CN108401664A - A kind of spheral fruit flexibility picking end effector - Google Patents
A kind of spheral fruit flexibility picking end effector Download PDFInfo
- Publication number
- CN108401664A CN108401664A CN201810432368.3A CN201810432368A CN108401664A CN 108401664 A CN108401664 A CN 108401664A CN 201810432368 A CN201810432368 A CN 201810432368A CN 108401664 A CN108401664 A CN 108401664A
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- China
- Prior art keywords
- mechanical arm
- connecting rod
- link block
- hemisphere clamp
- picking
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- 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
- A01D46/24—Devices for picking apples or like fruit
Abstract
The present invention provides a kind of spheral fruit flexibility picking end effectors,Including console,Mechanical arm mechanism and flexible picking end executing agency,Control module is equipped in the console,Image processing module and power storage module,The upper surface of the console is equipped with the mechanical arm mechanism,The mechanical arm mechanism includes the first link block,First link block is fixed on the upper surface of the console,The present invention is wrapped up fruits and vegetables to be picked by the first hemisphere clamp and the second hemisphere clamp,The scissors of Driven by Hydraulic Cylinder shearing fork telescopic boom end shears carpopodium,Realize the separation of fruits and vegetables to be picked and plant,The inner surface of first hemisphere clamp and the second hemisphere clamp covers soft silica gel pad,The destruction to fruits and vegetables epidermis is avoided well,It ensure that the quality of fruits and vegetables,It can be very well to tomato,Apple,Citrus equal sphere fruits and vegetables carry out flexible picking,With good versatility,It is open strong,It is easy to extend.
Description
Technical field
The present invention relates to robotics equipment field, more particularly to a kind of spheral fruit flexibility picking end effector.
Background technology
Traditional fruits and vegetables manually pick that work is complicated, the amount of labour is very big.General apple, citrus, tomato equal sphere fruit
Mechaniaed harvest makes the method that the fruit on plant is fallen or even large area is pulled out by vibration, can not be directed to the specific of fruit
The differences such as maturation, size cause the quality of fruit to be greatly affected.It is carried out in picking automatically using picking robot, it must
The end effector that must be connected by the mechanical wrist part with robot executes the picking task of fruit, and foreign countries are in this field exhibition
Certain research is opened, the N.Kondo of such as Japan describes a kind of the End-effector for Tomato-harvesting Robot, can catch tomato simultaneously
Finger is larger to the chucking power of fruit when twisting off carpopodium, but twisting off carpopodium, and the damage for often resulting in fruit even ruptures, and it is only
It can be used for the picking of tomato；And D.M.Bulanon describes a kind of apple picking robot end effector, is referred to two and is caught simultaneously
The stalk of apple is twisted off, but does not have feedback mechanism, the attachment force that can not adapt to different fruits and stalk changes, and may be only available for specific life
The picking of long-term apple.
Since the shape of different fruits, size, physical characteristic difference are apparent, above-mentioned terminal executor of picking robot is all
It is designed for the picking of specific fruit, basic machine structure has apparent specificity feature, and closure is extremely strong, it is difficult to logical
With and extension.And fruits and vegetables plantation is wide in variety, harvest season property is stronger, causes tailored version terminal executor of picking robot
Utilization ratio it is relatively low, must design and replace corresponding end effector when harvesting different fruits and vegetables, be made for the producer
At great cost burden.
Invention content
(1) the technical issues of solving
To solve the above-mentioned problems, the present invention provides a kind of spheral fruit flexibility picking end effector, pass through first
Hemisphere clamp and the second hemisphere clamp wrap up fruits and vegetables to be picked, the scissors of Driven by Hydraulic Cylinder shearing fork telescopic boom end
Carpopodium is sheared, realizes the separation of fruits and vegetables to be picked and plant, the first hemisphere clamp and the second hemisphere clamp
Inner surface covers soft silica gel pad, avoids the destruction to fruits and vegetables epidermis well, ensure that the quality of fruits and vegetables, can be very suitable
Profit carries out flexible picking to tomato, apple, citrus equal sphere fruits and vegetables, has good versatility, open strong, is easy to expand
Exhibition.
(2) technical solution
A kind of spheral fruit flexibility picking end effector, including console, mechanical arm mechanism and flexible picking end are held
Row mechanism, the console is interior to be equipped with control module, image processing module and power storage module, and the upper surface of the console is equipped with
The mechanical arm mechanism, the mechanical arm mechanism include the first link block, and first link block is fixed on the console
The side of upper surface, first link block is equipped with the first elbow joint, and one end of first elbow joint is connect with described first
Block is connected, and the other end of first elbow joint is connected to the side of the second link block, and first elbow joint is rotatable
It is connected with first link block, the front of second link block is equipped with first mechanical arm, and the one of the first mechanical arm
End is connected with second link block, the side of the other end the second elbow joint of connection of the first mechanical arm, and described second
The end of elbow joint is equipped with second mechanical arm, the rotatable end with second elbow joint in the side of the second mechanical arm
It is connected, the side of the end connection third elbow joint of the second mechanical arm, the end of the third elbow joint connects third
The side of link block, the third link block are rotatably connected with the third elbow joint, the bottom of the third link block
Portion connects the side of third mechanical arm, and the end of the third mechanical arm is equipped with the flexible picking end executing agency, described
Flexible picking end executing agency includes substrate, the end of the third mechanical arm back side for being fixed on the substrate placed in the middle,
The top of the substrate is equipped with camera, and the front of the substrate is symmetrically equipped with first straight line motor and second straight line motor,
The end of first telescopic rod of the first straight line motor is equipped with head rod, one end of the head rod and described the
The end of one telescopic rod is fixedly connected, and the other end of the head rod is connected with the second connecting rod, second connection
One end of bar is hinged with the head rod, and the other end of second connecting rod connects the first hemisphere clamp, described
The other end of second connecting rod is fixed on the outside top of the first hemisphere clamp, and the second of the second straight line motor stretches
The end of contracting bar is equipped with third connecting rod, and one end of the third connecting rod is fixedly connected with the end of second telescopic rod,
The other end of the third connecting rod is connected with the 4th connecting rod, one end and the third connecting rod of the 4th connecting rod
It is hinged, the other end of the 4th connecting rod connects the second hemisphere clamp, and the other end of the 4th connecting rod is fixed on
It is all provided on the inside of the outside top of the second hemisphere clamp, the first hemisphere clamp and the second hemisphere clamp
There is a shock sensor, the inner surface of the first hemisphere clamp and the second hemisphere clamp is all covered with soft silica gel
Pad, the first hemisphere clamp is connected with the second hemisphere clamp by hinge, the first hemisphere clamp with
The side of the hinge is hinged, and the other side of the second hemisphere clamp and the hinge is hinged, the back of the body of the hinge
Face is equipped with fixed link, and one end of the fixed link is connected with the hinge, the other end of the fixed link and the substrate phase
Connection, between the first straight line motor and the second straight line motor, the front of the substrate is also set the fixed link
There are hydraulic cylinder, the hydraulic cylinder to be located at the surface of the fixed link, the output end of the hydraulic cylinder is connected with shearing fork telescopic bar,
One end of the shearing fork telescopic bar is connected with the output end of the hydraulic cylinder, and the other end of the shearing fork telescopic bar, which is equipped with, to be cut
Knife, the camera connect the input terminal of the control module, the output end point of the control module with the shock sensor
It Lian Jie not described image processing module, the mechanical arm mechanism, the first straight line motor, the second straight line motor and described
Hydraulic cylinder, the power storage module is the console, the mechanical arm mechanism and the flexible picking end executing agency provide
Operating voltage.
Further, the camera selects 3D depth cameras.
Further, the hinge is made of stainless steel.
Further, the control module selects 32 ARM controller LPC1768.
Further, the power storage module is lithium-ions battery.
(3) advantageous effect
The present invention provides a kind of spheral fruit flexibility picking end effector, mechanical arm mechanism has multiple freedom
Degree, expands picking range, improves picking efficiency, flexible picking end executing agency treats picking by 3D depth cameras
Plant carries out 3D modeling, filters out the fruits and vegetables for meeting standard of plucking, first straight line motor and second straight line motor contract respectively
The first telescopic rod and the second telescopic rod are returned, by the second connecting rod and the 4th connecting rod by the first hemisphere clamp and the second hemisphere
Clamp pulls the state to extend out completely, when fruits and vegetables to be picked touch the first hemisphere clamp or the second hemisphere clamp
When inner surface, shock sensor senses vibrations, controls first straight line motor by control module and second straight line motor is stretched
Go out the first telescopic rod and the second telescopic rod, the first hemisphere clamp and the second half are made by the second connecting rod and the 4th connecting rod
Spherical fixture is in closed configuration, and fruits and vegetables to be picked are wrapped in interior, the inside of the first hemisphere clamp and the second hemisphere clamp
Surface covers soft silica gel pad, avoids the destruction to fruits and vegetables epidermis well, ensure that the quality of fruits and vegetables, Driven by Hydraulic Cylinder are cut
The scissors of fork telescopic rod end shears carpopodium, realizes the separation of fruits and vegetables to be picked and plant, pair that can be very well
Tomato, apple, citrus equal sphere fruits and vegetables carry out flexible picking, and structure novel is ingenious in design, and system power dissipation is low, accuracy of detection
Height, fast response time, stability and good reliability have good versatility and practicability, open strong, are easy to extend.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of spheral fruit flexibility picking end effector according to the present invention.
Fig. 2 is that a kind of flexible picking end of spheral fruit flexibility picking end effector according to the present invention executes machine
Structure structural schematic diagram.
Fig. 3 is that a kind of flexible picking end of spheral fruit flexibility picking end effector according to the present invention executes machine
Structure vertical view.
Fig. 4 is a kind of System Working Principle figure of spheral fruit flexibility picking end effector according to the present invention.
Specific implementation mode
Embodiment according to the present invention is described in further details below in conjunction with the accompanying drawings.
In conjunction with Fig. 1~Fig. 4, a kind of spheral fruit flexibility picking end effector, including console 1, mechanical arm mechanism and
Flexible picking end executing agency, is equipped with control module, image processing module and power storage module in console 1, console 1 it is upper
Surface is equipped with the mechanical arm mechanism, and mechanical arm mechanism includes the first link block 2, and the first link block 2 is fixed on the upper of console 1
The side on surface, the first link block 2 is equipped with the first elbow joint 3, and one end of the first elbow joint 3 is connected with the first link block 2, the
The other end of one elbow joint 3 is connected to the side of the second link block 4, and the first elbow joint 3 is rotatably connected with the first link block 2
It connecing, the front of the second link block 4 is equipped with first mechanical arm 5, and one end of first mechanical arm 5 is connected with the second link block 4, and first
The other end of mechanical arm 5 connects the side of the second elbow joint 6, and the end of the second elbow joint 6 is equipped with second mechanical arm 7, the second machine
The side of tool arm 7 is rotatably connected with the end of the second elbow joint 6, the end connection third elbow joint 8 of second mechanical arm 7
Side, the side of the end connection third link block 9 of third elbow joint 8, third link block 9 rotatably with third elbow joint
8 are connected, and the side of the bottom connection third mechanical arm 10 of third link block 9, the end of third mechanical arm 10 is adopted equipped with flexibility
End effector mechanism is plucked, flexible picking end executing agency includes substrate 11, and the end of third mechanical arm 10 is placed in the middle to be fixed on
The top at the back side of substrate 11, substrate 11 is equipped with camera 12, and the front of substrate 11 is symmetrically equipped with 13 He of first straight line motor
The end of second straight line motor 14, the first telescopic rod 15 of first straight line motor 13 is equipped with head rod 16, head rod
16 one end is fixedly connected with the end of the first telescopic rod 15, and the other end of head rod 16 is connected with the second connecting rod 17
It connects, one end and the head rod 16 of the second connecting rod 17 are hinged, and the other end of the second connecting rod 17 connects the first hemispherical
Fixture 18, the other end of the second connecting rod 17 are fixed on the outside top of the first hemisphere clamp 18, second straight line motor 14
The end of second telescopic rod 19 is equipped with third connecting rod 20, and one end of third connecting rod 20 and the end of the second telescopic rod 19 are fixed
Connection, the other end of third connecting rod 20 are connected with the 4th connecting rod 21, one end and the third connecting rod of the 4th connecting rod 21
20 are hinged, and the other end of the 4th connecting rod 21 connects the second hemisphere clamp 22, and the other end of the 4th connecting rod 21 is fixed on
The inside of the outside top of second hemisphere clamp 22, the first hemisphere clamp 18 and the second hemisphere clamp 22 is equipped with vibrations
The inner surface of sensor, the first hemisphere clamp 18 and the second hemisphere clamp 22 is all covered with soft silica gel pad, the first hemisphere
Clamp 18 is connected with the second hemisphere clamp 22 by hinge 23, and the side of the first hemisphere clamp 18 and hinge 23 is mutually cut with scissors
It connects, the other side of the second hemisphere clamp 22 and hinge 23 is hinged, and the back side of hinge 23 is equipped with fixed link 24, fixed link 24
One end is connected with hinge 23, and the other end of fixed link 24 is connected with substrate 11, and fixed link 24 is located at first straight line motor 13
Between second straight line motor 14, the front of substrate 11 is additionally provided with hydraulic cylinder 25, and hydraulic cylinder 25 is located at the surface of fixed link 24,
The output end of hydraulic cylinder 25 is connected with shearing fork telescopic bar 26, and one end of shearing fork telescopic bar 26 is connected with the output end of hydraulic cylinder 25
It connects, the other end of shearing fork telescopic bar 26 is equipped with scissors 27, the input terminal of camera 12 and shock sensor link control module, control
The output end of molding block is separately connected image processing module, mechanical arm mechanism, first straight line motor 13,14 and of second straight line motor
Hydraulic cylinder 25, platform 1, mechanical arm mechanism and flexible picking end executing agency provide operating voltage to power storage module in order to control.
Robot carries out the picking of fruits and vegetables by flexible picking end effector, above flexible picking end executing agency
Camera 12 acquires the image information of plant to be picked, and camera 12 selects 3D depth cameras, waits picking in addition to that can obtain
The two-dimensional image of plant, moreover it is possible to obtain the three-dimensional position and dimension information of plant to be picked, the image information of acquisition is through control
Molding block is sent into image processing module and is handled, and treats picking plant and carries out 3D modeling, and filters out and meet standard of plucking
Fruits and vegetables avoid the fruits and vegetables that picking robot has differences to maturity and size, ensure that the quality of fruits and vegetables.First
Elbow joint 3 can be rotated along the axis of the first link block 2, and second mechanical arm 7 can be rotated along the axis of the second elbow joint 6, the
Three link blocks 9 can be rotated along the axis of third elbow joint 8, so that mechanical arm mechanism has multiple degrees of freedom, it can be flexible
The flexible picking end executing agency of progress height and angle adjusting, expand picking range, improve picking efficiency.
When mechanical arm mechanism send flexible picking end executing agency to fruits and vegetables to be picked, first straight line motor 13
With second straight line motor 14 work, the first telescopic rod 15 and the second telescopic rod 19 are retracted respectively, due to head rod 16 with
First telescopic rod 15 is fixedly connected, and the second connecting rod 17 is fixedly connected with the outside top of the first hemisphere clamp 18, and second
Connecting rod 17 is hinged with head rod 16, and the side of the first hemisphere clamp 18 and hinge 23 is hinged, and hinge 23 passes through admittedly
Fixed pole 24 is fixed on the front of substrate 11, therefore when first straight line motor 13 retracts the first telescopic rod 15, passes through the second connection
The effect of pullling of bar 17, can open the first hemisphere clamp 18 makes it be in the state extended out completely, similarly, second straight line motor
When 14 the second telescopic rod 19 of retraction, by the effect of pullling of the 4th connecting rod 21, can also open the second hemisphere clamp 22 make
It is in the state extended out completely.Hinge 23 selects stainless steel to be made, and has preferable hardness and corrosion resistance, easily wipes
It wipes, ensure that the service life of hinge 23.When fruits and vegetables to be picked touch the first hemisphere clamp 18 or the second hemisphere clamp
When 22 inner surface, shock sensor sensitively senses vibrations, notice control module driving first straight line motor 13 and the
Two linear motors 14 respectively stretch out the first telescopic rod 15 and the second telescopic rod 19, to make the first hemisphere clamp 18 and second
Hemisphere clamp 22 is in the state closed up, and fruits and vegetables to be picked completely is wrapped in interior.First hemisphere clamp 18 and the second half
The inner surface of spherical fixture 22 covers soft silica gel pad, avoids the destruction to fruits and vegetables epidermis well, ensure that fruits and vegetables
Quality.Package finishes, and hydraulic cylinder 25 works so that shearing fork telescopic bar 26 stretches, and passes through the scissors 27 of 26 end of shearing fork telescopic bar
Carpopodium is sheared, the separation of fruits and vegetables to be picked and plant is realized, can it is very well to tomato, apple, citrus etc. no
Spheral fruit with size carries out flexible picking.
Control module handles the detection input signal of camera 12 and shock sensor, output control signal difference
Image processing module, mechanical arm mechanism, first straight line motor 13, second straight line motor 14 and hydraulic cylinder 25 is controlled to work.Due to
Control module needs quickly to handle multichannel data and multiple processes, and workload is larger, therefore it is required that control module has
Also to ensure control accuracy and the synchronism of image transmitting while stronger data-handling capacity.Control module selects 32
ARM controller LPC1768 is based on ARM Cortex-M3 kernels, and operating frequency is up to 120MHz, and code execution speed is up to
1.25MIPS/MHz, and there is abundant peripheral interface unit, enormously simplify circuit.The high speed processing skill of LPC1768 itself
Art will be helpful to improve control accuracy, while also ensure the real-time of data transmission.
Power storage module provides operating voltage, electric power storage mould to console 1, mechanical arm mechanism and flexible picking end executing agency
Block selects lithium-ions battery, and repeated charge number is high, and service life is long, and transformation efficiency is high, embodies energy-saving and environment-friendly
Spirit.
The present invention provides a kind of spheral fruit flexibility picking end effector, mechanical arm mechanism has multiple freedom
Degree, expands picking range, improves picking efficiency, flexible picking end executing agency treats picking by 3D depth cameras
Plant carries out 3D modeling, filters out the fruits and vegetables for meeting standard of plucking, first straight line motor and second straight line motor contract respectively
The first telescopic rod and the second telescopic rod are returned, by the second connecting rod and the 4th connecting rod by the first hemisphere clamp and the second hemisphere
Clamp pulls the state to extend out completely, when fruits and vegetables to be picked touch the first hemisphere clamp or the second hemisphere clamp
When inner surface, shock sensor senses vibrations, controls first straight line motor by control module and second straight line motor is stretched
Go out the first telescopic rod and the second telescopic rod, the first hemisphere clamp and the second half are made by the second connecting rod and the 4th connecting rod
Spherical fixture is in closed configuration, and fruits and vegetables to be picked are wrapped in interior, the inside of the first hemisphere clamp and the second hemisphere clamp
Surface covers soft silica gel pad, avoids the destruction to fruits and vegetables epidermis well, ensure that the quality of fruits and vegetables, Driven by Hydraulic Cylinder are cut
The scissors of fork telescopic rod end shears carpopodium, realizes the separation of fruits and vegetables to be picked and plant, pair that can be very well
Tomato, apple, citrus equal sphere fruits and vegetables carry out flexible picking, and structure novel is ingenious in design, and system power dissipation is low, accuracy of detection
Height, fast response time, stability and good reliability have good versatility and practicability, open strong, are easy to extend.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined.Under the premise of not departing from design concept of the present invention, technology of the ordinary people in the field to the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (5)
1. a kind of spheral fruit flexibility picking end effector, it is characterised in that：It is adopted including console, mechanical arm mechanism and flexibility
Pluck end effector mechanism, be equipped with control module, image processing module and power storage module in the console, the console it is upper
Surface is equipped with the mechanical arm mechanism, and the mechanical arm mechanism includes the first link block, and first link block is fixed on described
The upper surface of console, the side of first link block are equipped with the first elbow joint, one end of first elbow joint with it is described
First link block is connected, and the other end of first elbow joint is connected to the side of the second link block, first elbow joint
Rotatably it is connected with first link block, the front of second link block is equipped with first mechanical arm, first machine
One end of tool arm is connected with second link block, and the other end of the first mechanical arm connects the side of the second elbow joint,
The end of second elbow joint is equipped with second mechanical arm, and the side of the second mechanical arm is rotatably closed with second elbow
The end of section is connected, the side of the end connection third elbow joint of the second mechanical arm, the end of the third elbow joint
The side of third link block is connected, the third link block is rotatably connected with the third elbow joint, and the third connects
The side of the bottom connection third mechanical arm of block is connect, the end of the third mechanical arm is equipped with the flexible picking end and executes machine
Structure, the flexibility picking end executing agency includes substrate, the end of the third mechanical arm it is placed in the middle be fixed on the substrate
The back side, the top of the substrate is equipped with camera, and the front of the substrate is symmetrically equipped with first straight line motor and second straight
The end of line motor, the first telescopic rod of the first straight line motor is equipped with head rod, one end of the head rod
It is fixedly connected with the end of first telescopic rod, the other end of the head rod is connected with the second connecting rod, described
One end of second connecting rod is hinged with the head rod, and the other end of second connecting rod connects the first hemisphere clevis
Tool, the other end of second connecting rod are fixed on the outside top of the first hemisphere clamp, the second straight line motor
The end of the second telescopic rod be equipped with third connecting rod, the end of one end of the third connecting rod and second telescopic rod is solid
Fixed connection, the other end of the third connecting rod are connected with the 4th connecting rod, one end of the 4th connecting rod and described the
Three connecting rods are hinged, and the other end of the 4th connecting rod connects the second hemisphere clamp, the 4th connecting rod it is another
The outside top of the second hemisphere clamp is fixed at end, the first hemisphere clamp and the second hemisphere clamp
Inside is equipped with shock sensor, and the inner surface of the first hemisphere clamp and the second hemisphere clamp is all covered with
Soft silica gel pad, the first hemisphere clamp are connected with the second hemisphere clamp by hinge, first hemispherical
The side of fixture and the hinge is hinged, and the other side of the second hemisphere clamp and the hinge is hinged, the conjunction
The back side of page is equipped with fixed link, and one end of the fixed link is connected with the hinge, the other end of the fixed link with it is described
Substrate is connected, and the fixed link is between the first straight line motor and the second straight line motor, and the substrate is just
Face is additionally provided with hydraulic cylinder, and the hydraulic cylinder is located at the surface of the fixed link, and the output end of the hydraulic cylinder is connected with scissor
One end of telescopic rod, the shearing fork telescopic bar is connected with the output end of the hydraulic cylinder, the other end of the shearing fork telescopic bar
Equipped with scissors, the camera connects the input terminal of the control module with the shock sensor, the control module it is defeated
Outlet is separately connected described image processing module, the mechanical arm mechanism, the first straight line motor, the second straight line motor
With the hydraulic cylinder, the power storage module is that the console, the mechanical arm mechanism and the flexible picking end execute machine
Structure provides operating voltage.
2. a kind of spheral fruit flexibility picking end effector according to claim 1, it is characterised in that：The camera
Select 3D depth cameras.
3. a kind of spheral fruit flexibility picking end effector according to claim 1, it is characterised in that：The hinge by
Stainless steel is made.
4. a kind of spheral fruit flexibility picking end effector according to claim 1, it is characterised in that：The control mould
Block selects 32 ARM controller LPC1768.
5. a kind of spheral fruit flexibility picking end effector according to claim 1, it is characterised in that：The electric power storage mould
Block is lithium-ions battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810432368.3A CN108401664A (en) | 2018-05-08 | 2018-05-08 | A kind of spheral fruit flexibility picking end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810432368.3A CN108401664A (en) | 2018-05-08 | 2018-05-08 | A kind of spheral fruit flexibility picking end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108401664A true CN108401664A (en) | 2018-08-17 |
Family
ID=63138059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810432368.3A Withdrawn CN108401664A (en) | 2018-05-08 | 2018-05-08 | A kind of spheral fruit flexibility picking end effector |
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| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110603976A (en) * | 2019-10-24 | 2019-12-24 | 中国计量大学 | Tomato branch and leaf trimming device and trimming method thereof |
| CN110744555A (en) * | 2019-09-19 | 2020-02-04 | 南京航空航天大学 | Combined arm for plant picking, robot and method |
| CN110771351A (en) * | 2019-12-11 | 2020-02-11 | 桂林电子科技大学 | Giant-exendin-imitating cotton collecting device |
| CN113183148A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Industrial robot singularity-avoiding end effector connecting device and singularity-avoiding method |
| CN117084061A (en) * | 2023-08-30 | 2023-11-21 | 中新云农(重庆)科技有限公司 | Nondestructive fruit picking device |
| CN110603976B (en) * | 2019-10-24 | 2024-04-26 | 中国计量大学 | Tomato branch and leaf trimming device and trimming method thereof |
-
2018
- 2018-05-08 CN CN201810432368.3A patent/CN108401664A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110744555A (en) * | 2019-09-19 | 2020-02-04 | 南京航空航天大学 | Combined arm for plant picking, robot and method |
| CN110744555B (en) * | 2019-09-19 | 2022-05-24 | 南京航空航天大学 | Combined arm for plant picking, robot and method |
| CN110603976A (en) * | 2019-10-24 | 2019-12-24 | 中国计量大学 | Tomato branch and leaf trimming device and trimming method thereof |
| CN110603976B (en) * | 2019-10-24 | 2024-04-26 | 中国计量大学 | Tomato branch and leaf trimming device and trimming method thereof |
| CN110771351A (en) * | 2019-12-11 | 2020-02-11 | 桂林电子科技大学 | Giant-exendin-imitating cotton collecting device |
| CN113183148A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Industrial robot singularity-avoiding end effector connecting device and singularity-avoiding method |
| CN117084061A (en) * | 2023-08-30 | 2023-11-21 | 中新云农(重庆)科技有限公司 | Nondestructive fruit picking device |
| CN117084061B (en) * | 2023-08-30 | 2024-04-19 | 中新云农(重庆)科技有限公司 | Nondestructive fruit picking device |
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