CN108605508A - A kind of end effector of spheral fruit picking robot - Google Patents
A kind of end effector of spheral fruit picking robot Download PDFInfo
- Publication number
- CN108605508A CN108605508A CN201810433197.6A CN201810433197A CN108605508A CN 108605508 A CN108605508 A CN 108605508A CN 201810433197 A CN201810433197 A CN 201810433197A CN 108605508 A CN108605508 A CN 108605508A
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- China
- Prior art keywords
- mechanical arm
- link block
- profiling finger
- elbow joint
- spring
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention provides a kind of end effectors of spheral fruit picking robot,Including console,Mechanical arm mechanism and end effector mechanism,Control module is equipped in the console,Image processing module and power storage module,Vacuum cup is evacuated by vacuum pump and adsorbs fruits and vegetables to be picked by the present invention,The lnp information of first pressure sensor feedback vacuum cup on vacuum cup,First straight line motor and second straight line motor are respectively by stretching or compressing the first spring and second spring simultaneously,So that the first profiling finger and the second profiling finger extends out or interior receipts,Realize the clamping to different size fruits and vegetables,And the second pressure sensor on the first profiling finger and the second profiling finger feeds back chucking power,The first profiling finger and the second profiling finger inner surface cover soft silica gel pad simultaneously,The destruction to fruits and vegetables epidermis is avoided well,The scissors of Driven by Hydraulic Cylinder shearing fork telescopic boom end shears carpopodium.
Description
Technical field
The present invention relates to robotics equipment field, more particularly to the end of a kind of spheral fruit picking robot executes
Device.
Background technology
Traditional fruits and vegetables manually pick that work is complicated, the amount of labour is very big.General apple, citrus, tomato equal sphere fruit
Mechaniaed harvest makes the method that the fruit on plant is fallen or even large area is pulled out by vibration, can not be directed to the specific of fruit
The differences such as maturation, size cause the quality of fruit to be greatly affected.It is carried out in picking automatically using picking robot, it must
The end effector that must be connected by the mechanical wrist part with robot executes the picking task of fruit, and foreign countries are in this field exhibition
Certain research is opened, the N.Kondo of such as Japan describes a kind of the End-effector for Tomato-harvesting Robot, can catch tomato simultaneously
Finger is larger to the chucking power of fruit when twisting off carpopodium, but twisting off carpopodium, and the damage for often resulting in fruit even ruptures, and it is only
It can be used for the picking of tomato；And D.M.Bulanon describes a kind of apple picking robot end effector, is referred to two and is caught simultaneously
The stalk of apple is twisted off, but does not have feedback mechanism, the attachment force that can not adapt to different fruits and stalk changes, and may be only available for specific life
The picking of long-term apple.
Since the shape of different fruits, size, physical characteristic difference are apparent, above-mentioned terminal executor of picking robot is all
It is designed for the picking of specific fruit, basic machine structure has apparent specificity feature, and closure is extremely strong, it is difficult to logical
With and extension.And fruits and vegetables plantation is wide in variety, harvest season property is stronger, causes tailored version terminal executor of picking robot
Utilization ratio it is relatively low, must design and replace corresponding end effector when harvesting different fruits and vegetables, be made for the producer
At great cost burden.
Invention content
(1) the technical issues of solving
To solve the above-mentioned problems, the present invention provides a kind of end effector of spheral fruit picking robot, pass through
Vacuum cup is evacuated by vacuum pump adsorbs fruits and vegetables to be picked, and the first pressure sensor on vacuum cup feeds back vacuum cup
Lnp information, while first straight line motor and second straight line motor are respectively by stretching or compressing the first spring and the second bullet
Spring, so that the first profiling finger and the second profiling finger extends out or interior receipts, realizes the clamping to different size fruits and vegetables, and
Second pressure sensor on first profiling finger and the second profiling finger feeds back chucking power, while the first profiling finger
Soft silica gel pad is covered with the second profiling finger inner surface, avoids the destruction to fruits and vegetables epidermis well, Driven by Hydraulic Cylinder is cut
The scissors of fork telescopic rod end shears carpopodium, realizes the separation of fruits and vegetables to be picked and plant, pair that can be very well
Tomato, apple, citrus equal sphere fruits and vegetables are picked, and have good versatility, open strong, are easy to extend.
(2) technical solution
A kind of end effector of spheral fruit picking robot, including console, mechanical arm mechanism and end execute machine
Structure, the console is interior to be equipped with control module, image processing module and power storage module, and the upper surface of the console is equipped with described
Mechanical arm mechanism, the mechanical arm mechanism include the first link block, and first link block is fixed on the upper table of the console
The side in face, first link block is equipped with the first elbow joint, one end of first elbow joint and the first link block phase
Connection, the other end of first elbow joint are connected to the side of the second link block, and first elbow joint is rotatably and institute
The first link block is stated to be connected, the front of second link block is equipped with first mechanical arm, one end of the first mechanical arm with
Second link block is connected, and the other end of the first mechanical arm connects the side of the second elbow joint, and second elbow closes
The end of section is equipped with second mechanical arm, and the side of the second mechanical arm is rotatably connected with the end of second elbow joint
It connects, the side of the end connection third elbow joint of the second mechanical arm, the end connection third connection of the third elbow joint
The side of block, the third link block are rotatably connected with the third elbow joint, and the bottom of the third link block connects
The side of third mechanical arm is connect, the end of the third mechanical arm is equipped with the end effector mechanism, the end effector mechanism
Including first substrate, the top of the first substrate is equipped with camera, the front of the first substrate it is placed in the middle be equipped with vacuum pump,
The vacuum tube of the vacuum pump runs through second substrate, and the end for stretching out in the vacuum tube of the second substrate is inhaled equipped with vacuum
Disk, the vacuum cup are equipped with first pressure sensor, and the both sides of the vacuum pump are symmetrically provided with first straight line motor
It is equipped with the first spring, the second straight line electricity with the end of second straight line motor, the first telescopic rod of the first straight line motor
The end of second telescopic rod of machine is equipped with second spring, and the both sides of the second substrate have been respectively articulated with the first profiling finger and the
Two profiling fingers, one end of first spring are connected with first telescopic rod, the other end of first spring and institute
It states and is connected on the outside of the first profiling finger, one end of the second spring is connected with second telescopic rod, and described second
It is connected on the outside of the other end of spring and the second profiling finger, the first profiling finger and the second profiling finger
Inner surface be equipped with second pressure sensor, the inside of the first profiling finger and the second profiling finger covers
There are soft silica gel pad, the front of the first substrate to be additionally provided with hydraulic cylinder, the hydraulic cylinder is located at the top of the vacuum pump, described
The output end of hydraulic cylinder is connected with shearing fork telescopic bar, and one end of the shearing fork telescopic bar is connected with the output end of the hydraulic cylinder
It connects, the other end of the shearing fork telescopic bar is equipped with scissors, the camera, the first pressure sensor and the second pressure
Sensor is connected with the input terminal of the control module, and the output end of the control module is separately connected described image processing mould
Block, the mechanical arm mechanism, the vacuum pump, the first straight line motor, the second straight line motor and the hydraulic cylinder, institute
It states power storage module and provides operating voltage for the console, the mechanical arm mechanism and the end effector mechanism.
Further, the camera selects 3D depth cameras.
Further, the vacuum cup selects soft silica gel material to be made.
Further, the control module selects 32 ARM controller LPC1768.
Further, the power storage module is lithium-ions battery.
(3) advantageous effect
The present invention provides a kind of end effector of spheral fruit picking robot, mechanical arm mechanism have it is multiple from
By spending, expand picking range, improve picking efficiency, end effector mechanism by 3D depth cameras treat picking plant into
Row 3D modeling filters out the fruits and vegetables for meeting standard of plucking, and vacuum cup is evacuated by vacuum pump adsorbs fruits and vegetables to be picked, vacuum
The lnp information of first pressure sensor feedback vacuum cup on sucker, and vacuum cup is made of soft silica gel material, keeps away
The epidermis for having exempted to destroy fruits and vegetables to be picked ensure that the quality of fruits and vegetables, while first straight line motor and second straight line motor difference
By stretching or compressing the first spring and second spring, so that the first profiling finger and the second profiling finger extend out or interior
It receives, realizes the clamping to different size fruits and vegetables, and the second pressure sensor on the first profiling finger and the second profiling finger
Chucking power is fed back, while the first profiling finger and the second profiling finger inner surface cover soft silica gel pad, keep away well
The destruction to fruits and vegetables epidermis is exempted from, the scissors of Driven by Hydraulic Cylinder shearing fork telescopic boom end shears carpopodium, realizes and wait adopting
The separation of fruits and vegetables and plant is plucked, very well tomato, apple, citrus equal sphere fruits and vegetables can be picked, structure novel,
Ingenious in design, system power dissipation is low, and accuracy of detection is high, fast response time, stability and good reliability, have good versatility and
Practicability, it is open strong, it is easy to extend.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the end effector of fruit and vegetable picking robot according to the present invention.
Fig. 2 is that a kind of end effector mechanism structure of the end effector of fruit and vegetable picking robot according to the present invention is shown
It is intended to.
Fig. 3 is a kind of System Working Principle figure of the end effector of fruit and vegetable picking robot according to the present invention.
Specific implementation mode
Embodiment according to the present invention is described in further details below in conjunction with the accompanying drawings.
In conjunction with Fig. 1~Fig. 3, a kind of end effector of spheral fruit picking robot, including console 1, mechanical arm machine
Structure and end effector mechanism, console 1 is interior to be equipped with control module, image processing module and power storage module, the upper surface of console 1
Equipped with the mechanical arm mechanism, mechanical arm mechanism includes the first link block 2, and the first link block 2 is fixed on the upper table of console 1
The side in face, the first link block 2 is equipped with the first elbow joint 3, and one end of the first elbow joint 3 is connected with the first link block 2, and first
The other end of elbow joint 3 is connected to the side of the second link block 4, and the first elbow joint 3 is rotatably connected with the first link block 2
It connecing, the front of the second link block 4 is equipped with first mechanical arm 5, and one end of first mechanical arm 5 is connected with the second link block 4, and first
The other end of mechanical arm 5 connects the side of the second elbow joint 6, and the end of the second elbow joint 6 is equipped with second mechanical arm 7, the second machine
The side of tool arm 7 is rotatably connected with the end of the second elbow joint 6, the end connection third elbow joint 8 of second mechanical arm 7
Side, the side of the end connection third link block 9 of third elbow joint 8, third link block 9 rotatably with third elbow joint
8 are connected, and the side of the bottom connection third mechanical arm 10 of third link block 9, the end of third mechanical arm 10 is held equipped with end
Row mechanism, end effector mechanism include first substrate 11, and the top of first substrate 11 is equipped with camera 12, and first substrate 11 is just
Face it is placed in the middle be equipped with vacuum pump 13, the vacuum tube 14 of vacuum pump 13 runs through second substrate 15, stretches out in the vacuum of second substrate 15
The end of pipe 14 is equipped with vacuum cup 16, and vacuum cup 16 is equipped with first pressure sensor, and the both sides of vacuum pump 13 are respectively symmetrically
Be equipped with first straight line motor 17 and second straight line motor 18, the end of the first telescopic rod 19 of first straight line motor 17 is equipped with the
The end of one spring 23, the second telescopic rod 20 of second straight line motor 18 is equipped with second spring, and the both sides of second substrate 15 are distinguished
It is hinged with the first profiling finger 21 and the second profiling finger 22, one end of the first spring 23 is connected with the first telescopic rod 19, the
The other end of one spring 23 is connected with the outside of the first profiling finger 21, and one end of second spring is connected with the second telescopic rod 20
It connects, the other end of second spring is connected with the outside of the second profiling finger 22, the first profiling finger 21 and the second profiling finger
22 inner surface is equipped with second pressure sensor, and the inside of the first profiling finger 21 and the second profiling finger 22 is all covered with
The front of soft silica gel pad, first substrate 11 is additionally provided with hydraulic cylinder 24, and hydraulic cylinder 24 is located at the top of vacuum pump 13, hydraulic cylinder 24
Output end is connected with shearing fork telescopic bar 25, and one end of shearing fork telescopic bar 25 is connected with the output end of hydraulic cylinder 24, shearing fork telescopic
The other end of bar 25 is equipped with scissors 26, camera 12, first pressure sensor and second pressure sensor and control module it is defeated
Enter end to be connected, the output end of control module is separately connected image processing module, mechanical arm mechanism, vacuum pump 13, first straight line
Motor 17, second straight line motor 18 and hydraulic cylinder 24, platform 1, mechanical arm mechanism and end effector mechanism carry power storage module in order to control
For operating voltage.
Robot carries out the picking of fruits and vegetables by end effector, and the camera 12 above end effector mechanism, which acquires, to be waited adopting
The image information of plant is plucked, camera 12 selects 3D depth cameras, the 2 d plane picture in addition to that can obtain plant to be picked
Picture, moreover it is possible to obtain the three-dimensional position and dimension information of plant to be picked, the image information of acquisition is sent into through control module at image
Reason module is handled, and is treated picking plant and is carried out 3D modeling, and filter out the fruits and vegetables for meeting standard of plucking, avoids robot
The fruits and vegetables that maturity and size have differences are picked, ensure that the quality of fruits and vegetables.First elbow joint 3 can be along first
The axis of link block 2 rotates, and second mechanical arm 7 can be rotated along the axis of the second elbow joint 6, and third link block 9 can be along the
The axis of three elbow joints 8 rotates, so that mechanical arm mechanism has multiple degrees of freedom, can flexibly carry out end effector mechanism
Height and angle adjusting, expand picking range, improve picking efficiency.
When mechanical arm mechanism send end effector mechanism to fruits and vegetables to be picked, vacuum pump 13 works, and passes through vacuum
Vacuum cup 16 is evacuated by pipe 14, forms negative pressure on 16 surface of vacuum cup, to adsorb the epidermis of fruits and vegetables to be picked, very
The absorption force information of first pressure sensor feedback negative pressure on suction disk 16, avoids vacuum cup 16 since adsorption capacity is excessive
And the epidermis of fruits and vegetables to be picked is destroyed, it ensure that the quality of fruits and vegetables.And vacuum cup 16 selects soft silica gel material to be made, with fruit
The epidermis flexible contact of vegetable, the epidermis for further avoiding fruits and vegetables are destroyed, and ensure that the quality of fruits and vegetables.When vacuum cup 16
The epidermis of fruits and vegetables to be picked in absorption, first straight line motor 17 and second straight line motor 18 release the first telescopic rod 19 and respectively
Two telescopic rods 20 squeeze the first spring 23 and second spring respectively, so that the first profiling finger 21 and the second profiling finger
22 inwardly receive, and form the clamping effect for treating picking fruits and vegetables.The second of 22 inside of first profiling finger 21 and the second profiling finger
Pressure sensor feeds back the chucking power of generation, prevents from destroying the epidermis of fruits and vegetables to be picked since chucking power is excessive, protects
The quality of fruits and vegetables is demonstrate,proved.Soft silica gel pad is covered in the inner surface of the first profiling finger 21 and the second profiling finger 22 simultaneously, into
One step avoids fruits and vegetables epidermis and is destroyed, and ensure that the quality of fruits and vegetables.Clamping finishes, and hydraulic cylinder 24 works so that scissor is stretched
Contracting bar 25 stretches, and is sheared to carpopodium by the scissors 26 of 25 end of shearing fork telescopic bar, realizes fruits and vegetables to be picked and plant
Separation, can the very well spheral fruit to different sizes such as tomato, apple, citruses pick.
Control module to the detection input signal of camera 12, first pressure sensor and second pressure sensor at
Reason, it is straight that output control signal controls image processing module, mechanical arm mechanism, vacuum pump 13, first straight line motor 17, second respectively
Line motor 18 and hydraulic cylinder 24 work.Since control module needs quickly to handle multichannel data and multiple processes, work
Measure it is larger, therefore it is required that also to ensure control accuracy and image transmitting while control module has stronger data-handling capacity
Synchronism.Control module selects 32 ARM controller LPC1768, is based on ARM Cortex-M3 kernels, and operating frequency is up to
120MHz, code execution speed is up to 1.25MIPS/MHz, and has abundant peripheral interface unit, enormously simplifies circuit.
The high-speed processing technology of LPC1768 itself will be helpful to improve control accuracy, while also ensure the real-time of data transmission.
Power storage module provides operating voltage to console 1, mechanical arm mechanism and end effector mechanism, and power storage module selects lithium
Ion accumulator, repeated charge number is high, and service life is long, and transformation efficiency is high, embodies energy-saving and environment-friendly spirit.
The present invention provides a kind of end effector of spheral fruit picking robot, mechanical arm mechanism have it is multiple from
By spending, expand picking range, improve picking efficiency, end effector mechanism by 3D depth cameras treat picking plant into
Row 3D modeling filters out the fruits and vegetables for meeting standard of plucking, and vacuum cup is evacuated by vacuum pump adsorbs fruits and vegetables to be picked, vacuum
The lnp information of first pressure sensor feedback vacuum cup on sucker, and vacuum cup is made of soft silica gel material, keeps away
The epidermis for having exempted to destroy fruits and vegetables to be picked ensure that the quality of fruits and vegetables, while first straight line motor and second straight line motor difference
By stretching or compressing the first spring and second spring, so that the first profiling finger and the second profiling finger extend out or interior
It receives, realizes the clamping to different size fruits and vegetables, and the second pressure sensor on the first profiling finger and the second profiling finger
Chucking power is fed back, while the first profiling finger and the second profiling finger inner surface cover soft silica gel pad, keep away well
The destruction to fruits and vegetables epidermis is exempted from, the scissors of Driven by Hydraulic Cylinder shearing fork telescopic boom end shears carpopodium, realizes and wait adopting
The separation of fruits and vegetables and plant is plucked, very well tomato, apple, citrus equal sphere fruits and vegetables can be picked, structure novel,
Ingenious in design, system power dissipation is low, and accuracy of detection is high, fast response time, stability and good reliability, have good versatility and
Practicability, it is open strong, it is easy to extend.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined.Under the premise of not departing from design concept of the present invention, technology of the ordinary people in the field to the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (5)
1. a kind of end effector of spheral fruit picking robot, it is characterised in that：Including console, mechanical arm mechanism and end
Executing agency is held, control module, image processing module and power storage module, the upper surface of the console are equipped in the console
Equipped with the mechanical arm mechanism, the mechanical arm mechanism includes the first link block, and first link block is fixed on the control
The side of the upper surface of platform, first link block is equipped with the first elbow joint, one end of first elbow joint and described first
Link block is connected, and the other end of first elbow joint is connected to the side of the second link block, and first elbow joint can turn
Dynamic is connected with first link block, and the front of second link block is equipped with first mechanical arm, the first mechanical arm
One end be connected with second link block, the other end of the first mechanical arm connects the side of the second elbow joint, described
The end of second elbow joint is equipped with second mechanical arm, the side of the second mechanical arm rotatably with second elbow joint
End is connected, the side of the end connection third elbow joint of the second mechanical arm, the end connection of the third elbow joint
The side of third link block, the third link block are rotatably connected with the third elbow joint, the third link block
Bottom connection third mechanical arm side, the end of the third mechanical arm is equipped with the end effector mechanism, the end
Executing agency includes first substrate, and the top of the first substrate is equipped with camera, and the front of the first substrate is placed in the middle to be set
There are vacuum pump, the vacuum tube of the vacuum pump to run through second substrate, stretch out in the end of the vacuum tube of the second substrate
Equipped with vacuum cup, the vacuum cup is equipped with first pressure sensor, and the both sides of the vacuum pump are symmetrically provided with the
The end of one linear motor and second straight line motor, the first telescopic rod of the first straight line motor is equipped with the first spring, described
The end of second telescopic rod of second straight line motor is equipped with second spring, and the both sides of the second substrate have been respectively articulated with first and have imitated
Shape finger and the second profiling finger, one end of first spring are connected with first telescopic rod, first spring
It is connected on the outside of the other end and the first profiling finger, one end of the second spring is connected with second telescopic rod
It connects, is connected on the outside of the other end of the second spring and the second profiling finger, the first profiling finger and described
The inner surface of second profiling finger is equipped with second pressure sensor, the first profiling finger and the second profiling finger
Inside be all covered with soft silica gel pad, the front of the first substrate is additionally provided with hydraulic cylinder, and the hydraulic cylinder is located at the vacuum
The output end of the top of pump, the hydraulic cylinder is connected with shearing fork telescopic bar, one end and the hydraulic cylinder of the shearing fork telescopic bar
Output end be connected, the other end of the shearing fork telescopic bar is equipped with scissors, the camera, the first pressure sensor and
The second pressure sensor is connected with the input terminal of the control module, and the output end of the control module is separately connected institute
State image processing module, the mechanical arm mechanism, the vacuum pump, the first straight line motor, the second straight line motor and
The hydraulic cylinder, the power storage module is the console, the mechanical arm mechanism and the end effector mechanism provide work
Voltage.
2. a kind of end effector of spheral fruit picking robot according to claim 1, it is characterised in that：It is described to take the photograph
As head selects 3D depth cameras.
3. a kind of end effector of spheral fruit picking robot according to claim 1, it is characterised in that：It is described true
Suction disk selects soft silica gel material to be made.
4. a kind of end effector of spheral fruit picking robot according to claim 1, it is characterised in that：The control
Molding block selects 32 ARM controller LPC1768.
5. a kind of end effector of spheral fruit picking robot according to claim 1, it is characterised in that：The storage
Electric module is lithium-ions battery.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810433197.6A CN108605508A (en) | 2018-05-08 | 2018-05-08 | A kind of end effector of spheral fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810433197.6A CN108605508A (en) | 2018-05-08 | 2018-05-08 | A kind of end effector of spheral fruit picking robot |
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| Publication Number | Publication Date |
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| CN108605508A true CN108605508A (en) | 2018-10-02 |
Family
ID=63662583
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| CN201810433197.6A Withdrawn CN108605508A (en) | 2018-05-08 | 2018-05-08 | A kind of end effector of spheral fruit picking robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108401653A (en) * | 2018-05-31 | 2018-08-17 | 安龙县西城秀树农林有限责任公司 | A kind of stem of noble dendrobium stripper unit |
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN109261407A (en) * | 2018-10-19 | 2019-01-25 | 飞码机器人私人有限公司 | A kind of external coating robot manipulating task system and method |
| CN109429695A (en) * | 2018-11-27 | 2019-03-08 | 陈泽彬 | A kind of tomato automation production recovery arrangement of limit shearing rhizome |
| CN109514523A (en) * | 2018-12-29 | 2019-03-26 | 贺州学院 | A kind of flexible mechanical arm |
| CN109605375A (en) * | 2019-01-08 | 2019-04-12 | 太原工业学院 | A kind of control method of intelligence Tomato-harvesting robot |
| CN110907464A (en) * | 2019-12-26 | 2020-03-24 | 烟台拓伟智能科技股份有限公司 | Fruit and vegetable bottom detection device and detection method |
| CN110940673A (en) * | 2019-12-26 | 2020-03-31 | 烟台拓伟智能科技股份有限公司 | Fruit and vegetable appearance detection equipment and detection method |
| EP3725148A4 (en) * | 2018-03-28 | 2021-02-24 | Honda Motor Co., Ltd. | Fruit and vegetable harvesting device |
| CN112405576A (en) * | 2020-11-10 | 2021-02-26 | 浙江大学 | Double-claw manipulator for rapidly grabbing materials |
| CN112828887A (en) * | 2020-12-31 | 2021-05-25 | 深圳市大族机器人有限公司 | Industrial robot end interface device and industrial robot |
| CN115067074A (en) * | 2021-12-28 | 2022-09-20 | 季华实验室 | Fruit picking system and method in severe environment |
| CN116420509A (en) * | 2023-03-27 | 2023-07-14 | 西南大学 | End effector of suction-type citrus picking robot |
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2018
- 2018-05-08 CN CN201810433197.6A patent/CN108605508A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3725148A4 (en) * | 2018-03-28 | 2021-02-24 | Honda Motor Co., Ltd. | Fruit and vegetable harvesting device |
| CN108401653A (en) * | 2018-05-31 | 2018-08-17 | 安龙县西城秀树农林有限责任公司 | A kind of stem of noble dendrobium stripper unit |
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN109105001B (en) * | 2018-10-18 | 2024-01-30 | 石河子大学 | End effector of bergamot pear picking robot and picking method |
| CN109261407A (en) * | 2018-10-19 | 2019-01-25 | 飞码机器人私人有限公司 | A kind of external coating robot manipulating task system and method |
| CN109261407B (en) * | 2018-10-19 | 2021-07-16 | 飞码机器人私人有限公司 | Surface coating robot operation system and method |
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