CN116872228B - Orchard operation robot capable of stably lifting - Google Patents
Orchard operation robot capable of stably lifting Download PDFInfo
- Publication number
- CN116872228B CN116872228B CN202310984900.3A CN202310984900A CN116872228B CN 116872228 B CN116872228 B CN 116872228B CN 202310984900 A CN202310984900 A CN 202310984900A CN 116872228 B CN116872228 B CN 116872228B
- Authority
- CN
- China
- Prior art keywords
- frame
- air
- collecting
- fruits
- collecting frame
- 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
- 239000002420 orchard Substances 0.000 title claims abstract description 15
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 88
- 238000004140 cleaning Methods 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 239000012535 impurity Substances 0.000 claims description 11
- 230000003137 locomotive effect Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 4
- 210000003437 trachea Anatomy 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 claims 5
- 230000003139 buffering effect Effects 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 4
- 230000003749 cleanliness Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000003434 inspiratory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N12/00—Machines for cleaning, blanching, drying or roasting fruits or vegetables, e.g. coffee, cocoa, nuts
- A23N12/06—Machines for cleaning, blanching, drying or roasting fruits or vegetables, e.g. coffee, cocoa, nuts for washing or blanching, combined with subsequent drying
Abstract
The invention discloses a stably lifting orchard operation robot, which relates to the field of agricultural tools and comprises a moving vehicle, wherein the top end of the moving vehicle is movably connected with a moving frame, the lower part of the moving frame is connected with a collecting frame, the top end of the moving vehicle is provided with a limiting mechanism, the moving frame moves through the limiting mechanism, the top end of the moving frame is provided with a cross beam, the top end of the cross beam is provided with a collecting mechanical arm, the collecting mechanical arm is used for collecting fruits, and the side surface of the moving frame is provided with a cleaning box. According to the fruit cleaning device, when fruits are collected, the fruits are limited through the air holes formed in the collecting frame, when the collecting frame moves downwards, the air pump is reversely started, and air of the collecting frame is discharged through the cleaning box, so that cleaning sponge can be cleaned, fruits can be limited through the air holes by negative pressure generated in the collecting frame, shaking of the fruits when the collecting frame moves downwards is reduced, and stability is improved.
Description
Technical Field
The invention relates to the field of agricultural tools, in particular to a stable lifting orchard operation robot.
Background
Orchard is the garden of planting fruit tree, and the fruit tree of planting is higher generally, when fruit on fruit tree top is picked, need artifical ladder to ascend a height or pick fruit on fruit tree top etc. and pick, but in picking the in-process, because high scheduling problem causes fruit to receive the damage very easily, influence fruit quality, this, can adopt the operation robot to gather the fruit on top among the prior art, current picking operation robot can generally adopt the track frame, drive the operating device who has the arm and remove fruit tree below, promote the arm through the pneumatic cylinder and remove fruit tree top, pick fruit through arm, cutting mechanism etc. then remove fruit in the frame through the arm, place fruit.
However, in the existing robot, the collected fruits are usually directly placed in the collecting frame in the collecting process, but the fruits are usually directly exposed outside, impurities (muddy water and the like) are easy to remain on the surfaces of the fruits, the fruits are manually cleaned after being transported to the lower side in the collecting frame, the operation efficiency is low, the collecting frame is required to be driven to move to the lower side after being fully collected in the collecting frame, the fruits are taken out of the robot in a mode of replacing the collecting frame and the like, in the moving process, the shaking of the collecting frame is easy to occur due to the vibration generated by the motor and the uneven moving speed, the fruit is easy to move and collide and the like, and the quality of the fruits is reduced.
Disclosure of Invention
Based on the above, the invention aims to provide a stable lifting orchard operation robot so as to solve the technical problem that fruits are easy to damage when moving.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an orchard work robot of stable lift, includes the locomotive, the top swing joint of locomotive has the movable frame, and the below of movable frame is connected with collects the frame, the top of locomotive is provided with stop gear, and the movable frame passes through stop gear activity, the crossbeam is installed on the top of movable frame, gather the arm on the top of crossbeam, gather the arm and gather fruit, the clearance box has been seted up to the side of movable frame, and the internally mounted of clearance box has the clearance sponge, the air cavity has been seted up to the movable frame inside, air cavity internally mounted has the air pump, the collecting plate has been seted up to the inside of collecting the frame, the gas pocket has been seted up on the top of collecting the plate with separate the net, the lateral wall internally connected of collecting the frame has the trachea, and tracheal tip extends to the outside of collecting the frame and the inside air cavity alignment of movable frame.
Through adopting above-mentioned technical scheme, can be convenient gather fruit, and clear up fruit after gathering to also clear up collecting the frame, when collecting the frame downwards, can carry out further spacing to fruit through the negative pressure in the collecting the frame, reduce fruit and rock.
The invention is further characterized in that the top end of the mobile vehicle is provided with folding guide rails, a buffer cushion is arranged between the folding guide rails at the top end of the mobile vehicle, and the outer wall of the folding guide rails is provided with a plurality of groups of limiting holes.
Through adopting above-mentioned technical scheme, conveniently expand folding guide rail and pack up, reduce area occupied.
The invention is further arranged that a clamping mechanism is arranged at the outer side of the folding guide rail at the end part of the movable frame, the clamping mechanism comprises a clamping plate, a movable motor and an electromagnet, the clamping plate is arranged at the outer side of the folding guide rail, the output end of the movable motor is connected with a rotating wheel, and a clamping groove matched with the movable wheel is arranged on the outer wall of the folding guide rail.
Through adopting above-mentioned technical scheme, can conveniently drive the movable frame and remove in folding guide rail outside.
The invention is further arranged that the output end of the electromagnet is connected with the plug-in block, the interior of the plug-in block is provided with the groove, the groove is internally provided with the limiting plate and the return spring, the limiting plate is fixedly connected with the clamping mechanism, and the end part of the plug-in block is matched with the limiting hole.
Through adopting above-mentioned technical scheme, conveniently fix spacing through electro-magnet and grafting piece to removing the frame.
The invention is further characterized in that the top end of the collecting frame is provided with a clamping edge, the collecting frame is connected with the movable frame in a clamping way through the clamping edge, and the end part of the air pipe is positioned below the clamping edge.
Through adopting above-mentioned technical scheme, conveniently carry out spacingly to removing through the block limit and collect the frame.
The invention is further characterized in that a plurality of groups of buffer air cushions are arranged in the collecting frame, the buffer air cushions are positioned below the collecting plate, and each group of buffer air cushions are arranged at intervals with the air holes.
Through adopting above-mentioned technical scheme, can absorb the impact force when collecting the board through buffer air cushion to fruit placement to reduce the rocking of fruit.
The invention is further characterized in that two groups of guide strips are arranged at the top end of the movable frame, two ends of the cross beam are connected with a moving mechanism, a driving motor and a driving wheel are arranged in the moving mechanism, and the moving mechanism is in limit connection with the movable frame through the guide strips.
Through adopting above-mentioned technical scheme, can conveniently remove the crossbeam to drive and gather the arm and remove in collection frame top.
In summary, the invention has the following advantages:
1. according to the fruit cleaning device, the collection frame and the movable frame are arranged, so that the surfaces of fruits can be cleaned through the cleaning box, the cleaning sponge and the air pump in the fruit collection process, and the cleanliness of the fruits is improved.
2. According to the fruit cleaning device, fruits are cleaned, meanwhile, air flow is injected into the collecting frame through the air pump, the air flow flows in the collecting frame, the collecting frame can be dried, the air flow is sprayed out through the air holes and the separating net, the sprayed upward air flow can be used for spraying out fallen leaves and impurities cleaned by the fruits, and impurities are reduced to be accumulated in the collecting frame.
3. And when the collecting frame moves downwards, the air pump is reversely started to discharge the air of the collecting frame through the cleaning box, so that the cleaning sponge can be cleaned, the fruits can be limited through the air holes by negative pressure generated in the collecting frame, shaking of the fruits when the collecting frame moves downwards is reduced, and the stability is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the invention at the time of collection;
FIG. 2 is a schematic view of a folding guide rail structure in the folding state of the invention;
FIG. 3 is a schematic view of a collecting explosion structure according to the present invention;
FIG. 4 is a schematic diagram of a structure of a collection frame and a movable frame of the present invention;
FIG. 5 is a schematic view of the structure of FIG. 4 at a partially enlarged scale according to the present invention;
FIG. 6 is a schematic diagram of a locking structure of a movable frame and a folding guide rail according to the present invention;
FIG. 7 is a schematic view of a partially enlarged structure of the present invention at B in FIG. 6;
FIG. 8 is a schematic view of the air pipe installation structure of the present invention;
FIG. 9 is a schematic diagram of the air pipe distribution and buffer air cushion structure of the present invention.
In the figure: 1. a moving vehicle; 101. a cushion pad; 102. folding the guide rail; 103. a limiting hole; 2. a collection frame; 201. a clamping edge; 202. a buffer air cushion; 203. an air pipe; 3. a moving rack; 301. cleaning the box; 302. a clamping mechanism; 303. a guide bar; 304. cleaning the sponge; 305. an air pump; 306. an electromagnet; 307. a plug block; 308. a limiting plate; 309. a return spring; 4. a cross beam; 401. a moving mechanism; 5. a mechanical arm is collected; 6. a collection plate; 601. air holes; 602. a separation net.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Hereinafter, an embodiment of the present invention will be described in accordance with its entire structure.
The utility model provides a stable orchard operation robot who goes up and down, as shown in figure 1, including locomotive 1, the top swing joint of locomotive 1 has movable frame 3, and the below of movable frame 3 is connected with collects frame 2, the block limit 201 has been seted up on the top of collecting frame 2, collect frame 2 and be connected through block limit 201 and movable frame 3 block, the tip of trachea 203 is located the below of block limit 201, the top of locomotive 1 is provided with stop gear, movable frame 3 passes through stop gear activity, drive movable frame 3 and collection frame 2 remove, the convenience is gathered the fruit of different height, crossbeam 4 is installed at the top of movable frame 3, collection arm 5 is installed at the top of crossbeam 4, collection arm 5 gathers fruit, control collection arm 5 through manual operation, make collection arm 5 gather fruit, clearance box 301 has been seted up to the side of movable frame 3, the cleaning sponge 304 is arranged in the cleaning box 301, the air cavity is arranged in the moving frame 3, the air pump 305 is arranged in the air cavity, the collecting plate 6 is arranged in the collecting frame 2, the air holes 601 and the separating net 602 are arranged at the top end of the collecting plate 6, the multiple groups of buffer air cushions 202 are arranged in the collecting frame 2, the buffer air cushions 202 are arranged below the collecting plate 6, each group of buffer air cushions 202 and the air holes 601 are arranged at intervals, the air pipe 203 is connected in the side wall of the collecting frame 2, the end part of the air pipe 203 extends to the outer side of the collecting frame 2 and aligns with the air cavity in the moving frame 3, after the fruits are collected, the fruits are driven to be close to the top end of the cleaning box 301 through the collecting mechanical arm 5, the surfaces of the fruits are attached to the cleaning sponge 304, at the moment, the multiple groups of air pumps 305 are started, the air pumps 305 suck the external air into the air cavity in the moving frame 3 through the cleaning sponge 304, the collecting mechanical arm 5 is started to rotate the fruits, the fruit surface is cleaned through the friction of air current and clearance sponge 304, improve the cleanliness factor of fruit, reduce subsequent handling, the in-process is cleaned simultaneously, the inspiratory air current can enter into through trachea 203 and collect in the frame 2, the air current enters into the collecting plate 6 below of collecting frame 2, and through gas pocket 601 and separate net 602 and discharge, the air current discharge that this moment drives the inside circulation of air of collecting frame 2, moisture etc. in the collecting frame 2 are dried, reduce the circumstances such as collecting frame 2 mildews, and simultaneously the air current can be discharged through the top of gas pocket 601 towards collecting frame 2, make fallen leaves, impurity etc. of fruit clearance when falling to collecting frame 2 inside, spout the clearance through ascending air current to impurity, the probability that impurity enters into collecting frame 2 has been reduced, further guaranteed the cleanness of fruit.
Referring to fig. 1, 2 and 7, a folding guide rail 102 is provided at the top end of the mobile vehicle 1, a buffer pad 101 is installed between the folding guide rails 102 at the top end of the mobile vehicle 1, a plurality of groups of limiting holes 103 are provided at the outer wall of the folding guide rail 102, a clamping mechanism 302 is provided at the outer side of the folding guide rail 102 at the end of the mobile frame 3, the clamping mechanism 302 comprises a clamping plate, a mobile motor and an electromagnet 306, the clamping plate is provided at the outer side of the folding guide rail 102, the output end of the mobile motor is connected with a rotating wheel, a clamping groove matched with the moving wheel is provided at the outer wall of the folding guide rail 102, the output end of the electromagnet 306 is connected with a plug-in block 307, a groove is provided in the plug-in block 307, a limiting plate 308 and a return spring 309 are provided in the groove, the limiting plate 308 is fixedly connected with the clamping mechanism 302, the end of the plug-in block 307 is matched with the limiting holes 103, and can conveniently drive the mobile frame 3 to move or limit the mobile frame 3.
Referring to fig. 2 and 3, two sets of guide bars 303 are provided at the top end of the moving frame 3, two ends of the cross beam 4 are connected with a moving mechanism 401, a driving motor and a driving wheel are installed in the moving mechanism 401, and the moving mechanism 401 is in limit connection with the moving frame 3 through the guide bars 303, so as to conveniently drive the collecting mechanical arm 5 to move above the collecting frame 2.
Before fruit is collected, the folding guide rail 102 is required to be rotated to enable the folding guide rail 102 to be unfolded, then a group of collecting frames 2 are clamped below the movable frame 3, the air pipe 203 on the side face of the movable frame 3 is aligned with the air cavity inside the movable frame 3, the air cavity is sealed through the collecting frames 2, then the movable frame 3 is driven to move outside the folding guide rail 102 by starting the movable motor, simultaneously, the electromagnet 306 is powered, the electromagnet 306 attracts the inserting block 307 to move to squeeze the return spring 309 and far away from the folding guide rail 102, after the movable frame 3 moves to a proper position, the movable motor and the electromagnet 306 are closed, at the moment, the inserting block 307 is inserted into the limiting hole 103 on the side face of the folding guide rail 102 under the action of the return spring 309, so that the movable frame 3 is limited, the movable frame 3 is moved, then, the mobile equipment in the moving mechanism 401 is started to drive the cross beam 4 to move, so that the collecting mechanical arm 5 can approach fruit trees, then the collecting mechanical arm 5 is controlled by manual operation, the collecting mechanical arm 5 is used for collecting fruits, after the fruits are collected, the collecting mechanical arm 5 is used for driving the fruits to approach the top end of the cleaning box 301, the surfaces of the fruits are attached to the cleaning sponge 304, at the moment, a plurality of groups of air pumps 305 are started, the air pumps 305 suck external air into the air cavity in the moving frame 3 through the cleaning sponge 304, the collecting mechanical arm 5 is started to rotate the fruits, the surfaces of the fruits are cleaned through the air flow and friction of the cleaning sponge 304, the cleanliness of the fruits is improved, the subsequent treatment is reduced, meanwhile, the sucked air flow enters the collecting frame 2 through the air pipe 203, the air flow enters the lower part of the collecting plate 6 of the collecting frame 2 and is discharged through the air holes 601 and the separation net 602, the air flow is discharged to drive the air inside the collecting frame 2 to circulate, moisture and the like in the collecting frame 2 are dried, the conditions of mildew and the like of the collecting frame 2 are reduced, meanwhile, the air flow can be discharged towards the upper side of the collecting frame 2 through the air holes 601, so that when falling into the collecting frame 2, impurities and the like cleaned by fallen leaves and fruits are sprayed out and cleaned through the upward air flow, the probability of the impurities entering the collecting frame 2 is reduced, the cleanness of the fruits is further ensured, after the fruits are cleaned, the fruits are transported through the collecting mechanical arm 5, the fruits are enabled to be in the collecting frame 2 firstly, the fruits are limited through the air holes 601, and when the fruits are placed, the fruits are protected through the buffer air cushion 202;
when fruits are all collected, the collecting frame 2 needs to be replaced, the air pump 305 is reversely started, air in the collecting frame 2 is pumped into the cleaning box 301, the air flow reversely passes through the cleaning sponge 304, so that the cleaning sponge 304 is cleaned, meanwhile, negative pressure in the collecting frame 2 limits the fruits through the air holes 601, then the power supply of the moving motor and the electromagnet 306 is connected, the limit of the moving frame 3 is relieved, the moving frame 3 is driven to move downwards, the fruits are limited through the air holes 601 in the moving process, shaking of the fruits is reduced, the screen 602 can be contacted with the outside air, so that fruit damage caused by overlarge negative pressure is avoided, the stability of the fruits during operation is improved, after the collecting frame 2 is attached to the cushion pad 101, the moving motor is closed, the air pump 305 is closed, the collecting frame 2 is taken down, the new collecting frame 2 is replaced, and the fruits are continuously collected.
Although embodiments of the invention have been shown and described, the detailed description is to be construed as exemplary only and is not limiting of the invention as the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples, and modifications, substitutions, variations, etc. may be made in the embodiments as desired by those skilled in the art without departing from the principles and spirit of the invention, provided that such modifications are within the scope of the appended claims.
Claims (7)
1. The utility model provides an orchard work robot of stable lift, includes locomotive (1), the top swing joint of locomotive (1) has movable frame (3), and the below of movable frame (3) is connected with collects frame (2), its characterized in that: the fruit cleaning device is characterized in that a limiting mechanism is arranged at the top end of the moving vehicle (1), the moving frame (3) moves through the limiting mechanism, a cross beam (4) is arranged at the top end of the moving frame (3), an acquisition mechanical arm (5) is arranged at the top end of the cross beam (4), the acquisition mechanical arm (5) is used for acquiring fruits, a cleaning box (301) is arranged on the side surface of the moving frame (3), a cleaning sponge (304) is arranged in the cleaning box (301), an air cavity is arranged in the moving frame (3), an air pump (305) is arranged in the air cavity, a collecting plate (6) is arranged in the collecting frame (2), an air hole (601) and a separation net (602) are arranged at the top end of the collecting plate (6), an air pipe (203) is connected to the inner side wall of the collecting frame (2), and the end part of the air pipe (203) extends to the outer side of the collecting frame (2) to be aligned with the air cavity in the moving frame (3).
After collection, the fruit is driven by the collection mechanical arm (5) to be close to the top end of the cleaning box (301), the fruit surface is attached to the cleaning sponge (304), a plurality of groups of air pumps (305) are started at the moment, the air pumps (305) suck external air into the air cavity in the movable frame (3) through the cleaning sponge (304), the collection mechanical arm (5) is started to rotate the fruit, the fruit surface is cleaned through air flow and friction of the cleaning sponge (304), meanwhile, in the cleaning process, the sucked air flow enters the collecting frame (2) through the air pipe (203), the air flow enters the lower part of the collecting plate (6) of the collecting frame (2), and is discharged through the air holes (601) and the separation net (602), at the moment, the air flow is discharged to drive the air inside the collecting frame (2) to circulate, moisture in the collecting frame (2) is dried, the mildewing condition of the collecting frame (2) is reduced, and meanwhile, when the air flow falls into the collecting frame (2) to the upper part of the collecting frame (2), the impurities of the fruits are cleaned, and the impurities are further cleaned through the upward air flow, and the impurities are guaranteed to enter the collecting frame (2);
after all fruits are collected, the collecting frame (2) needs to be replaced, the air pump (305) is reversely started, air in the collecting frame (2) is pumped into the cleaning box (301), the air flow reversely passes through the cleaning sponge (304), the cleaning sponge (304) is cleaned, and meanwhile, negative pressure in the collecting frame (2) can limit the fruits through the air holes (601).
2. The stably elevating orchard robot of claim 1, wherein: folding guide rail (102) have been seted up on the top of locomotive (1), blotter (101) are installed between folding guide rail (102) in the top of locomotive (1), and multiunit spacing hole (103) have been seted up to the outer wall of folding guide rail (102).
3. The stably elevating orchard robot of claim 2, wherein: the end of the movable frame (3) is located at the outer side of the folding guide rail (102) and provided with a clamping mechanism (302), the clamping mechanism (302) comprises a clamping plate, a movable motor and an electromagnet (306), the clamping plate is located at the outer side of the folding guide rail (102), the output end of the movable motor is connected with a rotating wheel, and the outer wall of the folding guide rail (102) is provided with a clamping groove matched with the movable wheel.
4. A stable lifting orchard robot according to claim 3, wherein: the output end of the electromagnet (306) is connected with a plug-in block (307), a groove is formed in the plug-in block (307), a limiting plate (308) and a return spring (309) are arranged in the groove, the limiting plate (308) is fixedly connected with the clamping mechanism (302), and the end part of the plug-in block (307) is matched with the limiting hole (103).
5. The stably elevating orchard robot of claim 1, wherein: the top of collection frame (2) has seted up block limit (201), collection frame (2) are connected with movable frame (3) block through block limit (201), the tip of trachea (203) is located the below of block limit (201).
6. The stably elevating orchard robot of claim 1, wherein: the inside of collecting frame (2) is installed multiunit buffering air cushion (202), buffering air cushion (202) are located the below of collecting plate (6), and every group buffering air cushion (202) and gas pocket (601) interval setting.
7. The stably elevating orchard robot of claim 1, wherein: two groups of guide strips (303) are arranged at the top end of the movable frame (3), two ends of the cross beam (4) are connected with a movable mechanism (401), a driving motor and a driving wheel are arranged in the movable mechanism (401), and the movable mechanism (401) is in limiting connection with the movable frame (3) through the guide strips (303).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310984900.3A CN116872228B (en) | 2023-08-07 | 2023-08-07 | Orchard operation robot capable of stably lifting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310984900.3A CN116872228B (en) | 2023-08-07 | 2023-08-07 | Orchard operation robot capable of stably lifting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116872228A CN116872228A (en) | 2023-10-13 |
| CN116872228B true CN116872228B (en) | 2024-01-30 |
Family
ID=88254968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310984900.3A Active CN116872228B (en) | 2023-08-07 | 2023-08-07 | Orchard operation robot capable of stably lifting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116872228B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5113644A (en) * | 1991-07-30 | 1992-05-19 | Donald Windemuller | Blueberry picking machine |
| CN203423994U (en) * | 2013-07-24 | 2014-02-12 | 新疆农业科学院农业机械化研究所 | Traction type forest fruit vibration harvesting device |
| CN110973661A (en) * | 2019-12-18 | 2020-04-10 | 湖南工业大学 | Orchard fruit washs uses high-efficient device |
| CN210928683U (en) * | 2019-10-31 | 2020-07-07 | 郑州科技学院 | Novel fruit picking machine |
| CN115529933A (en) * | 2022-11-07 | 2022-12-30 | 北京林业大学 | Wolfberry picking, collecting and screening device and using method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110139552B (en) * | 2016-11-08 | 2023-08-15 | 道格图斯科技有限公司 | Robot fruit picking system |
-
2023
- 2023-08-07 CN CN202310984900.3A patent/CN116872228B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5113644A (en) * | 1991-07-30 | 1992-05-19 | Donald Windemuller | Blueberry picking machine |
| CN203423994U (en) * | 2013-07-24 | 2014-02-12 | 新疆农业科学院农业机械化研究所 | Traction type forest fruit vibration harvesting device |
| CN210928683U (en) * | 2019-10-31 | 2020-07-07 | 郑州科技学院 | Novel fruit picking machine |
| CN110973661A (en) * | 2019-12-18 | 2020-04-10 | 湖南工业大学 | Orchard fruit washs uses high-efficient device |
| CN115529933A (en) * | 2022-11-07 | 2022-12-30 | 北京林业大学 | Wolfberry picking, collecting and screening device and using method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116872228A (en) | 2023-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210358228U (en) | Electrostatic dust removal equipment for surface of plate | |
| CN204657028U (en) | For the cleaner of sheet fabrication line | |
| CN107856140A (en) | A kind of router machine bed with waste disposal function | |
| CN111957627A (en) | Dust removal powder cleaning device that dispels in wallboard processing | |
| CN207155009U (en) | A kind of laser cutting machine tool high effect dust cleaner | |
| CN116872228B (en) | Orchard operation robot capable of stably lifting | |
| CN209448254U (en) | Dustproof ventilated heat radiating type power distribution cabinet | |
| CN210928683U (en) | Novel fruit picking machine | |
| CN207754103U (en) | A kind of low loss rate picker of tealeaves for ancient tea tree | |
| CN213379947U (en) | Wet-type dust removal cutting platform | |
| CN211936036U (en) | Dust collection processing device of wooden door cutting equipment | |
| CN211656892U (en) | Hand-push type fruit picking device | |
| CN208466588U (en) | A kind of kiln car automatic cleaning machine | |
| CN220140739U (en) | Impurity leaf clearing device after fruit picking | |
| CN111086915A (en) | Quick coiling machine of plastic bag | |
| CN114803583B (en) | Dust collecting device for bagged cement truck loading | |
| CN219025237U (en) | Automatic chip mounter | |
| CN219386139U (en) | Automatic purging device | |
| CN215236458U (en) | Surface dust removal device for processing connecting plate | |
| CN217451096U (en) | Eminence plane dust collector | |
| CN208574908U (en) | A kind of automatic cleaning automation seed screening machine | |
| CN215046433U (en) | Panel fixing mechanism of turnover type feeding device | |
| CN216988737U (en) | Biological agent purifying equipment | |
| CN218226911U (en) | Sponge conveyor of sponge vertical cutting machine | |
| CN218163627U (en) | High-efficient harvesting device suitable for nut |
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 |