CN108575322A - A kind of fruit picking robot - Google Patents
A kind of fruit picking robot Download PDFInfo
- Publication number
- CN108575322A CN108575322A CN201810738018.XA CN201810738018A CN108575322A CN 108575322 A CN108575322 A CN 108575322A CN 201810738018 A CN201810738018 A CN 201810738018A CN 108575322 A CN108575322 A CN 108575322A
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- CN
- China
- Prior art keywords
- fruit
- actuator
- picking
- vehicle body
- 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.)
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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
- A01D46/30—Robotic devices for individually picking crops
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
Abstract
The invention discloses a kind of fruit picking robots, including vehicle body, elevating mechanism, telescoping mechanism, picking mechanism and control device, the picking mechanism includes the first actuator and fixed seat, rotating blade and positioning plate, first actuator is set to the positioning plate in the fixed seat, the rotating blade is set on the positioning plate, and the positioning plate is equipped with the guide groove for being oriented to fruit stalk portion；The vehicle body, the elevating mechanism and the telescoping mechanism control horizontal rotation, vertical lifting and the horizontal extension of the picking mechanism respectively, the positioning plate can be used for installing the rotating blade and determine the position of fruit shearing, the cut-out region that the guide groove can be used for that fruit stalk portion is guided to be moved to the rotating blade, convenient for realizing that the stalk portion to fruit is cut off, high degree of automation, feasibility is high, versatile, can be won extensively using the automation in a variety of different fruit.
Description
Technical field
The present invention relates to agricultural equipment technical field more particularly to a kind of fruit picking robots.
Background technology
In the production operation of fruit, harvest picking is a most time-consuming most laborious link in entire production.Fruit is received
The labour of input is needed to account for about the 50%~70% of entire planting process during obtaining.The quality of picking operation quality directly influences water
Storage, processing and the sale of fruit, to finally influence the market price and economic benefit.Fruit harvest has very strong timeliness,
Belong to typical labor-intensive work.But due to pick operating environment and operation complexity, fruit picking it is automatic
Change degree is still very low, and the picking operation of country's fruit at present substantially still has been manually done.In many countries with population
The reduction of aging and agricultural workforce, labour is not only of high cost, but also is increasingly not readily available, and manually harvests water
Cost needed for fruit ratio shared in the entire production cost of fruit is up to 33%~50% unexpectedly.The picking of high-branch fruit is also
With certain danger.
China begins one's study orchard picking machine from the 1970s, successively develops the machinery of walking tractor matching
Oscillatory type hawthorn fruit picker, gasbag-type picking and hand electric fruit picker, it is both rear actually or the auxiliary machine of manual work
Tool, although being made preferable in terms of protecting fruit not receive damage, its efficiency is still too low,
The research of picking machine is the latter stage seventies based on picking robot both at home and abroad at present, with computer and certainly
The rapid development of dynamic control technology, the U.S. are first begin to study various agricultural robots, since nineteen eighty-three First picks machine
People is since the U.S. is born, after 20 years of researches and experiment, using Japan as the developed country of representative, including the U.S., method
The more clock picking robots of the successive Success in Experiment of the states such as state, Holland, Britain, Spain, as apple, citrus, tomato, watermelon and
The robot with artificial intelligence of the picking fruits such as grape.
Orchard picking robot in China's all has a single function mostly at present, all lays particular emphasis on the picking of single fruit or lays particular emphasis on
Protection to fruit has the shortcomings that picking is inconvenient, picking efficiency is low, and orchard operation will realize entire mechanization, must
Orchard worker must purchase machinery on each cargo handling operation, certainly will increase the expense that orchard worker purchases equipment in this way, reduce economic benefit, shadow
It rings orchard worker and plants enthusiasm.
Invention content
In order to overcome the shortcomings of the prior art, the present invention to provide a kind of fruit picking being suitable for various fruits picking
Robot.
Include the vehicle for walking in order to solve the above technical problem, the present invention provides a kind of fruit picking robot
Body, elevating mechanism, telescoping mechanism, picking mechanism and control device, the vehicle body, the elevating mechanism, the telescoping mechanism
And picking mechanism is mutually connected successively, the control device is set on the vehicle body, the vehicle body, the elevating mechanism and described
Telescoping mechanism is electrically connected with the control device respectively,
The picking mechanism include the first actuator, fixed seat, rotating blade and positioning plate, first actuator with
The positioning plate is set in the fixed seat, and the rotating blade is set on the positioning plate, and the positioning plate is equipped with for leading
To the guide groove in fruit stalk portion, the rotating blade is protruded relative to the guide groove.
Preferably, the guide groove is in V-shape or U-shaped.
Preferably, the open end of the guide groove is arranged outwardly, and the blind end of the guide groove is equipped with receiving hole.
Preferably, it is equipped with the first drive mechanism between first actuator and the rotating blade, described the
One transmission mechanism includes the first synchronous belt, and first synchronous belt is set between first actuator and the rotating blade,
First actuator and the positioning plate are respectively arranged on the two sides of the fixed seat.
Preferably, the elevating mechanism includes the second actuator, bottom plate, top plate and lead screw, and the bottom plate is set
In on the vehicle body, second actuator is connected by the bottom plate with one end of the lead screw, the lead screw it is another
End is set on the top plate, and the telescoping mechanism is set to the middle part of the lead screw.
Preferably, the stretching structure includes being set in the upgrading mechanism and in upper and lower symmetrically arranged folder
Plate, the third actuator on the clamping plate, the second drive mechanism and guide frame, second drive mechanism are set to upper
The centre of the clamping plate of lower setting, second drive mechanism include the second synchronous belt, the picking mechanism and described second
Synchronous belt is connected, and the picking mechanism is set to by the guide frame on the clamping plate.
Preferably, the guide frame includes guide rail and sliding block, and the sliding block is set on guide rail and the cunning
Block has relative to guide rail freedom of axial movement, and the guide rail is set on the clamping plate, the sliding block and the telescoping mechanism
It is connected.
Preferably, the clamping plate includes lifting unit and mounting portion, and the lifting unit is connected with the upgrading mechanism
It connects, the third actuator is set on the mounting portion, and the mounting portion is connected with the side of the lifting unit.
Preferably, further include storing mechanism.
Preferably, the storing mechanism includes being set to the storage box on vehicle body and under the picking mechanism
The collection port of side, the collection port are connected with the storage box, and the collection port is set in the fixed seat.
Fruit picking robot provided by the present invention, compared with prior art, advantage is：The present invention passes through institute
State horizontal rotation, vertical lifting and water that vehicle body, the elevating mechanism and the telescoping mechanism control the picking mechanism respectively
Flattened contracting, the positioning plate can be used for installing the rotating blade and determine the position of fruit shearing, and the guide groove is available
It is moved to the cut-out region of the rotating blade in guiding fruit stalk portion, convenient for realizing the stalk portion cut-out to fruit, the water
Fruit picking machine device people effectively can quickly pick fruit, be cut off to fruit stalk portion using rotating blade, automatically
Change degree is high, and feasibility is high, versatile, can be won extensively using the automation in a variety of different fruit.
Description of the drawings
In order to illustrate more clearly of technical scheme of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is the dimensional structure diagram of the fruit picking robot of the preferred embodiment of the present invention.
Fig. 2 is the side structure schematic view of the fruit picking robot of the preferred embodiment of the present invention.
Fig. 3 is the picking mechanism structural schematic diagram of the fruit picking robot of the preferred embodiment of the present invention.
Fig. 4 is the structural schematic diagram at another visual angles Fig. 3.
Fig. 5 is the telescoping mechanism structural representation of the fruit picking robot of the preferred embodiment of the present invention.
Fig. 6 is the telescoping mechanism internal structure schematic diagram of the fruit picking robot of the preferred embodiment of the present invention.
In figure：
10. vehicle body；11. storage box；12. wheel；13. motor；14. entrance；
20. picking mechanism；21. the first actuator；22. fixed seat；23. the first synchronous belt；24. positioning plate；241. being oriented to
Slot；242. receiving hole；25. rotating blade；26. collection port；
30. elevating mechanism；31. the second actuator；32. bottom plate；33. top plate；34. lead screw；35. guiding axis；36. leading screw spiral shell
It is female；
40. telescoping mechanism；41. third actuator；42. clamping plate；43. the second synchronous belt；44. guide rail；45. sliding block；46. connecting
Connect block；47. connecting rod；48. sleeve.
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 clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
In the present invention, it is answered unless otherwise specific regulation and restriction, the terms such as term " connected ", " connection ", " fixation "
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；Can be mechanical connection,
It can be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary the company inside two elements
Logical or two elements interaction relationship, unless otherwise restricted clearly.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
In addition, in the description of the present invention, it should be noted that term " first ", " second " etc. are used for description purposes only,
It is not understood to indicate or imply relative importance.
As shown in Figures 1 to 6, the preferred embodiment of the invention provides a kind of fruit picking robot, including is used to go
Vehicle body 10, elevating mechanism 30, telescoping mechanism 40, picking mechanism 20 and the control device (attached drawing does not identify) walked, the vehicle body
10, the elevating mechanism 30, the telescoping mechanism 40 and picking mechanism 20 are mutually connected successively, and the control device is set to described
On vehicle body 10, the vehicle body 10, the elevating mechanism 30 and the telescoping mechanism 40 are electrically connected with the control device respectively,
The picking mechanism 20 includes the first actuator 21, fixed seat 22, rotating blade 25 and positioning plate 24, and described the
One actuator 21 is set to the positioning plate 24 in the fixed seat 22, and the rotating blade 25 is set on the positioning plate 24,
The positioning plate 24 is equipped with the guide groove 241 for being oriented to fruit stalk portion, and the rotating blade 25 is relative to the guide groove 241
Protrusion.
In the present embodiment, the vehicle body 10 is set there are four wheel 12, controls two rear wheel drive walkings, two trailing wheels point
Do not controlled by two motors 13, can co- controlling vehicle body 10 be movably walking, meanwhile, can control the difference of the motor 13 of two trailing wheels
The rotation of trolley in the horizontal plane is realized in speed movement, it is to be understood that ability may be used in the storage box 11 of the vehicle body 10
The various common structures in domain, such as 2020 aluminium section bars, as storage box 11, it is not specifically limited to this by the present invention, the vehicle body 10
Panel material be not particularly limited, can be various materials commonly used in the art, such as acrylic board, stainless steel plate, aluminium sheet
Deng.
Further, as shown in Figure 3 to Figure 4, the guide groove 241 is in V-shape or U-shaped, the rotating blade 25
Positioned at the lower section of the positioning plate 24, the rotating blade 25 is set to the bottom of the guide groove 241 and relative to the guiding
Slot 241 protrudes, in carrying out fruit picking process, the stalk portion of fruit from the entrance of the open end of the guide groove 241, gradually along
The guide groove 241 is directed at the rotating blade 25, is controlled the rotating blade 25 and is cut off to it, specifically,
The open end of the guide groove 241 is arranged outwardly, and the blind end of the guide groove 241 is equipped with receiving hole 242, the receiving hole
242 can be used for preventing the rebound phenomena in fruit stalk portion when cut-out from occurring, it is to be understood that the rotating blade 25 can be with
It is assembled using common saw blade, realizes the lossless picking to fruit.
Further, it is equipped with the first drive mechanism between first actuator 21 and the rotating blade 25, described the
One transmission mechanism includes the first synchronous belt 23, and first synchronous belt 23 has transmission ratio accurate, and small to axis active force, structure is tight
It gathers, the advantages that oil resistant, wearability is good, and anti-aging property is good, first synchronous belt 23 is set to first actuator 21 and institute
Between stating rotating blade 25, first actuator 21 and the positioning plate 24 are respectively arranged on the two sides of the fixed seat 22,
So that 20 structure of the picking mechanism is compacter, specifically, the output shaft of first actuator 21 is equipped with for driving
The driving wheel of the first synchronous belt 23 rotation is stated, the top of the positioning plate 24, which is equipped with, to be connected and use with first synchronous belt 23
In the driven wheel for driving the rotating blade 25 to rotate.
Further, the elevating mechanism 30 includes the second actuator 31, bottom plate 32, top plate 33 and lead screw 34, described
Bottom plate 32 is set on the vehicle body 10, and second actuator 31 is connected by the bottom plate 32 with one end of the lead screw 34
It connects, the other end of the lead screw 34 is set on the top plate 33, and the telescoping mechanism 40 is set to the middle part of the lead screw 34, described
Telescoping mechanism 40 is equipped with can control the lead screw 34 with 34 matched feed screw nut 36 of the lead screw, second actuator 31
Rotation is screw-thread fit between the lead screw 34 and the feed screw nut 36, can convert the rotation of the lead screw 34 to institute
Moving up and down for feed screw nut 36 is stated, realizes the elevating function of the elevating mechanism 30.
In addition, the elevating mechanism 30 further include set on the leading screw surrounding guiding axis 35 and with the guiding axis 35
Compatible sleeve 48, rising and decline for assisting the lead screw 34, in the present embodiment, the guiding axis 35 and institute
The quantity for stating sleeve 48 is 4.
Further, as shown in Figure 5 to Figure 6, the stretching structure includes being set on the elevating mechanism 30 and in up and down
Symmetrically arranged clamping plate 42, the third actuator 41 on the clamping plate 42, the second drive mechanism and guide frame, it is described
Second transmission mechanism is set to the centre of the clamping plate 42 setting up and down, and set is equipped between the clamping plate 42 of setting symmetrical above and below
Cylinder 48 is used to support, while can also be matched with the guiding axis 35 of the elevating mechanism 30, and second drive mechanism includes
Second synchronous belt 43, the picking mechanism 20 are connected with second synchronous belt 43, and the picking mechanism 20 is led by described
It is set on the clamping plate 42 to structure, it will additionally be appreciated that second drive mechanism further includes for driving described the
The driving wheel and driven wheel of two synchronous belts 43 transmission, second drive mechanism are set between upper lower clamp plate 42, and the third is driven
Moving part 41 is connected with the driving wheel, and specifically, the picking mechanism 20 is adopted by link block 46 and connecting rod 47 with described
Off-hook structure 20 is connected, and the link block 46 locks the one of second synchronous belt 43 and the connecting rod 47 by bolt respectively
End, the other end of the connecting rod 47 are connected with the picking mechanism 20 so that second synchronous belt 43 can in transmission
It drives the link block 46 to move, to drive the moving left and right in the horizontal direction of the connecting rod 47, realizes the picking
The telescopic moving function of the horizontal direction of mechanism 20.
Further, the guide frame includes guide rail 44 and sliding block 45, and the sliding block 45 is set on guide rail 44 and institute
Stating sliding block 45 has relative to 44 freedom of axial movement of guide rail, and the guide rail 44 is set on the clamping plate 42, the sliding block 45
It is connected with the telescoping mechanism 40, specifically, the telescoping mechanism 40 is by the connecting rod 47 and 45 phase of the sliding block
Connection plays the flexible of the picking mechanism 20 when driving the picking mechanism 20 to move for second synchronous belt 43
Guiding and supporting role.
Further, the clamping plate 42 includes the mounting portion of rectangular lifting unit and strip, the lifting unit with
The upgrading mechanism is connected, and the clamping plate 42 is in " by " font structure, and the third actuator 41 is set on the mounting portion,
The mounting portion is connected with the side of the lifting unit, and the picking mechanism 20 is set in the opposite direction of the mounting portion,
Contribute to integrally-built balance.
Further, the fruit picking robot further includes storing mechanism, specifically, the storing mechanism includes being set to
The storage box 11 of vehicle body 10 and the collection port 26 below the picking mechanism 20, the collection port 26 and the storage box
11 are connected, and the collection port 26 is set in the fixed seat 22, it is possible to understand that are all the collection port 26 and the storage box
It can be connected to tubular structures such as hoses between 11 opening 14 so that, can be by after the rotating blade 25 cuts off carpopodium
The collection port 26 collects the fruit fallen, is concentrated to the storage box 11 and is stored, realizes the fruit picking robot
Store fruits function.
In the present embodiment, first actuator 21 is direct current generator, and second actuator 31 and the third are driven
Moving part 41 is stepper motor so that can control being accurately positioned for picking mechanism 20；First synchronous belt 23 selects model
The synchronous belt of XL nodel lines a length of 381, material are polyurethane rigid, wherein the pitch of first synchronous belt 23 is 5.080mm, tooth
Number is 75, width 10mm；It is poly- ammonia that second synchronous belt 43, which selects the synchronous belt of model XL nodel lines a length of 762, material,
Ester rigidity, wherein the pitch of second synchronous belt 43 is 5.080mm, the number of teeth 150, width 10mm；The lead screw 34 can
It is stainless steel, dynamic loading 780N to select 1605 ball screws, nominal diameter 16mm, nominal lead 5mm, material.
In conclusion the fruit picking robot described in the embodiment of the present invention, which is suitable for apple, pear etc., sets unboiled water fruit
Picking realizes multifunction automatic, it can be achieved that collection is picked and storage by the application of Design of Mechanical Structure and automatic control technology
Functions, the vehicle body 10, the elevating mechanism 30 and the telescoping mechanisms 40 such as Tibetan control the water of the picking mechanism 20 respectively
Flat rotation, vertical lifting and horizontal extension, the positioning plate 24 can be used for installing the rotating blade 25 and determine that fruit is cut
The position cut, the cut-out region that the guide groove 241 can be used for that fruit stalk portion is guided to be moved to the rotating blade 25, convenient for pair
It realizes and the stalk portion of fruit is cut off, the fruit picking robot effectively can quickly pick fruit, and rotation is utilized
Blade 25 cuts off fruit stalk portion, high degree of automation, and feasibility is high, versatile, can be extensively using a variety of different water
Automation in fruit is won, and is integrated fruit picking, fruit storage and transport, is saved a large amount of manpower, material resources and financial resources, energy
Effectively improve the operating efficiency of orchard worker.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of fruit picking robot, which is characterized in that include the vehicle body for walking, elevating mechanism, telescoping mechanism, picking
Mechanism and control device, the vehicle body, the elevating mechanism, the telescoping mechanism and picking mechanism are mutually connected successively, institute
Control device is stated on the vehicle body, the vehicle body, the elevating mechanism and the telescoping mechanism are filled with the control respectively
Electric connection is set,
The picking mechanism include the first actuator, fixed seat, rotating blade and positioning plate, first actuator with it is described
Positioning plate is set in the fixed seat, and the rotating blade is set on the positioning plate, and the positioning plate is equipped with for being oriented to water
The guide groove in carpopodium portion, the rotating blade are protruded relative to the guide groove.
2. fruit picking robot according to claim 1, which is characterized in that the guide groove is in V-shape or U-shaped
Type.
3. fruit picking robot according to claim 2, which is characterized in that the open end of the guide groove is towards peripheral hardware
It sets, the blind end of the guide groove is equipped with receiving hole.
4. fruit picking robot according to claim 1, which is characterized in that first actuator and the rotating knife
The first drive mechanism is equipped between piece, first transmission mechanism includes the first synchronous belt, and first synchronous belt is set to described
Between first actuator and the rotating blade, first actuator and the positioning plate are respectively arranged on the two of the fixed seat
Side.
5. fruit picking robot according to claim 1, which is characterized in that the elevating mechanism includes the second driving
Part, bottom plate, top plate and lead screw, the bottom plate be set to the vehicle body on, second actuator by the bottom plate with it is described
One end of lead screw is connected, and the other end of the lead screw is set on the top plate, and the telescoping mechanism is set in the lead screw
Portion.
6. fruit picking robot according to claim 1, which is characterized in that the stretching structure includes being set to the liter
In grade mechanism and in upper and lower symmetrically arranged clamping plate, the third actuator on the clamping plate, the second drive mechanism and lead
To structure, second drive mechanism is set to the centre of the clamping plate setting up and down, and second drive mechanism includes second
Synchronous belt, the picking mechanism are connected with second synchronous belt, and the picking mechanism is set to institute by the guide frame
It states on clamping plate.
7. fruit picking robot according to claim 6, which is characterized in that the guide frame includes guide rail and cunning
Block, the sliding block is set on guide rail and the sliding block has relative to guide rail freedom of axial movement, and the guide rail is set to described
On clamping plate, the sliding block is connected with the telescoping mechanism.
8. fruit picking robot according to claim 6, which is characterized in that the clamping plate includes lifting unit and installation
Portion, the lifting unit are connected with the upgrading mechanism, the third actuator be set to the mounting portion on, the mounting portion with
The side of the lifting unit is connected.
9. fruit picking robot according to claim 1, which is characterized in that further include storing mechanism.
10. fruit picking robot according to claim 9, which is characterized in that the storing mechanism includes being set to vehicle body
On storage box and the collection port below the picking mechanism, the collection port is connected with the storage box, described
Collection port is set in the fixed seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738018.XA CN108575322A (en) | 2018-07-06 | 2018-07-06 | A kind of fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738018.XA CN108575322A (en) | 2018-07-06 | 2018-07-06 | A kind of fruit picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108575322A true CN108575322A (en) | 2018-09-28 |
Family
ID=63617607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810738018.XA Pending CN108575322A (en) | 2018-07-06 | 2018-07-06 | A kind of fruit picking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108575322A (en) |
Cited By (6)
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| CN109051035A (en) * | 2018-10-19 | 2018-12-21 | 滨州学院 | A kind of absorption type fruit picking packaging integrated machine |
| CN109258108A (en) * | 2018-10-31 | 2019-01-25 | 合肥学院 | A kind of new-type device for picking fruits on trees |
| CN109606422A (en) * | 2019-02-18 | 2019-04-12 | 中国铁路沈阳局集团有限公司科学技术研究所 | A kind of passenger train water-feeding mechanical arm |
| CN110050587A (en) * | 2019-05-31 | 2019-07-26 | 山东省农业机械科学研究院 | Date palm picking machine mechanical arm |
| CN113940197A (en) * | 2021-10-12 | 2022-01-18 | 重庆军万农业科技有限公司 | Fruit and vegetable picking robot |
| CN114885677A (en) * | 2022-05-20 | 2022-08-12 | 西北农林科技大学 | A vibration harvesting mechanism for olive fruit |
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| CN110050587A (en) * | 2019-05-31 | 2019-07-26 | 山东省农业机械科学研究院 | Date palm picking machine mechanical arm |
| CN113940197A (en) * | 2021-10-12 | 2022-01-18 | 重庆军万农业科技有限公司 | Fruit and vegetable picking robot |
| CN114885677A (en) * | 2022-05-20 | 2022-08-12 | 西北农林科技大学 | A vibration harvesting mechanism for olive fruit |
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