CN115245096B - Unmanned aerial vehicle tea-picking device based on scissor assembly parallelism - Google Patents
Unmanned aerial vehicle tea-picking device based on scissor assembly parallelism Download PDFInfo
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- CN115245096B CN115245096B CN202210008259.5A CN202210008259A CN115245096B CN 115245096 B CN115245096 B CN 115245096B CN 202210008259 A CN202210008259 A CN 202210008259A CN 115245096 B CN115245096 B CN 115245096B
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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
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
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Abstract
The invention belongs to the field of agricultural machinery. Aims at providing an unmanned aerial vehicle tea-picking device based on scissors subassembly parallel type. The device can accomplish tealeaves and pick the operation on the basis of utilizing visual technique, can also reduce intensity of labour and improve and pick efficiency and improve and pick the quality simultaneously. The technical proposal is as follows: a unmanned aerial vehicle tea-picking device based on scissor assemblies in parallel comprises an unmanned aerial vehicle; the method is characterized in that: the device also comprises a negative pressure collecting box assembly, a shearing mechanism, a camera and a flexible corrugated pipe, wherein the negative pressure collecting box assembly is arranged below the unmanned aerial vehicle body, the shearing mechanism is arranged below the negative pressure collecting box assembly and is carried by a three-degree-of-freedom parallel mechanical arm, and the flexible corrugated pipe is communicated with the negative pressure collecting box assembly to convey collected tea leaves to the negative pressure collecting box assembly; the three-degree-of-freedom parallel mechanical arm is also provided with a control integrated module for uniformly controlling the work of each part.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to an unmanned aerial vehicle tea-picking device based on a scissor assembly.
Background
The tea industry is large in scale, and the famous tea has high economic benefit. At present, tea picking work of a tea garden is finished mainly by tea picking workers and by using a traditional tea picking machine [8] . Wherein, the manual picking can subjectively judge what tender shoots are suitable for picking, thereby ensuring the picking quality to a certain extent. However, with the development of urban development and the aggravation of population aging in China, more and more young people do not want to engage in picking work, so that the phenomenon of labor shortage in the tea-picking season is caused; the main forces of the current manual picking are mainly middle-agedWomen have low picking efficiency and high labor intensity; at the same time, employment of labor leads to increased costs. The lack of labor is an important problem faced by tea picking and becomes a major obstacle to the development of the tea industry. Traditional machine picking can not realize full automation, can not realize selective picking to ensure the quality of tea, and is only suitable for picking bulk tea. For this situation, a device for realizing intelligent picking and having high picking efficiency needs to be developed.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides an unmanned aerial vehicle tea-picking device based on a scissor assembly. The device can accomplish tealeaves and pick the operation on the basis of utilizing visual technique, can also reduce intensity of labour and improve and pick efficiency and improve and pick the quality simultaneously.
The technical scheme provided by the invention is as follows:
a unmanned aerial vehicle tea-picking device based on scissor assemblies in parallel comprises an unmanned aerial vehicle; the method is characterized in that: the device also comprises a negative pressure collecting box assembly, a shearing mechanism, a camera and a flexible corrugated pipe, wherein the negative pressure collecting box assembly is arranged below the unmanned aerial vehicle body, the shearing mechanism is arranged below the negative pressure collecting box assembly and is carried by a three-degree-of-freedom parallel mechanical arm, and the flexible corrugated pipe is communicated with the negative pressure collecting box assembly to convey collected tea leaves to the negative pressure collecting box assembly; the three-degree-of-freedom parallel mechanical arm is also provided with a control integrated module for uniformly controlling the work of each part.
A guide cover is arranged below each wing of the unmanned aerial vehicle so as to avoid disturbing tea leaves to be picked below the unmanned aerial vehicle.
The shearing mechanism comprises a scissor assembly with an adjusting assembly and a driving assembly for driving the scissor assembly;
the driving assembly comprises a driving motor fixed on the control box shell, a bidirectional screw rod which is rotatably and horizontally positioned in the control box shell and driven by the driving motor, and two sliding blocks which can horizontally move along the guide rail and are driven by the bidirectional screw rod;
the shear assembly comprises two shear arms which are respectively fixed on two sliding blocks and are respectively provided with a shear blade; each scissor arm comprises two telescopic rod sleeves which are respectively hinged on the sliding blocks and are parallel to each other, two telescopic rods which respectively extend out of the two telescopic rod sleeves in a sliding manner, a first cross rod, a second cross rod and a linear motor, wherein two ends of the first cross rod are respectively hinged with the front ends of the two telescopic rods, the second cross rod is arranged in parallel with the first cross rod, two ends of the second cross rod are respectively hinged with the middle parts of the two telescopic rods, and the linear motor is arranged parallel to the telescopic rod sleeves, and two ends of the linear motor are respectively hinged with the sliding blocks and the second cross rod.
The camera is fixed on an outer connecting plate of the mechanical arm connecting platform.
The negative pressure collecting box assembly comprises a box body, a collecting box and a spring type hasp, wherein a fan is arranged at the top of the box body, the side face of the box body is communicated with the flexible corrugated pipe, the collecting box is matched with the box body in a drawer mode, and the spring type hasp can lock the box body and the collecting box into a whole.
The left side of box body has been seted up the drawer mouth that is convenient for collect box business turn over, and the top is equipped with the installation cavity of installation fan, motor and battery, and the right side is equipped with the intercommunication the bellows connecting piece of flexible bellows.
The center of the top of the collecting box is provided with a curved plate for guiding air flow, the left side of the top is provided with a plurality of guide holes which are beneficial to air flow, and the right side of the top is an opening which is beneficial to the picked tea.
The wall parts of the installation cavity corresponding to the upper side and the lower side of the fan are provided with air vents required by air flow, so that a filter screen required by filtering tea leaves is formed.
The control integrated module is respectively connected with a steering engine, a miniature linear motor, a driving motor, an infrared correlation sensor and a camera in the tea scissors assembly through external signal wires, so that the operation of tea picking operation is uniformly controlled.
The invention has the following effective effects:
the wing support column and the guide plate can guide part of air flow generated when the wing rotates, so that tea leaves at the bottom of the wing support column and the guide plate cannot be affected by the air flow to shake.
The tea scissors assembly provided by the invention has the advantages that the blade is kept horizontal by utilizing the parallel four-bar mechanism, and the steering engine is utilized to adjust the angle of the connecting rod so as to improve the quality of the picked tea (the leaves are not damaged). The miniature linear motor is used for controlling the telescopic rod to stretch out and draw back, so that the blades on the left side and the right side are on the same horizontal plane. The two sliding blocks are driven by the driving motor to approach the middle simultaneously on the lead screw, so that the shearing function is realized.
According to the invention, the three-degree-of-freedom parallel mechanical arm drives the tea scissors assembly to move in a small range, and the unmanned aerial vehicle only needs to move according to a certain area. The control integrated module of the mechanical arm controls the steering engine in the tea scissors assembly to rotate and the miniature linear motor to work through an external signal wire besides controlling the three-degree-of-freedom direction movement of the mechanical arm.
The invention can effectively finish tea picking operation, remarkably improve picking efficiency, improve picking quality and greatly reduce labor intensity.
Drawings
Fig. 1 is a schematic diagram of the front view structure of the present invention.
Fig. 2 is a left-hand structural schematic of the present invention.
Fig. 3 is an enlarged schematic view of the unmanned aerial vehicle in fig. 1.
Fig. 4 is a schematic top view of the drone of fig. 1.
Fig. 5 is a schematic view of a front view structure of a pod in the unmanned aerial vehicle.
Fig. 6 is a schematic diagram of the front view of the negative pressure collecting box in the present invention.
Fig. 7 is a schematic perspective view of a negative pressure collecting box according to the present invention.
Fig. 8 is a schematic cross-sectional structure of fig. 6.
Fig. 9 is a schematic view of the cross-sectional A-A configuration of fig. 6.
Fig. 10 is a schematic view of the structure of the case (after the collecting box is removed in fig. 7) in the present invention.
Fig. 11 is a schematic view showing the structure of the collecting box (after the box is removed in fig. 7) in the present invention.
Fig. 12 is a schematic perspective view of a three-degree-of-freedom parallel mechanical arm according to the present invention.
Figure 13 is a schematic structural view of the tea scissors assembly in the working state.
Figure 14 is a schematic perspective view of a tea scissors assembly.
Figure 15 is a schematic view of the structure of the drive member in the tea scissors assembly (C-C view of figure 13).
Figure 16 is a schematic view of the driving structure of the steering engine in the tea scissors assembly.
Figure 17 is a schematic view of the tea scissors assembly of the present invention in a non-operative condition.
Fig. 18 is a schematic view of the blade adjustment process of the present invention.
Reference numerals:
1. unmanned plane; 1-1, rotating the wing; 1-2, a wing support column with a certain curvature; 1-3, a guide cover; 1-4, unmanned aerial vehicle body; 1-5, unmanned aerial vehicle big arm;
2. a negative pressure collection box assembly; 2-1, an upper cover of an induced draft cover; 2-2, a bellows connector; 2-3, a spring type hasp; 2-4, a power supply; 2-5, a motor; 2-6, a fan; 2-7, a net cover; 2-8, curved plate; 2-9, collecting box; 2-10, a box body; 2-11, open;
3. a flexible bellows;
4. three-degree-of-freedom parallel mechanical arms; 4-1, rotating the base; 4-2, a driver housing; 4-3, a second connecting rod; 4-4, top connector; 4-5, connecting the mechanical arm with a platform; 4-6, controlling the integrated module;
5. a tea scissors assembly; 5-1, controlling a box shell; 5-2, driving a motor; 5-3, sliding blocks; 5-4 bi-directional lead screws; 5-5, steering engine; 5-6 telescopic rod sleeves; 5-7 telescopic rods; 5-8, a first cross bar; 5-9, small belt wheels; 5-10, a belt; 5-11, large belt wheel; 5-12, a miniature linear motor; 5-13, blade arm; 5-14, blades; 5-15 tea leaves to be picked; 5-16, a second cross bar; 5-17, the articulated end of the scissor arm; 5-18, spline; 5-19, scissor arms.
6. And a camera.
Detailed Description
Further description will be given below of embodiments shown in the drawings.
The unmanned aerial vehicle tea picking device based on the scissor assembly parallel type is shown in the figure, and comprises an unmanned aerial vehicle 1, a negative pressure collecting box assembly 2, a flexible corrugated pipe 3, a three-degree-of-freedom parallel mechanical arm 4, a tea scissor assembly 5 and a camera 6.
As can be seen from fig. 1 to 4: unmanned aerial vehicle (prior art, purchased outsourced) contains four sets of wings 1-1, wing support columns 1-2 and unmanned aerial vehicle boom 1-5, an organism. The four unmanned aerial vehicle large arms are respectively fixed on the machine body from four directions, the four supporting arms 1-2 are respectively fixed on the four unmanned aerial vehicle large arms, and the wing 1-1 rotates on the supporting column 1-2 with certain curvature, so that the unmanned aerial vehicle is driven to lift and suspend in the air.
In the embodiment, a guide cover 1-3 is also arranged below each group of wings 1-1, and the guide cover is fixed (preferably, the guide cover is fixed by bolts; as can be seen from FIG. 5, a screw hole is formed on the guide cover) to support a large arm below; part of air flow generated by the wing is discharged to the side under the action of the air guide cover 1-3, so that the generated air flow can not influence tea leaves in the space Z direction, and the tea leaves can not shake during picking.
In the negative pressure collecting box assembly shown in fig. 6 to 10, a drawer opening which is convenient for the collecting box to go in and out is arranged on the left side of the box body 2-10, and an installation cavity is arranged at the top; the left half part in the installation cavity is provided with a fan 2-6 driven by a motor 2-5, and the parts of the wall part of the installation cavity corresponding to the upper edge and the lower edge of the fan are provided with air vents 2-1 required by air flow to form a filter screen required by filtering tea leaves and extracting air; the right half part is provided with a motor and a power supply (battery) 2-4; the right side of the box body is provided with a corrugated pipe connecting piece 2-2 communicated with the flexible corrugated pipe. The collection boxes 2-9 can enter the box body from the drawer opening to be matched with the box body in a drawer mode; the center of the top of the collecting box is provided with a curved plate 2-8 for guiding air flow, the left side of the top is provided with a plurality of flow guide holes 2-7 which are beneficial to air flow, and the right side of the top is provided with an opening 2-11 which is beneficial to the entrance of picked tea; the top inner wall of the collecting box is also provided with an infrared correlation sensor (which is directly available and omitted in the figure) for detecting whether the tea leaves are full. The outside of the negative pressure collecting box assembly is provided with a snap-on 2-3 (outsource member) so that the box body and the collecting box can be locked into one body.
As can be seen from fig. 8: the power supply 2-4 and the motor module 2-5 supply power to the fan, and when the fan runs at a high speed, air negative pressure is generated in the box body. The cut tea leaves and the air flow direction (shown by arrow D) are as follows: the flexible corrugated pipe, the corrugated pipe connecting piece and the box body enter the collecting box under the flow guiding action of the curved plate; wherein, tealeaves stays in the collecting box under the blocking effect of filter screen, and air then passes through water conservancy diversion hole and ventilation opening 2-7 and discharges the box.
As shown in fig. 1, the upper end of the flexible bellows 3 is communicated with the negative pressure collecting box body through a bellows connecting piece 2-2, and the bottom end is tied on a three-degree-of-freedom parallel mechanical arm close to the upper part of the tea scissors assembly through a flexible rope (omitted in the figure). The camera 6 is fixed on an external board of the mechanical arm connecting platform 4-5 and is responsible for searching and distinguishing tea leaves to be collected. After the collected tea leaves are found, the fan works to generate negative pressure, the tea leaves are adsorbed at an air suction opening (an inlet at the bottom end of the corrugated pipe) by the negative pressure, and then the blades 5-13 shear off stems (close to She Zichu) of the tea leaves; the sheared tea leaves enter the collecting box body through the corrugated pipe.
In fig. 12, a three degree-of-freedom parallel robot arm (prior art, purchased outsourced) includes a control box 4-6 (control box inside which a control integrated module is installed) fixed to the bottom end of a negative pressure collector through a top connector 4-4, three driver cases 4-2 (drivers are installed inside the cases) uniformly arranged around the control box, and three moving chains connected in parallel between the three driver cases and a connection platform 4-5 and having the same structure; each kinematic chain comprises a first revolute pair, a first connecting rod, a second revolute pair, a second connecting rod 4-3 and a third revolute pair which are sequentially connected between the driver shell and the connecting platform; the rotation axes of the first rotation pair, the second rotation pair and the third rotation pair are mutually parallel, and in the three kinematic chains, the rotation axes of the three first rotation pairs form an equilateral triangle and are positioned on the same plane. The three-degree-of-freedom parallel mechanical arm is fixed below the negative pressure collecting assembly 2 through a top connecting piece 4-4; when the unmanned aerial vehicle stays in the proper range of the target area, the three-degree-of-freedom parallel mechanical arm is used for position adjustment, so that the blades 5-14 in the tea scissors assembly 5 are close to stems of tea leaves to be picked and are adjusted to an angle suitable for the shape of the tea leaves (the V-shaped formed by the two blade arm parts 5-13 is matched with the V-shaped formed by one tooth and one leaf of the tea leaves as much as possible, see fig. 13, so as to avoid damage to the tea leaves).
As can be seen from fig. 13: the driving motor 5-2 is fixed above the connecting piece 5-1 (the connecting piece is fastened on the mechanical arm connecting platform 4-5) and drives the small belt pulley 5-9 on the motor shaft to rotate, and the small belt pulley 5-9 drives the large belt pulley 5-11 by adopting belt transmission; the connecting piece is also provided with a battery which is communicated with the driving motor.
As can be seen from fig. 15: the left half and the right half of the bidirectional screw rod 5-4 are respectively provided with positive and negative threads; the bidirectional screw rod is rotatably and horizontally positioned on the control box shell through a bearing, and a guide rail (omitted in the figure) which is parallel to the bidirectional screw rod is arranged; the large belt wheel 5-11 is fixed at the right end of the bidirectional screw rod, and the two sliding blocks 5-3 which can be in sliding fit with the guide rail are respectively provided with a nut which is in positive and negative screw thread and can be matched with the bidirectional screw rod, so that the two sliding blocks can move left and right under the drive of the bidirectional screw rod. Wherein each slide is connected to a scissor arm 5-19. After the driving motor is started, the bidirectional screw rod is enabled to rotate through the small belt wheel and the large belt wheel to drive the two sliding blocks to move in opposite directions, and blades carried by the telescopic rod groups below the two sliding blocks are mutually close to each other, so that shearing movement is realized.
Also shown in fig. 13 is: each scissor arm comprises two telescopic rod sleeves 5-6 which are respectively hinged on the sliding block and are parallel to each other; two telescopic rods 5-7 respectively extending out of the two telescopic rod sleeves, and the front ends of the two telescopic rods are respectively hinged with the two ends of the first cross rod 5-8, so that a plane four-rod mechanism is formed; the middle parts of the two telescopic rods are also hinged with the two ends of the second cross rod 5-16 respectively. The other linear motor 5-12 is arranged, and two ends of the linear motor are respectively hinged to the middle parts of the sliding block and the second cross rod; after the linear motor is started, the linear motor drives the telescopic rod to stretch out and draw back, so that the telescopic rod 5-7 stretches out and draws back in the telescopic rod sleeve 5-6, and the blades on the left side and the right side can be adjusted to be positioned on the same horizontal plane.
In each scissor arm, a steering engine 5-5 is fixed on a sliding block, and a spline 5-8 is arranged on a steering engine shaft; the shaft hole of the telescopic rod sleeve hinging block is made into a spline groove matched with the spline; the steering engine is started to drive the telescopic rod sleeve to swing to change the angle (the included angle between the axis of the telescopic rod sleeve and the horizontal plane), so that the V-shaped formed by the blade arm parts 5-13 and one tooth and one leaf of tea leaves is matched as much as possible.
FIG. 18 shows the blade adjustment process; after a photo shot by a camera is processed by visual recognition software (the prior art), the rotation of the telescopic rod sleeve is controlled by adjusting a steering engine on the sliding block according to different alpha and beta angles of each tea, so that the included angle between the blade arm parts 5-13 and a horizontal line is equal to beta. The state 2 refers to that the blades 5-14 on the left side and the right side of the tea are on the same horizontal plane through the extension and contraction of the extension rod. The state 3 means that the sliding blocks 5-18 on the left side and the right side simultaneously move to the middle to further drive the blades to cut off the stems of the tea leaves.
The control box integrated module is connected with the three drivers and is provided with visual recognition software, and the control box integrated module is also connected with a steering engine, a miniature linear motor, a driving motor, an infrared correlation sensor and a camera in the tea scissors assembly through external signal wires, so that the operation of tea picking operation is uniformly controlled.
The working principle of the invention is as follows:
the unmanned aerial vehicle drives the whole structure to a target area, and approaches an operation object under the guidance of a signal shot by a camera; the three-degree-of-freedom parallel mechanical arm drives the tea scissors assembly to pick in a certain range, wherein the steering engine drives the telescopic rod sleeve to rotate, so that the blade wall parts on the left side and the right side are respectively parallel to one bud and one leaf of tea, and the linear motor drives the telescopic rod to realize extension and retraction, so that the blades on the left side and the right side are in the same horizontal plane. Finally, the driving motor drives the bidirectional screw rod to rotate through the large belt wheel and the small belt wheel, so that two blades carried by the two sliding blocks are simultaneously close to the middle, and tea leaves are sheared. After the tea is sheared, the sheared tea enters the collecting box through the corrugated pipe under the action of the negative pressure device, and after the infrared correlation sensor in the collecting box detects the full tea, the unmanned aerial vehicle flies back and the collecting box is replaced manually.
Finally, it should be noted that the above list is only specific embodiments of the present invention. Obviously, the invention is not limited to the above embodiments, but many variations are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present invention.
Claims (8)
1. A unmanned aerial vehicle tea-picking device based on a scissor assembly parallel type comprises an unmanned aerial vehicle (1); the method is characterized in that: the device also comprises a negative pressure collecting box assembly (2) arranged below the unmanned aerial vehicle body, a tea scissors assembly (5) arranged below the negative pressure collecting box assembly and carried by a three-degree-of-freedom parallel mechanical arm, a camera (6) and a flexible corrugated pipe (3) communicated with the negative pressure collecting box assembly for conveying collected tea leaves to the negative pressure collecting box assembly; the three-degree-of-freedom parallel mechanical arm is also provided with a control integrated module for uniformly controlling the work of each part;
the tea scissors assembly comprises a scissors assembly with an adjusting assembly and a driving assembly for driving the scissors assembly;
the driving assembly comprises a driving motor (5-2) fixed on the control box shell (5-1), a bidirectional screw rod (5-4) rotatably and horizontally positioned in the control box shell and driven by the driving motor, and two sliding blocks (5-3) horizontally movable along the guide rail and driven by the bidirectional screw rod;
the scissors assembly comprises two scissors arms (5-9) which are respectively fixed on the two sliding blocks and are respectively provided with a shearing blade; each scissor arm comprises two telescopic rod sleeves (5-6) which are respectively hinged on the sliding blocks and are parallel to each other, two telescopic rods (5-7) which respectively extend out of the two telescopic rod sleeves in a sliding way, a first cross rod (5-8) with two ends respectively hinged with the front ends of the two telescopic rods, a second cross rod (5-16) which is parallel to the first cross rod and with two ends respectively hinged with the middle parts of the two telescopic rods, and a linear motor (5-12) which is parallel to the telescopic rod sleeves and with two ends respectively hinged with the sliding blocks and the second cross rod;
in each scissor arm, a steering engine (5-5) is fixed on the sliding block; the steering engine can drive the telescopic rod sleeve to swing to change the angle when started; the bottom of the first cross rod (5-8) is connected with the blade arm part (5-13), the blade arm part (5-13) is connected with the blade (5-14), and the two blade arm parts (5-13) form a V shape.
2. The unmanned aerial vehicle tea-picking device based on scissor assemblies in parallel according to claim 1; the method is characterized in that: a guide cover (1-3) is arranged below each wing of the unmanned aerial vehicle so as to avoid disturbing tea leaves to be picked below.
3. The unmanned aerial vehicle tea-picking device based on scissor assemblies in parallel according to claim 2; the method is characterized in that: the camera is fixed on an outer connecting plate of the mechanical arm connecting platform.
4. A scissor assembly parallel-based unmanned aerial vehicle tea-picking device as claimed in claim 3; the method is characterized in that: the negative pressure collecting box assembly comprises a box body (2-10) with a fan (2-6) arranged at the top and communicated with the flexible corrugated pipe at the side surface, a collecting box (2-9) matched with the box body in a drawer mode, and a spring type hasp (2-3) capable of locking the box body and the collecting box into a whole.
5. The unmanned aerial vehicle tea-picking device based on scissor assemblies in parallel according to claim 4; the method is characterized in that: the left side of box body has offered the drawer mouth that is convenient for collect box business turn over, and the top is equipped with the installation cavity of installation fan, motor and battery, and the right side is equipped with intercommunication bellows connecting piece (2-2) of flexible bellows.
6. The unmanned aerial vehicle tea-picking device based on scissor assemblies in parallel according to claim 5; the method is characterized in that: the center of the top of the collecting box is provided with a curved plate (2-8) for guiding air flow, the left side of the top of the collecting box is provided with a plurality of guide holes (2-7) which are beneficial to air flow, and the right side of the top of the collecting box is provided with an opening (2-11) which is beneficial to the entrance of picked tea.
7. The unmanned aerial vehicle tea-picking device based on scissor assemblies in parallel according to claim 6; the method is characterized in that: the wall parts of the installation cavity corresponding to the upper side and the lower side of the fan are provided with air vents (2-1) required by air flow, so that a filter screen required by filtering tea leaves is formed.
8. The unmanned aerial vehicle tea-picking device based on scissor assemblies in parallel according to claim 7; the method is characterized in that: the control integrated module is respectively connected with a steering engine, a miniature linear motor, a driving motor, an infrared correlation sensor and a camera in the tea scissors assembly through external signal wires, so that the operation of tea picking operation is uniformly controlled.
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| CN210678700U (en) * | 2019-10-15 | 2020-06-05 | 山东科技大学 | Automatic feeding and discharging manipulator of carrier roller spraying production line |
| CN213054884U (en) * | 2020-07-17 | 2021-04-27 | 上海乐白机器人有限公司 | Lead screw driving type mechanical gripper |
| CN112154784A (en) * | 2020-08-20 | 2021-01-01 | 浙江工业大学 | Picking end effector with blade cleaning function |
| CN112172595A (en) * | 2020-09-16 | 2021-01-05 | 燕山大学 | Unmanned aerial vehicle battery replacement base station and method based on parallel mechanism |
| CN113519269A (en) * | 2021-07-10 | 2021-10-22 | 石台县德馨农业科技有限公司 | Intelligent tea picking robot capable of recognizing and simulating hands through artificial intelligence |
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