CN108738678A - A kind of eminence woods fruit indirect labor turns round device and picking automatically - Google Patents
A kind of eminence woods fruit indirect labor turns round device and picking automatically Download PDFInfo
- Publication number
- CN108738678A CN108738678A CN201810548262.XA CN201810548262A CN108738678A CN 108738678 A CN108738678 A CN 108738678A CN 201810548262 A CN201810548262 A CN 201810548262A CN 108738678 A CN108738678 A CN 108738678A
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- fruit
- pick
- motor
- eminence
- place
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 87
- 230000008878 coupling Effects 0.000 claims description 25
- 238000010168 coupling process Methods 0.000 claims description 25
- 238000005859 coupling reaction Methods 0.000 claims description 25
- 239000002184 metal Substances 0.000 claims description 17
- 229910052751 metal Inorganic materials 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 239000002131 composite material Substances 0.000 abstract description 2
- 208000037805 labour Diseases 0.000 abstract 2
- 238000003306 harvesting Methods 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 230000001960 triggered effect Effects 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of eminence woods fruit indirect labors to turn round device and picking automatically, includes tree fruit clamping device, power transfer mechanism, pick-and-place actuating unit, turns round and pluck actuating unit and telescopic rod.Tree fruit clamping device is hinged and connected by connecting rod and power transfer mechanism, pick-and-place actuating unit is realized the crawl for setting fruit clamping device to fruit body by power transfer mechanism and unclasped, torsion plucks actuating unit and tree fruit clamping device, power transfer mechanism and pick-and-place actuating unit is driven to rotate together, realizes that woods fruit is turned round and plucks action.The present invention realizes the quick pick-and-place of fruit body using the composite structure of ball screw and planar linkage, elastic trigger device can any angle triggering, so that picking is not necessarily to target fruit body；Fruit body release position and time can artificially be controlled by unclasping button, and the crawl of fruit body is plucked and resetted all master controller automatic control motor operations by microcontroller with torsion, reduces labor intensity.
Description
Technical field：
The present invention relates to agricultural mechanical field, relates generally to a kind of eminence woods fruit indirect labor and turn round device and picking automatically.
Background technology：
China's general trunk of tradition fruit-bearing forest is higher, branch interlocks, it is unordered to transplant, this brings problem to woods fruit mechanized harvest,
Especially Hills, large size harvesting machinery are difficult to put to good use, cause the picking of trunk eminence woods fruit to also rely on and traditional manually climb
It climbs hand to pluck, labor intensity is big, danger coefficient is high, harvesting is of high cost.Have some by the indirect labor's dress for patting vibration harvesting
It sets and shakes that fall collection difficult there are fruit, the problems such as branch destructible, fruit body easy damaged, and that there are a variety of woods fruits is former by vibration merely
Reason is difficult to the problem of falling harvesting of shaking, and power needed for vibrating picker is big, and apparatus structure is heavy, is unfavorable for field woodland and takes
Band.With a large amount of transfers of rural laborer, labour-intensive, heavy type, the eminence woods fruit harvesting problem of type is increasingly tight when robbing
Weight.
Invention content：
The object of the invention is exactly to provide a kind of light and handy eminence woods fruit portable, fruit body is lossless to make up the defect of prior art
Indirect labor turns round device and picking automatically.
The present invention is achieved by the following technical solutions：
A kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：Include tree fruit clamping device, the tree fruit folder
Hold the bearing that mechanism includes plate-like, the annular outer position of bearing be rotatablely equipped with three it is being spaced apart and can be mutual
The flexible fruit pawl of grasping movement is realized in cooperation；Flexible fruit pawl bottom lower end is rotatably installed on bearing, and the flexibility fruit pawl can be with
It is that rotation basic point is swung up and down in seesaw type with its bottom lower end position；It is located at its correspondence rotation basic point on each flexibility fruit pawl
The position of downside is connected with connecting rod, and the bearing is equipped with is used for connecting rod spatial movement correspondingly with connecting rod position
Slot hole, connecting rod lower end passes through corresponding slot hole to stretch to the lower section of bearing；Pick-and-place motor cabinet, pick-and-place motor cabinet are equipped with below bearing
Upper surface centre be equipped with shaft coupling, between pick-and-place motor cabinet and bearing be fixedly mounted there are three annular spread in shaft coupling
The ladder coulisse of periphery is equipped with sliding slot on the inner face of ladder coulisse；The lower surface of pick-and-place motor cabinet is equipped with pick-and-place
Motor, the output shaft of pick-and-place motor are fixedly set in the lower end of shaft coupling after pick-and-place motor cabinet, and the upper end of shaft coupling is fixed
It is set with lead screw, is installed with star-shaped nut on lead screw, it is right one by one with ladder sliding slot Board position that the ring of star-shaped nut is equipped with along position
The sliding block answered, the sliding block coordinate with the sliding slot slide-and-guide on corresponding ladder coulisse inner face；The connecting rod lower end is equal
The ring of star-shaped nut is movably arranged on along position；The fuselage position fixing sleeve of pick-and-place motor is equipped with shaft coupling motor cabinet, shaft coupling motor
Motor block set is plucked equipped with torsion below seat, torsion plucks motor block set upper end fixing sleeve and plucks motor equipped with torsion, and the output shaft that motor is plucked in torsion is consolidated
Surely it is sleeved on the lower end of shaft coupling motor cabinet；The lower end fixing sleeve for plucking motor block set is turned round equipped with telescopic rod.
A kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：The upper surface of support center
Position is equipped with cylinder, and cylindrical center is equipped with through-hole, spring is set in through-hole, spring top stretches out outside through-hole and its top is fixed
There is triggering sheet metal, be fixed with being sleeved on outside spring on the annular end face of cylinder and wait for tactile gold with what triggering sheet metal coordinated
Belong to piece.
A kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：Include master controller, triggering
Sheet metal and sheet metal to be touched are electrically connected by elastic trigger circuit with master controller, the signal output end and pick-and-place of master controller
Motor, torsion motor connection.
A kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：Include case, case one end
It is fixedly set in telescopic rod upper end.
A kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：It is equipped on the telescopic rod
Button is unclasped, it is touch switch to unclasp button, unclasps button and unclasps circuit by fruit body and is electrically connected with pick-and-place motor.
A kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：The flexibility fruit pawl bilayer knot
Structure, internal layer are the arc-shaped cleft hand of rigid plastics, and outer layer is rubber claws set.
A kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：Telescopic rod is hollow tube.
The sliding block is rectangular shaped slider head.
It is an advantage of the invention that：
1, innovation is driven using the composite structure of ball screw and planar linkage as motivation transfer motion part using direct current generator,
Realize fruit body clamping device to the crawl of woods fruit with unclasp, operation stability and high efficiency, structure are reliability and durability；
2, elastic trigger device is sensitive reliable, can any angle triggering, without to target operation when fruit body being made to pick；Fruit body unclasp by
Button can artificially control fruit body release position and time, keep fruit body excellent；Fruit body, which is captured, to be plucked and resets all with torsion by single
Piece machine automatically controls direct current generator operation, reduces physical demands, reduces labor intensity；
3, device is driven using low-voltage direct, whole light and handy, easy to carry, meets the need of the safe and efficient harvesting eminence woods fruit of orchard worker
It asks.
Description of the drawings：
Fig. 1 is the Structure explosion diagram of the present invention.
Fig. 2 is the structure partial sectional view of the present invention.
Fig. 3 is the structural schematic diagram schematic diagram for setting fruit clamping device.
Fig. 4 is the structural schematic diagram of ladder coulisse.
Fig. 5 circuit module figures in order to control.
Reference numeral：1a, flexible fruit pawl；The arc-shaped cleft hand of 1a1, rigid plastics；1a2, rubber claws set；1a1a, protruding shaft；
1a1c, open slot；1b, bearing；1b1, through-hole stepped cylindrical；1a1b,1b2,1b3,1b4,1c1,3b1,4a1,4b1,4e1,
4e3, through-hole；1b5, slot hole；1c, fruit pawl mounting base；1c2,2d2,2d3, threaded hole；2a, connecting rod；2b, star-shaped nut；2c, rolling
Ballscrew；2d, ladder sliding slot；2b1, linkage connector；2b2, rectangular shaped slider head；2c1, keyway；2d1, concave slot；3a, connection
Axis device；3b, motor cabinet；3c, pick-and-place motor；3a1, flat key connecting hole；3a2,4a2, " D " font connecting hole；3b2, pick-and-place motor
Mounting hole；4a, shaft coupling motor cabinet；4b, bearing block；4c, rolling bearing；Motor is plucked in 4d, torsion；Motor cover for seat is plucked in 4e, torsion；4e2, circle
Post holes；5, telescopic rod；Motor cover for seat connecting hole is plucked in 5a, torsion；5b, button installing hole is unclasped；5c, case mounting hole；5d, logical line
Hole；6a, triggering sheet metal；6b, spring；6c, sheet metal to be touched；7, button is unclasped；8, case.
Specific implementation mode：
Technical scheme of the present invention is clearly and completely described below in conjunction with the accompanying drawings, it is clear that described embodiment is this
A part of the embodiment of invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
A kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：Include tree fruit clamping device 1, power
Transmission mechanism 2, pick-and-place actuating unit 3 are turned round and pluck actuating unit 4, telescopic rod 5, elastic trigger device 6, unclasp button 7,8 and of case
Master controller.
The tree fruit clamping device 1 includes 3 uniformly distributed flexible fruit pawl 1a, bearing 1b and 6 fruit pawl mounting base 1c, institute
It is double-layer structure to state flexible fruit pawl 1a, and internal layer is the arc-shaped cleft hand 1a1 of rigid plastics, meets the mechanics need of fruit body crawl
It asks, outer layer is that rubber claws cover 1a2, has flexible protective effect when fruit body captures.The arc-shaped cleft hand 1a1 of the flexibility fruit pawl 1a
Bottom is equipped with protruding shaft 1a1a, through-hole 1a1b and open slot 1a1c.The upper surfaces bearing 1b center is equipped with through-hole stepped cylindrical
1b1, the sides through-hole stepped cylindrical 1b1 are provided with the end faces through-hole 1b2, the bearing 1b and are provided with for being fastenedly connected the fruit pawl
The through-hole 1b3 and 1b4 of mounting base 1c and ladder coulisse 2d, and the slot hole 1b5 for connecting rod spatial movement.The fruit pawl peace
The sides dress seat 1c are provided with through-hole 1c1, and bottom surface is equipped with connection screw thread hole 1c2.The fruit pawl mounting base 1c is fastened by bolts installation
In the upper surfaces the bearing 1b, the flexibility fruit pawl 1a is hingedly mounted on the fruit pawl mounting base by the protruding shaft 1a1a of its bottom
In the through-hole 1c1 of 1c.
The power transfer mechanism 2 includes that 3 uniformly distributed connecting rod 2a, star-shaped nut 2b, ball screw 2c and 3 are uniformly distributed
Ladder coulisse 2d, 3 uniformly distributed linkage connector 2b1 are respectively equipped in the star-shaped nut 2b exterior circumferences and 3 are uniformly distributed
Rectangular shaped slider head 2b2.The one end the ball screw 2c is provided with keyway 2c1, and the sides ladder coulisse 2d are equipped with " recessed " word
The upper and lower end faces shape slot 2d1, the ladder coulisse 2d are respectively provided with threaded hole 2d2 and 2d3.The upper end of the connecting rod 2a passes through pin
In the through-hole 1a1b of the flexible fruit pawl 1a bottom opening slots 1a1c, lower end is connected to institute by pin-hinges for nail articulated connection
The linkage connector 2b1, the star-shaped nut 2b for stating star-shaped nut 2b are connected to the thread segment of ball screw 2c by rolling screw,
The ladder coulisse 2d is bolted connection in the lower face of the bearing 1b, the rectangular shaped slider of the star-shaped nut 2b
Head 2b2 is embedded in the form of sliding pair in the concave slot 2d1 of the ladder coulisse 2d.
The pick-and-place actuating unit 3 includes shaft coupling 3a, pick-and-place motor cabinet 3b and pick-and-place motor 3c, the shaft coupling 3a
One end is flat key connecting hole 3a1, and the other end is " D " font connecting hole 3a2, and the end faces pick-and-place motor cabinet 3b are provided with for fastening
The through-hole 3b1 of the ladder coulisse 2d is connected, the lower faces pick-and-place motor cabinet 3b are equipped with pick-and-place motor 3c mounting holes 3b2.
The ends flat key connecting hole 3a1 of the shaft coupling 3a connect the ends keyway 2c1 of the ball screw 2c, the ends " D " font connecting hole 3a2
The pick-and-place motor 3c is connected, the pick-and-place motor 3c is securedly mounted to by screw on pick-and-place motor cabinet 3b output shafts.
It is described torsion pluck actuating unit 4 include shaft coupling motor cabinet 4a, bearing block 4b, rolling bearing 4c, turn round pluck motor 4d and
Motor cover for seat 4e is plucked in torsion, and shaft coupling motor cabinet 4a shaft shoulders end face is provided with the through-hole 4a1 for wearing electric wire, and in small shaft end 4a2
Portion is " D " font connecting hole, and the end faces the bearing block 4b are provided with the through-hole 4b1 for being fastenedly connected, and motor cover for seat is plucked in the torsion
4e shaft shoulders end face is provided with the through-hole 4e1 for wearing electric wire, and small shaft end is cylindrical hole 4e2, and the small of motor cover for seat 4e is plucked in the torsion
Shaft end side is provided with the through-hole 4e3 for being fastenedly connected.The pick-and-place motor 3c fuselages are sleeved on by way of interference fit
The big shaft end of shaft coupling motor cabinet 4a, the torsion are plucked " D " font of motor 4d axle sleeves mounted in the small shaft ends the shaft coupling motor cabinet 4a and are connected
It connects in the 4a2 of hole, and the torsion plucks the outer surfaces motor cover for seat small shaft end 4a2 and is sleeved on rolling bearing 4c by way of interference fit
Endoporus in, the bearing block 4b is fastenedly connected by screw and plucks the end face of motor 4d in described turn round, and motor 4d machines are plucked in the torsion
Body is sleeved on the big shaft end turned round and pluck motor cover for seat 4e by way of interference fit, described to turn round the small shaft end set for plucking motor cover for seat 4e
It is fastenedly connected in the telescopic rod 5 on 4 telescopic rod 5, and by bolt combination.
The telescopic rod 5 is hollow tube, is provided with torsion thereon and plucks motor cover for seat connecting hole 5a, unclasps button installing hole 5b, cover
Shell mounting hole 5c and threading hole 5d.
The elasticity trigger device 6 includes triggering sheet metal 6a, spring 6b and sheet metal 6c to be touched.The triggering metal
Piece 6a is connect with the spring 6b solderings, and the spring 6b is sleeved in the through-hole stepped cylindrical 1b1 of the bearing 1b, described to wait for
Touch the upper surfaces through-hole stepped cylindrical 1b1 that sheet metal 6c is fixed on the bearing 1b.
The button 7 that unclasps is touch switch, and is fixedly installed in the unclasping in button installing hole 5b of the telescopic rod 5.
The master controller is STC89C52 single chip.When picking, the elasticity is compressed automatically using woods fruit gravity and is triggered
Device 6, when the triggering sheet metal 6a with it is described when tactile sheet metal 6c is contacted, trigger pick-and-place described in the main controller controls
Motor 3c is rotated forward, and drives the ball screw 2c to rotate forward by the shaft coupling 3a, the star-shaped nut 2b is made to move down, and
It driving the connecting rod 2a to do plane motion, realizes 3 flexibilities fruit pawl 1a to being captured while fruit body, grasping movement is completed,
The pick-and-place motor 3c is stopped, and is turned round described in the main controller controls pluck motor 4d rotating forwards at this time, pass through shaft coupling electricity
Engine base 4a drives the tree fruit clamping device 1 to rotate forward, and realizes that woods fruit is turned round and plucks, and torsion is plucked action and completed, and the torsion is plucked motor 4d and stopped
Work；Wait for that woods fruit reaches designated position, press it is described unclasp button 7, the pick-and-place motor 3c reversions pass through the shaft coupling 3a
It drives the ball screw 2c to invert, so that the star-shaped nut 2b is up moved, and the connecting rod 2a is driven to do plane motion, it is real
Existing 3 flexibility fruit pawl 1a unclasp action and complete, the pick-and-place motor 3c is stopped, at this time to being unclasped while fruit body
It is turned round described in the main controller controls and plucks motor 4d reversion resets.
Claims (7)
1. a kind of eminence woods fruit indirect labor turns round device and picking automatically, it is characterised in that：Include tree fruit clamping device,
The tree fruit clamping device includes the bearing of plate-like, and the annular outer position of bearing is rotatablely equipped with three and is spaced apart
And can cooperate realize grasping movement flexible fruit pawl；Flexible fruit pawl bottom lower end is rotatably installed on bearing, institute
It can be that rotation basic point is swung up and down in seesaw type with its bottom lower end position to state flexible fruit pawl；It is located on each flexibility fruit pawl
It corresponds to the position on the downside of rotation basic point and is connected with connecting rod, and the bearing is equipped with and is used correspondingly with connecting rod position
In the slot hole of connecting rod spatial movement, connecting rod lower end stretches to the lower section of bearing across corresponding slot hole；
Be equipped with pick-and-place motor cabinet below bearing, the upper surface centre of pick-and-place motor cabinet is equipped with shaft coupling, pick-and-place motor cabinet and
The ladder coulisse there are three annular spread in shaft coupling periphery is fixedly mounted between bearing, it is equal on the inner face of ladder coulisse
Equipped with sliding slot；The lower surface of pick-and-place motor cabinet is equipped with pick-and-place motor, and the output shaft of pick-and-place motor is solid after pick-and-place motor cabinet
Surely it is sleeved on the lower end of shaft coupling, the upper end fixing sleeve of shaft coupling is equipped with lead screw, star-shaped nut, star-shaped nut are installed on lead screw
Ring along position be equipped with the one-to-one sliding block of ladder sliding slot Board position, the sliding block with corresponding ladder coulisse inner face
On sliding slot slide-and-guide cooperation；The connecting rod lower end is movably arranged on the ring of star-shaped nut along position；
The fuselage position fixing sleeve of pick-and-place motor is equipped with shaft coupling motor cabinet, is equipped with to turn round below shaft coupling motor cabinet and plucks motor block set, turns round
It plucks motor block set upper end fixing sleeve and plucks motor equipped with turning round, turn round and pluck the output shaft of motor and be fixedly set in the lower end of shaft coupling motor cabinet；
The lower end fixing sleeve for plucking motor block set is turned round equipped with telescopic rod.
2. a kind of eminence woods fruit indirect labor according to claim 1 turns round device and picking automatically, it is characterised in that：The bearing
Upper surface centre is equipped with cylinder, and cylindrical center is equipped with through-hole, is set with spring in through-hole, spring top stretch out through-hole it is outer and
Its top is fixed with triggering sheet metal, is fixed with being sleeved on outside spring on the annular end face of cylinder and matches with triggering sheet metal
The sheet metal to be touched closed.
3. a kind of eminence woods fruit indirect labor according to claim 2 turns round device and picking automatically, it is characterised in that：Include master
Controller, triggers sheet metal and sheet metal to be touched is electrically connected by elastic trigger circuit with master controller, the signal of master controller
Output end and pick-and-place motor, torsion motor electrical connection.
4. a kind of eminence woods fruit indirect labor according to claim 1 turns round device and picking automatically, it is characterised in that：It include cover
Shell, case one end are fixedly set in telescopic rod upper end.
5. a kind of eminence woods fruit indirect labor according to claim 1 turns round device and picking automatically, it is characterised in that：It is described flexible
It is equipped on bar and unclasps button, it is touch switch to unclasp button, unclasps button and unclasps circuit by fruit body and is electrically connected with pick-and-place motor
It connects.
6. a kind of eminence woods fruit indirect labor according to claim 1 turns round device and picking automatically, it is characterised in that：The flexibility
Fruit pawl double-layer structure, internal layer are the arc-shaped cleft hand of rigid plastics, and outer layer is rubber claws set.
7. a kind of eminence woods fruit indirect labor according to claim 1 turns round device and picking automatically, it is characterised in that：Telescopic rod is
Hollow tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810548262.XA CN108738678B (en) | 2018-05-31 | 2018-05-31 | Manual automatic twisting and picking device assisted by high-altitude woods and fruits |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810548262.XA CN108738678B (en) | 2018-05-31 | 2018-05-31 | Manual automatic twisting and picking device assisted by high-altitude woods and fruits |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108738678A true CN108738678A (en) | 2018-11-06 |
| CN108738678B CN108738678B (en) | 2024-03-01 |
Family
ID=64001007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810548262.XA Active CN108738678B (en) | 2018-05-31 | 2018-05-31 | Manual automatic twisting and picking device assisted by high-altitude woods and fruits |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108738678B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114431004B (en) * | 2021-12-23 | 2023-11-14 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
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|---|---|---|---|---|
| FR2530403A1 (en) * | 1982-04-16 | 1984-01-27 | Mezogazdasagi Elelmiszeripari | Gripper for fruit picking tool |
| CN101878699A (en) * | 2010-06-21 | 2010-11-10 | 中国农业大学 | Twist-off picking paw mechanism and picking method thereof |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN105580561A (en) * | 2015-12-10 | 2016-05-18 | 华南农业大学 | Self-adaption under-actuation picking tail end executing device and method |
| CN107736131A (en) * | 2017-11-24 | 2018-02-27 | 西安科技大学 | A kind of gravity self-stabilising picking machine |
| CN208285860U (en) * | 2018-05-31 | 2018-12-28 | 安徽农业大学 | A kind of eminence woods fruit indirect labor turns round device and picking automatically |
-
2018
- 2018-05-31 CN CN201810548262.XA patent/CN108738678B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2530403A1 (en) * | 1982-04-16 | 1984-01-27 | Mezogazdasagi Elelmiszeripari | Gripper for fruit picking tool |
| CN101878699A (en) * | 2010-06-21 | 2010-11-10 | 中国农业大学 | Twist-off picking paw mechanism and picking method thereof |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN105580561A (en) * | 2015-12-10 | 2016-05-18 | 华南农业大学 | Self-adaption under-actuation picking tail end executing device and method |
| CN107736131A (en) * | 2017-11-24 | 2018-02-27 | 西安科技大学 | A kind of gravity self-stabilising picking machine |
| CN208285860U (en) * | 2018-05-31 | 2018-12-28 | 安徽农业大学 | A kind of eminence woods fruit indirect labor turns round device and picking automatically |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114431004B (en) * | 2021-12-23 | 2023-11-14 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
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| Publication number | Publication date |
|---|---|
| CN108738678B (en) | 2024-03-01 |
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Inventor after: Yao Huasheng Inventor after: Zhang Shun Inventor after: Chen Zihong Inventor after: Wu Delin Inventor after: Zhu Dequan Inventor after: Liao Juan Inventor after: Jiang Jiawu Inventor after: Jiang Rui Inventor after: Chen Yingchun Inventor before: Zhang Shun Inventor before: Yao Huasheng Inventor before: Chen Zihong Inventor before: Wu Delin Inventor before: Zhu Dequan Inventor before: Liao Juan Inventor before: Jiang Jiawu Inventor before: Jiang Rui Inventor before: Chen Yingchun |
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