CN209036519U - Twin-stage round brush based on Mecanum wheel picks up spherical fruit robot - Google Patents
Twin-stage round brush based on Mecanum wheel picks up spherical fruit robot Download PDFInfo
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- CN209036519U CN209036519U CN201821797877.8U CN201821797877U CN209036519U CN 209036519 U CN209036519 U CN 209036519U CN 201821797877 U CN201821797877 U CN 201821797877U CN 209036519 U CN209036519 U CN 209036519U
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Abstract
The utility model relates to a kind of, and the twin-stage round brush based on Mecanum wheel picks up spherical fruit robot, including walking mechanism, pick-up mechanism, transport mechanism, storage release mechanism, data acquisition process mechanism and power supply device；Position and collecting and distributing degree of the utility model by spherefruit on cmos image sensor real-time monitoring place, pick-up mechanism is picked up fruit and is stored by warehouse, after spherefruit quantity reaches the maximum value that can be accommodated in warehouse, single-chip microcontroller control shirks plate and spherefruit unloading is pushed into specified region, realizes the automation unloaded operation of spherefruit；The utility model energy all-around mobile realizes fruit monitoring accurate positioning, improves pickup rate and picks up efficiency, reduce the generation that spherefruit phenomenon is picked up in leakage, can realize pickup simultaneously, unload the increasingly automated of whole process.
Description
Technical field
The present invention relates to the technical field of robot, especially relates to a kind of twin-stage round brush based on Mecanum wheel and pick up
Pick up spherical fruit robot.
Background technique
Agricultural production, fruit is first fallen within ground recycling by manual type by jujube equal sphere fruit needs, spherical
Fruit becomes scattered about each corner under fruit-tree orchard, and spherefruit needs special messenger to recycle, and work is recycled in the pickup of spherefruit
Make to occupy a large amount of labours, this not only increases cost of labor, but also pick up that efficiency is not also high, gradually uncomfortable modern agricultural development
It needs.It is done if robot can be given the work that pick up recycling to, existing spherefruit will be solved and pick up receipts low efficiency and expense
When laborious problem, manpower is freed from cumbersome labour, greatly facilitates the progress of productivity.
There are the following problems for existing robot for picking up: hand type robot for picking up can only once grab one or
The a small amount of spherefruit of person, low efficiency and with high costs.Existing spherefruit robot for picking up is essentially semi-automation at present,
It needs manually to unload sphere after the full fruit of storage device storage in body, is not carried out real automation, it is still desirable to one
Determine the human assistance of degree.
Summary of the invention
In view of the above deficiencies, the present invention provides a kind of, and the twin-stage round brush based on Mecanum wheel picks up spherical fruit machine
Device people, the automation for applying to the spherefruit in agricultural production pick up recovery operation, really realize and pick up recycling spherefruit
It is increasingly automated.
Technical solution:
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of spherical fruit robot of twin-stage round brush pickup based on Mecanum wheel, comprising: walking mechanism, collecting machine
Structure, transport mechanism, storage release mechanism, data acquisition process mechanism and power supply device；
The walking mechanism includes Mecanum wheel and driving motor, and Mecanum wheel and driving motor are fixed on chassis bottom
Portion drives Mecanum wheel rotation to realize walking function by driving motor；
The pick-up mechanism includes external expanding plate, circular arc baffle and level-one round brush；Extending out front edge of board, two sides flare is in the left and right
Splayed is fixed on chassis front end；External expanding plate picks up area for expanding；Skin is symmetrically respectively equipped at left and right sides of chassis before and after wall
Belt wheel one and belt pulley two；The belt pulley one and belt pulley two of every side are linked together by belt；Bilateral symmetry before chassis
Two belt pulleys two between install level-one round brush；Level-one round brush is by roller one and is uniformly arranged on the rolling plate one of one surrounding of roller
Composition；One left and right ends of roller are mounted on pulley shaft；Level-one round brush is rotated clockwise along the direction of machine travel, by spherefruit
Brush the pickup that spherefruit is realized into primary oblique Transfer pipe；
The transport mechanism includes transport motor, belt pulley one, belt pulley two, belt, primary oblique Transfer pipe, second level
Tilt Transfer pipe, second level round brush and semi-circular channel cover；Transport motor is mounted on the pulley shaft in one outside of belt pulley；Level-one passes
Inclination Transfer pipe is sent to be located at level-one round brush rear, level-one transmission inclination Transfer pipe rear end tilts down setting and and horizontal plane
The angle of acute angle is formed, fruit can be automatically scrolling to level-one transmission inclination Transfer pipe rear end；Level-one transmission inclination Transfer pipe
Between level-one round brush and second level round brush；Secondary oblique Transfer pipe be located at level-one transmission inclination Transfer pipe rear portion just on
Side；Secondary oblique Transfer pipe front end tilts down setting and forms the angle of acute angle with horizontal plane；Second level round brush is by roller two
And it is uniformly arranged on the composition of rolling plate two of two surrounding of roller；Two left and right ends of roller are mounted on pulley shaft；The installation of second level round brush
Between two belt wheels one at left and right sides of the rear of chassis；Semi-circular channel cover semicircular in shape, is mounted on the bottom at second level round brush rear portion
On disk；It is docked with secondary oblique Transfer pipe rear end on semi-circular channel cover top；Semi-circular channel cover will be after primary oblique Transfer pipe
Side is connected to secondary oblique Transfer pipe rear end；Driving motor moves turn of level-one round brush and second level round brush by belt driving band
It is dynamic.
The storage release mechanism includes warehouse, screw rod stepper motor, shirks plate, door-plate and front apron；Warehouse is located at second level
Tilt Transfer pipe front end；Door-plate is fixed on warehouse left side wall by hinge, and door-plate can be freely rotated with hinge axis or so；Before
Baffle is mounted on warehouse front end；Shirk plate and erects movable be mounted on the right side of warehouse；Lead screw stepper motor passes through motor fixing plate
It is fixed on the left of warehouse, screw rod stepper motor connection wire rod nut, the feed screw nut other end is connect with plate is shirked, and shirks plate in silk
It can be moved left and right along feed screw nut under the drive of bar stepper motor, it is self-discharging to play the role of fruit；When the spherical shape in warehouse
After collecting fruit is full, feed screw nut shirks plate and moves to the left, and door-plate laterally rotates, and spherefruit is pushed out storage
The automation unloading of spherefruit is realized in storehouse.
The data acquisition process mechanism includes single-chip microcontroller, cmos image sensor, infrared sensor one, infrared ray
Sensor two and gravity sensor；Single-chip microcontroller is separately connected driving motor, transport motor, screw rod stepper motor, cmos image and passes
Sensor, infrared sensor one, infrared sensor two and gravity sensor；Cmos image sensor is fixed on front apron,
Infrared sensor one is fixed on one end on motor fixing plate close to front apron, and gravity sensor is fixed on the bottom of warehouse,
Infrared sensor two is fixed on for level-one round brush right side wall, cmos image sensor, infrared sensor one and infrared ray
Monitoring of the sensor two for spherefruit position positions；After spherefruit collects full in warehouse, gravity sensor can Xiang Dan
Piece machine sends the full information of ball, and single-chip microcontroller control transport motor stops working, while controlling the screw rod stepper motor rotation,
Spherefruit release warehouse is unloaded.
The power supply device is detachable rechargeable lithium batteries, provides energy to the operation of whole system.
Preferably, it is set in the walking mechanism there are four Mecanum wheel, each Mecanum wheel connects one solely
Vertical driving motor realizes that omnidirection is mobile by controlling the direction of rotation of each Mecanum wheel respectively.
Preferably, rolling plate one mutually in 90 ° there are four being set on the roller one；
Preferably, the diameter ratio of the belt pulley one and belt pulley two is 1:2, and level-one round brush revolving speed is less than second level round brush,
The speed that level-one round brush picks up spherefruit is less than second level round brush and spherefruit is lifted to the speed for being sent into secondary oblique Transfer pipe
Degree, avoids causing fruit to destroy since spherefruit gathers in primary oblique Transfer pipe；
Preferably, the inclination angle that the primary oblique Transfer pipe and secondary oblique Transfer pipe are formed with level ground is
5 °, spherefruit can be rolled into the left side of level-one transmission inclination Transfer pipe under partical gravity effect, transmit and tilt into second level
Right side is rolled to after Transfer pipe；
Preferably, six arc rolling plates two are uniformly provided on the roller two；
The rolling plate one and rolling plate two are plastic material, both ensure that the hardness of material, in turn ensure the light weight of rolling plate
Change.
The gathering method of the invention further relates to a kind of spherical fruit based on Mecanum wheel, steps are as follows:
1, spherefruit position: the position of spherefruit and collecting and distributing journey on cmos image sensor real-time monitoring place is obtained
Degree, guided robot select to be cleaned from the most place of spherefruit quantity first, infrared sensor one and infrared sensing
Device two makes robot effective avoiding barrier during the motion, enhances the ability of robot strain environment itself, realizes spherical
The capture of fruit position.MCU driving Mecanum wheel makes body be moved to spherical fruit by the omni-directional of Mecanum wheel
Near real；The external expanding plate of body front end is pooled to spherefruit as much as possible in front of level-one round brush, in level-one round brush
Under effect, spherefruit is pushed primary oblique Transfer pipe along circular arc baffle, and under the action of partical gravity, sphere is along level-one
Inclination Transfer pipe slides to second level round brush, then sphere is raised to secondary oblique Transfer pipe through second level round brush, final spherical shape fruit
Warehouse is slided to along tilting down for secondary oblique Transfer pipe under the action of tangible partical gravity, completes the pickup work of sphere.
2, sphere automation unloading: after spherefruit quantity reaches the maximum value that can be accommodated in warehouse, gravity sensitive
Device sends the signal for needing to unload spherefruit to single-chip microcontroller, and single-chip microcontroller control pick-up mechanism and transport mechanism stop working, together
When to storage release mechanism send unloading command, at this time single-chip microcontroller drive first driving motor drive body reach specify unloading area,
MCU driving screw rod stepper motor shirks plate and unloads spherefruit along the movement of screw rod direction under the action of screw rod stepper motor
It carries and is pushed into specified region, realize the automation unloaded operation of spherefruit.
The utility model has the advantages that
Recovery operation, compared with existing robot for picking up, this hair are picked up in the automation that the present invention is applied to spherefruit
Bright introducing Mecanum wheel, energy all-around mobile, moves flexible, small volume；Data acquisition processing system and multiple sensors
It matches, is able to achieve fruit monitoring accurate positioning, improve pickup rate and pick up efficiency, reduce the hair that spherefruit phenomenon is picked up in leakage
It is raw, pickup can be realized simultaneously, unload the increasingly automated of whole process.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is primary oblique Transfer pipe figure of the present invention；
Fig. 3 is that the location drawing is arranged in infrared sensor one and infrared sensor two；
Fig. 4 is the cross-sectional view of the line A-A along Fig. 3；
Fig. 5 is hinge and the semi-circular channel cover location drawing of the invention；
Fig. 6 is the driving motor location drawing in the present invention；
In figure: 1 level-one round brush, 2 external expanding plate, 3 warehouse, 4 door-plate 5 shirks 6 secondary oblique Transfer pipe of plate, 7 screw rod step
It is transmitted into 2 12 Mecanum wheel of motor 8 second level round brush, 9 transport motor, 10 belt pulley, one 11 belt pulley, 13 primary oblique
One 19 infrared sensor two of channel 14 lithium battery, 15 single-chip microcontroller, 16 belt, 17 cmos image sensor, 18 infrared sensor
20 gravity sensor, 21 circular arc baffle, 22 driving motor, 23 hinge, 24 semi-circular channel cover, 25 motor fixing plate, 26 front apron
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
In the present embodiment, the walking mechanism, pick-up mechanism, transport mechanism, storage release mechanism, data acquisition processing system and
Power supply device is mountable on main stand；Main stand is metal framework structure, 63.8 centimetres long, 27.4 centimetres wide, high by 16
Centimetre.
The present invention includes walking mechanism, pick-up mechanism, transport mechanism, storage release mechanism, data acquisition process mechanism and energy supply
Device；
The walking mechanism includes: Mecanum wheel 12 and driving motor 22, and Mecanum wheel 12 and driving motor 22 are solid
Due to chassis, the rotation of Mecanum wheel 12 is driven to realize walking function by driving motor 22；
The pick-up mechanism includes: external expanding plate 2, circular arc baffle 21, the composition of level-one round brush 1, and external expanding plate 2, which is conducive to expand, to be picked up
Sweeping area is picked up, spherefruit is lifted under the cooperation of circular arc baffle 21 by rotation and is sent into primary oblique biography by level-one round brush 1
The pickup for sending channel 13 to realize spherefruit；
The transport mechanism includes: transport motor 9, belt pulley 1, belt pulley 2 11, belt 16, primary oblique transmission
Channel 13, secondary oblique Transfer pipe 6, second level round brush 8, semi-circular channel cover 24 form, and transport motor 9 is dynamic by belt driving band
The rotation of level-one round brush 1 and second level round brush 8.
The storage release mechanism includes: warehouse 3, screw rod stepper motor 7, shirks plate 5, door-plate 4, the composition of hinge 23, door-plate
4 are fixed on 3 side wall of warehouse by hinge 23, and door-plate 4 can be freely rotated with hinge axis, play the barrier effect to spherefruit,
After the spherefruit in warehouse 3 is collected completely, shirking plate 5 can be under the impetus of screw rod stepper motor 7 by spherefruit
It releases, realizes the automation unloading of spherefruit.
The data acquisition process mechanism include: single-chip microcontroller 15, cmos image sensor 17, infrared sensor 18,
Infrared sensor 19, gravity sensor 20 form, and cmos image sensor 17 and infrared sensor are for spherefruit
Monitoring positioning, gravity sensor 20 are fixed on 3 bottom of warehouse, 20 meeting of gravity sensor after spherefruit collects full in warehouse 3
The full electric signal of ball is sent to single-chip microcontroller 15, single-chip microcontroller 15 will send the finger to stop working to pick-up mechanism and transport mechanism
It enables, while sending unloading command to storage release mechanism, screw rod stepper motor 7 rotates, into the process for executing automation unloading.
The power supply device is made of lithium battery 14, provides energy to the operation of whole system.
In the present embodiment, walking mechanism is set altogether there are four Mecanum wheel 12, each Mecanum wheel 12 is separately connected
One individual driving motor 22 realizes that omnidirection is mobile by controlling the direction of rotation of each wheel.
The rolling plate one that level-one round brush 1 is mutually 90 degree of settings by roller one and along one circumference of roller four forms, and material is modeling
Property material.
The diameter ratio of belt pulley 1 and belt pulley 2 11 is 1:2, realizes that 1 revolving speed of level-one round brush is greater than second level round brush 8, keeps away
Exempt to damage, primary oblique Transfer pipe 13 and secondary oblique Transfer pipe since spherefruit gathers in Transfer pipe
6 have 5 degree of inclination angle with level ground, and spherefruit is facilitated to reach next stage in partical gravity effect lower slider；Second level round brush
8 are made of shaft and six curved fan blades, and material is plastic material.
The power supply device is detachable rechargeable lithium batteries 14.
The utility model has the advantages that
Present invention is mainly applied to the automations of spherefruit to pick up recovery operation.Compared with existing robot for picking up,
Mecanum wheel omni-directional moving platform is introduced, flexible, small volume is moved；Based on multisensor and multiprecision arithmetic, monitoring
Accurate positioning；It picks up high-efficient, the generation for phenomenon of losing can be greatly reduced；High degree of automation is realized and picks up, unloads entire mistake
Journey it is increasingly automated；
The working principle of the invention and the course of work are as follows:
Specific work process of the invention is divided into three steps, first acquisition spherefruit position, then picks up spherefruit, most
Spherefruit automation unloading afterwards.
The workflow for obtaining spherefruit position is as follows, spherefruit on 17 real-time monitoring place of cmos image sensor
Position and collecting and distributing degree, guided robot select to be cleaned from the most place of spherefruit quantity first, infrared sensing
Device one and infrared sensor two make robot effective avoiding barrier during the motion, enhancing robot strain environment itself
Ability realizes the capture of spherefruit position.Single-chip microcontroller 15 drives Mecanum wheel 12, passes through the omni-directional of Mecanum wheel 12
It is moved to body near spherefruit；The external expanding plate 2 of body front end makes spherefruit as much as possible be pooled to level-one rolling
1 front of brush, under the action of level-one round brush 1, spherefruit is pushed primary oblique Transfer pipe 13 along circular arc baffle 21, in weight
Under the action of power component, sphere slides to second level round brush 8 along primary oblique Transfer pipe 13, then is lifted sphere through second level round brush 8
To secondary oblique Transfer pipe 6, final spherefruit dipping down along secondary oblique Transfer pipe 6 under the action of partical gravity
Warehouse 3 tiltedly is slided to, completes the pickup work of sphere.
The workflow of sphere automation unloading is as follows, when spherefruit quantity reaches the maximum that can be accommodated in warehouse 3
After value, gravity sensor 20 is sent to single-chip microcontroller 15 needs to unload the signal of spherefruit, single-chip microcontroller 15 control pick-up mechanism with
Transport mechanism stops working, while sending unloading command to storage release mechanism, and single-chip microcontroller 15 can drive driving motor band first at this time
Motivation body reaches specified unloading area, and single-chip microcontroller 15 drives screw rod stepper motor 7, shirks plate 5 in the effect of screw rod stepper motor 7
It is lower that spherefruit unloading is pushed into specified region along screw rod direction is mobile, realize the automation unloaded operation of spherefruit.
The present invention realizes agricultural by acquisition spherefruit position, pickup spherefruit, spherefruit automation unloading
Recovery operation is picked up in automation of the spherefruit in orchard in production, make it is heavy manually therefrom free, realize spherical shape
Fruit picks up the increasingly automated of recycling, solves the problems, such as that spherefruit is not easy to pick up, meets the requirement of modern agricultural production,
Derived from Agricultural Modernization is pushed.
Claims (7)
1. a kind of twin-stage round brush based on Mecanum wheel picks up spherical fruit robot, it is characterised in that: include: vehicle with walking machine
Structure, pick-up mechanism, transport mechanism, storage release mechanism, data acquisition process mechanism and power supply device；
The walking mechanism includes Mecanum wheel and driving motor, and Mecanum wheel and driving motor are fixed on tray bottom,
Mecanum wheel rotation is driven to realize walking function by driving motor；
The pick-up mechanism includes external expanding plate, circular arc baffle and level-one round brush；Extending out front edge of board, two sides flare is in eight words to the left and right
Shape is fixed on chassis front end；External expanding plate picks up area for expanding；Belt pulley is symmetrically respectively equipped at left and right sides of chassis before and after wall
One and belt pulley two；The belt pulley one and belt pulley two of every side are linked together by belt；Symmetrical two before chassis
Level-one round brush is installed between a belt pulley two；Level-one round brush is by roller one and is uniformly arranged on one group of rolling plate of one surrounding of roller
At；One left and right ends of roller are mounted on pulley shaft；Level-one round brush is rotated clockwise along the direction of machine travel, by spherefruit brush
Enter the pickup that primary oblique Transfer pipe realizes spherefruit；
The transport mechanism includes transport motor, belt pulley one, belt pulley two, belt, primary oblique Transfer pipe, secondary oblique
Transfer pipe, second level round brush and semi-circular channel cover；Transport motor is mounted on the pulley shaft in one outside of belt pulley；Level-one transmission is inclined
Oblique Transfer pipe is located at level-one round brush rear, and level-one transmission inclination Transfer pipe rear end tilts down setting and formed with horizontal plane
The angle of acute angle, fruit can be automatically scrolling to level-one transmission inclination Transfer pipe rear end；Level-one transmission inclination Transfer pipe is located at
Between level-one round brush and second level round brush；Secondary oblique Transfer pipe is located at the surface at level-one transmission inclination Transfer pipe rear portion；
Secondary oblique Transfer pipe front end tilts down setting and forms the angle of acute angle with horizontal plane；Second level round brush is by roller two and
The even rolling plate two that two surrounding of roller is arranged in forms；Two left and right ends of roller are mounted on pulley shaft；Second level round brush is mounted on bottom
Between two belt wheels one at left and right sides of disk rear；Semi-circular channel cover semicircular in shape, is mounted on the chassis at second level round brush rear portion；
It is docked with secondary oblique Transfer pipe rear end on semi-circular channel cover top；Semi-circular channel cover is by primary oblique Transfer pipe rear and two
Grade inclination Transfer pipe rear end connection；Driving motor moves the rotation of level-one round brush and second level round brush by belt driving band；
The storage release mechanism includes warehouse, screw rod stepper motor, shirks plate, door-plate and front apron；Warehouse is located at secondary oblique
Transfer pipe front end；Door-plate is fixed on warehouse left side wall by hinge, and door-plate can be freely rotated with hinge axis or so；Front apron
It is mounted on warehouse front end；Shirk plate and erects movable be mounted on the right side of warehouse；Lead screw stepper motor is fixed by motor fixing plate
On the left of warehouse, screw rod stepper motor connection wire rod nut, the feed screw nut other end is connect with plate is shirked, and is shirked plate and is walked in screw rod
It can be moved left and right along feed screw nut under into the drive of motor, it is self-discharging to play the role of fruit；When the spherefruit in warehouse
After collecting completely, feed screw nut shirks plate and moves to the left, and door-plate laterally rotates, and spherefruit is pushed out warehouse, real
The automation unloading of existing spherefruit；
The data acquisition process mechanism includes single-chip microcontroller, cmos image sensor, infrared sensor one, infrared ray sensing
Device two and gravity sensor；Single-chip microcontroller be separately connected driving motor, transport motor, screw rod stepper motor, cmos image sensor,
Infrared sensor one, infrared sensor two and gravity sensor；Cmos image sensor is fixed on front apron, infrared ray
Sensor one is fixed on one end on motor fixing plate close to front apron, and gravity sensor is fixed on the bottom of warehouse, infrared ray
Sensor two is fixed on for level-one round brush right side wall, cmos image sensor, infrared sensor one and infrared sensor
The two monitoring positioning for spherefruit position；After spherefruit collects full in warehouse, gravity sensor is sent to single-chip microcontroller
The full information of ball, single-chip microcontroller control transport motor stop working, while controlling the screw rod stepper motor rotation, by spherical fruit
Real warehouse of releasing is unloaded；
The power supply device is detachable rechargeable lithium batteries, provides energy to the operation of whole system.
2. a kind of twin-stage round brush based on Mecanum wheel as described in claim 1 picks up spherical fruit robot, special
Sign is: is set in the walking mechanism there are four Mecanum wheel, each Mecanum wheel connects an independent driving
Motor realizes that omnidirection is mobile by controlling the direction of rotation of each Mecanum wheel respectively.
3. a kind of twin-stage round brush based on Mecanum wheel as described in claim 1 picks up spherical fruit robot, special
Sign is: rolling plate one mutually in 90 ° there are four setting on the roller one.
4. a kind of twin-stage round brush based on Mecanum wheel as described in claim 1 picks up spherical fruit robot, special
Sign is: the diameter ratio of the belt pulley one and belt pulley two is 1:2, and level-one round brush revolving speed is less than second level round brush.
5. a kind of twin-stage round brush based on Mecanum wheel as described in claim 1 picks up spherical fruit robot, special
Sign is: the inclination angle of the primary oblique Transfer pipe and secondary oblique Transfer pipe and level ground formation is 5 °.
6. a kind of twin-stage round brush based on Mecanum wheel as described in claim 1 picks up spherical fruit robot, special
Sign is: six arc rolling plates two are uniformly provided on the roller two.
7. a kind of twin-stage round brush based on Mecanum wheel as described in claim 1 picks up spherical fruit robot, special
Sign is: the rolling plate one and rolling plate two are plastic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821797877.8U CN209036519U (en) | 2018-11-02 | 2018-11-02 | Twin-stage round brush based on Mecanum wheel picks up spherical fruit robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821797877.8U CN209036519U (en) | 2018-11-02 | 2018-11-02 | Twin-stage round brush based on Mecanum wheel picks up spherical fruit robot |
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| Publication Number | Publication Date |
|---|---|
| CN209036519U true CN209036519U (en) | 2019-06-28 |
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ID=67039513
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821797877.8U Expired - Fee Related CN209036519U (en) | 2018-11-02 | 2018-11-02 | Twin-stage round brush based on Mecanum wheel picks up spherical fruit robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159106A (en) * | 2018-11-02 | 2019-01-08 | 山东农业大学 | Twin-stage round brush based on Mecanum wheel picks up shape fruit robot |
-
2018
- 2018-11-02 CN CN201821797877.8U patent/CN209036519U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159106A (en) * | 2018-11-02 | 2019-01-08 | 山东农业大学 | Twin-stage round brush based on Mecanum wheel picks up shape fruit robot |
| CN109159106B (en) * | 2018-11-02 | 2023-11-03 | 山东农业大学 | Robot for picking spherical fruits by two-stage rolling brush based on Mecanum wheel |
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