CN106863342A - A kind of terminal executor of picking robot - Google Patents
A kind of terminal executor of picking robot Download PDFInfo
- Publication number
- CN106863342A CN106863342A CN201710178091.1A CN201710178091A CN106863342A CN 106863342 A CN106863342 A CN 106863342A CN 201710178091 A CN201710178091 A CN 201710178091A CN 106863342 A CN106863342 A CN 106863342A
- Authority
- CN
- China
- Prior art keywords
- finger
- stepped tooth
- cutting knife
- carpopodium
- translation
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of terminal executor of picking robot, including translation clamping carpopodium component and oblique knife cutting carpopodium component, translation clamping carpopodium component includes translation finger cylinder, left stepped tooth finger, right stepped tooth finger, catch, elastic gobo, correlation optoelectronic switch, vision sensor and mechanical arm interfacing part, and oblique knife cutting carpopodium component includes double-rod guide cylinder, cutting knife installing plate, cutting knife pressing plate and cutting knife.The present invention mainly clamps carpopodium by pneumatic stepped tooth, pneumatic oblique knife stretches out the harvesting manner of execution of cut-out carpopodium, in combination with camera image identification and photoelectric switching signal come it is automatic coordinate robot to complete picking fruit operation, with simple for structure, highly versatile, component be light, free of contamination advantage.
Description
Technical field
The invention belongs to agriculture fruits and vegetables automation picking end effector development technique field, and in particular to a kind of picking machine
Device people's end effector.
Background technology
In recent years, agriculture fruit and vegetable picking robot is increasingly becoming in robot field the focus of research and development both at home and abroad, its
Correlation technique has at home and abroad obtained many achievements, but major part rests on laboratory development more, apart from practical commodity
Change and also there is very big gap.Its one of the main reasons is higher to the manufacture claim of end effector, and major requirement includes：1、
Mechanism scheme is succinct compact, and weight is light, it is to avoid lengthy and tedious transmission mechanism, it is ensured that integrally-built compactedness and reliability,
Improve end effector avoidance performance；2nd, universal machine electric components are selected as far as possible, so as to reduce element cost, shorten commodity
Change practicalization；3rd, sensing control scheme is simple and reliable, while ensureing the robustness in open environment system；4th, it is higher to adopt
Pluck success rate and efficiency, it is desirable to which end effector harvesting action will be effectively and quickly；5th, avoid damaging fruit in picking process；6、
Improve the versatility of end effector, the work capacity of the harvesting with various fruits.
So far, the mode of the harvesting of end effector mainly has two kinds：Stubborn formula is broken in action and knife cuts cutting type.Action
Break stubborn formula design corresponding mechanism clamping first is carried out to fruit and hold, recycle the rotation in carpal two vertical direction to carry out mould
The action of stubborn carpopodium is broken in personification, and the object requirement carpopodium of its operation is easy to be separated with fruit branch, while needs strictly control clamping
The size of the power of fruit, otherwise easily damages fruit.Knife cuts cutting type and mainly uses motor to drive annular saw knife or scissor action
Directly carpopodium is cut off, this method transmission mechanism scheme and control sensor-based system are often more miscellaneous, so as to increased system
The difficulty of control and the complexity of mechanism, increased cost.
The content of the invention
It is of the invention for deficiency of the prior art, there is provided a kind of compact conformation, it is light it is compact, reliability and durability, control
Simply, fruit picking robot end effector with low cost and highly versatile.
To achieve the above object, the present invention uses following technical scheme：
A kind of terminal executor of picking robot, it is characterised in that including translation clamping carpopodium component and oblique knife cutting carpopodium group
Part；The translation clamping carpopodium component includes translation finger cylinder, left stepped tooth finger, right stepped tooth finger, catch and machinery
Arm interfacing part, the oblique knife cutting carpopodium component includes double-rod guide cylinder, cutting knife installing plate, cutting knife pressing plate and cutting knife；It is described
Left stepped tooth finger and right stepped tooth finger are fixedly connected with the left and right translation finger of translation finger cylinder respectively, left stepped tooth hand
Refer to and the front portion of right stepped tooth finger is respectively provided with trapezoidal toothing, the catch is fixed on the trapezoidal toothing of left stepped tooth finger
Rear side, catch is blocked between left stepped tooth finger and right stepped tooth finger, the mechanical arm interfacing part and translation finger gas
Cylinder and double-rod guide cylinder are fixedly connected, and the cutting knife installing plate is arranged in the push pedal of double-rod guide cylinder, the cutting knife
Cutting knife is fixed and is pressed on cutting knife installing plate by pressing plate.
It is optimization above-mentioned technical proposal, the concrete measure taken also includes：
The bottom surface of the cutting knife installing plate is arranged in the push pedal of double-rod guide cylinder, and the top surface of cutting knife installing plate is provided with step
Face, offers the skewed slot for placing cutting knife on step surface, the bottom surface of the cutting knife pressing plate is provided with inclined platform, the inclined platform and skewed slot
It is adapted and is screwed by screw, cutting knife is fixed between cutting knife installing plate and cutting knife pressing plate.
The rear portion processing of the mechanical arm interfacing part is reserved with the mounting hole being connected with picking mechanical wrist.
The translation clamping carpopodium component also includes elastic gobo, correlation optoelectronic switch and vision sensor.
The correlation optoelectronic switch is made up of transmitting terminal and receiving terminal, the ladder of left stepped tooth finger and right stepped tooth finger
Mounting hole is equipped with below shape toothing, the transmitting terminal and receiving terminal are separately mounted to left stepped tooth finger and right stepped tooth
In the mounting hole of finger, transmitting terminal and receiving terminal are facing each other.
Fixation is fastened on left stepped tooth finger and right stepped tooth finger respectively at the two ends of the elastic gobo, and elasticity hides
Light cloth is located at the mounting hole front side of correlation optoelectronic switch.
The vision sensor is fixed on the lower section middle of translation finger cylinder.
The beneficial effects of the invention are as follows：1st, compact structure is compact, lightweight, and avoidance is good；2nd, power resources are driven in air pressure
It is dynamic, it is swift in motion, light weight, movement range facilitates type selecting and setting, can save various relatively costly with active force
The mechanics sensor of chucking power and the travel position switch of control blade flex are controlled, control structure is simplified, cost is reduced
With control difficulty；3rd, trapezoidal toothing ensures that carpopodium clamping is reliable, the flexible cut-out carpopodium efficiency high of oblique knife, double after cut-out carpopodium to refer to
Can continue to clamp hypomere carpopodium, by fruit placement collection device, just fall and sustain damage after preventing the disconnected stalk of fruit；4th, intelligence
Degree is high, and vision sensor is used for the IMAQ of fruit position, photoelectric sensor automatic detection fruit information in place；5th, it is general
Property it is strong, the fruits such as apple, oranges and tangerines can also be plucked with grape-picking.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is partial sectional view of the invention.
Fig. 3 is partial enlarged drawing of the invention.
Reference is as follows：1- double-rod guide cylinders, 2- cutting knife installing plates, 3- cutting knife pressing plates, 4- cutting knifes, the left stepped tooths of 5-
Finger, 6- catch, 7- elasticity gobos, 8- correlation optoelectronic switches, the right stepped tooth fingers of 9-, 10- vision sensors, 11- puts down
Move finger cylinder, 12- mechanical arm interfacing parts, 13- skewed slots, 14- inclined platforms.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.
As Figure 1-3, terminal executor of picking robot includes translation clamping carpopodium component and oblique knife cutting carpopodium group
Part, translation clamping carpopodium component includes translation finger cylinder 11, left stepped tooth finger 5, right stepped tooth finger 9, catch 6, elasticity
Gobo 7, correlation optoelectronic switch 8, vision sensor 10 and mechanical arm interfacing part 12, oblique knife cutting carpopodium component include double-rod
Guide cylinder 1, cutting knife installing plate 2, cutting knife pressing plate 3 and cutting knife 4.
Mechanical arm interfacing part 12 is fixedly connected with translation finger cylinder 11 and double-rod guide cylinder 1 by screw respectively, and
And the screw thread kidney-shaped mounting hole for being reserved with and being connected with picking mechanical wrist is processed at the rear portion of mechanical arm interfacing part 12.
Left stepped tooth finger 5, right stepped tooth finger 9 pass through screw with the left and right translation finger of translation finger cylinder 11 respectively
Be tightened connection, and left stepped tooth finger 5, right stepped tooth finger 9 are machined with trapezoidal toothing in anterior correspondence position respectively, with
Ensure that carpopodium is clamped rear and front and rear will not slide up and down, it is ensured that cutting knife 4 can effectively cut off carpopodium and clamp remaining carpopodium,
Fruit is put into collection basket under the drive of robot.Correlation optoelectronic switch 8 is made up of transmitting terminal and receiving terminal, is separately mounted to
It is in left stepped tooth finger 5, the mounting hole of the lower section correspondence position of the trapezoidal toothing of right stepped tooth finger 9 and facing each other.
Catch 6 is tightened in the stepped tooth structure back side of left stepped tooth finger 5 by screw, for blocking carpopodium, is prevented
Carpopodium breaks through clamping zone when picking rate is too fast.The two ends of elastic gobo 7 are fixed by screw fasten in left stepped tooth respectively
The front side of the mounting hole of correlation optoelectronic switch 8 on finger 5 and right stepped tooth finger 9.During actual harvesting operation, in picking mechanical
Target carpopodium is moved closer under the drive of arm, after carpopodium enters between two fingers, elastic gobo 7 deformation long can be pushed away, until
The optical signal of blocking correlation optoelectronic switch 8, i.e., the signal condition of correlation optoelectronic switch 8 can change, so that machine
People obtains target and plucks fruit information in place.
Vision sensor 10 is fixedly mounted on translation finger cylinder 11 lower section middle by screw so that acquired image
Fruit reference axis alignd with actual picking point reference axis, reduce the later stage pluck Working motion control correction amount.Cutting knife is installed
The back side of plate 2 is screwed in the push pedal of double-rod guide cylinder 1 by screw, and the front of cutting knife installing plate 2 is provided with step surface,
The skewed slot 13 for placing cutting knife 4 is provided with step surface.The bottom surface of cutting knife pressing plate 3 processes an inclined platform 14, and position is pacified with cutting knife
Dress plate 2 places the correspondence of skewed slot 13 of cutting knife 4, and is screwed by screw and fasten in cutting knife installing plate 2 and cutting knife pressing plate 3 cutting knife 3
Between, the installation for completing cutting knife 4 is fixed, so, cutting knife 4 be obliquely fixed on cutting knife installing plate 2 and cutting knife pressing plate 3 it
Between, realize the oblique action for cutting carpopodium of blade, it is ensured that cut off the success rate and extension blade life of carpopodium.
Illustrated with type selecting below for corresponding structure selection in specific implementation：Translation finger cylinder 11 selects type
Number：HFZ-20D（Two refer to flat-removing air cyclinder：Cylinder diameter 20mm, stroke 10mm, attached magnetite）；Double-rod guide cylinder 1 selects model：TN16
×20（Double-rod twin shaft cylinder：Cylinder diameter 16, stroke 20mm, attached magnetite）；Mechanical arm interfacing part 12, left stepped tooth finger 5, the right side are trapezoidal
Tooth finger 9, cutting knife installing plate 2, the equal selection intensity of cutting knife pressing plate 3 be of a relatively high and the less aluminum alloy materials of density（Model
2A12）For blank material is processed manufacture；Catch 6 is made from intensity Q235 cold-reduced sheets higher through sheet metal process；Cutting knife 4 is selected
Use YG8 tungsten steel blades；Correlation optoelectronic switch 8 selects 0.3W 3mm wavelength 850nm infrared opposite-radiation pipe LED diodes；Elasticity
Gobo 7 is from elastic force elastic band 10mm wide；Vision sensor 10 selects Miniature high-definition CCD camera.
Operation principle of the invention is as follows：Original state bottom left stepped tooth finger 5, right stepped tooth finger 9 is in and opens shape
State, the piston rod of double-rod guide cylinder 1 is in rear positions, i.e. cutting knife 4 and is in contracting state.Vision sensor 10 catches during harvesting
Fruit 3-D view, robot obtains the coordinate in the visual coordinate system of fruit barycenter through image acquisition and processing analysis, thus
To the position of carpopodium, the position of the carpopodium position in robot coordinate system is then drawn by Coordinate Conversion, and calculate and adopt
Pluck that a little corresponding robot joint angles are counter solves, drive each joint of mechanical arm to link by slave computer and joint servo, drive end
Actuator motions are held to harvesting location point.
When target carpopodium enters between left stepped tooth finger 5 and right stepped tooth finger 9, carpopodium touches elastic shading first
Cloth 7, elastic gobo 7 is pushed inwardly drawing deformation immediately, until the elastic gobo 7 of deformation has covered the correlation light at its rear
The signal light-path of electric switch 8, now, the signal condition of correlation optoelectronic switch 8 changes, i.e., thus robot perceives fruit
Stalk has arrived at harvesting working position.
Robot control machinery arm keeps existing position and attitude, and controls translation finger cylinder 11 to be passed through respective direction
After the gas of operating air pressure, the action that left stepped tooth finger 5, right stepped tooth finger 9 clip carpopodium is completed, then double-rod is oriented to gas
Cylinder 1 is acted, and makes cutting knife 4 carry out straight line and stretch out to move and cutting off carpopodium, and in the process, translation finger cylinder 11 keeps ventilation side
To constant, left stepped tooth finger 5, right stepped tooth finger 9 holding clamping carpopodium state.
Robot drives end effector to move at collector for fruits, and the translation ventilation of finger cylinder 11 direction changes
Become, left stepped tooth finger 5 and right stepped tooth finger 9 are opened, and fruit is fallen into collector for fruits immediately, so far, end performs
Device is completed to an all processes for picking fruit.
It should be noted that in invention it is cited such as " on ", D score, the term of "left", "right", "front", "rear", also
Only understanding for ease of narration, and be not used to limit enforceable scope of the invention, its relativeness is altered or modified, in nothing
Under essence change technology contents, when being also considered as enforceable category of the invention.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Scope.
Claims (7)
1. a kind of terminal executor of picking robot, it is characterised in that including translation clamping carpopodium component and oblique knife cutting carpopodium
Component；The translation clamping carpopodium component includes translation finger cylinder（11）, left stepped tooth finger（5）, right stepped tooth finger
（9）, catch（6）With mechanical arm interfacing part（12）, the oblique knife cuts carpopodium component includes double-rod guide cylinder（1）, cutting knife peace
Dress plate（2）, cutting knife pressing plate（3）And cutting knife（4）；The left stepped tooth finger（5）With right stepped tooth finger（9）Respectively with translation hand
Refer to cylinder（11）Left and right translation finger be fixedly connected, left stepped tooth finger（5）With right stepped tooth finger（9）Front portion be respectively provided with
Trapezoidal toothing, the catch（6）It is fixed on left stepped tooth finger（5）Trapezoidal toothing rear side, catch（6）It is blocked in a left side
Stepped tooth finger（5）With right stepped tooth finger（9）Between, the mechanical arm interfacing part（12）With translation finger cylinder（11）With it is double
Bar guide cylinder（1）It is fixedly connected, the cutting knife installing plate（2）Installed in double-rod guide cylinder（1）Push pedal on, it is described to cut
Knife pressing plate（3）By cutting knife（4）Fixation is pressed in cutting knife installing plate（2）On.
2. a kind of terminal executor of picking robot as claimed in claim 1, it is characterised in that：The cutting knife installing plate（2）
Bottom surface be arranged on double-rod guide cylinder（1）Push pedal on, cutting knife installing plate（2）Top surface be provided with step surface, opened on step surface
It is provided with placement cutting knife（4）Skewed slot（13）, the cutting knife pressing plate（3）Bottom surface be provided with inclined platform（14）, the inclined platform（14）
With skewed slot（13）It is adapted and is screwed by screw, makes cutting knife（4）It is fixed on cutting knife installing plate（2）With cutting knife pressing plate（3）Between.
3. a kind of terminal executor of picking robot as claimed in claim 1, it is characterised in that：The mechanical arm interfacing part
（12）Rear portion processing be reserved with the mounting hole that is connected with picking mechanical wrist.
4. a kind of terminal executor of picking robot as claimed in claim 1, it is characterised in that：The translation clamping carpopodium group
Part also includes elastic gobo（7）, correlation optoelectronic switch（8）And vision sensor（10）.
5. a kind of terminal executor of picking robot as claimed in claim 4, it is characterised in that：The correlation optoelectronic switch
（8）It is made up of transmitting terminal and receiving terminal, left stepped tooth finger（5）With right stepped tooth finger（9）Trapezoidal toothing lower section it is equal
Mounting hole is provided with, the transmitting terminal and receiving terminal are separately mounted to left stepped tooth finger（5）With right stepped tooth finger（9）Installation
Kong Zhong, transmitting terminal and receiving terminal are facing each other.
6. a kind of terminal executor of picking robot as claimed in claim 5, it is characterised in that：The elastic gobo（7）
Two ends respectively fixation fasten in left stepped tooth finger（5）With right stepped tooth finger（9）On, elastic gobo（7）Positioned to penetrating
Formula optoelectronic switch（8）Mounting hole front side.
7. a kind of terminal executor of picking robot as claimed in claim 4, it is characterised in that：The vision sensor（10）
It is fixed on translation finger cylinder（11）Lower section middle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178091.1A CN106863342B (en) | 2017-03-23 | 2017-03-23 | Picking robot end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178091.1A CN106863342B (en) | 2017-03-23 | 2017-03-23 | Picking robot end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106863342A true CN106863342A (en) | 2017-06-20 |
| CN106863342B CN106863342B (en) | 2023-09-15 |
Family
ID=59172822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710178091.1A Active CN106863342B (en) | 2017-03-23 | 2017-03-23 | Picking robot end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106863342B (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107567815A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of gasbag-type citrus picking mechanical arm end effector and picking method |
| CN107813332A (en) * | 2017-11-30 | 2018-03-20 | 苏州哈工众志自动化科技有限公司 | A kind of rotating machinery formula fixture matched with robot |
| CN108551883A (en) * | 2018-06-25 | 2018-09-21 | 南京工程学院 | A kind of terminal executor of picking robot |
| CN108718706A (en) * | 2018-05-15 | 2018-11-02 | 福建省复新农业科技发展有限公司 | It is a kind of can multidimensional adjust fruit picking |
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN109156153A (en) * | 2018-08-08 | 2019-01-08 | 徐州盛斗士生物科技有限公司 | A kind of integrated apparatus of laundry of strawberry picking |
| CN109676601A (en) * | 2019-02-28 | 2019-04-26 | 南京涵铭置智能科技有限公司 | It is a kind of with the visual sensing handgrip of rotation and lifting function and its grasping means |
| CN110149907A (en) * | 2019-05-21 | 2019-08-23 | 南京工程学院 | A kind of spring leaf terminal executor of picking robot |
| CN110235607A (en) * | 2019-07-12 | 2019-09-17 | 南京工程学院 | A kind of carpopodium folder cut type terminal executor of picking robot |
| CN110352685A (en) * | 2019-08-12 | 2019-10-22 | 杨松艳 | A kind of wisdom metaplasia state agricultural greenhouse system |
| CN110558043A (en) * | 2019-10-21 | 2019-12-13 | 南京工程学院 | Fruit stalk clamping and shearing type picking robot end effector |
| CN113021378A (en) * | 2021-04-02 | 2021-06-25 | 一度智能科技(深圳)有限公司 | Intelligent agricultural picking robot control system and method |
| CN113196944A (en) * | 2021-06-08 | 2021-08-03 | 重庆三峡学院 | Clamp type photoelectric induction pepper picking machine |
| WO2021178408A1 (en) * | 2020-03-02 | 2021-09-10 | Appharvest Technology, Inc. | Gripper tools for object grasping, manipulation, and removal |
| JP6991611B1 (en) | 2020-10-20 | 2022-01-12 | 株式会社アイナックシステム | Fruit harvesting hand |
| CN114080903A (en) * | 2021-11-23 | 2022-02-25 | 慧诚自动化技术(宁波)有限公司 | Picking type picking execution device and control method thereof |
| CN114800581A (en) * | 2022-03-31 | 2022-07-29 | 李添盛 | Steel construction location places robot |
| US20220346319A1 (en) * | 2021-04-30 | 2022-11-03 | Zordi, Inc. | System and method for automatically gripping and cutting fruits and plants |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000092952A (en) * | 1998-09-22 | 2000-04-04 | Iseki & Co Ltd | Fruit controlling and harvesting robot |
| CN101015244A (en) * | 2006-11-30 | 2007-08-15 | 中国农业大学 | Automatic picking machine for ridge-planting strawberry |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN102187766A (en) * | 2011-04-28 | 2011-09-21 | 北京农业智能装备技术研究中心 | Fruit picking end effector and fruit picking method |
| CN102742408A (en) * | 2012-06-26 | 2012-10-24 | 浙江理工大学 | Vision-based cotyledon direction-adjustable seedling-grafting end actuator |
| CN103358312A (en) * | 2013-07-29 | 2013-10-23 | 华南农业大学 | End effector and application thereof |
| CN206633036U (en) * | 2017-03-23 | 2017-11-14 | 南京工程学院 | A kind of terminal executor of picking robot |
-
2017
- 2017-03-23 CN CN201710178091.1A patent/CN106863342B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000092952A (en) * | 1998-09-22 | 2000-04-04 | Iseki & Co Ltd | Fruit controlling and harvesting robot |
| CN101015244A (en) * | 2006-11-30 | 2007-08-15 | 中国农业大学 | Automatic picking machine for ridge-planting strawberry |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN102187766A (en) * | 2011-04-28 | 2011-09-21 | 北京农业智能装备技术研究中心 | Fruit picking end effector and fruit picking method |
| CN102742408A (en) * | 2012-06-26 | 2012-10-24 | 浙江理工大学 | Vision-based cotyledon direction-adjustable seedling-grafting end actuator |
| CN103358312A (en) * | 2013-07-29 | 2013-10-23 | 华南农业大学 | End effector and application thereof |
| CN206633036U (en) * | 2017-03-23 | 2017-11-14 | 南京工程学院 | A kind of terminal executor of picking robot |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107567815A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of gasbag-type citrus picking mechanical arm end effector and picking method |
| CN107813332A (en) * | 2017-11-30 | 2018-03-20 | 苏州哈工众志自动化科技有限公司 | A kind of rotating machinery formula fixture matched with robot |
| CN108718706A (en) * | 2018-05-15 | 2018-11-02 | 福建省复新农业科技发展有限公司 | It is a kind of can multidimensional adjust fruit picking |
| CN108551883A (en) * | 2018-06-25 | 2018-09-21 | 南京工程学院 | A kind of terminal executor of picking robot |
| CN109156153A (en) * | 2018-08-08 | 2019-01-08 | 徐州盛斗士生物科技有限公司 | A kind of integrated apparatus of laundry of strawberry picking |
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN109105001B (en) * | 2018-10-18 | 2024-01-30 | 石河子大学 | End effector of bergamot pear picking robot and picking method |
| CN109676601A (en) * | 2019-02-28 | 2019-04-26 | 南京涵铭置智能科技有限公司 | It is a kind of with the visual sensing handgrip of rotation and lifting function and its grasping means |
| CN110149907A (en) * | 2019-05-21 | 2019-08-23 | 南京工程学院 | A kind of spring leaf terminal executor of picking robot |
| CN110235607A (en) * | 2019-07-12 | 2019-09-17 | 南京工程学院 | A kind of carpopodium folder cut type terminal executor of picking robot |
| CN110235607B (en) * | 2019-07-12 | 2023-12-19 | 南京工程学院 | End effector of fruit stem clamping and cutting type picking robot |
| CN110352685A (en) * | 2019-08-12 | 2019-10-22 | 杨松艳 | A kind of wisdom metaplasia state agricultural greenhouse system |
| CN110558043A (en) * | 2019-10-21 | 2019-12-13 | 南京工程学院 | Fruit stalk clamping and shearing type picking robot end effector |
| CN110558043B (en) * | 2019-10-21 | 2024-03-29 | 南京工程学院 | End effector of fruit stem clamping and shearing type picking robot |
| WO2021178408A1 (en) * | 2020-03-02 | 2021-09-10 | Appharvest Technology, Inc. | Gripper tools for object grasping, manipulation, and removal |
| JP6991611B1 (en) | 2020-10-20 | 2022-01-12 | 株式会社アイナックシステム | Fruit harvesting hand |
| JP2022067417A (en) * | 2020-10-20 | 2022-05-06 | 株式会社アイナックシステム | Fruit harvesting hand |
| CN113021378A (en) * | 2021-04-02 | 2021-06-25 | 一度智能科技(深圳)有限公司 | Intelligent agricultural picking robot control system and method |
| US20220346319A1 (en) * | 2021-04-30 | 2022-11-03 | Zordi, Inc. | System and method for automatically gripping and cutting fruits and plants |
| US11730084B2 (en) * | 2021-04-30 | 2023-08-22 | Zordi, Inc. | System and method for automatically gripping and cutting fruits and plants |
| CN113196944A (en) * | 2021-06-08 | 2021-08-03 | 重庆三峡学院 | Clamp type photoelectric induction pepper picking machine |
| CN113196944B (en) * | 2021-06-08 | 2022-07-05 | 重庆三峡学院 | Clamp type photoelectric induction pepper picking machine |
| CN114080903B (en) * | 2021-11-23 | 2022-08-19 | 慧诚自动化技术(宁波)有限公司 | Lifting picking type picking execution device and control method thereof |
| CN114080903A (en) * | 2021-11-23 | 2022-02-25 | 慧诚自动化技术(宁波)有限公司 | Picking type picking execution device and control method thereof |
| CN114800581A (en) * | 2022-03-31 | 2022-07-29 | 李添盛 | Steel construction location places robot |
| CN114800581B (en) * | 2022-03-31 | 2024-03-15 | 上海允毅自动化科技有限公司 | Steel construction location places robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106863342B (en) | 2023-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106863342A (en) | A kind of terminal executor of picking robot | |
| CN206633036U (en) | A kind of terminal executor of picking robot | |
| CN100591202C (en) | Apparatus and method for flexible pick of orange picking robot | |
| CN108551883A (en) | A kind of terminal executor of picking robot | |
| Foglia et al. | Agricultural robot for radicchio harvesting | |
| Ling et al. | Sensing and end-effector for a robotic tomato harvester | |
| CN101395989B (en) | End effector of apple picking robot | |
| CN110235607B (en) | End effector of fruit stem clamping and cutting type picking robot | |
| CN106363618A (en) | Picking mechanical hand | |
| CN208675820U (en) | A kind of terminal executor of picking robot | |
| CN109496563A (en) | A kind of fruit picking robot | |
| CN110149907A (en) | A kind of spring leaf terminal executor of picking robot | |
| CN111642333B (en) | Device is picked to intelligence mushroom | |
| CN104206121A (en) | Strawberry picking end effector and working process thereof | |
| CN208258442U (en) | A kind of end effector of spheral fruit picking robot | |
| CN104584780A (en) | Flexible manipulator for detecting fruit maturity and harvesting | |
| CN102550217A (en) | End effector of novel harvesting robot and flexibility control method thereof | |
| CN111758397A (en) | Device is picked to prickly ash intelligence based on visual identification | |
| CN110558043B (en) | End effector of fruit stem clamping and shearing type picking robot | |
| CN110512558B (en) | Application method for clamping, stabbing and absorbing diversified garbage picking device | |
| CN109605409B (en) | End effector of fruit picking robot | |
| CN202335241U (en) | Mechanical sensing picker | |
| CN108370740B (en) | Topping end effector and topping machine comprising same | |
| CN210746116U (en) | Fruit stalk clamping and shearing type picking robot end effector | |
| CN208175422U (en) | A kind of spheral fruit picking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |