CN110199684A - A kind of Agriculture pick robot - Google Patents
A kind of Agriculture pick robot Download PDFInfo
- Publication number
- CN110199684A CN110199684A CN201910621624.8A CN201910621624A CN110199684A CN 110199684 A CN110199684 A CN 110199684A CN 201910621624 A CN201910621624 A CN 201910621624A CN 110199684 A CN110199684 A CN 110199684A
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- Prior art keywords
- fixed
- joint
- picking
- rotation axis
- connection sheet
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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
- A01D46/22—Baskets or bags attachable to the picker
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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 Agriculture pick robots, the picking mechanism for picking agricultural product is fixed with including workbench, worktable upper surface, picking mechanism includes the mounting base for being fixed on worktable upper surface, mounting base upper surface is equipped with robot assemblies, robot assemblies are connected in sequence by multiple linking arms, it is connected between two adjacent linking arms by rotating mechanism, wherein the linking arm at most beginning and mounting base are rotatablely connected, wherein the end of the linking arm of least significant end is fixed with picking hands；The picking hands include multiple picking fingers, and picking finger includes four joints, it is each it is intra-articular be equipped with flexible actuator, drive four joints gradually to surround fruit by flexible actuator；Workbench lower surface is fixed with walking mechanism；A kind of Agriculture pick robot provided by the invention, can comprehensive clamping fruit, guarantee each section uniform force in fruit picking process, avoid the occurrence of fruit and be locally squeezed the phenomenon that damaging.
Description
Technical field
The invention belongs to agriculture appliance technologies, and in particular to a kind of Agriculture pick robot.
Background technique
The picking of fruit tree largely uses man-hour manually hand-held specific purpose tool to pick woods fruit, using such in daily production
Mode carrys out collecting fruit, and labor intensity is big, collecting efficiency is low, while the safety of operation is low, also has in the prior art very
More Agriculture pick robots, Agriculture pick robot picking mechanism generally use cutting mechanism fruit to be cut or utilized clamping piece
By under fruit, but fruit is cut using cutting mechanism and is fallen directly into collecting box, fruit can damaged, if
It will be under fruit using the clamping piece of the left and right sides two, it may appear that fruit Local Damaged locally causes serious extruding to fruit,
Later period sale is influenced, so needing to design a kind of Agriculture pick robot that can solve above-mentioned technical problem.
Summary of the invention
The purpose of the present invention is overcoming above-mentioned problems of the prior art, a kind of comprehensive clamping fruit is provided, is protected
Each section uniform force in fruit picking process is demonstrate,proved, fruit locally extruded Agriculture pick robot is avoided the occurrence of.
The technical scheme is that a kind of Agriculture pick robot, including the fixation of workbench, worktable upper surface are useful
In the picking mechanism of picking agricultural product, picking mechanism includes the mounting base for being fixed on worktable upper surface, and mounting base upper surface is set
There are robot assemblies, robot assemblies are connected in sequence by multiple linking arms, pass through rotation between two adjacent linking arms
Mechanism connection, wherein the linking arm at most beginning and mounting base are rotatablely connected, wherein the end of the linking arm of least significant end, which is fixed with, is adopted
Pluck hand；The picking hands include multiple picking fingers, and picking finger includes four joints, and first joint one end is fixed on linking arm
End, the first joint other end are connect by the first rotation axis with second joint one end, and the first joint other end is further fixed on the
A connecting piece, first rotation axis are fixed in the middle part of the first connection sheet；The second joint other end passes through the second rotation axis
It is connect with third joint one end, the second joint other end is further fixed on the second connection sheet, and second rotation axis is fixed on second
In the middle part of connection sheet；The third joint other end is connect by third rotation axis with the 4th joint one end, the third joint other end
It is further fixed on third connection sheet, the third rotation axis is fixed in the middle part of third connection sheet；First intra articular, which is equipped with, to be stretched
Contracting actuator, the actuating station for the actuator that stretches and first drive rod one end are rotatablely connected, and the first drive rod other end and first connects
The connection of contact pin side, the first connection sheet other side are connect by the second drive rod with oblique pair in the second connection sheet of side, and second
The connection sheet other side is connect by third drive rod with oblique pair in third connection sheet of side；The workbench lower surface is fixed with
Walking mechanism.
The length in above-mentioned first joint is greater than second joint, and the length of second joint is greater than third joint, third joint
Length is greater than the 4th joint.
The quantity of above-mentioned picking finger is six, is symmetrically fixed on the end of linking arm.
Above-mentioned rotating mechanism includes the attachment base being fixed on a linking arm, and first motor is fixed on attachment base, the
The output shaft of one motor is connect with driving pulley, and driving pulley is connect by synchronous belt with driven pulley, and driven pulley passes through key
With the 4th rotation axis connection, the 4th rotation axis is fixed on another linking arm, and the 4th rotation axis and attachment base are rotatablely connected.
It is hollow structure inside above-mentioned mounting base, is equipped with turntable in mounting base, in disk upper surface and robot assemblies
One linking arm is fixedly connected, and disk lower surface is fixedly connected with the 5th rotation axis of its rotation is driven, and the 5th rotation axis passes through
Key is connect with driven gear, and driven gear is engaged with driving gear, and driven gear is connect by bearing with support plate, support plate
The left and right sides is fixedly connected with mounting base；The support plate lower surface is fixed with the second motor, and the output shaft of the second motor is worn
Overdraw fagging is connect with driving gear central rotating shaft.
Above-mentioned worktable upper surface is further fixed on collection device, and collection device includes collecting box, and collecting box is fixed on scissor
On formula hoistable platform, scissor-type lifting platform is fixed on worktable upper surface；Sponge is equipped in the collecting box.
Above-mentioned walking mechanism uses crawler type walking mechanism.
Above-mentioned flexible actuator is pneumatic cylinder, and the air pressure telescopic link of pneumatic cylinder is connect with the first drive rod.
Beneficial effects of the present invention:
1, picking hands of the invention include multiple picking fingers, and multiple picking hands are symmetrically fixed on the end of linking arm, often
A picking finger includes four joints, and first is intra-articular equipped with pneumatic cylinder, and pneumatic cylinder drives air pressure telescopic link to push first to drive
Lever, the first drive rod pushes the first connection sheet to rotate around the first rotation axis, so first connection sheet one end laterally rotates, together
When the first connection sheet other end rotate backward, the first connection sheet drive the second drive rod push the second connection sheet around the second rotation axis
Rotation, so second connection sheet one end laterally rotates, while the second connection sheet other end rotates backward, and the second connection sheet drives
Third drive rod pushes third connection sheet to rotate around third rotation axis, that is, is able to achieve and drives four joints gradually ring by pneumatic cylinder
Fruit is embraced, in fruit-picking, multiple picking fingers gradually surround fruit from all directions, guarantee in fruit picking process
Each section uniform force avoids the occurrence of fruit and is locally squeezed.
2, the present invention is equipped with multiple mechanical arms, and robot assemblies are connected in sequence by multiple linking arms, and adjacent two
It is connected between linking arm by rotating mechanism, guarantees the flexibility of linking arm rotation.
3, the present invention is additionally provided with collection device, and collection device includes collecting box, and collecting box is fixed on scissor-type lifting platform
On, the height of collecting box can be arbitrarily adjusted according to the height of collecting fruit when in use, fruit is avoided to be put into receipts after picking
It is damaged in header.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is picking hands structural schematic diagram of the invention；
Fig. 3 is the structural schematic diagram of rotating mechanism of the present invention；
Fig. 4 is the linking arm at most beginning of the invention and the structural schematic diagram of mounting base rotation connection.
Description of symbols:
1, workbench；2, mounting base；3, linking arm；4, picking hands；5, the first joint；6, the first rotation axis；7, it second closes
Section；8, the first connection sheet；9, the second rotation axis；10, third joint；11, the second connection sheet；12, third rotation axis；13, the 4th
Joint；14, third connection sheet；15, the first drive rod；16, the second drive rod；17, third drive rod；18, attachment base；19, electric
Machine；20, driving pulley；21, synchronous belt；22, driven pulley；23, the 4th rotation axis；24, turntable；25, the 5th rotation axis；26,
Driven gear；27, driving gear；28, support plate；29, motor；30, collecting box；31, pneumatic cylinder；32, air pressure telescopic link.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in detail, it is to be understood that guarantor of the invention
Shield range is not limited by the specific implementation.
Embodiment 1
The embodiment of the invention provides a kind of Agriculture pick robots, including workbench 1,1 upper surface of workbench to be fixed with
For picking the picking mechanism of agricultural product, picking mechanism includes the mounting base 2 for being fixed on 1 upper surface of workbench, table in mounting base 2
Face is equipped with robot assemblies, and robot assemblies are connected in sequence by multiple linking arms 3, leads between two adjacent linking arms 3
Rotating mechanism connection is crossed, wherein the linking arm 3 at most beginning and mounting base 2 are rotatablely connected, the wherein end of the linking arm 3 of least significant end
It is fixed with picking hands 4；
Further, be hollow structure inside the mounting base 2, be equipped with turntable 24 in mounting base 2,24 upper surface of turntable with
A linking arm 3 in robot assemblies is fixedly connected, and 24 lower surface of turntable and the 5th rotation axis 25 for driving it to rotate are fixed
Connection, the 5th rotation axis 25 are connect by key with driven gear 26, and driven gear 26 is engaged with driving gear 27, driven gear 26
It is connect by bearing with support plate 28, the left and right sides of support plate 28 is fixedly connected with mounting base 2；28 following table of support plate
Face is fixed with the second motor 29, and the output shaft of the second motor 29 penetrates support plate 28 and connect with 27 central rotating shaft of driving gear.
Further, the rotating mechanism includes the attachment base 18 being fixed on a linking arm 3, is fixed on attachment base 18
Have first motor 19, the output shaft of first motor 19 is connect with driving pulley 20, driving pulley 20 by synchronous belt 21 with it is driven
Belt wheel 22 connects, and driven pulley 22 is connect by key with the 4th rotation axis 23, and the 4th rotation axis 23 is fixed on another linking arm 3
On, the 4th rotation axis 23 is rotatablely connected with attachment base 18.
In the present embodiment, it is fixed with the second motor 29 inside mounting base 2, is needing integrally-regulated robot assemblies angle of rotation
When spending, the second motor 29 drives driving gear 27 to rotate, and driving gear 27 drives driven gear 26 to rotate, and driven gear 26 drives
The rotation of 5th rotation axis 25, the rotation of the 5th rotation axis 25 drive turntable 24 to rotate, and the rotation of turntable 24 drives robot assemblies whole
The adjusting to direction is won is realized in rotation；Simultaneously in the present embodiment, pass through rotating mechanism between two adjacent linking arms 3
Connection starts first motor 19 when needing to adjust the position between each linking arm 3, and first motor 19 drives driving pulley
20 rotations, driving pulley 20 drive driven pulley 22 to rotate by synchronous belt 21, and driven pulley 22 drives 23 turns of the 4th rotation axis
Dynamic, the 4th rotation axis 23 drives another linking arm 3 being secured to rotate with it, that is, realizes and adjust between two linking arms 3
Rotational angle.
The picking hands 4 include multiple picking fingers, and picking finger includes four joints, and 5 one end of the first joint is fixed on
3 end of linking arm, 5 other end of the first joint are connect by the first rotation axis 6 with 7 one end of second joint, 5 other end of the first joint
It is further fixed on the first connection sheet 8, first rotation axis 6 is fixed on 8 middle part of the first connection sheet；7 other end of second joint
It is connect by the second rotation axis 9 with 10 one end of third joint, 7 other end of second joint is further fixed on the second connection sheet 11, described
Second rotation axis 9 is fixed on 11 middle part of the second connection sheet；10 other end of third joint passes through third rotation axis 12 and the 4th
The connection of 13 one end of joint, 10 other end of third joint are further fixed on third connection sheet 14, and the third rotation axis 12 is fixed on the
Three connection sheets, 14 middle part；Flexible actuator is equipped with inside first joint 5, the actuating station and the first drive rod of the actuator that stretches
The rotation connection of 15 one end, 15 other end of the first drive rod are connect with 8 side of the first connection sheet, and 8 other side of the first connection sheet passes through
Second drive rod 16 is connect with oblique pair in the second connection sheet 11 of side, and 11 other side of the second connection sheet passes through third drive rod 17
It is connect with oblique pair in third connection sheet 14 of side；1 lower surface of workbench is fixed with walking mechanism.
Further, the length in first joint 5 is greater than second joint 7, and the length of second joint 7 is greater than third joint
10, the length in third joint 10 is greater than the 4th joint 13.
Further, the quantity of the picking finger is six, is symmetrically fixed on the end of linking arm 3.
In the present embodiment, fruit is surrounded from the left and right sides using 6 picking fingers, fruit is won, when to fruit
When being won in fact, start the intra-articular pneumatic cylinder of each picking finger first, pneumatic cylinder drives air pressure telescopic link to push first
Drive rod, the first drive rod pushes the first connection sheet to rotate around the first rotation axis, so first connection sheet one end laterally rotates,
The first connection sheet other end rotates backward simultaneously, and the first connection sheet drives the second drive rod to push the second connection sheet around the second rotation
Axis rotation, so second connection sheet one end laterally rotates, while the second connection sheet other end rotates backward, the second connection sheet band
Dynamic third drive rod pushes third connection sheet to rotate around third rotation axis, that is, is able to achieve and drives four joints gradually by pneumatic cylinder
Fruit is surrounded, in fruit-picking, multiple picking fingers gradually surround fruit from all directions, guarantee fruit picking process
Middle each section uniform force, avoids the occurrence of fruit and is locally squeezed.
Further, 1 upper surface of workbench is further fixed on collection device, and collection device includes collecting box 30, collects
Case 30 is fixed in scissor-type lifting platform, and scissor-type lifting platform is fixed on 1 upper surface of workbench；Paving in the collecting box 30
Equipped with sponge.
In the present embodiment, collecting box rise and fall are driven using scissor-type lifting platform, it when in use can be according to acquisition fruit
Real height arbitrarily adjusts the height of collecting box, avoids fruit from being put into collecting box after picking and is damaged.
Further, the walking mechanism uses crawler type walking mechanism.
In the present embodiment, using crawler type walking mechanism, guarantee the stability of walking.
The working principle of the invention:
When using the Agriculture pick robot, according to picking position, first start walking mechanism, it is suitable to be conveyed to
Picking is stopped behind position, is started picking mechanism later and is picked to fruit, needs to adjust entire picking machine during picking
The rotation angle of structure, when adjusting rotation angle, the second motor 29 of starting drives driving gear 27 to rotate, and driving gear 27 drives
Driven gear 26 rotates, and driven gear 26 drives the rotation of the 5th rotation axis 25, and the rotation of the 5th rotation axis 25 drives turntable 24 to rotate,
The rotation of turntable 24 drives robot assemblies unitary rotation, that is, realizes the adjusting to direction is won；
After the rotation angle of entire picking mechanism regulates, need to adjust angle of rotation between two adjacent linking arms 3
Degree realizes the crawl to various pieces fruit, when adjusting the rotational angle between each linking arm 3, starts first motor 19,
First motor 19 drives driving pulley 20 to rotate, and driving pulley 20 drives driven pulley 22 to rotate by synchronous belt 21, driven belt
Wheel 22 drives the rotation of the 4th rotation axis 23, and the 4th rotation axis 23 drives another linking arm 3 being secured to rotate with it, i.e., in fact
Now adjust the rotational angle between two linking arms 3；
After picking position determines, picking hands 4 grab fruit, and at this moment six picking fingers are respectively from left and right two
Side ring embraces fruit, wins to fruit, starts the intra-articular pneumatic cylinder of each picking finger first, and pneumatic cylinder drives air pressure
Telescopic rod pushes the first drive rod, and the first drive rod pushes the first connection sheet to rotate around the first rotation axis, so the first connection sheet
One end laterally rotates, while the first connection sheet other end rotates backward, and the first connection sheet drives the second drive rod to push second
Connection sheet is rotated around the second rotation axis, so second connection sheet one end laterally rotates, while the second connection sheet other end is reversed
Rotation, the second connection sheet drive third drive rod that third connection sheet is pushed to rotate around third rotation axis, that is, are able to achieve and pass through air pressure
Cylinder drives four joints gradually to surround fruit, and in fruit-picking, six picking fingers gradually surround fruit from all directions
It is real, guarantee each section uniform force in fruit picking process, avoids the occurrence of fruit and be locally squeezed.
In conclusion a kind of Agriculture pick robot provided by the invention, the comprehensive clamping fruit of energy, guarantee fruit picking
Each section uniform force in the process avoids the occurrence of fruit and is locally squeezed.
Disclosed above is only several specific embodiments of the invention, and still, the embodiment of the present invention is not limited to this, is appointed
What what those skilled in the art can think variation should all fall into protection scope of the present invention.
Claims (8)
1. a kind of Agriculture pick robot, which is characterized in that be fixed with including workbench (1), workbench (1) upper surface for adopting
The picking mechanism of agricultural product is plucked, picking mechanism includes the mounting base (2) for being fixed on workbench (1) upper surface, table in mounting base (2)
Face is equipped with robot assemblies, and robot assemblies are connected in sequence by multiple linking arms (3), two adjacent linking arms (3) it
Between connected by rotating mechanism, wherein the linking arm (3) at most beginning and mounting base (2) are rotatablely connected, the wherein connection of least significant end
The end of arm (3) is fixed with picking hands (4)；The picking hands (4) include multiple picking fingers, and picking finger includes four passes
Section, the first joint (5) one end are fixed on linking arm (3) end, and the first joint (5) other end passes through the first rotation axis (6) and the
The connection of two joints (7) one end, the first joint (5) other end are further fixed on the first connection sheet (8), and first rotation axis (6) is solid
It is scheduled in the middle part of the first connection sheet (8)；Second joint (7) other end passes through the second rotation axis (9) and third joint (10) one
End connection, second joint (7) other end are further fixed on the second connection sheet (11), and second rotation axis (9) is fixed on the second company
In the middle part of contact pin (11)；Third joint (10) other end is connect by third rotation axis (12) with the 4th joint (13) one end,
Third joint (10) other end is further fixed on third connection sheet (14), and the third rotation axis (12) is fixed on third connection sheet
(14) middle part；Flexible actuator is equipped with inside first joint (5), the actuating station for the actuator that stretches and the first drive rod (15)
One end rotation connection, the first drive rod (15) other end are connect with the first connection sheet (8) side, the first connection sheet (8) other side
It is connect by the second drive rod (16) with oblique pair on the second connection sheet (11) of side, the second connection sheet (11) other side passes through the
Three drive rods (17) are connect with oblique pair on third connection sheet (14) of side；Workbench (1) lower surface is fixed with vehicle with walking machine
Structure.
2. a kind of Agriculture pick robot as described in claim 1, which is characterized in that the length of first joint (5) is big
In second joint (7), the length of second joint (7) is greater than third joint (10), and the length of third joint (10) is greater than the 4th and closes
It saves (13).
3. a kind of Agriculture pick robot as described in claim 1, which is characterized in that the quantity of the picking finger is six
It is a, symmetrically it is fixed on the end of linking arm (3).
4. a kind of Agriculture pick robot as described in claim 1, which is characterized in that the rotating mechanism includes being fixed on one
Attachment base (18) on a linking arm (3) is fixed with first motor (19) on attachment base (18), the output shaft of first motor (19)
It is connect with driving pulley (20), driving pulley (20) is connect by synchronous belt (21) with driven pulley (22), driven pulley (22)
It is connect by key with the 4th rotation axis (23), the 4th rotation axis (23) is fixed on another linking arm (3), the 4th rotation axis
(23) it is rotatablely connected with attachment base (18).
5. a kind of Agriculture pick robot as described in claim 1, which is characterized in that be hollow inside the mounting base (2)
Structure, mounting base (2) is interior to be equipped with turntable (24), and a linking arm (3) in turntable (24) upper surface and robot assemblies is fixed
Connection, turntable (24) lower surface are fixedly connected with the 5th rotation axis (25) of its rotation is driven, and the 5th rotation axis (25) passes through key
It is connect with driven gear (26), driven gear (26) is engaged with driving gear (27), and driven gear (26) passes through bearing and support
Plate (28) connection, the left and right sides of support plate (28) is fixedly connected with mounting base (2)；Support plate (28) lower surface is fixed
Have the second motor (29), the output shaft of the second motor (29) penetrates support plate (28) and connect with driving gear (27) central rotating shaft.
6. a kind of Agriculture pick robot as described in claim 1, which is characterized in that workbench (1) upper surface is also solid
Surely there is collection device, collection device includes collecting box (30), and collecting box (30) is fixed in scissor-type lifting platform, scissor-type liter
Drop platform is fixed on workbench (1) upper surface；Sponge is equipped in the collecting box (30).
7. a kind of Agriculture pick robot as described in claim 1, which is characterized in that the walking mechanism uses crawler type row
Walk mechanism.
8. a kind of Agriculture pick robot as described in claim 1, which is characterized in that the flexible actuator is pneumatic cylinder
(31), the air pressure telescopic link (32) of pneumatic cylinder (31) is connect with the first drive rod (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910621624.8A CN110199684A (en) | 2019-07-10 | 2019-07-10 | A kind of Agriculture pick robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910621624.8A CN110199684A (en) | 2019-07-10 | 2019-07-10 | A kind of Agriculture pick robot |
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| CN110199684A true CN110199684A (en) | 2019-09-06 |
Family
ID=67797184
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| CN201910621624.8A Pending CN110199684A (en) | 2019-07-10 | 2019-07-10 | A kind of Agriculture pick robot |
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| CN110447389A (en) * | 2019-09-20 | 2019-11-15 | 厦门大学嘉庚学院 | A kind of mechanical device and its working method of indirect labor's fruit-picking |
| CN111699839A (en) * | 2020-06-22 | 2020-09-25 | 朱倩芳 | Remote picking equipment and method based on 5G network |
| CN112045714A (en) * | 2020-08-21 | 2020-12-08 | 高上杰 | Industrial robot |
| CN112470709A (en) * | 2021-01-29 | 2021-03-12 | 河南工程学院 | Apple picking robot with high degree of freedom |
| CN113141869A (en) * | 2021-05-14 | 2021-07-23 | 黑龙江农业经济职业学院 | Automatic fruit picking device for agricultural planting |
| CN114938739A (en) * | 2022-05-05 | 2022-08-26 | 江苏大学 | Five-axis manipulator-based multifunctional sweet osmanthus picking and collecting device and method |
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| CN112470709A (en) * | 2021-01-29 | 2021-03-12 | 河南工程学院 | Apple picking robot with high degree of freedom |
| CN113141869A (en) * | 2021-05-14 | 2021-07-23 | 黑龙江农业经济职业学院 | Automatic fruit picking device for agricultural planting |
| CN113141869B (en) * | 2021-05-14 | 2022-07-12 | 黑龙江农业经济职业学院 | Automatic fruit picking device for agricultural planting |
| CN114938739A (en) * | 2022-05-05 | 2022-08-26 | 江苏大学 | Five-axis manipulator-based multifunctional sweet osmanthus picking and collecting device and method |
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