CN109328643A - A kind of self-balancing type apple-picking vehicle - Google Patents
A kind of self-balancing type apple-picking vehicle Download PDFInfo
- Publication number
- CN109328643A CN109328643A CN201811544769.4A CN201811544769A CN109328643A CN 109328643 A CN109328643 A CN 109328643A CN 201811544769 A CN201811544769 A CN 201811544769A CN 109328643 A CN109328643 A CN 109328643A
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- leveling
- height adjustment
- platform
- horizontal
- picking
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000001105 regulatory effect Effects 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 claims description 9
- 238000010008 shearing Methods 0.000 claims description 6
- 239000012636 effector Substances 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000006116 polymerization reaction Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims 2
- 229910000838 Al alloy Inorganic materials 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 2
- 235000013399 edible fruits Nutrition 0.000 description 7
- 239000002420 orchard Substances 0.000 description 7
- 238000003306 harvesting Methods 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- A01D46/24—Devices for picking apples or like fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
Abstract
The present invention relates to agricultural product picked technology fields, specially a kind of self-balancing type apple-picking vehicle, it is characterized by comprising walking chassis (1), the chassis (1) is caterpillar chassis structure, chassis (1) platform central is fixedly connected with auto-leveling mechanism (2), the auto-leveling mechanism (2) carries out two-way angular adjustment by plane hydraulic connecting rod, auto-leveling mechanism (2) upper surface is connected with horizontal rotatable platform (3), horizontal rotatable platform (3) top is connected in series with height adjustment lifting platform (4), the height adjustment lifting platform (4) adjusts the height of front end mechanism by height adjustment lead screw (5), the height adjustment lead screw (5) has been connected through a screw thread lifting sliding table (6), lifting sliding table (6) internal activity is connected with horizontal depth and adjusts Arm (8), horizontal depth regulating arm (8) front end are connected with end device for picking (7) and implement to pick to target.Structure of the invention scheme reasonable, has that self-balancing ability, picking range is big, work efficiency is high, the advantages such as low in cost.
Description
Technical field
The present invention relates to agricultural product picked technology field, specially a kind of self-balancing type apple-picking vehicle.
Background technique
In China, using family as based on unit dispersion plantation, the maturity period of fruit compares collection for the cropping pattern of apple garden
In, harvest time is especially important, to harvest in most cases in liftoff certain altitude, and when harvest should be timely, guarantees again
Fruit quality and people, tree safety, but at present in the labour of China orchard substantially based on manual labor, most areas are only leaned on
Simple ladder harvests, large labor intensity, and safety is poor.To larger orchard, only it is difficult to meet the requirements by manpower.Its
It is secondary, the reduction of social population's aging and agricultural workforce, but also agriculture production cost increases substantially.Using robot generation
It is the trend of the future of agriculture production for manual labor.The standardized management in orchard may be implemented in orchard operation machinery, substantially mitigates
The labor intensity of orchard worker improves production efficiency, saves labour cost, increases economic efficiency, while also can be reduced Fruit diseases and pests
Generation, improve nutrient quality.China is just increasing the research dynamics of agriculture picking mechanical at present, but due to the liftoff tool of fruit
There is certain altitude orchard ground out-of-flatness in addition, so that the balance of seed harvester is difficult to control.On the other hand, after apple-picking
Should keep aesthetics, including surface it is not damaged, with carpopodium etc., this also adds somewhat to the difficulty of apple-picking machinery
Degree.
So the apple-picking equipment of a kind of pair of higher mechanical automation of orchard terrain environment fitness how is designed,
It currently to be solved the problems, such as us.
Summary of the invention
The purpose of the present invention is to provide a kind of self-balancing type apple-picking vehicle, with solve to propose in above-mentioned technical background
Apple-picking is difficult to and the problem of balance of plant performance deficiency.
To achieve the above object, the invention provides the following technical scheme: a kind of self-balancing type apple-picking vehicle, including walking
Mechanism, it is characterised in that: the walking mechanism is caterpillar chassis structure, and the walking mechanism platform central is fixedly connected with certainly
Dynamic levelling mechanism, the auto-leveling mechanism carry out two-way angular adjustment, the automatic leveling machine by plane hydraulic connecting rod
Structure upper mounting plate is connected with horizontal rotatable platform, and the horizontal rotatable platform top is connected in series with height adjustment lifting platform,
The height adjustment lifting platform adjusts the height of front end mechanism by height adjustment lead screw, and the height adjustment lead screw passes through screw thread
It is connected with lifting sliding table, the lifting sliding table internal activity is connected with horizontal depth regulating arm, before the horizontal depth regulating arm
End is fixedly connected with end device for picking, and the end device for picking passes through shearing using the Softening of three-jaw polymerization horizontal shear
The components such as motor, reset spring form elastic reset formula shear to be implemented to shear to target carpopodium.
Further, the chassis is mainly cavity body structure, inner cavity be placed with auto-leveling mechanism drive system and
Caterpillar drive system, two sides are fixedly installed with driving wheel, directive wheel, carrier wheel, thrust wheel, form Track gear, the crawler belt
Train periphery is wound with crawler belt.
Further, chassis upper mounting plate center is fixedly connected with auto-leveling mechanism, and the auto-leveling mechanism is logical
The leveling that three leveling hydraulic cylinder cooperative movements realize upper mechanism is crossed, bottom is fixedly connected on the leveling by leveling base
On chassis, bottom linkage rod is connected on the pedestal, the bottom linkage rod is to become triangular structure, first side of triangle
For the pedestal, the second side is bottom linkage rod, and the bottom linkage rod is made when the auto-leveling mechanism is leveled around described
Coercive mechanism on leveling base rotates from the change triangular structure is in two balances to reach mechanism.The bottom
Connecting rod movable supporting realizes that upper mechanism exists under having lateral swing rod, the coordination that the transverse direction swing rod levels hydraulic cylinder at two to support
Balance in transverse direction.The transverse direction swing rod top is connected with longitudinal swing rod by pin shaft, and the longitudinal direction swing rod side passes through
Pin shaft is flexibly connected with the leveling hydraulic cylinder.
Further, longitudinal swing rod top surface is movably installed with horizontal rotatable platform, the water by thrust ball bearing
Flat rotating platform is driven by stepper motor, by gear set power transmission power to rotating horizontally block.The horizontal rotation block is logical
It crosses flange end cap and is fixedly installed with height adjustment lifting platform, the height adjustment lifting platform is by aluminium panels as support, inside
It is movably installed with height adjustment lead screw by bearing, is fixedly installed with lifting guiding axis, the height adjustment lifting platform top is solid
Dingan County is fixedly connected on height adjustment lead screw top by rigid flanges shaft coupling equipped with lifting stepper motor.It is described
Height adjustment lead screw is connected with lifting sliding table by screw thread, and the lifting sliding table two sides are equipped with electromagnet band-type brake, work as institute
When stating lifting sliding table and reaching specified altitude assignment, electromagnet band-type brake energization step up the height adjustment lifting platform left and right side plates with
The height of locking mechanism.
Further, depth stepper motor is fixedly installed with inside the lifting sliding table, the depth stepper motor passes through
Gear and rack teeth mechanism controls the horizontal depth regulating arm and makees along the vertical direction of the self-balancing apple-picking vehicle direction of advance
Linear motion, the horizontal depth regulating arm main frame are supported by horizontal depth guiding axis, and one end is fixedly installed with horizontal counterweight
Block, to adjust the center of gravity of the horizontal depth regulating arm.
Further, the horizontal depth regulating arm front end is fixedly installed with end device for picking, and the end device for picking is adopted
Realization of goal is grabbed with the mode that three-jaw polymerize, power source is crawl stepper motor, is fixedly installed in the end and executes
The output shaft of the crawl stepper motor is fixedly connected with crawl lead screw by shaft coupling inside the crawl motor case body of device, described
Crawl lead screw connects platform with wrist type by screw thread and is flexibly connected, and the two sides wrist type Lian Tai are connected with execution by pin shaft
It is dynamic to connect platform opening and closing for linear motion to realize the execution gripper on the crawl lead screw by the wrist type for gripper
Make.
Further, the crawl motor case body top is fixedly installed with shearing property case, inside the shearing property case
Pulley blocks, shaft coupling sleeve and two blades are installed, are cascaded by wirerope, the blade is connected by pin shaft activity
It connects, constitutes scissor structure, scissor structure one end is connected by reset spring, is fixedly installed with and is cut on the shearing property case case lid
Stepper motor is cut, is fixedly connected with shaft coupling sleeve.
It, can be the beneficial effects of the present invention are: the self-balancing type apple-picking vehicle compared with existing apple-picking machinery
Ground that is flat or having gentle slope is flexibly displaced between fruit tree branches and leaves, lower to fruit damage, and picking efficiency is high and transports
Work is stablized, and has important research significance and real value, can not only reduce labor intensity, improve production efficiency, but also have
There is wide market application prospect, Tendency of Agricultural Machinery in Chinaization is horizontal, further increases agricultural economy is of great importance to promoting.
Detailed description of the invention
Fig. 1 is self-balancing type apple-picking vehicle overall structure figure of the invention
Fig. 2 is self-balancing type apple-picking vehicle overall structure side view of the invention
Fig. 3 is auto-leveling mechanism structure chart of the invention
Fig. 4 is horizontal rotatable platform cross-sectional view of the invention
Fig. 5 is lifting sliding table of the invention and horizontal depth regulating arm structure chart
Fig. 6 is end effector structures figure of the invention
1. chassis, 2. auto-leveling mechanism, 3. horizontal rotatable platform, 4. height adjustment lifting platform, 5. height adjustment lead screw in figure
6. the horizontal depth regulating arm 9. of 7. end device for picking of lifting sliding table 8. goes up and down guiding axis 10. and goes up and down 11. rigid flanges of stepper motor
12. horizontal 14. flange end cap 15. of clump weight of horizontal depth guiding axis 13. of shaft coupling rotates horizontally 16. crawler belt of seat, 17. directive wheel
18. 22. leveling base of thrust wheel 19. carrier wheel, 20. driving wheel, 21. electromagnet band-type brake, 23. bottom linkage rod 24. levels hydraulic cylinder
25. the longitudinal swing rod 27. of lateral swing rod 26 levels hydraulic cylinder 28. and levels 29. thrust bearing of hydraulic cylinder, 30. gear set, 31. stepping electricity
32. depth stepper motor of machine, 33. gear and rack teeth mechanism 34. executes 35. blade of gripper, 36. blade 37. and grabs 38. wrist type of lead screw
Even 39. elastic reset formula shear 40. of platform shearing stepper motor 41. grabs stepper motor 42. and grabs the reset of motor case body 43.
44. shaft coupling sleeve of spring, 45. wirerope, 46. pulley blocks
Specific embodiment
As shown in figs 1 to 6, chassis (1) is crossed crawler belt (16) load bearing equipment and is walked in apple-picking garden, when arrival target
When position, parking.Horizontal rotatable platform (3) adjusts the level angle of height adjustment lifting platform (4), specially stepper motor (31)
By driving gear set (30) rotation to make flange end cap (14) to rotate, height adjustment lifting platform (4) lower cover passes through bolt
It is fixedly connected with flange end cap (14).Auto-leveling mechanism (2) adjusts the vertical angles of height adjustment lifting platform (4), specially
The angle of lateral swing rod (25) is adjusted by leveling the coordination driving of hydraulic cylinder (24), leveling hydraulic cylinder (28), passes through leveling
Hydraulic cylinder (27) adjusts the angles of longitudinal swing rod (26).After whole center of gravity reaches stability requirement, stepper motor is gone up and down
(10) by driving height adjustment lead screw (5) rotation to make lifting sliding table (6) above and below height adjustment lead screw (5) axis direction
Movement, when reaching object height, electromagnet band-type brake (21), which is powered, holds height adjustment lifting platform (4) side wall tightly to lock height
Degree.Depth stepper motor (32) drives horizontal depth regulating arm (8) to lead along horizontal depth by gear and rack teeth mechanism (33) at this time
Axial direction to axis (12) is for linear motion, to make end effector (7) go deep into tree crown, close to target apple.When picking, crawl
Stepper motor (41) is by driving crawl lead screw (37) rotation, so that wrist type be made to connect platform (38) to far from crawl stepper motor
(41) direction movement, according to the characteristic of link mechanism, the movement opening of platform (38) can be connected with wrist type by executing gripper (34),
Depth stepper motor (32) continues the horizontal depth regulating arm (8) of driving and moves to execute gripper (34) and envelope target apple and true
Fruit retention obstructs between blade (35) and blade (36), grabs stepper motor (41) reversion, driving crawl lead screw (37) rotation at this time
Turn to make to execute gripper (34) closure, until there are suitable contact pressures between target apple and execution gripper (34).Shear stepping
Motor (40) drives shaft coupling sleeve (44) rotation, and transmitting power by wirerope (45) and pulley blocks (46) is that two blades close
It closes, cuts off carpopodium.Horizontal depth regulating arm (8), lifting sliding table (6), horizontal rotatable platform (3), auto-leveling mechanism (2) are successive
Initial position is moved to, gripper (34) is executed and opens, complete picking.
Claims (7)
1. a kind of self-balancing type apple-picking vehicle, including chassis (1), it is characterised in that: the chassis (1) is caterpillar chassis knot
Structure, chassis (1) platform central are fixedly connected with auto-leveling mechanism (2), and the auto-leveling mechanism (2) passes through plane liquid
Pressure connecting rod carries out two-way angular adjustment, and auto-leveling mechanism (2) upper mounting plate is connected with horizontal rotatable platform (3),
Horizontal rotatable platform (3) top is connected in series with height adjustment lifting platform (4), and the height adjustment lifting platform (4) passes through
Height adjustment lead screw (5) adjusts the height of front end mechanism, and the height adjustment lead screw (5) has been connected through a screw thread lifting sliding table
(6), lifting sliding table (6) internal activity is connected with horizontal depth regulating arm (8), horizontal depth regulating arm (8) front end
It is fixedly connected with end device for picking (7), the end device for picking (7) is passed through using the Softening of three-jaw polymerization horizontal shear
It shears the components composition elastic reset formula shear such as stepper motor (40), reset spring (43) target carpopodium is implemented to shear.
2. self-balancing type apple-picking vehicle according to claim 1, it is characterised in that: the chassis (1) is mainly cavity
Structure, inner cavity are placed with the auto-leveling mechanism (2) drive system and caterpillar drive system, and two sides are fixedly installed with drive
Driving wheel (20), directive wheel (17), carrier wheel (19), thrust wheel (18) form Track gear, and the Track gear periphery is wound with
Crawler belt (16).
3. according to claim 1, self-balancing type apple-picking vehicle described in 2, it is characterised in that: in chassis (1) upper mounting plate
Centre is fixedly connected with the auto-leveling mechanism (2), and the auto-leveling mechanism (2) passes through leveling hydraulic cylinder (24), leveling liquid
Cylinder pressure (27), leveling hydraulic cylinder (28) cooperative movement realize the leveling of upper mechanism, and bottom connects by the way that leveling base (22) are fixed
It is connected on the chassis (1), is connected on the pedestal bottom linkage rod (23), the bottom linkage rod (23) is to become triangle
Structure, first side of triangle are the leveling base (22), and the second side is bottom linkage rod (23), and the bottom linkage rod (23) exists
The coercive mechanism made on the leveling base (22) when the auto-leveling mechanism (2) is leveled rotates from the change
Triangular structure reaches the balance of mechanism at two.Bottom linkage rod (23) movable supporting has lateral swing rod (25), described
Lateral swing rod (25) realizes upper mechanism in transverse direction under leveling hydraulic cylinder (24), the coordination driving for leveling hydraulic cylinder (28)
On balance.Transverse direction swing rod (25) top is connected with longitudinal swing rod (26) by pin shaft, the longitudinal direction swing rod (26)
Side is flexibly connected by pin shaft with the leveling hydraulic cylinder (27).
4. according to claim 1, self-balancing type apple-picking vehicle described in 3, it is characterised in that: described longitudinal direction swing rod (26) top surface
It is movably installed with the horizontal rotatable platform (3) by thrust bearing (29), the horizontal rotatable platform (3) is by stepper motor
(31) it drives, by gear set (30) power transmission power to rotating horizontally seat (15).The horizontal rotation seat (15) passes through flange end
Lid (14) is fixedly installed with the height adjustment lifting platform (4), and the height adjustment lifting platform (4) is by aluminum alloy plate materials as branch
Support, inside are movably installed with the height adjustment lead screw (5) by bearing, are fixedly installed with lifting guiding axis (9), the height
It adjusts and is fixedly installed with lifting stepper motor (10) at the top of lifting platform (4), and be fixedly connected by rigid flanges shaft coupling (11)
On height adjustment lead screw (5) top.The height adjustment lead screw (5) is connected with the lifting sliding table by screw thread
(6), lifting sliding table (6) two sides are equipped with electromagnet band-type brake (21), when the lifting sliding table (6) reach specified altitude assignment,
The electromagnet band-type brake (21), which is powered, steps up height adjustment lifting platform (4) left and right side plates with the height of locking mechanism.
5. according to claim 1, self-balancing apple-picking vehicle described in 5, it is characterised in that: solid inside the lifting sliding table (6)
Dingan County is equipped with depth stepper motor (32), and the depth stepper motor (32) controls the level by gear and rack teeth mechanism (33)
Depth regulating arm (8) is for linear motion along the vertical direction of the self-balancing apple-picking vehicle direction of advance, the horizontal depth
Regulating arm (8) main frame is supported by horizontal depth guiding axis (12), and one end is fixedly installed with horizontal clump weight (13), to adjust
State the center of gravity of horizontal depth regulating arm (8).
6. according to claim 1, self-balancing apple-picking vehicle described in 6, it is characterised in that: the horizontal depth regulating arm (8)
Front end is fixedly installed with the end device for picking (7), and the end device for picking (7) is by the way of three-jaw polymerization to realization of goal
Crawl, power source are crawl stepper motor (41), are fixedly installed in the crawl motor case body (42) of the end effector (7)
The output shaft of internal crawl stepper motor (41) is fixedly connected with crawl lead screw (37), the crawl lead screw by shaft coupling
(37) connect platform (38) with wrist type by screw thread to be flexibly connected, the wrist type connects platform (38) two sides and is connected with by pin shaft
It executes gripper (34), connects that platform (38) is for linear motion on the crawl lead screw (37) to be held described in realizing by the wrist type
The opening and closing of row gripper (34) act.
7. according to claim 1, self-balancing apple-picking vehicle described in 7, it is characterised in that: on the crawl motor case body (42)
Portion is fixedly connected with the elastic reset formula shear (39), is equipped with cunning inside the elastic reset formula shear (39)
Wheel group (46), shaft coupling sleeve (44), blade (35) and blade (36), are cascaded by wirerope (45), the blade
(35) it is flexibly connected with blade (36) by pin shaft, at scissor structure, scissor structure one end is connected by the reset spring (43)
It connects, is fixedly mounted above elastic reset formula shear (39) case lid with the shearing stepper motor (40).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544769.4A CN109328643A (en) | 2018-12-17 | 2018-12-17 | A kind of self-balancing type apple-picking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544769.4A CN109328643A (en) | 2018-12-17 | 2018-12-17 | A kind of self-balancing type apple-picking vehicle |
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| Publication Number | Publication Date |
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| CN109328643A true CN109328643A (en) | 2019-02-15 |
Family
ID=65304397
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811544769.4A Pending CN109328643A (en) | 2018-12-17 | 2018-12-17 | A kind of self-balancing type apple-picking vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111201897A (en) * | 2020-02-20 | 2020-05-29 | 中北大学 | Apple picking robot |
| CN112930860A (en) * | 2021-01-26 | 2021-06-11 | 华南农业大学 | Semi-automatic banana picking harvester |
| CN113875397A (en) * | 2021-12-07 | 2022-01-04 | 建德市里叶十里荷生态旅游发展有限公司 | Parent-child type lotus pond lotus harvester |
| CN114733882A (en) * | 2022-04-26 | 2022-07-12 | 捷艾悉环保科技（上海）有限公司 | Movable garbage cutting, taking and shredding conveyor and garbage treatment method |
| CN114830915A (en) * | 2022-04-13 | 2022-08-02 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111201897A (en) * | 2020-02-20 | 2020-05-29 | 中北大学 | Apple picking robot |
| CN112930860A (en) * | 2021-01-26 | 2021-06-11 | 华南农业大学 | Semi-automatic banana picking harvester |
| CN113875397A (en) * | 2021-12-07 | 2022-01-04 | 建德市里叶十里荷生态旅游发展有限公司 | Parent-child type lotus pond lotus harvester |
| CN113875397B (en) * | 2021-12-07 | 2022-03-01 | 建德市里叶十里荷生态旅游发展有限公司 | Parent-child type lotus pond lotus harvester |
| CN114830915A (en) * | 2022-04-13 | 2022-08-02 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
| CN114830915B (en) * | 2022-04-13 | 2023-09-26 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
| CN114733882A (en) * | 2022-04-26 | 2022-07-12 | 捷艾悉环保科技（上海）有限公司 | Movable garbage cutting, taking and shredding conveyor and garbage treatment method |
| 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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