CN109302885A - A kind of fruit picking robot - Google Patents
A kind of fruit picking robot Download PDFInfo
- Publication number
- CN109302885A CN109302885A CN201811140545.7A CN201811140545A CN109302885A CN 109302885 A CN109302885 A CN 109302885A CN 201811140545 A CN201811140545 A CN 201811140545A CN 109302885 A CN109302885 A CN 109302885A
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- CN
- China
- Prior art keywords
- fruit
- basketry
- collection device
- manipulator
- picking robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- A01D46/20—Platforms with lifting and lowering devices
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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
- A01D46/22—Baskets or bags attachable to the picker
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/38—Chains or like traction elements; Connections between traction elements and load-carriers
- B65G17/40—Chains acting as load-carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of fruit picking robots, belong to agricultural machinery technological field, solve the technical problem that existing fruit picking robot collection device memory capacity is small, collection mode is single.Including manipulator, collection device and transport device, wherein the lower section of manipulator is arranged in collection device；Collection device is equipped with multiple fruit basketrys, the fruit that multiple fruit basketrys can be picked successively by access below the end effector of manipulator by the manipulator, the transport device is provided with the loading plate for carrying and transporting the fruit basketry, when the fruit basketry on the collection device is transported to the lowermost end of the collection device, the fruit basketry can be carried and be carried it away by the transport device, and the transport device can make the bottom that empty fruit basketry is transported to the collection device on its installation to described collection device.Robot of the invention improves picking efficiency, realizes picking and collects transport integrated function.
Description
Technical field
The present invention relates to agricultural mechanical fields, and in particular to a kind of fruit picking robot.
Background technique
China is Production of fruit big country and the largest fruit in the world country of consumption.The rapid development of fruit-growing industry is promoted
The market demand of Machinery for orchard.Labour used in picking operation accounts for 33%~50% of labour used in entire production process,
The fruit picking in China is most or based on manually picking at present.It is more complicated to pick operation, it is seasonal stronger, if making
It manually picks, not only low efficiency, the amount of labour are big, but also fruit is be easy to cause to damage.
At present in China's intelligent apple picking robot of independent development, which is that agree with market newest for the country instantly
A apple picking robot developed is a intelligentized fruit picking robot, applied three categories sensor point
It is not visual sensor, position sensor and obstacle avoidance sensor.Basic machine structure includes: walking mechanism, collection device and machine
Tool hand etc..The apple picking robot developed at present mainly consists of two parts: the mobile vehicle and five degree of freedom of two-freedom
Manipulator.Mobile vehicle is crawler type platform, has installed master control PC machine, power supply box, picking auxiliary device and multiple sensors additional；
The manipulator of five degree of freedom is driven by respective articulated driving equipment.The manipulator of this open chain link-type revolute robot
It is fixed on crawler type walking mechanism, picking robot manipulator is PRRRP structure, work opportunity tool hand end effector and receipts
Acquisition means are connected directly, and the fruit that manipulator is picked directly is collected to collection device.
Applicants have discovered that in the prior art at least have following technical problem: existing picking robot fruit-picking and
The mode for collecting fruit is relatively simple, and most of orchard workers utilize the unarmed Softening fruit-picking of most original, and not only effect is low
Under, and it is easily damaged carpopodium, the storage and price of fruit are influenced, constrains the yield of excellent fruit significantly；And usually by
Cause the capacity of its collection device smaller in the structure design of robot, so that the storage capacity of fruit is small, affects fruit
The efficiency of picking.
Summary of the invention
Deficiency based on the prior art, the present invention provides a kind of fruit picking robots, in the prior art to solve
The technical problem that fruit picking robot collection device memory capacity is small, collection mode is single.Many technologies provided by the invention
Many technical effects elaboration as detailed below that optimal technical scheme in scheme can be generated.
To achieve the above object, the present invention provides following technical schemes:
The present invention provides a kind of fruit picking robot, the fruit picking robot includes at least manipulator, collects
Device and transport device, wherein the lower section of the manipulator is arranged in the collection device；The collection device is equipped with multiple
Fruit basketry, multiple fruit basketrys can be successively by access below the end effector of the manipulator by the mechanical hand gettings
The fruit plucked, the transport device is provided with the loading plate for carrying and transporting the fruit basketry, on the collection device
Fruit basketry when being transported to the lowermost end of the collection device, the transport device fruit basketry can be carried and by its
It is carried out the transport device, and the transport device can make the bottom that empty fruit basketry is transported to the collection device
It is installed to the collection device.
According to a kind of preferred embodiment, the collection device further includes two rotating wheels being oppositely arranged, in two institutes
It states and multiple fruit basketrys is set around the circumferential direction of the rotating wheel between rotating wheel, by the among described two rotating wheels
One shaft is connected.
According to a kind of preferred embodiment, the both ends of the first rotating shaft pass through fixed bracket respectively and are fixed to the machine
The top of human body, the first rotating shaft are connected with first driving device, and described described first turn of first driving device driving
Axis rotation is to drive the rotating wheel to rotate.
According to a kind of preferred embodiment, it is provided at the top of the robot body and is connected with the collection device
Opening.
According to a kind of preferred embodiment, the transport device includes loading plate, for driving the loading plate to transport up and down
Capable hydraulic gear, along the robot body width direction and two the first delivery chains being oppositely arranged and setting exist
Two the second delivery chains below two first delivery chains, wherein first delivery chain and second fortune
The parallel setting of defeated chain.
According to a kind of preferred embodiment, first delivery chain and second delivery chain its in the robot
The two sides in body width direction are able to be connected with the external world, wherein one end of first delivery chain is provided with
One support plate is provided with the second support plate in the other end opposite with first support plate of second delivery chain,
In, first delivery chain and second delivery chain are driven by driving motor run respectively.
According to a kind of preferred embodiment, the both ends of the fruit basketry are provided with ratchet；Wherein, the two of the fruit basketry
The distance between end ratchet is consistent with the distance between two first delivery chains and two second delivery chains.
According to a kind of preferred embodiment, peripherally and outwardly it is provided in the rotating wheel along its wheel disc multiple for fixing
The pincerlike bayonet of the fruit basketry, it is described pincer bayonet include with the rotating wheel be integrally formed setting fixing piece and with it is described
Fixing piece formation bayonet answers moving part, wherein described one end for answering moving part forms the company of rotation by the second shaft and the rotating wheel
It connects, also, is meshed and connect with gear in the lateral wall being connected with second shaft for answering moving part, so as to described
Gear answers moving part to open or close described in driving under effect.
According to a kind of preferred embodiment, the manipulator includes rotary head, slide bar, the second driving device and machinery
Hand end effector, the arm end effector include push rod, handgrip and identification positioning system, second driving
Device drives the slide bar and the push rod to make the grip portion in the surface of the collection device in picking.
Based on the above-mentioned technical proposal, the fruit picking robot of the embodiment of the present invention at least has following technical effect that
A kind of fruit picking robot provided by the invention, the fruit picking robot include at least manipulator, collect
Device and transport device, wherein the lower section of the manipulator is arranged in the collection device；The collection device is equipped with multiple
Fruit basketry, multiple fruit basketrys can be successively by access below the end effector of the manipulator by the mechanical hand gettings
The fruit plucked, the transport device is provided with the loading plate for carrying and transporting the fruit basketry, on the collection device
Fruit basketry when being transported to the lowermost end of the collection device, the transport device fruit basketry can be carried and by its
It is carried out the transport device, and the transport device can make the bottom that empty fruit basketry is transported to the collection device
It is installed to the collection device.Fruit picking robot of the invention uses rotary collection device, in collection device
It is upper and fruit basketry to be made successively to pass through the lower section of manipulator by installing multiple fruit basketrys, so that fruit basketry is successively filled
Fruit-picking, and when the fruit basketry for filling fruit is rotated to the bottom of collection device, the loading plate of transport device be responsible for by
It fills the fruit basketry access of fruit and carries it away, therefore, the collection device of fruit picking robot of the invention has
Biggish capacity increases the fruit capacity in fruit picking robot, effectively improves the picking efficiency of fruit.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of fruit picking robot of the invention；
Fig. 2 is the structural schematic diagram at another visual angle of fruit picking robot of the invention；
Fig. 3 is the structural schematic diagram of the rotating wheel of fruit picking robot of the invention；
Fig. 4 is the structural schematic diagram of the transport device of fruit picking robot of the invention.
In figure: 10- collection device；11- first driving device；12- fruit basketry；13- robot body；14- loading plate；
15- manipulator；16- walking mechanism；18- power supply box；20- rotating wheel；21- fixes bracket；22- first rotating shaft；23- opening；
141- hydraulic gear；The first delivery chain of 142-；The second delivery chain of 143-；The second support plate of 144-；145- first
Fagging；151- rotary head；152- slide bar；153- push rod；154- handgrip；155- identifies positioning system；The first crawler belt of 161-；
The second crawler belt of 162-；163- driven end.201- fixing piece；202- answers moving part；The second shaft of 203-；204- gear；205- ratchet.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
The present invention provides a kind of fruit picking robots.As shown in Figure 1, Fig. 1 shows fruit picking of the invention
The structural schematic diagram of device people.Fruit picking robot includes at least manipulator 15, collection device 10 and transport device.Manipulator 15
For automatic fruit-picking.The fruit that collection device 10 is used to pick manipulator is collected.Conveying device will be for that will collect
The fruit that device is collected transfers out.Collection device 10 uses rotary structure.Collection device 10 is arranged under manipulator 15
Side, and collection device 10 is equipped with multiple fruit basketrys 12, multiple fruit basketrys 12 can be executed successively by the end of manipulator 15
The fruit that access is picked by manipulator 15 below device, transport device are provided with the loading plate for carrying and transporting fruit basketry 12
14, when the fruit basketry 12 on collection device 10 is transported to the lowermost end of collection device 10, transport device can be by fruit basketry
12 carryings carry out.And the bottom that empty fruit basketry 12 is transported to collection device 10 can be made its installation extremely by transport device
On collection device 10.Therefore, fruit picking robot of the invention is connected by setting collection device and with collection device
Multiple fruit basketrys are arranged in transport device on collection device, are successively used to the fruit that access is picked by manipulator, then by transporting
The loading plate 14 of device successively receives fruit basketry and carries it, and the fruit basketry being located on collection device can access machine again
The fruit that tool hand getting is plucked, therefore, picking robot of the invention effectively improve picking efficiency, increase the collection of robot
The volume of device.
Preferably, collection device 10 includes two rotating wheels 20 being oppositely arranged.2 rotating wheels being oppositely arranged 20 are set
It is used to support fruit basketry.Preferably, multiple fruit basketrys 12 are set around the circumferential direction of rotating wheel 20 between two rotating wheels 20, such as
Shown in Fig. 3, Fig. 3 shows the structural schematic diagram of the rotating wheel of fruit picking robot of the invention.In two rotating wheels 20
Between be connected by first rotating shaft 22.Preferably, the both ends of fruit basketry 12 are fixed in two rotating wheels 20.Preferably, in fruit
It is provided with counterweight in basketry 12, enables fruit basketry to remain that frame mouth is arranged upward, prevents the fruit in fruit basketry from falling
It causes to damage.
Preferably, as shown in figure 3, being peripherally and outwardly provided in rotating wheel 20 along its wheel disc multiple for fixing fruit basketry
12 pincerlike bayonet.Pincerlike bayonet includes being integrally formed the fixing piece 201 of setting with rotating wheel 20 and being formed with fixing piece 201 to block
Mouth answers moving part 202, is rotatablely connected wherein one end of moving part 202 is answered to be formed by the second shaft 203 with rotating wheel 20, also,
It is meshed and connect with gear 204 in the lateral wall being connected with the second shaft 203 for answering moving part 202, to make in gear 204
Moving part 202 is answered to open or close with lower drive.Each pincer bayonet is respectively connected with electromagnetic drive, need to open pincerlike bayonet with
Just in the case where unclamping full fruit basketry or installation inane fruit basketry, the rotation of gear 204 is driven to drive under the action of electromagnetic drive
Moving part 202 is answered to open to discharge fruit basketry.
Preferably, the both ends of first rotating shaft 22 pass through the top that fixed bracket 21 is fixed to robot body 13 respectively.?
One end of first rotating shaft 22 is provided with first driving device 11.First driving device 11 drives the rotation of first rotating shaft 22 to drive
The fruit basketry that rotating wheel 20 is rotated in order for being located in rotating wheel 20 successively passes through the lower section of manipulator.Preferably, it first drives
Dynamic device 11 is motor.It is rotated by motor driven collection device 10.Preferably, the fruit basketry 12 in rotating wheel 20
It is located exactly at the lower section of manipulator 15, to may not need the length of constantly adjustment manipulator in picking process.
Preferably, the opening 23 being connected with collection device 10 is provided at the top of robot body 13.Opening 23
Size can be placed on loading plate 14 at least more than the size of fruit basketry 12 convenient for fruit basketry 12 from opening.
Preferably, as shown in figure 4, Fig. 4 shows the structural representation of the transport device of fruit picking robot of the invention
Figure.Transport device includes loading plate 14, the hydraulic gear 141 for driving about 14 loading plate to run, along robot sheet
13 width direction of body and two the first delivery chains 142 being oppositely arranged and it is arranged in below two the first delivery chains 142
Two the second delivery chains 143.Wherein, the first delivery chain 142 and the parallel setting of the second delivery chain 143.Wherein, hydraulic
Transmission mechanism 141 forms a fixed connection with loading plate 14, and runs support plate or more under the action of hydraulic gear.
Preferably, hydraulic gear is the composite structure of hydraulic cylinder and hydraulic stem, and the lower section of loading plate 14 is arranged in, for up and down
Push loading plate operation.The first delivery chain 142 being located above is responsible for for empty fruit basketry being transported to the top of loading plate, so
It drives loading plate to be transported up to the least significant end of collection device by hydraulic gear afterwards, and is made by pincerlike bayonet
The both ends of fruit basketry form a fixed connection with rotating wheel.Underlying second delivery chain 143 is responsible for be supported by loading plate
The fruit basket for filling fruit transport away.When the fruit basketry expired is moved downward on the second delivery chain by loading plate, fruit
The ratchet at basketry both ends is meshed with the second delivery chain, and then fruit basketry is transported to robot with the movement of the second delivery chain
Outer body.
Preferably, the first delivery chain 142 and the second delivery chain 143 are in the two sides of 13 width direction of robot body point
It can not be connected with the external world.Wherein, one end of the first delivery chain 142 is provided with the first support plate 145, in the second transport
The other end opposite with the first support plate 145 of chain 143 is provided with the second support plate 144, wherein the first delivery chain 142
It is driven and is run by driving motor respectively with the second delivery chain 143.Preferably, the first support plate 145 is inclined to set, and
It is arranged in a manner of diagonally downward from the outside to the core, consequently facilitating empty fruit basket is placed in the first support plate 144, slides into it automatically
On first delivery chain 142, and engaged transmission is formed by the ratchet at its both ends and the first delivery chain.Preferably, second
Fagging 144 be it is horizontally disposed, avoid overturning the Fruit basket for filling fruit on the second delivery chain 142.
Preferably, the both ends of fruit basketry 12 are provided with ratchet 205；Wherein, between two end ratchets 205 of fruit basketry 12
Distance is consistent with the distance between two the first delivery chains 142 and two the second delivery chains 143.So that fruit basketry is in spine
Transport stable on the first delivery chain and the second delivery chain under the action of wheel.
Preferably, the manipulator 15 of fruit picking robot of the invention includes rotary head 151, the drive of slide bar 152, second
Dynamic device and arm end effector.Rotary head 151 is used to adjust the direction of rotation of manipulator.Slide bar 152 is for adjusting
The short transverse of whole manipulator.Second driving device can be DC servo motor.Preferably, arm end effector includes
Push rod 153, handgrip 154 and identification positioning system 155.Second driving device driving slider 152 and push rod 153 are in picking
Handgrip 154 is set to be located at the surface of collection device 10.
Preferably, picking robot of the invention further includes walking mechanism 16.Walking mechanism 16 uses track structure, carries out
Band type structure includes four crawler belts, and the first crawler belt of two of them 161 is separately fixed at the two sides of robot body 13, and another two articles the
The power end of two crawler belts 162 is coaxially connected with one end of the first crawler belt 161 respectively, and connects the output shaft of third driving device.
To drive the first crawler belt and the operation of the second crawler belt by third driving device.Preferably, third driving device is fixed on machine
13 inside of human body and the transmission axis connection with the first crawler belt 161 and the second crawler belt 162.Preferably, the second crawler belt 162 is separate
The vacantly setting or horizontally disposed of the driven end 163 of third driving device.Since southern area belongs to based on mountain and hill, machine
People picks operating environment complexity, and walking mechanism uses crawler type mechanism, is suitably applied up-and-down road, it can be achieved that rugged
It creeps.
Preferably, the fruit picking robot further includes power supply box 18.
The collection device of fruit picking robot of the invention is able to carry out rotary motion by motor driven, so that
The fruit hoop being arranged in rotating wheel is rotated therewith, is run in fruit basketry to the bottom end of collection device, that is, is located at opening
When top, run positioned at the loading plate of transport device to the top of transport device, the i.e. position close to opening, thus by corresponding
Fruit basketry is carried and is run down under the action of hydraulic gear to the second delivery chain, so that the both ends spine of fruit basketry
Wheel can be meshed with the second delivery chain, be transported in the second support plate 144 under the action of the second delivery chain.This
When, rotating wheel continues to run, and continues the fruit for collecting picking.And loading plate will be run up after placement to the first transport
It is accepted at chain from the empty fruit basketry entered on the first delivery chain by the first support plate 145, then upwards by it
It is transported to the bottom of rotating wheel, empty fruit basketry both ends are fixed on pincerlike bayonet, continues to run with rotating wheel and collect
Fruit.Iterative cycles carry out.
Fruit picking robot of the invention uses rotary collection device, passes through matching for collection device and manipulator
It closes, improves picking efficiency, while increasing the fruit memory capacity of picking robot, rotating torque with higher can be with
Higher weight is born, picking is realized and collects integrated function.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.
Claims (9)
1. a kind of fruit picking robot, which is characterized in that the fruit picking robot includes at least manipulator (15), collects
Device (10) and transport device, wherein lower section of collection device (10) setting in the manipulator (15)；The collection dress
It sets (10) and multiple fruit basketrys (12) is installed, multiple fruit basketrys (12) can successively pass through the end of the manipulator (15)
The fruit that access is picked by the manipulator (15) below actuator, the transport device are provided with described for carrying and transporting
The loading plate (14) of fruit basketry (12), the fruit basketry (12) on the collection device (10) are transported to the collection device
(10) when lowermost end, the fruit basketry (12) can be carried and be carried it away by the transport device, and the fortune
Defeated device can make the bottom that empty fruit basketry (12) is transported to the collection device (10) its installation to the collection device
(10) on.
2. fruit picking robot according to claim 1, which is characterized in that the collection device (10) further includes opposite
Two rotating wheels (20) being arranged, the circumferential direction setting between two rotating wheels (20) around the rotating wheel (20) are multiple
The fruit basketry (12) is connected among described two rotating wheels (20) by first rotating shaft (22).
3. fruit picking robot according to claim 2, which is characterized in that distinguish at the both ends of the first rotating shaft (22)
The top of the robot body (13), the first rotating shaft (22) and first driving device are fixed to by fixed bracket (21)
(11) it is connected, the first driving device (11) drives first rotating shaft (22) rotation to drive the rotating wheel (20)
It rotates.
4. fruit picking robot according to claim 1, which is characterized in that at the top of the robot body (13)
It is provided with the opening (23) being connected with the collection device (10).
5. according to claim 1 to fruit picking robot described in one of 4, which is characterized in that the transport device includes holding
Support plate (14), the hydraulic gear (141) for driving the loading plate (14) to run up and down, along the robot body
(13) width direction and two the first delivery chains (142) being oppositely arranged and setting are in two first delivery chains
(142) two the second delivery chains (143) below, wherein first delivery chain (142) and second delivery chain
(143) parallel setting.
6. fruit picking robot according to claim 5, which is characterized in that first delivery chain (142) and institute
The second delivery chain (143) is stated to be able to be connected with the external world in the two sides of the robot body (13) width direction,
In, one end of first delivery chain (142) is provided with the first support plate (145), in second delivery chain (143)
The other end opposite with first support plate (145) be provided with the second support plate (144), wherein first conveyer chain
Item (142) and second delivery chain (143) are driven by driving motor respectively to be run.
7. fruit picking robot according to claim 6, which is characterized in that be arranged at the both ends of the fruit basketry (12)
There are ratchet (205)；Wherein, the distance between two end ratchets (205) of the fruit basketry (12) and two first conveyer chains
The distance between item (142) and two second delivery chains (143) are consistent.
8. fruit picking robot according to claim 2, which is characterized in that along its wheel disc on the rotating wheel (20)
Multiple pincerlike bayonets for being used to fix the fruit basketry (12) are peripherally and outwardly provided with, the pincer bayonet includes and the rotation
Wheel (20), which is integrally formed the fixing piece (201) of setting and forms bayonet with the fixing piece (201), answers moving part (202), wherein
Described one end for answering moving part (202) is formed by the second shaft (203) and the rotating wheel (20) and is rotatablely connected, also, in institute
State and answer the lateral wall of moving part (202) being connected with second shaft (203) to be meshed with gear (204) to connect, so as to
The gear (204) answers moving part (202) to open or close described in driving under effect.
9. the fruit picking robot according to one of preceding claims 1 to 4, which is characterized in that the manipulator (15)
It is held including rotary head (151), slide bar (152), the second driving device and arm end effector, the arm end
Row device includes push rod (153), handgrip (154) and identification positioning system (155), and second driving device drives the cunning
Bar (152) and the push rod (153) make the handgrip (154) to be located at the surface of the collection device (10) in picking.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811140545.7A CN109302885A (en) | 2018-09-28 | 2018-09-28 | A kind of fruit picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811140545.7A CN109302885A (en) | 2018-09-28 | 2018-09-28 | A kind of fruit picking robot |
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| CN109302885A true CN109302885A (en) | 2019-02-05 |
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| CN201811140545.7A Pending CN109302885A (en) | 2018-09-28 | 2018-09-28 | A kind of fruit picking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115053696A (en) * | 2022-06-30 | 2022-09-16 | 齐齐哈尔大学 | Pine cone picking claw and pine cone picking device and method |
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| CN204748377U (en) * | 2015-05-15 | 2015-11-11 | 国网冀北电力有限公司张家口供电公司 | A anchor clamps for interface flange fastens temporarily |
| US20170000027A1 (en) * | 2015-07-02 | 2017-01-05 | Terence D. Hunt | Robotic harvester |
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| CN206345325U (en) * | 2016-12-13 | 2017-07-21 | 天津市绿翼农业发展有限公司 | A kind of continuous type fruit stores car |
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| CN115053696A (en) * | 2022-06-30 | 2022-09-16 | 齐齐哈尔大学 | Pine cone picking claw and pine cone picking device and method |
| CN115053696B (en) * | 2022-06-30 | 2023-09-05 | 齐齐哈尔大学 | Pine cone picking claw, pine cone picking device and pine cone picking method |
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