CN203775716U - Fruit picking manipulator - Google Patents
Fruit picking manipulator Download PDFInfo
- Publication number
- CN203775716U CN203775716U CN201420193271.9U CN201420193271U CN203775716U CN 203775716 U CN203775716 U CN 203775716U CN 201420193271 U CN201420193271 U CN 201420193271U CN 203775716 U CN203775716 U CN 203775716U
- Authority
- CN
- China
- Prior art keywords
- arm
- axle
- sub
- female
- motor
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a fruit picking manipulator. The manipulator comprises a mechanical fruit picking device and a control system, wherein the mechanical fruit picking device comprises a main mechanical arm, at least one auxiliary mechanical arm and an end effector; the main mechanical arm comprises a main arm shaft Z, a main arm shaft r, a main arm shaft theta, a base, an end frame and a support; each auxiliary mechanical arm comprises an auxiliary arm shaft Z, an auxiliary arm shaft r, an auxiliary arm shaft theta and an auxiliary arm flange; the end effector comprises a fruit receiver, a base flange, a fruit gatherer, a blade, a fruit collecting barrel, a rotating bottom cover, a driving wheel, a driving belt, a driving gear, a driven gear, a stand, a cross bar, a fruit gatherer shaft, a blade shaft and a rotating bottom cover shaft; and the control system comprises an industrial personal computer, a binocular camera, an adapter, a main mechanical arm control system, a converter and an auxiliary mechanical arm and end effector control system.
Description
Technical field
The utility model relates to Agriculture pick robot field, particularly a kind of fruits picking mechanical hand.
Background technology
Along with the aging of social population and gradually reducing of agricultural workforce, some heavy, dull agricultural productions more and more need mechanization, automation, intelligentized machine to substitute.The development of computer technology, sensor technology, electronic communication, automatic control technology provides unprecedented possibility to the development of agricultural robot technology, and therefore, agricultural robot technology has obtained larger development in a lot of countries.Plucking operation is a link the most consuming time in Production of fruit, that require great effort most, and its expense accounts for 50%～70% of cost.Fruit picking robot is the important kind of agricultural robot, and it can reduce labor strength and producing cost, the tool potentiality that grow a lot.
Fruit picking robot is generally partly comprised of vision system, running gear, control system, picking mechanical arm and end effector etc.End effector is mounted in the part that picking robot mechanical arm front end directly acts on manipulating object, is one of picking robot core component.During fruit picking robot operation, by vision system, obtain fruit tree image and give calculator to process, obtain after the 3 d space coordinate of objective fruit, by picking mechanical arm, end effector is sent to objective fruit position, finally by end effector, complete picking fruit.Since eighties of last century the mid-80, both at home and abroad researcher's development and Design various fruits picking robot.These fruit picking robot Basic Designs have single end effector, while plucking operation, picking mechanical arm is an end effector service, fruit of every harvesting all needs a complete harvesting flow process, and the average plucking cycle of each fruit is longer, and picking efficiency is lower.Researcher has also invented multiple end effector.These end effectors are broadly divided into suction-type, clipping and three kinds of structures of sucked type, structure and control more complicated thereof, and obtaining with recovery operation link of fruit is more, and picking rate is not high.Most fruit picking robot and end effector thereof do not have commercialization, and what have has just obtained Preliminary Applications in laboratory or greenhouse.Currently affect that fruit picking robot and the practical factor of end effector thereof mainly contain (1) robot and end effector structure, operational method, control system and type of drive are complicated, picking rate is slower.(2) plucking accuracy rate has much room for improvement.The reason that accuracy rate is plucked in impact mainly contains: robot target fruit vision location and mechanical arm position position error are larger; End effector can not successfully obtain fruit or obtain rear fruit and lose; In harvesting process, the factor such as natural wind causes that fruit rocks and makes fruit location inaccurate etc.(3) end effector fruit-picking kind is single, and versatility is bad, and manufacture and operating cost are high.
Summary of the invention
Technical problem to be solved in the utility model, for fruit picking robot Basic Design of the prior art, there is single end effector, while plucking operation, picking mechanical arm is an end effector service, fruit of every harvesting all needs a complete harvesting flow process, the average plucking cycle of each fruit is longer, the technical problem that picking efficiency is lower.
The purpose of this utility model is to provide a kind of fruits picking mechanical hand, can realize efficient, the high-accuracy of apple, oranges and tangerines, pears equal sphere fruit and pluck.
The utility model is that to solve the problems of the technologies described above adopted technical scheme as follows:
A fruits picking mechanical hand, comprises fruit picking mechanical device and control system, and fruit picking mechanical device comprises female mechanical arm, is fixed on being no less than the sub-mechanical arm of and being fixed on the end effector on sub-mechanical arm on female mechanical arm;
The action of female mechanical arm described in the utility model is for delivering to rack-mount binocular camera specify image collection point and by sub-mechanical arm and be fixed on end effector on sub-mechanical arm and send to and specify picking fruit point, end effector completes after objective fruit harvesting, and female mechanical arm is sent to fruit recovery point by sub-mechanical arm and end effector.
Female mechanical arm described in the utility model comprises female arm Z axis, female arm r axle, female arm θ axle, base, end frame and support; Female arm θ axle rotates and is arranged on base, female arm Z axis is vertically fixedly installed on female arm θ axle, female arm r axle is vertically set on female arm Z axis, and described female arm r axle slides along the axial direction of female arm Z axis, and described female arm r axle is along sliding perpendicular to female arm Z axis axial direction; End frame is fixed on the termination of female arm r axle, and support is fixed on female arm r axle.
The action of sub-mechanical arm described in the utility model is plucked position for completing end effector to send to specify under the cooperation of female mechanical arm, end effector completes after objective fruit harvesting task, and sub-mechanical arm completes end effector is sent to fruit recovery point under the cooperation of female mechanical arm.
The installation quantity of sub-mechanical arm described in the utility model, specifically can arrange according to actual conditions.The sub-mechanical arm quantity arranging is many, and its scope that can pluck is large; Otherwise the scope that can pluck is little.
Sub-mechanical arm described in the utility model comprises sub-arm Z axis, sub-arm r axle, sub-arm θ axle and sub-arm flange; Sub-arm Z axis is connected with aforementioned end frame, and sub-arm θ axle is arranged on sub-arm Z axis, and described sub-arm θ axle slides along the axial direction of sub-arm Z axis; Sub-arm r axle is connected with sub-arm θ axle, and described sub-arm r axle is flexible along the axial direction of sub-arm r axle, and described sub-arm θ axle rotates around the central axis of self; Sub-arm flange is arranged on the termination of sub-arm r axle.
The action of end effector described in the utility model has been harvesting and the recovery of objective fruit.
End effector described in the utility model comprises and connects fruit device, base flange, holds together fruit device, blade, receipts fruit cylinder, rotation bottom, drive, driving-belt, driving gear, driven gear, pallet, cross bar, holds together fruit device axle, blade shaft and rotation bottom axle; The described fruit device that connects is one end sealing, and the other end is provided with the cylinder of diagonal cut joint; Described base flange is connected with aforementioned sub-arm flange, base flange is connected with the blind end that connects fruit device by cross bar, blade is rotated and is arranged on the diagonal cut joint end that connects fruit device by blade shaft, holding together fruit device is arranged on the diagonal cut joint end that connects fruit device by holding together the rotation of fruit device axle, described driving gear and blade shaft are coaxially installed, driven gear is coaxially installed with holding together fruit device axle, and driving gear is meshed with driven gear; Driving-belt connects blade shaft; The described fruit cylinder of receiving is arranged on the diagonal cut joint end that connects fruit device, and described in connect fruit device diagonal cut joint end be provided with and receive the through hole that fruit cylinder is connected; Pallet is arranged on the middle part that connects fruit device; Rotation bottom is rotated and is arranged on the bottom of receiving fruit cylinder by rotation bottom axle.
Cross bar described in the utility model is metal cylinder of the prior art.
The fruit device that connects described in the utility model is one end sealing, and the other end is provided with the cylinder of diagonal cut joint; Described interior surface layers and the outer surface layer that connects fruit device is that elastomeric material of the prior art is made, and intermediate layer is that light-duty alloy material of the prior art is made.The interior surface layers and the outer surface layer that in the utility model, connect fruit device are that elastomeric material of the prior art is made, and its Main Function is the impulsive force reducing in picking fruit process, reach the effect of protection fruit.
The inwall of the receipts fruit cylinder described in the utility model is that soft rubber material of the prior art is made, and its Main Function is the impulsive force under reduction fruit drops, and reaches the effect of protection fruit.
Control system described in the utility model realizes identification and location and female mechanical arm, the motion control of gadget arm and the end effector harvesting control of fruit tree image taking, image processing, objective fruit.
Control system described in the utility model comprises industrial computer, binocular camera, adapter, for controlling female mechanical arm control system, converter and the driven element mechanical arm of female mechanical arm action and control sub-mechanical arm mechanical arm and the end effector control system of moving with end effector; Described binocular camera is fixed on aforesaid support, and binocular camera is connected with industrial computer by adapter, and described sub-mechanical arm is connected with industrial computer by converter with end effector control system.
Industrial computer described in the utility model is industrial computer of the prior art, and its concrete structure and course of work the utility model are not described in detail.Industrial computer described in the utility model is provided with image processing software system, can process fruit tree image, extracts space coordinates and the dimension information of ripening fruits in fruit tree image.Described industrial computer can calculate female arm Z axis servomotor, female arm r axle servomotor and female arm θ axle servomotor kinematic parameter, and parameter can be sent to the first motion control card.Female arm Z axis servomotor that described the first motion control card can send according to industrial computer, female arm r axle servomotor and female arm θ axle servomotor kinematic parameter, by female arm Z axis motor servo driver, female arm r axle motor servo driver and female arm θ axle motor servo driver, drive female arm Z axis servomotor, female arm r axle servomotor and female arm θ axle servomotor to turn round, finally drive female arm Z axis, female arm r axle and the work of female arm θ axle.
Binocular camera described in the utility model is binocular camera of the prior art, and its concrete structure the utility model is not described in detail.The effect of binocular camera described in the utility model is to take fruit tree image, and can send fruit tree image to industrial computer by adapter.
Adapter described in the utility model is the adapter being used in conjunction with binocular camera of the prior art, and its concrete structure and course of work the utility model are not described in detail.
Converter described in the utility model is converter of the prior art, and it is R232/485 converter that the utility model preferentially adopts model in prior art.
Further, female mechanical arm control system described in the utility model comprises the first motion control card, female arm Z axis motor servo driver, female arm Z axis servomotor, female arm Z axis encoder for servo motor, female arm r axle motor servo driver, female arm r axle servomotor, female arm r axle encoder for servo motor, female arm θ axle motor servo driver, female arm θ axle servomotor and female arm θ axle encoder for servo motor;
The input of described female arm Z axis motor servo driver is connected with the output of the first motion control card, and the output of female arm Z axis motor servo driver is connected with the input of female arm Z axis servomotor; Described female arm Z axis encoder for servo motor can detect female arm Z axis servomotor anglec of rotation displacement, and the output of female arm Z axis encoder for servo motor is connected with the input of the first motion control card; Described female arm Z axis servomotor can drive female arm Z axis motion.Described female arm Z axis encoder for servo motor can send the female arm Z axis servomotor anglec of rotation displacement detecting to first motion control card, and the first motion control card is according to the accurate control of the female arm Z axis motion of this information realization.
The input of described female arm r axle motor servo driver is connected with the output of the first motion control card, and the output of female arm r axle motor servo driver is connected with the input of female arm r axle servomotor; Described female arm r axle encoder for servo motor can detect female arm r axle servomotor anglec of rotation displacement, and the output of female arm r axle encoder for servo motor is connected with the input of the first motion control card; Described female arm r axle servomotor can drive female arm r axle motion; Described female arm r axle encoder for servo motor can send the female arm r axle servomotor anglec of rotation displacement detecting to first motion control card, and the first motion control card is according to the accurate control of the female arm r of this information realization axle motion.
The input of described female arm θ axle motor servo driver is connected with the output of the first motion control card, and the output of female arm θ axle motor servo driver is connected with the input of female arm θ axle servomotor; Described female arm θ axle encoder for servo motor can detect female arm θ axle servomotor anglec of rotation displacement, and the output of female arm θ axle encoder for servo motor is connected with the input of the first motion control card; Described female arm θ axle servomotor can drive female arm θ axle motion.Described female arm θ axle encoder for servo motor can send the female arm θ axle servomotor anglec of rotation displacement detecting to first motion control card, and the first motion control card is according to the accurate control of the female arm θ of this information realization axle motion.Described the first motion control card is connected with industrial computer.
The first motion control card described in the utility model is the motion control card that prior art and industrial computer are used in conjunction with, and its concrete structure and course of work the utility model are not described in detail.
Further, sub-mechanical arm described in the utility model and end effector control system comprise slave computer, monocular-camera, position sensor, the second motion control card, sub-arm Z axis motor servo driver, sub-arm Z axis servomotor, sub-arm Z axis encoder for servo motor, sub-arm r axle motor servo driver, sub-arm r axle servomotor, sub-arm r axle encoder for servo motor, sub-arm θ axle motor servo driver, sub-arm θ axle servomotor, sub-arm θ axle encoder for servo motor, rotation bottom motor driver, rotation bottom motor, hold together fruit device motor driver and hold together fruit device motor,
Slave computer is connected with industrial computer by aforesaid converter; Described monocular-camera is arranged on aforesaid pallet, and monocular-camera is connected with slave computer; Position sensor is arranged on the inwall of the diagonal cut joint end that connects fruit device; Position sensor is connected with slave computer.Describedly hold together fruit device motor and be arranged on the blind end that connects fruit device, hold together on the motor shaft of fruit device motor drive is installed, drive by be connected to driving-belt on blade shaft by the transmission of power of holding together fruit device motor to driving gear;
Described monocular-camera is monocular-camera of the prior art, and its concrete structure and operation principle the utility model are not described in detail.
Position sensor described in the utility model is photoelectricity emission sensor of the prior art, comprise signal emission element and signal receiving part, signal emission element is inlayed on the inwall that is installed on the diagonal cut joint end that connects fruit device, and signal receiving part method of the same race is installed on a side inwall relative with signal emission element of the diagonal cut joint end that connects fruit device.
Slave computer described in the utility model is the slave computer being used in conjunction with industrial computer in prior art, and its concrete structure and operation principle the utility model are not described in detail.
The input of described sub-arm Z axis motor servo driver is connected with the output of the second motion control card, and the output of sub-arm Z axis motor servo driver is connected with the input of sub-arm Z axis servomotor; Described sub-arm Z axis encoder for servo motor can detect sub-arm Z axis servomotor anglec of rotation displacement, and the output of sub-arm Z axis encoder for servo motor is connected with the input of the second motion control card; Described sub-arm Z axis servomotor can move by driven element arm Z axis; Described sub-arm Z axis encoder for servo motor can send the sub-arm Z axis servomotor anglec of rotation displacement detecting to second motion control card, and the second motion control card is according to the accurate control of the sub-arm Z axis motion of this information realization.
The input of described sub-arm r axle motor servo driver is connected with the output of the second motion control card, and the output of sub-arm r axle motor servo driver is connected with the input of sub-arm r axle servomotor; Described sub-arm Z axis encoder for servo motor can detect sub-arm r axle servomotor anglec of rotation displacement, and the output of sub-arm r axle encoder for servo motor is connected with the input of the second motion control card.Described sub-arm r axle servomotor can the motion of driven element arm r axle.Described sub-arm r axle encoder for servo motor can send the sub-arm r axle servomotor anglec of rotation displacement detecting to second motion control card, and the second motion control card is according to the accurate control of the sub-arm r of this information realization axle motion.
The input of described sub-arm θ axle motor servo driver is connected with the output of the second motion control card, and the output of sub-arm θ axle motor servo driver is connected with the input of sub-arm θ axle servomotor; Described sub-arm θ axle encoder for servo motor can detect sub-arm θ axle servomotor anglec of rotation displacement, and the output of sub-arm θ axle encoder for servo motor is connected with the input of the second motion control card; Described sub-arm θ axle servomotor can move by driven element arm θ axle; Described sub-arm θ axle encoder for servo motor can send the sub-arm θ axle servomotor anglec of rotation displacement detecting to second motion control card, and the second motion control card is according to the accurate control of the sub-arm θ of this information realization axle motion.Described the second motion control card is connected with aforesaid slave computer.
The input of described rotation bottom motor driver is connected with the output of the second motion control card, and the output of rotation bottom motor driver is connected with described rotation bottom motor.As preferably, rotate bottom motor and select stepper motor.
The described input that holds together fruit device motor driver is connected with the output of the second motion control card, and the output that holds together fruit device motor driver holds together really device motor and is connected with described.As preferably, rotate bottom motor and select stepper motor.
The second motion control card described in the utility model is the motion control card that prior art and industrial computer are used in conjunction with, and its concrete structure and course of work the utility model are not described in detail.
Female arm Z axis motor servo driver described in the utility model, female arm r axle motor servo driver, female arm θ axle motor servo driver, sub-arm Z axis motor servo driver, sub-arm r axle motor servo driver and sub-arm θ axle motor servo driver are driven by servomotor of the prior art, and its concrete structure and operation principle the utility model are not described in detail.
Female arm Z axis servomotor described in the utility model, female arm r axle servomotor, female arm θ axle servomotor, sub-arm Z axis servomotor, sub-arm r axle servomotor and sub-arm θ axle servomotor are servomotor of the prior art, and its concrete structure and operation principle the utility model are not described in detail.
Female arm Z axis encoder for servo motor described in the utility model, female arm r axle encoder for servo motor, female arm θ axle encoder for servo motor, sub-arm Z axis encoder for servo motor, sub-arm r axle encoder for servo motor and sub-arm θ axle encoder for servo motor are encoder for servo motor in prior art, and its concrete structure and operation principle the utility model are not described in detail.
Rotation bottom motor driver described in the utility model and hold together fruit device motor driver and be motor driver of the prior art, its concrete structure and operation principle the utility model are not described in detail.
Rotation bottom motor described in the utility model and hold together fruit device motor and be motor in prior art, its concrete structure and operation principle the utility model are not described in detail.
Further, female arm Z axis described in the utility model and female arm r axle are two parallel arms structures.In the utility model, female arm Z axis and female arm r axle are two parallel arms structures, and its Main Function is the intensity that strengthens female arm Z axis and female arm r axle, improves female arm Z axis and female arm r bearing weight, increases the service life.
Further, female arm θ axle described in the utility model and base are cylindrical structure, and the radius of described female arm θ axle is less than the radius of base.
Further, female mechanical arm described in the utility model also comprises batter post; One end of batter post is fixed on female arm Z axis, and the other end is fixed on female arm θ axle.The utility model arranges batter post, and its Main Function is to strengthen female arm Z axis stability, increases the service life.
The utility model advantage compared with prior art:
(1) the utility model picking robot can arrange a plurality of end effectors, once can complete the continuous harvesting of all objective fruits in a width fruit tree image.The average plucking cycle of fruit is short, and picking efficiency is high.
(2) mechanical arm adopts female mechanical arm and sub-mechanical arm secondary pattern, the requirement of operation when realizing a plurality of end effector under the prerequisite that the total degree of freedom of mechanical arm does not increase, and mechanical arm adopts circular cylindrical coordinate structure, mechanical arm is controlled with motion path simple, and efficiency is higher.
(3) end effector can be realized the multiple picking fruits such as apple, oranges and tangerines, pears, and versatility is good.
(4) end effector is for owing driving type structural design, and whole harvesting and control procedure are simple, and plucking time is short.End effector is provided with receives fruit cylinder, can store a plurality of fruits, realizes fruit in harvesting process and plucks continuously, saves the playback fruit time, improves picking efficiency.
(5) mode that adopts binocular vision to combine with monocular vision, realizes the Kinematic Positioning of fruit in tracking, can effectively overcome in picking fruit process and be forbidden, plucks failure problem because fruit rocks the location of bringing.
Accompanying drawing explanation
Fig. 1 is mechanical arm structure chart of the present utility model.
Fig. 2 is the first structural representation of end effector of the present utility model.
Fig. 3 is the second structural representation of end effector of the present utility model.
Fig. 4 is mechanical arm of the present utility model and many end effectors control system schematic diagram.
Fig. 5 is sub-mechanical arm of the present utility model and many end effectors control system schematic diagram.
Fig. 6 is mechanical arm of the present utility model and end effector fruit picking flow chart.
Wherein, 1, female mechanical arm, 2, sub-mechanical arm, 3, female arm Z axis, 4, female arm r axle, 5, female arm θ axle, 6, base, 7, batter post, 8, end frame, 9, support, 10, binocular camera, 11, sub-arm Z axis, 12, sub-arm r axle, 13, sub-arm θ axle, 14, sub-arm flange, 15, female arm Z axis servomotor, 16, female arm r axle servomotor, 17, female arm θ axle servomotor, 18, sub-arm Z axis servomotor, 19, sub-arm r axle servomotor, 20, sub-arm θ axle servomotor, 21, connect fruit device, 22, base flange, 23, hold together fruit device, 24, blade, 25, receive fruit cylinder, 26, rotation bottom, 27, position sensor, 28, hold together fruit device motor, 29, rotation bottom motor, 30, drive, 31, driving-belt, 32, driving gear, 33, driven gear, 34, pallet, 35, monocular-camera, 36, cross bar, 37, hold together fruit device axle, 38, blade shaft, 39, rotation bottom axle, 40, through hole.
Embodiment
For content of the present utility model is become apparent more, below in conjunction with accompanying drawing 1-Fig. 5 and embodiment, be further described.
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
It is example that the present embodiment be take four sub-mechanical arms and four end effectors, describes concrete structure of the present utility model and the course of work.
Fruit picking robot mechanical arm of the present utility model and end effector, comprise fruit picking mechanical device and control system.
As shown in Figure 1, fruit picking mechanical device comprises female mechanical arm 1, four sub-mechanical arms 2 and four end effectors.
Female mechanical arm 1 comprises female arm Z axis 3, female arm r axle 4, female arm θ axle 5, base 6, batter post 7, end frame 8 and support 9.
Sub-mechanical arm 2 comprises sub-arm Z axis 11, sub-arm r axle 12, sub-arm θ axle 13 and sub-arm flange 14.
End effector comprises and connects fruit device 21, base flange 22, holds together fruit device 23, blade 24, receives fruit cylinder 25, rotation bottom 26, drive 30, driving-belt 31, driving gear 32, driven gear 33, pallet 34, cross bar 36, holds together fruit device axle 37, blade shaft 38 and rotation bottom axle 39.
The action of female mechanical arm 1 described in the utility model is for being arranged on that binocular camera on support 9 is delivered to specify image collection point and by sub-mechanical arm and be fixed on end effector on sub-mechanical arm 2 and send to and specify picking fruit point, end effector completes after objective fruit harvesting, and female mechanical arm is sent to fruit recovery point by sub-mechanical arm 2 and end effector.
Particular location between each parts in female mechanical arm 1 closes and is: female arm θ axle 5 rotates and is arranged on base 6, female arm Z axis 3 is vertically fixedly installed on female arm θ axle 5, female arm r axle 4 is vertically set on female arm Z axis 3, described female arm r axle 4 axial directions along female arm Z axis 3 slide, and described female arm r axle 4 is along sliding perpendicular to female arm Z axis 3 axial directions; End frame 8 is fixed on the termination of female arm r axle 4, and support 9 is fixed on female arm r axle 4.
The action of sub-mechanical arm described in the utility model is plucked position for completing end effector to send to specify under the cooperation of female mechanical arm, end effector completes after objective fruit harvesting task, and sub-mechanical arm completes end effector is sent to fruit recovery point under the cooperation of female mechanical arm.
Particular location between each parts in sub-mechanical arm 2 closes: sub-arm Z axis 11 is connected with aforementioned end frame 8, and sub-arm θ axle 13 is arranged on sub-arm Z axis 11, and described sub-arm θ axle 13 axial directions along sub-arm Z axis 11 slide; Sub-arm r axle 12 is connected with sub-arm θ axle 13, and sub-arm r axle 12 is flexible along the axial direction of sub-arm r axle 12, and described sub-arm θ axle 13 central axis around self rotate; Sub-arm flange 14 is arranged on the termination of sub-arm r axle 12.
The action of end effector described in the utility model has been harvesting and the recovery of objective fruit.
Particular location between each parts in end effector closes: end effector comprise connect fruit device 21, base flange 22, hold together fruit device 23, blade 24, receive fruit cylinder 25, rotation bottom 26, drive 30, driving-belt 31, driving gear 32, driven gear 33, pallet 34, cross bar 36, hold together fruit device axle 37, blade shaft 38 and rotation bottom axle 39; The described fruit device 21 that connects is for one end sealing, and the other end is provided with the cylinder of diagonal cut joint; Base flange 22 is connected with aforementioned sub-arm flange 14, base flange 22 is connected with the blind end that connects fruit device 21 by cross bar 36, blade 24 is rotated and is arranged on the diagonal cut joint end that connects fruit device 21 by blade shaft 38, holding together fruit device 23 is arranged on the diagonal cut joint end that connects fruit device 21 by holding together 37 rotations of fruit device axle, driving gear 32 is coaxially installed with blade shaft 38, driven gear 33 is coaxially installed with holding together fruit device axle 37, and driving gear 32 is meshed with driven gear 33; Driving-belt 31 connects blade shaft 38; The described fruit cylinder 25 of receiving is arranged on the diagonal cut joint end that connects fruit device 21, and described in connect fruit device 21 diagonal cut joint end be provided with and receive fruit cylinder 25 through holes that are connected 40; Pallet 34 is arranged on the diagonal cut joint end that connects fruit device 21; Rotation bottom 26 is rotated and is arranged on the bottom of receiving fruit cylinder 25 by rotation bottom axle 39.
Control system described in the utility model realizes identification and location and female mechanical arm, the motion control of gadget arm and the end effector harvesting control of fruit tree image taking, image processing, objective fruit.
Control system described in the utility model comprises industrial computer, binocular camera 10, adapter, for controlling the sub-mechanical arm 2 of female mechanical arm control system, converter and control of female mechanical arm 1 action and sub-mechanical arm and the end effector control system of end effector action; Described binocular camera 10 is fixed on aforesaid support 9, and binocular camera is connected with industrial computer by adapter, and described sub-mechanical arm is connected with industrial computer by converter with end effector control system.
Female mechanical arm control system described in the utility model comprises the first motion control card, female arm Z axis motor servo driver, female arm Z axis servomotor, female arm Z axis encoder for servo motor, female arm r axle motor servo driver, female arm r axle servomotor, female arm r axle encoder for servo motor, female arm θ axle motor servo driver, female arm θ axle servomotor and female arm θ axle encoder for servo motor;
The input of described female arm Z axis motor servo driver is connected with the output of the first motion control card, and the output of female arm Z axis motor servo driver is connected with the input of female arm Z axis servomotor; Described female arm Z axis encoder for servo motor can detect female arm Z axis servomotor anglec of rotation displacement, and the output of female arm Z axis encoder for servo motor is connected with the input of the first motion control card; Described female arm Z axis servomotor can drive female arm Z axis motion.Described female arm Z axis encoder for servo motor can send the female arm Z axis servomotor anglec of rotation displacement detecting to first motion control card, and the first motion control card is according to the accurate control of the female arm Z axis motion of this information realization.
The input of described female arm r axle motor servo driver is connected with the output of the first motion control card, and the output of female arm r axle motor servo driver is connected with the input of female arm r axle servomotor; Described female arm r axle encoder for servo motor can detect female arm r axle servomotor anglec of rotation displacement, and the output of female arm r axle encoder for servo motor is connected with the input of the first motion control card; Described female arm r axle servomotor can drive female arm r axle motion; Described female arm r axle encoder for servo motor can send the female arm r axle servomotor anglec of rotation displacement detecting to first motion control card, and the first motion control card is according to the accurate control of the female arm r of this information realization axle motion.
The input of described female arm θ axle motor servo driver is connected with the output of the first motion control card, and the output of female arm θ axle motor servo driver is connected with the input of female arm θ axle servomotor; Described female arm θ axle encoder for servo motor can detect female arm θ axle servomotor anglec of rotation displacement, and the output of female arm θ axle encoder for servo motor is connected with the input of the first motion control card; Described female arm θ axle servomotor can drive female arm θ axle motion.Described female arm θ axle encoder for servo motor can send the female arm θ axle servomotor anglec of rotation displacement detecting to first motion control card, and the first motion control card is according to the accurate control of the female arm θ of this information realization axle motion.Described the first motion control card is connected with industrial computer.
Sub-mechanical arm described in the utility model and end effector control system comprise slave computer, monocular-camera 35, position sensor 27, the second motion control card, sub-arm Z axis motor servo driver, sub-arm Z axis encoder for servo motor, sub-arm Z axis servomotor, sub-arm r axle motor servo driver, sub-arm r axle servomotor, sub-arm r axle encoder for servo motor, sub-arm θ axle motor servo driver, sub-arm θ axle servomotor, sub-arm θ axle encoder for servo motor, rotation bottom motor driver, rotation bottom motor, hold together fruit device motor driver and hold together fruit device motor 28,
Slave computer is connected with industrial computer by aforesaid converter; Described monocular-camera 35 is arranged on aforesaid pallet 34, and monocular-camera 35 is connected with slave computer; Position sensor 27 is arranged on the inwall of the diagonal cut joint end that connects fruit device 21; Position sensor is connected with slave computer.Describedly hold together fruit device motor 28 and be arranged on the blind end that connects fruit device 21, hold together on the motor shaft of fruit device motor 28 drive 30 is installed, drive 30 by be connected to driving-belt 31 on blade shaft 38 by the transmission of power of holding together fruit device motor 28 to driving gear 32;
The input of sub-arm Z axis motor servo driver is connected with the output of the second motion control card, and the output of sub-arm Z axis motor servo driver is connected with the input of sub-arm Z axis servomotor; Described sub-arm Z axis encoder for servo motor can detect sub-arm Z axis servomotor anglec of rotation displacement, and the output of sub-arm Z axis encoder for servo motor is connected with the input of the second motion control card; Described sub-arm Z axis servomotor can move by driven element arm Z axis; Described sub-arm Z axis encoder for servo motor can send the sub-arm Z axis servomotor anglec of rotation displacement detecting to second motion control card, and the second motion control card is according to the accurate control of the sub-arm Z axis motion of this information realization.
The input of sub-arm r axle motor servo driver is connected with the output of the second motion control card, and the output of sub-arm r axle motor servo driver is connected with the input of sub-arm r axle servomotor; Described sub-arm Z axis encoder for servo motor can detect sub-arm r axle servomotor anglec of rotation displacement, and the output of sub-arm r axle encoder for servo motor is connected with the input of the second motion control card.Described sub-arm r axle servomotor can the motion of driven element arm r axle.Described sub-arm r axle encoder for servo motor can send the sub-arm r axle servomotor anglec of rotation displacement detecting to second motion control card, and the second motion control card is according to the accurate control of the sub-arm r of this information realization axle motion.
The input of sub-arm θ axle motor servo driver is connected with the output of the second motion control card, and the output of sub-arm θ axle motor servo driver is connected with the input of sub-arm θ axle servomotor; Described sub-arm θ axle encoder for servo motor can detect sub-arm θ axle servomotor anglec of rotation displacement, and the output of sub-arm θ axle encoder for servo motor is connected with the input of the second motion control card; Described sub-arm θ axle servomotor can move by driven element arm θ axle; Described sub-arm θ axle encoder for servo motor can send the sub-arm θ axle servomotor anglec of rotation displacement detecting to second motion control card, and the second motion control card is according to the accurate control of the sub-arm θ of this information realization axle motion.Described the second motion control card is connected with aforesaid slave computer.
Further, female arm Z axis 3 described in the utility model and female arm r axle 4 are two parallel arms structures.In the utility model, female arm Z axis 3 and female arm r axle 4 are two parallel arms structures, and its Main Function is the intensity that strengthens female arm Z axis 3 and female arm r axle 4, improves female arm Z axis 3 and female arm r axle 4 supporting powers, increases the service life.
Further, female arm θ axle 5 described in the utility model and base 6 are cylindrical structure, and the radius of described female arm θ axle 5 is less than the radius of base 6.
Further, female mechanical arm 1 described in the utility model also comprises batter post 7; One end of described batter post 7 is fixed on female arm Z axis 3, and the other end is fixed on female arm θ axle 5.The utility model arranges batter post 7, and its Main Function is to strengthen female arm Z axis 3 stability, increases the service life.
The utility model has also proposed to adopt a kind of fruits picking mechanical hand to carry out the method for fruit picking, comprises the following steps:
1) when binocular camera detects target fruit tree, send target fruit tree image to industrial computer, industrial computer image is processed and is obtained after target fruit tree dimension information and tree crown central point space coordinates information, determine that IMAQ is counted and each locus, collection point coordinate, then definite female mechanical arm picking fruit is counted and each picking point space coordinates;
Female mechanical arm picking fruit count and definite method of each picking point space coordinates as described below:
1.1 determine world coordinate system, and the circular cylindrical coordinate initial point of getting the base 6 of female mechanical arm is world coordinate system initial point, and robot direct of travel is x axle positive direction, and vertical x axle robot direct of travel left side is y axle positive direction, and vertical level upward direction is Z positive direction;
1.2 determine that IMAQ is counted and the space coordinates of each collection point;
If tree crown central point space coordinates is P
0(x
0, y
0, z
0), establishing sub-arm Z axis length is d, and sub-arm r axle maximal dilation length is e, and target top fruit sprayer height is b, and width is a, and IMAQ is counted as k=2m, and wherein m is
integer part; According to IMAQ, count top fruit sprayer is divided into the capable k of a 2 row m region, the corresponding IMAQ point in each region.If binocular camera image optimum shooting point is c apart from fruit tree distance, is P if certain IMAQ is put corresponding tree crown regional space coordinate
q(x
q, y
q, z
q), this IMAQ point coordinates is P
t(x
t, y
t, z
t), x wherein
t=x
q, y
t=(y
q-c), z
t=z
q;
1.3 female mechanical arm picking fruits are counted and are counted identical with IMAQ; If certain picking point space coordinates P
c(x
c, y
c, z
c), x
c=x
t, y
c=(y
t+ c-e+ β), z
c=z
t, x wherein
t, y
t, z
tbe respectively this picking point correspondence image collection point x, y, z axial coordinate, β >0;
2) industrial computer, by serial ports to the first motion control card sending controling instruction, makes female mechanical arm move to the first IMAQ point;
3) binocular camera gathers fruit tree image, and sends image to industrial computer;
4) industrial computer, by serial ports to the second motion control card sending controling instruction, makes female mechanical arm move to the first picking fruit point;
5) industrial computer carries out image processing, complete the identification of image internal object fruit and location, and obtain locus and the dimension information of each fruit, calculate the distance of each objective fruit and each sub-mechanical arm, according to nearest principle dispense tip actuator, pluck fruit task, and slave computer corresponding to locus and the dimension information of each end effector harvesting task fruit send to;
6) each slave computer is determined respective ends actuator objective fruit harvesting path, and calculates the kinematic parameter of corresponding sub-arm r axle, sub-arm θ axle, sub-arm Z axis, and sends parameter to second motion control card;
7) the second motion control card control handset tool arm moves and drives end effector motion, and sub-mechanical arm and end effector carry out picking fruit;
The second motion control card control handset tool arm moves and to drive end effector motion, sub-mechanical arm and end effector to carry out the concrete grammar of picking fruit as follows:
1.1 sub-mechanical arm motions drive end effector to stretch to objective fruit, and fruit enters and connects fruit device; End effector stretches in the process of objective fruit, be contained in the monocular-camera photographic subjects fruit image of end effector front end, and send slave computer to and process, obtain fruit center coordinate, according to fruit center coordinate and picture centre coordinate, calculate sub-manipulator motion and adjust parameter, and send parameter to second motion control card, adjust each axle motion of minute mechanical arm, make the end effector fruit type heart that aims at the mark, realize fruit Kinematic Positioning and tracking;
1.2 position sensors detect fruit enter completely connect fruit device after, signal is transmitted to slave computer;
1.3 slave computers send instruction to the second motion control card and make end effector hold together the rotation of fruit device motor, hold together fruit device and blade rotation interlock and cut off carpopodium, and fruit falls into receives fruit cylinder;
1.4 position sensors detect fruit and fall into receipts fruit cylinder, to slave computer, transmit picking fruit successful information; Slave computer carries out next picking fruit by the second motion control card control handset tool arm and end effector motion.
8) after the picking fruit in the first picking fruit point, sub-mechanical arm returns to initial position, and female mechanical arm moves to and drives sub-mechanical arm and end effector to arrive fruit recovery position, and end effector rotation bottom is opened, fruit falls into fruit basket from receiving fruit cylinder, thereby complete once, plucks;
9) female mechanical arm moves to next IMAQ point, starts picking fruit next time.
In addition to the implementation, the utility model can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of the utility model requirement.
The utility model does not relate to partly all same as the prior art or employing prior aries to be realized.
Claims (6)
1. a fruits picking mechanical hand, comprises fruit picking mechanical device and control system, it is characterized in that,
Described fruit picking mechanical device comprises female mechanical arm (1), is fixed on being no less than the sub-mechanical arm (2) of and being fixed on the end effector on sub-mechanical arm (2) on female mechanical arm (1);
Wherein, described female mechanical arm (1) comprises female arm Z axis (3), female arm r axle (4), female arm θ axle (5), base (6), end frame (8) and support (9); Female arm θ axle (5) rotates and is arranged on base (6), female arm Z axis (3) is vertically fixedly installed on female arm θ axle (5), female arm r axle (4) is vertically set on female arm Z axis (3), described female arm r axle (4) slides along the axial direction of female arm Z axis (3), and described female arm r axle (4) is along sliding perpendicular to female arm Z axis (3) axial direction; End frame (8) is fixed on the termination of female arm r axle (4), and support (9) is fixed on female arm r axle (4);
Described sub-mechanical arm (2) comprises sub-arm Z axis (11), sub-arm r axle (12), sub-arm θ axle (13) and sub-arm flange (14); Described sub-arm Z axis (11) is connected with aforementioned end frame (8), and it is upper that sub-arm θ axle (13) is arranged on sub-arm Z axis (11), and described sub-arm θ axle (13) slides along the axial direction of sub-arm Z axis (11); Sub-arm r axle (12) is connected with sub-arm θ axle (13), and described sub-arm r axle (12) is flexible along the axial direction of sub-arm r axle (12), and described sub-arm θ axle (13) rotates around the central axis of self; Sub-arm flange (14) is arranged on the termination of sub-arm r axle (12);
Described end effector comprises and connects fruit device (21), base flange (22), holds together fruit device (23), blade (24), receives fruit cylinder (25), rotation bottom (26), drive (30), driving-belt (31), driving gear (32), driven gear (33), pallet (34), cross bar (36), hold together fruit device axle (37), blade shaft (38) and rotate bottom axle (39); The described fruit device (21) that connects is for one end sealing, and the other end is provided with the cylinder of diagonal cut joint; Described base flange (22) is connected with aforementioned sub-arm flange (14), base flange (22) is connected with the blind end that connects fruit device (21) by cross bar (36), blade (24) is rotated and is arranged on the diagonal cut joint end that connects fruit device (21) by blade shaft (38), holding together fruit device (23) is arranged on the diagonal cut joint end that connects fruit device (21) by holding together fruit device axle (37) rotation, described driving gear (32) is coaxially installed with blade shaft (38), driven gear (33) is coaxially installed with holding together fruit device axle (37), and driving gear (32) is meshed with driven gear (33); Driving-belt (31) connects blade shaft (38); The described fruit cylinder (25) of receiving is arranged on the diagonal cut joint end that connects fruit device (21), and described in connect fruit device (21) diagonal cut joint end be provided with and receive the through hole (40) that fruit cylinder (25) is connected; Pallet (34) is arranged on the middle part that connects fruit device (21); Rotation bottom (26) is rotated and is arranged on the bottom of receiving fruit cylinder (25) by rotation bottom axle (39);
Described control system comprises industrial computer, binocular camera (10), adapter, for controlling the sub-mechanical arm of female mechanical arm control system, converter and control (2) of female mechanical arm (1) action and sub-mechanical arm and the end effector control system that end effector moves; It is upper that described binocular camera (10) is fixed on aforesaid support (9), and binocular camera is connected with industrial computer by adapter, and described sub-mechanical arm is connected with industrial computer by converter with end effector control system.
2. fruits picking mechanical hand as claimed in claim 1, it is characterized in that, described female mechanical arm control system comprises the first motion control card, female arm Z axis motor servo driver, female arm Z axis servomotor, female arm Z axis encoder for servo motor, female arm r axle motor servo driver, female arm r axle servomotor, female arm r axle encoder for servo motor, female arm θ axle motor servo driver, female arm θ axle servomotor and female arm θ axle encoder for servo motor; The input of described female arm Z axis motor servo driver is connected with the output of the first motion control card, the output of female arm Z axis motor servo driver is connected with the input of female arm Z axis servomotor, and the output of female arm Z axis encoder for servo motor is connected with the input of the first motion control card; The input of described female arm r axle motor servo driver is connected with the output of the first motion control card, the output of female arm r axle motor servo driver is connected with the input of female arm r axle servomotor, and the output of female arm r axle encoder for servo motor is connected with the input of the first motion control card; The input of described female arm θ axle motor servo driver is connected with the output of the first motion control card, the output of female arm θ axle motor servo driver is connected with the input of female arm θ axle servomotor, and the output of female arm θ axle encoder for servo motor is connected with the input of the first motion control card; Described the first motion control card is connected with industrial computer.
3. fruits picking mechanical hand as claimed in claim 1, it is characterized in that, described sub-mechanical arm and end effector control system comprise slave computer, monocular-camera (35), position sensor (27), the second motion control card, sub-arm Z axis motor servo driver, sub-arm Z axis encoder for servo motor, sub-arm Z axis servomotor, sub-arm r axle motor servo driver, sub-arm r axle servomotor, sub-arm r axle encoder for servo motor, sub-arm θ axle motor servo driver, sub-arm θ axle servomotor, sub-arm θ axle encoder for servo motor, rotation bottom motor driver, rotation bottom motor, hold together fruit device motor driver and hold together fruit device motor (28), described slave computer is connected with industrial computer by aforesaid converter, it is upper that described monocular-camera (35) is arranged on aforesaid pallet (34), and monocular-camera (35) is connected with slave computer, described position sensor (27) is arranged on the inwall of the diagonal cut joint end that connects fruit device (21), position sensor (27) is connected with slave computer, describedly hold together fruit device motor (28) and be arranged on the blind end that connects fruit device (21), hold together on the motor shaft of fruit device motor (28) drive (30) be installed, drive (30) by the transmission of power that is connected to driving-belt (31) on blade shaft (38) and will holds together device motor (28) really to driving gear (32), the input of described sub-arm Z axis motor servo driver is connected with the output of the second motion control card, the output of sub-arm Z axis motor servo driver is connected with the input of sub-arm Z axis servomotor, and the output of sub-arm Z axis encoder for servo motor is connected with the input of the second motion control card, the input of described sub-arm r axle motor servo driver is connected with the output of the second motion control card, the output of sub-arm r axle motor servo driver is connected with the input of sub-arm r axle servomotor, and the output of sub-arm r axle encoder for servo motor is connected with the input of the second motion control card, the input of described sub-arm θ axle motor servo driver is connected with the output of the second motion control card, the output of sub-arm θ axle motor servo driver is connected with the input of sub-arm θ axle servomotor, and the output of sub-arm θ axle encoder for servo motor is connected with the input of the second motion control card, described the second motion control card is connected with aforesaid slave computer, the input of described rotation bottom motor driver is connected with the output of the second motion control card, and the output of rotation bottom motor driver is connected with described rotation bottom motor, the described input that holds together fruit device motor driver is connected with the output of the second motion control card, and the output that holds together fruit device motor driver holds together really device motor and is connected with described.
4. fruits picking mechanical hand as claimed in claim 1, is characterized in that, described female arm Z axis (3) and female arm r axle (4) are two parallel arms structures.
5. fruits picking mechanical hand as claimed in claim 1, is characterized in that, described female arm θ axle (5) and base (6) are cylindrical structure, and the radius of described female arm θ axle (5) is less than the radius of base (6).
6. fruits picking mechanical hand as claimed in claim 1, is characterized in that, described female mechanical arm (1) also comprises batter post (7); It is upper that one end of described batter post (7) is fixed on female arm Z axis (3), and the other end is fixed on female arm θ axle (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420193271.9U CN203775716U (en) | 2014-04-18 | 2014-04-18 | Fruit picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420193271.9U CN203775716U (en) | 2014-04-18 | 2014-04-18 | Fruit picking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203775716U true CN203775716U (en) | 2014-08-20 |
Family
ID=51311976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420193271.9U Expired - Fee Related CN203775716U (en) | 2014-04-18 | 2014-04-18 | Fruit picking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203775716U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950033A (en) * | 2014-04-18 | 2014-07-30 | 南京农业大学 | Mechanical arm and end effector of fruit picking robot and fruit picking method |
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
| CN108813680A (en) * | 2018-07-12 | 2018-11-16 | 东莞市松研智达工业设计有限公司 | Mango cut-flower complete machine |
| CN112166824A (en) * | 2020-10-15 | 2021-01-05 | 四川农业大学 | Fruit picking robot based on rectangular coordinate type mechanical arm |
| CN112772144A (en) * | 2020-12-31 | 2021-05-11 | 西京学院 | Cylindrical tail-end apple picking machine claw and using method |
-
2014
- 2014-04-18 CN CN201420193271.9U patent/CN203775716U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103950033A (en) * | 2014-04-18 | 2014-07-30 | 南京农业大学 | Mechanical arm and end effector of fruit picking robot and fruit picking method |
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
| CN108813680A (en) * | 2018-07-12 | 2018-11-16 | 东莞市松研智达工业设计有限公司 | Mango cut-flower complete machine |
| CN108813680B (en) * | 2018-07-12 | 2021-11-12 | 江苏四达重工有限公司 | Mango cutting flower complete machine |
| CN112166824A (en) * | 2020-10-15 | 2021-01-05 | 四川农业大学 | Fruit picking robot based on rectangular coordinate type mechanical arm |
| CN112772144A (en) * | 2020-12-31 | 2021-05-11 | 西京学院 | Cylindrical tail-end apple picking machine claw and using method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103950033B (en) | The mechanical arm of fruit picking robot and end effector and fruit picking method | |
| CN203775716U (en) | Fruit picking manipulator | |
| CN103947380B (en) | A kind of both arms fruit picking robot and fruit picking method | |
| Hayashi et al. | Robotic harvesting system for eggplants | |
| CN111955164B (en) | Safflower filament occlusion type parallel picking robot | |
| KR100784830B1 (en) | Harvesting robot system for bench cultivation type strawberry | |
| CN203775715U (en) | Fruit picking device | |
| CN211745437U (en) | Robot is picked to overhead fruit vegetables intelligence | |
| CN209120971U (en) | A kind of chicken farm takes egg device | |
| CN107439143A (en) | A kind of greenhouse string tomato harvester and collecting method | |
| CN111837640A (en) | Hillside orchard intelligence picking robot based on visual identification | |
| CN101837588A (en) | Intelligent ball collecting robot | |
| CN113994814A (en) | Intelligent fruit and vegetable picking robot | |
| CN109328638B (en) | Tobacco harvester with intelligent bionic picking hand | |
| CN108323325B (en) | Strawberry picking machine simulating human hands and picking method | |
| CN208128883U (en) | A kind of pineapple picking robot | |
| CN114679963B (en) | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method | |
| CN113228939B (en) | Intelligent vertical corn header and corn combine | |
| CN113099870B (en) | Self-adaptive flower thinning machine and flower thinning method | |
| CN215122201U (en) | Intelligent multi-arm tea plucking machine | |
| CN115191233A (en) | Multi-arm high-speed picking robot for trellis kiwifruit and operation method thereof | |
| CN108718709B (en) | Automatic strawberry picking machine | |
| CN114365624A (en) | Efficient agricultural picking device based on DELTA parallel mechanical arms | |
| CN111543179A (en) | Automatic lotus seedpod picking machine based on standardized lotus field | |
| CN209314338U (en) | Pick the robot of day lily |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140820 Termination date: 20150418 |
|
| EXPY | Termination of patent right or utility model |