CN201504423U - Mechanical gripper for picking pineapples - Google Patents
Mechanical gripper for picking pineapples Download PDFInfo
- Publication number
- CN201504423U CN201504423U CN2009202463962U CN200920246396U CN201504423U CN 201504423 U CN201504423 U CN 201504423U CN 2009202463962 U CN2009202463962 U CN 2009202463962U CN 200920246396 U CN200920246396 U CN 200920246396U CN 201504423 U CN201504423 U CN 201504423U
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- support frame
- paw
- finger actuation
- leading screw
- picking mechanical
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- Expired - Fee Related
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Abstract
The utility model relates to a mechanical gripper for picking pineapples, which comprises a vertical rotary motor installed on a mechanical arm, wherein the output end of the rotary motor is fixedly connected with a support framework, a lead screw motor placed vertically is installed on the support framework, the output end of the lead screw motor is connected with a lead screw, the lead screw is rotatably supported on the support framework, a guide rod which is parallel to the lead screw is further fixed on the support framework, a threaded slide block simultaneously is penetrated through by the lead screw and the guide rod, one end of the threaded slide block is vertically connected with a push rod, the lower end of the push rod penetrates out of the support framework and then is connected with two finger driving plates through a cross pin, the middle portions of the two finger driving plates are respectively movably connected on the support framework through bolts, and the lower ends of the finger driving plates are fixed with grippers. The mechanical gripper only adopts two motors, one of the motors is the rotary motor which can drive the whole mechanism to rotate so as to enable the gripper to twist off fruits, and the other one is the lead screw motor which enables the gripper to grip fruits. The mechanical gripper is convenient and flexible, and integrates grabbing and picking.
Description
Technical field
The utility model relates to fruit and vegetable picking machinery, particularly about a kind of pineapple picking mechanical paw.
Background technology
Pineapple belongs to tropical fruit (tree), because spinosity on the plant leaf margin when peasant gathers pineapple, must be worn tight protection clothing.Problems such as at present, the harvesting mode of pineapple mainly is by artificial harvesting both at home and abroad, and then by artificial the pineapple of plucking is transported on the transport vehicle that is parked in the edge of a field, and this mode exists work situation abominable, and labour intensity is big.In addition, labour's remuneration aspect, every jin, a traditional unit of weight of pineapple need be paid 2 fens of wage for workmen, workman's per capita income 100-150 unit/sky, human resources nervous seasons, per capita income reaches 200-250 unit/sky.Pineapple plantation family is very strong to the expectation of pineapple picking mechanical.Therefore, in order to improve labourer's working environment, alleviate the peasant labor force resource of growing tension, development pineapple picking mechanical is demanded urgently carrying out.
Terminal executor of fruit and vegetable picking robot a lot of researchs have been carried out both at home and abroad, because the fruits and vegetables individual difference makes that the versatility of end effector is poor.Pineapple fruit is big, is cylindrical structure, and long fruit tassel is arranged at the fruit top in addition.Therefore pluck paw as the pineapple of one of critical component of pineapple picking robot, more great to the meaning of research pineapple picking robot.
Summary of the invention
At the problems referred to above, the purpose of this utility model be propose a kind of can grasp simultaneously and twist from pineapple picking mechanical paw.
For achieving the above object, the utility model is taked following technical scheme: a kind of pineapple picking mechanical paw, in this mechanism, at first one motor fixing plate is installed out from robot arm, the one vertical electric rotating machine of placing is installed on described motor fixing plate, the fixedly connected support frame of the output of described electric rotating machine, described electric rotating machine drives described support frame and rotates to an angle, and reaches the purpose that pineapple is twisted into two parts.The one vertical spindle motor of placing is installed on the described support frame, the output of described spindle motor connects a leading screw by shaft coupling, described leading screw is supported on the described support frame by bearing assembly, on described support frame, be fixed with the guide post parallel simultaneously with described leading screw, on described leading screw and guide post, wear a thread slider jointly, vertical connection one push rod of one end of described thread slider, the lower end of push rod connects two finger actuation plates by a lateral pin after passing described support frame, the middle part of two described finger actuation plates is connected on the described support frame versatilely by bolt respectively, and described finger actuation plate lower end is fixed with the arc finger.Described spindle motor rotation drives described leading screw and rotates, described thread slider is moved, move, and then impel the movable bolt motion of described finger actuation plate in the middle of it by described pin thereby drive described push rod, make the finger opening and closing, reach the purpose that grasps or decontrol pineapple.
Described support frame is provided with upper and lower two gripper shoes, and described leading screw and guide post support and connection are between described upper and lower two gripper shoes, and described spindle motor is installed in the top of described upper backup pad by an electric machine support.
Described bearing assembly includes bearing block and bearing, and described leading screw is located in the described bearing, and described guide post is installed on the described bearing block.
Described thread slider and described leading screw are threaded engagement, and described thread slider is that unthreaded hole cooperates with described guide post.
Described pin middle part radially offers a blind hole, and described push rod is plugged in the described blind hole, and described finger actuation plate upper end offers chute, and the two ends of described lateral pin are plugged in the chute of described finger actuation plate.
The lower end of described support frame is installed with two paw connecting plates, and the middle part of two described finger actuation plates is connected on the described paw connecting plate versatilely by bolt respectively.
Described finger actuation plate is the connecting lever type, and the connecting lever of two described finger actuation plates is provided with in opposite directions.
The utility model is owing to take above technical scheme, it has the following advantages: 1, the utility model only adopts two motors, and one is that electric rotating machine drives the entire mechanism rotation, realizes the purpose that paw is twisted into two parts fruit, another is a spindle motor, realizes that paw grasps the purpose of fruit.Spindle motor only needs to drive slide block by leading screw and moves up and down, and just can drive the push rod that is connected on the slide block and move up and down, and then promote the paw mechanism opening and closing by push rod, realizes grasping function.2, in paw mechanism, two finger actuation plate upper ends all offer the long hole shape chute, only just two finger actuation plates are coupled together by a pin, pin is connected with push rod again simultaneously, therefore, during the push rod pushing pin, pin will drive two finger actuation plate motions synchronously.3, the paw drive plate is the connecting lever type, middle connecting lever position is supported on the rotating mechanism by bolt, bolt plays point action again simultaneously, according to lever principle, when the push rod pushing pin, pin will drive two finger actuation plates synchronously around the swing of bolt fulcrum, realize the paw opening and closing with this, slide block moves small distance, between two fingers bigger variation is just arranged, easy to operate, time saving and energy saving.4, paw is connected the lower end of finger actuation plate, is made into arc, and the arc of two paws is relative, closes up two hands of time image and equally closes up and embrace fruit, grasps firmly.Of the present utility model convenient dexterous, collection grasps and plucks the characteristics of one, has the very big advantage of extensive use.
Description of drawings
Fig. 1 is that the master of the utility model paw mechanism looks schematic diagram
Fig. 2 is the end view of Fig. 1
Fig. 3 is the cutaway view of paw mechanism middle (center) bearing assembly
Fig. 4 is the schematic diagram of selling in the paw mechanism
Embodiment
Below in conjunction with drawings and Examples the utility model is described in detail.
Pineapple picking mechanical paw is one of critical component of pineapple picking robot, divides from function, and it mainly comprises grasps and twist into two parts two parts, and it is the anti-process that grasps that fruit puts down, as long as therefore there is the structure of extracting just can realize putting down action.
As shown in Figure 1 and Figure 2, at first on robot arm (another mechanism), connect a motor fixing plate 1, an electric rotating machine 2, the fixedly connected support frame 3 of the output of electric rotating machine 2 are installed on motor fixing plate 1.The concrete structure of support frame 3 can be by forming as lower member: the output of electric rotating machine 2 is fixed on the transmission board 4, and transmission board 4 is fixedly connected on by bolt fastener
On the horizontal sides of type fixed head 5, level is connected a upper backup pad 6 and lower supporting plate 7 respectively from the middle part of fixed head 5 vertical edges and bottom.Another common ends at horizontal sides, upper backup pad 6 and the lower supporting plate 7 of fixed head 5, by two support bar 8 support and connection, support bar 8 be arranged in parallel with fixed head 5 vertical edges, after support bar 8 passes upper backup pad 6, upper and lower end is separately fixed on the upper and lower gripper shoe 7 of horizontal sides of fixed head 5, constitutes a complete support frame 3 thus.
On support frame 3, specifically on upper backup pad 6, fix a spindle motor support 9, spindle motor support 9 is by four motor support bars and dull and stereotyped a composition, and spindle motor 10 is installed on the spindle motor support.The output of spindle motor 10 connects a leading screw 11 by shaft coupling, leading screw 11 is supported between upper backup pad 6 and the lower supporting plate 7 by two upper and lower bearing assemblies 12,13 that are installed in respectively on upper backup pad 6 and the lower supporting plate 7, fix one or two guide posts 14 between upper backup pad 6 and lower supporting plate 7 simultaneously, guide post 14 is parallel with leading screw 11.Leading screw 11 and guide post 14 pass a thread slider 15 jointly, and thread slider 15 is a threaded engagement with leading screw 11, cooperates for unthreaded hole with guide post 14.Thread slider 15 can slide up and down along guide post 14 under the turning effort of leading screw 11.
As shown in Figure 3, bearing assembly 12,13 structures are identical, include 22, two bearing blocks 22 of a bearing block and are separately fixed on upper backup pad 6 and the lower supporting plate 7, in the center of each bearing block one bearing 23 is installed all, leading screw 11 just is located in two bearings 23.Guide post 14 is parallel with leading screw 11, and is fixed on the bearing block 22 by nut 24.
In an end of thread slider 15, vertical connection one push rod 16 after lower supporting plate 7 is passed in the lower end of push rod 16, is inserted in the lateral pin 17.As shown in Figure 4, radially offer a blind hole 25 in the middle part of lateral pin 17, push rod 16 is plugged in the blind hole 25.Connect two paw drive plates 18 simultaneously at the two ends of lateral pin 17, be in particular, the upper end of paw drive plate 18 offers the long hole shape chute, and lateral pin 17 two ends are plugged in the chute, the bared end nut check of lateral pin.Two paw drive plates 18 all are the connecting lever type, and both connecting levers are provided with in opposite directions.The elbow that turns of each finger actuation plate 18 all is movably connected on the paw connecting plate 20 by bolt 19, and paw connecting plate 20 is fixed on the lower supporting plate 7.In the lower end of two finger actuation plates 18, fixedly mount an arc finger 21 respectively, the arc that latter two finger 21 is installed is relative.Push rod 16 under the drive of thread slider 15, upper and lower push-and-pull, push rod 16 drives lateral pins 17 and slides in the chute of finger actuation plate 18, and then impels finger actuation plate 18 to be a spot wobble with bolt 19, therefore finger 21 opens or is closed.
Description by said structure as can be known, the utility model is exactly under the drive of spindle motor 10, the transmission by leading screw 11 and guide post 14, thread slider 15, push rod 16 realizes that finger 21 grasps fruits.Under the drive of electric rotating machine 2, twist into two parts fruit by the rotation realization finger 21 of support frame 3.The concrete course of work is:
After the pineapple target is determined, spindle motor 10 rotates, drive leading screw 11 rotations, thread slider 15 moves downward, and promotes push rod 16 and moves downward, and two finger actuation plates 18 are under the effect of lateral pin 17, rotate around bolt 19, two fingers 21 are opened, and after two fingers 21 opened certain amplitude, spindle motor 10 stopped operating.Mechanical arm (another mechanism) is delivered to the target pineapple with whole paw mechanism, make two fingers 21 in the pineapple outside, spindle motor 10 counter-rotatings then, driving thread slider 15 and push rod 16 moves upward, thereby drive two finger 21 closures, when two fingers 21 are stable when catching pineapple, spindle motor 10 stops operating, and two fingers 21 keep holding actions.Electric rotating machine 2 rotations drove support frame 3 and rotated to an angle this moment, and pineapple is deflected on vertical plane, and the root of pineapple fruit is twisted into two parts, and electric rotating machine 2 stops operating then, finishes the work of winning of pineapple.
The process that pineapple is put down is opposite with above-mentioned motion process, and electric rotating machine 2 rotations rotate to fruit basket place with paw, and spindle motor 10 reverses again, and two fingers 21 are opened, and fruit breaks away from the fruit basket.
Claims (9)
1. pineapple picking mechanical paw, it is characterized in that: it comprises that one is installed in the motor fixing plate on the robot arm, the one vertical electric rotating machine of placing is installed on described motor fixing plate, the fixedly connected support frame of the output of described electric rotating machine, the one vertical spindle motor of placing is installed on the described support frame, the output of described spindle motor connects a leading screw, described leading screw is supported on the described support frame, on described support frame, be fixed with the guide post parallel simultaneously with described leading screw, on described leading screw and guide post, wear a thread slider jointly, vertical connection one push rod of one end of described thread slider, the lower end of push rod connects two finger actuation plates by a lateral pin after passing described support frame, the middle part of two described finger actuation plates is connected on the described support frame versatilely by bolt respectively, and described finger actuation plate lower end is fixed with finger.
2. a kind of pineapple picking mechanical paw as claimed in claim 1, it is characterized in that: described support frame is provided with upper and lower two gripper shoes, described leading screw and guide post support and connection are between described upper and lower two gripper shoes, and described spindle motor is installed in the top of described upper backup pad by an electric machine support.
3. a kind of pineapple picking mechanical paw as claimed in claim 2, it is characterized in that: on described upper and lower two gripper shoes bearing assembly is installed all, described bearing assembly includes bearing block and bearing, and described leading screw is located in the described bearing, and described guide post is installed on the described bearing block.
4. as claim 1 or 2 or 3 described a kind of pineapple picking mechanical paws, it is characterized in that: described thread slider and described leading screw are threaded engagement, and described thread slider is that unthreaded hole cooperates with described guide post.
5. a kind of pineapple picking mechanical paw as claimed in claim 1, it is characterized in that: described lateral pin middle part radially offers a blind hole, and described push rod is plugged in the described blind hole, and the two ends of described lateral pin connect two described finger actuation plates.
6. as claim 1 or 5 described a kind of pineapple picking mechanical paws, it is characterized in that: described finger actuation plate upper end offers chute, and the two ends of described lateral pin are plugged in the chute of described finger actuation plate.
7. as claim 1 or 5 described a kind of pineapple picking mechanical paws, it is characterized in that: the lower end of described support frame is installed with two paw connecting plates, and the middle part of two described finger actuation plates is movably connected on the described paw connecting plate by bolt respectively.
8. a kind of pineapple picking mechanical paw as claimed in claim 6, it is characterized in that: the lower end of described support frame is installed with two paw connecting plates, and the middle part of two described finger actuation plates is movably connected on the described paw connecting plate by bolt respectively.
9. as claim 1 or 5 or 8 described a kind of pineapple picking mechanical paws, it is characterized in that: described finger actuation plate is the connecting lever type, and the connecting lever of two described finger actuation plates is setting in opposite directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202463962U CN201504423U (en) | 2009-10-14 | 2009-10-14 | Mechanical gripper for picking pineapples |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202463962U CN201504423U (en) | 2009-10-14 | 2009-10-14 | Mechanical gripper for picking pineapples |
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| CN201504423U true CN201504423U (en) | 2010-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009202463962U Expired - Fee Related CN201504423U (en) | 2009-10-14 | 2009-10-14 | Mechanical gripper for picking pineapples |
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Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101878699A (en) * | 2010-06-21 | 2010-11-10 | 中国农业大学 | Twist-off picking paw mechanism and picking method thereof |
| CN102334404A (en) * | 2010-07-15 | 2012-02-01 | 河南农业大学 | Tobacco harvesting machine with turntable slider mechanism |
| CN102334405A (en) * | 2010-07-15 | 2012-02-01 | 河南农业大学 | Tobacco harvesting machine with eccentric wheel |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN102907213A (en) * | 2012-11-01 | 2013-02-06 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| CN102972152A (en) * | 2011-09-07 | 2013-03-20 | 祁文军 | Mechanical gripper |
| CN103688657A (en) * | 2013-12-10 | 2014-04-02 | 华南农业大学 | Device and method for automatically picking pineapples |
| CN103692438A (en) * | 2013-12-23 | 2014-04-02 | 江苏理工学院 | Automatic lotus scooping device |
| CN104897388A (en) * | 2015-06-19 | 2015-09-09 | 长春工业大学 | Device for testing screwing durability of automobile combination switch |
| CN105075953A (en) * | 2015-09-15 | 2015-11-25 | 于锡汉 | Choice rare sea food seedling arranging robot |
| CN105409452A (en) * | 2015-12-24 | 2016-03-23 | 米莹莹 | Multifunctional fruit picking machine |
| CN105917858A (en) * | 2016-06-07 | 2016-09-07 | 中国农业大学 | Rotary fruit picking manipulator |
| CN107182435A (en) * | 2017-05-27 | 2017-09-22 | 广西农业职业技术学院 | A kind of device for plucking pineapple |
| CN107378983A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical paw that hobboing cutter is changed for shield machine |
| CN107637267A (en) * | 2017-09-27 | 2018-01-30 | 湖州吴兴升浪生态农业有限公司 | A kind of ecological agriculture vegetable cultivation harvesting apparatus |
| CN107750626A (en) * | 2017-10-17 | 2018-03-06 | 汕头大学 | A kind of pineapple harvests intelligent carriage |
| CN107810706A (en) * | 2017-11-30 | 2018-03-20 | 广州大学 | A kind of device realized pineapple and won |
| CN107852956A (en) * | 2017-11-30 | 2018-03-30 | 广州大学 | A kind of equipment for winning and storing pineapple |
| CN108012666A (en) * | 2017-12-27 | 2018-05-11 | 南宁致侨农业有限公司 | Walking tea-leaf picker |
| CN108076812A (en) * | 2018-02-12 | 2018-05-29 | 龙岩学院 | One kind is semi-automatic to pluck Machine for pineapple |
| CN108093843A (en) * | 2018-02-05 | 2018-06-01 | 广州大学 | A kind of push-down pineapple picker |
| CN108124586A (en) * | 2018-02-05 | 2018-06-08 | 河海大学常州校区 | Double-vane pineapple picking vehicle |
| CN108243716A (en) * | 2018-02-12 | 2018-07-06 | 重庆大学 | A kind of backpack pineapple picker |
| CN108566830A (en) * | 2018-07-20 | 2018-09-25 | 北京林业大学 | A kind of end executive device of picking apple |
| CN108657302A (en) * | 2018-07-04 | 2018-10-16 | 广西电网有限责任公司电力科学研究院 | A kind of climbing level robot and its pole-climbing method |
| CN108702930A (en) * | 2018-07-17 | 2018-10-26 | 东莞市皓奇企业管理服务有限公司 | The application method of intelligent pineapple harvesting robotic |
| CN108738665A (en) * | 2018-06-11 | 2018-11-06 | 长春理工大学 | Frictional pineapple picker |
| CN108811710A (en) * | 2018-09-15 | 2018-11-16 | 华东交通大学 | A kind of portable electric pineapple device for picking |
| CN108901357A (en) * | 2018-06-14 | 2018-11-30 | 王昊男 | A kind of fruit grabbing device, picker and picking method |
| CN108934432A (en) * | 2018-07-26 | 2018-12-07 | 中国地质大学（武汉） | A kind of portable pineapple device for picking |
| CN109005890A (en) * | 2018-09-11 | 2018-12-18 | 燕山大学 | A kind of continous way pineapple picking robot |
| CN110089258A (en) * | 2019-03-19 | 2019-08-06 | 盐城市驰达机械制造有限公司 | A kind of Anti-blockage cutter device |
| CN110269333A (en) * | 2019-06-25 | 2019-09-24 | 浙江工贸职业技术学院 | A kind of safety crutch suitable for old man |
| CN110393082A (en) * | 2018-09-21 | 2019-11-01 | 湖南科技大学 | Pineapple picking and collection device and its application method |
| CN114074336A (en) * | 2021-11-17 | 2022-02-22 | 东北大学 | Variable-speed automatic wire pulling device with self-adaptive tail end tension |
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Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101878699B (en) * | 2010-06-21 | 2012-08-22 | 中国农业大学 | Twist-off picking paw mechanism and picking method thereof |
| CN101878699A (en) * | 2010-06-21 | 2010-11-10 | 中国农业大学 | Twist-off picking paw mechanism and picking method thereof |
| CN102334404B (en) * | 2010-07-15 | 2013-05-01 | 河南农业大学 | Tobacco harvesting machine with turntable slider mechanism |
| CN102334404A (en) * | 2010-07-15 | 2012-02-01 | 河南农业大学 | Tobacco harvesting machine with turntable slider mechanism |
| CN102334405A (en) * | 2010-07-15 | 2012-02-01 | 河南农业大学 | Tobacco harvesting machine with eccentric wheel |
| CN102334405B (en) * | 2010-07-15 | 2013-05-01 | 河南农业大学 | Tobacco harvesting machine with eccentric wheel |
| CN102972152A (en) * | 2011-09-07 | 2013-03-20 | 祁文军 | Mechanical gripper |
| CN102729256B (en) * | 2012-06-28 | 2014-07-23 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN102907213A (en) * | 2012-11-01 | 2013-02-06 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| CN103688657B (en) * | 2013-12-10 | 2015-09-30 | 华南农业大学 | A kind of apparatus and method for automatically plucking pineapple |
| CN103688657A (en) * | 2013-12-10 | 2014-04-02 | 华南农业大学 | Device and method for automatically picking pineapples |
| CN103692438A (en) * | 2013-12-23 | 2014-04-02 | 江苏理工学院 | Automatic lotus scooping device |
| CN104897388A (en) * | 2015-06-19 | 2015-09-09 | 长春工业大学 | Device for testing screwing durability of automobile combination switch |
| CN104897388B (en) * | 2015-06-19 | 2017-05-24 | 长春工业大学 | Device for testing screwing durability of automobile combination switch |
| CN105075953A (en) * | 2015-09-15 | 2015-11-25 | 于锡汉 | Choice rare sea food seedling arranging robot |
| CN105409452A (en) * | 2015-12-24 | 2016-03-23 | 米莹莹 | Multifunctional fruit picking machine |
| CN105409452B (en) * | 2015-12-24 | 2017-09-22 | 米莹莹 | Multi-functional fruit picker |
| CN107378983A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical paw that hobboing cutter is changed for shield machine |
| CN105917858A (en) * | 2016-06-07 | 2016-09-07 | 中国农业大学 | Rotary fruit picking manipulator |
| CN105917858B (en) * | 2016-06-07 | 2018-05-15 | 中国农业大学 | A kind of rotary fruits picking mechanical hand |
| CN107182435A (en) * | 2017-05-27 | 2017-09-22 | 广西农业职业技术学院 | A kind of device for plucking pineapple |
| CN107637267A (en) * | 2017-09-27 | 2018-01-30 | 湖州吴兴升浪生态农业有限公司 | A kind of ecological agriculture vegetable cultivation harvesting apparatus |
| CN107750626A (en) * | 2017-10-17 | 2018-03-06 | 汕头大学 | A kind of pineapple harvests intelligent carriage |
| CN107852956A (en) * | 2017-11-30 | 2018-03-30 | 广州大学 | A kind of equipment for winning and storing pineapple |
| CN107810706B (en) * | 2017-11-30 | 2023-08-15 | 广州大学 | Device for realizing pineapple picking |
| CN107810706A (en) * | 2017-11-30 | 2018-03-20 | 广州大学 | A kind of device realized pineapple and won |
| CN108012666A (en) * | 2017-12-27 | 2018-05-11 | 南宁致侨农业有限公司 | Walking tea-leaf picker |
| CN108012666B (en) * | 2017-12-27 | 2019-07-09 | 南宁致侨农业有限公司 | Walking tea-leaf picker |
| CN108093843A (en) * | 2018-02-05 | 2018-06-01 | 广州大学 | A kind of push-down pineapple picker |
| CN108124586A (en) * | 2018-02-05 | 2018-06-08 | 河海大学常州校区 | Double-vane pineapple picking vehicle |
| CN108076812A (en) * | 2018-02-12 | 2018-05-29 | 龙岩学院 | One kind is semi-automatic to pluck Machine for pineapple |
| CN108243716A (en) * | 2018-02-12 | 2018-07-06 | 重庆大学 | A kind of backpack pineapple picker |
| CN108738665A (en) * | 2018-06-11 | 2018-11-06 | 长春理工大学 | Frictional pineapple picker |
| CN108901357B (en) * | 2018-06-14 | 2024-01-23 | 王昊男 | Fruit grabbing device, picking device and picking method |
| CN108901357A (en) * | 2018-06-14 | 2018-11-30 | 王昊男 | A kind of fruit grabbing device, picker and picking method |
| CN108657302A (en) * | 2018-07-04 | 2018-10-16 | 广西电网有限责任公司电力科学研究院 | A kind of climbing level robot and its pole-climbing method |
| CN108657302B (en) * | 2018-07-04 | 2024-04-09 | 广西电网有限责任公司电力科学研究院 | Pole climbing robot and pole climbing method thereof |
| CN108702930A (en) * | 2018-07-17 | 2018-10-26 | 东莞市皓奇企业管理服务有限公司 | The application method of intelligent pineapple harvesting robotic |
| CN108566830A (en) * | 2018-07-20 | 2018-09-25 | 北京林业大学 | A kind of end executive device of picking apple |
| CN108934432A (en) * | 2018-07-26 | 2018-12-07 | 中国地质大学（武汉） | A kind of portable pineapple device for picking |
| CN109005890A (en) * | 2018-09-11 | 2018-12-18 | 燕山大学 | A kind of continous way pineapple picking robot |
| CN109005890B (en) * | 2018-09-11 | 2023-11-10 | 燕山大学 | Continuous pineapple picking robot |
| CN108811710A (en) * | 2018-09-15 | 2018-11-16 | 华东交通大学 | A kind of portable electric pineapple device for picking |
| CN110393082A (en) * | 2018-09-21 | 2019-11-01 | 湖南科技大学 | Pineapple picking and collection device and its application method |
| CN110089258A (en) * | 2019-03-19 | 2019-08-06 | 盐城市驰达机械制造有限公司 | A kind of Anti-blockage cutter device |
| CN110269333A (en) * | 2019-06-25 | 2019-09-24 | 浙江工贸职业技术学院 | A kind of safety crutch suitable for old man |
| CN114074336A (en) * | 2021-11-17 | 2022-02-22 | 东北大学 | Variable-speed automatic wire pulling device with self-adaptive tail end tension |
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