CN108450149A - A kind of fruits picking mechanical hand device - Google Patents
A kind of fruits picking mechanical hand device Download PDFInfo
- Publication number
- CN108450149A CN108450149A CN201810373750.1A CN201810373750A CN108450149A CN 108450149 A CN108450149 A CN 108450149A CN 201810373750 A CN201810373750 A CN 201810373750A CN 108450149 A CN108450149 A CN 108450149A
- Authority
- CN
- China
- Prior art keywords
- rotating disk
- connecting rod
- actuated
- bearing
- fruit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J1/00—Manipulators positioned in space by hand
- B25J1/02—Manipulators positioned in space by hand articulated or flexible
-
- 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
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Abstract
The invention discloses a kind of fruit to assist picking mechanical arm device, including handle, telescopic rod and picking mechanism；One end of handle and telescopic rod connects；Connecting rod is connected by limiting device and limit hole；The other end of telescopic rod is connected with picking mechanism, and picking mechanism includes shell, actuated by cams frame, camshaft, guide sleeve, bearing, secondary rotating disk, pull rod, main rotating disk, mechanical paw；Actuated by cams sets up the lower end for being placed in enclosure；Roller is set to the inside of actuated by cams frame and is symmetrical structure；Camshaft is set to the inside of shell；Camshaft passes through the part of actuated by cams frame to be equipped with one first spring, and card slot is additionally provided on camshaft；Guide sleeve is fixedly connected with the upper end of actuated by cams frame；Mechanical paw is installed in main rotating disk.The present invention is easy to operate, and using flexible is strong, reduces the labor intensity of staff.
Description
Technical field
The present invention relates to fruit picking fields, specifically, are related to a kind of fruits picking mechanical hand device.
Background technology
During Production of fruit, picking is very important link, and traditional fruit picking needs are climbed tree or by ladder
Son, then picked by man-hour manually hand-held scissors；In picking process, since human body takes up space greatly, traditional unarmed picking
Mode often causes falling and crowded wound for fruit；And due to the randomness of trees branch growth, peasant is in labout process
It is easily injured.Therefore, traditional Softening has the shortcomings that inefficiency, dangerous height, the amount of labour are big.
And the full-automatic fruit picker of mainstay, generally existing are complicated for operation at this stage, it is difficult to repair, cost mistake
High technological deficiency.For peasant, the big machinery of this complexity can not obtain effectively universal use.
To improve the above unfavorable working condition, and ensure that it can generally be used in peasant group, how to provide one kind
Work efficiency is high, simple in structure and easy to operate human assistance picker becomes in order to which those skilled in the art urgently solve
Certainly the technical issues of.
Invention content
In view of this, the present invention provides a kind of fruits picking mechanical hand device, by using camshaft coupler link machine
Tool paw can effectively improve fruit picking efficiency, reduce the amount of labour and degree of danger of entire picking process, so that it is guaranteed that
The safety and working efficiency of user.
To achieve the above object, the present invention uses following design scheme：
A kind of fruit auxiliary picking mechanical arm device, including handle, telescopic rod and picking mechanism；
One end of the handle and the telescopic rod is detachably connected, and the first wire guide is provided on the handle；
The telescopic rod is made of at least two section connecting rods, and the connecting rod is connected by limiting device and limit hole；
The other end of the telescopic rod is connected with the picking mechanism, the picking mechanism include shell, actuated by cams frame,
Camshaft, guide sleeve, bearing, secondary rotating disk, pull rod, main rotating disk, mechanical paw；
Wherein, the enclosure is hollow structure, and the upper end of the shell is set as groove structure；
The actuated by cams sets up the lower end for being placed in the enclosure, and the second conducting wire is provided on the actuated by cams frame
Hole and roller；The roller is set to the inside of the actuated by cams frame and is symmetrical structure；
The camshaft is set to the inside of the shell, and runs through the actuated by cams frame；The camshaft passes through
The part of the actuated by cams frame is equipped with one first spring, and card slot, the actuated by cams frame are additionally provided on the camshaft
It is connect with the roller slip by the card slot with the shell；
The guide sleeve is fixedly connected with the upper end of the actuated by cams frame；
The outer shroud of the bearing is fixedly connected with the guide sleeve；
The pair rotating disk is fixedly connected with the inner ring of the bearing；It is installed with pull rod in the pair rotating disk, institute
Pull rod is stated through the secondary rotating disk；
The main rotating disk is installed on the upper end of the shell, and the main rotating disk is fixedly connected with the camshaft；
The mechanical paw is installed in the main rotating disk, and the mechanical paw is connected with the pull rod.
Preferably, the mechanical paw include first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod with
And six-bar linkage；One end of the first connecting rod is connected with the pull rod, the first connecting rod, the second connecting rod, described
Third connecting rod and the fourth link are sequentially connected, and the six-bar linkage is fixedly mounted in the main rotating disk, and described
Six-bar linkage is connected with the 5th connecting rod, and the 5th connecting rod is connect with the 4th connecting rod, second connecting rod
Tie point with the third connecting rod is the first tie point, and the tie point of the 5th connecting rod and the 6th connecting rod is
Second tie point, described first, which connects point, is connected with second tie point by connector.
Specifically, the mechanical paw is additionally provided with spongy layer with fruit contact surface, avoids in picking process to fruit
It damages.
Preferably, the upper end of the shell is fixedly connected with a bearing holder (housing, cover), and the bearing holder (housing, cover) wraps up the main rotating disk.
Preferably, a deep groove ball bearing is installed between the bearing holder (housing, cover) and the main rotating disk, avoids the main rotation
Disk is contacted with the bearing holder (housing, cover), and the main rotating disk is enable to realize flexible rotation.
Preferably, the handle is made of the first handle, the second handle and second spring；First handle with it is described
Second handle is hinged, is detachably equipped with second spring therebetween, first wire guide is set on first handle.
Preferably, first wire guide is connect with second wire guide by conducting wire.
Preferably, the bearing is needle bearing, and the bearing can prevent the rotation of secondary rotating disk from driving actuated by cams
Frame rotates.
Preferably, the pull rod passes through the part of the secondary rotating disk to be equipped with third spring, when the mechanical paw is grabbed
Firmly after fruit, when the pull rod can not continue to move to, the flexibility of the third spring can ensure that the actuated by cams frame continues to move
It is dynamic to complete entire stroke.
Preferably, it is gap-matched between the camshaft and the guide sleeve.
Preferably, using interference fit between the camshaft and the main rotating disk；The guide sleeve and the bearing it
Between using interference fit；Using interference fit between the bearing and secondary rotating disk, to when ensuring secondary rotation disc spins, keep away
Exempt from secondary rotating disk pulls main rotating disk to move down together under the traction of actuated by cams frame, while ensureing that the normal of main rotating disk turns
It is dynamic.
Advantageous effect of the present invention：A kind of fruits picking mechanical hand device disclosed by the invention, easy to operate, using flexible
By force；The structure of telescopic rod keeps whole device easy to carry；During the rational design of picking mechanism makes fruit-picking, not only
Fruit can be firmly firmly grasped, meanwhile, fruit stalk portion is twisted into two parts in the automatic rotation of mechanical paw, further reduces work people
The labor intensity of member.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is overall structure of the present invention；
Fig. 2 is picking mechanism sectional view of the present invention；
Fig. 3 is mechanical paw structure schematic diagram of the present invention.
Wherein, in figure,
1- handles；The first wire guides of 11-；The first handles of 12-；The second handles of 13-；14- second springs；2- telescopic rods；
21- limiting devices；3- picking mechanisms；31- shells；32- actuated by cams framves；The second wire guides of 321-；322- rollers；33- cams
Axis；The first springs of 331-；332- card slots；34- guide sleeves；35- bearings；36- pair rotating disks；37- pull rods；The main rotating disks of 38-；39-
Mechanical paw；391- first connecting rods；392- second connecting rods；393- third connecting rods；394- fourth links；The 5th connecting rods of 395-；
396- six-bar linkages；The first tie points of 397-；The second tie points of 398-；399- connectors；4- bearing holder (housing, cover)s；5- deep groove ball bearings；
6- conducting wires；7- third springs.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out complete, clear
The description of Chu.
As shown in Figs. 1-3, the invention discloses a kind of fruit to assist picking mechanical arm device, including handle 1, telescopic rod 2
And picking mechanism 3；
Handle 1 and one end of telescopic rod 2 are detachably connected, and the first wire guide 11 is provided on handle 1；Telescopic rod 2 is by extremely
Few two sections connecting rod composition, connecting rod are connected by limiting device 21 and limit hole；
The other end of telescopic rod 2 is connected with picking mechanism 3, and picking mechanism 3 includes shell 31, actuated by cams frame 32, cam
Axis 33, guide sleeve 34, bearing 35, secondary rotating disk 36, pull rod 37, main rotating disk 38, mechanical paw 39；
Wherein, 31 inside of shell is hollow structure, and the upper end of shell 31 is set as groove structure；
Actuated by cams frame 32 is set to the lower end inside shell 31, and the second wire guide 321 is provided on actuated by cams frame 32
And roller 322；Roller 322 is set to the inside of actuated by cams frame 32 and is symmetrical structure；
Camshaft 33 is set to the inside of shell 31, and runs through actuated by cams frame 32；Camshaft 33 passes through actuated by cams
The part of frame 32 is equipped with one first spring 331, and card slot 332, actuated by cams frame 32 and shell 31 are additionally provided on camshaft 33
It is slidably connected by card slot 332 and roller 322；
Guide sleeve 34 is fixedly connected with the upper end of actuated by cams frame 32；
The outer shroud of bearing 35 is fixedly connected with guide sleeve 34；
Secondary rotating disk 36 is fixedly connected with the inner ring of bearing 35；Pull rod 37, pull rod 37 are installed in secondary rotating disk 36
Through secondary rotating disk 36；
Main rotating disk 38 is installed on the upper end of shell 31, and main rotating disk 38 is fixedly connected with camshaft 33；
Mechanical paw 39 is installed in main rotating disk 38, and mechanical paw 39 is connected with pull rod 37.
Further, mechanical paw 39 includes first connecting rod 391, second connecting rod 392, third connecting rod 393, fourth link
394, the 5th connecting rod 395 and six-bar linkage 396；One end of first connecting rod 391 is connected with pull rod 37, first connecting rod 391,
Second connecting rod 392, third connecting rod 393 and fourth link 394 are sequentially connected, and six-bar linkage 396 is fixedly mounted on main rotating disk
On 38, six-bar linkage 396 is connected with the 5th connecting rod 395, and the 5th connecting rod 395 is connect with the 4th connecting rod 394, the second connection
Bar 392 and the tie point of third connecting rod 393 are the first tie point 397, the company of the 5th connecting rod 395 and the 6th connecting rod 396
Contact is the second tie point 398, and first, which connects point 397, is connected with the second tie point 398 by connector 399.
Specifically, mechanical paw 39 is additionally provided with spongy layer with fruit contact surface, avoids making fruit in picking process
At damage；Each connecting rod and between main rotating disk 38 connection type be axis pin connect, so that entire mechanical paw 39 is dismantled convenient,
Ensure that entire picking process is easily installed and carries.
Further, the upper end of shell 31 is fixedly connected with a bearing holder (housing, cover) 4, and bearing holder (housing, cover) 4 wraps up main rotating disk 38.
Further, a deep groove ball bearing 5 is installed between bearing holder (housing, cover) 4 and main rotating disk 38, avoid main rotating disk 38 with
Bearing holder (housing, cover) 4 contacts, and winner's rotating disk 38 is enable to realize flexible rotation.
Further, handle 1 is made of the first handle 12, the second handle 13 and second spring 14；First handle 12 with
Second handle 13 is hinged, is detachably equipped with second spring 14 therebetween, the first wire guide 11 is set on the first handle 12.
Further, the first wire guide 11 is connect with the second wire guide 321 by conducting wire 6.
Further, bearing 35 is needle bearing, and bearing 35 can prevent the rotation of secondary rotating disk 36 from driving actuated by cams
Frame 32 rotates.
Further, pull rod 37 passes through the part of secondary rotating disk 36 to be equipped with third spring 7, when mechanical paw 39 is caught
After fruit, when pull rod 37 can not continue to move to, it is whole that the flexibility of third spring 7 can ensure that actuated by cams frame 32 continues to move to complete
A stroke.
Further, be provided in secondary rotating disk 36 it is long be wider than pull rod 37 salute but width is less than the logical of spring diameter
Hole, so that it is guaranteed that secondary rotating disk 36 does not limit movement when moving down because rubbing with pull rod 37.
Further, it is gap-matched between camshaft 33 and guide sleeve 34.
Further, using interference fit between camshaft 33 and main rotating disk 38；It is used between guide sleeve 34 and bearing 35
Interference fit；Using interference fit between bearing 35 and secondary rotating disk 36, to when ensuring that secondary rotating disk 36 rotates, avoid pair
Rotating disk 36 pulls main rotating disk 38 to move down together under the traction of actuated by cams frame 32, while ensureing main rotating disk 38 just
Often rotation.
The technical program operation principle is：The length of telescopic rod 2 is adjusted, staff holds handle 1, by picking mechanism
Then power is passed to actuated by cams frame 32, the roller in actuated by cams frame 32 by 3 alignment fruits, handle 1 of holding with a firm grip by conducting wire 6
322 move along card slot 332, and actuated by cams frame 32 drives guide sleeve 34 while move down, and camshaft 33 is driven to rotate, when leading
When set 34 moves down, bearing 35 can also move down, and then secondary rotating disk 36, pull rod 37 can also move down, at this point, pull rod
37 pull first connecting rods 391, since six-bar linkage 396 is not secured on fruit at this time, therefore entire mechanical paw 39 it is whole to
Central reduction, when fourth link 394 is close to fruit, the moving down of driving lever first connecting rod 391 will result in the 5th connecting rod 395 with
Fourth link 394 is to central reduction, and to make mechanical paw 39 preferably wrap fruit, mechanical paw 39 is whole to wrap water
After fruit, the spring that 37 lower section of pull rod connects can ensure that actuated by cams frame 32 will not be stuck.Camshaft 33 completes the stroke that stops
(stroke for causing pull rod 37 to move down merely) enters rise afterwards, and camshaft 33 starts to rotate and main rotating disk 38 is driven to rotate,
Make mechanical paw 39 that fruit is obstructed rotation fracture with this.After the completion of picking action, handle 1 is unclamped, 32 bottom of actuated by cams frame
First spring 331 restores, to drive the recovery of integrated model, mechanical paw 39 to be made to be returned to initial position.
Wherein, in specifically manufacture installation process, 391 length of first connecting rod can be adjusted according to folded fruit volume range
And its pin hole position, shrink range so as to adjust mechanical paw 39.
Compared with prior art, above-mentioned fruit picker is easy to operate, and using flexible is strong, easy to carry, reliability
By force.It is good to fruit wrapping property and protectiveness in picking process due to being covered with spongy layer on mechanical paw 39.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of fruit assists picking mechanical arm device, which is characterized in that including handle (1), telescopic rod (2) and picking mechanism
(3)；
The handle (1) and one end of the telescopic rod (2) are detachably connected, and the first wire guide is provided on the handle (1)
(11)；
The telescopic rod (2) is made of at least two section connecting rods, and the connecting rod is connected by limiting device (21) and limit hole
It connects；
The other end of the telescopic rod (2) is connected with the picking mechanism (3), and the picking mechanism (3) includes shell (31), convex
Wheel drive frame (32), camshaft (33), guide sleeve (34), bearing (35), secondary rotating disk (36), pull rod (37), main rotating disk (38),
Mechanical paw (39)；
Wherein, it is hollow structure inside the shell (31), the upper end of the shell (31) is set as groove structure；
The actuated by cams frame (32) is set to the internal lower end of the shell (31), is provided on the actuated by cams frame (32)
Second wire guide (321) and roller (322)；The roller (322) is set to the inside of the actuated by cams frame (32) and is
Symmetrical structure；
The camshaft (33) is set to the inside of the shell (31), and runs through the actuated by cams frame (32)；It is described convex
Wheel shaft (33) passes through the part of the actuated by cams frame (32) to be equipped with one first spring (331), is gone back on the camshaft (33)
It is provided with card slot (332), the actuated by cams frame (32) passes through the card slot (332) and the roller with the shell (31)
(322) it is slidably connected；
The guide sleeve (34) is fixedly connected with the upper end of the actuated by cams frame (32)；
The outer shroud of the bearing (35) is fixedly connected with the guide sleeve (34)；
The pair rotating disk (36) is fixedly connected with the inner ring of the bearing (35)；It is installed on the pair rotating disk (36)
Pull rod (37), the pull rod (37) is through the secondary rotating disk (36)；
The main rotating disk (38) is installed on the upper end of the shell (31), the main rotating disk (38) and the camshaft (33)
It is fixedly connected；
The mechanical paw (39) is installed on the main rotating disk (38), the mechanical paw (39) and the pull rod (37) phase
Connection.
2. a kind of fruit according to claim 1 assists picking mechanical arm device, which is characterized in that the mechanical paw
(39) include first connecting rod (391), second connecting rod (392), third connecting rod (393), fourth link (394), the 5th connecting rod (395)
And six-bar linkage (396)；One end of the first connecting rod (391) is connected with the pull rod (37), the first connecting rod
(391), the second connecting rod (392), the third connecting rod (393) and the fourth link (394) are sequentially connected, and described
Six-bar linkage (396) is fixedly mounted on the main rotating disk (38), the six-bar linkage (396) and the 5th connecting rod (395)
Be connected, the 5th connecting rod (395) connect with the 4th connecting rod (394), second connecting rod (392) with it is described
The tie point of third connecting rod (393) is the first tie point (397), the 5th connecting rod (395) and the 6th connecting rod
(396) tie point is the second tie point (398), and first company's point (397) passes through with second tie point (398) to be connect
Body (399) is connected.
3. a kind of fruit according to claim 1 assists picking mechanical arm device, which is characterized in that the shell (31)
Upper end is fixedly connected with a bearing holder (housing, cover) (4), and the bearing holder (housing, cover) (4) wraps up the main rotating disk (38).
4. a kind of fruit according to claim 2 assists picking mechanical arm device, which is characterized in that the bearing holder (housing, cover) (4)
A deep groove ball bearing (5) is installed between the main rotating disk (38).
5. assisting picking mechanical arm device according to a kind of fruit of claim 1-4 any one of them, which is characterized in that described
Hand (1) is made of the first handle (12), the second handle (13) and second spring (14)；First handle (12) and described the
Two handles (13) are hinged, are detachably equipped with second spring (14) therebetween, and first wire guide (11) is set to described
On first handle (12).
6. a kind of fruit according to claim 5 assists picking mechanical arm device, which is characterized in that first wire guide
(11) it is connect by conducting wire (6) with second wire guide (321).
7. a kind of fruit according to claim 1 assists picking mechanical arm device, which is characterized in that the bearing (35) is
Needle bearing.
8. a kind of fruit according to claim 1 assists picking mechanical arm device, which is characterized in that the pull rod (37) is worn
The part for crossing the secondary rotating disk (36) is equipped with third spring (7).
9. assisting picking mechanical arm device according to a kind of fruit of claim 6-8 any one of them, which is characterized in that described convex
It is gap-matched between wheel shaft (33) and the guide sleeve (34).
10. assisting picking mechanical arm device according to a kind of fruit of claim 6-8 any one of them, which is characterized in that described
Using interference fit between camshaft (33) and the main rotating disk (38)；It is adopted between the guide sleeve (34) and the bearing (35)
With interference fit；Using interference fit between the bearing (35) and secondary rotating disk (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810373750.1A CN108450149B (en) | 2018-04-24 | 2018-04-24 | Fruit picking manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810373750.1A CN108450149B (en) | 2018-04-24 | 2018-04-24 | Fruit picking manipulator device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108450149A true CN108450149A (en) | 2018-08-28 |
| CN108450149B CN108450149B (en) | 2023-10-10 |
Family
ID=63235188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810373750.1A Active CN108450149B (en) | 2018-04-24 | 2018-04-24 | Fruit picking manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108450149B (en) |
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|---|---|---|---|---|
| CN109526392A (en) * | 2019-01-09 | 2019-03-29 | 哈尔滨理工大学 | A kind of mechanical paw for fruit picking |
| CN109940591A (en) * | 2019-04-29 | 2019-06-28 | 中信戴卡股份有限公司 | A kind of wheel hub conveying robot |
| CN110754218A (en) * | 2019-11-29 | 2020-02-07 | 华中农业大学 | Harmless under-actuated manipulator of picking |
| CN112273054A (en) * | 2020-11-30 | 2021-01-29 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN114536391A (en) * | 2022-03-30 | 2022-05-27 | 安徽理工大学 | Mechanical gripper of motor-driven cam mechanism |
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| CN207070636U (en) * | 2017-08-17 | 2018-03-06 | 中原工学院 | A kind of torsional mode fruit picking device |
| CN208590273U (en) * | 2018-04-24 | 2019-03-12 | 河南工业大学 | A kind of fruits picking mechanical hand device |
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| CN202292762U (en) * | 2011-10-25 | 2012-07-04 | 浙江大学 | Fruit/vegetable picking under-actuated mechanical manipulator |
| CN202722052U (en) * | 2012-08-22 | 2013-02-13 | 赵东辉 | Bionic fruit picking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109940591A (en) * | 2019-04-29 | 2019-06-28 | 中信戴卡股份有限公司 | A kind of wheel hub conveying robot |
| US11376748B2 (en) * | 2019-04-29 | 2022-07-05 | Citic Dicastal Co., Ltd. | Wheel hub carrying manipulator |
| CN110754218A (en) * | 2019-11-29 | 2020-02-07 | 华中农业大学 | Harmless under-actuated manipulator of picking |
| CN110754218B (en) * | 2019-11-29 | 2021-10-15 | 华中农业大学 | Harmless under-actuated manipulator of picking |
| CN112273054A (en) * | 2020-11-30 | 2021-01-29 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN112273054B (en) * | 2020-11-30 | 2022-06-17 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN114536391A (en) * | 2022-03-30 | 2022-05-27 | 安徽理工大学 | Mechanical gripper of motor-driven cam mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108450149B (en) | 2023-10-10 |
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