CN208079866U - A kind of fruit automatic picking apparatus - Google Patents
A kind of fruit automatic picking apparatus Download PDFInfo
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- CN208079866U CN208079866U CN201820538958.XU CN201820538958U CN208079866U CN 208079866 U CN208079866 U CN 208079866U CN 201820538958 U CN201820538958 U CN 201820538958U CN 208079866 U CN208079866 U CN 208079866U
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Abstract
The utility model discloses a kind of fruit automatic picking apparatus, including engine base, the crane that can be set to up and down along the vertical direction on engine base, lift drive mechanism for driving crane to lift, and the picking mechanism on crane, picking mechanism includes the pedestal that can with respect to sliding extension be connect along the longitudinal direction with crane, drive the translational drive mechanism of rack translational motion, it is fixed on the clip claw assembly and cutting assemblies of picking mechanism front end, picker further includes the material blanking tube being fixed on engine base, material blanking tube tilts extension along the vertical direction, it is fixedly provided with blanking funnel in the upper end tube nozzle of material blanking tube, blanking funnel is located at the lower section of clip claw assembly.The fruit automatic picking apparatus of the utility model is small to manually relying on, and labor intensity is low when operation, can pick position fruit at random and realize and be collected to it, adapt to the picking work of various dimensions.
Description
Technical field
The utility model is related to a kind of fruit automatic picking apparatus.
Background technology
During orchard and farm mechanization increasingly, the picking process for needing a large amount of labours originally to carry out is inevitable
Gradually replaced by intelligent robot picking.However in Vehicles Collected from Market, the function can be realized there are no appearance maturation
The device of fruit picking.It often will appear problems in picking process：1, fruit-picking needs a large amount of labours；2, fruit
Height is unevenly distributed, and mutual distance is indefinite, and picker is difficult to adapt to the picking work of various dimensions.
Invention content
The purpose of this utility model is to provide a kind of fruit automatic picking apparatus.
In order to achieve the above objectives, the technical solution adopted in the utility model is：A kind of fruit automatic picking apparatus, including machine
Seat, the crane that can be set on the engine base up and down along the vertical direction, the lifting drive for driving the crane lifting
Motivation structure, and the picking mechanism on the crane, the picking mechanism include：
Pedestal can be connect to opposite sliding extension along the longitudinal direction with the crane；
Translational drive mechanism is set between the crane and the pedestal, for driving the relatively described liter of the pedestal
Frame translational motion along the longitudinal direction is dropped；
Clip claw assembly is set to the front end of the pedestal, and the clip claw assembly includes that rear end is pivotally connected in respectively
The first clamping jaw on the pedestal and the second clamping jaw, and make for driving first clamping jaw to be relatively rotated with the second clamping jaw
First clamping jaw and the second clamping jaw relatively rotate the clamping jaw driving mechanism opened or be closed, the front end of first clamping jaw with
The front end of second clamping jaw forms the clamping part for fruit to be clamped；
Cutting assemblies are set to the front end of the pedestal and the top positioned at the clip claw assembly, the cutting assemblies
Including scissors, the scissors has the first blade bar and the second blade that rear portion intersects and connected in infall phase pivot
Bar, the first blade bar and the second blade bar have the shearing for cooperating and being sheared for the root to the fruit
Portion, the cut part are located at the top of the clamping part, the cutting assemblies further include for drive the first blade bar with
The opposite shear driving mechanism opened or close up relatively of second blade bar；
The picker further includes the material blanking tube being set on the engine base, and the material blanking tube tilts along the vertical direction to be prolonged
It stretches, blanking funnel is fixedly provided in the upper end tube nozzle of the material blanking tube, the blanking funnel is located at the lower section of the clamping part.
Preferably, the leading inside face of first clamping jaw and the leading inside face of second clamping jaw are fixedly provided with
Cushion pad made of flexible material.
Preferably, the clamping jaw driving mechanism includes clamping jaw driving cylinder, and the cylinder body of the clamping jaw driving cylinder is fixed on
On the pedestal and its telescopic rod extends along the longitudinal direction, and the front end of the telescopic rod, which is permanently connected, drive block, and described
The rear end of one clamping jaw is pivotally connected in by first axle on the pedestal, and the rear end of second clamping jaw is connected by the second axis pivot
Be connected on the pedestal, the clamping jaw driving mechanism further include one end be pivotally connected on first clamping jaw by third axis and
First connecting rod that the other end is pivotally connected on the drive block, one end are pivotally connected in by the 4th axis on second clamping jaw
And the other end is pivotally connected in the second connecting rod on the drive block, wherein the third axle position in the clamping part with it is described
Between first axle, the 4th axle position is between the clamping part and second axis.
Preferably, the shear driving mechanism includes shearing driving cylinder, and the cylinder body of the shearing driving cylinder is fixedly arranged on
On the pedestal and the axial line of its telescopic rod extends along the longitudinal direction, and the shear driving mechanism further includes drive rod, described
The back pivot of drive rod is connected on the front end of the telescopic rod, and the front of the drive rod is pivotally connected in second knife
On the rear portion of sword bar, the rear portion of the first blade bar is fixedly attached on the pedestal.
Preferably, the lift drive mechanism include be set to the engine base on and axial line vertically extend first
Leading screw, first that is ordinatedly set on first leading screw and can move along a straight line along the length extending direction of first leading screw
Nut, and on the engine base and for driving the first motor that first leading screw is rotated around Pivot Point Center line, it is described
Crane is fixedly attached on first nut.
It is further preferred that first leading screw has be divided into the left and right sides two, correspondingly, first nut
Also there are two groups；The first motor is set to the lower section of first leading screw, and the output shaft of the first motor passes through transmission component
It is connect with two first lead screw transmissions.
Preferably, the translational drive mechanism includes being set on the crane and axial line extends along the longitudinal direction the
Two leading screws are ordinatedly set on second leading screw and can be along the of the length extending direction of second leading screw linear motion
Two nuts, and it is fixedly arranged on the second electricity on the crane and for driving second leading screw to be rotated around Pivot Point Center line
Machine, the pedestal are fixedly attached on second nut.
Preferably, the side of the picking mechanism towards the engine base is protruding, and the relatively described crane of the pedestal is stretched
The direction of contracting translation and the direction of travel of the engine base are mutually perpendicular to.
As a kind of specific embodiment, the picker further includes waiting for fruit-picking centre coordinate for identification
Position sensor, and the controller for controlling the lift drive mechanism and the translational drive mechanism working condition, institute
Controller is stated to connect with the position sensor signal.
It is further preferred that the picker further includes the fruit identification device of ripening fruits for identification, the fruit
Real identification device includes the camera for acquiring image in the visual field, the image that the camera is taken and preset image
Carry out color contrast and be identified as the target marker of ripening fruits when the two color is identical, the target marker with it is described
Signal connects between position sensor, and the position sensor obtains the ripening fruits that the target marker identifies
Centre coordinate.
Due to the application of the above technical scheme, the utility model has following advantages compared with prior art：This practicality is new
The fruit automatic picking apparatus of type is small to manually relying on, and labor intensity is low when operation, engine base, lift drive mechanism, driven in translation
Mechanism can drive picking mechanism to generate the movement in three directions with respect to ground, therefore can to pick position at random for the picker
Fruit and realize it is collected, adapt to the picking work of various dimensions.
Description of the drawings
Attached drawing 1 is the axis surveys view of the fruit automatic picking apparatus of the utility model；
Attached drawing 2 is the axis surveys view of another angle of fruit automatic picking apparatus of the utility model；
Attached drawing 3 is the front view of the fruit automatic picking apparatus of the utility model
Attached drawing 4 is the left view of the fruit automatic picking apparatus of the utility model；
Attached drawing 5 is the vertical view of the fruit automatic picking apparatus of the utility model；
Attached drawing 6 is the axis surveys view of the picking mechanism of the fruit automatic picking apparatus of the utility model；
Attached drawing 7 is the axis surveys view of another angle of picking mechanism of the fruit automatic picking apparatus of the utility model；
Attached drawing 8 is the vertical view of the picking mechanism of the fruit automatic picking apparatus of the utility model；
Attached drawing 9 is that the picking mechanism clip claw assembly of the fruit automatic picking apparatus of the utility model catches the vertical view after fruit
Figure；
Attached drawing 10 is the flow chart for the method that the utility model positions ripening fruits；
Wherein：1, engine base；2, crane；3, lift drive mechanism；31, the first leading screw；32, the first nut；33, the first electricity
Machine；34, transmission component；4, pedestal；5, translational drive mechanism；51, the second leading screw；52, the second nut；53, the second motor；6, it presss from both sides
Claw assembly；61, the first clamping jaw；62, the second clamping jaw；63, clamping jaw drives cylinder；64, first axle；65, the second axis；66, third axis；
67, the 4th axis；68, drive block；69, first connecting rod；60, second connecting rod；7, cutting assemblies；71, the first blade bar；72, second
Blade bar；73, shearing driving cylinder；74, drive rod；8, material blanking tube；9, blanking funnel；10, picking mechanism；100, fruit.
Specific implementation mode
The technical solution of the utility model is further elaborated below in conjunction with the accompanying drawings.
Referring to a kind of Fig. 1 to fruit automatic picking apparatus shown in Fig. 9, including engine base 1, can along the vertical direction up and down
Crane 2 on engine base 1, the lift drive mechanism 3 for driving crane 2 to lift, and on institute's crane 2
Picking mechanism 10.The picking mechanism 10 includes：
Pedestal 4 can be connect to opposite sliding extension along the longitudinal direction with crane 2；
Translational drive mechanism 5 is set between crane 2 and pedestal 4, for driving 4 OQ t frame 2 of pedestal along front and back
To translational motion；
Clip claw assembly 6, is set to the front end of pedestal 4, which is pivotally connected in pedestal respectively including rear end
The first clamping jaw 61 on 4 and the second clamping jaw 62, and make for driving the first clamping jaw 61 and the second clamping jaw 62 to relatively rotate
One clamping jaw 61 and the second clamping jaw 62 relatively rotate the clamping jaw driving mechanism opened or be closed, the front end and second of the first clamping jaw 61
The front end of clamping jaw 62 forms the clamping part for fruit to be clamped；
Cutting assemblies 7, are set to the front end of pedestal 4 and the top positioned at clip claw assembly 6, which includes cutting
Knife, the first blade bar 71 and the second blade bar 72 that scissors intersects and connected in infall phase pivot with rear portion, first
Blade bar 71 and the second blade bar 72 have the cut part for cooperating and being sheared for the root to fruit 100, cut part
Positioned at the top of clamping part, cutting assemblies 7 further include for drive the first blade bar 71 and the second blade bar 72 it is opposite open or
The opposite shear driving mechanism closed up；
The picker further includes the material blanking tube 8 being set on engine base 1, and material blanking tube 8 tilts extension, material blanking tube along the vertical direction
Blanking funnel 9 is fixedly provided in 8 upper end tube nozzle, blanking funnel 9 is located at the lower section of clamping part.
In the present embodiment, specifically：
The leading inside face of first clamping jaw 61 and the leading inside face of the second clamping jaw 62 are fixedly provided with flexible material system
At cushion pad, can be reduced when fruit 100 is clamped press from both sides bad risk in this way.
Shown in Figure 7, clamping jaw driving mechanism includes clamping jaw driving cylinder 63, and the cylinder body of clamping jaw driving cylinder 63 is fixed on
On pedestal 4 and its telescopic rod extends along the longitudinal direction, and the telescopic rod front end of clamping jaw driving cylinder 63 is permanently connected and has drive block
68, the rear end of the first clamping jaw 61 is pivotally connected in by first axle 64 on pedestal 4, and the rear end of the second clamping jaw 62 passes through the second axis 65
Be pivotally connected on pedestal 4, clamping jaw driving mechanism further include one end be pivotally connected on the first clamping jaw 61 by third axis 66 and
First connecting rod 69 that the other end is pivotally connected on drive block 68, one end are pivotally connected in by the 4th axis 67 on the second clamping jaw 62
And the other end is pivotally connected in the second connecting rod 60 on drive block 68, wherein third axis 66 is located at 6 clamping part of clip claw assembly and
Between one axis 64, the 4th axis 67 is located between clamping part and the second axis 65.When clamping jaw driving cylinder 63 forward extends out telescopic rod, drive
Motion block 68 pulls first connecting rod 69 and second connecting rod 70, to drive the first clamping jaw 61 and the second clamping jaw 62 to come closer, stretches
Backward after retraction clamping jaw driving cylinder 63, the first clamping jaw 61 and the second clamping jaw 62 are flared out bar.Clamping jaw drives cylinder 63 can be simultaneously
The setting of row ground is multiple to increase chucking power.
Shown in Figure 6, shear driving mechanism includes shearing driving cylinder 73, and the cylinder body of shearing driving cylinder 73 is fixedly arranged on
On pedestal 4 and the axial line of its telescopic rod extends along the longitudinal direction, and shear driving mechanism further includes drive rod 74, drive rod 74
Back pivot is connected on the front end of telescopic rod, and the front of drive rod 74 is pivotally connected on the rear portion of the second blade bar 72, the
The rear portion of one blade bar 71 is fixedly attached on pedestal 4.When the telescopic rod of shearing driving cylinder 73 stretches out, the second blade bar
72 are pushed rotation, scissors to be converted to open configuration, when the telescopic rod of shearing driving cylinder 73 is shunk, 72 phase of the second blade bar
First blade bar 71 is rotated and scissors is made to be converted to closed state.
Join shown in Fig. 1 to Fig. 4, lift drive mechanism 3 includes being set on engine base 1 and axial line vertically extends the
One leading screw 31, the first leading screw 31 are abreast each provided with one in the left and right sides, are ordinatedly equipped on each first leading screw 31
One the first nut 32 that can be moved along a straight line along the length extending direction of the first leading screw 31, lift drive mechanism 3 further includes being set to
First motor 33 on engine base 1, first motor 33 drive two the first leading screws 31 synchronously around itself axis by transmission component 34
Heart line rotates, and crane 2 is fixedly attached on the first nut 32.
Shown in Fig. 5 to Fig. 7, translational drive mechanism 5 includes on crane 2 and axial line extends along the longitudinal direction
The second leading screw 51, ordinatedly be set to the second leading screw 51 on and can along the length extending direction of the second leading screw 51 linear motion
Second nut 52, and it is fixedly arranged on the second motor on crane 2 and for driving the second leading screw 51 to be rotated around Pivot Point Center line
53, pedestal 4 is fixedly attached on the second nut 53.
The side of picking mechanism 10 towards engine base 1 is protruding, the direction of the flexible translation of 4 OQ t frame 2 of pedestal and engine base 1
Direction of travel be mutually perpendicular to, therefore can be real in this way, picking mechanism 10 can generate the movement on 3 directions with respect to ground
Now to the picking of different location fruit, while acquiring on the path of traveling the fruit on its both sides fruit tree.
The method flow that the picker positions ripening fruits is as shown in Figure 10, and specific implementation principle is：Picking dress
The position sensor including waiting for fruit-picking centre coordinate for identification is set, and for controlling lift drive mechanism 3 and translation
The controller of 5 working condition of driving mechanism, and the fruit identification device of ripening fruits 100 for identification, fruit identification device
Include the camera for acquiring image in the visual field, the image that camera is taken carries out color contrast simultaneously with preset image
Be identified as the target marker of ripening fruits 100 when the two color is identical, controller, target marker respectively with location sensitive
Signal connects between device, and position sensor obtains the centre coordinate for the ripening fruits 100 that target marker identifies, and sends to
Controller, controller control the working condition of lift drive mechanism 3 and translational drive mechanism 5 further according to the centre coordinate, make
The centre coordinate of ripening fruits that must be to be picked is located at the center position of clamping part on clip claw assembly 6.
When picker starts to pick work, between the first blade bar 71 and the second blade bar 72, the first clamping jaw 61 and the
All in opposite open configuration between two clamping jaws 62, when fruit identification device has recognized ripening fruits, position sensor obtains
It takes its centre coordinate and obtains the position data of fruit to be picked, controller drives according to the fruit position data of position sensor
Lift drive mechanism 3 is moved with translational drive mechanism 5, until when among the clamping part of the arrival clip claw assembly 6 of fruit 100, picking
Device stop motion forward extends out telescopic rod with rear clip-claw driving cylinder 63, and the first clamping jaw 61 and the second clamping jaw 62 come closer
Clamp fruit 100（As shown in Figure 9）, then shearing driving cylinder 73 retract backward telescopic rod, scissors is closed and cuts fruit 100
Root, realize that fruit tree separation, subsequent cutting assemblies 7 reset, clamping jaw driving cylinder 63 is retracted telescopic rod backward, the first clamping jaw 61
It is flared out with the second clamping jaw 62, fruit 100 falls into blanking funnel 9 and the collection device fallen on engine base 1 through material blanking tube 8 carries out
It collects, completes the picking of fruit.It is follow-up to carry out that fruit identification device then continually looks for next ripening fruits 100 to be picked
Picking.
Above-described embodiment is only the technical concepts and features for illustrating the utility model, and its object is to allow be familiar with technique
Personage can understand the content of the utility model and implement according to this, the scope of protection of the utility model can not be limited with this.
It is all according to equivalent change or modification made by the spirit of the present invention essence, should all cover the scope of protection of the utility model it
It is interior.
Claims (10)
1. a kind of fruit automatic picking apparatus, including engine base, the lifting that can be set to up and down along the vertical direction on the engine base
Frame, the lift drive mechanism for driving the crane lifting, and the picking mechanism on the crane, feature
It is, the picking mechanism includes：
Pedestal can be connect to opposite sliding extension along the longitudinal direction with the crane；
Translational drive mechanism is set between the crane and the pedestal, for driving the relatively described crane of the pedestal
Translational motion along the longitudinal direction；
Clip claw assembly, is set to the front end of the pedestal, and the clip claw assembly includes described in rear end is pivotally connected in respectively
The first clamping jaw on pedestal and the second clamping jaw, and make described for driving first clamping jaw and the second clamping jaw to relatively rotate
First clamping jaw and the second clamping jaw relatively rotate the clamping jaw driving mechanism opened or be closed, the front end of first clamping jaw with it is described
The front end of second clamping jaw forms the clamping part for fruit to be clamped；
Cutting assemblies, are set to the front end of the pedestal and the top positioned at the clip claw assembly, the cutting assemblies include
Scissors, the scissors have the first blade bar and the second blade bar that rear portion intersects and connected in infall phase pivot, institute
Stating the first blade bar and the second blade bar has the cut part for cooperating and being sheared for the root to the fruit, described
Cut part is located at the top of the clamping part, and the cutting assemblies further include for driving the first blade bar and the second blade
The opposite shear driving mechanism opened or close up relatively of bar；
The picker further includes the material blanking tube being set on the engine base, and the material blanking tube tilts extension, institute along the vertical direction
It states and is fixedly provided with blanking funnel in the upper end tube nozzle of material blanking tube, the blanking funnel is located at the lower section of the clamping part.
2. fruit automatic picking apparatus according to claim 1, it is characterised in that：The leading inside face of first clamping jaw
It is fixedly provided with cushion pad made of flexible material with the leading inside face of second clamping jaw.
3. fruit automatic picking apparatus according to claim 1, it is characterised in that：The clamping jaw driving mechanism includes clamping jaw
Cylinder is driven, the cylinder body of the clamping jaw driving cylinder is fixed on the pedestal and its telescopic rod extends along the longitudinal direction, described
The front end of telescopic rod, which is permanently connected, drive block, and the rear end of first clamping jaw is pivotally connected in the pedestal by first axle
On, the rear end of second clamping jaw is pivotally connected in by the second axis on the pedestal, and the clamping jaw driving mechanism further includes one
End is pivotally connected in by third axis on first clamping jaw and the other end be pivotally connected in first connecting rod on the drive block,
One end is pivotally connected on second clamping jaw by the 4th axis and the other end is pivotally connected in the second company on the drive block
Bar, wherein the third axle position is between the clamping part and the first axle, and the 4th axle position is in the clamping part and institute
It states between the second axis.
4. fruit automatic picking apparatus according to claim 1, it is characterised in that：The shear driving mechanism includes shearing
Cylinder is driven, the cylinder body of the shearing driving cylinder is fixedly arranged on the pedestal and the axial line of its telescopic rod prolongs along the longitudinal direction
It stretches, the shear driving mechanism further includes drive rod, and the back pivot of the drive rod is connected on the front end of the telescopic rod,
The front of the drive rod is pivotally connected on the rear portion of the second blade bar, and the rear portion of the first blade bar fixedly connects
It is connected on the pedestal.
5. fruit automatic picking apparatus according to claim 1, it is characterised in that：The lift drive mechanism includes being set to
It the first leading screw that axial line vertically extends, is set on the engine base and ordinatedly on first leading screw and can be along institute
The first nut of the length extending direction linear motion of the first leading screw is stated, and on the engine base and for driving described the
The first motor that one leading screw is rotated around Pivot Point Center line, the crane are fixedly attached on first nut.
6. fruit automatic picking apparatus according to claim 5, it is characterised in that：First leading screw, which has, is divided into a left side
Two of right both sides, correspondingly, first nut also have two groups；The first motor is set to the lower section of first leading screw,
The output shaft of the first motor is connect by transmission component with two first lead screw transmissions.
7. fruit automatic picking apparatus according to claim 1, it is characterised in that：The translational drive mechanism includes being set to
It the second leading screw that axial line extends along the longitudinal direction, is set on the crane and ordinatedly on second leading screw and being capable of edge
Second nut of the length extending direction linear motion of second leading screw, and be fixedly arranged on the crane and be used to drive
The second motor that second leading screw is rotated around Pivot Point Center line, the pedestal are fixedly attached on second nut.
8. fruit automatic picking apparatus according to claim 1, it is characterised in that：The picking mechanism is towards the engine base
Side is protruding, and the direction of the flexible translation of the relatively described crane of the pedestal is mutually hung down with the direction of travel of the engine base
Directly.
9. according to claim 1 to 8 any one of them fruit automatic picking apparatus, it is characterised in that：The picker is also
Position sensor including waiting for fruit-picking centre coordinate for identification, and for control the lift drive mechanism with it is described
The controller of translational drive mechanism working condition, the controller are connect with the position sensor signal.
10. fruit automatic picking apparatus according to claim 9, it is characterised in that：The picker further includes being used for
Identify the fruit identification device of ripening fruits, the fruit identification device includes the camera for acquiring image in the visual field, will
The image that the camera takes carries out color contrast with preset image and is identified as mellow fruit when the two color is identical
Real target marker, signal connects between the target marker and the position sensor, and the position sensor obtains
The centre coordinate for the ripening fruits that the target marker identifies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820538958.XU CN208079866U (en) | 2018-04-16 | 2018-04-16 | A kind of fruit automatic picking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820538958.XU CN208079866U (en) | 2018-04-16 | 2018-04-16 | A kind of fruit automatic picking apparatus |
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| CN208079866U true CN208079866U (en) | 2018-11-13 |
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| CN201820538958.XU Active CN208079866U (en) | 2018-04-16 | 2018-04-16 | A kind of fruit automatic picking apparatus |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109451982A (en) * | 2018-12-19 | 2019-03-12 | 衢州职业技术学院 | 3-PRS tea picking parallel institution and its picking method |
| CN109496552A (en) * | 2018-12-27 | 2019-03-22 | 厦门大学 | Indirect labor's fruit picking apparatus |
| CN109699292A (en) * | 2019-03-15 | 2019-05-03 | 合肥工业大学 | A kind of fruit picker |
| CN110050587A (en) * | 2019-05-31 | 2019-07-26 | 山东省农业机械科学研究院 | Date palm picking machine mechanical arm |
| CN110679283A (en) * | 2019-09-25 | 2020-01-14 | 南京浦口科学城建设发展有限公司 | Efficient intelligent harvesting robot and application method thereof |
| CN110915416A (en) * | 2019-12-23 | 2020-03-27 | 重庆七彩田园生态农业开发有限公司 | Self-picking swimming power assisting device |
| CN111958625A (en) * | 2020-08-27 | 2020-11-20 | 上海大学 | Self-adaptive multi-connecting-rod type three-jaw picking manipulator |
| CN112772123A (en) * | 2020-12-23 | 2021-05-11 | 赖洪有 | Melon and fruit picking tool and picking method thereof |
| CN113678641A (en) * | 2021-08-24 | 2021-11-23 | 北京市农业局信息中心 | 5G artificial intelligence picking robot capable of accurately clamping mother branches of crops |
| CN114830915A (en) * | 2022-04-13 | 2022-08-02 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109451982A (en) * | 2018-12-19 | 2019-03-12 | 衢州职业技术学院 | 3-PRS tea picking parallel institution and its picking method |
| CN109496552A (en) * | 2018-12-27 | 2019-03-22 | 厦门大学 | Indirect labor's fruit picking apparatus |
| CN109699292A (en) * | 2019-03-15 | 2019-05-03 | 合肥工业大学 | A kind of fruit picker |
| CN110050587A (en) * | 2019-05-31 | 2019-07-26 | 山东省农业机械科学研究院 | Date palm picking machine mechanical arm |
| CN110679283A (en) * | 2019-09-25 | 2020-01-14 | 南京浦口科学城建设发展有限公司 | Efficient intelligent harvesting robot and application method thereof |
| CN110915416A (en) * | 2019-12-23 | 2020-03-27 | 重庆七彩田园生态农业开发有限公司 | Self-picking swimming power assisting device |
| CN111958625A (en) * | 2020-08-27 | 2020-11-20 | 上海大学 | Self-adaptive multi-connecting-rod type three-jaw picking manipulator |
| CN111958625B (en) * | 2020-08-27 | 2022-11-15 | 上海大学 | Self-adaptive multi-connecting-rod type three-jaw picking manipulator |
| CN112772123A (en) * | 2020-12-23 | 2021-05-11 | 赖洪有 | Melon and fruit picking tool and picking method thereof |
| CN112772123B (en) * | 2020-12-23 | 2022-03-01 | 史永亮 | Melon and fruit picking tool and picking method thereof |
| CN113678641A (en) * | 2021-08-24 | 2021-11-23 | 北京市农业局信息中心 | 5G artificial intelligence picking robot capable of accurately clamping mother branches of crops |
| CN114830915A (en) * | 2022-04-13 | 2022-08-02 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
| CN114830915B (en) * | 2022-04-13 | 2023-09-26 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
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