CN108575317A - A kind of fruit picking equipment - Google Patents
A kind of fruit picking equipment Download PDFInfo
- Publication number
- CN108575317A CN108575317A CN201711447858.2A CN201711447858A CN108575317A CN 108575317 A CN108575317 A CN 108575317A CN 201711447858 A CN201711447858 A CN 201711447858A CN 108575317 A CN108575317 A CN 108575317A
- Authority
- CN
- China
- Prior art keywords
- fruit
- picking
- mentioned
- executing agency
- fruit picking
- 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.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Abstract
The invention discloses a kind of fruit picking equipment, including：Store babinet, elevating mechanism, mechanical arm, picking executing agency, detent mechanism, collecting pipe, storage babinet, which is installed, states elevating mechanism, above-mentioned mechanical arm is installed on elevating mechanism, setting picking executing agency on mechanical arm, detent mechanism is set in picking executing agency, above-mentioned picking executing agency is connected to by above-mentioned collecting pipe with above-mentioned storage babinet.The present invention passes through mechanical arm, elevating mechanism and the synergistic effect for picking executing agency, the fruit in different height position can be picked, simultaneously, positioning is also identified to the fruit picked by detent mechanism, in order to adjust the height of picking executing agency, fruit-picking in position is enabled a device to, the practicability of the fruit picking equipment is effectively raised.
Description
Technical field
The present invention relates to agriculture picking mechanical equipment technical field more particularly to a kind of fruit picking equipment.
Background technology
Currently, with the development of market economy, fruit industry also enters the vigorous growth stage therewith.The increasing of population
The raising for summing it up the level of urbanization, has pushed the increase of the direct consumption figure of fruit.As consumer is to fruit process product demand
Expansion, the promotion of fruit process level, fruit industry chain elongation, fruit process consumption figure will dramatically increase.Therefore, it researchs and develops
The meaning ever more important of agricultural robot especially fruit picking robot.
As computer technology and automatic control technology rapidly develop, artificial intelligence technology is also more and more hotter.Robot is slow
Slow enters in agricultural production, is expected to that worker is replaced to carry out efficient production work.It is opened from mid-term the 1980s
Begin, has done a large amount of work in the research of picking robot by the developed country of representative of Japan, tested a variety of tools successfully
The harvest picking robot for having artificial intelligence, as Tomato-harvesting robot, cucumber harvesting robot, watermelon harvester device people and
Citrus picking robot etc..Although China and external some gaps in this respect, also have been achieved for certain effect.
In the production of practical fruit, picking job requirements robot can replace worker to pick, and it is strong can not only to mitigate labour
Degree eliminates worker and picks danger on fruit tree, additionally it is possible to improve the efficiency of picking.But in the practical picking process of robot
In, need to solve the problems, such as that the identification to fruit is positioned and can efficiently be sheared, a set of equipment can pick the fruit of different height
Real problem, the problem of full-automatic picking process can store the fruit picked.
Invention content
Can be used in identification positioning and the efficiently seed harvester of shearing fruit the purpose of the present invention is to provide a kind of, with
Realize that mechanical picking replaces artificial picking process.
Another object of the present invention is to provide a kind of water that can be picked different height and can store institute's fruit-picking
Fruit seed harvester carries out mechanical picking storage in order to realize to the fruit in different height.
For above-mentioned purpose, the invention discloses a kind of fruit picking equipment, including storage babinet, elevating mechanism, machinery
Arm, picking executing agency, detent mechanism, collecting pipe, store and install above-mentioned elevating mechanism on babinet, installed on elevating mechanism
Above-mentioned picking executing agency is arranged on mechanical arm for above-mentioned mechanical arm, picks and above-mentioned localization machine is arranged in executing agency
Structure, above-mentioned picking executing agency are connected to by above-mentioned collecting pipe with above-mentioned storage babinet.
Further, above-mentioned picking executing agency includes two panels blade, two fixtures, electric operator, box sets；On
It states two panels blade to be fixedly connected with above-mentioned two fixture respectively, above-mentioned fixture is installed on above-mentioned electric operator, above-mentioned electricity
Dynamic executing agency connect with the box set, and above-mentioned box set is connected to by collecting pipe with storage babinet.
Wherein, above-mentioned two panels blade plane arranged opposite, insert are arc-shaped blade.
Further, the upper end of above-mentioned box set is arranged a V-type and is open, for stopping that the stem end of cutting enters above-mentioned collection
Pipe.
Further, the first circular open is arranged in the bottom of above-mentioned box set, so that above-mentioned box set is round by above-mentioned first
Opening is connected to above-mentioned collecting pipe.
Further, above-mentioned detent mechanism includes visual identity sensor, range sensor, above-mentioned range sensor packet
It includes：First range sensor, second distance sensor, third range sensor；Visual identity sensor is installed on above-mentioned electronic
On executing agency, the first range sensor, second distance sensor are respectively arranged in the outer wall of above-mentioned box set, third distance
Sensor is installed on the inner wall of above-mentioned box set.
Further, above-mentioned storage babinet includes drawer, baffle, the second circular open, the second circular open and above-mentioned receipts
Header in communication；Baffle is installed between above-mentioned second circular open and above-mentioned elevating mechanism；Drawer be installed on above-mentioned baffle it
Under.
Further, above-mentioned fruit picking equipment further includes idler wheel, roller driving mechanism, pressure sensor, idler wheel installation
In above-mentioned drawer bottom, roller driving mechanism is installed on the inside of above-mentioned drawer, and pressure sensor is installed on above-mentioned drawer
Close to the side of above-mentioned elevating mechanism.
Further, above-mentioned fruit picking equipment further includes emergency alarm bell, and above-mentioned emergency alarm bell is installed on above-mentioned storage babinet
Outer wall.
Further, above-mentioned fruit picking equipment further includes flange, and flange is consolidated for that will pick executing agency with mechanical arm
Fixed connection.
Further, above-mentioned fruit picking equipment further includes mobile mechanism, mobile mechanism be installed on above-mentioned storage babinet it
Under.
The beneficial effects of the invention are as follows：
1, the present invention can be picked by mechanical arm, elevating mechanism and the synergistic effect for picking executing agency in difference
The fruit of height and position；Meanwhile positioning is also identified to the fruit picked by detent mechanism, in order to adjust picking
The height of executing agency enables a device to fruit-picking in position, effectively raises the reality of the fruit picking equipment
The property used.
2, the present invention is open by opening up a V-type in the upper end of box set, and uses arc-shaped blade, can be made
The stem end of fruit is avoided to enter collecting pipe through box set during fruit-picking, to avoid the process collected in fruit because of stem end
Cause the damage of fruit.
3, the present invention by collecting pipe by being collected the fruit picked in storage box body, rather than passes through machinery
Arm or picking executing agency carry out the removal process of fruit, can effectively reduce plucking time, improve picking efficiency.
4, using the synergistic effect of idler wheel, roller driving mechanism and pressure sensor, energy in seed harvester of the invention
So that the fruit collected through collecting pipe is not deposited in the fixed position of storage babinet, and is rationally controlled by roller driving mechanism
The speed of idler wheel makes fruit be reduced during rolling and is damaged caused by friction.
Description of the drawings
Fig. 1 is a kind of composite structural diagram of fruit picking equipment of the present invention；
Fig. 2 be the present invention a kind of fruit picking equipment in apart from sensing station structure chart；
Fig. 3 is the storage device schematic diagram in a kind of fruit picking equipment of the present invention；
Fig. 4 is the mobile device schematic diagram in a kind of fruit picking equipment of the present invention；
Wherein, 1- box sets, 2- blades, 3- fixtures, 4- electric operators, 5- visual identity sensors, 6- flanges, 7-
Baffle, 8- mechanical arms, 9- elevating mechanisms, 10- store babinet, 11- emergency alarm bells, 12- mobile mechanisms, 13- drawers, 14- collections
Pipe, the first range sensors of 15-, 16- third range sensors, 17- roller driving mechanisms, 18- idler wheels, 19- pressure sensings
Device, the second circular opens of 20-.
Specific implementation mode
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Embodiment one
Referring to Fig.1, a kind of fruit picking equipment, including picking executing agency, mechanical arm 8, positioning are present embodiments provided
Mechanism, elevating mechanism 9, storage babinet 5, collecting pipe 14, store and install above-mentioned elevating mechanism on babinet, pacify on elevating mechanism
The mechanical arm stated is loaded onto, above-mentioned picking executing agency is set on mechanical arm, picks and above-mentioned localization machine is set in executing agency
Structure, above-mentioned picking executing agency are connected to by above-mentioned collecting pipe with above-mentioned storage babinet.
It is specific as follows：
Pick executing agency, including box set 1, blade 2, fixture 3, electric operator 4；Above-mentioned knife number is two
Piece, 3 quantity of above-mentioned fixture are also two, and two panels blade is individually fixed on two fixtures；Above-mentioned fixture 3 is installed on above-mentioned
On electric operator, above-mentioned electric operator is connect with above-mentioned box set；Wherein, above-mentioned two panels blade plane is staggered relatively,
And two panels blade is arc-shaped blade.
Detent mechanism, referring to FIG. 1 and FIG. 2, including visual identity sensor 5, the first range sensor 15, second distance
Sensor, third range sensor 16；Above-mentioned visual identity sensor is installed on above-mentioned electric operator, for knowing
Not Ding Wei needed for the position of fruit-picking and the posture of fruit, shear stem end using blade in order to adjust position；First distance
Sensor installs the outer wall of above-mentioned box set, and it is another that second distance sensor is installed on the corresponding box set of the first range sensor
The outer wall of side；Above-mentioned third range sensor is installed on inner wall of the above-mentioned box set close to mechanical arm one end.
Lifting gear 9, the lifting gear are connect with mechanical arm 8, and are installed on above-mentioned storage device, are to be used for
It is adjusted plucking height according to the distance of induction and to the visual identity result of fruit.
It includes drawer 13, baffle 7 to store babinet 10, and the inside of the storage babinet is formed with accommodation space, above-mentioned drawer peace
Bottom loaded on the storage babinet, for storing the fruit collected and flowed into through collecting pipe；Baffle 7 is mounted on storage babinet, is used
It is separated in by lifting structure and collecting pipe, avoids the fruit for flowing into storage babinet through collecting pipe from encountering lifting gear and cause fruit
Damage.Wherein, emergency alarm bell 11 is installed on the outer wall of above-mentioned storage babinet, for stopping picking operation when the fruit picking equipment
When jingle bell alarm with prompt operating personnel recycle drawer in fruit.
Mobile mechanism 12, referring to Fig.1 and Fig. 4, which is installed under above-mentioned storage babinet, for moving position
It sets in order to fruit-picking, and the mobile mechanism is answered using Athey wheel general in the market so that it can adapt to mountainous region road rood
Miscellaneous situation.
Flange 6, flange 6 is for above-mentioned picking executing agency to be fixedly connected with mechanical arm.
Specifically implementation steps are：1, the fruit picking equipment utilization mobile mechanism is moved near fruit fruit tree, is passed through
Visual identity sensor identifies the location of the position of fruit and fruit environment on fruit tree；Start elevating mechanism adjustment to adopt
The height plucked, is preferably picked from bottom to up；2, according to the position height of fruit adjust mechanical arm, after box set is slowly leaned on
Nearly fruit and rotating box set makes it be inserted in fruit wherein, is utilizing the first range sensor, second distance sensor and third
Range sensor incudes distance of the fruit in box set on the inside of box set, makes to stop machinery after fruit reaches pre-determined distance
The operation of arm；3, by drop-down fruit to expose the stem end of fruit, starting electric operator makes blade cut stem end, makes water
Fruit flows into storage device through collecting pipe, and baffle can avoid fruit outflow storage device from colliding elevating mechanism to avoid fruit
It causes to damage；4, when the drawer for storing box house fills fruit, which can stop operation, same to alarm
Bell can send out prompt tone, to remind operating personnel to recycle the fruit in drawer.
Fruit picking equipment in the present embodiment by mechanical arm, elevating mechanism and the synergistic effect for picking executing agency,
The fruit in different height position can be picked, meanwhile, it is fixed that also the fruit picked is identified by detent mechanism
Position enables a device to fruit-picking in position, effectively raises in order to adjust the height of picking executing agency
The practicability of the fruit picking equipment.In addition, also collect the fruit picked in storage box body by collecting pipe, without
It is the removal process for carrying out fruit by mechanical arm or picking executing agency, can effectively reduces plucking time, improve picking
Efficiency.
Embodiment two
Referring to Fig.1, a kind of fruit picking equipment, including picking executing agency, mechanical arm 8, positioning are present embodiments provided
Mechanism, elevating mechanism 9, storage babinet 5, collecting pipe 14, store and install above-mentioned elevating mechanism on babinet, pacify on elevating mechanism
The mechanical arm stated is loaded onto, above-mentioned picking executing agency is set on mechanical arm, picks and above-mentioned localization machine is set in executing agency
Structure, above-mentioned picking executing agency are connected to by above-mentioned collecting pipe with above-mentioned storage babinet.
It is specific as follows：
Pick executing agency, including box set 1, blade 2, fixture 3, electric operator 4；Above-mentioned knife number is two
Piece, 3 quantity of above-mentioned fixture are also two, and two panels blade is individually fixed on two fixtures；Above-mentioned fixture 3 is installed on above-mentioned
On electric operator, above-mentioned electric operator is connect with above-mentioned box set；Wherein, above-mentioned two panels blade plane is staggered relatively,
And two panels blade is arc-shaped blade.
Wherein, above-mentioned two panels blade plane is staggered relatively, and two panels blade is arc-shaped blade；It is above-mentioned with reference to Fig. 2
The upper end of box set is arranged a V-type and is open, and fruit bruising is caused to avoid the stem end inflow collecting pipe of cutting；The lower end of box set is set
The first circular open is set, in order to which collecting pipe to be connected to by the first circular open with box set, makes the fruit after cutting through first
Circular open enters collecting pipe.
Wherein, the material of box set is preferably plastics, and its inner wall is rubber material, is rebuffed to avoid fruit and causes to damage；
Collecting pipe is spring plastic tube and inner wall smooth, in order to ensure collecting on the basis of fruit smoothly flows into storage babinet
Pipe stage fruit is not damaged.
Detent mechanism, referring to FIG. 1 and FIG. 2, including visual identity sensor 5, the first range sensor 15, second distance
Sensor, third range sensor 16；Above-mentioned visual identity sensor is installed on above-mentioned electric operator, for knowing
Not Ding Wei needed for the position of fruit-picking and the posture of fruit, shear stem end using blade in order to adjust position；First distance
Sensor installs the outer wall of above-mentioned box set, and it is another that second distance sensor is installed on the corresponding box set of the first range sensor
The outer wall of side；Above-mentioned third range sensor is installed on inner wall of the above-mentioned box set close to mechanical arm one end.
Lifting gear 9, the lifting gear are connect with mechanical arm 8, and are installed on above-mentioned storage device, are to be used for
It is adjusted plucking height according to the distance of induction and to the visual identity result of fruit.
Babinet 10 is stored, referring to Fig.1 and Fig. 3, including drawer 13, baffle 7 and the second circular open 20；Store babinet
Inside forms accommodation space, above-mentioned drawer is installed on the bottom of box house accommodation space, is flowed into through collecting pipe for storing
Fruit；Above-mentioned second circular open is connect with above-mentioned collecting pipe, so that the fruit in collecting pipe flows into storage box body；Baffle 7
It connect, and baffle is installed between above-mentioned second circular open and elevating mechanism, is used for elevating mechanism with above-mentioned storage babinet
It is separated with collecting pipe, avoids the fruit for flowing into storage babinet through collecting pipe from encountering elevating mechanism and cause fruit bruising.Wherein, it reports
Alarm bell 11 is installed on the outer wall of above-mentioned storage babinet, for when the fruit picking equipment stop picking operation when jingle bell alarm with
Operating personnel are prompted to recycle the fruit in drawer.
Mobile mechanism 12, referring to Fig.1 and Fig. 4, which is installed under above-mentioned storage babinet, for moving position
It sets in order to fruit-picking, and the mobile mechanism is answered using Athey wheel general in the market so that it can adapt to mountainous region road rood
Miscellaneous situation.
Flange 6, flange is for above-mentioned picking executing agency to be fixedly connected with mechanical arm.
Further, with reference to Fig. 3, above-mentioned fruit picking equipment further includes idler wheel 18, roller driving mechanism 17, pressure biography
Sensor 19, idler wheel are installed on the drawer bottom, and roller driving mechanism is installed on the inside of drawer, and pressure sensor is installed on
The drawer is close to the side of elevating mechanism, for incuding drawer because the accumulation of fruit is formed by pressure, in order to and
When stop picking operations avoiding excessive fruit-picking.
Specifically implementation steps are：1, the fruit picking equipment utilization mobile mechanism is moved near fruit fruit tree, is passed through
Visual identity mechanism identifies the location of the position of fruit and fruit environment on fruit tree；Start elevating mechanism adjustment picking
Height, preferably picked from bottom to up；2, according to the position height of fruit adjust mechanical arm, after box set is slowly close
Fruit simultaneously rotates box set, makes its V-type plane of the opening perpendicular to the stem end of fruit, and then its movable sleeving case makes fruit be inserted in wherein,
Fruit is being incuded in box set apart from box set using the first range sensor, second distance sensor and third range sensor
The distance of inside makes the operation for stopping mechanical arm after fruit reaches pre-determined distance；3, rotation box set make thereon plane with it is lower flat
For drop-down fruit to expose the stem end of fruit, starting electric operator makes blade cut stem end, and fruit is made to pass through after face is parallel
First circular open enters collecting pipe, and flows into storage box body, and baffle can avoid fruit outflow storage babinet simultaneously to keep away
Exempt from fruit collision elevating mechanism to cause to damage；4, through the second circular open enter drawer fruit can by idler wheel shift position,
It avoids fruit from being deposited in the position of the second circular open, prevents fruit from overflowing.5, when the pressure sensor induction being arranged in drawer
Pressure reach certain value after, which can stop operation, while emergency alarm bell can send out prompt tone, with remind behaviour
Make the fruit in personnel's recycling drawer.
Fruit picking equipment in the present embodiment by mechanical arm, elevating mechanism and the synergistic effect for picking executing agency,
The fruit in different height position can be picked, meanwhile, it is fixed that also the fruit picked is identified by detent mechanism
Position enables a device to fruit-picking in position, effectively raises in order to adjust the height of picking executing agency
The practicability of the fruit picking equipment.
The present embodiment is also open by opening up a V-type in the upper end of box set, and uses arc-shaped blade, can be made
The stem end of fruit is avoided to enter collecting pipe through box set during fruit-picking, to avoid the process cause and effect collected in fruit
Stem causes the damage of fruit.In addition, also collecting the fruit picked in storage box body by collecting pipe, rather than pass through
Mechanical arm or picking executing agency carry out the removal process of fruit, can effectively reduce plucking time, improve picking efficiency.
Made using the collaboration of idler wheel, roller driving mechanism and pressure sensor in the fruit picking equipment of the present embodiment
With, the fruit collected through collecting pipe can be made not to be deposited in the fixed position of storage babinet, and it is reasonable by roller driving mechanism
The speed for controlling idler wheel makes fruit avoid damaging caused by friction during rolling.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention
The technical staff in field can make various modifications or additions to the described embodiments or by a similar method
It substitutes, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of fruit picking equipment, which is characterized in that including storage babinet, elevating mechanism, mechanical arm, picking executing agency,
Detent mechanism, collecting pipe store and install the elevating mechanism on babinet, and the mechanical arm, machinery are installed on elevating mechanism
The picking executing agency is set on arm, picks and the detent mechanism is set in executing agency, the picking executes machine
Structure is connected to by the collecting pipe with the storage babinet.
2. a kind of fruit picking equipment as described in claim 1, which is characterized in that the picking executing agency includes two panels knife
Piece, two fixtures, electric operator, box sets；The two panels blade is fixedly connected with described two fixtures respectively, the fixture
It is installed on the electric operator, the electric operator is connect with the box set, and the box set passes through the collection
Pipe is connected to the storage babinet.
3. a kind of fruit picking equipment as claimed in claim 2, which is characterized in that the upper end of the box set is arranged a V-type and opens
Mouthful, for stopping that the stem end of cutting enters the collecting pipe.
4. a kind of fruit picking equipment as claimed in claim 3, which is characterized in that the bottom setting first of the box set is round
Opening, so that the box set is connected to by first circular open with the collecting pipe.
5. a kind of fruit picking equipment as claimed in claim 2, which is characterized in that the detent mechanism includes that visual identity passes
Sensor, range sensor, the range sensor include：First range sensor, second distance sensor, third Distance-sensing
Device；The visual identity sensor is installed on the electric operator, and first range sensor, second distance pass
Sensor is respectively arranged in the outer wall of the box set, and the third range sensor is installed on the inner wall of the box set.
6. a kind of fruit picking equipment as described in claim 1, which is characterized in that the storage babinet include drawer, baffle,
Second circular open, second circular open are connected to the collecting pipe；The baffle is installed on second circular open
Between the elevating mechanism；The drawer is installed under the baffle.
7. a kind of fruit picking equipment as claimed in claim 6, which is characterized in that further include idler wheel, roller driving mechanism, pressure
Force snesor, the idler wheel are installed on the drawer bottom, and the roller driving mechanism is installed on the inside of the drawer, described
Pressure sensor is installed on the drawer close to the side of elevating mechanism.
8. a kind of fruit picking equipment as claimed in claim 7, which is characterized in that further include emergency alarm bell, the emergency alarm bell peace
Outer wall loaded on the storage babinet.
9. a kind of fruit picking equipment as described in claim 1, which is characterized in that further include flange, the flange is used for will
The picking executing agency is fixedly connected with the mechanical arm.
10. such as a kind of fruit picking equipment of claim 1-9 any one of them, which is characterized in that further include mobile mechanism, institute
Mobile mechanism is stated to be installed under the storage babinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711447858.2A CN108575317B (en) | 2017-12-27 | 2017-12-27 | Fruit picking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711447858.2A CN108575317B (en) | 2017-12-27 | 2017-12-27 | Fruit picking equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108575317A true CN108575317A (en) | 2018-09-28 |
| CN108575317B CN108575317B (en) | 2021-03-30 |
Family
ID=63633264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711447858.2A Active CN108575317B (en) | 2017-12-27 | 2017-12-27 | Fruit picking equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108575317B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109220225A (en) * | 2018-10-22 | 2019-01-18 | 湖北理工学院 | A kind of full-automatic fruit picker |
| CN109618663A (en) * | 2019-02-25 | 2019-04-16 | 吴新权 | A kind of grape automatic harvester |
| CN109997514A (en) * | 2019-04-04 | 2019-07-12 | 安徽工程大学 | Fruit picking platform |
| CN111727739A (en) * | 2020-06-15 | 2020-10-02 | 西北工业大学 | Strawberry self-picking robot based on image recognition |
| CN112917481A (en) * | 2019-12-07 | 2021-06-08 | 西北农林科技大学 | Kiwi fruit picking device based on Delta mechanical arm |
| CN114080897A (en) * | 2020-09-17 | 2022-02-25 | 湖南永鑫特色农业开发专业合作社 | Chinese-medicinal material picks device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08103138A (en) * | 1994-10-07 | 1996-04-23 | Kubota Corp | Fruit vegetable harvesting device |
| JP2004180554A (en) * | 2002-12-02 | 2004-07-02 | National Agriculture & Bio-Oriented Research Organization | Method and apparatus for selectively harvesting fruit vegetables |
| CN101019484A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN204272703U (en) * | 2014-11-19 | 2015-04-22 | 金陵科技学院 | The flexible fruit picking actuator of a kind of self-adapting type |
| CN205389521U (en) * | 2016-03-25 | 2016-07-27 | 山东省果树研究所 | Pomegranate is picked and holds device |
| CN205408632U (en) * | 2016-03-07 | 2016-08-03 | 西北农林科技大学 | Novel machine people is plucked to crawler -type apple |
| CN106856842A (en) * | 2017-04-10 | 2017-06-20 | 中国农业大学 | A kind of apple based on elastic force effect vibrates reception device |
| CN107771528A (en) * | 2017-11-29 | 2018-03-09 | 浙江海洋大学 | A kind of fruit adsorbent equipment for fruit harvesting robot |
-
2017
- 2017-12-27 CN CN201711447858.2A patent/CN108575317B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08103138A (en) * | 1994-10-07 | 1996-04-23 | Kubota Corp | Fruit vegetable harvesting device |
| JP2004180554A (en) * | 2002-12-02 | 2004-07-02 | National Agriculture & Bio-Oriented Research Organization | Method and apparatus for selectively harvesting fruit vegetables |
| CN101019484A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN204272703U (en) * | 2014-11-19 | 2015-04-22 | 金陵科技学院 | The flexible fruit picking actuator of a kind of self-adapting type |
| CN205408632U (en) * | 2016-03-07 | 2016-08-03 | 西北农林科技大学 | Novel machine people is plucked to crawler -type apple |
| CN205389521U (en) * | 2016-03-25 | 2016-07-27 | 山东省果树研究所 | Pomegranate is picked and holds device |
| CN106856842A (en) * | 2017-04-10 | 2017-06-20 | 中国农业大学 | A kind of apple based on elastic force effect vibrates reception device |
| CN107771528A (en) * | 2017-11-29 | 2018-03-09 | 浙江海洋大学 | A kind of fruit adsorbent equipment for fruit harvesting robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109220225A (en) * | 2018-10-22 | 2019-01-18 | 湖北理工学院 | A kind of full-automatic fruit picker |
| CN109618663A (en) * | 2019-02-25 | 2019-04-16 | 吴新权 | A kind of grape automatic harvester |
| CN109997514A (en) * | 2019-04-04 | 2019-07-12 | 安徽工程大学 | Fruit picking platform |
| CN109997514B (en) * | 2019-04-04 | 2021-09-28 | 安徽工程大学 | Fruit picking platform |
| CN112917481A (en) * | 2019-12-07 | 2021-06-08 | 西北农林科技大学 | Kiwi fruit picking device based on Delta mechanical arm |
| CN111727739A (en) * | 2020-06-15 | 2020-10-02 | 西北工业大学 | Strawberry self-picking robot based on image recognition |
| CN114080897A (en) * | 2020-09-17 | 2022-02-25 | 湖南永鑫特色农业开发专业合作社 | Chinese-medicinal material picks device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108575317B (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108575317A (en) | A kind of fruit picking equipment | |
| CN206932686U (en) | A kind of new picking paw | |
| CN207235484U (en) | Automatic multifunctional fruit picking device | |
| CN106982597A (en) | A kind of tower crane type automatic fruit picker | |
| CN102622755A (en) | Plant limb identification method | |
| CN108077113A (en) | A kind of agricultural breeding automatic egg picking vehicle | |
| CN112640650A (en) | Negative pressure-based tomato picking machine and working method thereof | |
| CN206356849U (en) | Riveting automation equipment | |
| CN208590266U (en) | A kind of vegetable harvesting device | |
| CN208490256U (en) | High pressure gas cherry picking device | |
| CN208047336U (en) | A kind of continuous picker of high-altitude fruit | |
| CN207427851U (en) | A kind of lossless intelligence classification cropper of castatopsis fissa Table Grape | |
| CN206283862U (en) | A kind of apple harvester | |
| CN111011004B (en) | Picking equipment | |
| CN206212684U (en) | A kind of mechanical arm suitable for orchard picking | |
| CN206461993U (en) | A kind of jujube recovering device | |
| CN209314337U (en) | The artificial picker of assisting in fruit | |
| CN108901336A (en) | A kind of auto-manual system pineapple harvesting integrated vehicle | |
| CN207321941U (en) | A kind of tower crane type automatic fruit picker | |
| CN107079665A (en) | A kind of automatic harvesting watermelon and the device of entrucking | |
| CN107484500B (en) | Row adsorption pipeline strawberry picking equipment and picking method | |
| CN108718673A (en) | Automatic pineapple picks collection device | |
| CN212087060U (en) | Fruit and vegetable picking robot | |
| CN211671436U (en) | Picking robot | |
| CN106034532B (en) | A kind of Multi-functional machine for harvesting peanut |
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 |