CN112352548A - Air bag type citrus picking manipulator end effector - Google Patents
Air bag type citrus picking manipulator end effector Download PDFInfo
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- CN112352548A CN112352548A CN202011259697.6A CN202011259697A CN112352548A CN 112352548 A CN112352548 A CN 112352548A CN 202011259697 A CN202011259697 A CN 202011259697A CN 112352548 A CN112352548 A CN 112352548A
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- cutting frame
- picking
- barrel
- oranges
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention provides an air bag type citrus picking manipulator end effector which comprises an upper cutting frame and a lower cutting frame; the picking barrel is of a hollow structure, a driving piece supporting frame is arranged at the rear side of the picking barrel, and the air bag is positioned in the picking barrel; the upper cutting frame is connected into the top of the picking cylinder, the upper cutting frame is of a frame-shaped structure, and the rear end of the upper cutting frame is connected with the cam; the lower cutting frame is connected into the top of the picking barrel, is of a U-shaped structure and is positioned at the bottom of the upper cutting frame; the motor is fixedly arranged at the bottom of the driving piece supporting frame through a bolt; the interior of the orange receiving barrel is hollow; according to the invention, the upper cutting frame slides backwards, the lower cutting frame slides forwards, and the distance between the front end cutting edge of the upper cutting frame and the rear end cutting edge of the lower cutting frame is shortened, so that the fruit handle connected with the top end of the citrus can be cut off by the front end cutting edge of the upper cutting frame and the rear end cutting edge of the lower cutting frame which move inwards quickly, and the citrus picking operation is realized.
Description
Technical Field
The invention belongs to the technical field of agricultural picking, and particularly relates to an end effector of an air bag type citrus picking manipulator.
Background
The citrus fruit tree is provided with thorns, at present, fruit growers in China are used to pick citrus fruits by common fruit scissors and use hands for assistance, the fruit growers are easy to hurt and easily cause overlong fruit stems, so that fruit peels are mutually injured when the fruits are stacked or transported, citrus fruits are damaged, citrus juice flows out, the storage time of the citrus fruits is shortened, and the citrus fruit tree is important for researching the automated harvesting operation of the citrus fruits by researching a citrus picking mechanical arm along with the increasingly serious urbanization development and aging problems of people in China and the shortage of labor force.
Gasbag formula oranges and tangerines picking manipulator end effector can refer to CN107567815B patent, and it mainly includes that gasbag section of thick bamboo, gasbag inlet port, blade dock, revolving cylinder, gasbag, No. two revolving cylinder, cutting blade, arm connecting piece and bellows containing box constitute characterized by: the air bag cylinder is connected with the mechanical arm connecting piece, the blade butt joint piece is installed on a first rotary air cylinder shaft, a second rotary air cylinder is installed on a transverse plate of the side wall of the air bag cylinder, the cutting blade is installed on a second rotary air cylinder shaft, and the corrugated pipe containing box is connected with the lower end of the air bag cylinder.
Based on the aforesaid, traditional manual work is picked oranges and tangerines, and it is lower to pick efficiency, and the spine that the oranges and tangerines fruit tree grows pricks the picker easily, adopts machinery to pick, is difficult to effectually once only cut oranges and tangerines top stalk, need carry out the secondary shearing, influences oranges and tangerines easily and picks efficiency to after oranges and tangerines are picked and are finished, can't effectually cushion the protection to oranges and tangerines, the easy tumble injury that appears of oranges and tangerines influences the oranges and tangerines.
Disclosure of Invention
In order to solve the technical problems, the invention provides an air bag type citrus picking manipulator end effector, which aims to solve the problems that the picking efficiency is low, a picker is easily pricked by sharp spines grown on citrus fruit trees, mechanical picking is adopted, the top fruit handles of citrus are difficult to effectively cut off at one time, secondary cutting is needed, the citrus picking efficiency is easily influenced, after citrus picking is finished, the citrus cannot be effectively buffered and protected, the citrus is easily damaged, and the transportation and sale phase of the citrus is influenced.
The purpose and the effect of the air bag type citrus picking manipulator end effector are achieved by the following specific technical means:
an air bag type citrus picking manipulator end effector comprises a picking cylinder, an upper cutting frame, a lower cutting frame, a motor and a citrus receiving barrel; the picking barrel is of a hollow structure, a driving piece supporting frame is arranged at the rear side of the picking barrel, and the air bag is positioned in the picking barrel; the upper cutting frame is connected into the top of the picking cylinder, the upper cutting frame is of a frame-shaped structure, and the rear end of the upper cutting frame is connected with the cam; the lower cutting frame is connected into the top of the picking barrel, is of a U-shaped structure and is positioned at the bottom of the upper cutting frame; the motor is fixedly arranged at the bottom of the driving piece supporting frame through a bolt; the oranges and tangerines are accepted the bucket inside and are the cavity form, and the oranges and tangerines are accepted the bucket and are connected in picking barrel head portion.
Furthermore, the air bag is installed at the inner side of the picking cylinder in a surrounding manner, two air inlet holes are formed in the outer side of the air bag, and the air inlet holes in the outer side of the air bag penetrate through the outer side of the picking cylinder.
Furthermore, a guide sliding groove is formed in each of the left side and the right side of the top of the picking barrel, the left end and the right end of the upper cutting frame are respectively connected into the tops of the guide sliding grooves on the two sides in a sliding mode, the front end of the upper cutting frame is in a blade shape, the left end and the right end of the lower cutting frame are respectively connected into the bottoms of the guide sliding grooves on the two sides in a sliding mode, the rear end of the lower cutting frame is in a blade shape, and the end face of the bottom of the upper cutting frame is in sliding fit with the.
Further, the bottoms of the left end and the right end of the upper cutting frame are respectively provided with an upper rack, the upper racks are meshed with the tops of the gears, the tops of the left end and the right end of the lower cutting frame are respectively provided with a lower rack, the lower racks are meshed with the bottoms of the gears, and the gears are respectively rotatably installed in guide chutes on the left side and the right side of the picking cylinder.
Furthermore, a sliding hole is formed in the rear end of the upper cutting frame, a cam is connected to the top end of the motor rotating shaft, a sliding block is arranged at the top end of the cam, and the sliding block is connected in the sliding hole in the rear end of the upper cutting frame in a sliding mode.
Furthermore, a photoelectric switch is symmetrically arranged on the left side and the right side of the picking cylinder respectively, the inner end of the photoelectric switch is positioned on the inner side of the picking cylinder, the photoelectric switch is connected with a controller through a circuit, the controller is arranged on the end face of the bottom of the picking cylinder, and the controller is connected with a motor through a circuit.
Furthermore, picking barrel head portion slip suit is accepted bucket top bung department at oranges and tangerines, and a department of block hole has been seted up respectively to picking barrel head portion left and right sides, and oranges and tangerines are accepted bucket top left and right sides bung department and are equipped with a pothook respectively, and oranges and tangerines are accepted bucket top pothook buckle and are connected in picking barrel head portion block hole.
Further, the oranges and tangerines are accepted the bucket outer wall and are the fretwork form, and flexible blotter installs and accepts in the barrel head portion at oranges and tangerines.
Compared with the prior art, the invention has the following beneficial effects:
1. the arrangement of the air bags is beneficial to expanding the air bags on the inner side of the picking barrel when the oranges are positioned in the picking barrel, so that the inner sides of the air bags are attached to the outer wall of the oranges, and the oranges are clamped and fixed through the air bags so as to be convenient for subsequent fruit stem cutting operation; and the use of upper cutting frame, lower cutting frame and photoelectric switch is cooperated, when the citrus in the picking cylinder is fixed, the photoelectric switch senses the citrus and transmits signals to the controller, the controller controls the motor to operate, the motor drives the cam to rotate for a circle, the cam drives the upper cutting frame to reciprocate back and forth through the sliding block for one time, the upper rack drives the left gear and the right gear to synchronously rotate at the left end and the right end, the lower cutting frame is driven by the left gear and the right gear to reciprocate back and forth for one time, the spacing distance between the cutting edge at the front end of the upper cutting frame and the cutting edge at the rear end of the lower cutting frame is shortened, the fruit handle connected with the top end of the citrus can be cut off through the cutting edge at the front end of the upper cutting frame and the cutting edge at the rear end of the lower cutting frame which move inwards and.
2. The arrangement of the orange receiving barrel is beneficial to mounting the orange receiving barrel at the bottom of the picking barrel in a buckling connection mode, so that oranges in the picking barrel can fall into the orange receiving barrel for temporary storage, and when the amount of oranges in the orange receiving barrel is full, the two clamping hooks are pressed inwards to separate the orange receiving barrel from the bottom of the picking barrel, so that the oranges in the orange receiving barrel can be taken out and stored in a centralized mode by a person; and cooperate the use of flexible blotter, when oranges and tangerines drop to oranges and tangerines accept the barrel head portion, oranges and tangerines accept the flexible blotter of barrel head portion and cushion oranges and tangerines, avoid falling to hinder and influence oranges and tangerines transportation and sell the article looks.
Drawings
FIG. 1 is a schematic front axial view of the present invention.
Fig. 2 is a schematic view of the structure of the present invention in a split axis view.
Fig. 3 is a schematic view of the opening and closing structure of the upper cutting frame and the lower cutting frame in the picking cylinder.
Fig. 4 is a schematic view of the closed structure of the upper cutting frame and the lower cutting frame in the picking cylinder.
Fig. 5 is a schematic view of the internal axial structure of the picking cylinder of the present invention.
Fig. 6 is a schematic view of the transmission structure of the upper cutting frame and the lower cutting frame of the invention.
Fig. 7 is a bottom axial view transmission structure schematic diagram of the upper cutting frame and the lower cutting frame of the invention.
Fig. 8 is a schematic cross-sectional view of a citrus receiving vessel according to the present invention.
In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:
1. a picking cylinder; 101. a guide chute; 102. a driving member support frame; 103. a clamping hole; 2. an air bag; 201. an air inlet; 3. an upper cutting frame; 301. an upper rack; 302. a slide hole; 4. a lower cutting frame; 401. a lower rack; 5. a gear; 6. a motor; 7. a cam; 701. a slider; 8. a controller; 9. a photoelectric switch; 10. an orange receiving barrel; 1001. a hook; 11. a flexible cushion.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
as shown in figures 1 to 8:
the invention provides an air bag type citrus picking manipulator end effector which comprises a picking barrel 1, an upper cutting frame 3, a lower cutting frame 4, a motor 6 and a citrus receiving barrel 10; the picking cylinder 1 is of a hollow structure, a driving piece supporting frame 102 is arranged at the rear side of the picking cylinder 1, and the air bag 2 is positioned in the picking cylinder 1; the upper cutting frame 3 is connected into the top of the picking cylinder 1, the upper cutting frame 3 is of a frame-shaped structure, and the rear end of the upper cutting frame 3 is connected with the cam 7; the lower cutting frame 4 is connected into the top of the picking barrel 1, the lower cutting frame 4 is of a U-shaped structure, and the lower cutting frame 4 is positioned at the bottom of the upper cutting frame 3; the motor 6 is fixedly arranged at the bottom of the driving piece supporting frame 102 through bolts; the interior of the orange receiving barrel 10 is hollow, and the orange receiving barrel 10 is connected to the bottom of the picking barrel 1; oranges and tangerines are accepted bucket 10 outer wall and are the fretwork form, and flexible blotter 11 installs and accept bucket 10 bottom at oranges and tangerines in, reduce oranges and tangerines and accept bucket 10 weight, drop when oranges and tangerines accept bucket 10 bottom, oranges and tangerines accept bucket 10 bottom flexible blotter 11 and cushion oranges and tangerines, avoid falling to hinder and influence oranges and tangerines transportation and sell the article looks.
Wherein, the air bag 2 is arranged at the inner side of the picking cylinder 1 in a surrounding way, two air inlet holes 201 are arranged at the outer side of the air bag 2, and the air inlet holes 201 at the outer side of the air bag 2 penetrate through the outer side of the picking cylinder 1; the specific function, when the oranges and tangerines are in picking section of thick bamboo 1, 2 expansions of the inboard gasbag of picking section of thick bamboo 1 make 2 inboard laminating on the oranges and tangerines outer wall of gasbag, carry out the centre gripping through gasbag 2 to oranges and tangerines to carry out follow-up carpopodium and cut off the operation.
The picking barrel comprises a picking barrel 1, an upper cutting frame 4, a lower cutting frame 4, a guide chute 101, an upper cutting frame 3, a lower cutting frame 4, a lower cutting frame and a lower cutting frame, wherein the left side and the right side of the top of the picking barrel 1 are respectively provided with the guide chute 101, the left side and the right side of the upper cutting frame; the concrete effect, after picking 1 inside oranges and tangerines of section of thick bamboo and fixing, go up cutting frame 3 and slide backward, lower cutting frame 4 slides forward, shortens 3 front end cutting edges of upper cutting frame and 4 rear end cutting edges of lower cutting frame interval distance, can cut off the carpopodium that the oranges and tangerines top is connected through the last cutting frame 3 front end cutting edges and the 4 rear end cutting edges of lower cutting frame of inside quick travel, realizes the operation is picked to oranges and tangerines.
Wherein, the bottoms of the left and right ends of the upper cutting frame 3 are respectively provided with an upper rack 301, the upper rack 301 is meshed with the top of the gear 5, the tops of the left and right ends of the lower cutting frame 4 are respectively provided with a lower rack 401, the lower racks 401 are meshed with the bottom of the gear 5, and the gears 5 are respectively rotatably arranged in the guide chutes 101 at the left and right sides of the picking cylinder 1; the concrete effect is that when the upper cutting frame 3 moves backwards, the upper racks 301 at the left and right ends of the upper cutting frame 3 drive the left and right gears 5 to synchronously rotate, so that the left and right gears 5 drive the lower racks 401 at the left and right ends of the lower cutting frame 4 to synchronously move forwards, and the synchronous movement operation of the upper cutting frame 3 and the lower cutting frame 4 is realized.
Wherein, the rear end of the upper cutting frame 3 is provided with a slide hole 302, the top end of the rotating shaft of the motor 6 is connected with a cam 7, the top end of the cam 7 is provided with a slide block 701, and the slide block 701 is connected in the slide hole 302 at the rear end of the upper cutting frame 3 in a sliding way; the specific effect, when motor 6 drives cam 7 and rotates the round, cutting frame 3 reciprocating motion once around is gone up in the drive of cam 7 through slider 701, goes up cutting frame 3 and then drives down cutting frame 4 reciprocating motion once around through gear 5, realizes cutting off the operation to oranges and tangerines top carpopodium.
Wherein, the left side and the right side of the picking cylinder 1 are symmetrically provided with a photoelectric switch 9 respectively, the inner end of the photoelectric switch 9 is positioned at the inner side of the picking cylinder 1, the photoelectric switch 9 is connected with a controller 8 through a circuit, the controller 8 is arranged on the end surface of the bottom of the picking cylinder 1, and the controller 8 is connected with the motor 6 through a circuit; specific function, when the oranges and tangerines were in picking section of thick bamboo 1, photoelectric switch 9 carried out the perception to oranges and tangerines in with signal transmission to controller 8, and controller 8 control motor 6 moves, and guarantee oranges and tangerines top carpopodium cuts off the effect, and when the oranges and tangerines discharged from picking section of thick bamboo 1 bottom, photoelectric switch 9 stopped in with signal transmission to controller 8, controller 8 control motor 6.
Wherein, the bottom of the picking barrel 1 is slidably sleeved at the top opening of the orange receiving barrel 10, the left side and the right side of the bottom of the picking barrel 1 are respectively provided with a clamping hole 103, the left side and the right side of the top of the orange receiving barrel 10 are respectively provided with a clamping hook 1001, and the clamping hooks 1001 at the top of the orange receiving barrel 10 are buckled and connected in the clamping holes 103 at the bottom of the picking barrel 1; concrete function, the mode of connecting through the buckle is accepted the oranges and tangerines and is installed in picking a section of thick bamboo 1 bottom, makes 1 inside oranges and tangerines of picking a section of thick bamboo fall into oranges and tangerines and accept and carry out temporary storage in bucket 10 to when the oranges and tangerines are accepted the inside oranges and tangerines of bucket 10 and are full, inwards press two pothooks 1001, accept bucket 10 with oranges and tangerines and follow 1 bottom separation of picking a section of thick bamboo, so that the personnel accept the oranges and tangerines and take out.
The specific use mode and function of the embodiment are as follows:
when the device is used, the picking cylinder 1 is sleeved outside oranges, the air bags 2 on the inner side of the picking cylinder 1 are expanded, so that the inner sides of the air bags 2 are attached to the outer walls of the oranges, and the oranges are clamped and fixed through the air bags 2; then the photoelectric switch 9 senses the oranges and transmits signals to the controller 8, the controller 8 controls the motor 6 to operate, the motor 6 drives the cam 7 to rotate for a circle, the cam 7 drives the upper cutting frame 3 to reciprocate back and forth once through the sliding block 701, the upper racks 301 at the left end and the right end of the upper cutting frame 3 drive the left gear 5 and the right gear 5 to synchronously rotate, so that the lower cutting frame 4 is driven to reciprocate back and forth once through the left gear 5 and the right gear 5, the spacing distance between the front-end cutting edge of the upper cutting frame 3 and the rear-end cutting edge of the lower cutting frame 4 is shortened, the fruit stalks connected with the top ends of the oranges can be cut through the front-end cutting edge of the upper cutting frame 3 and the rear-end cutting edge of the lower cutting frame 4 which; pick 1 inboard gasbag 2 gassing of a section of thick bamboo at last, pick 1 inside oranges and tangerines of a section of thick bamboo and fall into oranges and tangerines and accept and carry out temporary storage in bucket 10, when oranges and tangerines drop to oranges and tangerines and accept bucket 10 bottoms, oranges and tangerines accept bucket 10 bottoms flexible blotter 11 and cushion oranges and tangerines, avoid falling to hinder and influence oranges and tangerines transportation article of sale looks.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (8)
1. The utility model provides a manipulator end effector is picked to gasbag formula oranges and tangerines which characterized in that: comprises a picking cylinder (1), an upper cutting frame (3), a lower cutting frame (4), a motor (6) and an orange receiving barrel (10); the picking cylinder (1) is of a hollow structure, a driving piece supporting frame (102) is arranged on the rear side of the picking cylinder (1), and the air bag (2) is positioned in the picking cylinder (1); the upper cutting frame (3) is connected into the top of the picking barrel (1), the upper cutting frame (3) is of a frame-shaped structure, and the rear end of the upper cutting frame (3) is connected with the cam (7); the lower cutting frame (4) is connected into the top of the picking barrel (1), the lower cutting frame (4) is of a U-shaped structure, and the lower cutting frame (4) is positioned at the bottom of the upper cutting frame (3); the motor (6) is fixedly arranged at the bottom of the driving piece supporting frame (102) through bolts; the interior of the orange receiving barrel (10) is hollow, and the orange receiving barrel (10) is connected to the bottom of the picking barrel (1).
2. The bladder-type citrus picking robot end effector of claim 1, wherein: the air bag (2) is installed at the inner side of the picking cylinder (1) in a surrounding manner, two air inlet holes (201) are formed in the outer side of the air bag (2), and the air inlet holes (201) in the outer side of the air bag (2) penetrate through the outer side of the picking cylinder (1).
3. The bladder-type citrus picking robot end effector of claim 1, wherein: the picking barrel is characterized in that a guide sliding groove (101) is formed in the positions of barrel openings on the left side and the right side of the top of the picking barrel (1), the left end and the right end of an upper cutting frame (3) are connected into the tops of the guide sliding grooves (101) on the two sides in a sliding mode respectively, the front end of the upper cutting frame (3) is in a blade shape, the left end and the right end of a lower cutting frame (4) are connected into the bottoms of the guide sliding grooves (101) on the two sides in a sliding mode respectively, the rear end of the lower cutting frame (4) is in a blade shape, and the end face of the bottom.
4. The bladder-type citrus picking robot end effector of claim 1, wherein: the upper cutting frame (3) is provided with upper racks (301) at the left and right ends of the upper cutting frame respectively, the upper racks (301) are meshed with the top of the gear (5), the lower cutting frame (4) is provided with lower racks (401) at the left and right ends of the lower cutting frame respectively, the lower racks (401) are meshed with the bottom of the gear (5), and the gear (5) is rotatably arranged in guide chutes (101) at the left and right sides of the picking barrel (1) respectively.
5. The bladder-type citrus picking robot end effector of claim 1, wherein: a sliding hole (302) is formed in the rear end of the upper cutting frame (3), a cam (7) is connected to the top end of a rotating shaft of the motor (6), a sliding block (701) is arranged at the top end of the cam (7), and the sliding block (701) is connected to the inside of the sliding hole (302) in the rear end of the upper cutting frame (3) in a sliding mode.
6. The bladder-type citrus picking robot end effector of claim 1, wherein: pick a section of thick bamboo (1) left and right sides and be a symmetry form and install photoelectric switch (9) respectively, photoelectric switch (9) inner is located and picks a section of thick bamboo (1) inboard, and photoelectric switch (9) link to each other with controller (8) through the circuit, and controller (8) are installed on picking a section of thick bamboo (1) bottom terminal surface, and controller (8) link to each other with motor (6) through the circuit.
7. The bladder-type citrus picking robot end effector of claim 1, wherein: picking a section of thick bamboo (1) bottom slip suit is accepted bucket (10) top bung hole department at oranges and tangerines, and picking a section of thick bamboo (1) bottom left and right sides has seted up a department and has blocked hole (103) respectively, and oranges and tangerines are accepted bucket (10) top left and right sides bung hole department and are equipped with a department pothook (1001) respectively, and oranges and tangerines are accepted bucket (10) top pothook (1001) buckle and are connected in picking a section of thick bamboo (1) bottom card hole (103).
8. The bladder-type citrus picking robot end effector of claim 1, wherein: the oranges and tangerines are accepted bucket (10) outer wall and are the fretwork form, and install in oranges and tangerines are accepted bucket (10) bottom flexible blotter (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011259697.6A CN112352548A (en) | 2020-11-12 | 2020-11-12 | Air bag type citrus picking manipulator end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011259697.6A CN112352548A (en) | 2020-11-12 | 2020-11-12 | Air bag type citrus picking manipulator end effector |
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| CN112352548A true CN112352548A (en) | 2021-02-12 |
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| CN202011259697.6A Pending CN112352548A (en) | 2020-11-12 | 2020-11-12 | Air bag type citrus picking manipulator end effector |
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Citations (6)
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|---|---|---|---|---|
| FR2760595B1 (en) * | 1997-03-13 | 1999-05-14 | Tecnoma | METHOD FOR HARVESTING OBJECTS CARRIED BY A ROD, SUCH AS GRAPES OF GRAPES |
| CN206564839U (en) * | 2017-02-14 | 2017-10-20 | 河北爱美田农业发展有限公司 | A kind of semi-automatic packing harvester |
| CN107567815A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of gasbag-type citrus picking mechanical arm end effector and picking method |
| CN108377749A (en) * | 2017-12-30 | 2018-08-10 | 浙江工贸职业技术学院 | A kind of end effector of citrus picking robot |
| CN108617241A (en) * | 2018-06-20 | 2018-10-09 | 福州大学 | A kind of fruit picker and its application method |
| CN108738693A (en) * | 2018-04-23 | 2018-11-06 | 西安文理学院 | Small-sized picking fruit device |
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2020
- 2020-11-12 CN CN202011259697.6A patent/CN112352548A/en active Pending
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| FR2760595B1 (en) * | 1997-03-13 | 1999-05-14 | Tecnoma | METHOD FOR HARVESTING OBJECTS CARRIED BY A ROD, SUCH AS GRAPES OF GRAPES |
| CN206564839U (en) * | 2017-02-14 | 2017-10-20 | 河北爱美田农业发展有限公司 | A kind of semi-automatic packing harvester |
| CN107567815A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of gasbag-type citrus picking mechanical arm end effector and picking method |
| CN108377749A (en) * | 2017-12-30 | 2018-08-10 | 浙江工贸职业技术学院 | A kind of end effector of citrus picking robot |
| CN108738693A (en) * | 2018-04-23 | 2018-11-06 | 西安文理学院 | Small-sized picking fruit device |
| CN108617241A (en) * | 2018-06-20 | 2018-10-09 | 福州大学 | A kind of fruit picker and its application method |
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Application publication date: 20210212 |