CN110682972B - Crawler-type peach collection system - Google Patents
Crawler-type peach collection system Download PDFInfo
- Publication number
- CN110682972B CN110682972B CN201911131623.1A CN201911131623A CN110682972B CN 110682972 B CN110682972 B CN 110682972B CN 201911131623 A CN201911131623 A CN 201911131623A CN 110682972 B CN110682972 B CN 110682972B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- upper arm
- crawler
- claw
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 235000006040 Prunus persica var persica Nutrition 0.000 title claims abstract description 21
- 240000006413 Prunus persica var. persica Species 0.000 title 1
- 210000000078 claw Anatomy 0.000 claims abstract description 48
- 244000144730 Amygdalus persica Species 0.000 claims abstract description 16
- 238000004806 packaging method and process Methods 0.000 claims abstract description 13
- 235000013399 edible fruits Nutrition 0.000 claims description 41
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000003306 harvesting Methods 0.000 claims 1
- 238000012271 agricultural production Methods 0.000 abstract description 3
- 240000005809 Prunus persica Species 0.000 description 4
- 238000005192 partition Methods 0.000 description 4
- 238000010415 tidying Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention relates to a crawler-type peach collecting device which comprises a mechanical claw mechanism, a mechanical arm mechanism, a vehicle body arrangement mechanism and a crawler wheel travelling mechanism, wherein the mechanical claw mechanism is used for picking peach and then is placed into the vehicle body arrangement mechanism to be arranged and collected in a packaging tray; the mechanical arm mechanism is connected to the top of the vehicle body arrangement mechanism, the mechanical claw mechanism is connected to the upper end of the mechanical arm mechanism, and the crawler wheel travelling mechanism is arranged at the bottom of the vehicle body arrangement mechanism. The device is applied to agricultural production, can greatly save manpower, lighten labor intensity, adapt to various complex terrain environments and improve acquisition efficiency. Has the advantages of wide application prospect and strong practicability.
Description
Technical Field
The invention relates to picking equipment, in particular to a crawler-type peach collecting device.
Background
With the dramatic increase in world population, the pressure to which agricultural production is subjected is increasing, and the need for large-scale, high-efficiency production modes is also becoming increasingly apparent. Meanwhile, technological development and various theoretical and technical breakthroughs also make such production modes possible. The agricultural robot plays a quite important role by virtue of the fatigue-free and high-efficiency advantages, and the crawler-type peach collecting robot is the robot born in the background.
Disclosure of Invention
The invention aims to solve the technical problem of providing a crawler-type peach collecting device, which is used for completing picking and finishing once and improving the degree of automation.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a crawler-type peach collecting device comprises a mechanical claw mechanism, a mechanical arm mechanism, a vehicle body arrangement mechanism and a crawler wheel travelling mechanism, wherein the mechanical claw mechanism is used for picking the peach and then is placed into the vehicle body arrangement mechanism to be arranged and collected in a packaging tray; the mechanical arm mechanism is connected to the top of the vehicle body arrangement mechanism, the mechanical claw mechanism is connected to the upper end of the mechanical arm mechanism, and the crawler wheel travelling mechanism is arranged at the bottom of the vehicle body arrangement mechanism.
The mechanical claw mechanism comprises a U-shaped bracket, a claw motor, a cylinder shell, a cross handle, a handle threaded shaft, a claw bottom plate, a flange nut, an outer supporting rod, an inner supporting rod, a claw bracket and a spherical claw valve, wherein a partition plate is arranged in the cylinder shell, the cross handle and the U-shaped bracket are arranged on one side of the partition plate, the U-shaped bracket is driven by the claw motor, the cross handle is connected with the handle threaded shaft, two bottom rods of the U-shaped bracket are inserted into a gap of the cross handle, the cross handle is connected with the handle threaded shaft, the handle threaded shaft penetrates through the cylinder shell and is in threaded connection with the flange nut fixed outside the cylinder shell, the outer supporting rod is fixedly connected with the claw bracket, the outer supporting rod is hinged with the outer side of the claw bracket and the claw bottom plate, and the inner supporting rod is hinged with the inner side of the claw bracket and the flange nut.
The mechanical arm mechanism comprises a turntable part, an upper arm part and a lower arm part, wherein the turntable part comprises a turntable bracket and a first adjusting motor, a vertical shaft of the turntable bracket is connected to a top plate of the vehicle body arrangement mechanism through a bearing, the first adjusting motor drives the vertical shaft of the turntable bracket to rotate through gear transmission, and the upper arm part and the lower arm part are fixedly connected to the turntable bracket; the upper arm part comprises an upper arm support, an upper arm rod, a telescopic rod, an upper arm first connecting rod, an upper arm arc-shaped connecting rod, an upper arm second connecting rod and a second adjusting motor, wherein the upper arm rod is hinged with the upper arm support, the telescopic rod is in sliding connection with the upper arm rod, the upper arm first connecting rod is connected to the upper arm support, the upper arm first connecting rod is driven by the second adjusting motor, the upper arm arc-shaped connecting rod is fixedly connected with the upper arm second connecting rod, the upper arm arc-shaped connecting rod is hinged with the upper arm first connecting rod, and the upper arm second connecting rod is hinged with the telescopic rod.
The lower arm component comprises a lower arm support, a lower arm first connecting rod, a lower arm arc-shaped connecting rod, a lower arm second connecting rod and a third adjusting motor, wherein the lower arm first connecting rod is connected to the lower arm support and driven by the third adjusting motor, the lower arm first connecting rod is fixedly connected with the lower arm arc-shaped connecting rod, the lower arm arc-shaped connecting rod is hinged with the lower arm second connecting rod, and the lower arm second connecting rod is hinged with the upper arm rod.
The car body arrangement mechanism comprises a fruit receiving bucket groove, a chute, a car box body, a fruit conveying mechanism and a packaging tray, wherein the fruit receiving bucket groove is connected with the car box body through the chute, the packaging tray is arranged on the bottom surface of the car box body, and the fruit conveying mechanism is arranged above the packaging tray.
The fruit conveying mechanism comprises a first screw driving mechanism, a second screw driving mechanism, a third screw driving mechanism and a moving frame, wherein the first screw driving mechanism and the second screw driving mechanism are symmetrically fixed on the inner wall of a box body of the vehicle, the moving frame is arranged between the first screw driving mechanism and the second screw driving mechanism, the moving frame mechanism comprises a moving connecting rod, a first supporting plate, a second supporting plate, a fruit supporting plate and a rod turning motor, the first supporting plate and the second supporting plate are respectively in threaded connection with the screws of the first screw driving mechanism and the second screw driving mechanism, the connecting rod and the third screw driving mechanism are arranged between the first supporting plate and the second supporting plate in parallel, the upper part of the fruit supporting plate is in sliding connection with the connecting rod, the lower part of the fruit supporting plate is in threaded connection with the screw of the third screw driving mechanism, a fruit falling hole is formed in the middle of the fruit supporting plate, a stop lever is arranged below the fruit falling hole, and the stop lever is driven by the rod turning motor fixed on the fruit supporting plate.
The rear vehicle plate of the vehicle box body can be turned over and opened.
The crawler wheel travelling mechanism comprises a belt wheel supporting frame, a horizontal crawler wheel mechanism and an inclined crawler wheel mechanism, wherein the belt wheel supporting frame is connected to the bottom of the vehicle body arranging mechanism, the horizontal crawler wheel mechanism and the inclined crawler wheel mechanism are connected to the belt wheel supporting frame, the horizontal crawler wheel mechanism comprises a first driving wheel, a first driven wheel and a main crawler wheel, the inclined crawler wheel mechanism inclines upwards and comprises a second driving wheel, a second driven wheel and an auxiliary crawler wheel, the first driving wheel and the second driven wheel are coaxially arranged, the first driving wheel is driven by a driving motor, and the second driving wheel is driven by an auxiliary motor.
Compared with the prior art, the invention has the beneficial effects that:
1) The device is applied to agricultural production, can greatly save manpower, lighten labor intensity, adapt to various complex terrain environments and improve acquisition efficiency. Has the advantages of wide application prospect and strong practicability.
2) The walking capability is provided by the crawler wheel walking mechanism, and the crawler wheel provides stable driving on complex terrains.
3) The mechanical arm mechanism has multiple degrees of freedom and the capability of picking the high-altitude peaches at multiple angles.
4) The mechanical claw mechanism structure has good grabbing property on peaches, and can prevent the occurrence of claw falling in the picking process of the peaches.
5) Can carry out preliminary arrangement to the peach that picks through automobile body arrangement mechanism, prevent that the peach from receiving jolting in the robot removal in-process, lead to the fruit damage.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the mechanical claw mechanism.
Fig. 3 is a schematic structural view of the mechanical arm mechanism.
Fig. 4 is a schematic structural view of the vehicle body finishing mechanism.
Fig. 5 is a schematic structural view 1 of a fruit conveying mechanism.
Fig. 6 is a schematic structural view 2 of the fruit conveying mechanism.
Fig. 7 is a schematic structural view of the crawler wheel travel mechanism.
Detailed Description
The following is a further description of embodiments of the invention, taken in conjunction with the accompanying drawings:
1-7, a crawler-type peach collecting device comprises a mechanical claw mechanism 1, a mechanical arm mechanism 2, a vehicle body arrangement mechanism 3 and a crawler wheel travelling mechanism 4, wherein the mechanical claw mechanism 3 is used for picking the peaches and then is placed into the vehicle body arrangement mechanism 3 to be arranged and collected in a packaging tray; the mechanical arm mechanism 2 is connected to the top of the vehicle body arrangement mechanism 3, the mechanical claw mechanism 1 is connected to the upper end of the mechanical arm mechanism 2, and the crawler wheel travelling mechanism 4 is arranged at the bottom of the vehicle body arrangement mechanism 3.
The mechanical claw mechanism 1 comprises a U-shaped bracket 101, a claw motor 102, a cylinder shell 104, a cross grip 105, a grip threaded shaft 106, a claw bottom plate 107, a flange nut 108, an outer supporting rod 109, an inner supporting rod 110, a claw bracket 111 and a spherical claw valve 107, wherein a partition plate 103 is arranged in the cylinder shell 104, the cross grip 105 and the U-shaped bracket 101 are arranged on one side of the partition plate 103, the U-shaped bracket 101 is driven by the claw motor 102, the cross grip 105 is connected with the grip threaded shaft 106, two bottom rods of the U-shaped bracket 101 are inserted into a gap of the cross grip 105, the cross grip 105 is connected with the grip threaded shaft 106, the grip threaded shaft penetrates through the cylinder shell 104 and is in threaded connection with a flange nut 108 fixed outside the cylinder shell 104, the outer side of the spherical claw valve 107 is fixedly connected with the claw bracket 111, the outer supporting rod 109 is hinged with the outer side of the claw bracket 111 and the claw bottom plate 107, and the inner supporting rod 110 is hinged with the inner side of the claw bracket 111 and the flange nut 108.
The mechanical arm mechanism 2 comprises a turntable part, an upper arm part and a lower arm part, wherein the turntable part comprises a turntable bracket 201 and a first adjusting motor 202, a vertical shaft of the turntable bracket 201 is connected to a top plate of the vehicle body arrangement mechanism through a bearing, the first adjusting motor 202 drives the vertical shaft of the turntable bracket 201 to rotate through gear transmission, and the upper arm part and the lower arm part are fixedly connected to the turntable bracket 201; the upper arm part comprises an upper arm support 203, an upper arm rod 204, a telescopic rod 205, an upper arm first connecting rod 206, an upper arm arc-shaped connecting rod 207, an upper arm second connecting rod 208 and a second adjusting motor 209, wherein the upper arm rod 204 is hinged with the upper arm support 203, the telescopic rod 205 is in sliding connection with the upper arm rod 204, the upper arm first connecting rod 206 is connected on the upper arm support 203, the upper arm first connecting rod 206 is driven by the second adjusting motor 209, the upper arm arc-shaped connecting rod 207 is fixedly connected with the upper arm second connecting rod 208, the upper arm arc-shaped connecting rod 207 is hinged with the upper arm first connecting rod 206, and the upper arm second connecting rod 208 is hinged with the telescopic rod 205;
The lower arm component comprises a lower arm support 210, a lower arm first connecting rod 211, a lower arm arc-shaped connecting rod 212, a lower arm second connecting rod 213 and a third adjusting motor 214, wherein the lower arm first connecting rod 211 is connected to the lower arm support 210, the lower arm first connecting rod 211 is driven by the third adjusting motor, the lower arm first connecting rod 211 is fixedly connected with the lower arm arc-shaped connecting rod 212, the lower arm arc-shaped connecting rod 212 is hinged with the lower arm second connecting rod 213, and the lower arm second connecting rod 213 is hinged with the upper arm rod 204.
The car body tidying mechanism 3 comprises a fruit receiving bucket groove 31, a chute 32, a car box 33, a fruit conveying mechanism 34 and a packaging tray 35, wherein the fruit receiving bucket groove 31 is connected with the car box 33 through the chute 32, the packaging tray 35 is arranged on the bottom surface of the car box 33, and the fruit conveying mechanism 34 is arranged above the packaging tray 35; the rear deck of the vehicle compartment 33 can be turned open. When one layer of packing trays 35 is full, new packing trays 35 are placed layer by layer until the whole box is completely collected.
The fruit conveying mechanism 34 includes a first screw driving mechanism 341, a second screw driving mechanism 342, a third screw driving mechanism 343, and a moving frame, where the first screw driving mechanism 341 and the second screw driving mechanism 342 are symmetrically fixed on the inner wall of the carriage 33, the moving frame is disposed between the first screw driving mechanism 341 and the second screw driving mechanism 342, the moving frame includes a moving link 343, a first support plate 344, a second support plate 345, a fruit supporting plate 346, and a rod turning motor 347, the first support plate 344 and the second support plate 345 are respectively connected with the screws of the first screw driving mechanism 341 and the second screw driving mechanism 342, a connecting rod 348 and the third screw driving mechanism 343 are parallel between the first support plate 344 and the second support plate 345, the upper part of the fruit supporting plate 346 is slidably connected with the connecting rod 348, the lower part of the fruit supporting plate 346 is screwed on the screw of the third screw driving mechanism 343, a fruit dropping hole 349 is disposed in the middle of the fruit supporting plate 346, a stop lever 350 is disposed below the fruit dropping hole 349, and the stop lever 350 is driven by the rod turning motor 347 fixed on the fruit supporting plate 346.
The crawler wheel travelling mechanism comprises a belt wheel supporting frame 401, a horizontal crawler wheel mechanism and an inclined crawler wheel mechanism, wherein the belt wheel supporting frame 401 is connected to the bottom of the vehicle body tidying mechanism 3, the horizontal crawler wheel mechanism and the inclined crawler wheel mechanism are connected to the belt wheel supporting frame 401, the horizontal crawler wheel mechanism comprises a first driving wheel 402, a first driven wheel 403 and a main crawler wheel 404, the inclined crawler wheel mechanism is inclined upwards and comprises a second driving wheel 405, a second driven wheel 406 and an auxiliary crawler wheel 407, the first driving wheel 402 and the second driven wheel 406 are coaxially arranged, the first driving wheel 402 is driven by a driving motor 408, and the second driving wheel 405 is driven by an auxiliary motor 409.
The device provides walking capability through the crawler wheel walking mechanism, the mechanical claw mechanism has picking capability, the mechanical arm mechanism moves in multiple degrees of freedom and has the capability of picking fruits in different directions, and the vehicle body tidying part can tidily collect the fruits.
The above description is only of the basic principle of the invention, and is not limited in any way, and all equivalent changes and modifications according to the invention are within the scope of the technical protection scheme of the patent.
Claims (4)
1. The crawler-type peach collecting device is characterized by comprising a mechanical claw mechanism, a mechanical arm mechanism, a vehicle body arrangement mechanism and a crawler wheel travelling mechanism, wherein the mechanical claw mechanism is used for picking peach and then is placed into the vehicle body arrangement mechanism to be arranged and collected in a packaging tray; the mechanical arm mechanism is connected to the top of the vehicle body arrangement mechanism, the mechanical claw mechanism is connected to the upper end of the mechanical arm mechanism, and the crawler wheel travelling mechanism is arranged at the bottom of the vehicle body arrangement mechanism;
The mechanical claw mechanism comprises a U-shaped bracket, a claw motor, a cylinder shell, a cross grip, a grip threaded shaft, a claw bottom plate, a flange nut, an outer supporting rod, an inner supporting rod, a claw bracket and a spherical claw valve, wherein a baffle is arranged in the cylinder shell, one side of the baffle is provided with the cross grip and the U-shaped bracket, the U-shaped bracket is driven by the claw motor, the cross grip is connected with the grip threaded shaft, two bottom rods of the U-shaped bracket are inserted in a gap of the cross handle, a threaded shaft of the handle penetrates through the cylinder shell and is in threaded connection with a flange nut fixed outside the cylinder shell, the outer sides of the spherical claw petals are fixedly connected with the claw brackets, the outer supporting rods are respectively hinged with the outer sides of the claw brackets and the claw bottom plate, and the inner supporting rods are respectively hinged with the inner sides of the claw brackets and the flange nut;
The car body arrangement mechanism comprises a fruit receiving hopper groove, a chute, a car box body, a fruit conveying mechanism and a packaging tray, wherein the fruit receiving hopper groove is connected with the car box body through the chute, the packaging tray is arranged on the bottom surface of the car box body, and the fruit conveying mechanism is arranged above the packaging tray; the fruit conveying mechanism comprises a first screw driving mechanism, a second screw driving mechanism, a third screw driving mechanism and a moving frame, wherein the first screw driving mechanism and the second screw driving mechanism are symmetrically fixed on the inner wall of a box body of the box, the moving frame is arranged between the first screw driving mechanism and the second screw driving mechanism, the moving frame mechanism comprises a moving connecting rod, a first supporting plate, a second supporting plate, a fruit supporting plate and a rod turning motor, the first supporting plate and the second supporting plate are respectively in threaded connection with the screws of the first screw driving mechanism and the second screw driving mechanism, the first supporting plate and the second supporting plate are parallelly provided with the connecting rod and the third screw driving mechanism, the upper part of the fruit supporting plate is in sliding connection with the connecting rod, the lower part of the fruit supporting plate is in threaded connection with the screw of the third screw driving mechanism, a fruit dropping hole is formed in the middle part of the fruit supporting plate, and a stop lever is arranged below the fruit dropping hole and driven by the rod turning motor fixed on the fruit supporting plate; the rear vehicle plate of the vehicle box body can be turned over and opened.
2. The crawler-type peach collecting device according to claim 1, wherein the mechanical arm mechanism comprises a turntable part, an upper arm part and a lower arm part, the turntable part comprises a turntable bracket and a first adjusting motor, a vertical shaft of the turntable bracket is connected to a top plate of the car body arranging mechanism through a bearing, the first adjusting motor drives the vertical shaft of the turntable bracket to rotate through gear transmission, and the turntable bracket is fixedly connected with the upper arm part and the lower arm part; the upper arm part comprises an upper arm support, an upper arm rod, a telescopic rod, an upper arm first connecting rod, an upper arm arc-shaped connecting rod, an upper arm second connecting rod and a second adjusting motor, wherein the upper arm rod is hinged with the upper arm support, the telescopic rod is in sliding connection with the upper arm rod, the upper arm first connecting rod is connected to the upper arm support, the upper arm first connecting rod is driven by the second adjusting motor, the upper arm arc-shaped connecting rod is fixedly connected with the upper arm second connecting rod, the upper arm arc-shaped connecting rod is hinged with the upper arm first connecting rod, and the upper arm second connecting rod is hinged with the telescopic rod.
3. The crawler-type peach harvesting device according to claim 2, wherein the lower arm component comprises a lower arm support, a lower arm first connecting rod, a lower arm arc-shaped connecting rod, a lower arm second connecting rod and a third adjusting motor, the lower arm first connecting rod is connected to the lower arm support, the lower arm first connecting rod is driven by the third adjusting motor, the lower arm first connecting rod is fixedly connected with the lower arm arc-shaped connecting rod, the lower arm arc-shaped connecting rod is hinged with the lower arm second connecting rod, and the lower arm second connecting rod is hinged with the upper arm rod.
4. The crawler-type peach collecting device according to claim 1, wherein the crawler wheel walking mechanism comprises a belt wheel supporting frame, a horizontal crawler mechanism and an inclined crawler mechanism, the belt wheel supporting frame is connected to the bottom of the car body arranging mechanism, the horizontal crawler mechanism and the inclined crawler mechanism are connected to the belt wheel supporting frame, the horizontal crawler mechanism comprises a first driving wheel, a first driven wheel and a main crawler, the inclined crawler mechanism inclines upwards and comprises a second driving wheel, a second driven wheel and an auxiliary crawler, the first driving wheel and the second driven wheel are coaxially arranged, the first driving wheel is driven by a driving motor, and the second driving wheel is driven by an auxiliary motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911131623.1A CN110682972B (en) | 2019-11-19 | 2019-11-19 | Crawler-type peach collection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911131623.1A CN110682972B (en) | 2019-11-19 | 2019-11-19 | Crawler-type peach collection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110682972A CN110682972A (en) | 2020-01-14 |
| CN110682972B true CN110682972B (en) | 2024-10-25 |
Family
ID=69117015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911131623.1A Active CN110682972B (en) | 2019-11-19 | 2019-11-19 | Crawler-type peach collection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110682972B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114097424B (en) * | 2021-12-02 | 2023-08-15 | 南通科技职业学院 | Quick picking device capable of preventing apple from being damaged and method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104782325A (en) * | 2015-04-30 | 2015-07-22 | 浙江海洋学院 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
| CN208523248U (en) * | 2018-05-28 | 2019-02-22 | 刘依凡 | Fruit picking |
| CN110304162A (en) * | 2019-07-03 | 2019-10-08 | 西安工业大学 | The stump-jump mechanism and its method of digging machine |
| CN110422242A (en) * | 2019-08-01 | 2019-11-08 | 辽宁科技大学 | A kind of intelligent fire roving vehicle and application method |
| CN211281255U (en) * | 2019-11-19 | 2020-08-18 | 辽宁科技大学 | Crawler-type peach collection system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105123123B (en) * | 2015-09-21 | 2017-02-22 | 浙江机电职业技术学院 | Efficient fruit picking machine |
| KR101799792B1 (en) * | 2017-06-12 | 2017-11-21 | 이원식 | Lift Car For Harvesting |
-
2019
- 2019-11-19 CN CN201911131623.1A patent/CN110682972B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104782325A (en) * | 2015-04-30 | 2015-07-22 | 浙江海洋学院 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
| CN208523248U (en) * | 2018-05-28 | 2019-02-22 | 刘依凡 | Fruit picking |
| CN110304162A (en) * | 2019-07-03 | 2019-10-08 | 西安工业大学 | The stump-jump mechanism and its method of digging machine |
| CN110422242A (en) * | 2019-08-01 | 2019-11-08 | 辽宁科技大学 | A kind of intelligent fire roving vehicle and application method |
| CN211281255U (en) * | 2019-11-19 | 2020-08-18 | 辽宁科技大学 | Crawler-type peach collection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110682972A (en) | 2020-01-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102124866A (en) | Wheel type mobile fruit picking robot and fruit picking method | |
| CN113994814A (en) | Intelligent fruit and vegetable picking robot | |
| CN213718787U (en) | A chrysanthemum picking cart | |
| CN112840857B (en) | Use nimble arm-type agricultural picking machine of machinery | |
| CN221468406U (en) | Novel mango picking and recycling robot | |
| CN110682972B (en) | Crawler-type peach collection system | |
| CN104885705A (en) | Epitrochoid trajectory based fruit vibration harvesting device | |
| TW202146185A (en) | Robot for automatically harvesting crops | |
| CN201383635Y (en) | Inspection robot mechanism | |
| CN200991898Y (en) | Explosion-avioding scraper-pan robot | |
| CN211281255U (en) | Crawler-type peach collection system | |
| CN112715160A (en) | Fruit and vegetable picking robot with built-in lifting adjusting structure and using method | |
| CN209749190U (en) | trapezoidal grading collection robot for picking apples with two arms | |
| CN112205169A (en) | Clamping and overturning mechanism, application and ridge culture type strawberry picking machine constructed by clamping and overturning mechanism | |
| CN118435791A (en) | Flexible gripper is picked to agriculture that all terrain is suitable for | |
| CN119422649A (en) | A kind of agricultural multifunctional picking vehicle and working method thereof | |
| CN108401657A (en) | Hand-push type multifunction strawberry picking vehicle | |
| CN211240885U (en) | Picking robot | |
| CN109156164B (en) | An apple picking robot | |
| CN220493607U (en) | Picking device for taro planting | |
| CN116806552B (en) | Intelligent obstacle-avoiding picking robot capable of accurately picking | |
| CN107646314B (en) | Intelligent mango sorting and harvesting vehicle | |
| CN111328539A (en) | Self-propelled day lily picking machine | |
| CN215345940U (en) | An agricultural cone picking robot with good quality | |
| CN108541448A (en) | A kind of picking machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |