effector
- unit
- rod
- double
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/02—Secateurs; Flower or fruit shears
- A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
- A01G3/037—Secateurs; Flower or fruit shears having motor-driven blades the driving means being an electric motor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Cultivation Of Plants (AREA)
Abstract
The present invention provides a topping end effector comprising: the device comprises a mechanical arm butt joint block, a pose adjusting unit, an executing unit, a sensing unit and a control unit. The execution unit and the mechanical arm butt joint block are connected with the pose adjusting unit; the terminal bud recovery device is fixed at the joint of the execution unit and the pose adjustment unit and is positioned above the execution unit. The topping end effector provided by the invention has the advantages of novel structure, small and compact device structure, high reliability and simple mechanism scheme design, and can realize accurate topping of main branches and side branches of each plant of crops, and avoid the phenomena of missed topping or overedging.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a topping end effector and a topping machine comprising the same.
Background
In cotton and tobacco planting production in China, in order to inhibit top advantages of crops, topping operation, namely pinching, is performed on top buds of cotton and tobacco, and is the work of processing reserved trunk branches, basic branches or side branches. Crop topping is a relatively time-consuming and laborious operation link, and people have long intended to replace manual work with mechanical topping. However, most of cotton topping machines in China are large-scale suspension topping machines at present, a one-knife cutting method is generally adopted, topping accuracy is low, and topping missing and topping exceeding are serious. The partial topping machine can perform single-plant profiling operation, but has poor profiling effect, thereby reducing topping accuracy. The existing cotton topping machine has higher requirements on cotton management and planting, and the high requirements tend to increase cotton production cost, and are also unfavorable for the mechanized development of cotton planting in the whole process.
To sum up, the existing topping machine has the following defects:
(1) The profiling effect of the topping machine is poor due to the fact that the plant identification is not accurate enough, and adjustment cannot be made in real time according to the individual growth vigor difference of crops, so that topping accuracy is reduced, and topping missing and topping exceeding phenomena still exist;
(2) The topping machine has the topping mode of horizontal flail knives or linear knives which roll horizontally, and can only perform topping on main branches generally at the same working height within the working width, and can not perform accurate topping on side branches.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a topping end effector and a topping machine comprising the same, wherein the end effector is used for cutting off a top, so that the problems and the defects of the existing topping machine can be solved, and the whole-process mechanized development of crop production is promoted
In addition, the large-scale suspension topping machine is generally provided with no tip recovery device, and the removed cotton tips cannot be recovered in time, so that the original leaf buds with plant diseases and insect pests are scattered around the field under the action of the centrifugal force of the cutting knife, and the cotton growth is not facilitated.
A topping end effector comprising: the device comprises a pose adjusting unit, an executing unit, a sensing unit and a control unit;
the pose adjusting unit comprises a servo motor, a speed reducer and a double-rod guide cylinder; the output end of the servo motor is connected with a speed reducer, and the output end of the speed reducer is connected with a double-rod guide cylinder;
the execution unit includes: the device comprises a mounting plate, a single-rod double-acting cylinder, a connecting piece and a connecting rod; the double-rod guide cylinder drives the mounting plate to horizontally move back and forth, the single-rod double-acting cylinder is fixed on the mounting plate, and the connecting piece is fixedly connected with a piston rod of the single-rod double-acting cylinder and moves back and forth along with the piston rod; the connecting rod comprises a left connecting rod and a right connecting rod, one ends of the left connecting rod and the right connecting rod are respectively and symmetrically movably connected on the connecting piece in a left-right mode, the other ends of the left connecting rod and the right connecting rod are respectively and hingedly connected with the left tool rest and the right tool rest, the middle sections of the left tool rest and the right tool rest are respectively provided with an inflection point, and the two inflection points are also respectively and movably connected on the mounting plate; blades are respectively arranged on the upper sides of the front ends of the left knife rest and the right knife rest; the ends of the left knife rest and the right knife rest are respectively provided with a magnet and an electromagnetic switch;
the sensing unit includes: servo motor encoders, distance sensors, infrared sensors and hall sensors mounted at different positions of the end effector; the servo motor encoder is used for detecting the rotation direction of the motor, stepping the angle, the position and the rotating speed and feeding back the rotation direction, the position and the rotating speed to the driver; the distance sensor is used for sensing the relative position of the actuator and the target terminal bud; the infrared sensor is used for sensing whether the terminal bud enters the shearing range of the execution unit of the two-finger type end effector or not; the Hall sensor is used for detecting whether transmission mechanisms of the degrees of freedom in the end effector are at initial positions or not and resetting all units of the end effector;
and the control unit is used for driving the pose adjusting unit and the executing unit to perform corresponding actions to punch the roof according to the information fed back by the sensing unit.
Further, the topping end effector comprises the top bud recovery device which is arranged right and left knife rests and right, wherein the top bud recovery device comprises a suction head cover and a hose, the suction head cover is fixed at one end of the hose, the other end of the hose is connected with a top collecting device, and the top bud recovery device can move along with the front and back movement of a mounting plate.
Further, in the topping end effector as described above, the tip cover is fixed by one end of the extension plate, and the other end of the extension plate is fixed to the mounting plate.
Further, in the topping end effector as described above, a push plate is provided at an end of the double-rod guide cylinder, and the mounting plate is fixedly connected with the push plate.
Further, the topping end effector comprises the mechanical arm butt joint block, wherein a connecting plate is fixed at the end part of the mechanical arm butt joint block, a motor base is arranged below the connecting plate, and the servo motor is fixed on the connecting plate.
The invention also provides a topping machine comprising a topping end effector as described in any one of the above.
The beneficial effects are that:
the topping end effector provided by the invention has novel structure, small and compact structure, high reliability and simple mechanism scheme design, can realize accurate topping of main branches and side branches of each plant of crops, and avoids the phenomena of missed topping or over-topping;
according to the invention, the pose adjusting unit is added, and the position of the actuator is adjusted through the pose adjusting unit so as to adapt to the situation that part of terminal buds are not in the cutting range of the actuator due to different growth positions of the target terminal buds.
According to the information sensing of the plurality of sensors, the end effector can be effectively controlled to accurately and effectively perform topping operation, so that the damage degree of crops in the topping process is greatly reduced;
the invention adopts the mixed driving of air pressure and a motor, has simple structure, rapid movement and good obstacle avoidance performance.
Drawings
FIG. 1 is a schematic diagram of a topping end effector according to the present invention;
FIG. 2 is a schematic diagram of a topping end effector according to a second embodiment of the present invention;
FIG. 3 is a schematic view of the placement of the sensing unit on the re-topping end effector of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-2, the present invention provides a topping end effector comprising: the pose adjusting unit 2, the executing unit 3, the sensing unit and the control unit;
the pose adjusting unit 2 comprises a servo motor 23, a speed reducer 24 and a double-rod guide cylinder 25; the output end of the servo motor 23 is connected with a speed reducer 24, and the output end of the speed reducer 24 is connected with a double-rod guide cylinder 25;
the execution unit 3 includes: the mounting plate 31, the single-rod double-acting cylinder 32, the connecting piece 33 and the connecting rod 34; the double-rod guide cylinder 25 drives the mounting plate 31 to horizontally move forwards and backwards, the single-rod double-acting cylinder 32 is fixed on the mounting plate 31, and the connecting piece 33 is fixedly connected with a piston rod of the single-rod double-acting cylinder 32 and moves forwards and backwards along with the piston rod; the connecting rod 34 comprises a left connecting rod and a right connecting rod, one ends of the left connecting rod and the right connecting rod are respectively and symmetrically movably connected to the connecting piece 33 in a left-right mode, the other ends of the left connecting rod and the right connecting rod are respectively and hingedly connected with the left tool rest 35 and the right tool rest 36, the middle sections of the left tool rest 35 and the right tool rest 36 are respectively provided with an inflection point, and the two inflection points are also respectively and movably connected to the mounting plate 31; blades 37 are provided on the upper sides of the front ends of the left blade holder 35 and the right blade holder 36, respectively; a magnet 38 and an electromagnetic switch 39 are respectively arranged at the end parts of the left tool rest 35 and the right tool rest 36;
as shown in fig. 3, the sensing unit includes: servo motor encoders 7, distance sensors 9, infrared sensors 8 and hall sensors 6 mounted at different positions of the end effector; the servo motor encoder is used for detecting the rotation direction of the motor, stepping the angle, the position and the rotating speed and feeding back the rotation direction, the position and the rotating speed to the driver; the distance sensor is used for sensing the relative position of the actuator and the target terminal bud; the infrared sensor is used for sensing whether the terminal bud enters the shearing range of the execution unit of the two-finger type end effector or not; the Hall sensor is used for detecting whether transmission mechanisms of the degrees of freedom in the end effector are at initial positions or not and resetting all units of the end effector;
the mechanical arm butt joint block 1, the end part of the mechanical arm butt joint block 1 is fixed with a connecting plate 21, a motor base 22 is arranged below the connecting plate 21, and a servo motor 23 is fixed on the connecting plate 21.
And the control unit is used for driving the pose adjusting unit 2 and the executing unit 3 to perform corresponding actions to punch the top according to the information fed back by the sensing unit.
The working principle of the topping end effector provided by the invention is as follows:
a. in the initial state, the left tool rest 35 and the right tool rest 36 are in an open state, the double-rod guide cylinder 25 and the servo motor 23 in the pose adjusting unit are in a static state, the mechanical arm 1 drives the end effector to reach a designated position, the executing unit of the end effector is perpendicular to the terminal buds of crops, and the mechanical arm drives the end effector to move along the direction perpendicular to the terminal buds, so that the aim of accurately topping the plant terminal buds corresponding to uneven heights is fulfilled;
b. the distance sensor of the end effector detects the relative position of the execution unit and the target terminal bud in the moving process so as to avoid the condition of missing and topping; when the infrared sensor detects that the terminal bud enters the shearing range of the execution unit of the two-finger type end effector, at the moment, the control unit knows that the end effector reaches a working position through feedback of the sensing unit, the execution unit starts working, the single-rod double-acting cylinder is started, the piston rod carries out return motion, the left and right knife rest is driven to be closed through connection of the connecting rod, the knife blade is closed along with the knife rest to cut off the target terminal bud, and shearing operation is completed, so that the purpose of accurate topping is further achieved;
c. if the positions of the target terminal buds are different due to different growth positions, the positions of the execution units can be adjusted through the pose adjusting units, so that the target terminal buds are adjusted to be in the cutting range of the execution units.
Preferably, the topping end effector as described above further comprises a top bud recovery device 4 mounted right above the left blade holder 35 and the right blade holder 36, the top bud recovery device 4 comprises a suction head cover 43 and a hose 44, the suction head cover 43 is fixed at one end of the hose 44, the other end of the hose 44 is connected with the top bud collection device, and the top bud recovery device 4 can move along with the front and back movement of the mounting plate 31.
Specifically, because the large-scale suspension topping machine is generally provided with no tip recovery device, the removed cotton tips cannot be recovered in time, so that the leaf buds with plant diseases and insect pests originally are scattered around the field under the action of the centrifugal force of the cutting knife, and the cotton growth is not facilitated. The executing unit and the tip recovery device are integrated on one end executor, the operation of gathering, shearing and recovering the tips of crops can be realized by one-time action of the manipulator, and the recovery of the tips can effectively prevent plant diseases and insect pests from being scattered around the field through the tips.
The working principle is as follows:
when the left knife rest and the right knife rest in the execution unit are closed, the magnet arranged on the knife rest is contacted with the electromagnetic switch, the electromagnetic switch is triggered, the tip recovery device starts to work, the fan arranged on the robot is started, suction force is generated in the hose, the sheared tip is sucked into the suction hood and is transported into the tip collection device along with the air flowing through the hose, and thus, the end effector completes the whole process of the top pinching collection operation of the terminal buds. The end effector units return to the initial position and are ready for the next topping collection operation.
Preferably, in order to realize the stable operation of the terminal bud picking device as the actuator moves forward and backward, the tip cover 43 is fixed by one end of the extension plate 42, and the other end of the extension plate 42 is fixed to the mounting plate 31.
Preferably, in order to make the whole device of the actuator compact and stable, the end of the double-rod guiding cylinder 25 is provided with a push plate, and the mounting plate 31 is fixedly connected with the push plate.
The invention also provides a topping machine comprising the topping end effector.
According to the invention, the center recovery device is added on the end effector, the center sheared by the execution unit is directly absorbed, and is conveyed into the collection box through the hose, so that the recovery operation of the center can effectively prevent plant diseases and insect pests from being scattered around the field through the center;
in addition, in order to enhance the flexibility and obstacle avoidance performance of the end effector, the position adjusting unit is added, and the position of the executing unit is adjusted through the position adjusting unit, so that the situation that partial terminal buds are not in the cutting range of the executing unit due to different growth positions of target terminal buds is adapted, and damage to other parts of crops in the topping process can be avoided. The pose adjusting unit mainly carries out horizontal movement and horizontal rotation by a servo motor and a double-rod guide cylinder, so that pose adjustment of the executing unit is realized, and accurate topping operation is carried out. According to the information perception of various sensors, the end effector can be effectively controlled to accurately and effectively perform topping operation.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A topping end effector, comprising: the device comprises a pose adjusting unit (2), an executing unit (3), a sensing unit and a control unit;
the pose adjusting unit (2) comprises a servo motor (23), a speed reducer (24) and a double-rod guide cylinder (25); the output end of the servo motor (23) is connected with a speed reducer (24), and the output end of the speed reducer (24) is connected with a double-rod guide cylinder (25);
the execution unit (3) comprises: the device comprises a mounting plate (31), a single-rod double-acting cylinder (32), a connecting piece (33) and a connecting rod (34); the double-rod guide cylinder (25) drives the mounting plate (31) to horizontally move forwards and backwards, the single-rod double-acting cylinder (32) is fixed on the mounting plate (31), and the connecting piece (33) is fixedly connected with a piston rod of the single-rod double-acting cylinder (32) and moves forwards and backwards along with the piston rod; the connecting rod (34) comprises a left connecting rod and a right connecting rod, one ends of the left connecting rod and the right connecting rod are respectively and symmetrically movably connected to the connecting piece (33), the other ends of the left connecting rod and the right connecting rod are respectively and hingedly connected with the left tool rest (35) and the right tool rest (36), the middle sections of the left tool rest (35) and the right tool rest (36) are respectively provided with an inflection point, and the two inflection points are also respectively and movably connected to the mounting plate (31); blades (37) are respectively arranged on the upper sides of the front ends of the left tool rest (35) and the right tool rest (36); a magnet (38) and an electromagnetic switch (39) are respectively arranged at the end parts of the left knife rest (35) and the right knife rest (36);
the sensing unit includes: servo motor encoders, distance sensors, infrared sensors and hall sensors mounted at different positions of the end effector; the servo motor encoder is used for detecting the rotation direction of the motor, stepping the angle, the position and the rotating speed and feeding back the rotation direction, the position and the rotating speed to the driver; the distance sensor is used for sensing the relative position of the end effector and the target terminal bud; the infrared sensor is used for sensing whether the terminal bud enters the shearing range of the end effector executing unit; the Hall sensor is used for detecting whether transmission mechanisms of the degrees of freedom in the end effector are at initial positions or not and resetting all units of the end effector;
the control unit is used for driving the pose adjusting unit (2) and the executing unit (3) to perform corresponding actions to perform topping according to the information fed back by the sensing unit;
including installing terminal bud recovery unit (4) in left knife rest (35) and right knife rest (36) centre top, terminal bud recovery unit (4) are including suction head cover (43) and hose (44), suction head cover (43) are fixed in the one end of hose (44), and top collection device is connected to the other end of hose (44), terminal bud recovery unit (4) can be along with the back-and-forth movement of mounting panel (31).
2. The topping end effector according to claim 1, wherein the tip cover (43) is fixed by one end of an extension plate (42), and the other end of the extension plate (42) is fixed to the mounting plate (31).
3. The topping end effector as claimed in claim 1, wherein a push plate is provided at an end of the double rod guide cylinder (25), and the mounting plate (31) is fixedly connected to the push plate.
4. The topping end effector as claimed in claim 1, comprising a mechanical arm butt joint block (1), wherein a connecting plate (21) is fixed at the end of the mechanical arm butt joint block (1), a motor base (22) is arranged below the connecting plate (21), and the servo motor (23) is fixed on the connecting plate (21).
5. A topping machine comprising the topping end effector of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810431497.0A CN108370740B (en) | 2018-05-08 | 2018-05-08 | Topping end effector and topping machine comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810431497.0A CN108370740B (en) | 2018-05-08 | 2018-05-08 | Topping end effector and topping machine comprising same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108370740A CN108370740A (en) | 2018-08-07 |
| CN108370740B true CN108370740B (en) | 2023-06-27 |
Family
ID=63033448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810431497.0A Active CN108370740B (en) | 2018-05-08 | 2018-05-08 | Topping end effector and topping machine comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108370740B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109526441A (en) * | 2019-01-24 | 2019-03-29 | 王泓鑫 | A kind of topping machine |
| CN114271118B (en) * | 2021-12-27 | 2024-10-18 | 广州极飞科技股份有限公司 | Array type crop treatment device, crop treatment equipment and crop treatment method |
| CN114375711B (en) * | 2021-12-27 | 2024-08-30 | 广州极飞科技股份有限公司 | Polar coordinate type crop treatment device, crop treatment equipment and crop treatment method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB692139A (en) * | 1950-12-20 | 1953-05-27 | George Hugh Foley Knight | Improvements in power-driven cutters or clippers for bushes, hedges and the like |
| CN204518603U (en) * | 2015-04-02 | 2015-08-05 | 四川省烟草公司德阳市公司（德阳市烟草公司） | Single step tobbaco and the quantitative sprayer apparatus of Suckering agents |
| CN204634474U (en) * | 2015-04-21 | 2015-09-16 | 中国人民解放军空军勤务学院 | One planting fruit-trees stripper |
| CN106171569A (en) * | 2016-07-14 | 2016-12-07 | 西南大学 | Portable topping sprout-inhibiting machine and control method thereof |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN107027529A (en) * | 2017-05-10 | 2017-08-11 | 广西大学 | A kind of device for hedge trimming, broken branch and absorption |
| CN107439240A (en) * | 2016-06-01 | 2017-12-08 | 石河子大学 | A kind of side pressure-sensitive cotton top-cutting machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6199199B2 (en) * | 2014-02-20 | 2017-09-20 | 東京エレクトロン株式会社 | Substrate processing apparatus, misregistration correction method, and storage medium |
| US9796099B2 (en) * | 2014-04-08 | 2017-10-24 | Terry Sandefur | Cutting apparatus |
-
2018
- 2018-05-08 CN CN201810431497.0A patent/CN108370740B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB692139A (en) * | 1950-12-20 | 1953-05-27 | George Hugh Foley Knight | Improvements in power-driven cutters or clippers for bushes, hedges and the like |
| CN204518603U (en) * | 2015-04-02 | 2015-08-05 | 四川省烟草公司德阳市公司（德阳市烟草公司） | Single step tobbaco and the quantitative sprayer apparatus of Suckering agents |
| CN204634474U (en) * | 2015-04-21 | 2015-09-16 | 中国人民解放军空军勤务学院 | One planting fruit-trees stripper |
| CN107439240A (en) * | 2016-06-01 | 2017-12-08 | 石河子大学 | A kind of side pressure-sensitive cotton top-cutting machine |
| CN106171569A (en) * | 2016-07-14 | 2016-12-07 | 西南大学 | Portable topping sprout-inhibiting machine and control method thereof |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN107027529A (en) * | 2017-05-10 | 2017-08-11 | 广西大学 | A kind of device for hedge trimming, broken branch and absorption |
Non-Patent Citations (3)
| Title |
|---|
| 3MDZK-12型单行仿形棉花打顶机的结构设计与性能试验研究;唐军;罗昕;胡斌;张茜;李霞;;石河子大学学报(自然科学版)(第04期);第 121-124页 * |
| 棉花打顶机械手的Fuzzy-PID控制;宋欢;王维新;李霞;沈晓晨;张玉磊;;江苏农业科学(第03期);第172-175页 * |
| 烟草打顶机的研究现状与发展思路;贾瑞昌;何振峰;张亦伦;黄进杰;张镜权;刘晓霞;赵伟伟;杨洲;;现代农业装备(第04期);第47-53页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108370740A (en) | 2018-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108370740B (en) | Topping end effector and topping machine comprising same | |
| CN114009214B (en) | Bionic tea-picking cutter, tea-picking device and tea-picking method | |
| CN107696047B (en) | End effector of cucumber flexible picking manipulator and picking method | |
| CN103950033B (en) | The mechanical arm of fruit picking robot and end effector and fruit picking method | |
| CN207321927U (en) | Pineapple picker based on machine vision | |
| CN107567822B (en) | Tea-leaf picker | |
| CN111527882A (en) | Parallel type automatic famous tea picking robot | |
| CN108811766B (en) | Man-machine interactive greenhouse fruit and vegetable harvesting robot system and harvesting method thereof | |
| CN204948793U (en) | Collection device is picked to strawberry | |
| CN114830915B (en) | Litchi vision picking robot based on laser radar navigation and implementation method thereof | |
| CN213991734U (en) | Parallel type automatic famous tea picking robot | |
| JP2024144177A (en) | A suitable device for efficient and intelligent harvesting of greenhouse cucumbers in a shaded environment | |
| CN106233937A (en) | A kind of array extension type mechanical arm kiwifruit fruit picking robot | |
| CN113228939B (en) | Intelligent vertical corn header and corn combine | |
| CN204968526U (en) | Novel grass harvester | |
| CN108323325B (en) | Strawberry picking machine simulating human hands and picking method | |
| CN116897717A (en) | Tomato threshing robot end effector and threshing method | |
| CN110235635B (en) | Gardens maintenance trimming means with branch detects function | |
| WO2023226782A1 (en) | Crop weeding device having seedling avoidance function | |
| CN115136793B (en) | Safflower harvesting end effector, robot and harvesting method thereof | |
| CN214385145U (en) | Device is picked to intelligence filament | |
| CN215991968U (en) | Picking robot | |
| CN112005718B (en) | Automatic screening tea picking machine | |
| CN113966669A (en) | Automatic pineapple picking plug-in device and picking method | |
| CN212306181U (en) | Automatic obstacle avoidance mechanism suitable for being matched with under-tree weeding operation machine in orchard |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |