CN209185087U - A kind of fruit picking robot - Google Patents
A kind of fruit picking robot Download PDFInfo
- Publication number
- CN209185087U CN209185087U CN201821599683.7U CN201821599683U CN209185087U CN 209185087 U CN209185087 U CN 209185087U CN 201821599683 U CN201821599683 U CN 201821599683U CN 209185087 U CN209185087 U CN 209185087U
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- fruit
- basketry
- collection device
- manipulator
- picking robot
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Abstract
The utility model relates to a kind of fruit picking robots, belong to agricultural machinery technological field, solve the technical problem that existing fruit picking robot collection device memory capacity is small, collection mode is single.Including manipulator, collection device and transport device, wherein the lower section of manipulator is arranged in collection device；Collection device is equipped with multiple fruit basketrys, the fruit that multiple fruit basketrys can be picked successively by access below the end effector of manipulator by the manipulator, the transport device is provided with the loading plate for carrying and transporting the fruit basketry, when the fruit basketry on the collection device is transported to the lowermost end of the collection device, the fruit basketry can be carried and be carried it away by the transport device, and the transport device can make the bottom that empty fruit basketry is transported to the collection device on its installation to described collection device.The robot of the utility model improves picking efficiency, realizes picking and collects transport integrated function.
Description
Technical field
The utility model relates to agricultural mechanical fields, and in particular to a kind of fruit picking robot.
Background technique
China is Production of fruit big country and the largest fruit in the world country of consumption.The rapid development of fruit-growing industry is promoted
The market demand of Machinery for orchard.Labour used in picking operation accounts for 33%~50% of labour used in entire production process,
The fruit picking in China is most or based on manually picking at present.It is more complicated to pick operation, it is seasonal stronger, if making
It manually picks, not only low efficiency, the amount of labour are big, but also fruit is be easy to cause to damage.
At present in China's intelligent apple picking robot of independent development, which is that agree with market newest for the country instantly
A apple picking robot developed is a intelligentized fruit picking robot, applied three categories sensor point
It is not visual sensor, position sensor and obstacle avoidance sensor.Basic machine structure includes: walking mechanism, collection device and machine
Tool hand etc..The apple picking robot developed at present mainly consists of two parts: the mobile vehicle and five degree of freedom of two-freedom
Manipulator.Mobile vehicle is crawler type platform, has installed master control PC machine, power supply box, picking auxiliary device and multiple sensors additional；
The manipulator of five degree of freedom is driven by respective articulated driving equipment.The manipulator of this open chain link-type revolute robot
It is fixed on crawler type walking mechanism, picking robot manipulator is PRRRP structure, work opportunity tool hand end effector and receipts
Acquisition means are connected directly, and the fruit that manipulator is picked directly is collected to collection device.
Applicants have discovered that in the prior art at least have following technical problem: existing picking robot fruit-picking and
The mode for collecting fruit is relatively simple, and most of orchard workers utilize the unarmed Softening fruit-picking of most original, and not only effect is low
Under, and it is easily damaged carpopodium, the storage and price of fruit are influenced, constrains the yield of excellent fruit significantly；And usually by
Cause the capacity of its collection device smaller in the structure design of robot, so that the storage capacity of fruit is small, affects fruit
The efficiency of picking.
Utility model content
Deficiency based on the prior art, the utility model provide a kind of fruit picking robot, to solve the prior art
In fruit picking robot collection device memory capacity is small, technical problem that collection mode is single.It is provided by the utility model
Many technical effects elaboration as detailed below that optimal technical scheme in many technical solutions can be generated.
To achieve the above object, the utility model provides following technical scheme:
The utility model provides a kind of fruit picking robot, the fruit picking robot include at least manipulator,
Collection device, transport device and walking mechanism, wherein the lower section of the manipulator is arranged in the collection device；The receipts
Acquisition means are equipped with multiple fruit basketrys, and multiple fruit basketrys can be successively by containing below the end effector of the manipulator
The fruit picked by the manipulator is connect, the transport device is provided with the loading plate for carrying and transporting the fruit basketry,
When the fruit basketry on the collection device is transported to the lowermost end of the collection device, the transport device can will be described
Fruit basketry carries and carries it out the transport device, and the transport device empty fruit basketry can be transported to it is described
The bottom of collection device makes on its installation to described collection device.The walking mechanism uses track structure, the crawler type
Structure includes four crawler belts, and the first crawler belt of two of them is separately fixed at the two sides of robot body, another two the second crawler belts
Power end is coaxially connected with one end of the first crawler belt respectively, and connects the output shaft of third driving device；The third driving dress
It sets and is fixed on the robot body inside and the transmission axis connection with first crawler belt and second crawler belt；Described second
The driven end far from the third driving device of crawler belt is vacantly arranged or is horizontally disposed with.
According to a kind of preferred embodiment, the collection device further includes two rotating wheels being oppositely arranged, in two institutes
It states and multiple fruit basketrys is set around the circumferential direction of the rotating wheel between rotating wheel, by the among described two rotating wheels
One shaft is connected.
According to a kind of preferred embodiment, the both ends of the first rotating shaft pass through fixed bracket respectively and are fixed to the machine
The top of human body, the first rotating shaft are connected with first driving device, and described described first turn of first driving device driving
Axis rotation is to drive the rotating wheel to rotate.
According to a kind of preferred embodiment, it is provided at the top of the robot body and is connected with the collection device
Opening.
According to a kind of preferred embodiment, the transport device includes loading plate, for driving the loading plate to transport up and down
Capable hydraulic gear, along the robot body width direction and two the first delivery chains being oppositely arranged and setting exist
Two the second delivery chains below two first delivery chains, wherein first delivery chain and second fortune
The parallel setting of defeated chain.
According to a kind of preferred embodiment, first delivery chain and second delivery chain its in the robot
The two sides in body width direction are able to be connected with the external world, wherein one end of first delivery chain is provided with
One support plate is provided with the second support plate in the other end opposite with first support plate of second delivery chain,
In, first delivery chain and second delivery chain are driven by driving motor run respectively.
According to a kind of preferred embodiment, the both ends of the fruit basketry are provided with ratchet；Wherein, the two of the fruit basketry
The distance between end ratchet is consistent with the distance between two first delivery chains and two second delivery chains.
According to a kind of preferred embodiment, peripherally and outwardly it is provided in the rotating wheel along its wheel disc multiple for fixing
The pincerlike bayonet of the fruit basketry, it is described pincer bayonet include with the rotating wheel be integrally formed setting fixing piece and with it is described
Fixing piece formation bayonet answers moving part, wherein described one end for answering moving part forms the company of rotation by the second shaft and the rotating wheel
It connects, also, is meshed and connect with gear in the lateral wall being connected with second shaft for answering moving part, so as to described
Gear answers moving part to open or close described in driving under effect.
According to a kind of preferred embodiment, the manipulator includes rotary head, slide bar, the second driving device and machinery
Hand end effector, the arm end effector include push rod, handgrip and identification positioning system, second driving
Device drives the slide bar and the push rod to make the grip portion in the surface of the collection device in picking.
Based on the above-mentioned technical proposal, at least there is the fruit picking robot of the embodiments of the present invention following technology to imitate
Fruit:
A kind of fruit picking robot provided by the utility model, the fruit picking robot include at least manipulator,
Collection device and transport device, wherein the lower section of the manipulator is arranged in the collection device；The collection device is equipped with
Multiple fruit basketrys, multiple fruit basketrys can be successively by access below the end effector of the manipulator by the machinery
The fruit that hand getting is plucked, the transport device are provided with the loading plate for carrying and transporting the fruit basketry, fill in the collection
When the fruit basketry set is transported to the lowermost end of the collection device, the transport device can carry the fruit basketry simultaneously
The transport device is carried it out, and empty fruit basketry can be transported to the bottom of the collection device by the transport device
Portion makes on its installation to described collection device.The fruit picking robot of the utility model uses rotary collection device,
By installing multiple fruit basketrys on collection device, and fruit basketry is made successively to pass through the lower section of manipulator, so that fruit basketry
Successively fill fruit-picking, and when the fruit basketry for filling fruit is rotated to the bottom of collection device, the carrying of transport device
Plate is responsible for that the fruit basketry access of fruit will be filled and is carried it away, therefore, the fruit picking robot of the utility model
Collection device has biggish capacity, increases the fruit capacity in fruit picking robot, effectively improves adopting for fruit
Pluck efficiency.And since southern area belongs to based on mountain and hill, picking robot operating environment is complicated, and walking mechanism uses crawler belt
Formula mechanism is suitably applied up-and-down road, it can be achieved that rugged creep.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the fruit picking robot of the utility model；
Fig. 2 is the structural schematic diagram at another visual angle of the fruit picking robot of the utility model；
Fig. 3 is the structural schematic diagram of the rotating wheel of the fruit picking robot of the utility model；
Fig. 4 is the structural schematic diagram of the transport device of the fruit picking robot of the utility model.
In figure: 10- collection device；11- first driving device；12- fruit basketry；13- robot body；14- loading plate；
15- manipulator；16- walking mechanism；18- power supply box；20- rotating wheel；21- fixes bracket；22- first rotating shaft；23- opening；
141- hydraulic gear；The first delivery chain of 142-；The second delivery chain of 143-；The second support plate of 144-；145- first
Fagging；151- rotary head；152- slide bar；153- push rod；154- handgrip；155- identifies positioning system；The first crawler belt of 161-；
The second crawler belt of 162-；163- driven end.201- fixing piece；202- answers moving part；The second shaft of 203-；204- gear；205- ratchet.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below by the technology to the utility model
Scheme is described in detail.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Obtained all other embodiment is put, the range that the utility model is protected is belonged to.
The utility model provides a kind of fruit picking robot.As shown in Figure 1, Fig. 1 shows the water of the utility model
The structural schematic diagram of fruit picking machine device people.Fruit picking robot includes at least manipulator 15, collection device 10 and transport device.
Manipulator 15 is used for automatic fruit-picking.The fruit that collection device 10 is used to pick manipulator is collected.Conveying device is used
It is transferred out in the fruit for collecting collection device.Collection device 10 uses rotary structure.Collection device 10 is arranged in machinery
The lower section of hand 15, and collection device 10 is equipped with multiple fruit basketrys 12, multiple fruit basketrys 12 can be successively by manipulator 15
The fruit that access is picked by manipulator 15 below end effector, transport device are provided with for carrying and transporting fruit basketry 12
Loading plate 14, when the fruit basketry 12 on collection device 10 is transported to the lowermost end of collection device 10, transport device can be incited somebody to action
The carrying of fruit basketry 12 carries out.And the bottom that empty fruit basketry 12 is transported to collection device 10 can be made it by transport device
On installation to collection device 10.Therefore, the fruit picking robot of the utility model is filled by setting collection device and with collecting
The transport device being connected is set, multiple fruit basketrys are set on collection device, is successively used to the fruit that access is picked by manipulator,
Then fruit basketry is successively received by the loading plate of transport device 14 and is carried it, and the fruit basketry being located on collection device can be with
The fruit of access manipulator picking again, therefore, the picking robot of the utility model effectively improves picking efficiency, increases
The volume of the collection device of robot.
Preferably, collection device 10 includes two rotating wheels 20 being oppositely arranged.2 rotating wheels being oppositely arranged 20 are set
It is used to support fruit basketry.Preferably, multiple fruit basketrys 12 are set around the circumferential direction of rotating wheel 20 between two rotating wheels 20, such as
Shown in Fig. 3, Fig. 3 shows the structural schematic diagram of the rotating wheel of the fruit picking robot of the utility model.In two rotating wheels
It is connected among 20 by first rotating shaft 22.Preferably, the both ends of fruit basketry 12 are fixed in two rotating wheels 20.Preferably,
It is provided with counterweight in fruit basketry 12, enables fruit basketry to remain that frame mouth is arranged upward, prevents the fruit in fruit basketry
It falls and causes to damage.
Preferably, as shown in figure 3, being peripherally and outwardly provided in rotating wheel 20 along its wheel disc multiple for fixing fruit basketry
12 pincerlike bayonet.Pincerlike bayonet includes being integrally formed the fixing piece 201 of setting with rotating wheel 20 and being formed with fixing piece 201 to block
Mouth answers moving part 202, is rotatablely connected wherein one end of moving part 202 is answered to be formed by the second shaft 203 with rotating wheel 20, also,
It is meshed and connect with gear 204 in the lateral wall being connected with the second shaft 203 for answering moving part 202, to make in gear 204
Moving part 202 is answered to open or close with lower drive.Each pincer bayonet is respectively connected with electromagnetic drive, need to open pincerlike bayonet with
Just in the case where unclamping full fruit basketry or installation inane fruit basketry, the rotation of gear 204 is driven to drive under the action of electromagnetic drive
Moving part 202 is answered to open to discharge fruit basketry.
Preferably, the both ends of first rotating shaft 22 pass through the top that fixed bracket 21 is fixed to robot body 13 respectively.?
One end of first rotating shaft 22 is provided with first driving device 11.First driving device 11 drives the rotation of first rotating shaft 22 to drive
The fruit basketry that rotating wheel 20 is rotated in order for being located in rotating wheel 20 successively passes through the lower section of manipulator.Preferably, it first drives
Dynamic device 11 is motor.It is rotated by motor driven collection device 10.Preferably, the fruit basketry 12 in rotating wheel 20
It is located exactly at the lower section of manipulator 15, to may not need the length of constantly adjustment manipulator in picking process.
Preferably, the opening 23 being connected with collection device 10 is provided at the top of robot body 13.Opening 23
Size can be placed on loading plate 14 at least more than the size of fruit basketry 12 convenient for fruit basketry 12 from opening.
Preferably, as shown in figure 4, Fig. 4 shows the structure of the transport device of the fruit picking robot of the utility model
Schematic diagram.Transport device includes loading plate 14, the hydraulic gear 141 for driving about 14 loading plate to run, along machine
13 width direction of human body and two the first delivery chains 142 being oppositely arranged and it is arranged under two the first delivery chains 142
Two the second delivery chains 143 of side.Wherein, the first delivery chain 142 and the parallel setting of the second delivery chain 143.Wherein,
Hydraulic gear 141 forms a fixed connection with loading plate 14, and makes support plate or more under the action of hydraulic gear
Operation.Preferably, hydraulic gear is the composite structure of hydraulic cylinder and hydraulic stem, and the lower section of loading plate 14 is arranged in, and is used
In promotion loading plate operation up and down.The first delivery chain 142 being located above is responsible for empty fruit basketry being transported to loading plate
Then top drives loading plate to be transported up to the least significant end of collection device, and passes through pincer by hydraulic gear
Bayonet makes the both ends of fruit basketry form a fixed connection with rotating wheel.Underlying second delivery chain 143 is responsible for will be by holding
The fruit basket for filling fruit of support plate support transports away.The fruit basketry expired is moved downward to the second delivery chain in loading plate
When upper, the ratchet at fruit basketry both ends is meshed with the second delivery chain, then fruit basketry with the second delivery chain mobile transport
On the outside of to robot body.
Preferably, the first delivery chain 142 and the second delivery chain 143 are in the two sides of 13 width direction of robot body point
It can not be connected with the external world.Wherein, one end of the first delivery chain 142 is provided with the first support plate 145, in the second transport
The other end opposite with the first support plate 145 of chain 143 is provided with the second support plate 144, wherein the first delivery chain 142
It is driven and is run by driving motor respectively with the second delivery chain 143.Preferably, the first support plate 145 is inclined to set, and
It is arranged in a manner of diagonally downward from the outside to the core, consequently facilitating empty fruit basket is placed in the first support plate 144, slides into it automatically
On first delivery chain 142, and engaged transmission is formed by the ratchet at its both ends and the first delivery chain.Preferably, second
Fagging 144 be it is horizontally disposed, avoid overturning the Fruit basket for filling fruit on the second delivery chain 142.
Preferably, the both ends of fruit basketry 12 are provided with ratchet 205；Wherein, between two end ratchets 205 of fruit basketry 12
Distance is consistent with the distance between two the first delivery chains 142 and two the second delivery chains 143.So that fruit basketry is in spine
Transport stable on the first delivery chain and the second delivery chain under the action of wheel.
Preferably, the manipulator 15 of the fruit picking robot of the utility model includes rotary head 151, slide bar 152, the
Two driving devices and arm end effector.Rotary head 151 is used to adjust the direction of rotation of manipulator.Slide bar 152 is used
In the short transverse of adjustment manipulator.Second driving device can be DC servo motor.Preferably, arm end effector
Including push rod 153, handgrip 154 and identification positioning system 155.Second driving device driving slider 152 and push rod 153 are being adopted
Handgrip 154 is set to be located at the surface of collection device 10 when plucking.
Preferably, the picking robot of the utility model further includes walking mechanism 16.Walking mechanism 16 uses crawler type knot
Structure, track structure include four crawler belts, and the first crawler belt of two of them 161 is separately fixed at the two sides of robot body 13, separately
The power end of two the second crawler belts 162 is coaxially connected with one end of the first crawler belt 161 respectively, and connects the defeated of third driving device
Shaft.To drive the first crawler belt and the operation of the second crawler belt by third driving device.Preferably, third driving device is fixed on
13 inside of robot body and the transmission axis connection with the first crawler belt 161 and the second crawler belt 162.Preferably, second crawler belt 162
Driven end 163 far from third driving device is vacantly arranged or is horizontally disposed with.Since southern area belongs to based on mountain and hill,
Picking robot operating environment is complicated, and walking mechanism uses crawler type mechanism, be suitably applied up-and-down road, it can be achieved that
It is rugged to creep.
Preferably, the fruit picking robot further includes power supply box 18.
The collection device of the fruit picking robot of the utility model is able to carry out rotary motion by motor driven, thus
So that the fruit hoop being arranged in rotating wheel is rotated therewith, runs in fruit basketry to the bottom end of collection device, that is, be located at and open
When the top of mouth, run positioned at the loading plate of transport device to the top of transport device, the i.e. position close to opening, thus by right
The fruit basketry answered is carried and is run down under the action of hydraulic gear to the second delivery chain, so that the two of fruit basketry
End ratchet can be meshed with the second delivery chain, and the second support plate 144 is transported under the action of the second delivery chain
On.At this point, rotating wheel continues to run, continue the fruit for collecting picking.And loading plate will be run up after placement to
It is accepted at one delivery chain from the empty fruit basketry entered on the first delivery chain by the first support plate 145, then will
Empty fruit basketry both ends are fixed on pincerlike bayonet, continue to transport with rotating wheel by its bottom for being transported to rotating wheel upwards
Row collects fruit.Iterative cycles carry out.
The fruit picking robot of the utility model uses rotary collection device, passes through collection device and manipulator
Cooperation, improves picking efficiency, while increasing the fruit memory capacity of picking robot, rotating torque with higher can
To bear higher weight, realizes picking and collect integrated function.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.
Claims (9)
1. a kind of fruit picking robot, which is characterized in that the fruit picking robot includes at least manipulator (15), collects
Device (10), transport device and walking mechanism (16), wherein the collection device (10) is arranged in the manipulator (15)
Lower section；The collection device (10) is equipped with multiple fruit basketrys (12), and multiple fruit basketrys (12) can be successively by described
The fruit that access is picked by the manipulator (15) below the end effector of manipulator (15)；
The transport device is provided with the loading plate (14) for carrying and transporting the fruit basketry (12), in the collection device
(10) when the fruit basketry (12) on is transported to the lowermost end of the collection device (10), the transport device can be by the fruit
Basketry (12) is carried and is carried it away, and empty fruit basketry (12) can be transported to the collection by the transport device
The bottom of device (10) makes on its installation to the collection device (10)；
The walking mechanism (16) uses track structure, and the track structure includes four crawler belts, and two of them first are carried out
Band (161) is separately fixed at the two sides of robot body (13), and the power end of another two the second crawler belts (162) is carried out with first respectively
One end of band (161) is coaxially connected, and connects the output shaft of third driving device；The third driving device is fixed on the machine
Device human body (13) inside and the transmission axis connection with first crawler belt (161) and second crawler belt (162)；Described second
The driven end far from the third driving device of crawler belt (162) is vacantly arranged or is horizontally disposed with.
2. fruit picking robot according to claim 1, which is characterized in that the collection device (10) further includes opposite
Two rotating wheels (20) being arranged, the circumferential direction setting between two rotating wheels (20) around the rotating wheel (20) are multiple
The fruit basketry (12) is connected among described two rotating wheels (20) by first rotating shaft (22).
3. fruit picking robot according to claim 2, which is characterized in that distinguish at the both ends of the first rotating shaft (22)
The top of the robot body (13), the first rotating shaft (22) and first driving device are fixed to by fixed bracket (21)
(11) it is connected, the first driving device (11) drives first rotating shaft (22) rotation to drive the rotating wheel (20)
It rotates.
4. fruit picking robot according to claim 1, which is characterized in that at the top of the robot body (13)
It is provided with the opening (23) being connected with the collection device (10).
5. according to claim 1 to fruit picking robot described in one of 4, which is characterized in that the transport device includes holding
Support plate (14), the hydraulic gear (141) for driving the loading plate (14) to run up and down, along the robot body
(13) width direction and two the first delivery chains (142) being oppositely arranged and setting are in two first delivery chains
(142) two the second delivery chains (143) below, wherein first delivery chain (142) and second delivery chain
(143) parallel setting.
6. fruit picking robot according to claim 5, which is characterized in that first delivery chain (142) and institute
The second delivery chain (143) is stated to be able to be connected with the external world in the two sides of the robot body (13) width direction,
In, one end of first delivery chain (142) is provided with the first support plate (145), in second delivery chain (143)
The other end opposite with first support plate (145) be provided with the second support plate (144), wherein first conveyer chain
Item (142) and second delivery chain (143) are driven by driving motor respectively to be run.
7. fruit picking robot according to claim 6, which is characterized in that be arranged at the both ends of the fruit basketry (12)
There are ratchet (205)；Wherein, the distance between two end ratchets (205) of the fruit basketry (12) and two first conveyer chains
The distance between item (142) and two second delivery chains (143) are consistent.
8. fruit picking robot according to claim 2, which is characterized in that along its wheel disc on the rotating wheel (20)
Multiple pincerlike bayonets for being used to fix the fruit basketry (12) are peripherally and outwardly provided with, the pincer bayonet includes and the rotation
Wheel (20), which is integrally formed the fixing piece (201) of setting and forms bayonet with the fixing piece (201), answers moving part (202), wherein
Described one end for answering moving part (202) is formed by the second shaft (203) and the rotating wheel (20) and is rotatablely connected, also, in institute
State and answer the lateral wall of moving part (202) being connected with second shaft (203) to be meshed with gear (204) to connect, so as to
The gear (204) answers moving part (202) to open or close described in driving under effect.
9. according to claim 1 to fruit picking robot described in one of 4, which is characterized in that the manipulator (15) includes
Rotary head (151), slide bar (152), the second driving device and arm end effector, the arm end effector
Including push rod (153), handgrip (154) and identification positioning system (155), second driving device drives the slide bar
(152) and the push rod (153) makes the handgrip (154) to be located at the surface of the collection device (10) in picking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821599683.7U CN209185087U (en) | 2018-09-28 | 2018-09-28 | A kind of fruit picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821599683.7U CN209185087U (en) | 2018-09-28 | 2018-09-28 | A kind of fruit picking robot |
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| Publication Number | Publication Date |
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| CN209185087U true CN209185087U (en) | 2019-08-02 |
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| CN201821599683.7U Active CN209185087U (en) | 2018-09-28 | 2018-09-28 | A kind of fruit picking robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111011004A (en) * | 2019-12-28 | 2020-04-17 | 河南理工大学 | Picking equipment |
| CN112840863A (en) * | 2021-03-03 | 2021-05-28 | 曹梦醒 | Fruit picking device based on internet intelligent agriculture |
-
2018
- 2018-09-28 CN CN201821599683.7U patent/CN209185087U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111011004A (en) * | 2019-12-28 | 2020-04-17 | 河南理工大学 | Picking equipment |
| CN112840863A (en) * | 2021-03-03 | 2021-05-28 | 曹梦醒 | Fruit picking device based on internet intelligent agriculture |
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