CN203896767U - Damage-free type fruit and vegetable picking device - Google Patents
Damage-free type fruit and vegetable picking device Download PDFInfo
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- CN203896767U CN203896767U CN201420331169.0U CN201420331169U CN203896767U CN 203896767 U CN203896767 U CN 203896767U CN 201420331169 U CN201420331169 U CN 201420331169U CN 203896767 U CN203896767 U CN 203896767U
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Abstract
The utility model discloses a damage-free type fruit and vegetable picking device. The damage-free type fruit and vegetable picking device comprises a driving device, a protecting device, a gripping device and a cutting device. The gripping device is installed in the protecting device, the cutting device is fixed to the outer end of the protecting device, the driving device is installed at the tail end of the protecting device, and the gripping device can extend out of or retract to the protecting device freely. The gripping device comprises four two-knuckle mechanical fingers, enveloping gripping can be achieved, four tendon ropes drive the four fingers to move, finally, the four tendon ropes are combined into one rope, and the fingers are stressed evenly. According to the damage-free type fruit and vegetable picking device, cutting and manufacturing are easy, and the damage-free type fruit and vegetable picking device is simple and small; the damage-free type fruit and vegetable picking device is driven by one tendon rope, so that the damage-free type fruit and vegetable picking device is light and convenient to use and does not occupy space; safe cutting can be achieved, and surrounding fruit and vegetable or branches and leaves cannot be damaged.
Description
Technical field
The utility model relates to a kind of fruit and vegetable picking machinery device that is loaded with protective device, belongs to agriculture harvest equipment field.
Background technology
Along with the development of agriculture field, the annual production of crops is increasing, because the time of receiving is restricted, cause a lot of fruits and vegetables to can not get safe harvesting, the pressure that the aspect of receiving faces is increasing, in order to improve the efficiency of receiving of crops, reduce peasant's workload, enter the intelligent mechanical paces of receiving of 21 century China's quickening research, up to the present, the mode of receiving of crops is more and more diversified, various agricultural robots arise at the historic moment, a lot of products have been applied in real work, but, equally also exist many insoluble problems, agricultural is received and is not realized real mechanization, first be exactly the unicity of plucking, widely different due to fruits and vegetables, cause the use of picking mechanical to be restricted, the cost of end effector is conventionally all higher, friend peasant does not bear high cost like this, therefore be not easy to promote, secondly, present picking mechanical arm easily damages fruit in harvesting process, cause a large amount of wastes, reduce peasant's income, therefore, designing a kind of harvesting in diversity fruits and vegetables and harvesting process protects the end effector of fruits and vegetables to have very large development prospect.
Summary of the invention
Goal of the invention
The utility model provides a kind of not damaged formula fruit and vegetable picking device, its objective is and solves a large amount of damage problems that agriculture harvesting process causes fruits and vegetables.
Technical scheme
A kind of not damaged formula fruit and vegetable picking device; mainly formed by drive unit, protective device, grabbing device, cutter sweep; it is characterized in that: grabbing device is arranged on protective device inside; cutter sweep is fixed on protective device outer end; drive unit is arranged on protective device end, and grabbing device can stretch out freely protective device outside or shrink back protective device inside.
Drive unit comprises a large motor and small machine, large motor is fixed on outer end cap, the output shaft of large motor is fixed in the small sleeve connecting axle of external screw thread small sleeve, the outer surface cover of external screw thread small sleeve has the large sleeve of internal thread, the large sleeve of internal thread bottom is fixed on mechanical palm bottom, the large sleeve lateral surface of internal thread is provided with four large sleeve slide blocks, the outer sleeve medial surface of protective device is provided with four chutes that adapt with large sleeve slide block, large sleeve slide block can slide in chute, large sleeve slide block and grabbing device are fixed together, large electric machine rotation drives large sleeve slide block to slide, make grabbing device stretch out protective device outside.
Cutter sweep comprises blade, knife rest, the first sliding tray and the second sliding tray, knife rest is fixed on the end face of outer sleeve by the first counter sink, blade is fixed on the outside of knife rest by connecting hole, blade can be rotated around connecting hole, traveller is simultaneously through the first sliding tray and the second sliding tray, one side of traveller connects tendon rope, and the motion of tendon rope drives traveller to move along the first sliding tray and the second sliding tray, the rotation of traveller band knife section.
Grabbing device comprises mechanical palm, decelerator, encoder, four fingers, kneading gear and transmission systems; Decelerator and encoder are fixed on mechanical palm bottom, and decelerator and encoder link together by mediating gear, and four fingers are positioned at manipulator palm side; Transmission system is positioned at mechanical palm inside and will points with decelerator and is connected, and transmission system comprises tendon rope, fixed pulley frame, bevel gear wheel and transverse axis, and bevel gear wheel is enclosed within on transverse axis, and the fixed pulley that tendon rope is walked around on fixed pulley frame is wrapped in the groove of transverse axis.
Finger is driven by small machine, has two dactylus: lower dactylus and upper dactylus, be connected, and by torsion spring control relative angle, the end face that mechanical palm contacts with fruits and vegetables is set to the elliposoidal of indent between upper dactylus and lower dactylus by screw rod on every finger.
Protective device outermost is outer sleeve, and one end of outer sleeve is sealed by outer end cap, and large motor is fixed on outer end cap, and cutter sweep is fixed on the other end of outer sleeve.
Advantage and effect
The utility model proposes a kind of not damaged formula fruit and vegetable picking device, tool has the following advantages and beneficial effect:
The utility model with protective device can avoid the damage of fruits and vegetables in harvesting process, can pluck the fruits and vegetables of variety classes, different size, solved the low defect of mechanical picking fruits and vegetables success rate.
Brief description of the drawings
Fig. 1 is the utility model overall appearance schematic diagram;
Fig. 2 is the utility model overall schematic;
Fig. 3 is the utility model grabbing device schematic internal view;
Fig. 4 is the utility model grabbing device schematic internal view;
Fig. 5 is the utility model grabbing device overall schematic;
Fig. 6 is the utility model grabbing device overall schematic;
Fig. 7 is the single finger schematic diagram of the utility model;
Fig. 8 is the single finger schematic diagram of the utility model;
Fig. 9 is the utility model cutter sweep schematic diagram;
Figure 10 is the utility model cutter sweep schematic diagram;
Figure 11 is the utility model overall schematic;
Figure 12 is the utility model entirety cutaway view;
Figure 13 is the utility model protective device internal end surface figure;
Figure 14 is the utility model protective device internal end surface figure;
Figure 15 is the large sleeve inner figure of the utility model external screw thread;
Figure 16 is the large sleeve inner figure of the utility model external screw thread;
Figure 17 is the utility model outer sleeve interior view;
Figure 18 is the utility model outer sleeve interior view.
Description of reference numerals:
1. large motor, 2. outer end cap, 3. outer sleeve, 4. tendon rope, 5. external screw thread small sleeve, 6. knife rest, 7. the large sleeve of internal thread, 8. small machine, 9. decelerator, 10. motor cover 11. is mediated gear, 12. bevel gear wheels, 13. fixed pulley framves, 14. times dactylus, dactylus on 15., 16. blades, 17. second blades, 18. travellers, 19. first sliding trays, 20. connecting holes, 21. second sliding trays, 22. first counter sinks, 23. torsion spring draw-in grooves, 24. tendon rope holes, 25. torsion spring jacks, 26. encoders, 27. dog screws, 28. mechanical palms, 29. side covers, 30. second counter sinks, 31. fingers, 35. transverse axis, 36. screwed holes, 37. major thread holes, 38. positioning screw holes, 39. bevel pinions, 40. bearings, 41. locating convex blocks, 42. large sleeve slide blocks, 43. small sleeve connecting axles, 44. chutes, 45. large torsion springs, 46. little torsion springs.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, the utility model is described further:
As shown in Fig. 1-Figure 18, the utility model relates to a kind of not damaged formula fruit and vegetable picking device, is a kind ofly to cut integral type fruit and vegetable picking machinery hand with grabbing of protective device, is mainly made up of drive unit, protective device, grabbing device, cutter sweep; Drive unit is arranged on the end of the outer sleeve 3 of protective device; be fixed on outer end cap 2; grabbing device is arranged on outer sleeve 3 inside of protective device; can free-extension (grabbing device can stretch out protective device outside freely; also can free shrink to protective device inside); cutter sweep is arranged on the outer end of protective device outer sleeve 3, fixes knife rest 6 by screw, and the benefit arranging is like this working space of cutter sweep outside can occupying volume.
Drive unit comprises a large motor 1 and small machine 8, large motor 1 is fixed on outer end cap 2, the output shaft of large motor 1 is fixed in the small sleeve connecting axle 43 of external screw thread small sleeve 5, the outer surface cover of external screw thread small sleeve 5 has the large sleeve 7 of internal thread, the large sleeve of internal thread 7 bottoms are fixed on mechanical palm 28 bottoms, large sleeve 7 lateral surfaces of internal thread are provided with four large sleeve slide blocks 42, outer sleeve 3 medial surfaces of protective device are provided with four chutes 44 that adapt with large sleeve slide block 42, large sleeve slide block 42 can slide in chute, large sleeve slide block 42 is fixed together with grabbing device, large motor 1 rotates and drives large sleeve slide block 42 to slide, thereby realize grabbing device and stretch out protective device outside.
Cutter sweep comprises blade 16, knife rest 6, the first sliding tray 19 and the second sliding tray 21, knife rest 6 is fixed on the end face of outer sleeve 3 by the first counter sink 22, blade 16 is fixed on the outside of knife rest 6 by connecting hole 20, blade can be rotated around connecting hole, traveller 18 is simultaneously through the first sliding tray 19 and the second sliding tray 21, one side of traveller 18 connects tendon rope 4, the motion of tendon rope 4 drives traveller 18 to move along the first sliding tray 19 and the second sliding tray 21, traveller 18 is with knife section 16 to rotate, and cuts off fruit branch.
Grabbing device comprises mechanical palm 28, decelerator 9, encoder 26, four fingers 31, mediates gear 11 and transmission system; Decelerator 9 and encoder 26 are fixed on mechanical palm 28 bottoms, and decelerator 9 links together by mediating gear 11 with encoder 26, and four fingers 31 are positioned at manipulator palm side; Transmission system is positioned at mechanical palm inside and will points with decelerator and is connected, transmission system comprises tendon rope 4, fixed pulley frame 13, bevel gear wheel 12 and transverse axis 35, bevel gear wheel 12 is enclosed within on transverse axis 35, and the fixed pulley that tendon rope 4 is walked around on fixed pulley frame 13 is wrapped in the groove of transverse axis 35.
Finger 31 is driven by small machine 8, on every finger, there are two dactylus: lower dactylus 14 and upper dactylus 15, between upper dactylus 15 and lower dactylus 14, be connected by screw rod, and by torsion spring control relative angle, tendon rope pulls four fingers to make finger bending, and the end face that mechanical palm 28 contacts with fruits and vegetables is set to the elliposoidal of indent.When original state, finger 31 and mechanical palm 28 are in vertical state, the maximum subtended angle of finger is 90 degree, every finger is driven by a tendon rope, four tendon ropes are walked around fixed pulley frame 13 in mechanical palm inside and are connected to a tendon rope, and then, above the reel of transverse axis 35, small machine 8 coordinates and pulls tendon rope with decelerator 9, mediate gear 11 decelerator 9 and encoder 26 are linked together, the angle that encoder Real-Time Monitoring small machine 8 turns over.
Protective device outermost is outer sleeve 3; belong to a part for forearm end, one end of outer sleeve 3 is sealed by outer end cap 2, and large motor 1 is fixed on outer end cap 2; the maximum gauge of grabbing device when the internal diameter of outer sleeve is slightly larger than four fingers and stretches, cutter sweep is fixed on the other end of outer sleeve 3.
In fruit and vegetable picking process, this not damaged formula of the utility model fruit and vegetable picking device mainly completes four steps, the initial time of plucking, grabbing device is the outside of stretching out at protective device, detect after fruits and vegetables at camera, this device moves to fruits and vegetables side, the first step, approach fruits and vegetables by grabbing device, realize the envelope of fruits and vegetables is captured, until four bending realizations after stable crawl of finger, the first step completes, then carry out second step, protective device drives grabbing device to move in protective device by the rotation of motor, after treating that grabbing device moves in protective device completely, second step completes, and then the 3rd step is taken fruits and vegetables in fruit basket to, drive unit control electric machine rotation makes grabbing device stretch out protective device, the 3rd step completes, last the 4th step, grabbing device is by controlling the rotation of small machine, realize opening of finger.Arrive this, completed the harvesting completely of fruits and vegetables.
Concrete harvesting process is as follows:
The first step, realizes finger the envelope of fruits and vegetables is captured.As shown in Fig. 3-Fig. 8, the initial position of plucking, four fingers 31 are parallel to each other, with 28 one-tenth an angle of 90 degrees of mechanical palm, first whole mechanical palm moves towards the direction of fruit, in the time that fruit is encountered mechanical palm 28, the power sensor of machinery palm 28 inner sides will detect pressure, stop mobile by the whole grabbing device of reponse system control, then, small machine 8 drives decelerator 9 to rotate, between reducer output shaft and transverse axis, pass through pair of meshing bevel gear (bevel gear wheel 12 and bevel pinion 39) transferring power, drive transverse axis 35 to rotate by the rotation of bevel pinion 39.
Transverse axis 35 is wound with a tendon rope, this tendon rope other end connects four same tendon ropes, these four tendon ropes are walked around the pulley on fixed pulley frame 13 towards side direction on mechanical palm 28 respectively, arrive four fingers 31 through the side of mechanical palm 28, then through the tendon rope hole 24 on lower dactylus 14, be finally fixed on the inner side of dactylus 15.Between upper dactylus 15 and lower dactylus 14, large torsion spring 45 is installed, one end of large torsion spring is inserted in torsion spring jack 25, the other end is stuck in torsion spring draw-in groove 23, a little torsion spring 46 is installed between lower dactylus 14 and mechanical palm 28, the torsion of large torsion spring 45 is greater than the torsion of little torsion spring 46, and the object of doing is like this dactylus 14 under being first bending in the time that finger is bending.
In the time that small machine 8 drives transverse axis 35 to rotate, transverse axis 35 pulls tendon rope to move down, finger 31 is subject to pulling of tendon rope, started to curve inwardly by lower dactylus 14, lower dactylus touches fruit and is subject to the reverse resistance of fruit, when after little torsion spring 46 is bending, torsion is greater than the torsion of large torsion spring 45, upper dactylus 15 starts bending, when upper dactylus touches after fruit, the size that detects power by the Force sensor of finger tips, reaches after the pressure limit setting, and controls motor and stops operating, arrive this, the envelope of having realized finger captures.
Second step, finger moves in protective device.As shown in Figure 11-Figure 18, after confirming that finger has captured, large motor 1 starts to rotate, output shaft and the external screw thread small sleeve connecting axle 43 of large motor 1 are fixed together, together with external screw thread small sleeve 5 passes through screw-threaded engagement with the large sleeve 7 of internal thread, the bottom of the large sleeve 7 of internal thread is fixed by screws in the lower surface of palm 28, the external cylindrical surface of the large sleeve 7 of internal thread is provided with four large sleeve slide blocks 42, the same inner cylinder face at outer sleeve 3 has four chutes 44, chute 44 coordinates with large sleeve slide block 42, realizes large sleeve slide block 42 in the interior slip of chute 44.
When driving external screw thread small sleeve 5, large motor 1 rotates, external screw thread small sleeve can not move, and the large sleeve 7 of internal thread is because the reason of large sleeve slide block 42 can not be rotated, therefore, the rotation of external screw thread small sleeve 5 has driven the movement of the large sleeve 7 of internal thread, the large sleeve of internal thread 7 is fixed together with grabbing device, thereby has driven grabbing device to move along the axis direction of outer sleeve 3, outer sleeve 3 the insides that finally made grabbing device indentation.
The 3rd step, starts carpopodium to cut after fruits and vegetables are moved in protective device.As Fig. 1, Fig. 2, Fig. 9, shown in Figure 10, cutter sweep is mainly by blade 16, traveller 18, the first sliding tray 19, the second sliding tray 21, connecting hole 20, the first counter sink 22, knife rest 6 forms, knife rest 6 is fixed on one end of outer sleeve 3 by the first counter sink 22, one end of tendon rope 4 connects an independently motor, the other end is fixed on traveller 18, traveller 18 two ends are inserted in respectively in the first sliding tray 19 and the second sliding tray 21, the first sliding tray 19 is positioned on blade, the second sliding tray 21 is positioned on knife rest 6, connecting hole 20 links together knife rest 6 and blade 16, blade 16 is arranged on the two ends of knife rest 6, the parallel placement of two blades.
In the cutting incipient stage, motor pulls tendon rope 4 to move, and tendon rope 4 pulls traveller 18 to move along the total space of the first sliding tray 19 and the second sliding tray 21, and blade 16 rotates taking connecting hole 20 as the center of circle, and two blades rotate the cutting of realization to whole cylinder mutually.
The 4th step is placed fruit, and after cutting off carpopodium, fruit is put into assigned address by grabbing device.First mobile picker is to assigned address, large motor 1 rotates counterclockwise and drives external screw thread small sleeve 5 to rotate, and then drive the large sleeve 7 of internal thread outwards to move along the axis direction of outer sleeve 3, then drive grabbing device outwards to move, after whole grabbing device moves away, large motor 1 stops operating, drive unit setting in motion, small machine 8 rotates counterclockwise, drive decelerator rotates, on decelerator 9 output shafts and encoder 26 output shafts, be equipped with and mediate gear 11, by a pair of kneading gear 11, decelerator 9 and encoder 26 are linked together, in crawl process, encoder 26 has recorded the angle that motor 8 turns over, so in the process of putting down, turn over identical angle by encoder 26, four fingers finally change into the state of being parallel to each other, realize the placement of fruit.
Claims (6)
1. a not damaged formula fruit and vegetable picking device; mainly formed by drive unit, protective device, grabbing device, cutter sweep; it is characterized in that: grabbing device is arranged on protective device inside; cutter sweep is fixed on protective device outer end; drive unit is arranged on protective device end, and grabbing device can stretch out freely protective device outside or shrink back protective device inside.
2. not damaged formula fruit and vegetable picking device according to claim 1, it is characterized in that: drive unit comprises a large motor (1) and small machine (8), large motor (1) is fixed on outer end cap (2), the output shaft of large motor (1) is fixed in the small sleeve connecting axle (43) of external screw thread small sleeve (5), the outer surface cover of external screw thread small sleeve (5) has the large sleeve of internal thread (7), the large sleeve of internal thread (7) bottom is fixed on mechanical palm (28) bottom, the large sleeve of internal thread (7) lateral surface is provided with four large sleeve slide blocks (42), outer sleeve (3) medial surface of protective device is provided with four chutes (44) that adapt with large sleeve slide block (42), large sleeve slide block (42) can slide in chute, large sleeve slide block (42) is fixed together with grabbing device, large motor (1) rotates and drives large sleeve slide block (42) to slide, make grabbing device stretch out protective device outside.
3. not damaged formula fruit and vegetable picking device according to claim 1, it is characterized in that: cutter sweep comprises blade (16), knife rest (6), the first sliding tray (19) and the second sliding tray (21), knife rest (6) is fixed on the end face of outer sleeve (3) by the first counter sink (22), blade (16) is fixed on the outside of knife rest (6) by connecting hole (20), blade can be rotated around connecting hole, traveller (18) is simultaneously through the first sliding tray (19) and the second sliding tray (21), one side of traveller (18) connects tendon rope (4), the motion of tendon rope (4) drives traveller (18) mobile along the first sliding tray (19) and the second sliding tray (21), traveller (18) band knife section (16) rotation.
4. not damaged formula fruit and vegetable picking device according to claim 1, is characterized in that: grabbing device comprises mechanical palm (28), decelerator (9), encoder (26), four fingers (31), mediates gear (11) and transmission system; Decelerator (9) and encoder (26) are fixed on mechanical palm (28) bottom, and decelerator (9) links together by mediating gear (11) with encoder (26), and four fingers (31) are positioned at manipulator palm side; Transmission system is positioned at mechanical palm inside and will points with decelerator and is connected, transmission system comprises tendon rope (4), fixed pulley frame (13), bevel gear wheel (12) and transverse axis (35), it is upper that bevel gear wheel (12) is enclosed within transverse axis (35), and the fixed pulley that tendon rope (4) is walked around on fixed pulley frame (13) is wrapped in the groove of transverse axis (35).
5. not damaged formula fruit and vegetable picking device according to claim 4, it is characterized in that: finger (31) is driven by small machine (8), on every finger, there are two dactylus: lower dactylus (14) and upper dactylus (15), between upper dactylus (15) and lower dactylus (14), be connected by screw rod, and by torsion spring control relative angle, the end face that mechanical palm (28) contacts with fruits and vegetables is set to the elliposoidal of indent.
6. not damaged formula fruit and vegetable picking device according to claim 1; it is characterized in that: protective device outermost is outer sleeve (3); one end of outer sleeve (3) is sealed by outer end cap (2); it is upper that large motor (1) is fixed on outer end cap (2), and cutter sweep is fixed on the other end of outer sleeve (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420331169.0U CN203896767U (en) | 2014-06-20 | 2014-06-20 | Damage-free type fruit and vegetable picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420331169.0U CN203896767U (en) | 2014-06-20 | 2014-06-20 | Damage-free type fruit and vegetable picking device |
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| Publication Number | Publication Date |
|---|---|
| CN203896767U true CN203896767U (en) | 2014-10-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420331169.0U Expired - Fee Related CN203896767U (en) | 2014-06-20 | 2014-06-20 | Damage-free type fruit and vegetable picking device |
Country Status (1)
| Country | Link |
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| CN (1) | CN203896767U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105917858A (en) * | 2016-06-07 | 2016-09-07 | 中国农业大学 | Rotary fruit picking manipulator |
| CN106576604A (en) * | 2016-12-06 | 2017-04-26 | 南昌大学 | Fruit and vegetable picking grabber |
| CN108476737A (en) * | 2018-05-14 | 2018-09-04 | 广西职业技术学院 | A kind of fruit and vegetable picking machinery hand |
| CN108811756A (en) * | 2018-08-03 | 2018-11-16 | 华中农业大学 | A kind of multi-functional pear device for picking and picking method |
| CN109041774A (en) * | 2018-08-08 | 2018-12-21 | 岳西县永发机械有限公司 | A kind of tubers Chinese herbal medicine picker |
| CN109287279A (en) * | 2018-11-09 | 2019-02-01 | 南京工程学院 | A kind of automatic fruit and vegetable picking machinery hand of the torsional mode of pressure controllable |
| CN111226600A (en) * | 2020-03-12 | 2020-06-05 | 浙江大学城市学院 | Under-actuated fruit and vegetable picking manipulator and picking method |
| WO2021141954A1 (en) * | 2020-01-06 | 2021-07-15 | Fresh Biosystems, Llc | Harvesting system, and methods of harvesting produce |
-
2014
- 2014-06-20 CN CN201420331169.0U patent/CN203896767U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105917858A (en) * | 2016-06-07 | 2016-09-07 | 中国农业大学 | Rotary fruit picking manipulator |
| CN105917858B (en) * | 2016-06-07 | 2018-05-15 | 中国农业大学 | A kind of rotary fruits picking mechanical hand |
| CN106576604A (en) * | 2016-12-06 | 2017-04-26 | 南昌大学 | Fruit and vegetable picking grabber |
| CN108476737B (en) * | 2018-05-14 | 2023-05-23 | 广西职业技术学院 | Fruit and vegetable picking manipulator |
| CN108476737A (en) * | 2018-05-14 | 2018-09-04 | 广西职业技术学院 | A kind of fruit and vegetable picking machinery hand |
| CN108811756A (en) * | 2018-08-03 | 2018-11-16 | 华中农业大学 | A kind of multi-functional pear device for picking and picking method |
| CN108811756B (en) * | 2018-08-03 | 2023-05-26 | 华中农业大学 | Multifunctional pear picking device and picking method |
| CN109041774A (en) * | 2018-08-08 | 2018-12-21 | 岳西县永发机械有限公司 | A kind of tubers Chinese herbal medicine picker |
| CN109287279A (en) * | 2018-11-09 | 2019-02-01 | 南京工程学院 | A kind of automatic fruit and vegetable picking machinery hand of the torsional mode of pressure controllable |
| CN109287279B (en) * | 2018-11-09 | 2024-01-23 | 南京工程学院 | Pressure-controllable torsion type automatic fruit and vegetable picking manipulator |
| WO2021141954A1 (en) * | 2020-01-06 | 2021-07-15 | Fresh Biosystems, Llc | Harvesting system, and methods of harvesting produce |
| EP4087381A4 (en) * | 2020-01-06 | 2024-01-24 | Fresh Biosystems, LLC | Harvesting system, and methods of harvesting produce |
| CN111226600A (en) * | 2020-03-12 | 2020-06-05 | 浙江大学城市学院 | Under-actuated fruit and vegetable picking manipulator and picking method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141029 Termination date: 20160620 |