CN109110693A - Liftable fruit picking and storing robot - Google Patents
Liftable fruit picking and storing robot Download PDFInfo
- Publication number
- CN109110693A CN109110693A CN201811210271.4A CN201811210271A CN109110693A CN 109110693 A CN109110693 A CN 109110693A CN 201811210271 A CN201811210271 A CN 201811210271A CN 109110693 A CN109110693 A CN 109110693A
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- China
- Prior art keywords
- picking
- arm
- fixedly connected
- picker arm
- hydraulic
- 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.)
- Pending
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 45
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 238000010008 shearing Methods 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 7
- 210000000515 tooth Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000011295 pitch Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F13/00—Common constructional features or accessories
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Environmental Sciences (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a liftable fruit picking and storing robot, which comprises a saddle, wherein a front baffle is fixedly connected to the front side of the top of the saddle, a hydraulic double-shear type lifting mechanism is arranged on the top of the saddle and positioned on the inner side of the front baffle, the hydraulic double-shear type lifting mechanism comprises a scissor fork lifting frame, a supporting rectangular plate and a hydraulic support rod, the supporting rectangular plate is positioned between scissor forks at the middle part of the scissor fork lifting frame and is fixedly connected with the scissor fork lifting frame, the hydraulic support rod is arranged at a position between the supporting rectangular plates, and a hydraulic oil tank is fixedly connected to the top of the saddle and positioned on the inner side of the front baffle. This storage robot is picked to liftable fruit because the fruit that gets off does not need the arm to put into the bin, has practiced thrift the motion time that the fruit was placed to the arm, can improve the efficiency of picking fruit, and robotic arm places on lift platform, has simplified robotic arm's structure, enables robotic arm's motion more nimble.
Description
Technical field
The present invention relates to fruit picking technical field, specially a kind of liftable fruit picking stores robot.
Background technique
The characteristics of agricultural production is large labor intensity, especially manual labor of fruit agricultural production during picking
Intensity is bigger.When orchard worker's fruit-picking, have least a portion of fruit people that can directly pick, most of fruit because height is high,
It needs to put up a ladder or climb tree and pick, putting up a ladder or climbing tree easily causes branch, limb fracture, threat also is generated to personal safety,
The existing universal precision of fruits picking mechanical is not high, and the effect is unsatisfactory for picking, and existing fruits picking mechanical degree of regulation is low,
Using effect is poor, also affects the using effect of picking.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of liftable fruit pickings to store robot, solves people
The low and existing fruits picking mechanical degree of regulation of work collecting efficiency is low, the undesirable problem of picking effect.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of liftable fruit picking storage
Robot, including vehicle seat, vehicle seat top front side are fixedly connected with preposition baffle, are located in preposition baffle at the top of the vehicle seat
Side is provided with Hydraulic Double scissors-type lifting, and the Hydraulic Double scissors-type lifting includes scissors fork crane, support rectangular slab
And hydraulic pressure support bar, the support rectangular slab is located between the scissors fork in the middle part of scissors fork crane, and pitches crane with scissors
It is fixedly connected, the hydraulic pressure support bar is mounted on the position between support rectangular slab, is located in preposition baffle at the top of the vehicle seat
Side is fixedly connected with hydraulic oil container, and the hydraulic oil container is connect with hydraulic pressure support bar, fixed at the top of the scissors fork crane to connect
It is connected to picking workbench, the middle position of the picking bench-top is fixedly connected with rotary electric machine by motor rack, described
Mechanical arm chassis is installed, the mechanical arm chassis and rotary electric machine are rotatablely connected, the mechanical arm chassis above rotary electric machine
Inside is rotatably connected to lower Picker arm, and the lower Picker arm is rotatably connected to upper Picker arm, institute far from one end of mechanical arm chassis
It states and is fixedly connected with hydraulic cylinder connecting plate between lower Picker arm and upper Picker arm, picking is installed between the hydraulic cylinder connecting plate
Arm hydraulic cylinder, reinforced column is fixedly connected between the upper Picker arm, and the upper Picker arm is installed far from one end of lower Picker arm
There is device for picking, picking head is installed above the device for picking, bellows, the picking workbench are installed below the device for picking
Top is equipped with downslide ramp, is fixedly connected above the downslide ramp with bellows, is fixedly connected with and adopts above the vehicle seat
Pluck loading box.
Preferably, Picker arm rotary electric machine is installed, the Picker arm rotary electric machine passes through inside the mechanical arm chassis
Gear set and lower Picker arm are rotatablely connected, and the lower Picker arm inside bottom is equipped with rotation axis, is equipped in the rotation axis
Driven wheel, the driving wheel of the gear set and the output shaft of Picker arm rotary electric machine are rotatablely connected.
Preferably, it is located on the inside of preposition baffle at the top of the vehicle seat and is fixedly connected with fork-shearing frame mounting base, the scissors fork
Crane bottom end and fork-shearing frame mounting base are rotatablely connected.
Preferably, the picking loading box is internally provided with buffer table, is provided under buffering complications above the buffer table
Ramp.
Preferably, the hydraulic pressure support bar both ends and support rectangular slab rotation connection, the picking arm hydraulic cylinder both ends and
The rotation connection of hydraulic cylinder connecting plate.
Preferably, picking motor being installed on the outside of the device for picking, the picking motor output shaft is equipped with output gear,
Side on the outside of the picking head close to output gear is provided with engaging tooth, and the output gear and engaging tooth are rotatablely connected.
Preferably, outer ring is equipped with picking blade at the top of the picking head.
Preferably, the position at the top of the rotary electric machine between mechanical arm chassis bottom is provided with gear wheel-train.
Preferably, downslide ramp bottom is equipped with baffle.
Preferably, the saddle base is equipped with movable pulley.
(3) beneficial effect
The present invention provides a kind of liftable fruit pickings to store robot.Have it is following the utility model has the advantages that
(1), the liftable fruit picking stores robot, and Hydraulic Double scissors-type lifting can by hydraulic pressure support bar (6)
Will realize the lifting of scissors fork crane (3), to drive the picking workbench (5) installed at the top of scissors fork crane (3)
It is gone up and down, facilitates the fruit of picking different height, the rotary electric machine (9) at the top of picking workbench (5) passes through gear wheel-train band
Dynamic mechanical arm chassis (10) and Picker arm are rotated, the Picker arm rotary electric machine (11) installed on the inside of mechanical arm chassis (10)
Lower Picker arm (13) can be driven to be rotated by gear set (12), to change the angle of lower Picker arm (13), lower picking
The picking arm hydraulic cylinder (15) installed between arm (13) and upper Picker arm (14) can change lower Picker arm (13) and upper Picker arm
(14) angle between has achieved the purpose that the height and angle position adjustment of entire picker, the lifting of Hydraulic Double scissors
The stroke of structure is big, and transmission stability is good, and relatively more steady and abrasion is small, and Picker arm angle can be adjusted freely, and use is watched
The structural adjustment precision for taking motor and gear wheel-train is higher, and the efficiency of picking greatly promotes.
(2), the liftable fruit picking stores robot, installs on the outside of the picking head (19) at the top of upper Picker arm (14)
It picks motor (20) and picking head (19) rotation is driven by the transmission between output gear (21) and engaging tooth (22), to pass through
The picking blade (23) installed on the inside of picking head (19) gets off fruit picking, and the fruit after picking is slid by bellows (18)
It in downslide ramp (24), after picking workbench (5) lowers, opens baffle (25), under downslide ramp (24) and buffering are tortuous
Ramp (27) connection, fruit roll into picking loading box (26), have achieved the purpose that the picking of picking head high efficiency and fruit are collected,
Picking and collection efficiency are improved, dress is received after not needing artificial picking one by one, the labour of people is liberated in fruit picking, is improved
Production efficiency, and the quality that can guarantee fruit picking can be conveyed with bellows.
(3), the liftable fruit picking stores robot, is put into storage bin since the fruit picked does not need arm
It is interior, the run duration that arm places fruit has been saved, the efficiency of fruit-picking can be improved, mechanical arm is placed on hoistable platform
On, the structure of mechanical arm is simplified, the weight of mechanical arm is reduced, the movement of mechanical arm can be made more flexible.
Detailed description of the invention
Fig. 1 is the whole structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of picking mechanism of the present invention；
Fig. 3 is the structural schematic diagram of structure of the invention A；
Fig. 4 is the structural schematic diagram of device for picking of the present invention；
Fig. 5 is the structural schematic diagram of picking head of the present invention；
Fig. 6 is the structural schematic diagram of Picker arm rotating mechanism of the present invention.
In figure: 1 vehicle seat, 2 preposition baffles, 3 scissors fork crane, 4 support rectangular slabs, 5 picking workbench, 6 hydraulic pressure supports
Bar, 7 hydraulic oil containers, 8 fork-shearing frame mounting bases, 9 rotary electric machines, 10 mechanical arm chassis, 11 Picker arm rotary electric machines, 12 gear sets,
13 lower Picker arms, Picker arm, 15 picking arm hydraulic cylinders, 16 reinforced columns, 17 device for picking, 18 bellowss, 19 picking heads, 20 are adopted on 14
Pluck motor, 21 output gears, 22 engaging tooths, 23 picking blades, 24 downslide ramps, 25 baffles, 26 picking loading boxes, 27 buffering songs
It is folded down ramp, 28 buffer tables, 29 movable pulleys.
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 embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-6 is please referred to, the present invention provides a kind of technical solution: a kind of liftable fruit picking storage robot, including
Vehicle seat 1,1 top front side of vehicle seat are fixedly connected with preposition baffle 2, are located on the inside of preposition baffle 2 at the top of vehicle seat 1 and are provided with Hydraulic Double
Scissors-type lifting, Hydraulic Double scissors-type lifting include scissors fork crane 3, support rectangular slab 4 and hydraulic pressure support bar 6, branch
Support rectangular slab 4 is located between the scissors fork at 3 middle part of scissors fork crane, and is fixedly connected with scissors fork crane 3, hydraulic pressure support
Bar 6 is mounted on the position between support rectangular slab 4, is located on the inside of preposition baffle 2 at the top of vehicle seat 1 and is fixedly connected with hydraulic oil container 7,
Hydraulic oil container 7 is connect with hydraulic pressure support bar 6, is fixedly connected with picking workbench 5 at the top of scissors fork crane 3, is picked workbench 5
The middle position at top is fixedly connected with rotary electric machine 9 by motor rack, and mechanical arm chassis 10 is equipped with above rotary electric machine 9,
Mechanical arm chassis 10 and rotary electric machine 9 are rotatablely connected, and are rotatably connected to lower Picker arm 13, lower Picker arm on the inside of mechanical arm chassis 10
13 one end far from mechanical arm chassis 10 are rotatably connected to upper Picker arm 14, fixed between lower Picker arm 13 and upper Picker arm 14 to connect
It is connected to hydraulic cylinder connecting plate, picking arm hydraulic cylinder 15 is installed between hydraulic cylinder connecting plate, is fixedly connected between upper Picker arm 14
There is reinforced column 16, upper Picker arm 14 is equipped with device for picking 17 far from one end of lower Picker arm 13, is equipped with and adopts above device for picking 17
First 19 are plucked, bellows 18 is installed below device for picking 17, picks and downslide ramp 24, downslide ramp 24 is installed at the top of workbench 5
Top is fixedly connected with bellows 18, and picking loading box 26 is fixedly connected with above vehicle seat 1.
Picker arm rotary electric machine 11 is installed inside mechanical arm chassis 10, Picker arm rotary electric machine 11 by gear set 12 with
Lower Picker arm 13 is rotatablely connected, and lower 13 inside bottom of Picker arm is equipped with rotation axis, driven wheel, gear set are equipped in rotation axis
12 driving wheel and the output shaft of Picker arm rotary electric machine 11 are rotatablely connected.
Be located on the inside of preposition baffle 2 at the top of vehicle seat 1 and be fixedly connected with fork-shearing frame mounting base 8, scissors pitch 3 bottom end of crane with
Fork-shearing frame mounting base 8 is rotatablely connected.
Picking loading box 26 is internally provided with buffer table 28, and the tortuous gug 27 of buffering is provided with above buffer table 28.
6 both ends of hydraulic pressure support bar and support rectangular slab 4 are rotatablely connected, picking 15 both ends of arm hydraulic cylinder and hydraulic cylinder connecting plate
Rotation connection.
Picking motor 20 is installed, picking 20 output shaft of motor is equipped with output gear 21, picking head on the outside of device for picking 17
19 outsides are provided with engaging tooth 22 close to the side of output gear 21, and output gear 21 and engaging tooth 22 are rotatablely connected.
19 top outer ring of picking head is equipped with picking blade 23.
Position between 9 top of rotary electric machine and 10 bottom of mechanical arm chassis is provided with gear wheel-train.
24 bottom of downslide ramp is equipped with baffle 25, directly slides after preventing picking.
1 bottom of vehicle seat is equipped with movable pulley 29, facilitates whole device mobile,.
In use, Hydraulic Double scissors-type lifting can will realize that scissors pitches the liter of crane 3 by hydraulic pressure support bar 6
Drop facilitates the fruit of picking different height so that the picking workbench 5 installed at the top of scissors fork crane 3 be driven to be gone up and down,
The rotary electric machine 9 at 5 top of picking workbench drives mechanical arm chassis 10 and Picker arm to be rotated by gear wheel-train, mechanical
The Picker arm rotary electric machine 11 installed on the inside of arm chassis 10 can drive lower Picker arm 13 to be rotated by gear set 12, thus
Change the angle of lower Picker arm 13, the picking arm hydraulic cylinder 15 installed between lower Picker arm 13 and upper Picker arm 14 can change down
Angle between Picker arm 13 and upper Picker arm 14, the picking motor 20 installed on the outside of the picking head 19 at 14 top of upper Picker arm are logical
The transmission crossed between output gear 21 and engaging tooth 22 drives picking head 19 to rotate, to be adopted by what is installed on the inside of picking head 19
It plucks blade 23 fruit picking gets off, the fruit after picking is slid into downslide ramp 24 by bellows 18, when picking workbench 5
After lowering, baffle 25 is opened, downslide ramp 24 is connect with tortuous gug 27 is buffered, and fruit rolls into picking loading box 26.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions.By sentence " element limited including one ..., it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element ".
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of liftable fruit picking stores robot, including vehicle seat (1), it is characterised in that: front side at the top of the vehicle seat (1)
It is fixedly connected with preposition baffle (2), is located on the inside of preposition baffle (2) at the top of the vehicle seat (1) and is provided with Hydraulic Double scissor lift
Mechanism, the Hydraulic Double scissors-type lifting include scissors fork crane (3), support rectangular slab (4) and hydraulic pressure support bar (6),
Support rectangular slab (4) is located between the scissors fork in the middle part of scissors fork crane (3), and fixed with scissors fork crane (3)
Connection, the hydraulic pressure support bar (6) are mounted on the position between support rectangular slab (4), are located at preposition gear at the top of the vehicle seat (1)
It is fixedly connected with hydraulic oil container (7) on the inside of plate (2), the hydraulic oil container (7) connect with hydraulic pressure support bar (6), the scissors fork
Picking workbench (5) is fixedly connected at the top of crane (3), the middle position at the top of picking workbench (5) passes through motor
Frame is fixedly connected with rotary electric machine (9), is equipped with mechanical arm chassis (10) above the rotary electric machine (9), the mechanical arm bottom
Frame (10) and rotary electric machine (9) are rotatablely connected, and are rotatably connected to lower Picker arm (13) on the inside of the mechanical arm chassis (10), described
Lower Picker arm (13) is rotatably connected to Picker arm (14) far from the one end of mechanical arm chassis (10), the lower Picker arm (13) and
It is fixedly connected with hydraulic cylinder connecting plate between upper Picker arm (14), picking arm hydraulic cylinder is installed between the hydraulic cylinder connecting plate
(15), it is fixedly connected with reinforced column (16) between the upper Picker arm (14), the upper Picker arm (14) is far from lower Picker arm
(13) one end is equipped with device for picking (17), is equipped with picking head (19) above the device for picking (17), the device for picking (17)
Lower section is equipped with bellows (18), is equipped with downslide ramp (24) at the top of the picking workbench (5), the downslide ramp (24)
Top is fixedly connected with bellows (18), and picking loading box (26) is fixedly connected with above the vehicle seat (1).
2. a kind of liftable fruit picking according to claim 1 stores robot, it is characterised in that: the mechanical arm bottom
It is equipped with Picker arm rotary electric machine (11) inside frame (10), the Picker arm rotary electric machine (11) is adopted under by gear set (12)
Arm (13) rotation connection is plucked, lower Picker arm (13) inside bottom is equipped with rotation axis, is equipped in the rotation axis driven
Wheel, the driving wheel of the gear set (12) and the output shaft of Picker arm rotary electric machine (11) are rotatablely connected.
3. a kind of liftable fruit picking according to claim 1 stores robot, it is characterised in that: the vehicle seat (1)
Top, which is located on the inside of preposition baffle (2), to be fixedly connected with fork-shearing frame mounting base (8), and the scissors is pitched crane (3) bottom end and cut
Crotch mounting base (8) rotation connection.
4. a kind of liftable fruit picking according to claim 1 stores robot, it is characterised in that: the picking loads
Case (26) is internally provided with buffer table (28), and the tortuous gug (27) of buffering is provided with above the buffer table (28).
5. a kind of liftable fruit picking according to claim 1 stores robot, it is characterised in that: the hydraulic pressure support
Bar (6) both ends and support rectangular slab (4) rotation connection, the picking arm hydraulic cylinder (15) both ends and the rotation of hydraulic cylinder connecting plate connect
It connects.
6. a kind of liftable fruit picking according to claim 1 stores robot, it is characterised in that: the device for picking
(17) outside is equipped with picking motor (20), and picking motor (20) output shaft is equipped with output gear (21), the picking
Side on the outside of head (19) close to output gear (21) is provided with engaging tooth (22), the output gear (21) and engaging tooth (22)
Rotation connection.
7. a kind of liftable fruit picking according to claim 6 stores robot, it is characterised in that: the picking head
(19) top outer ring is equipped with picking blade (23).
8. a kind of liftable fruit picking according to claim 1 stores robot, it is characterised in that: the rotary electric machine
(9) position between top and mechanical arm chassis (10) bottom is provided with gear wheel-train.
9. a kind of liftable fruit picking according to claim 1 stores robot, it is characterised in that: the downslide ramp
(24) bottom is equipped with baffle (25).
10. a kind of liftable fruit picking according to claim 1 stores robot, it is characterised in that: the vehicle seat (1)
Bottom is equipped with movable pulley (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210271.4A CN109110693A (en) | 2018-10-17 | 2018-10-17 | Liftable fruit picking and storing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210271.4A CN109110693A (en) | 2018-10-17 | 2018-10-17 | Liftable fruit picking and storing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109110693A true CN109110693A (en) | 2019-01-01 |
Family
ID=64854893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811210271.4A Pending CN109110693A (en) | 2018-10-17 | 2018-10-17 | Liftable fruit picking and storing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109110693A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0430716A (en) * | 1990-05-24 | 1992-02-03 | Iseki & Co Ltd | Robot for harvesting fruit |
| CN202379660U (en) * | 2011-12-26 | 2012-08-15 | 济南华北升降平台制造有限公司 | Cargo carrying type lifting platform |
| CN105940863A (en) * | 2016-06-23 | 2016-09-21 | 海南大学 | Solar mango picking machine |
| CN107318379A (en) * | 2017-08-03 | 2017-11-07 | 何天行 | A kind of fruit picking sorting vanning car |
| CN207269391U (en) * | 2017-10-12 | 2018-04-27 | 金华职业技术学院 | A kind of device for picking fruit with double layer hollow picking basin and cutter groove |
| CN207369618U (en) * | 2017-10-26 | 2018-05-18 | 北京农业智能装备技术研究中心 | A kind of greenhouse fruit and vegetable Cultivate administration AUTONOMOUS TASK robot system |
| CN108200809A (en) * | 2017-11-21 | 2018-06-26 | 铜陵市棵松农业科技有限公司 | A kind of picking fruit robot and control system |
-
2018
- 2018-10-17 CN CN201811210271.4A patent/CN109110693A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0430716A (en) * | 1990-05-24 | 1992-02-03 | Iseki & Co Ltd | Robot for harvesting fruit |
| CN202379660U (en) * | 2011-12-26 | 2012-08-15 | 济南华北升降平台制造有限公司 | Cargo carrying type lifting platform |
| CN105940863A (en) * | 2016-06-23 | 2016-09-21 | 海南大学 | Solar mango picking machine |
| CN107318379A (en) * | 2017-08-03 | 2017-11-07 | 何天行 | A kind of fruit picking sorting vanning car |
| CN207269391U (en) * | 2017-10-12 | 2018-04-27 | 金华职业技术学院 | A kind of device for picking fruit with double layer hollow picking basin and cutter groove |
| CN207369618U (en) * | 2017-10-26 | 2018-05-18 | 北京农业智能装备技术研究中心 | A kind of greenhouse fruit and vegetable Cultivate administration AUTONOMOUS TASK robot system |
| CN108200809A (en) * | 2017-11-21 | 2018-06-26 | 铜陵市棵松农业科技有限公司 | A kind of picking fruit robot and control system |
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| PB01 | Publication | ||
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Application publication date: 20190101 |