CN106976102B - 一种水果高效率自动分拣机器人 - Google Patents
一种水果高效率自动分拣机器人 Download PDFInfo
- Publication number
- CN106976102B CN106976102B CN201710333550.9A CN201710333550A CN106976102B CN 106976102 B CN106976102 B CN 106976102B CN 201710333550 A CN201710333550 A CN 201710333550A CN 106976102 B CN106976102 B CN 106976102B
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- fruit
- plate
- hard shell
- bottom plate
- moccasin
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 221
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 230000001105 regulatory effect Effects 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 9
- 210000000078 claw Anatomy 0.000 claims description 28
- 239000000463 material Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 4
- 239000007779 soft material Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 description 26
- 230000009471 action Effects 0.000 description 12
- 230000003245 working effect Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000003139 buffering effect Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 206010030113 Oedema Diseases 0.000 description 3
- 210000000952 spleen Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 244000241235 Citrullus lanatus Species 0.000 description 1
- 235000012828 Citrullus lanatus var citroides Nutrition 0.000 description 1
- 244000060011 Cocos nucifera Species 0.000 description 1
- 235000013162 Cocos nucifera Nutrition 0.000 description 1
- 240000000716 Durio zibethinus Species 0.000 description 1
- 235000006025 Durio zibethinus Nutrition 0.000 description 1
- 244000157072 Hylocereus undatus Species 0.000 description 1
- 235000018481 Hylocereus undatus Nutrition 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 235000011430 Malus pumila Nutrition 0.000 description 1
- 235000015103 Malus silvestris Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710333550.9A CN106976102B (zh) | 2017-05-12 | 2017-05-12 | 一种水果高效率自动分拣机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710333550.9A CN106976102B (zh) | 2017-05-12 | 2017-05-12 | 一种水果高效率自动分拣机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106976102A CN106976102A (zh) | 2017-07-25 |
CN106976102B true CN106976102B (zh) | 2019-05-07 |
Family
ID=59343687
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710333550.9A Active CN106976102B (zh) | 2017-05-12 | 2017-05-12 | 一种水果高效率自动分拣机器人 |
Country Status (1)
Country | Link |
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CN (1) | CN106976102B (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107462550A (zh) * | 2017-10-12 | 2017-12-12 | 华东交通大学 | 一种基于近红外光谱漫透射技术的易损果带包装糖度检测果杯装置与方法 |
CN108590201B (zh) * | 2018-05-17 | 2020-03-24 | 河南达成建设有限公司 | 一种建筑梁柱楼板的安装设备 |
CN108915271B (zh) * | 2018-05-17 | 2020-05-08 | 连云港先至远大建筑工业有限公司 | 一种建筑预制构件的限位施工设备 |
CN111230882B (zh) * | 2020-02-25 | 2022-04-26 | 江苏大学 | 水果分拣并联机器人夹持机构的自适应变阻抗控制方法 |
CN111674946B (zh) * | 2020-06-11 | 2021-08-10 | 贵港市品德木业有限公司 | 一种胶合板生产制造成型后加工*** |
CN112808601B (zh) * | 2020-12-15 | 2023-04-07 | 深圳市优界科技有限公司 | 一种包装设备、分选机及分选机构 |
CN113231345B (zh) * | 2021-03-11 | 2022-11-04 | 安徽科技学院 | 类苹果类水果坏果剔除装置和具有该装置的色选机 |
CN113211463B (zh) * | 2021-05-19 | 2024-02-20 | 杭州朵云生态农业有限公司 | 一种高效率水果加工用多级分拣机械手及水果分拣*** |
CN113697496A (zh) * | 2021-09-08 | 2021-11-26 | 合肥金果缘视觉科技有限公司 | 一种便于分选的柔性果托 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3757279B2 (ja) * | 2002-12-02 | 2006-03-22 | 独立行政法人農業・生物系特定産業技術研究機構 | 果菜類の選択収穫方法及び装置 |
CN102696353A (zh) * | 2012-06-05 | 2012-10-03 | 江苏大学 | 温室果蔬接运机器人 |
CN203782622U (zh) * | 2014-03-20 | 2014-08-20 | 广州奇库计算机科技有限公司 | 智能垃圾收集分类教育机器人 |
CN203792326U (zh) * | 2014-03-26 | 2014-08-27 | 中南民族大学 | 水果分拣机械手 |
CN104919974A (zh) * | 2015-06-04 | 2015-09-23 | 河南农业大学 | 蒜薹采收机 |
CN106193108A (zh) * | 2016-07-06 | 2016-12-07 | 巩莉 | 一种混凝土公路专用挡土墙施工设备 |
-
2017
- 2017-05-12 CN CN201710333550.9A patent/CN106976102B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3757279B2 (ja) * | 2002-12-02 | 2006-03-22 | 独立行政法人農業・生物系特定産業技術研究機構 | 果菜類の選択収穫方法及び装置 |
CN102696353A (zh) * | 2012-06-05 | 2012-10-03 | 江苏大学 | 温室果蔬接运机器人 |
CN203782622U (zh) * | 2014-03-20 | 2014-08-20 | 广州奇库计算机科技有限公司 | 智能垃圾收集分类教育机器人 |
CN203792326U (zh) * | 2014-03-26 | 2014-08-27 | 中南民族大学 | 水果分拣机械手 |
CN104919974A (zh) * | 2015-06-04 | 2015-09-23 | 河南农业大学 | 蒜薹采收机 |
CN106193108A (zh) * | 2016-07-06 | 2016-12-07 | 巩莉 | 一种混凝土公路专用挡土墙施工设备 |
Also Published As
Publication number | Publication date |
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CN106976102A (zh) | 2017-07-25 |
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Address after: 312500 Room 242, 132 Gushan New Village, Nanming Street, Xinchang County, Zhejiang Province Applicant after: Chen Hanyuan Address before: 266000 11 households in No. 579, Qian Wan Road, Huangdao District, Qingdao, Shandong. Applicant before: Chen Hanyuan |
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TR01 | Transfer of patent right |
Effective date of registration: 20211009 Address after: No. 131, Hankou village, Dapu Town, Yongchun County, Quanzhou City, Fujian Province 362600 Patentee after: Zhuang Xiaoyong Address before: 312500 Room 242, 132 Gushan New Village, Nanming Street, Xinchang County, Zhejiang Province Patentee before: Chen Hanyuan |
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Effective date of registration: 20211029 Address after: Liu'an Development Zone, Yongchun County, Quanzhou City, Fujian Province (east side of Taoxi bridge) Patentee after: Yongchun County Product Quality Inspection Institute Fujian fragrance product quality inspection center, national incense burning product quality supervision and Inspection Center (Fujian) Address before: No. 131, Hankou village, Dapu Town, Yongchun County, Quanzhou City, Fujian Province 362600 Patentee before: Zhuang Xiaoyong |
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