CN218587678U - Press from both sides and cut manipulator and use its cluster fruit and remove picking robot - Google Patents
Press from both sides and cut manipulator and use its cluster fruit and remove picking robot Download PDFInfo
- Publication number
- CN218587678U CN218587678U CN202222847961.9U CN202222847961U CN218587678U CN 218587678 U CN218587678 U CN 218587678U CN 202222847961 U CN202222847961 U CN 202222847961U CN 218587678 U CN218587678 U CN 218587678U
- Authority
- CN
- China
- Prior art keywords
- clamping
- mechanical arm
- shearing
- fruit
- picking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 121
- 238000010008 shearing Methods 0.000 claims abstract description 90
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000003137 locomotive effect Effects 0.000 claims description 5
- 244000183278 Nephelium litchi Species 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 240000001008 Dimocarpus longan Species 0.000 description 1
- 235000000235 Euphoria longan Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004345 fruit ripening Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a clamping and shearing mechanical arm and a fruit stringing and moving picking robot applying the clamping and shearing mechanical arm, which comprises a lifting mechanical arm, a picking mechanical arm and a clamping and shearing actuator, wherein the lifting mechanical arm comprises at least one rotational freedom mechanism and a plurality of swinging freedom mechanisms; the picking mechanical arm comprises a plurality of rotational freedom degree mechanisms and a plurality of swinging freedom degree mechanisms; the clamping and shearing actuator is used for clamping and shearing fruit stalks to pick fruits and is provided with a vision module; the clamping and shearing actuator is connected with the front end of the picking mechanical arm, the rear end of the picking mechanical arm is connected with the front end of the lifting mechanical arm, and the rear end of the lifting mechanical arm is rotatably connected to the driving device through the rotary freedom mechanism so as to drive the clamping and shearing actuator to clamp and shear. The utility model relates to a rationally, can automatic identification fruit stalk, but many high and multi-angle adjustment are in order to carry out the clamp to cut to target fruit stalk position and pick, and degree of automation is high, and the fruit loss rate is low.
Description
Technical Field
The utility model relates to an agricultural robot technical field especially relates to a press from both sides string fruit of cutting manipulator and using it and remove picking robot.
Background
Litchi is one of four fruits in south China, about 90% of the worldwide litchi yield is concentrated in China, and more than 80% of litchi in China is produced in Guangdong province and Guangxi province. Because the litchi fruit tree plantation has complex environment, most planting areas are mainly hilly and mountainous, the litchi fruit trees are tall and big, the crown diameter is large, the fruit distribution is uneven, the fruit maturation period is short, and the fruits are distributed in a string shape and need to be picked and sold in a string shape; the current harvesting of litchi and similar bunch fruits (such as longan) still depends on manpower seriously, picking tools mainly comprise an escalator, a long sickle and a semi-mechanized auxiliary picking device, the defects of low picking efficiency, high fruit damage rate and the like generally exist in the devices, and automatic harvesting cannot be realized; in addition, the fruit grower has personnel's potential safety hazard in climbing trees or climbing stairs to pick in hot weather.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a press from both sides and cut manipulator and use its cluster fruit and remove picking robot to solve the problem that proposes in the above-mentioned background art. In order to achieve the above object, the utility model provides a following technical scheme:
a pinch shear robot comprising:
the lifting mechanical arm comprises at least one rotary freedom degree mechanism and a plurality of swing freedom degree mechanisms;
the picking mechanical arm comprises a plurality of rotational freedom degree mechanisms and a plurality of swinging freedom degree mechanisms; and
the fruit stem clamping and shearing device comprises a clamping and shearing actuator, a control module and a control module, wherein the clamping and shearing actuator is used for clamping and shearing fruit stems to pick fruits, and a vision module is arranged on the clamping and shearing actuator;
the clamping and shearing actuator is connected with the front end of the picking mechanical arm, the rear end of the picking mechanical arm is connected with the front end of the lifting mechanical arm, and the rear end of the lifting mechanical arm is rotatably connected onto the driving device through the rotational freedom mechanism to drive the clamping and shearing actuator to carry out clamping and shearing.
Further, the clamping and shearing actuator comprises a base, a clamping and shearing driving module, a clamping and shearing piece, a connecting rod and a driving rod; the clamp is cut a and is provided with clamping part and shearing part, the clamp cut drive module fixed mounting in on the base, connecting rod one end with the clamp is cut a articulated, the other end with the base is articulated, actuating lever one end with the output end that the clamp cut drive module is articulated, the other end with the clamp is cut a articulated, in order to drive the clamp is cut a and is pressed from both sides.
Furthermore, the picking machine further comprises a lifting platform, wherein the lifting platform is arranged at the front end of the lifting mechanical arm, and the rear end of the picking mechanical arm is connected with the lifting platform through the rotary freedom mechanism.
Furthermore, the front end of the picking mechanical arm is connected with the clamping and shearing actuator through the rotary freedom degree mechanism, and the middle section of the picking mechanical arm is also provided with at least one rotary freedom degree mechanism and a plurality of swinging freedom degree mechanisms.
Furthermore, the front end of the lifting mechanical arm is connected with the lifting platform through the swinging freedom degree mechanism, and at least one swinging freedom degree mechanism is further arranged in the middle section of the lifting mechanical arm.
Furthermore, the fruit picking machine further comprises a fruit picking bag with openings at two ends, wherein two ends of the fruit picking bag are upwards and foldingly arranged on the clamping and shearing mechanical arm, and one end of the fruit picking bag is detachably connected with the clamping and shearing mechanical arm.
Furthermore, the lifting platform is provided with a fruit receiving frame, a clamping piece is arranged on the side wall of the fruit receiving frame, an opening at one end of the fruit receiving bag is communicated with the bottom of the fruit receiving frame, a clamping piece is arranged at the other end of the fruit receiving bag, and the clamping piece is matched with the clamping piece in a clamping mode to hang the other end of the fruit receiving bag.
The utility model also provides a cluster fruit removes picking robot, including the all terrain locomotive, be provided with control system, camera identification system, radar system, collection fruit device and at least one above arbitrary item on the all terrain locomotive the clamp cut the manipulator.
Further, the clamping and shearing manipulator is rotationally connected to the all-terrain moving vehicle through the rotary freedom mechanism.
The beneficial effects of the utility model reside in that: the utility model relates to a rationally, can automatic identification fruit stalk, but many high and multi-angle adjustment are in order to carry out the clamp to cut to target fruit stalk position and pick, and degree of automation is high, and the fruit loss rate is low.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the movable picking robot for fruit stringing in the utility model.
Fig. 2 is a schematic structural view of the middle clamping and shearing manipulator of the present invention.
Fig. 3 is a schematic structural view of the middle clamp shear actuator of the present invention.
Fig. 4 is a schematic structural view of the fruit receiving frame and the fruit receiving bag of the present invention.
Fig. 5 is a structural diagram of the movable picking robot for fruit stringing in the utility model.
It is noted that the drawings are not necessarily to scale and are merely illustrative in nature and not intended to obscure the reader.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments, and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As shown in fig. 1 to 5, an embodiment of the present application provides a clamp shearing manipulator, which includes a lifting manipulator 1, a picking manipulator 2, and a clamp shearing actuator 3, where the lifting manipulator 1 includes at least one rotational degree-of-freedom mechanism 11 and a plurality of swing degree-of-freedom mechanisms 12; the picking mechanical arm 2 comprises a plurality of rotary freedom degree mechanisms 11 and a plurality of swing freedom degree mechanisms 12; the clamping and shearing actuator 3 is used for clamping and shearing fruit stalks to pick fruits, and a vision module 31 is arranged on the clamping and shearing actuator 3; the clamping and shearing actuator 3 is connected with the front end of the picking mechanical arm 2, the rear end of the picking mechanical arm 2 is connected with the front end of the lifting mechanical arm 1, and the rear end of the lifting mechanical arm 1 is rotatably connected to a driving device through a rotary freedom degree mechanism 11 so as to drive the clamping and shearing actuator 3 to perform clamping and shearing.
It should be noted that, in the embodiment of the present application, the vision module 31 is used for identifying and positioning fruits to determine a target fruit position and a fruit stem position to be picked, so as to control the clamping and shearing manipulator to automatically pick the fruits; wherein, the clamp of this application embodiment cuts manipulator and is provided with 9 degree of freedom mechanisms altogether, from the front end to the rear end include in proper order that 2 of picking arm 2 rotate the degree of freedom mechanism +3 pendulum and rotate the degree of freedom mechanism +1 and lift 2 of arm 1 and swing the degree of freedom mechanism +1 and rotate the degree of freedom mechanism, 9 joint positions that have constituted the clamp and cut manipulator to realize multi-direction, multi-angle, the picking of many heights, it is specific: the rear end of the lifting mechanical arm 1 is connected with a driving device through a rotational freedom mechanism 11 so as to realize 360-degree rotation of the whole clamping and shearing mechanical arm and facilitate clamping, shearing and picking of fruit trees in all directions around the driving device; the lifting mechanical arm 1 realizes a lifting function through a plurality of swinging freedom degree mechanisms 12 so as to lift and lower the picking mechanical arm 2 and the clamping and shearing actuator 3 to different operation heights; the height and the angle of the clamping and shearing actuator 3 are further adjusted through the matching of the plurality of rotary freedom degree mechanisms 11 and the plurality of swing freedom degree mechanisms 12 of the picking mechanical arm 2 so as to reach a proper target fruit picking area, and the clamping and shearing actuator 3 is aligned to the fruit stem part of the fruit; finally, the clamping and shearing actuator 3 is driven to clamp the fruit stalks of the fruits, and then the fruit stalks are sheared off, so that the clamping and shearing picking of the fruits are realized, and the fruits are prevented from being damaged in the shearing process; and because the fruit stalk is clamped by the clamping and shearing actuator 3, after the fruit stalk is sheared, the clamping and shearing mechanical arm takes down the fruit by grasping the fruit stalk and puts the fruit back to the collecting device on the ground, so that the fruit is prevented from automatically falling and breaking, and the fruit damage rate is greatly reduced. The utility model relates to a rationally, can automatic identification fruit stalk, but many high and multi-angle adjustment pick in order to carry out the clamp to target fruit stalk position, degree of automation is high, and the fruit loss rate is low.
Further, the clamp scissors actuator 3 comprises a base 32, a clamp scissors driving module 33, a clamp scissors piece 34, a connecting rod 35 and a driving rod 36; the clamping and shearing part 34 is provided with a clamping part 341 and a shearing part 342, the clamping and shearing driving module 33 is fixedly installed on the base 32, one end of the connecting rod 35 is hinged with the clamping and shearing part 34, the other end of the connecting rod is hinged with the base 32, one end of the driving rod 36 is hinged with the output end of the clamping and shearing driving module 33, and the other end of the driving rod is hinged with the clamping and shearing part 34, so as to drive the clamping and shearing part 34 to clamp and shear.
Specifically, during clipping, under the driving action of the output end of the clipping driving module 33, the driving rod 36 moves towards the clipping element 34 and pushes the clipping element 34 to move along the same direction; because one end of the connecting rod 35 is hinged with the clamping and shearing part 34 and the other end is hinged with the base 32, the connecting rod 35 limits the clamping and shearing part 34 to continue moving along the original direction; and because one end of the driving rod 36 is hinged with the output end of the clamping and shearing driving module 33, and the other end is hinged with the clamping and shearing piece 34, when the clamping and shearing piece 34 is limited by the connecting rod 35, the driving rod 36 rotates along the hinged part under the continuous driving action of the clamping and shearing driving module 33, so that the acting force direction of the clamping and shearing piece 34 is changed, the two clamping and shearing pieces 34 are closed and butted, the clamping part 341 is clamped at one end of the fruit stalk close to the fruit, and the shearing part 342 shears one end of the fruit stalk close to the fruit tree, thereby realizing the effect of clamping and shearing and picking.
Further, still include and lift platform 13, lift platform 13 sets up in lifting mechanical arm 1 front end, and picking mechanical arm 2 rear end is connected with lifting platform 13 through rotatory degree of freedom mechanism 11. Specifically, the rear end of the picking mechanical arm 2 is connected with the lifting platform 13 through the rotational degree-of-freedom mechanism 11, so that 360-degree rotation of the picking mechanical arm 2 and the clamp shear actuator 3 is realized, and the angle is further adjusted. And a standing space can be provided on the lifting platform 13, so that the lifting workers can conveniently perform auxiliary operation.
Further, the front end of the picking mechanical arm 2 is connected with the clamp shear actuator 3 through a rotational degree of freedom mechanism 11, and the middle section of the picking mechanical arm 2 is further provided with at least one rotational degree of freedom mechanism 11 and a plurality of swing degree of freedom mechanisms 12. Specifically, at least one rotary freedom mechanism 11 and a plurality of swing freedom mechanisms 12 in the middle section of the picking mechanical arm 2 further adjust the height and the angle of the clamp shear actuator 3 to reach a proper target fruit picking area; the front end of the picking mechanical arm 2 is connected with the clamping and shearing actuator 3 through the rotational freedom mechanism 11, so that the angle of the clamping and shearing actuator 3 can be conveniently adjusted to be aligned to the fruit stalk part of the fruit.
Furthermore, the front end of the lifting mechanical arm 1 is connected with a lifting platform 13 through a swing freedom degree mechanism 12, and at least one swing freedom degree mechanism 12 is further arranged in the middle section of the lifting mechanical arm 1. Specifically, the swing freedom degree mechanism 12 at the middle section of the lifting mechanical arm 1 is used for realizing the lifting function of the lifting mechanical arm 1 so as to lift and lower the lifting platform 13; the swing freedom degree mechanism 12 at the front end of the lifting mechanical arm 1 realizes the lifting function of the lifting mechanical arm 1, is also used for enabling the lifting platform 13 to keep a horizontal position in the lifting process, enables the picking mechanical arm 2 and the clamping and shearing actuator 3 on the lifting platform 13 to keep stable, can stably stand people, and facilitates the auxiliary operation or maintenance and repair of workers.
Furthermore, the fruit picking device also comprises a fruit picking bag 14 with openings at two ends, two ends of the fruit picking bag 14 are upwards folded and installed on the clamping and shearing manipulator, and one end of the fruit picking bag 14 is detachably connected with the clamping and shearing manipulator. Specifically, the two ends of the fruit receiving bag 14 are upwards folded and mounted on the clamping and shearing manipulator to form a U-shaped storage bag, and in the picking process, fruits can be placed in the fruit receiving bag 14 for temporary storage through driving the picking mechanical arm 2 and the clamping and shearing actuator 3, so that the operation that the fruits are placed on the ground through the movement of the whole arm after being picked every time is avoided, and the operation flow is simplified. After the fruit receiving bag 14 is full, one end of the fruit receiving bag 14 is detached, so that the fruit receiving bag 14 is changed into a conveying pipe state, fruits in the bag can smoothly slide downwards to be collected conveniently, the fruit receiving bag 14 does not need to be toppled over to discharge the fruits, and the fruit collecting bag is convenient and labor-saving.
Furthermore, the lifting platform 13 is provided with a fruit receiving frame 15, a clamping piece 151 is arranged on the side wall of the fruit receiving frame 15, an opening at one end of the fruit receiving bag 14 is communicated with the bottom of the fruit receiving frame 15, a clamping piece 141 is arranged at the other end of the fruit receiving bag, and the clamping piece 141 is in clamping fit with the clamping piece 151 so as to hang the other end of the fruit receiving bag 14. The clamping matching mode is convenient to disassemble, and the use state of the fruit receiving bag 14 can be switched conveniently and rapidly.
The embodiment of the application also provides a fruit stringing mobile picking robot which comprises an all-terrain moving vehicle 4, wherein the all-terrain moving vehicle 4 is provided with a control system 5, a camera identification system 6, a radar system 7, a fruit collecting device 8 and at least one clamping and shearing manipulator in any one of the above embodiments.
Specifically, the fruit stringing mobile picking robot provided by the embodiment of the application is provided with two clamping and shearing mechanical arms, the picking range covering the body side of the robot is expanded, the picking efficiency is improved, and in other specific embodiments, the fruit stringing mobile picking robot can be arranged into a multi-arm configuration such as a four-arm configuration and a six-arm configuration according to requirements. The camera recognition system 6 and the radar system 7 are used for recognizing the terrain environment and the position of a fruit tree, sensing obstacles around the vehicle and positioning the vehicle so as to facilitate the all-terrain moving vehicle to make a navigation route and automatically drive to a working area; the fruit collecting device 8 is used for loading picked fruits and is convenient to transport after picking is finished; the clamping and shearing mechanical arm is used for clamping and shearing picked fruits; the control system 5 is used for controlling the all-terrain moving vehicle 4, the camera recognition system 6, the radar system 7, the fruit collecting device 8 and the clamping and shearing manipulator to complete picking tasks in a matching mode.
Further, the clamping and shearing manipulator is rotatably connected to the all-terrain moving vehicle 4 through a rotational degree-of-freedom mechanism 11. Realize that the whole 360 degrees rotations on all-terrain locomotive 4 of clamp shearing manipulator, all-terrain locomotive 4 removes and all can pick to arbitrary one side of fruit tree, reduces the frequency of moving the car, improves and picks efficiency.
For the embodiments of the present invention, it should be further explained that, under the condition of no conflict, the features in the embodiments and embodiments of the present invention can be combined with each other to obtain a new embodiment.
The above description is only a preferred embodiment of the present invention, and should not be construed as limiting the present invention in any way, and the scope of the present invention is defined by the appended claims. Although the present invention has been described in terms of the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, and that various modifications, equivalent variations and modifications may be made by those skilled in the art without departing from the scope of the invention.
Claims (9)
1. A clamp shear manipulator, comprising:
the lifting mechanical arm comprises at least one rotary freedom degree mechanism and a plurality of swing freedom degree mechanisms;
the picking mechanical arm comprises a plurality of rotational freedom degree mechanisms and a plurality of swinging freedom degree mechanisms; and
the fruit stem clamping and shearing device comprises a clamping and shearing actuator, a control module and a control module, wherein the clamping and shearing actuator is used for clamping and shearing fruit stems to pick fruits, and a vision module is arranged on the clamping and shearing actuator;
the clamping and shearing actuator is connected with the front end of the picking mechanical arm, the rear end of the picking mechanical arm is connected with the front end of the lifting mechanical arm, and the rear end of the lifting mechanical arm is rotatably connected to the driving device through the rotary freedom mechanism so as to drive the clamping and shearing actuator to clamp and shear.
2. A clip shear manipulator as defined in claim 1, wherein: the clamping and shearing actuator comprises a base, a clamping and shearing driving module, a clamping and shearing piece, a connecting rod and a driving rod; the clamp is cut a and is provided with clamping part and shearing part, press from both sides and cut drive module fixed mounting in on the base, connecting rod one end with it is articulated to press from both sides cut a, the other end with the base is articulated, actuating lever one end with it is articulated to press from both sides the output end that cuts drive module, the other end with it is articulated to press from both sides cut a, in order to drive press from both sides cut a and press from both sides and cut.
3. A clip shear manipulator as defined in claim 1, wherein: the picking mechanical arm picking machine is characterized by further comprising a lifting platform, wherein the lifting platform is arranged at the front end of the lifting mechanical arm, and the rear end of the picking mechanical arm is connected with the lifting platform through the rotational freedom mechanism.
4. A clip shear manipulator as defined in claim 3, wherein: the front end of the picking mechanical arm is connected with the clamping and shearing actuator through the rotary freedom mechanism, and the middle section of the picking mechanical arm is further provided with at least one rotary freedom mechanism and a plurality of swing freedom mechanisms.
5. A clip shear manipulator as defined in claim 3, wherein: the front end of the lifting mechanical arm is connected with the lifting platform through the swing freedom degree mechanism, and the middle section of the lifting mechanical arm is further provided with at least one swing freedom degree mechanism.
6. A clip shear manipulator as defined in claim 3, wherein: the fruit picking machine is characterized by further comprising a fruit picking bag with openings at two ends, wherein the two ends of the fruit picking bag are upwards and foldingly arranged on the clamping and shearing mechanical arm, and one end of the fruit picking bag is detachably connected with the clamping and shearing mechanical arm.
7. A clip shear manipulator according to claim 6, wherein: the fruit picking and placing device is characterized in that the lifting platform is provided with a fruit picking frame, a clamping piece is arranged on the side wall of the fruit picking frame, an opening at one end of the fruit picking bag is communicated with the bottom of the fruit picking frame, a clamping piece is arranged at the other end of the fruit picking bag, and the clamping piece is matched with the clamping piece in a clamping mode to hang the other end of the fruit picking bag.
8. The utility model provides a cluster fruit removes picking robot which characterized in that: the all-terrain moving vehicle is provided with a control system, a camera recognition system, a radar system, a fruit collecting device and at least one clamping and shearing manipulator of any one of claims 1 to 7.
9. The fruit stringing mobile picking robot of claim 8, wherein: the clamping and shearing manipulator is rotationally connected to the all-terrain locomotive through the rotational freedom mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222847961.9U CN218587678U (en) | 2022-10-27 | 2022-10-27 | Press from both sides and cut manipulator and use its cluster fruit and remove picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222847961.9U CN218587678U (en) | 2022-10-27 | 2022-10-27 | Press from both sides and cut manipulator and use its cluster fruit and remove picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218587678U true CN218587678U (en) | 2023-03-10 |
Family
ID=85403841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222847961.9U Active CN218587678U (en) | 2022-10-27 | 2022-10-27 | Press from both sides and cut manipulator and use its cluster fruit and remove picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218587678U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115500154A (en) * | 2022-10-27 | 2022-12-23 | 深圳市现代农业装备研究院 | A clamping and shearing manipulator and a mobile fruit picking robot using it |
| CN117136727A (en) * | 2023-09-25 | 2023-12-01 | 杭州电子科技大学 | Banana picking vehicle and banana picking method |
-
2022
- 2022-10-27 CN CN202222847961.9U patent/CN218587678U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115500154A (en) * | 2022-10-27 | 2022-12-23 | 深圳市现代农业装备研究院 | A clamping and shearing manipulator and a mobile fruit picking robot using it |
| CN117136727A (en) * | 2023-09-25 | 2023-12-01 | 杭州电子科技大学 | Banana picking vehicle and banana picking method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN218587678U (en) | Press from both sides and cut manipulator and use its cluster fruit and remove picking robot | |
| CN102668898B (en) | High-altitude pruning manipulator | |
| CN114402806A (en) | A kind of spherical fruit picking robot and picking method | |
| US20050091957A1 (en) | Harvesting apparatus for tall-growing crops | |
| CN206237837U (en) | Picking fruit device | |
| CA2212375A1 (en) | A system for harvesting crop items and crop harvesting tools used therewith | |
| CN217308341U (en) | Automatic fruit picking machine | |
| CN111758397A (en) | Device is picked to prickly ash intelligence based on visual identification | |
| CN109479522A (en) | A kind of fruit picking robot and its picking method | |
| CN116267197A (en) | Greenhouse cucumber high-efficient intelligent harvesting device suitable for shelter from under environment | |
| CN111602515A (en) | A palm orchard operating device and system | |
| CN107517653B (en) | Fruit picking machine | |
| CN206821311U (en) | A kind of fruits picking mechanical hand of single-axis servo | |
| CN115500154A (en) | A clamping and shearing manipulator and a mobile fruit picking robot using it | |
| CN110741808A (en) | Multifunctional transport vehicle | |
| CN111165338A (en) | Multi-functional management device in date palm garden | |
| Liu et al. | History and present situations of robotic harvesting technology: A review | |
| CN212381707U (en) | Pepper picking device | |
| CN117121711B (en) | Automatic durian picking vehicle based on vision | |
| CN212138429U (en) | Multifunctional transport vehicle | |
| CN209489165U (en) | 3-PRS tea picking parallel mechanism | |
| CN2232190Y (en) | High-branch picking shears | |
| CN111699839A (en) | Remote picking equipment and method based on 5G network | |
| CN208724427U (en) | An intelligent citrus picking machine | |
| CN201001293Y (en) | multifunctional fruit picker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |