CN108811770A - intelligent picking robot - Google Patents
intelligent picking robot Download PDFInfo
- Publication number
- CN108811770A CN108811770A CN201810949753.5A CN201810949753A CN108811770A CN 108811770 A CN108811770 A CN 108811770A CN 201810949753 A CN201810949753 A CN 201810949753A CN 108811770 A CN108811770 A CN 108811770A
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- China
- Prior art keywords
- bar
- picking robot
- staving
- fruit
- rotating member
- 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.)
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Classifications
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of intelligent picking robot.The intelligence picking robot includes elevating lever；Fruit is taken to clamp component；Fruit bucket；Automatic locking part；Intelligence picking robot provided by the invention can decline fruit bucket automatically, in order to the fruit that staff acquires in time and keeping is picked.
Description
Technical field
The present invention relates to a kind of robotic technology field, especially a kind of intelligent picking robot.
Background technique
In recent years, with deep and market economy the development of China's rural reform of the economic structure, fruits output is big year by year
Amplitude increases.Fruit industry occupies an important position in national economy.Since nineteen ninety-three, Chinese fruit yield and area be always
It is sure to occupy first place in the world.Chinese fruit circulation statistical data association's in October, 2010 shows, China's fruit total output 2.04 in 2009
Hundred million tons, increased by 12,400,000 tons than 2008, amplification 6.1%.Apple, citrus and pears annual output are all at ten million ton or more, three flood
Fruit yield accounts for the 58% of gardens fruits output.In Production of fruit, picking operation is a most time-consuming, most laborious link,
Account for about 40% or so of entire production process workload.With the reduction of social population's aging and agricultural workforce, agricultural is raw
Cost is produced also to correspondingly increase.
In the related technology, a kind of robot of automatic fruit-picking is provided, soon fill fruit in fruit bucket or is equipped with
When the fruit of constant weight, this kind of robot can not automatic identification, and automatically fruit bucket is declined, it is timely to be not easy to staff
Collect the fruit with keeping picking.
Therefore, it is necessary to provide the new intelligent picking robot of one kind to solve the above problems.
Summary of the invention
The object of the present invention is to provide a kind of intelligent picking robot, the fruit for having constant weight for solving fruit barreled
When, fruit bucket the technical issues of can not declining automatically.
In order to solve the above technical problem, the present invention provides intelligent picking robot include：
Elevating lever, the elevating lever include main body bar and sliding rail, and the sliding rail is set to the main body bar；
Fruit is taken to clamp component, described to take fruit pincers component include caliper and driving device, and the caliper and sliding rail sliding connect
It connects, the driving device is for driving the caliper to move along the extending direction of the sliding rail；
Fruit bucket, the fruit bucket include staving, movable plate, elastic component and key block, and the staving and sliding rail sliding connect
It connects, and the opening of the staving, towards the caliper, the movable plate is set in the staving, the elastic component elastic connection institute
Movable plate and the staving are stated, the key block is fixedly arranged on the movable plate, and the movable plate covers the elastic component and institute
State key block；
Automatic locking part, the automatic locking part include rotating member, shaft, supporting element, slideway structure, fixture block, spring and
Latch, the rotating member are rotatablely connected by the shaft and the main body bar, one end of the rotating member and the staving
It abuts, the supporting element is located in the main body bar, and connect with the main body bar, and the slideway structure and the supporting element connect
It connects, locking channel is formed on the rotating member, the locking channel, the other end of the fixture block are inserted into one end of the fixture block
Slide into the slideway structure, and abutted with the slideway structure, the spring connect the other end of the fixture block with it is described
Supporting element, the latch runs through the staving, and protrudes into the locking channel, and the latch is set towards the key block
It sets；
Wherein, the length of the latch be equal to the locking channel length, the length of the key block be greater than or
Equal to the length of the fixture block.
Preferably, the driving device includes sliding groove structure, drive rack, driving gear and driving motor, the sliding slot
Structure is located in the main rod body, and connect with the main rod body, and the drive rack is slidably connected with the sliding groove structure, institute
It states driving gear to be set in the main rod body, and is rotatablely connected with the main rod body, the driving gear and the drive rack
Engagement, the driving motor is for driving the sliding tooth wheel to rotate.
Preferably, the main body bar includes bar wall, and the supporting element is fixedly connected with the bar wall.
Preferably, the main body bar includes bar wall and the interior body of rod, and one end of the supporting element is abutted with the bar wall, described
The other end of supporting element is connect with one end of the interior body of rod, and the intelligence picking robot further includes manual lock piece, described
Manual lock piece includes connection rack gear, regulation gear, hinge bar and switch lever, and the connection rack gear is another with the interior body of rod
End connects, and through-hole is formed on the bar wall, the through-hole is protruded into one end of the regulation gear, and nibbles with the connection rack gear
It closes, one end of the hinge bar is connect with the bar wall, and the other end of the hinge bar and the regulation gear are rotatablely connected, institute
The one end and the body of rod for stating switch lever are rotatablely connected, and the other end of the switch lever and the regulation gear are clamped.
Preferably, the intelligent picking robot further includes indicating arm, and one end of the indicating arm and the movable plate connect
It connects, the other end of the indicating arm runs through the staving.
Preferably, the length of the indicating arm is less than the length of the staving.
Preferably, the quantity of the elastic component is four, and four elastic components are arranged around the movable plate.
Preferably, the rotating member runs through the main rod body.
Preferably, the quantity in the locking channel is two, and two locking channels are located at the both ends of the rotating member.
Preferably, the intelligent picking robot further includes car body, and the main rod body is erected on the car body.
In intelligence picking robot provided by the invention, when being equipped with the fruit of constant weight in fruit bucket, the meeting of fruit is squeezed
Movable plate is pressed, movable plate drives key block to move downward, and until latch is squeezed out cylinder completely, lock piece is in locking channel
Movement, and fixture block is squeezed out into locking channel；At this point, rotating member is in the state being freely rotated, staving squeezes rotating member rotation, directly
Staving can not be hindered along sliding rail slide downward to rotating member, to realize when fruit barreled has the fruit of constant weight, fruit bucket energy
Automatic decline, in order to which staff collects the fruit with keeping picking in time.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of a preferred embodiment of intelligent picking robot provided by the invention；
Fig. 2 is the partial structure diagram of intelligence picking robot shown in Fig. 1；
Fig. 3 is the installation diagram of caliper shown in Fig. 2, main body bar and sliding rail；
Fig. 4 is the cross-sectional view of A-A shown in Fig. 2；
Fig. 5 is the installation diagram of fruit bucket and rotating member shown in Fig. 2；
Fig. 6 is the decomposition texture schematic diagram of fruit bucket and rotating member shown in Fig. 2；
Fig. 7 is the portion A shown in Fig. 4 enlarged drawing；
Fig. 8 uses scene figure with the one of rotating member for fruit bucket shown in Fig. 7；
Fig. 9 uses scene figure with the another of rotating member for fruit bucket shown in Fig. 7；
Figure 10 is the portion B shown in Fig. 4 enlarged drawing；
Figure 11 is the portion D shown in Fig. 4 enlarged drawing；
Figure 12 is the portion E shown in Fig. 4 enlarged drawing.
Drawing reference numeral explanation：
100- intelligence picking robot；
1- elevating lever；2- takes fruit to clamp component；3- fruit bucket；4- automatic locking part；The manual lock piece of 5-；6- indicating arm；7- vehicle
Body.
11- main body bar, 12- sliding rail；The body of rod, 113- through-hole in 111- bar wall, 112-；
21- caliper, 22- driving device, 221- sliding groove structure, 222- drive rack, 223- driving gear, 224- driving
Motor；
31- staving, 32- movable plate, 33- elastic component, 34- key block；
41- rotating member, 42- shaft, 43- supporting element, 44- slideway structure, 45- fixture block, 46- spring, 47- latch,
48- locking channel；
51- connection rack gear, 52- regulate and control gear, 53- hinge bar, 54- switch lever.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple " contain
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, be also possible to
Electrical connection；It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
It in addition, the technical solution between each embodiment of the present invention can be combined with each other, but must be general with this field
Based on logical technical staff can be realized, it will be understood that when the combination of technical solution appearance is conflicting or cannot achieve this
The combination of technical solution is not present, also not the present invention claims protection scope within.
The present invention proposes a kind of intelligent picking robot 100.
Fig. 1-7 is please referred to, in one embodiment of this invention, intelligent picking robot 100 includes：
Elevating lever 1, the elevating lever 1 include main body bar 11 and sliding rail 12, and the sliding rail 12 is set to the main body bar 11；
Fruit is taken to clamp component 2, it is described that fruit pincers component 2 is taken to include caliper 21 and driving device 22, the caliper 21 and the cunning
Rail 12 is slidably connected, and the driving device 22 is for driving the caliper 21 to move along the extending direction of the sliding rail 12；
Fruit bucket 3, the fruit bucket 3 include staving 31, movable plate 32, elastic component 33 and key block 34, the staving 31 and institute
It states sliding rail 12 to be slidably connected, and the opening of the staving 31, towards the caliper 21, the movable plate 32 is set to the staving 31
Interior, movable plate 32 described in 33 elastic connection of elastic component and the staving 31, the key block 34 are fixedly arranged on the movable plate
32, and the movable plate 32 covers the elastic component 33 and the key block 34；
Automatic locking part 4, the automatic locking part 4 include rotating member 41, shaft 42, supporting element 43, slideway structure 44, card
Block 45, spring 46 and latch 47, the rotating member 41 are rotatablely connected by the shaft 42 with the main body bar 11, and described turn
One end of moving part 41 is abutted with the staving 31, and the supporting element 43 is located in the main body bar 11, and with the main body bar 11
Connection, the slideway structure 44 are connect with the supporting element 43, and locking channel 48, the fixture block are formed on the rotating member 41
The locking channel 48 is inserted into 45 one end, and the other end of the fixture block 45 slides into the slideway structure 44, and with the slideway
Structure 44 abuts, and the other end and the supporting element 43 of fixture block 45 described in 46 elastic connection of spring, the latch 47 pass through
The staving 31 is worn, and protrudes into the locking channel 48, and the latch 47 is arranged towards the key block 34；
Wherein, the length of the latch 47 is equal to the length in the locking channel 48.
In intelligence picking robot 100 provided by the invention, when being equipped with the fruit of constant weight in fruit bucket 3, fruit meeting
Compressive activities plate 32, movable plate 32 drive key block 34 to move downward, and until latch 47 is squeezed out cylinder completely, lock piece exists
It is moved in locking channel 48, and fixture block 45 is squeezed out into locking channel 48；At this point, rotating member 41 is in the state being freely rotated, bucket
Body 31 squeezes rotating member 41 and rotates, until rotating member 41 can not hinder staving 31 along 12 slide downward of sliding rail, so that fruit is worked as in realization
When bucket 3 is equipped with the fruit of constant weight, fruit bucket 3 can decline automatically, in order to which staff collects the water with keeping picking in time
Fruit.
It is appreciated that the constant weight of the fruit filled in fruit bucket 3 can be adjusted by suitable means, for example, can set
The quantity of elastic component 33 is set, also adjustable movable plate 32 is in the intracorporal setting height of cylinder.
In the present embodiment, the length of the key block 34 is more than or equal to the length of the fixture block 45.The key block
34, the central axes of the latch 47 and the fixture block 45 are located at same straight line.41 semicircular in shape of rotating member.
Fig. 1, Fig. 3 and Figure 12 are please referred to, the driving device 22 includes sliding groove structure 221, drive rack 222, drives
Moving gear 223 and driving motor 224, the sliding groove structure 221 is located in the main rod body, and connect with the main rod body, institute
Drive rack 222 is stated to be slidably connected with the sliding groove structure 221, the driving gear 223 be set to the main rod body in, and with institute
Main rod body rotation connection is stated, the driving gear 223 is engaged with the drive rack 222, and the driving motor 224 is for driving
The driving gear 223 is moved to rotate, thus optimize 22 structure of driving device, in simple structure, control driving caliper 21
Slide up and down, preferably to pick fruit.
In the present embodiment, the drive shaft of the driving motor 224 is connect with the driving gear 223.The sliding groove structure
221 length is less than or equal to the length of the drive rack 222.
Please participate in Fig. 7 again, in one embodiment, the main body bar 11 include bar wall 111, the supporting element 43 with it is described
Bar wall 111 is fixedly connected.
Fig. 4 and Fig. 7-10 are please referred to, the main body bar 11 includes bar wall 111 and the interior body of rod 112, the supporting element 43
One end abutted with the bar wall 111, the other end of the supporting element 43 is connect with one end of the interior body of rod 112, the intelligence
Energy picking robot 100 further includes manual lock piece 5, and the manual lock piece 5 includes connection rack gear 51, regulation gear 52, hinge
Extension bar 53 and switch lever 54, the connection rack gear 51 connect with the other end of the interior body of rod 112, are formed on the bar wall 111
There is through-hole 113, the through-hole 113 is protruded into one end of the regulation gear 52, and engages with the connection rack gear 51, the hinge
One end of extension bar 53 is connect with the bar wall 111, and the other end of the hinge bar 53 and the regulation gear 52 are rotatablely connected, institute
The one end and the body of rod for stating switch lever 54 are rotatablely connected, and the other end of the switch lever 54 and the regulation gear 52 are clamped.
When staff needs according to the actual situation, when manually controlling cylinder decline, by rotating switch bar 54, to make it
It is no longer clamped with regulation gear 52, is rotated by rotation regulation gear 52, drive connection rack gear 51 and the interior body of rod 112 to downslide
It is dynamic, the downslide of supporting element 43 and fixture block 45 is realized, so that fixture block 45 releases locking channel 48；At this point, rotating member 41 is in freely
The state of rotation, staving 31 squeeze rotating member 41 and rotate, until rotating member 41 can not hinder staving 31 along 12 slide downward of sliding rail,
To realize that manually controlling fruit bucket 3 declines, in order to which staff collects the fruit with keeping picking in time according to the actual situation.
Please refer to Figure 11, the intelligence picking robot 100 further includes indicating arm 6, one end of the indicating arm 6 with it is described
Movable plate 32 connects, and the other end of the indicating arm 6 runs through the staving 31, consequently facilitating staff passes through observation indicating arm
The length of 6 stretching accurately knows the weight and quantity of fruit in fruit bucket 3.
In the present embodiment, the other end of the indicating arm 6 is equipped with graduation mark, passes through observation indicating arm 6 convenient for staff
Stretching length, more accurately know fruit bucket 3 in fruit weight and quantity.The length of indicating arm 6 is less than the length of staving 31
Degree.
Referring to Fig. 6, the quantity of the elastic component 33 is four, and four elastic components 33 surround the movable plate
32 settings.In the present embodiment, the indicating arm 6 is located between two elastic components 33.
Referring to Fig. 4, the rotating member 41 runs through the main rod body.
Referring to Fig. 7, the quantity in the locking channel 48 is two, and two locking channels 48 are located at described turn
The both ends of moving part 41.
Referring to Fig. 1, the intelligence picking robot 100 further includes car body 7, and the main rod body is erected on the vehicle
Body 7.
The operating principle of intelligence picking robot 100 provided by the invention is as follows：
When being equipped with the fruit of constant weight in fruit bucket 3, the meeting Compressive activities plate 32 of fruit, movable plate 32 drives key block
34 move downward, and until latch 47 is squeezed out cylinder completely, lock piece moves in locking channel 48, and fixture block 45 is squeezed
Locking channel 48 out；At this point, rotating member 41 is in the state being freely rotated, staving 31 squeezes rotating member 41 and rotates, until rotation
Part 41 can not hinder staving 31 along 12 slide downward of sliding rail, to realize when fruit bucket 3 is equipped with the fruit of constant weight, fruit bucket 3
It can decline automatically, in order to which staff collects the fruit with keeping picking in time.
When staff needs according to the actual situation, when manually controlling cylinder decline, by rotating switch bar 54, to make it
It is no longer clamped with regulation gear 52, is rotated by rotation regulation gear 52, drive connection rack gear 51 and the interior body of rod 112 to downslide
It is dynamic, the downslide of supporting element 43 and fixture block 45 is realized, so that fixture block 45 releases locking channel 48；At this point, rotating member 41 is in freely
The state of rotation, staving 31 squeeze rotating member 41 and rotate, until rotating member 41 can not hinder staving 31 along 12 slide downward of sliding rail,
To realize that manually controlling fruit bucket 3 declines, in order to which staff collects the fruit with keeping picking in time according to the actual situation.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all in the present invention
Design under, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/be used in other phases indirectly
The technical field of pass is included in scope of patent protection of the invention.
Claims (10)
1. a kind of intelligence picking robot, which is characterized in that including：
Elevating lever, the elevating lever include main body bar and sliding rail, and the sliding rail is set to the main body bar；
Take fruit clamp component, it is described take fruit pincers component include caliper and driving device, the caliper is slidably connected with the sliding rail, institute
Driving device is stated for driving the caliper to move along the extending direction of the sliding rail；
Fruit bucket, the fruit bucket includes staving, movable plate, elastic component and key block, and the staving is slidably connected with the sliding rail, and
The opening of the staving is set in the staving towards the caliper, the movable plate, living described in the elastic component elastic connection
Movable plate and the staving, the key block is fixedly arranged on the movable plate, and the movable plate covers the elastic component and the key
Spoon block；
Automatic locking part, the automatic locking part include rotating member, shaft, supporting element, slideway structure, fixture block, spring and locking
Block, the rotating member are rotatablely connected by the shaft and the main body bar, and one end of the rotating member is abutted with the staving,
The supporting element is located in the main body bar, and connect with the main body bar, and the slideway structure is connect with the supporting element, institute
It states and is formed with locking channel on rotating member, the locking channel is inserted into one end of the fixture block, and the other end of the fixture block slides into
The slideway structure, and being abutted with the slideway structure, the spring connect the fixture block the other end and the support
Part, the latch runs through the staving, and protrudes into the locking channel, and the latch is arranged towards the key block；
Wherein, the length of the latch is equal to the length in the locking channel, and the length of the key block is more than or equal to
The length of the fixture block.
2. intelligence picking robot as described in claim 1, which is characterized in that the driving device includes sliding groove structure, drives
Carry-over bar, driving gear and driving motor, the sliding groove structure is located in the main rod body, and connect with the main rod body, institute
Drive rack is stated to be slidably connected with the sliding groove structure, the driving gear be set to the main rod body in, and with the main rod body
Rotation connection, the driving gear are engaged with the drive rack, and the driving motor is for driving the sliding tooth wheel to rotate.
3. intelligence picking robot as described in claim 1, which is characterized in that the main body bar includes bar wall, the support
Part is fixedly connected with the bar wall.
4. intelligence picking robot as described in claim 1, which is characterized in that the main body bar includes bar wall and the interior body of rod,
One end of the supporting element is abutted with the bar wall, and the other end of the supporting element is connect with one end of the interior body of rod, described
Intelligent picking robot further includes manual lock piece, and the manual lock piece includes connection rack gear, regulation gear, hinge bar and opens
Bar is closed, the connection rack gear is connect with the other end of the interior body of rod, through-hole is formed on the bar wall, the regulation gear
The through-hole is protruded into one end, and engages with the connection rack gear, and one end of the hinge bar is connect with the bar wall, described hinged
The other end of bar and the regulation gear are rotatablely connected, and one end of the switch lever and the body of rod are rotatablely connected, the switch
The other end of bar and the regulation gear are clamped.
5. intelligence picking robot as described in claim 1, which is characterized in that the intelligence picking robot further includes instruction
Bar, one end of the indicating arm are connect with the movable plate, and the other end of the indicating arm runs through the staving.
6. intelligence picking robot as claimed in claim 5, which is characterized in that the length of the indicating arm is less than the staving
Length.
7. such as intelligent picking robot of any of claims 1-6, which is characterized in that the quantity of the elastic component is
Four, four elastic components are arranged around the movable plate.
8. such as intelligent picking robot of any of claims 1-6, which is characterized in that the rotating member is through described
Main rod body.
9. intelligence picking robot as claimed in claim 8, which is characterized in that the quantity in the locking channel is two, two
A locking channel is located at the both ends of the rotating member.
10. such as intelligent picking robot of any of claims 1-6, which is characterized in that the intelligence picking machine
People further includes car body, and the main rod body is erected on the car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810949753.5A CN108811770A (en) | 2018-08-20 | 2018-08-20 | intelligent picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810949753.5A CN108811770A (en) | 2018-08-20 | 2018-08-20 | intelligent picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108811770A true CN108811770A (en) | 2018-11-16 |
Family
ID=64151189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810949753.5A Pending CN108811770A (en) | 2018-08-20 | 2018-08-20 | intelligent picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108811770A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110337905A (en) * | 2019-08-12 | 2019-10-18 | 郭青松 | A kind of camellia oleifera fruit seed harvester |
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|---|---|---|---|---|
| CN2211153Y (en) * | 1994-07-30 | 1995-11-01 | 孔德平 | Multifunctional fruit collector |
| CN205812830U (en) * | 2016-05-30 | 2016-12-21 | 连江巧通工业设计有限公司 | A kind of intelligent apple picking |
| CN206828022U (en) * | 2017-06-05 | 2018-01-02 | 英诺威讯智能科技（杭州）有限公司 | A kind of pallet escalator |
| CN207070636U (en) * | 2017-08-17 | 2018-03-06 | 中原工学院 | A kind of torsional mode fruit picking device |
| CN207121001U (en) * | 2017-08-18 | 2018-03-20 | 太仓欧克仓储设备有限公司 | It is a kind of can automatic lifting Turnover Box |
| US20180146618A1 (en) * | 2016-11-29 | 2018-05-31 | Invia Robotics, Inc. | Harvesting Robots for Hydroponics |
| CN108401684A (en) * | 2018-05-03 | 2018-08-17 | 黄冈师范学院 | A kind of intelligence fruit picking and picking method |
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2018
- 2018-08-20 CN CN201810949753.5A patent/CN108811770A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2211153Y (en) * | 1994-07-30 | 1995-11-01 | 孔德平 | Multifunctional fruit collector |
| CN205812830U (en) * | 2016-05-30 | 2016-12-21 | 连江巧通工业设计有限公司 | A kind of intelligent apple picking |
| US20180146618A1 (en) * | 2016-11-29 | 2018-05-31 | Invia Robotics, Inc. | Harvesting Robots for Hydroponics |
| CN206828022U (en) * | 2017-06-05 | 2018-01-02 | 英诺威讯智能科技（杭州）有限公司 | A kind of pallet escalator |
| CN207070636U (en) * | 2017-08-17 | 2018-03-06 | 中原工学院 | A kind of torsional mode fruit picking device |
| CN207121001U (en) * | 2017-08-18 | 2018-03-20 | 太仓欧克仓储设备有限公司 | It is a kind of can automatic lifting Turnover Box |
| CN108401684A (en) * | 2018-05-03 | 2018-08-17 | 黄冈师范学院 | A kind of intelligence fruit picking and picking method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110337905A (en) * | 2019-08-12 | 2019-10-18 | 郭青松 | A kind of camellia oleifera fruit seed harvester |
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Application publication date: 20181116 |