CN207505447U - A kind of not damaged apple picking of classification - Google Patents
A kind of not damaged apple picking of classification Download PDFInfo
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- CN207505447U CN207505447U CN201721672734.XU CN201721672734U CN207505447U CN 207505447 U CN207505447 U CN 207505447U CN 201721672734 U CN201721672734 U CN 201721672734U CN 207505447 U CN207505447 U CN 207505447U
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- conveyer belt
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- vehicle frame
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Abstract
The utility model discloses a kind of not damaged apple pickings of classification, including main body of vehicle frame, motor is provided in main body of vehicle frame, main body of vehicle frame bottom is connected with Lun Lv mobile mechanisms, landing slab is provided at the top of main body of vehicle frame, picking mechanism and Pseudocarps mechanism are respectively arranged on landing slab, main body of vehicle frame is connected with collecting fruit mechanism.Not only degree of freedom is high for the utility model, and flexibility is good, and apple will not be damaged in picking process；Apple is classified online by near infrared technology；Shockproof bagging device avoids apple and is transmitting and colliding with and squeezing during collection by putting on polyethylene foam cotton net set to apple；The not damaged apple picking of classification of the utility model realizes the integration that apple is being collected from picking to being classified, and labour cost is greatly saved, ensure that the better quality of apple.
Description
Technical field
The utility model belongs to agricultural product picker technical field, is related to a kind of not damaged apple picking of classification.
Background technology
At present, two kinds are roughly divided into the Softening of China's apple, one kind is manpower picking, and another kind is picker
Picking.Manpower picking usually requires picker and is aloft picked by tools such as ladders, spends human and material resources greatly, but pick
Efficiency is low；Although manpower is saved in picker picking, due to the complexity of picking object and the unstructuredness of working environment, lead
The degree of automation for causing apple-picking is still relatively low, moreover, picking mechanical arm on traditional picker connects with apple
Touch during be very easy to damage apple in itself, sometimes even fruit tree is damaged, in addition, traditional picker pass through it is defeated
When sending band collection apple, cause to damage because apple quantity is mostly easily collided with mutually, be still needed to artificially to apple after gathering apple
Classify.
Utility model content
The purpose of this utility model is to provide a kind of not damaged apple picking of classification, and the arrangement achieves apples to pick
Classification later.
The utility model is the technical scheme adopted is that a kind of be classified not damaged apple picking, including main body of vehicle frame, vehicle
Motor is provided in frame body, main body of vehicle frame bottom is connected with Lun Lv mobile mechanisms, landing slab is provided at the top of main body of vehicle frame, puts down
Picking mechanism and Pseudocarps mechanism are respectively arranged on platen, main body of vehicle frame is connected with collecting fruit mechanism.
The utility model is also characterized by
Lun Lv mobile mechanisms include the transmission shaft being connect with motor, and both ends of the drive shaft is switched by dual-purpose traveling wheel to be locked
Device is connected separately with crawler belt main wheel and tire driving wheel, and crawler belt main wheel is wrapped with crawler belt, phase therewith is additionally provided in crawler belt
The crawler belt accessory whorl of conjunction.
Pseudocarps mechanism includes the column being arranged on landing slab, is provided with control box on column, is set in control box
There is control element, control box both sides are respectively connected with one end of cross bar, and cross bar other end bottom is both provided with the first montant, and first
Montant is vertical with cross bar, and the second montant is socketed in the first montant, and the bottom end of the second montant is both provided with shockproof bagging device, prevents
Level-one conveyer belt is provided with below shake bagging device, be fixed on landing slab first turn is provided with below level-one conveyer belt tail end
Disk, the first turntable bottom are provided with gravity sensor, and the first turntable both sides are provided with the second near-infrared being connect with control element
Probe, and the second near-infrared probe height, higher than the first turntable, the first turntable lower section left and right sides is respectively arranged with two level transmission
Band and three-level conveyer belt, level-one conveyer belt, two level conveyer belt and three-level conveyer belt are sequentially connected, two level conveyer belt and three-level transmission
Band is both secured to landing slab, and two level conveyer belt and three-level conveyer belt tail end stretch out main body of vehicle frame edge, two level conveyer belt and
Three-level conveyer belt tail end is not concordant.
Shockproof bagging device includes the third montant being socketed in the second montant, and bagging strut circle is sheathed with outside third montant
Disk, and third montant is located at the center of bagging strut disk, bagging strut disk bottom edge is evenly arranged with multiple hinges,
Hinge connection has one end of Pneumatic extension bar, and the other end of Pneumatic extension bar is connected with rubber rods, and Pneumatic extension bar is connected to rubber
The middle part of glue bar, and rubber rods and bagging strut disk plane perpendicular.
Collecting fruit mechanism includes the uncovered collecting box being connect with main body of vehicle frame tail portion, and uncovered collecting box bottom is provided with vehicle
It takes turns, is provided with multiple partition boards in uncovered collecting box, uncovered collecting box is divided into different zones by partition board, and each region is located at respectively
Below two level conveyer belt and three-level conveyer belt tail end.
Picking mechanism includes mechanical arm slipping mechanism, and mechanical arm slipping mechanism includes movable plate, movable plate lower surface
Idler wheel is provided with, the setting of landing slab upper surface is fluted, and recess sidewall is provided with the first rack, the setting of movable plate upper surface edge
Have and the matched first gear of the first rack；
Mechanical arm is further included, mechanical arm includes the large arm, middle arm and the forearm that pass sequentially through gear connection, and large arm is fixed on shifting
Movable plate upper surface is provided with the worm and worm wheel of mutual cooperation in large arm, and worm screw connect with motor, and forearm is connected with manipulator.
Manipulator includes manipulator ontology, and vacuum generator component, manipulator ontology one end are provided in manipulator ontology
It is connect with forearm, the manipulator ontology other end is provided with camera and no less than two strip tentacles, and silicon is enclosed on the outside of tentacle
Gum cover is provided with multiple suckers on the inside of tentacle, and sucker is connect with vacuum generator component, tentacle front end be respectively embedded into be provided with it is imitative
First blade and the first near-infrared probe, imitative first blade and the first near-infrared probe are connect with control element.
The beneficial effects of the utility model are a kind of fruit pickings for being classified not damaged apple picking of the utility model
Structure uses advanced bionics techniques, and bionic soft animal octopus, not only degree of freedom is high, and flexibility is good, and in picking process
Apple will not be damaged；Apple relevant parameter is effectively identified by near infrared technology, apple is classified online；Shockproof bagging
Device avoids apple and is transmitting and colliding with and squeezing during collection by putting on polyethylene foam cotton net set to apple；
The not damaged apple picking of classification of the utility model realizes the integration that apple is being collected from picking to being classified, and is greatly saved
Labour cost ensure that the better quality of apple.
Description of the drawings
Fig. 1 is a kind of structure diagram for being classified not damaged apple picking of the utility model；
Fig. 2 is a kind of structure diagram for the Lun Lv mobile mechanisms for being classified not damaged apple picking of the utility model；
Fig. 3 is a kind of Pseudocarps mechanism section structure diagram for being classified not damaged apple picking of the utility model；
Fig. 4 is a kind of shockproof bagging device structure diagram for being classified not damaged apple picking of the utility model；
Fig. 5 is a kind of mechanical arm slipping mechanism structure diagram for being classified not damaged apple picking of the utility model；
Fig. 6 is a kind of mechanical arm structure diagram for being classified not damaged apple picking of the utility model；
Fig. 7 is a kind of worm gear structure schematic diagram for being classified not damaged apple picking of the utility model；
Fig. 8 is a kind of robot manipulator structure schematic diagram for being classified not damaged apple picking of the utility model.
In figure, 1. main body of vehicle frame, 2. motors, 3. landing slabs, 4. transmission shafts, 5. dual-purpose traveling wheel switching locking devices, 6.
Crawler belt main wheel, 7. tire driving wheels, 8. crawler belts, 9. crawler belt accessory whorls, 10. columns, 11. control box, 12. control elements, 13. is horizontal
Bar, 14. first montants, 15. second montants, 16. level-one conveyer belts, 17. first turntables, 18. gravity sensors, 19. second is near
Infrared probe, 20. two level conveyer belts, 21. three-level conveyer belts, 22. third montants, 23. bagging strut disks, 24. hinges, 25.
Pneumatic extension bar, 26. rubber rods, 27. uncovered collecting boxs, 28. wheels, 29. partition boards, 30. movable plates, 31. idler wheels, 32. grooves,
33. the first rack, 34. first gears, 35. large arm, arm in 36., 37. forearms, 38. worm screws, 39. worm gears, 40. manipulator sheets
Body, 41. vacuum generator components, 42. cameras, 43. tentacles, 44. silica gel sheaths, 45. suckers, 46. imitative first blades, 47. first
Near-infrared probe.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
A kind of not damaged apple picking of classification of the utility model, as shown in Figure 1, including main body of vehicle frame 1, main body of vehicle frame 1
In be provided with motor 2,1 bottom of main body of vehicle frame is connected with Lun Lv mobile mechanisms, and 1 top of main body of vehicle frame is provided with landing slab 3, platform
Picking mechanism and Pseudocarps mechanism are respectively arranged on plate 3, main body of vehicle frame 1 is connected with collecting fruit mechanism.
As shown in Fig. 2, Lun Lv mobile mechanisms include the transmission shaft 4 being connect with motor 2,4 both ends of transmission shaft are by dual-purpose
Traveling wheel switching locking device 5 is connected separately with crawler belt main wheel 6 and tire driving wheel 7, and crawler belt main wheel 6 is wrapped with crawler belt 8, carries out
With being additionally provided with the crawler belt accessory whorl 9 that is harmonious therewith in 8.
Pseudocarps mechanism includes the column 10 being arranged on landing slab 3, and control box 11, control box are provided on column 10
Control element 12 is provided in 11,11 both sides of control box are respectively connected with one end of cross bar 13, and 13 other end bottom of cross bar is respectively provided with
There is the first montant 14, and the first montant 14 is vertical with cross bar 13, the second montant 15, the second montant 15 are socketed in the first montant 14
Bottom end be both provided with shockproof bagging device, level-one conveyer belt 16 is provided with below shockproof bagging device, as shown in figure 3, level-one
The first turntable 17 for being fixed on landing slab 3 is provided with below 16 tail end of conveyer belt, 17 bottom of the first turntable is provided with gravity sensitive
Device 18,17 both sides of the first turntable are provided with the second near-infrared probe 19 being connect with control element 12, and the second near-infrared probe
19 height are higher than the first turntable 17, and the 17 lower section left and right sides of the first turntable is respectively arranged with two level conveyer belt 20 and three-level conveyer belt
21, level-one conveyer belt 16, two level conveyer belt 20 and three-level conveyer belt 21 are sequentially connected, two level conveyer belt 20 and three-level conveyer belt 21
Landing slab 3 is both secured to, and two level conveyer belt 20 and 21 tail end of three-level conveyer belt stretch out 1 edge of main body of vehicle frame, two level transmission
Band 20 and 21 tail end of three-level conveyer belt be not concordant.
As shown in figure 4, shockproof bagging device includes being socketed in third montant 22 in the second montant 15, outside third montant 22
Bagging strut disk 23 is sheathed with, and third montant 22 is located at the center of bagging strut disk 23,23 bottom of bagging strut disk
Face edge is evenly arranged with multiple hinges 24, and hinge 24 is connected with one end of Pneumatic extension bar 25, Pneumatic extension bar 25 it is another
End is connected with rubber rods 26, and Pneumatic extension bar 25 is connected to the middle part of rubber rods 26, and rubber rods 26 and bagging strut disk 23
Plane perpendicular is cased with polyethylene foam cotton net set in rubber rods 26, and polyethylene foam cotton net set upper and lower opening is both provided with and rubber
26 corresponding rubber ring of glue bar, rubber rods 26 pass through rubber ring.
Collecting fruit mechanism includes the uncovered collecting box 27 being connect with 1 tail portion of main body of vehicle frame, and 27 bottom of uncovered collecting box is set
Wheel 28 is equipped with, multiple partition boards 29 are provided in uncovered collecting box 27, uncovered collecting box 27 is divided into different zones by partition board 29,
Each region is located at below two level conveyer belt 20 and 21 tail end of three-level conveyer belt respectively.
Picking mechanism includes mechanical arm slipping mechanism, as shown in figure 5, mechanical arm slipping mechanism includes movable plate 30,
30 lower surface of movable plate is provided with idler wheel 31, and 3 upper surface of landing slab setting fluted 32,32 side wall of groove is provided with the first rack
33,30 upper surface edge of movable plate is provided with and 33 matched first gear 34 of the first rack；
Mechanical arm is further included, as shown in fig. 6, mechanical arm includes the large arm 35, the middle arm 36 and small that pass sequentially through gear connection
Arm 37, large arm 35 are fixed on 30 upper surface of movable plate, as shown in fig. 7, being provided with the worm screw 38 and snail of mutual cooperation in large arm 35
Wheel 39, worm screw 38 connect with motor 2, and forearm 37 is connected with manipulator.
As shown in figure 8, manipulator includes manipulator ontology 40, vacuum generator component is provided in manipulator ontology 40
41,40 one end of manipulator ontology is connect with forearm 37, and 40 other end of manipulator ontology is provided with camera 42 and no less than two
Strip tentacle 43,43 outside of tentacle are enclosed with silica gel sheath 44, and 43 inside of tentacle is provided with multiple suckers 45, and sucker 45 is sent out with vacuum
Raw device assembly 41 connects, and 43 front end of tentacle, which is respectively embedded into, is provided with imitative 46 and first near-infrared probe 47 of first blade, imitates first blade
46 and first near-infrared probe 47 connect with control element 12.
Specifically effect is as follows for a kind of critical piece for being classified not damaged apple picking of the utility model：
Manipulator ontology 40 is made of soft silica gel, inside installation pneumatic system pump, and pneumatic system pump is empty by compressing
Gas makes tentacle realization curve inwardly, can be soft around object of different shapes, there is good flexibility, improve picking
Efficiency.
Soft, frangible and complex-shaped object can be sucked in sucker 45, and falling for apple is avoided in picking process.
Mechanical arm uses three joint types, shares 7 degree of freedom, and mechanical arm can complete the rotation of large arm 35, slide, bow
It faces upward, the pitching of middle arm 36 and forearm 37, the actions such as the avoidance and manipulator of forearm 37 winding of itself.Mechanical arm entire body is adopted
With light and high intensity carbon fibre material, more conducively energy conservation and environmental protection and the flexibility used.
Worm gear 39 can realize 360 ° of whole rotations of mechanical arm with 38 engaged transmission of worm screw, and worm screw 38 is direct by motor 2
It drives, since the area of worm gear 39 is also bigger, worm gear 39 can bear the weight of mechanical arm, stability of rotation completely, and utilize
Its auto-lock function so that mechanical arm operation precision higher is more advantageous to target positioning and avoidance.
Mechanical arm slipping mechanism mechanical arm can be by being engaged on landing slab between 34 and first rack 33 of first gear
It is upper to slide walking, fruit picking task is preferably completed, effectively raises the efficiency of fruit picking.
The material of polyethylene foam cotton net set is non-crosslinked hole-closing structure, also known as pearl cotton (EPE), is a kind of novel environment friendly
Packaging material, it is to generate countless independent air bubbles after physical blowing by low density polyethylene (LDPE) fat to form, using butane
Foaming, and add in two kinds of auxiliary materials：Industry or the superfine talcum powder of medical grade 800-1250 mesh and the antishrinking agent of food-grade.Gram
Taken common foamed glue it is frangible, deformation, it is restorative it is poor, easily aging the shortcomings that.With water proof is moisture-proof, shockproof, sound insulation, heat preservation,
Plasticity is good, toughness is strong, reconstituted circularly, environmental protection, strong crashworthiness power many advantages, such as, also with good chemical resistance.
A kind of not damaged apple picking of classification of the utility model, the course of work are specific as follows：
The image for needing to pick region is sent to control element 12, control element by the camera 42 on manipulator ontology 40
12 control picking mechanism tentacle 43 to be made to wrap up apple close to target is picked according to the data of the first near-infrared probe 47,
Air in sucker is emptied by vacuum generator part 41, makes sucker 45 that apple be sucked, and ensures that apple is not fallen out, and imitates first blade 46
It is stretched out from tentacle 43, apple is detached with limb, imitated in 46 retraction tentacle 43 of first blade, apple is placed on anti-vibration sleeve by manipulator
On level-one conveyer belt 16 below bagging apparatus, third montant 22 moves downward, when polyethylene foam cotton net is covered close to apple, gas
Dynamic telescopic rod 25 is shunk, and rubber rods 26 are flared out, and net cover is in open configuration；Apples is waited to enter inside net cover, Pneumatic extension
Bar 25 extends, and rubber rods 26 are directed toward center, at this point, net cover is in contraction state, net cover is set on apple.At this point, it pneumatically stretches
Contracting bar 25 rises, and rubber rods 26 are extracted out in the rubber ring of net cover, and third montant 22, which moves upwards, to be restored under initial position waiting
Bagging packages transmission of the apple of net cover through level-one conveyer belt 16, moves on the first turntable 17,18 He of gravity sensor
The quality of the apple and looks data are sent to control element 12 by the second near-infrared probe 19, and control element 12 is according to setting
Apple parameter and standard rotate the first turntable 17, so as to which apple be made to enter two level conveyer belt 20 or three-level conveyer belt 21, then
Apple enters in uncovered collecting box 27, final to realize classification.
By the above-mentioned means, a kind of picking mechanism for being classified not damaged apple picking of the utility model is using advanced
Bionics techniques, bionic soft animal octopus, not only degree of freedom is high, and flexibility is good, and apple will not be damaged in picking process
Fruit；Apple relevant parameter is effectively identified by near infrared technology, apple is classified online；Shockproof bagging device is by giving
Apple puts on polyethylene foam cotton net set, avoids apple and is transmitting and colliding with and squeezing during collection；The utility model
The not damaged apple picking of classification realize the integration that apple is being collected from picking to being classified, labour cost is greatly saved,
It ensure that the better quality of apple.
Claims (7)
1. a kind of not damaged apple picking of classification, which is characterized in that including main body of vehicle frame (1), set in the main body of vehicle frame (1)
Motor (2) is equipped with, main body of vehicle frame (1) bottom is connected with Lun Lv mobile mechanisms, landing slab is provided at the top of the main body of vehicle frame (1)
(3), picking mechanism and Pseudocarps mechanism are respectively arranged on the landing slab (3), the main body of vehicle frame (1) is connected with
Collecting fruit mechanism.
A kind of 2. not damaged apple picking of classification according to claim 1, which is characterized in that the Lun Lv mobile mechanisms
Including the transmission shaft (4) being connect with motor (2), transmission shaft (4) both ends switch locking device (5) by dual-purpose traveling wheel
Crawler belt main wheel (6) and tire driving wheel (7) are connected separately with, the crawler belt main wheel (6) is wrapped with crawler belt (8), the crawler belt
(8) the crawler belt accessory whorl (9) being harmonious therewith is additionally provided in.
A kind of 3. not damaged apple picking of classification according to claim 1, which is characterized in that the Pseudocarps mechanism
Including the column (10) being arranged on landing slab (3), control box (11), the control box (11) are provided on the column (10)
In be provided with control element (12), control box (11) both sides are respectively connected with one end of cross bar (13), and the cross bar (13) is another
One end bottom is both provided with the first montant (14), and first montant (14) is vertical with cross bar (13), first montant
(14) the second montant (15) is socketed in, the bottom end of second montant (15) is both provided with shockproof bagging device, described shockproof
Level-one conveyer belt (16) is provided with below bagging device, is provided with below level-one conveyer belt (16) tail end and is fixed on landing slab
(3) the first turntable (17), the first turntable (17) bottom are provided with gravity sensor (18), first turntable (17) two
Side is provided with the second near-infrared probe (19) being connect with control element (12), and the second near-infrared probe (19) is highly higher than the
One turntable (17), the first turntable (17) lower section left and right sides are respectively arranged with two level conveyer belt (20) and three-level conveyer belt
(21), the level-one conveyer belt (16), two level conveyer belt (20) and three-level conveyer belt (21) are sequentially connected, two level conveyer belt (20)
Landing slab (3) is both secured to, and two level conveyer belt (20) and three-level conveyer belt (21) tail end stretch out with three-level conveyer belt (21)
Main body of vehicle frame (1) edge, the two level conveyer belt (20) and three-level conveyer belt (21) tail end be not concordant.
A kind of 4. not damaged apple picking of classification according to claim 3, which is characterized in that the shockproof bagging device
Including the third montant (22) being socketed in the second montant (15), bagging strut disk is sheathed with outside the third montant (22)
(23), and the third montant (22) is at the center of bagging strut disk (23), bagging strut disk (23) bottom surface
Edge is evenly arranged with multiple hinges (24), and the hinge (24) is connected with one end of Pneumatic extension bar (25), described pneumatically to stretch
The other end of contracting bar (25) is connected with rubber rods (26), and the Pneumatic extension bar (25) is connected to the middle part of rubber rods (26), and
The rubber rods (26) and bagging strut disk (23) plane perpendicular.
A kind of 5. not damaged apple picking of classification according to claim 3, which is characterized in that the collecting fruit mechanism
Including the uncovered collecting box (27) being connect with main body of vehicle frame (1) tail portion, uncovered collecting box (27) bottom is provided with wheel
(28), multiple partition boards (29) are provided in the uncovered collecting box (27), the partition board (29) divides uncovered collecting box (27)
For different zones, each region is located at below two level conveyer belt (20) and three-level conveyer belt (21) tail end respectively.
A kind of 6. not damaged apple picking of classification according to claim 3, which is characterized in that the picking mechanism
Including mechanical arm slipping mechanism, the mechanical arm slipping mechanism includes movable plate (30), movable plate (30) the lower surface setting
There is idler wheel (31), landing slab (3) upper surface sets fluted (32), and groove (32) side wall is provided with the first rack
(33), movable plate (30) the upper surface edge is provided with and the first rack (33) matched first gear (34)；
Mechanical arm is further included, the mechanical arm includes the large arm (35), middle arm (36) and the forearm (37) that pass sequentially through gear connection,
The large arm (35) is fixed on the movable plate (30) upper surface, and the worm screw (38) of mutual cooperation is provided in the large arm (35)
With worm gear (39), the worm screw (38) connect with motor (2), and the forearm (37) is connected with manipulator.
7. a kind of not damaged apple picking of classification according to claim 6, which is characterized in that the manipulator includes machine
Tool hand ontology (40) is provided with vacuum generator component (41), the manipulator ontology (40) in the manipulator ontology (40)
One end is connect with forearm (37), and manipulator ontology (40) other end is provided with camera (42) and no less than two strips touch
Hand (43), tentacle (43) outside are enclosed with silica gel sheath (44), multiple suckers (45), institute are provided on the inside of the tentacle (43)
It states sucker (45) to connect with vacuum generator component (41), tentacle (43) front end, which is respectively embedded into, is provided with imitative first blade (46)
With the first near-infrared probe (47), the imitative first blade (46) and the first near-infrared probe (47) connect with control element (12)
It connects.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721672734.XU CN207505447U (en) | 2017-12-05 | 2017-12-05 | A kind of not damaged apple picking of classification |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721672734.XU CN207505447U (en) | 2017-12-05 | 2017-12-05 | A kind of not damaged apple picking of classification |
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| CN207505447U true CN207505447U (en) | 2018-06-19 |
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| CN108566832A (en) * | 2018-07-12 | 2018-09-25 | 太原工业学院 | Portable various fruits assist picking machine |
| CN108934342A (en) * | 2018-01-17 | 2018-12-07 | 吕梁学院 | A kind of six axis leaf vegetables plantation picking robot |
| CN109005909A (en) * | 2018-08-03 | 2018-12-18 | 浙江机电职业技术学院 | Apple picking and its picking method |
| CN109005922A (en) * | 2018-07-02 | 2018-12-18 | 昆明理工大学 | A kind of intelligent picker and its working method based near infrared light spectral theory |
| CN109005923A (en) * | 2018-08-13 | 2018-12-18 | 上海电机学院 | A kind of full-automatic fruit picking device |
| CN109121721A (en) * | 2018-08-27 | 2019-01-04 | 丽水学院 | A kind of vibrating type fruit picker and picking method |
| CN109156164A (en) * | 2018-09-17 | 2019-01-08 | 铜陵学院 | A kind of apple picking robot |
| CN109197148A (en) * | 2018-11-27 | 2019-01-15 | 刘艳荣 | A kind of intelligent recognition cotton picking robot |
| CN109952865A (en) * | 2019-05-08 | 2019-07-02 | 西北农林科技大学 | A kind of Kiwi berry field picking hierarchical modularity robot |
| WO2021046889A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州鸿渺智能科技有限公司 | Fruit picking robot for orchard |
| CN112720410A (en) * | 2020-12-25 | 2021-04-30 | 浙江理工大学 | Double-arm small fruit and vegetable harvesting robot |
| CN112840855A (en) * | 2021-01-07 | 2021-05-28 | 湖北省农业科学院经济作物研究所 | Artificial intelligence cotton picker |
| CN113134472A (en) * | 2021-03-16 | 2021-07-20 | 青岛农业大学 | Novel automatic orchard picking operation platform |
| CN113455194A (en) * | 2021-07-05 | 2021-10-01 | 上海电机学院 | Apple picking, classifying and collecting all-in-one machine |
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| CN108934342A (en) * | 2018-01-17 | 2018-12-07 | 吕梁学院 | A kind of six axis leaf vegetables plantation picking robot |
| CN109005922A (en) * | 2018-07-02 | 2018-12-18 | 昆明理工大学 | A kind of intelligent picker and its working method based near infrared light spectral theory |
| CN109005922B (en) * | 2018-07-02 | 2021-08-20 | 昆明理工大学 | Intelligent picking device based on near infrared spectrum theory and working method thereof |
| CN108566832A (en) * | 2018-07-12 | 2018-09-25 | 太原工业学院 | Portable various fruits assist picking machine |
| CN108566832B (en) * | 2018-07-12 | 2023-09-19 | 太原工业学院 | Portable multi-fruit auxiliary picking machine |
| CN109005909A (en) * | 2018-08-03 | 2018-12-18 | 浙江机电职业技术学院 | Apple picking and its picking method |
| CN109005909B (en) * | 2018-08-03 | 2023-10-13 | 浙江机电职业技术学院 | Apple picking machine and picking method thereof |
| CN109005923B (en) * | 2018-08-13 | 2021-05-11 | 上海电机学院 | Full-automatic fruit picking device |
| CN109005923A (en) * | 2018-08-13 | 2018-12-18 | 上海电机学院 | A kind of full-automatic fruit picking device |
| CN109121721A (en) * | 2018-08-27 | 2019-01-04 | 丽水学院 | A kind of vibrating type fruit picker and picking method |
| CN109121721B (en) * | 2018-08-27 | 2020-07-28 | 丽水学院 | Vibrating fruit picking device and picking method |
| CN109156164A (en) * | 2018-09-17 | 2019-01-08 | 铜陵学院 | A kind of apple picking robot |
| CN109197148B (en) * | 2018-11-27 | 2021-12-03 | 华驰电气有限公司 | Intelligent recognition cotton picking robot |
| CN109197148A (en) * | 2018-11-27 | 2019-01-15 | 刘艳荣 | A kind of intelligent recognition cotton picking robot |
| CN109952865A (en) * | 2019-05-08 | 2019-07-02 | 西北农林科技大学 | A kind of Kiwi berry field picking hierarchical modularity robot |
| WO2021046889A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州鸿渺智能科技有限公司 | Fruit picking robot for orchard |
| CN112720410A (en) * | 2020-12-25 | 2021-04-30 | 浙江理工大学 | Double-arm small fruit and vegetable harvesting robot |
| CN112840855A (en) * | 2021-01-07 | 2021-05-28 | 湖北省农业科学院经济作物研究所 | Artificial intelligence cotton picker |
| CN113134472A (en) * | 2021-03-16 | 2021-07-20 | 青岛农业大学 | Novel automatic orchard picking operation platform |
| CN113134472B (en) * | 2021-03-16 | 2022-03-22 | 青岛农业大学 | Novel automatic orchard picking operation platform |
| CN113455194A (en) * | 2021-07-05 | 2021-10-01 | 上海电机学院 | Apple picking, classifying and collecting all-in-one machine |
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