CN107836207A - Fruit wins end effector mechanism - Google Patents
Fruit wins end effector mechanism Download PDFInfo
- Publication number
- CN107836207A CN107836207A CN201711386764.9A CN201711386764A CN107836207A CN 107836207 A CN107836207 A CN 107836207A CN 201711386764 A CN201711386764 A CN 201711386764A CN 107836207 A CN107836207 A CN 107836207A
- Authority
- CN
- China
- Prior art keywords
- cutting knife
- maxilla
- fruit
- side frame
- lower jaw
- 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
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 80
- 239000012636 effector Substances 0.000 title claims abstract description 13
- 238000005520 cutting process Methods 0.000 claims abstract description 118
- 210000002050 maxilla Anatomy 0.000 claims abstract description 62
- 238000009434 installation Methods 0.000 claims abstract description 49
- 238000010008 shearing Methods 0.000 claims abstract description 19
- 238000003825 pressing Methods 0.000 claims description 9
- 210000001847 jaw Anatomy 0.000 claims description 2
- 208000027418 Wounds and injury Diseases 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 208000019300 CLIPPERS Diseases 0.000 description 4
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- 241000207199 Citrus Species 0.000 description 2
- 241000220225 Malus Species 0.000 description 2
- 235000011430 Malus pumila Nutrition 0.000 description 2
- 235000015103 Malus silvestris Nutrition 0.000 description 2
- 241000220324 Pyrus Species 0.000 description 2
- 235000020971 citrus fruits Nutrition 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 235000021017 pears Nutrition 0.000 description 2
- 244000131316 Panax pseudoginseng Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005089 fruit drop Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
-
- 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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/253—Portable motorised fruit pickers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of fruit to win end effector mechanism, including U-bracket, fruit shear and shearing drive device, fruit shear includes maxilla cutting knife and lower jaw cutting knife, shearing drive device includes installation side frame and swings side frame, swing side frame and installation side frame is hingedly connected on two side arms of U-bracket, the both ends of maxilla cutting knife and lower jaw cutting knife are hingedly connected in installation side frame and swung on side frame, oscillating cylinder is installed on installation side frame, a connecting rod has been respectively articulated with two parallel fingers of oscillating cylinder, the other end of connecting rod is hinged on maxilla cutting knife or lower jaw cutting knife, the bottom of U-bracket is fixedly connected with mounting seat, it is fixedly connected with mounting seat for being connected to maxilla cutting knife so that the stopping means for carrying out rotating limitation to it can be realized.The present invention is simple in construction, can be easy to the collection to the fruit that drops from the shearing of the lateral realization of fruit to carpopodium, avoid equipment from being damaged to caused by fruit, reduce the injury to fruit quality.
Description
Technical field
The present invention relates to one kind to pluck fruit instrument, and in particular to a kind of fruit wins end effector mechanism.
Background technology
In recent years, as deep and market economy the development of China's rural reform of the economic structure, fruits output are big year by year
Amplitude increase, fruit industry occupy critical role in national economy.According to national statistics office data：China's fruit is total within 2014
Increase of production increases by 4.2% to 26142.24 ten thousand tons, compared with same period last year；Apple total output is 4092.32 ten thousand tons, and yield increases on year-on-year basis
Long 3.1%, account for the 15.65% of same period country's fruit total output；Citrus total output is 3492.66 ten thousand tons, and yield increases by 5.2% on a year-on-year basis,
Account for the 13.36% of same period country's fruit total output；Pears yield is 1796.44 ten thousand tons, and yield increases by 3.8% on a year-on-year basis, accounts for the same period country
The 6.87% of fruit total output.From the plantation of fruit to list marketing, wherein a ring most time-consuming, most laborious during harvesting operation
Section.All it is to grow aloft as the fruit of apple, citrus and pears etc, so as to complete to pluck by instrument.Common
Picker includes a telescopic arm that can be stretched, and the top of telescopic arm is provided with picking end effector, and picking end is held
Row device includes the clipper that can be sheared to branch, and after clipper cuts off tree shears, the fruit that fruit just falls to lower section is received
In acquisition means., may but clipper will rock in the moment of shearing branch, the active force very big to branch generation, fruit
Fruit is struck clipper either on telescopic arm, fruit is damaged, reduces the quality of fruit.
In order to solve the above-mentioned technical problem, the orchard of some maximizations is all to pluck fruit using mechanical device at present,
This picker includes mechanical arm, and the end of mechanical arm is provided with picking fruit end effector, and picking fruit end performs
Device includes maxilla cutting knife, lower jaw cutting knife and U-bracket, maxilla cutting knife and the overall U-shaped structure of lower jaw cutting knife, maxilla cutting knife
Both ends and the both ends of lower jaw cutting knife are hingedly connected on two side arms of U-bracket, and U-bracket bottom is fixed with installation
, the drive device that maxilla cutting knife and lower jaw cutting knife can be driven to rotate respectively is fixedly connected with mounting seat.Drive device energy
Enough maxilla cutting knife and lower jaw cutting knife is driven to be rotated along relatively or contrarily direction, close can once opening for maxilla cutting knife and lower jaw cutting knife
Complete the shearing to carpopodium.Because fruit is hung on branch by the carpopodium at the top of it, then held in operation picking fruit end
Fruit is stretched to below fruit it is necessary to control machinery arm when row device, fruit is cut from the maxilla cutting knife and lower jaw of opening
Knife is entered in U-bracket, then controls maxilla cutting knife and lower jaw cutting knife to close, and the carpopodium at the top of fruit is sheared, completed
Pluck fruit operation.Because mechanical arm stretches to fruit below fruit, after the carpopodium of fruit is cut off, fruit drops downwards, due to
The stop of mechanical arm, collection fruit device can not be set to be collected fruit, the fruit that can only leave, which is fallen, to be struck on mechanical arm again
Dropped to surrounding, such mechanical arm easily causes to damage to fruit, reduces the quality of fruit.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problems to be solved by the invention are：How to provide one kind can be from
Fruit lateral is sheared to the carpopodium of fruit, is reduced and is won end effector mechanism to the fruit of fruit quality injury.
In order to solve the above-mentioned technical problem, present invention employs technical scheme：
A kind of fruit wins end effector mechanism, including U-bracket, fruit shear and shearing drive device, fruit shearing
Device includes maxilla cutting knife and lower jaw cutting knife, and maxilla cutting knife and the overall structure that takes the shape of the letter U of lower jaw cutting knife, shearing drive device include
Side frame is installed and swings side frame, side frame is swung and installation side frame is set by the relative direction of two side arms along U-bracket respectively
The hinge I put is hingedly connected on two side arms of U-bracket, wherein installation side frame be hingedly connected to U-bracket one of them
On the lateral surface of side arm, the both ends of maxilla cutting knife and the both ends of lower jaw cutting knife are hingedly connected to install side frame respectively by hinge II
Front end and swing the front end of side frame, the rear end for installing side frame is provided with oscillating cylinder, in two parallel fingers of oscillating cylinder point
A connecting rod is not provided with, and one end of connecting rod is articulated and connected by hinge III and parallel finger where it, and two connecting rods are each remote
One end of hinge III is articulated and connected by hinge IV and maxilla cutting knife and lower jaw cutting knife respectively, when oscillating cylinder working in reciprocating mode,
Two connecting rods can drive maxilla cutting knife and lower jaw cutting knife along the rotation of relative or opposite direction, hinge I, hinge II, the and of hinge III
Hinge IV is arranged in parallel, and the bottom of U-bracket is fixedly connected with mounting seat, is fixedly connected with mounting seat for being connected to
Maxilla cutting knife is can realize the stopping means limited maxilla cutting knife and the mutual opening angle of lower jaw cutting knife, when swing gas
When two parallel fingers of cylinder are mutually opened, maxilla cutting knife can be rotated to realize with lower jaw cutting knife towards relative direction
Shearing to carpopodium.
In the present invention, the bottom of U-bracket is fixed on to the end of mechanical arm, control machinery arm, makes opening for U-bracket
Mouthful alignment fruit, from the laterally closer fruit of fruit, makes the carpopodium for abutting to fruit of maxilla cutting knife, now fruit is located at U-shaped
In the opening of support.Start oscillating cylinder, two parallel fingers of oscillating cylinder, which rotate, opens, by connecting rod control maxilla cutting knife and
Lower jaw cutting knife relatively rotates, and now oscillating cylinder by the relation of self gravitation, make installation side frame around rear end it is downward around hinge I
Rotate, and the front end for installing side frame will be rotated up, this makes it possible to the position for suiting maxilla cutting knife and lower jaw cutting knife to turn
To top, the shearing of the carpopodium above fruit is realized, the lower section of such fruit just stops without equipment, can utilize collecting fruit
Device is collected to fruit, is avoided fruit caused by being collided with fruit and is damaged, reduces and fruit quality is injured.Limit in addition
Position device is spacing to the progress of maxilla cutting knife, makes the face that suits of maxilla cutting knife and lower jaw cutting knife under engagement can be with carpopodium axis
Plumbness is kept, the shearing force acted in this case on carpopodium can realize maximization.After the completion of fruit removes, start
Oscillating cylinder, two parallel fingers of oscillating cylinder rotate closure, control maxilla cutting knife and lower jaw cutting knife to rotate opposite to each other by connecting rod,
Suit that position is above, and maxilla cutting knife receives stopping means when opening due to now maxilla cutting knife and lower jaw cutting knife
Stop, can not be turned out, its position keep it is constant, oscillating cylinder parallel finger rotate active force acting in opposition swing gas
On cylinder, realize that the rear end of installation side frame is rotated up around hinge I, installing the front end of side frame will rotate down, and lower jaw cutting knife is same
When rotate down, to realize the opening of maxilla cutting knife and lower jaw cutting knife, wait next operation.
As optimization, the maxilla cutting knife and the lower jaw cutting knife include the knife rest of overall U-shaped structure, and knife rest includes
Suit portion and positioned at the connecting portion for suiting portion both ends, the installation side is hingedly connected to respectively positioned at the connecting portion for suiting portion both ends
On frame and the swing side frame, suit and blade is fixedly connected with portion, when the maxilla cutting knife and the lower jaw cutting knife are towards phase
When being rotated to direction, the blade in the maxilla cutting knife can mutually suit with the blade in the lower jaw cutting knife.
As optimization, the stopping means includes being fixedly connected in the mounting seat and positioned at the swing side frame side
Installation frame side, install and straight line cylinder be installed in frame side, in straight line cylinder the axis of piston rod with it is flat where the U-bracket
Face be arranged in parallel, and the cylinder head of straight line cylinder is towards the front end of the U-bracket, and the head of piston rod is fixed in straight line cylinder
Limited block is connected with, when piston rod stretches out towards the front end of the U-bracket in straight line cylinder, limited block can be connected to institute
State on maxilla cutting knife.The branch of some fruit trees is more intensive, if maxilla cutting knife and lower jaw cutting knife opening angle are larger, such as
180 °, the sectional dimension of such whole device is with regard to larger, then is just easily detected by the more intensive region of branch.Pass through control
The extension elongation of straight line cylinder piston, the limitation that different angle is opened to maxilla cutting knife is realized, and then control turning for installation side frame
Dynamic angle, realizes the control of maxilla cutting knife and lower jaw cutting knife opening angle, enables devices to be easy to fruit through narrower region
Harvesting.
As optimization, the installation frame side is concavely provided with can install spacing lower installation groove to the straight line cylinder,
The side of the straight line cylinder cylinder body is installed in lower installation groove, and the straight line cylinder cylinder body is away from the lower installation side
The side of frame is provided with pressing plate, and pressing plate is concavely provided with can install spacing upper installation groove to the straight line cylinder, described straight
Side of the line cylinder block away from the installation frame side is installed in upper installation groove, and pressing plate is by hold-down bolt by described in
Straight line cylinder is pressed abd fixed in the installation frame side.The dismounting to straight line cylinder can be facilitated, make maintenance more convenient.
In summary, the beneficial effects of the present invention are：The present invention is simple in construction, can be from the lateral realization of fruit to fruit
The shearing of handle, it is easy to the collection to the fruit that drops, avoids equipment from being damaged to caused by fruit, reduces the wound to fruit quality
Evil.
Brief description of the drawings
In order that the purpose, technical scheme and advantage of invention are clearer, the present invention is made into one below in conjunction with accompanying drawing
The detailed description of step, wherein：
Fig. 1 is the three dimensional structure diagram of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, the fruit in present embodiment wins end effector mechanism, including U-bracket 1, fruit are cut
Cutting apparatus and shearing drive device, fruit shear include maxilla cutting knife and lower jaw cutting knife, and maxilla cutting knife and lower jaw cutting knife are whole
Body takes the shape of the letter U structure, and shearing drive device includes installation side frame 2 and swings side frame 3, swings side frame 3 and installation side frame 2 leads to respectively
The hinge I for crossing the relative direction setting of two side arms along U-bracket 1 is hingedly connected on two side arms of U-bracket 1, its
Middle installation side frame 2 is hingedly connected on the lateral surface of 1 one of side arm of U-bracket, the both ends of maxilla cutting knife and lower jaw cutting knife
Both ends respectively by hinge II be hingedly connected to install side frame 2 front end and swing side frame 3 front end, install side frame 2 after
End is provided with oscillating cylinder 4, is respectively arranged with a connecting rod 5 in two parallel fingers of oscillating cylinder 4, one end of connecting rod 5 passes through
Hinge III with its where parallel finger be articulated and connected, the one end of two connecting rods 5 each away from hinge III respectively by hinge IV with it is upper
Jaw cutting knife and lower jaw cutting knife are articulated and connected, and when 4 working in reciprocating mode of oscillating cylinder, two connecting rods 5 can drive maxilla cutting knife with
Jaw cutting knife is along the rotation of relative or opposite direction, and hinge I, hinge II, hinge III and hinge IV are arranged in parallel, U-bracket 1
Bottom is fixedly connected with mounting seat 6, is fixedly connected with mounting seat 6 and maxilla is cut with that can realize for being connected to maxilla cutting knife
The stopping means that knife and the mutual opening angle of lower jaw cutting knife are limited, mutually opened when two parallel fingers of oscillating cylinder 4
When, maxilla cutting knife can be rotated to realize the shearing to carpopodium with lower jaw cutting knife towards relative direction.
In this embodiment, the maxilla cutting knife and the lower jaw cutting knife include the knife of overall U-shaped structure
Frame 7, knife rest 7 include suiting portion and positioned at the connecting portion for suiting portion both ends, and company is respectively articulated with positioned at the connecting portion for suiting portion both ends
It is connected on the installation side frame 2 and the swing side frame 3, suits and blade 8 is fixedly connected with portion, when the maxilla cutting knife and institute
State lower jaw cutting knife towards relative direction rotate when, the blade 8 in the maxilla cutting knife can be with the blade 8 in the lower jaw cutting knife
Mutually suit.
In this embodiment, the stopping means includes being fixedly connected in the mounting seat 6 and positioned at described
The installation frame side 9 of the side of side frame 3 is swung, installs and straight line cylinder 10 is installed in frame side 9, the axis of piston rod in straight line cylinder 10
It is be arranged in parallel with the place plane of U-bracket 1, the cylinder head of straight line cylinder 10 is towards the front end of the U-bracket 1, directly
The head of piston rod is fixedly connected with limited block 11 in line cylinder 10, when in straight line cylinder 10 piston rod towards the U-bracket 1
Front end stretch out when, limited block 10 can be connected on the maxilla cutting knife.
In this embodiment, it is described installation frame side 9 be concavely provided with the straight line cylinder 10 can be installed it is spacing
Lower installation groove, the side of the cylinder body of straight line cylinder 10 is installed in lower installation groove, the cylinder of straight line cylinder 10
Side of the body away from the lower installation frame side 9 is provided with pressing plate 12, and pressing plate 12, which is concavely provided with, to pacify to the straight line cylinder 10
Spacing upper installation groove is filled, side of the cylinder body of straight line cylinder 10 away from the installation frame side 9 is installed in upper installation
In groove, the straight line cylinder 10 is pressed abd fixed in the installation frame side 9 by pressing plate 12 by hold-down bolt.
During specific implementation, the installation side frame includes T-shaped plate I, and the floor of T-shaped plate I is hingedly connected to U-shaped branch
On the side arm of frame, maxilla cutting knife and lower jaw cutting knife are hingedly connected to the two of T-shaped plate I positioned at the end of the side of T-shaped plate I respectively
On individual flank, the swing side frame includes T-shaped plate II, and the floor of T-shaped plate II is hingedly connected on the side arm of U-bracket, maxilla
Cutting knife and lower jaw cutting knife are hingedly connected on two flanks of T-shaped plate II positioned at the end of the side of T-shaped plate II respectively, are swung
Cylinder is fixedly connected on the one end of T-shaped plate II away from flank thereon, can so be provided more for maxilla cutting knife and lower jaw cutting knife
Big shearing moment, it is easier to the carpopodium of the disconnected fruit of shearing.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although passing through ginseng
According to the preferred embodiments of the present invention, invention has been described, it should be appreciated by those of ordinary skill in the art that can
So that various changes are made to it in the form and details, the present invention that is limited without departing from appended claims
Spirit and scope.
Claims (4)
1. a kind of fruit wins end effector mechanism, including U-bracket, fruit shear and shearing drive device, fruit are cut
Cutting apparatus includes maxilla cutting knife and lower jaw cutting knife, maxilla cutting knife and the overall structure that takes the shape of the letter U of lower jaw cutting knife, it is characterised in that：Cut
Cutting drive device includes installation side frame and swings side frame, swings side frame and installation side frame passes through two sides along U-bracket respectively
The hinge I that the relative direction of arm is set is hingedly connected on two side arms of U-bracket, wherein installation side frame is hingedly connected to U
On the lateral surface of the one of side arm of shape support, the both ends of maxilla cutting knife and the both ends of lower jaw cutting knife are be hinged by hinge II respectively
It is connected to the front end of installation side frame and swings the front end of side frame, the rear end for installing side frame is provided with oscillating cylinder, oscillating cylinder
A connecting rod is respectively arranged with two parallel fingers, one end of connecting rod is articulated and connected by hinge III and parallel finger where it, and two
The one end of root connecting rod each away from hinge III is articulated and connected by hinge IV and maxilla cutting knife and lower jaw cutting knife respectively, when swing gas
During cylinder working in reciprocating mode, two connecting rods can drive maxilla cutting knife and lower jaw cutting knife to be rotated along relative or opposite direction, hinge I, cut with scissors
Axle II, hinge III and hinge IV are arranged in parallel, and the bottom of U-bracket is fixedly connected with mounting seat, fixed in mounting seat to connect
It is connected to for being connected to maxilla cutting knife so that the limit limited maxilla cutting knife and the mutual opening angle of lower jaw cutting knife can be realized
Position device, when two parallel fingers of oscillating cylinder are mutually opened, maxilla cutting knife can be with lower jaw cutting knife towards contra
To being rotated to realize shearing to carpopodium.
2. fruit according to claim 1 wins end effector mechanism, it is characterised in that：The maxilla cutting knife and it is described under
Jaw cutting knife includes the knife rest of overall U-shaped structure, and knife rest includes suiting portion and positioned at the connecting portion for suiting portion both ends, positioned at cutting
The connecting portion at conjunction portion both ends is hingedly connected on the installation side frame and the swing side frame respectively, is suited and is fixedly connected with portion
Blade, when the maxilla cutting knife rotates with the lower jaw cutting knife towards relative direction, the blade in the maxilla cutting knife can
Mutually suit with the blade in the lower jaw cutting knife.
3. fruit according to claim 1 wins end effector mechanism, it is characterised in that：The stopping means includes fixing
It is connected in the mounting seat and straight line cylinder is installed in the installation frame side of the swing side frame side, installation frame side,
Plane where the axis of piston rod and the U-bracket be arranged in parallel in straight line cylinder, and the cylinder head of straight line cylinder is towards institute
State the front end of U-bracket, the head of piston rod is fixedly connected with limited block in straight line cylinder, when piston rod direction in straight line cylinder
When the front end of the U-bracket is stretched out, limited block can be connected on the maxilla cutting knife.
4. fruit according to claim 3 wins end effector mechanism, it is characterised in that：The installation frame side is concavely provided with
Spacing lower installation groove can be installed to the straight line cylinder, the side of the straight line cylinder cylinder body is installed in lower installation
In groove, side of the straight line cylinder cylinder body away from the lower installation frame side is provided with pressing plate, and pressing plate is concavely provided with can be right
The straight line cylinder installs spacing upper installation groove, side spacing peace of the straight line cylinder cylinder body away from the installation frame side
In upper installation groove, the straight line cylinder is pressed abd fixed in the installation frame side by pressing plate by hold-down bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711386764.9A CN107836207B (en) | 2017-12-20 | Fruit picking end actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711386764.9A CN107836207B (en) | 2017-12-20 | Fruit picking end actuating mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107836207A true CN107836207A (en) | 2018-03-27 |
| CN107836207B CN107836207B (en) | 2024-07-26 |
Family
ID=
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964640A (en) * | 2019-05-16 | 2019-07-05 | 重庆理工大学 | A kind of one device two of fruit cuts picking actuator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08154449A (en) * | 1994-12-07 | 1996-06-18 | Harutoshi Nakahira | Fruit picking implement |
| AU3755897A (en) * | 1996-09-16 | 1998-03-19 | Enviro Research International Pty Ltd | Shaker head for harvester |
| CN206237828U (en) * | 2016-12-09 | 2017-06-13 | 重庆理工大学 | Picking fruit end effector |
| CN106900279A (en) * | 2017-04-21 | 2017-06-30 | 重庆理工大学 | A kind of gripping-type picking fruit end effector and picking fruit performs device |
| CN207604225U (en) * | 2017-12-20 | 2018-07-13 | 重庆理工大学 | A kind of fruit wins end effector mechanism |
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08154449A (en) * | 1994-12-07 | 1996-06-18 | Harutoshi Nakahira | Fruit picking implement |
| AU3755897A (en) * | 1996-09-16 | 1998-03-19 | Enviro Research International Pty Ltd | Shaker head for harvester |
| CN206237828U (en) * | 2016-12-09 | 2017-06-13 | 重庆理工大学 | Picking fruit end effector |
| CN106900279A (en) * | 2017-04-21 | 2017-06-30 | 重庆理工大学 | A kind of gripping-type picking fruit end effector and picking fruit performs device |
| CN207604225U (en) * | 2017-12-20 | 2018-07-13 | 重庆理工大学 | A kind of fruit wins end effector mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 付舜;王毅;: "类球果蔬采摘末端执行器设计及分析", 湖南农业科学, no. 03, 27 March 2017 (2017-03-27), pages 16 - 19 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964640A (en) * | 2019-05-16 | 2019-07-05 | 重庆理工大学 | A kind of one device two of fruit cuts picking actuator |
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