CN205865161U - Machine people is plucked to intelligence oranges and tangerines - Google Patents

Machine people is plucked to intelligence oranges and tangerines Download PDF

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Publication number
CN205865161U
CN205865161U CN201620788219.7U CN201620788219U CN205865161U CN 205865161 U CN205865161 U CN 205865161U CN 201620788219 U CN201620788219 U CN 201620788219U CN 205865161 U CN205865161 U CN 205865161U
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China
Prior art keywords
arm
control
flexible
effector
cylinder
Prior art date
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CN201620788219.7U
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Chinese (zh)
Inventor
邵长春
李水明
莫振栋
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柳州铁道职业技术学院
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Priority to CN201620788219.7U priority Critical patent/CN205865161U/en
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Publication of CN205865161U publication Critical patent/CN205865161U/en

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Abstract

The utility model provides a machine people is plucked to intelligence oranges and tangerines, including running gear, the arm, a workbench, recovery unit, control system and electrical power generating system, the arm, control system and electrical power generating system install on the workstation, the arm front end is equipped with end effector and visual system, vision systems and control system data connects, control system passes through the action of arm drive unit control machinery arm, control system passes through travel drive unit control running gear's action, electrical power generating system provides working power supply for control system and running gear, the arm includes swing joint's the first arm, second arm, third arm, fourth arm, the 5th arm and the 6th arm in proper order: wherein the 6th arm is connected with the 5th arm through flexible slewing mechanism to make the 6th arm and end effector rotate flexible its axis of duplex winding of the 5th relative arm, the utility model discloses but rotary motion makes oranges and tangerines and the separation of fruit stalk, picks efficient, to pick high quality, intelligent degree height, practicality strong, easily use widely.

Description

Intelligence Citrus picking robot
Technical field
This utility model relates to a kind of agricultural robot technical field, especially a kind of intelligence Citrus picking robot.
Background technology
Developing rapidly along with high-tech, robotics has been widely used in every field, and robot application is in agriculture During industry produces, particularly industrialized agriculture production process, is that agricultural is to automatization and the important symbol of intelligent development, present Agricultural robot quickly grows, and many countries such as the U.S., Europe and Asia are to vegetable and the systematic research exploitation of fruit robot Having obtained Preliminary Applications, in fruit and vegerable production operation, the application in terms of results harvesting accounts for the 33%~50% of whole workload, Owing to plucking the complexity of operation, in terms of harvesting, the automaticity of application is the lowest.
China is also in the starting stage in terms of the research of agricultural robot at present, has not yet to see the technology of maturation; Publication No. CN102124866A, the practicality of entitled " a kind of wheel type mobile fruit picking robot and fruit picking method " New patent, fruit picking mechanical arm, actuator, vision control system, driving means are melted for carrier by it with running gear Included together as experimentation and develop model machine, there is certain representativeness at technical elements, but its technical scheme is still deposited In following weak point:
1. mechanical arm:
The articulated manipulator that the type robot is used, although there is working range big, taken up space little, action spirit The advantage lived, but can only pass through articulation between arm and arm, and can not relative telescopic and around central axis, due to harvesting Robot arm grove to be deep into wins fruit, after winning, end can only be allowed to perform by the retracting motion of mechanical arm Device sends back to fruit the fruit plucked and receives in basket, plucks as Citrus especially, and its branch and leaf are luxuriant, often win one with regard to wraparound Coming, the motion path of mechanical arm is long, and idle stroke increases, and each motor process will take for a lot of time, necessarily affects recovery effect Rate;
2. end effector:
Can end effector directly determines intelligence picking robot effectively carry out operation, and this robot uses Germany The end effector that SCHUNK company manufactures, the end effector of this model is accompanied with force transducer, sliding feeling sensor etc., essence Spend the highest, extraordinary equipment of can yet be regarded as in industrial operations, but it uses holding finger to clamp fruit, then imitates Fruit is taken by the action that hands is upwards lifted, and the problem one existed is to utilize holding finger to carry out fruit picking speed slowly, and efficiency is low, Two is owing to the growth of fruit is towards not fixing, and fruit tree has the barriers such as branch and leaf, plucks because of stress the most not with holding finger All, causing winning failure, three is owing to fruit is stronger with the connection ratio of carpopodium, and branch has certain pliability, particularly Citrus, fruit is shorter with the spacing of carpopodium, and carpopodium is durable, has multiple Citrus on an end of the branch in addition, uses mould The mode that the action that imitative hands is upwards lifted pulls by force, not only can strengthen mechanical movement distance but also effect is bad, in some instances it may even be possible to meeting Break branch, cause fruit tree injured.
Utility model content
The technical problems to be solved in the utility model is: provide for solving prior art problem a kind of picking efficiency high, Pluck the intelligent Citrus picking robot that quality is high, intelligence degree is high and labor intensity is low.
The technical scheme solving above-mentioned technical problem is: a kind of intelligence Citrus picking robot, including walking mechanism, machinery Arm, workbench, retracting device, control system and power-supply system, on the table, mechanical arm front end is provided with end in mechanical arm installation Executor and visual system, described visual system and control system data cube computation, described control system drives single by mechanical arm Unit controls the action of mechanical arm, and described control system controls the action of walking mechanism, described power supply system by hoofing part unit Unite and provide working power for control system and walking mechanism;
Described mechanical arm includes the first arm, the second arm, the 3rd arm, the 4th arm, the 5th arm and being flexibly connected successively Six arms: described first arm is rotationally connected with workbench by the first joint, so that whole mechanical arm can be in the first joint Axis is made to horizontally rotate, and described second arm is rotationally connected by second joint and the first arm, and the 3rd arm passes through the 3rd joint and the Two arms are rotationally connected, and the 4th arm is rotationally connected by the 4th joint and the 3rd arm, and the 5th arm is by the 5th joint with the 4th arm even Connecing, the 6th arm is connected by flexible rotating mechanism and the 5th arm, and the 6th arm front end connects end effector so that the 6th arm and End effector can stretch relative to the 5th arm and rotate around its axis;
Described flexible rotating mechanism includes retracting cylinder, rotating cylinder, screw mandrel, collar nut, Helical gear Transmission pair, motor I and motor II, described retracting cylinder slip cap is contained in the inner chamber of the 5th arm, described screw mandrel be arranged on the 5th arm inner chamber and with step Entering motor I to be in transmission connection, the collar nut being arranged in the annular groove of retracting cylinder back end outer circumference is connected with screw rod transmission;
Described rotating cylinder is arranged on retracting cylinder front end by bearing or chute, and the rear end face of rotating cylinder connects Helical gear Transmission The umbrella tooth II of pair is also in transmission connection with the umbrella tooth I of Helical gear Transmission pair and motor II being arranged on retracting cylinder inner chamber, rotates Cylinder front end connects the 6th arm.
Its further technical scheme is: described end effector includes two flexible arms being arranged symmetrically with, flexible hand Arm is connected with the cylinder-driven being located in the 5th arm, and control system controls the action of flexible arm by pressure valve and cylinder, soft Property arm is provided with the force sensor electrically connected with control system and sensory nerve sensor.
Further: described retracting device includes that flexible collection pouch and collection box, described flexible collection pouch are a cat ear The leak shape device of formula, its upper shed is more than under shed, is provided with guide line outside bag body, and flexible collection pouch upper shed is connected to end The lower section of end executor, its under shed is directed in collection box by guide line.
Described visual system is arranged on the 5th arm front end, and described visual system uses binocular or three lens cameras, video camera Electrically connected with control system by data line.Described walking mechanism uses crawler type traveling mechanism.
Described workbench is by supporting that casing supports, and described workbench and support casing hardwood are made.
Due to use said structure, compared with prior art, the intelligence Citrus picking robot of this utility model have with Lower beneficial effect:
1. picking efficiency is high:
6th arm of this utility model mechanical arm is connected by flexible rotating mechanism and the 5th arm, and end effector is connected to 6th arm front end, this distance not only contributing to increase mechanical arm horizontal movement, the highest farther Citrus of convenient harvesting, Er Qieyou Can carry out rotating and stretching with the 6th arm in end effector, grove can be put in when searching out target, after clamping fruit Make Citrus separate with carpopodium by rotary motion, then return to the flexible collection pouch below end effector, make Citrus fall In flexible collection pouch, thus shorten the idle stroke of robot, be greatly improved work efficiency;
2. pluck quality high:
Owing to harvesting visual system of the present utility model uses binocular or three lens cameras, can be in complicated Citrus grove In, utilize optical lens by the spatial positional information of Citrus, include that citrusfruit profile is imaged onto on camera sensor target surface, logical Cross opto-electronic conversion and optical signalling is changed into the signal of telecommunication, then be transformed into calculating in the corresponding signal of telecommunication is transferred to image pick-up card The manageable digital image information of machine, acquisition speed is rapid, and the digital signal obtaining Citrus is accurate, when vision is found To information be sent back to control system after, can control that mechanical arm and end effector are steady, accurate, grab Citrus soon;
In picking process, end effector uses flexible arm to pluck Citrus, and flexible arm is mounted with to be similar to staff Sensory nerve sensor and force sensor, it is possible to the both hands imitating orchard worker carry out capturing Citrus, and flexible movements, crawl information is sent out Return to control system, control system judge crawl dynamics by force sensor information, after adjusting suitable dynamics, pass through end Executor rotates and Citrus is separated with carpopodium, both avoided due to capture fruit time unbalance stress and cause damage fruit, Turn avoid causes branch to be broken owing to pulling fruit by force, greatly improves harvesting quality;
3. intelligence degree is high:
Owing to steer mode of the present utility model uses intelligence control system to realize, set-up of control system starts plucks vision The step such as Citrus, Citrus collection is plucked in system, searching Citrus, crawl, and each step is finished and signal can be fed back to control System processed, control system performs next step operation automatically after carrying out computing, period need not human intervention, steer mode letter Single, intelligence degree is high;
4. this utility model is equally applicable to the harvesting of other circular fruit such as Citrus sinensis Osbeck, Fructus Mali pumilaes etc., practical;
5. the walking mechanism of this utility model uses crawler type traveling mechanism, the most more convenient on complicated rural road Walking, and stationarity is good;Workbench and support casing hardwood are made, and can significantly alleviate integrally-built weight.
Accompanying drawing explanation
The intelligence Citrus picking robot structural representation of Fig. 1: this utility model;
The structural representation of the intelligence Citrus picking robot mechanical arm of Fig. 2: this utility model;
The intelligence Citrus picking robot control principle block diagram of Fig. 3: this utility model;
The mechanical arm Telescopic rotation mechanism structural representation of Fig. 4: this utility model;
Intelligence Citrus picking robot (Citrus harvesting) workflow diagram of Fig. 5: this utility model.
In figure:
00 control system, 1 walking mechanism, 11 hoofing part unit, 2 support casings, 3 workbench, 4 Power-supply system, 5 mechanical arm driver elements, 6 collection boxes, 7 mechanical arms, 701 first joints, 71 first arms, 702 Second joint, 72 second arms, 703 the 3rd joints, 73 the 3rd arms, 704 the 4th joints, 74 the 4th arms, 705 Five joints, 75 the 5th arms, 706 stretch rotating mechanism, 7061 motors I, 7062 screw mandrels, 7063 annular spiral shells Mother, 7064 motors II, 7065 umbrella teeth I, 7066 umbrella teeth II, 7067 rotating cylinders, 7068 bearings, 7069 stretch Contracting cylinder, 76 the 6th arms, 8 end effectors, 80 cylinders, 81 force sensor, 82 sensory nerve sensors, 9-regards Vision system, 10-flexible collection pouch.
Detailed description of the invention
Embodiment one
A kind of intelligence Citrus picking robot, including walking mechanism 1, mechanical arm 7, workbench 3, retracting device, control system System 00 and power-supply system 4, described mechanical arm, control system 00 and power-supply system 4 are installed on the table, and mechanical arm front end is provided with End effector 8 and visual system 9, described visual system and control system data cube computation, described control system passes through mechanical arm Driver element 5 controls the action of mechanical arm, and described control system controls the action of walking mechanism, institute by hoofing part unit 11 State power-supply system and provide working power for control system and walking mechanism;
First arm the 71, second arm 72 that described mechanical arm 7 includes being flexibly connected successively, the 3rd arm 73, the 4th arm 74, Five arm 75 and the 6th arms 76: described first arm is rotationally connected with workbench by the first joint 701, so that whole mechanical arm can Making to horizontally rotate around the axis in the first joint, described second arm is rotationally connected with the first arm by second joint 702, the 3rd arm Being rotationally connected with the second arm by the 3rd joint 703, the 4th arm is rotationally connected by the 4th joint 704 and the 3rd arm, the 5th arm Being connected with the 4th arm by the 5th joint 705, the 6th arm is connected with the 5th arm by flexible rotating mechanism 706, the 6th arm front end Connect end effector 8, so that the 6th arm can stretch relative to the 5th arm with end effector and rotate around its axis;
Described flexible rotating mechanism 706 includes retracting cylinder 7069, rotating cylinder 7067, screw mandrel 7062, collar nut 7063, tiltedly Gear driving pair, motor I 7061 and motor II 7064, described retracting cylinder slip cap is contained in the inner chamber of the 5th arm, institute State screw mandrel be arranged on the 5th arm inner chamber and be in transmission connection with motor I, be arranged on the annular groove of retracting cylinder back end outer circumference Interior collar nut is connected with screw rod transmission;Control system drives screw mandrel to rotate by controlling motor I, and screw mandrel drives annular Nut promotes the elastic motion of retracting cylinder;
Described rotating cylinder is arranged on retracting cylinder front end by bearing 7068 or chute, and the rear end face of rotating cylinder connects helical gear The umbrella tooth II 7066 of transmission and with the umbrella tooth I 7065 of Helical gear Transmission pair and the motor II being arranged on retracting cylinder inner chamber 7064 are in transmission connection, and rotating cylinder front end connects the 6th arm;Control system drives umbrella tooth I rotation, umbrella by controlling motor II Tooth I drives umbrella tooth II to rotate thus cylinder is rotated and rotates.
Described end effector 8 includes two flexible arms being arranged symmetrically with, flexible arm and the gas being located in the 5th arm Cylinder 80 is in transmission connection, and control system controls the action of flexible arm by pressure valve and cylinder, and flexible arm is provided with and controls The force sensor 81 of system electrical connection and sensory nerve sensor 82.
Described retracting device includes that flexible collection pouch 10 and collection box 6, described flexible collection pouch 10 are a cat ear formula Leak shape device, its upper shed is more than under shed, is provided with guide line outside bag body, and flexible collection pouch upper shed is connected to end and holds The lower section of row device, its under shed is directed in the collection box before workbench by guide line.
Described visual system is arranged on the 5th arm front end, and described visual system uses binocular or three lens cameras, video camera Electrically connected with control system by data line;Described walking mechanism uses crawler type traveling mechanism;Described workbench is by propping up Holding casing 2 to support, described workbench and support casing hardwood are made.
The intelligence Citrus picking robot of this utility model carries out the method for Citrus harvesting and comprises the following steps:
S1: start walking mechanism, make robot close to fruit tree;
S2: searching Citrus:
Drive mechanical arm to put in fruit tree, pluck visual system and search for Citrus to be plucked, and target position signal is sent to Control system;
S3: crawl Citrus:
Control system receives after plucking the signal that visual system is sent, and controls mechanical arm by end effector 8 close to target, And control to be located at the flexible rotating mechanism in the 5th arm and cylinder action, make the flexible arm of end effector 8 stretch out and clamp Citrus;
Chucking power between S4: force sensor and sensory nerve sensor detection flexible arm and fruit, and by information Pass back to control system, the power threshold value that the Citrus that control system is given according to the experiment pre-entered can bear, adjust and control The chucking power of flexible arm processed;
S5: harvesting Citrus:
Control system control be located in the 5th arm flexible rotating mechanism make flexible arm rotate, by torsion make Citrus and Carpopodium separates;
S6: recovery Citrus:
End effector 8 is retracted to the upper shed of flexible collection pouch 10, and control system controls to be located at the cylinder in the 5th arm Action makes flexible arm open, and Citrus fall in flexible collection pouch 10, and is slipped to lentamente in fruit collection box.
In above-mentioned steps S2, pluck visual system and search for Citrus to be plucked, and target position signal is sent to control The step of system includes following process:
S21: collection imaging:
The optical lens utilizing binocular or three lens cameras obtains two or more different points of view, is become by citrusfruit profile As on camera sensor target surface;
S22: opto-electronic conversion:
Optical signalling in step S21 is changed into the signal of telecommunication;
S23: electricity number conversion:
Computer manageable digital picture letter it is transformed in the signal of telecommunication in step S22 is transferred to image pick-up card Breath;
S24: filtering and noise reduction:
Use median filter smoothness of image that the image information in step S23 is filtered denoising;
S25: gray proces:
Image information in step S24 is carried out gray proces, extracts the exterior contour of fruit;
S26: target position signal is sent to control system.
In above-described embodiment, described flexible rotating mechanism between the every arm of described mechanical arm, can be used as required to connect it In any two-arm.

Claims (6)

1. an intelligent Citrus picking robot, including walking mechanism (1), mechanical arm (7), workbench (3), retracting device, control System processed (00) and power-supply system (4), on the table, mechanical arm front end is provided with end effector (8) and regards in mechanical arm installation Vision system (9), described visual system and control system data cube computation, described control system is controlled by mechanical arm driver element (5) The action of mechanical arm processed, described control system controls the action of walking mechanism, described power supply system by hoofing part unit (11) Unite and provide working power for control system and walking mechanism;It is characterized in that:
The first arm (71) that described mechanical arm (7) includes being flexibly connected successively, the second arm (72), the 3rd arm (73), the 4th arm (74), the 5th arm (75) and the 6th arm (76): described first arm is rotationally connected with workbench by the first joint (701), thus Making whole mechanical arm can make to horizontally rotate around the axis in the first joint, described second arm passes through second joint (702) and first Arm is rotationally connected, and the 3rd arm is rotationally connected with the second arm by the 3rd joint (703), the 4th arm by the 4th joint (704) with 3rd arm is rotationally connected, and the 5th arm is connected with the 4th arm by the 5th joint (705), and the 6th arm is by flexible rotating mechanism (706) be connected with the 5th arm, the 6th arm front end connects end effector (8), so that the 6th arm can be relative with end effector 5th arm is flexible and rotates around its axis;
Described flexible rotating mechanism (706) includes retracting cylinder (7069), rotating cylinder (7067), screw mandrel (7062), collar nut (7063), Helical gear Transmission is secondary, motor I (7061) and motor II (7064), and described retracting cylinder slip cap is contained in the The inner chamber of five arms, described screw mandrel is arranged on the 5th arm inner chamber and is in transmission connection with motor I, is arranged on retracting cylinder rear end cylindrical Collar nut in the annular groove in week is connected with screw rod transmission;
Described rotating cylinder is arranged on retracting cylinder front end by bearing (7068) or chute, and the rear end face of rotating cylinder connects helical gear and passes The umbrella tooth II (7066) of dynamic pair and with the umbrella tooth I (7065) of Helical gear Transmission pair and the motor being arranged on retracting cylinder inner chamber II (7064) is in transmission connection, and rotating cylinder front end connects the 6th arm.
Intelligence Citrus picking robot the most according to claim 1, it is characterised in that: described end effector (8) includes Two flexible arms being arranged symmetrically with, flexible arm is in transmission connection with the cylinder (80) being located in the 5th arm, and control system is passed through Pressure valve and cylinder control the action of flexible arm, and flexible arm is provided with the force sensor (81) electrically connected with control system With sensory nerve sensor (82).
Intelligence Citrus picking robot the most according to claim 2, it is characterised in that: described retracting device includes flexibility Collecting bag (10) and collection box (6), described flexible collection pouch (10) is the leak shape device of a cat ear formula, under its upper shed is more than Opening, is provided with guide line outside bag body, flexible collection pouch upper shed is connected to the lower section of end effector, and its under shed is by guiding Line is directed in collection box.
Intelligence Citrus picking robot the most according to claim 3, it is characterised in that: described visual system is arranged on the 5th Arm front end, described visual system uses binocular or three lens cameras, and video camera is electrically connected with control system by data line.
Intelligence Citrus picking robot the most according to claim 4, it is characterised in that: described walking mechanism uses crawler type Traveling mechanism.
Intelligence Citrus picking robot the most according to claim 5, it is characterised in that: described workbench is by supporting casing (2) supporting, described workbench and support casing hardwood are made.
CN201620788219.7U 2016-07-25 2016-07-25 Machine people is plucked to intelligence oranges and tangerines CN205865161U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106105566A (en) * 2016-07-25 2016-11-16 柳州铁道职业技术学院 Intelligence Citrus picking robot and Citrus picking method
CN107139182A (en) * 2017-06-05 2017-09-08 重庆理工大学 A kind of citrus picking robot system and its control method
CN108521997A (en) * 2017-03-02 2018-09-14 防城港思创信息技术有限公司 A kind of banana recovering device
CN108718704A (en) * 2018-04-18 2018-11-02 常州大学 A kind of man-machine interactive field fruits and vegetables harvesting robot system and its collecting method
CN109156161A (en) * 2018-08-31 2019-01-08 靖西海越农业有限公司 A kind of fertile mandarin orange picking robot of intelligence
CN109247153A (en) * 2018-08-31 2019-01-22 靖西海越农业有限公司 A kind of fertile mandarin orange branch pruning intelligent robot based on Internet of Things

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106105566A (en) * 2016-07-25 2016-11-16 柳州铁道职业技术学院 Intelligence Citrus picking robot and Citrus picking method
CN108521997A (en) * 2017-03-02 2018-09-14 防城港思创信息技术有限公司 A kind of banana recovering device
CN107139182A (en) * 2017-06-05 2017-09-08 重庆理工大学 A kind of citrus picking robot system and its control method
CN108718704A (en) * 2018-04-18 2018-11-02 常州大学 A kind of man-machine interactive field fruits and vegetables harvesting robot system and its collecting method
CN109156161A (en) * 2018-08-31 2019-01-08 靖西海越农业有限公司 A kind of fertile mandarin orange picking robot of intelligence
CN109247153A (en) * 2018-08-31 2019-01-22 靖西海越农业有限公司 A kind of fertile mandarin orange branch pruning intelligent robot based on Internet of Things

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