WO2021046889A1 - Fruit picking robot for orchard - Google Patents
Fruit picking robot for orchard Download PDFInfo
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- WO2021046889A1 WO2021046889A1 PCT/CN2019/106954 CN2019106954W WO2021046889A1 WO 2021046889 A1 WO2021046889 A1 WO 2021046889A1 CN 2019106954 W CN2019106954 W CN 2019106954W WO 2021046889 A1 WO2021046889 A1 WO 2021046889A1
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- picking
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- fruit
- fixed
- collection
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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
- A01D46/22—Baskets or bags attachable to the picker
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Definitions
- the invention relates to the technical field of agricultural robots, in particular to a fruit picking robot for orchards.
- the purpose of the present invention is to provide a fruit picking robot for orchards to solve the problems raised in the background art.
- a fruit picking robot for an orchard comprising a picking workbench and a driving wheel installed at the bottom end of the picking workbench;
- the upper surface of the picking workbench is provided with a picking mechanism and a collection mechanism
- the picking mechanism and the collection mechanism are connected by a buffer mechanism
- a picking arm hydraulic cylinder 10 is hinged on the side wall of the automatic telescopic rod 6, and the top end of the picking arm hydraulic cylinder 10 is hinged on the side wall of the picking arm 8.
- a first spring 11 is connected to the outer ring.
- the picking assembly includes a mounting plate 12, the mounting plate 12 is fixed at the top of the picking arm 8, and the upper surface of the mounting plate 12 is symmetrically hinged with a hemispherical picking bucket 13.
- the hemispherical picking bucket 13 is controlled to open and close by a picking bucket hydraulic cylinder 14.
- the bottom end of the picking bucket hydraulic cylinder 14 is hinged on the upper surface of the mounting plate 12, and the top end of the picking bucket hydraulic cylinder 14 It is hinged on the back of the picking bucket hydraulic cylinder 14; a cutting knife 15 is relatively fixed on the inner wall of the top end of the picking bucket hydraulic cylinder 14.
- the picking bucket hydraulic cylinder 14 When the picking assembly reaches the proper position, the picking bucket hydraulic cylinder 14 is activated to control the two hemispherical picking buckets 13 to close. During the closing process, the two cutting knives 15 are close to each other to complete the cutting of the fruit stem, and the fruit will fall. In the closed hemispherical picking bucket 13, it can be prevented from falling on the ground, and then the drive assembly is adjusted again to move the picking component to the buffer mechanism, and the picking bucket hydraulic cylinder 14 is started again to control the two hemispherical picking buckets 13 to separate. Fall on the buffer mechanism for subsequent collection and screening steps.
- the buffer mechanism includes a first buffer column 16 and a second buffer column 17 symmetrically fixed on the upper surface of the picking workbench 1, the first buffer column 16 and The top end of the second buffer column 17 is provided with a clamping slot 18, and a clamping block 19 is clamped in the clamping slot 18; the front ends of the two first buffer columns 16 are symmetrically fixed with an L-shaped connecting column 23, and the L-shaped connection A fixed shaft 24 is installed at the top of the column 23, and the winding roller 25 is sleeved on the fixed shaft 24; the picking mechanism is installed between the two first buffer columns 16.
- a buffer mechanism is especially installed at the outer end of the picking mechanism.
- the buffer material such as plastic film or non-woven fabric is wound on the winding roller 25, and one end of the buffer material is drawn out. It is pulled out and stuck in the clamping slot 18 at the top of the first buffer column 16 and the second buffer column 17 in turn, and then is stuck by the blocking block 19 to form a slowly sliding buffer surface. After the fruit is picked, it moves to the top of the buffer material. This can protect the fruit from hard hits.
- the rear end of the second buffer column 17 is fixed with a buffer box 20, the top of the side wall of the buffer box 20 close to the second buffer column 17 is provided with a pressure groove 21, and the pressure groove 21 is provided with A fixing bolt 22; a buffer plate 27 is hinged on the inside of the buffer box 20, and the rear side wall of the buffer plate 27 is connected to the inner wall of the buffer box 20 through a second spring 28; the collection box 26 is connected to the inner wall of the buffer box 20 The bottom end of the buffer box 20 communicates with each other.
- the winding roller 25, the first buffer column 16, the second buffer column 17 and the buffer box 20 can form a more complete buffer collection part, and the fruit enters In the buffer box 20, under the action of the buffer plate 27, the second spring 28 is compressed, and the fruit enters the collection box 26 below the buffer box 20.
- the screening assembly includes at least four screening rollers 29, both ends of the screening roller 29 are rotatably installed in the rotating seat 31,
- the rotating seat 31 is fixed on the inner wall of the collecting box 26; the sieving rollers 29 are placed obliquely, and the gaps between adjacent sieving rollers 29 are successively increased; the bottom end of the collecting box 26 is provided with There are at least three screening frames 30, and the screening frames 30 are located directly below the gap.
- the fruit passes through the buffer plate 27 and enters the screening assembly, slides down along the inclination angle of the screening roller 29, and is sieved in sequence according to the size of the fruit.
- the smallest size slides from the gap first, and the medium size falls from the second gap.
- the largest size falls from the last gap.
- the number of screening rolls 29 can be selected and the size of the gap between adjacent screening rolls 29 can be controlled to achieve the best screening effect.
- the finished fruit enters the screening frame 30 according to the size.
- the electrical components appearing in this article are all connected to the external main controller and 220V mains power, and the main controller can be a computer and other conventional known equipment that controls.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A fruit picking robot for an orchard comprising a picking operation platform (1) and a drive wheel (2) installed at a lower end of the picking operation platform (1). An upper surface of the picking operation platform (1) is provided with a picking mechanism and a collection mechanism. The picking mechanism and the collection mechanism are connected via a buffering mechanism. The picking mechanism comprises a drive assembly and a picking assembly. The collection mechanism comprises a collection container (26). A sorting assembly is provided within the collection container (26). The robot picks ripe fruits in an orchard, and improves picking efficiency while reducing manual labor during picking. In addition, the picking robot is different from existing picking devices by further adding the collection function, thereby minimizing damage resulting from machinery, protecting fruits, and further enabling fruits to be sorted according to the size so as to achieve fruit sorting and collection.
Description
本发明涉及农用机器人技术领域，具体是一种果园用水果采摘机器人。The invention relates to the technical field of agricultural robots, in particular to a fruit picking robot for orchards.
水果富含丰富的维生素、水分和糖分，还能够促进消化，受到人们的喜爱，果园种植具有较大的经济收益。Fruits are rich in vitamins, water and sugars, and can also promote digestion, and are loved by people. Orchard planting has great economic benefits.
目前我国果园中对于水果的采摘大部分是以人工采摘为主，不仅效率低，而且劳动量大，如果采摘不及时很容易导致经济损失，随着机器人技术的发展，人们开始尝试使用自动化的采摘装置，但是目前的采摘装置虽然比人工采摘效率高，但是在采摘过程中容易产生机械性损伤，不利于果实的销售。At present, most of the fruit picking in my country’s orchards is mainly manual picking, which is not only inefficient, but also labor-intensive. If the picking is not timely, it will easily lead to economic losses. With the development of robotics, people have begun to try to use automated picking. Although the current picking device is more efficient than manual picking, it is prone to mechanical damage during the picking process, which is not conducive to fruit sales.
发明内容Summary of the invention
本发明的目的在于提供一种果园用水果采摘机器人，以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a fruit picking robot for orchards to solve the problems raised in the background art.
为实现上述目的，本发明提供如下技术方案：In order to achieve the above objectives, the present invention provides the following technical solutions:
一种果园用水果采摘机器人，包括采摘工作台和安装在所述采摘工作台底端的驱动轮；A fruit picking robot for an orchard, comprising a picking workbench and a driving wheel installed at the bottom end of the picking workbench;
所述采摘工作台的上表面设有采摘机构和收集机构；The upper surface of the picking workbench is provided with a picking mechanism and a collection mechanism;
所述采摘机构和所述收集机构通过缓冲机构相连接；The picking mechanism and the collection mechanism are connected by a buffer mechanism;
所述采摘机构包括驱动组件和采摘组件；The picking mechanism includes a driving component and a picking component;
所述收集机构包括收集箱，所述收集箱的内部设有筛分组件。The collection mechanism includes a collection box, and a screening assembly is arranged inside the collection box.
作为本发明进一步的方案：所述驱动组件包括安装在所述采摘工作台上表面的自动伸缩杆，所述自动伸缩杆和所述采摘工作台之间设有平面轴承，所述采摘工作台的内部安装有电机，所述电机的输出端通过联轴器与转轴驱动连接，所述转轴的尾端固定在所述自动伸缩杆的底端；As a further solution of the present invention: the drive assembly includes an automatic telescopic rod installed on the upper surface of the picking workbench, a plane bearing is arranged between the automatic telescopic rod and the picking workbench, and the A motor is installed inside, the output end of the motor is drivingly connected to a rotating shaft through a coupling, and the tail end of the rotating shaft is fixed at the bottom end of the automatic telescopic rod;
所述自动伸缩杆的顶端固定有安装座，所述安装座中转动安装有采摘臂， 所述安装座和采摘臂通过轴销连接；A mounting seat is fixed at the top of the automatic telescopic rod, a picking arm is rotatably mounted in the mounting seat, and the mounting seat and the picking arm are connected by a shaft pin;
所述采摘组件安装在所述采摘臂的顶端。The picking assembly is installed at the top of the picking arm.
作为本发明进一步的方案：所述自动伸缩杆的侧壁上铰接有采摘臂液压油缸，所述采摘臂液压油缸的顶端铰接在所述采摘臂的侧壁上，所述采摘臂液压油缸的外圈连接有第一弹簧。As a further solution of the present invention: a picking arm hydraulic cylinder is hinged on the side wall of the automatic telescopic rod, the top end of the picking arm hydraulic cylinder is hinged on the side wall of the picking arm, and the outer side of the picking arm hydraulic cylinder The ring is connected with a first spring.
作为本发明进一步的方案：所述采摘组件包括安装板，所述安装板固定在所述轴销的顶端，所述安装板的上表面对称铰接有半球形采摘斗，所述半球形采摘斗均通过采摘斗液压油缸控制开合，所述采摘斗液压油缸的底端铰接在所述安装板的上表面，所述采摘斗液压油缸的顶端铰接在所述采摘斗液压油缸的背面；As a further solution of the present invention: the picking assembly includes a mounting plate, the mounting plate is fixed at the top of the shaft pin, the upper surface of the mounting plate is symmetrically hinged with a hemispherical picking bucket, and the hemispherical picking buckets are all Opening and closing is controlled by a picking bucket hydraulic cylinder, the bottom end of the picking bucket hydraulic cylinder is hinged on the upper surface of the mounting plate, and the top end of the picking bucket hydraulic cylinder is hinged on the back of the picking bucket hydraulic cylinder;
所述采摘斗液压油缸顶端内壁上相对固定有切割刀。A cutting knife is relatively fixed on the inner wall of the top end of the hydraulic oil cylinder of the picking bucket.
作为本发明进一步的方案：所述缓冲机构包括对称固定在所述采摘工作台上表面的第一缓冲柱和第二缓冲柱，所述第一缓冲柱和第二缓冲柱的顶端均开设有卡槽，所述卡槽中卡接有卡块；As a further solution of the present invention: the buffer mechanism includes a first buffer column and a second buffer column symmetrically fixed on the upper surface of the picking workbench, and the top of the first buffer column and the second buffer column are both provided with a card Slot, a card block is clamped in the card slot;
两个第一缓冲柱的前端对称固定有L型连接柱，所述L型连接柱的顶端安装有固定轴，收卷辊套设在所述固定轴上；The front ends of the two first buffer columns are symmetrically fixed with an L-shaped connecting column, the top of the L-shaped connecting column is equipped with a fixed shaft, and the winding roller is sleeved on the fixed shaft;
所述采摘机构安装在两个第一缓冲柱之间。The picking mechanism is installed between the two first buffer columns.
作为本发明进一步的方案：所述第二缓冲柱的后端固定有缓冲箱，所述缓冲箱靠近所述第二缓冲柱的侧壁顶端开设有压槽，所述压槽中设有固定螺栓；As a further solution of the present invention: a buffer box is fixed at the rear end of the second buffer column, a pressure groove is opened on the top end of the side wall of the buffer box near the second buffer column, and a fixing bolt is provided in the pressure groove ；
所述缓冲箱的内部铰接有缓冲板，所述缓冲板的后侧壁通过第二弹簧与所述缓冲箱的内壁相连接；A buffer plate is hinged to the inside of the buffer box, and the rear side wall of the buffer plate is connected with the inner wall of the buffer box through a second spring;
所述收集箱与所述缓冲箱的底端相连通。The collection box is communicated with the bottom end of the buffer box.
作为本发明进一步的方案：所述筛分组件包括至少四根筛分辊，所述筛分辊的两端均转动安装在转动座中，所述转动座固定在所述收集箱的内壁上；As a further solution of the present invention: the screening assembly includes at least four screening rolls, both ends of the screening rolls are rotatably mounted in a rotating seat, and the rotating seat is fixed on the inner wall of the collection box;
所述筛分辊倾斜放置，且相邻筛分辊之间的缝隙依次增大；The sieving rolls are placed obliquely, and the gap between adjacent sieving rolls increases in sequence;
所述收集箱的底端设有至少三个筛分框，所述筛分框位于所述缝隙的正下方。At least three screening frames are provided at the bottom end of the collection box, and the screening frames are located directly below the gap.
作为本发明进一步的方案：所述筛分框的内部设有弹性板，所述筛分框的底端开设有凹槽，所述凹槽中连接有第三弹簧，所述第三弹簧的另一端固定在所述弹性板的下表面。As a further solution of the present invention: the inside of the screening frame is provided with an elastic plate, the bottom end of the screening frame is provided with a groove, a third spring is connected in the groove, and the other One end is fixed on the lower surface of the elastic plate.
与现有技术相比，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
1、该果园用水果采摘机器人，启动电机，即可通过转轴带动自动伸缩杆在采摘工作台的上表面转动，对采摘组件的大致角度进行调整，启动自动伸缩杆即可控制采摘组件的高度，能满足对不同高度的果实的采摘，同时调整采摘臂在自动伸缩杆上的倾斜角度从而对采摘果实的位置进行精准的调整；1. The fruit picking robot for the orchard can start the motor, and the automatic telescopic rod can be driven to rotate on the upper surface of the picking table through the rotating shaft to adjust the approximate angle of the picking assembly. The height of the picking assembly can be controlled by starting the automatic telescopic rod. It can meet the requirements of picking fruits of different heights, while adjusting the inclination angle of the picking arm on the automatic telescopic rod to accurately adjust the position of picking fruits;
2、启动采摘臂液压油缸控制采摘臂液压油缸伸长，第一弹簧被拉伸，采摘臂趋于竖直状态，启动采摘臂液压油缸控制采摘臂液压油缸缩短，第一弹簧被压缩，采摘臂趋于垂直状态，利用控制采摘臂液压油缸的状态自动调整采摘臂在自动伸缩杆上的倾斜角度；2. Start the picking arm hydraulic cylinder to control the extension of the picking arm hydraulic cylinder, the first spring is stretched, the picking arm tends to be upright, start the picking arm hydraulic cylinder to control the shortening of the picking arm hydraulic cylinder, the first spring is compressed, and the picking arm Tend to a vertical state, and automatically adjust the inclination angle of the picking arm on the automatic telescopic rod by controlling the state of the hydraulic cylinder of the picking arm;
3、启动采摘斗液压油缸控制两个半球形采摘斗合拢，在合拢的过程中，两个切割刀相互靠近，完成对果实柄的切割，果实落在合拢的半球形采摘斗中，再次调整驱动组件将采摘组件移动到缓冲机构上，再次启动采摘斗液压油缸控制两个半球形采摘斗分开，果实落在缓冲机构上进行后续的收集筛分等步骤；3. Start the picking bucket hydraulic cylinder to control the closing of the two hemispherical picking buckets. During the closing process, the two cutting knives are close to each other to complete the cutting of the fruit stem. The fruit falls in the closed hemispherical picking bucket, and the drive is adjusted again The component moves the picking component to the buffer mechanism, and restarts the picking bucket hydraulic cylinder to control the separation of the two hemispherical picking buckets, and the fruit falls on the buffer mechanism for subsequent collection and screening steps;
4、将缓冲材料收卷在收卷辊上后牵引出来，依次卡在第一缓冲柱和第二缓冲柱顶端的卡槽中，最后卡在压槽中，再利用卡块和固定螺栓固定，收卷辊、第一缓冲柱、第二缓冲柱和缓冲箱可形成一个完整的缓冲收集部分，果实进入缓冲箱中；4. Wind the buffer material on the winding roller and pull it out, and then jam in the first buffer column and the second buffer column at the top of the slot, and finally in the pressure slot, and then use the locking block and the fixing bolt to fix it. The winding roller, the first buffer column, the second buffer column and the buffer box can form a complete buffer collection part, and the fruit enters the buffer box;
5、果实顺着筛分辊的倾斜角度下滑，根据果实的大小依次被筛分，尺寸 最小的首先从缝隙中滑落，尺寸中等的从第二个缝隙中掉落，尺寸最大的从最后一个缝隙中掉落，筛分完成后的果实按尺寸大小进入筛分框；5. The fruit slides along the inclination angle of the sieving roller, and is sieved according to the size of the fruit. The smallest size falls from the gap first, the medium size falls from the second gap, and the largest size falls from the last gap. Falling in the middle, the sieved fruit enters the sieving frame according to the size;
6、果实落在筛分框中的弹性板上，弹性板下移，同时第三弹簧被压缩，在弹性板和第三弹簧的作用下，能够避免果实直接撞击上筛分框的底端，具有保护的作用。6. The fruit falls on the elastic plate of the screening frame, the elastic plate moves down, and the third spring is compressed. Under the action of the elastic plate and the third spring, the fruit can be prevented from directly hitting the bottom end of the upper screening frame. Has a protective effect.
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例。In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are merely of the present invention. Some examples.
图1为果园用水果采摘机器人的结构示意图。Figure 1 is a schematic diagram of the structure of a fruit picking robot for an orchard.
图2为图1中A部分的放大结构示意图。Fig. 2 is a schematic diagram of an enlarged structure of part A in Fig. 1.
图3为果园用水果采摘机器人的另一结构示意图。Fig. 3 is a schematic diagram of another structure of the fruit picking robot for orchard.
图4为果园用水果采摘机器人中收集箱的俯视图。Figure 4 is a top view of the collection box in the fruit picking robot for the orchard.
图5为果园用水果采摘机器人中筛分框的剖视图。Fig. 5 is a cross-sectional view of the screening frame in the fruit picking robot for orchard.
图中：1-采摘工作台，2-驱动轮，3-电机，4-转轴，5-平面轴承，6-自动伸缩杆，7-安装座，8-采摘臂，9-轴销，10-采摘臂液压油缸，11-第一弹簧，12-安装板，13-半球形采摘斗，14-采摘斗液压油缸，15-切割刀，16-第一缓冲柱，17-第二缓冲柱，18-卡槽，19-卡块，20-缓冲箱，21-压槽，22-固定螺栓，23-L型连接柱，24-固定轴，25-收卷辊，26-收集箱，27-缓冲板，28-第二弹簧，29-筛分辊，30-筛分框，31-转动座，32-弹性板，33-凹槽，34-第三弹簧。In the picture: 1-picking workbench, 2-driving wheel, 3-motor, 4-rotating shaft, 5-plane bearing, 6-automatic telescopic rod, 7-mounting seat, 8-picking arm, 9-axis pin, 10- Picking arm hydraulic cylinder, 11-first spring, 12-mounting plate, 13-hemispherical picking bucket, 14-picking bucket hydraulic cylinder, 15-cutting knife, 16-first buffer column, 17-second buffer column, 18 -Card slot, 19- card block, 20- buffer box, 21- pressure groove, 22- fixed bolt, 23-L type connecting column, 24-fixed shaft, 25- wind-up roller, 26- collection box, 27- buffer Plate, 28-second spring, 29-screening roller, 30-screening frame, 31-rotating seat, 32-elastic plate, 33-groove, 34-third spring.
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the technical problems, technical solutions, and beneficial effects to be solved by the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.
实施例1Example 1
请参阅图1～2，本发明提供的一个实施例中，一种果园用水果采摘机器人，包括采摘工作台1和安装在所述采摘工作台1底端的驱动轮2；所述采摘工作台1的上表面设有采摘机构和收集机构；所述采摘机构和所述收集机构通过缓冲机构相连接；所述采摘机构包括驱动组件和采摘组件；所述收集机构包括收集箱26，所述收集箱26的内部设有筛分组件。Please refer to Figures 1 to 2. In an embodiment provided by the present invention, a fruit picking robot for an orchard includes a picking workbench 1 and a driving wheel 2 installed at the bottom of the picking workbench 1; the picking workbench 1 The upper surface is provided with a picking mechanism and a collection mechanism; the picking mechanism and the collection mechanism are connected by a buffer mechanism; the picking mechanism includes a drive assembly and a picking assembly; the collection mechanism includes a collection box 26, the collection box The inside of 26 is equipped with a screening assembly.
该果园用水果采摘机器人，可以在果园中采摘成熟的果实，不仅提高了采摘效率而且减轻了工作人员采摘负担，同时该采摘机器人不同于现有的采摘装置，还增加了收集的功能，能保护果实，另外还能将果实根据大小进行筛分，实现了对果实的筛选收集。The fruit picking robot used in the orchard can pick ripe fruits in the orchard, which not only improves the picking efficiency but also reduces the picking burden of the staff. At the same time, the picking robot is different from the existing picking device, and it also increases the collection function and can protect Fruits, in addition, the fruits can be sieved according to size, which realizes the selection and collection of fruits.
在具体使用时，首先利用驱动组件调整采摘组件的位置，再利用采摘组件将果实摘下后利用缓冲机构进入收集箱26中，能够保护果实，避免果实在采摘的过程中遭到碰损，降低了坏果率，最后再利用筛分组件对不同尺寸的果实进行筛分和收集，便于后期根据果实的大小和品质进行分批销售。In specific use, first use the drive assembly to adjust the position of the picking assembly, and then use the picking assembly to pick the fruit and use the buffer mechanism to enter the collection box 26, which can protect the fruit, avoid damage to the fruit during the picking process, and reduce In order to reduce the bad fruit rate, the screening component is used to screen and collect fruits of different sizes, which is convenient for later batch sales according to the size and quality of the fruit.
进一步的，所述驱动组件包括安装在所述采摘工作台1上表面的自动伸缩杆6，所述自动伸缩杆6和所述采摘工作台1之间设有平面轴承5，所述采摘工作台1的内部安装有电机3，所述电机3的输出端通过联轴器与转轴4驱动连接，所述转轴4的尾端固定在所述自动伸缩杆6的底端；所述自动伸缩杆6的顶端固定有安装座7，所述安装座7中转动安装有采摘臂8，所述安装座7和采摘臂8通过轴销9连接；所述采摘组件安装在所述采摘臂8的顶端。Further, the drive assembly includes an automatic telescopic rod 6 installed on the upper surface of the picking workbench 1, a plane bearing 5 is arranged between the automatic telescopic rod 6 and the picking workbench 1, and the picking workbench 1 is equipped with a motor 3, the output end of the motor 3 is drivingly connected to the rotating shaft 4 through a coupling, the tail end of the rotating shaft 4 is fixed at the bottom end of the automatic telescopic rod 6; the automatic telescopic rod 6 A mounting seat 7 is fixed on the top of the mounting seat 7, and a picking arm 8 is rotatably installed in the mounting seat 7, and the mounting seat 7 and the picking arm 8 are connected by a shaft pin 9; the picking assembly is mounted on the top of the picking arm 8.
启动电机3，即可通过转轴4带动自动伸缩杆6在采摘工作台1的上表面转动，由此能调整驱动组件的大致角度，从而对采摘组件的大致角度进行调整，启动自动伸缩杆6即可控制采摘组件的高度，能满足对不同高度的果实的采摘，同时调整采摘臂8在自动伸缩杆6上的倾斜角度从而对果实的位置进行精准的调整，从而利用采摘组件对果实进行采摘。Start the motor 3, and the automatic telescopic rod 6 can be driven to rotate on the upper surface of the picking table 1 through the rotating shaft 4, so that the approximate angle of the drive assembly can be adjusted, and the approximate angle of the picking assembly can be adjusted, and the automatic telescopic rod 6 is activated. The height of the picking assembly can be controlled to meet the requirements for picking fruits of different heights. At the same time, the inclination angle of the picking arm 8 on the automatic telescopic rod 6 can be adjusted to accurately adjust the position of the fruit, so that the picking assembly can be used to pick the fruit.
具体的，所述自动伸缩杆6的侧壁上铰接有采摘臂液压油缸10，所述采摘臂液压油缸10的顶端铰接在所述采摘臂8的侧壁上，所述采摘臂液压油缸10的外圈连接有第一弹簧11。Specifically, a picking arm hydraulic cylinder 10 is hinged on the side wall of the automatic telescopic rod 6, and the top end of the picking arm hydraulic cylinder 10 is hinged on the side wall of the picking arm 8. A first spring 11 is connected to the outer ring.
为了提高驱动组件在调整角度上的自动化，启动采摘臂液压油缸10控制采摘臂液压油缸10伸长，第一弹簧11被拉伸，从而采摘臂8趋于竖直状态，启动采摘臂液压油缸10控制采摘臂液压油缸10缩短，第一弹簧11被压缩，从而采摘臂8趋于垂直状态，利用控制采摘臂液压油缸10的状态自动调整采摘臂8在自动伸缩杆6上的倾斜角度。In order to improve the automation of the drive assembly in adjusting the angle, the picking arm hydraulic cylinder 10 is activated to control the extension of the picking arm hydraulic cylinder 10, and the first spring 11 is stretched, so that the picking arm 8 tends to be in a vertical state, and the picking arm hydraulic cylinder 10 is activated. The hydraulic cylinder 10 of the control picking arm is shortened, and the first spring 11 is compressed, so that the picking arm 8 tends to a vertical state. The state of the hydraulic cylinder 10 of the control picking arm is used to automatically adjust the inclination angle of the picking arm 8 on the automatic telescopic rod 6.
如图3所示，本实施例中，所述采摘组件包括安装板12，所述安装板12固定在所述采摘臂8的顶端，所述安装板12的上表面对称铰接有半球形采摘斗13，所述半球形采摘斗13均通过采摘斗液压油缸14控制开合，所述采摘斗液压油缸14的底端铰接在所述安装板12的上表面，所述采摘斗液压油缸14的顶端铰接在所述采摘斗液压油缸14的背面；所述采摘斗液压油缸14顶端内壁上相对固定有切割刀15。As shown in FIG. 3, in this embodiment, the picking assembly includes a mounting plate 12, the mounting plate 12 is fixed at the top of the picking arm 8, and the upper surface of the mounting plate 12 is symmetrically hinged with a hemispherical picking bucket 13. The hemispherical picking bucket 13 is controlled to open and close by a picking bucket hydraulic cylinder 14. The bottom end of the picking bucket hydraulic cylinder 14 is hinged on the upper surface of the mounting plate 12, and the top end of the picking bucket hydraulic cylinder 14 It is hinged on the back of the picking bucket hydraulic cylinder 14; a cutting knife 15 is relatively fixed on the inner wall of the top end of the picking bucket hydraulic cylinder 14.
当采摘组件到达合适的位置时，启动采摘斗液压油缸14控制两个半球形采摘斗13合拢，在合拢的过程中，两个切割刀15相互靠近，从而能完成对果实柄的切割，果实落在合拢的半球形采摘斗13中，能防止掉落在地面上，然后再次调整驱动组件将采摘组件移动到缓冲机构上，再次启动采摘斗液压油缸14控制两个半球形采摘斗13分开，果实落在缓冲机构上进行后续的收集筛分等步骤。When the picking assembly reaches the proper position, the picking bucket hydraulic cylinder 14 is activated to control the two hemispherical picking buckets 13 to close. During the closing process, the two cutting knives 15 are close to each other to complete the cutting of the fruit stem, and the fruit will fall. In the closed hemispherical picking bucket 13, it can be prevented from falling on the ground, and then the drive assembly is adjusted again to move the picking component to the buffer mechanism, and the picking bucket hydraulic cylinder 14 is started again to control the two hemispherical picking buckets 13 to separate. Fall on the buffer mechanism for subsequent collection and screening steps.
如图1～2所示，本实施例中，所述缓冲机构包括对称固定在所述采摘工作台1上表面的第一缓冲柱16和第二缓冲柱17，所述第一缓冲柱16和第二缓冲柱17的顶端均开设有卡槽18，所述卡槽18中卡接有卡块19；两个第一缓冲柱16的前端对称固定有L型连接柱23，所述L型连接柱23的顶端安装有固定轴24，收卷辊25套设在所述固定轴24上；所述采摘机构安装在两个 第一缓冲柱16之间。As shown in Figures 1 to 2, in this embodiment, the buffer mechanism includes a first buffer column 16 and a second buffer column 17 symmetrically fixed on the upper surface of the picking workbench 1, the first buffer column 16 and The top end of the second buffer column 17 is provided with a clamping slot 18, and a clamping block 19 is clamped in the clamping slot 18; the front ends of the two first buffer columns 16 are symmetrically fixed with an L-shaped connecting column 23, and the L-shaped connection A fixed shaft 24 is installed at the top of the column 23, and the winding roller 25 is sleeved on the fixed shaft 24; the picking mechanism is installed between the two first buffer columns 16.
为了保证采摘的果实能够完整安全的被收集，特别在采摘机构的外端安装有缓冲机构，将塑料薄膜或无纺布等缓冲材料收卷在收卷辊25上，将缓冲材料的一端引出后牵引出来，依次卡在第一缓冲柱16和第二缓冲柱17顶端的卡槽18中，再利用卡块19卡住，形成缓慢下滑的缓冲面，果实采摘完成后移动到缓冲材料的上方，即可保护果实避免受到硬性撞击。In order to ensure that the picked fruits can be collected completely and safely, a buffer mechanism is especially installed at the outer end of the picking mechanism. The buffer material such as plastic film or non-woven fabric is wound on the winding roller 25, and one end of the buffer material is drawn out. It is pulled out and stuck in the clamping slot 18 at the top of the first buffer column 16 and the second buffer column 17 in turn, and then is stuck by the blocking block 19 to form a slowly sliding buffer surface. After the fruit is picked, it moves to the top of the buffer material. This can protect the fruit from hard hits.
进一步的，所述第二缓冲柱17的后端固定有缓冲箱20，所述缓冲箱20靠近所述第二缓冲柱17的侧壁顶端开设有压槽21，所述压槽21中设有固定螺栓22；所述缓冲箱20的内部铰接有缓冲板27，所述缓冲板27的后侧壁通过第二弹簧28与所述缓冲箱20的内壁相连接；所述收集箱26与所述缓冲箱20的底端相连通。Further, the rear end of the second buffer column 17 is fixed with a buffer box 20, the top of the side wall of the buffer box 20 close to the second buffer column 17 is provided with a pressure groove 21, and the pressure groove 21 is provided with A fixing bolt 22; a buffer plate 27 is hinged on the inside of the buffer box 20, and the rear side wall of the buffer plate 27 is connected to the inner wall of the buffer box 20 through a second spring 28; the collection box 26 is connected to the inner wall of the buffer box 20 The bottom end of the buffer box 20 communicates with each other.
将缓冲材料卡在压槽21中，再利用固定螺栓22固定，收卷辊25、第一缓冲柱16、第二缓冲柱17和缓冲箱20可形成一个更为完整的缓冲收集部分，果实进入缓冲箱20中，在缓冲板27的作用下缓慢下滑，同时第二弹簧28被压缩，果实由此进入缓冲箱20下方的收集箱26中。Clamp the buffer material in the pressure groove 21, and then fix it with the fixing bolt 22. The winding roller 25, the first buffer column 16, the second buffer column 17 and the buffer box 20 can form a more complete buffer collection part, and the fruit enters In the buffer box 20, under the action of the buffer plate 27, the second spring 28 is compressed, and the fruit enters the collection box 26 below the buffer box 20.
实施例2Example 2
请参阅图1和图4，本发明提供的再一个实施例中，所述筛分组件包括至少四根筛分辊29，所述筛分辊29的两端均转动安装在转动座31中，所述转动座31固定在所述收集箱26的内壁上；所述筛分辊29倾斜放置，且相邻筛分辊29之间的缝隙依次增大；所述收集箱26的底端设有至少三个筛分框30，所述筛分框30位于所述缝隙的正下方。1 and 4, in another embodiment provided by the present invention, the screening assembly includes at least four screening rollers 29, both ends of the screening roller 29 are rotatably installed in the rotating seat 31, The rotating seat 31 is fixed on the inner wall of the collecting box 26; the sieving rollers 29 are placed obliquely, and the gaps between adjacent sieving rollers 29 are successively increased; the bottom end of the collecting box 26 is provided with There are at least three screening frames 30, and the screening frames 30 are located directly below the gap.
果实经过缓冲板27进入筛分组件中，顺着筛分辊29的倾斜角度下滑，根据果实的大小依次被筛分，尺寸最小的首先从缝隙中滑落，尺寸中等的从第二个缝隙中掉落，尺寸最大的从最后一个缝隙中掉落，可以根据实际情况，具体选择筛分辊29的数量并控制相邻筛分辊29之间缝隙的大小，达到最佳 的筛分效果，筛分完成后的果实按尺寸大小进入筛分框30。The fruit passes through the buffer plate 27 and enters the screening assembly, slides down along the inclination angle of the screening roller 29, and is sieved in sequence according to the size of the fruit. The smallest size slides from the gap first, and the medium size falls from the second gap. The largest size falls from the last gap. According to the actual situation, the number of screening rolls 29 can be selected and the size of the gap between adjacent screening rolls 29 can be controlled to achieve the best screening effect. The finished fruit enters the screening frame 30 according to the size.
如图5所示，本实施例中，所述筛分框30的内部设有弹性板32，所述筛分框30的底端开设有凹槽33，所述凹槽33中连接有第三弹簧34，所述第三弹簧34的另一端固定在所述弹性板32的下表面。As shown in Figure 5, in this embodiment, the inside of the screening frame 30 is provided with an elastic plate 32, the bottom end of the screening frame 30 is provided with a groove 33, and a third groove 33 is connected to the groove 33. A spring 34, the other end of the third spring 34 is fixed on the lower surface of the elastic plate 32.
果实落在筛分框30中的弹性板32上，弹性板32下移，同时第三弹簧34被压缩，在弹性板32和第三弹簧34的作用下，能够避免果实直接撞击上筛分框30的底端，具有保护的作用。The fruit falls on the elastic plate 32 in the sieving frame 30, the elastic plate 32 moves down, and the third spring 34 is compressed. Under the action of the elastic plate 32 and the third spring 34, the fruit can be prevented from directly hitting the upper sieving frame The bottom of 30 has a protective effect.
该文中出现的电器元件均与外界的主控器及220V市电电连接，并且主控器可为计算机等起到控制的常规已知设备。The electrical components appearing in this article are all connected to the external main controller and 220V mains power, and the main controller can be a computer and other conventional known equipment that controls.
在本发明的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be interpreted broadly. For example, they may be fixedly connected, detachably connected, or integrally connected. Connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood under specific circumstances.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.
Claims (8)
- 一种果园用水果采摘机器人，其特征在于，包括采摘工作台(1)和安装在所述采摘工作台(1)底端的驱动轮(2)；A fruit picking robot for an orchard, which is characterized by comprising a picking workbench (1) and a driving wheel (2) installed at the bottom end of the picking workbench (1);所述采摘工作台(1)的上表面设有采摘机构和收集机构；The upper surface of the picking workbench (1) is provided with a picking mechanism and a collection mechanism;所述采摘机构和所述收集机构通过缓冲机构相连接；The picking mechanism and the collection mechanism are connected by a buffer mechanism;所述采摘机构包括驱动组件和采摘组件；The picking mechanism includes a driving component and a picking component;所述收集机构包括收集箱(26)，所述收集箱(26)的内部设有筛分组件。The collection mechanism includes a collection box (26), and a screening assembly is arranged inside the collection box (26).
- 根据权利要求1所述的果园用水果采摘机器人，其特征在于，所述驱动组件包括安装在所述采摘工作台(1)上表面的自动伸缩杆(6)，所述自动伸缩杆(6)和所述采摘工作台(1)之间设有平面轴承(5)，所述采摘工作台(1)的内部安装有电机(3)，所述电机(3)的输出端通过联轴器与转轴(4)驱动连接，所述转轴(4)的尾端固定在所述自动伸缩杆(6)的底端；The fruit picking robot for an orchard according to claim 1, wherein the drive assembly comprises an automatic telescopic rod (6) installed on the upper surface of the picking workbench (1), the automatic telescopic rod (6) A plane bearing (5) is provided between the picking workbench (1), a motor (3) is installed inside the picking workbench (1), and the output end of the motor (3) is connected to the picking workbench (1) through a coupling The rotating shaft (4) is drivingly connected, and the tail end of the rotating shaft (4) is fixed at the bottom end of the automatic telescopic rod (6);所述自动伸缩杆(6)的顶端固定有安装座(7)，所述安装座(7)中转动安装有采摘臂(8)，所述安装座(7)和采摘臂(8)通过轴销(9)连接；A mounting seat (7) is fixed at the top of the automatic telescopic rod (6), a picking arm (8) is rotatably installed in the mounting seat (7), and the mounting seat (7) and the picking arm (8) pass through the shaft Pin (9) connection;所述采摘组件安装在所述采摘臂(8)的顶端。The picking assembly is installed on the top of the picking arm (8).
- 根据权利要求2所述的果园用水果采摘机器人，其特征在于，所述自动伸缩杆(6)的侧壁上铰接有采摘臂液压油缸(10)，所述采摘臂液压油缸(10)的顶端铰接在所述采摘臂(8)的侧壁上，所述采摘臂液压油缸(10)的外圈连接有第一弹簧(11)。The fruit picking robot for an orchard according to claim 2, characterized in that a picking arm hydraulic cylinder (10) is hinged on the side wall of the automatic telescopic rod (6), and the top end of the picking arm hydraulic cylinder (10) It is hinged on the side wall of the picking arm (8), and the outer ring of the picking arm hydraulic cylinder (10) is connected with a first spring (11).
- 根据权利要求2所述的果园用水果采摘机器人，其特征在于，所述采摘组件包括安装板(12)，所述安装板(12)固定在所述采摘臂(8)的顶端，所述安装板(12)的上表面对称铰接有半球形采摘斗(13)，所述半球形采摘斗(13)均通过采摘斗液压油缸(14)控制开合，所述采摘斗液压油缸(14)的底端铰接在所述安装板(12)的上表面，所述采摘斗液压油缸(14)的顶端铰接在所述采摘斗液压油缸(14)的背面；The fruit picking robot for an orchard according to claim 2, wherein the picking assembly includes a mounting plate (12), the mounting plate (12) is fixed on the top of the picking arm (8), and the mounting The upper surface of the plate (12) is symmetrically hinged with a hemispherical picking bucket (13), and the hemispherical picking bucket (13) is opened and closed by the hydraulic cylinder (14) of the picking bucket. The bottom end is hinged to the upper surface of the mounting plate (12), and the top end of the picking bucket hydraulic cylinder (14) is hinged to the back of the picking bucket hydraulic cylinder (14);所述采摘斗液压油缸(14)顶端内壁上相对固定有切割刀(15)。A cutting knife (15) is relatively fixed on the inner wall of the top end of the picking bucket hydraulic oil cylinder (14).
- 根据权利要求1所述的果园用水果采摘机器人，其特征在于，所述缓冲机构包括对称固定在所述采摘工作台(1)上表面的第一缓冲柱(16)和第二缓冲柱(17)，所述第一缓冲柱(16)和第二缓冲柱(17)的顶端均开设有卡槽(18)，所述卡槽(18)中卡接有卡块(19)；The fruit picking robot for an orchard according to claim 1, wherein the buffer mechanism comprises a first buffer column (16) and a second buffer column (17) symmetrically fixed on the upper surface of the picking table (1) ), the top ends of the first buffer column (16) and the second buffer column (17) are both provided with a card slot (18), and a card block (19) is clamped in the card slot (18);两个第一缓冲柱(16)的前端对称固定有L型连接柱(23)，所述L型连接柱(23)的顶端安装有固定轴(24)，收卷辊(25)套设在所述固定轴(24)上；The front ends of the two first buffer columns (16) are symmetrically fixed with an L-shaped connecting column (23), the top of the L-shaped connecting column (23) is installed with a fixed shaft (24), and the winding roller (25) is sleeved on On the fixed shaft (24);所述采摘机构安装在两个第一缓冲柱(16)之间。The picking mechanism is installed between the two first buffer columns (16).
- 根据权利要求5所述的果园用水果采摘机器人，其特征在于，所述第二缓冲柱(17)的后端固定有缓冲箱(20)，所述缓冲箱(20)靠近所述第二缓冲柱(17)的侧壁顶端开设有压槽(21)，所述压槽(21)中设有固定螺栓(22)；The fruit picking robot for an orchard according to claim 5, characterized in that a buffer box (20) is fixed at the rear end of the second buffer column (17), and the buffer box (20) is close to the second buffer column. The top of the side wall of the column (17) is provided with a pressure groove (21), and a fixing bolt (22) is provided in the pressure groove (21);所述缓冲箱(20)的内部铰接有缓冲板(27)，所述缓冲板(27)的后侧壁通过第二弹簧(28)与所述缓冲箱(20)的内壁相连接；A buffer plate (27) is hinged to the inside of the buffer box (20), and the rear side wall of the buffer plate (27) is connected with the inner wall of the buffer box (20) through a second spring (28);所述收集箱(26)与所述缓冲箱(20)的底端相连通。The collection box (26) is communicated with the bottom end of the buffer box (20).
- 根据权利要求6所述的果园用水果采摘机器人，其特征在于，所述筛分组件包括至少四根筛分辊(29)，所述筛分辊(29)的两端均转动安装在转动座(31)中，所述转动座(31)固定在所述收集箱(26)的内壁上；The fruit picking robot for an orchard according to claim 6, wherein the screening assembly includes at least four screening rollers (29), and both ends of the screening rollers (29) are rotatably mounted on a rotating seat In (31), the rotating seat (31) is fixed on the inner wall of the collection box (26);所述筛分辊(29)倾斜放置，且相邻筛分辊(29)之间的缝隙依次增大；The sieving rolls (29) are placed obliquely, and the gaps between adjacent sieving rolls (29) increase in sequence;所述收集箱(26)的底端设有至少三个筛分框(30)，所述筛分框(30)位于所述缝隙的正下方。At least three screening frames (30) are provided at the bottom end of the collection box (26), and the screening frames (30) are located directly below the gap.
- 根据权利要求7所述的果园用水果采摘机器人，其特征在于，所述筛分框(30)的内部设有弹性板(32)，所述筛分框(30)的底端开设有凹槽(33)，所述凹槽(33)中连接有第三弹簧(34)，所述第三弹簧(34)的另一端固定在所述弹性板(32)的下表面。The fruit picking robot for an orchard according to claim 7, characterized in that the sieving frame (30) is provided with an elastic plate (32) inside, and the bottom of the sieving frame (30) is provided with a groove (33) A third spring (34) is connected in the groove (33), and the other end of the third spring (34) is fixed on the lower surface of the elastic plate (32).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910864854.7 | 2019-09-12 | ||
| CN201910864854.7A CN110432001A (en) | 2019-09-12 | 2019-09-12 | A kind of orchard fruit picking robot |
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| WO2021046889A1 true WO2021046889A1 (en) | 2021-03-18 |
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| PCT/CN2019/106954 WO2021046889A1 (en) | 2019-09-12 | 2019-09-20 | Fruit picking robot for orchard |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111264191A (en) * | 2020-02-20 | 2020-06-12 | 中北大学 | Novel apple is picked supplementaryly device |
| CN111684922A (en) * | 2020-06-18 | 2020-09-22 | 三峡大学 | Semi-automatic orange and tangerine collecting and shearing system and using method |
| CN113039932A (en) * | 2021-03-24 | 2021-06-29 | 安庆市茂祥农业科技发展有限公司 | Ware is picked to fig that can multi-angle was adjusted |
| CN113179762A (en) * | 2021-05-28 | 2021-07-30 | 西安交通大学 | Single-person portable cherry picking machine |
| CN113973577A (en) * | 2021-10-27 | 2022-01-28 | 常州机电职业技术学院 | Fruit and vegetable picking robot |
| CN115280972B (en) * | 2022-02-11 | 2023-08-01 | 重庆三峡学院 | Soft fruit and vegetable picking and collecting integrated device |
| CN114642122B (en) * | 2022-02-15 | 2023-05-12 | 北京市农林科学院智能装备技术研究中心 | Tea picking machine |
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| US20110047951A1 (en) * | 2009-08-25 | 2011-03-03 | Francis Wilson Moore | Fruit tree pruner and harvesting machine |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN107912143A (en) * | 2017-11-23 | 2018-04-17 | 恭城福茂生油茶文化产业发展有限公司 | A kind of Siraitia grosvenorii picking vehicle |
| CN207505447U (en) * | 2017-12-05 | 2018-06-19 | 延安大学 | A kind of not damaged apple picking of classification |
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| CN109156161A (en) * | 2018-08-31 | 2019-01-08 | 靖西海越农业有限公司 | A kind of fertile mandarin orange picking robot of intelligence |
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- 2019-09-12 CN CN201910864854.7A patent/CN110432001A/en not_active Withdrawn
- 2019-09-20 WO PCT/CN2019/106954 patent/WO2021046889A1/en active Application Filing
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| US20110047951A1 (en) * | 2009-08-25 | 2011-03-03 | Francis Wilson Moore | Fruit tree pruner and harvesting machine |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN107912143A (en) * | 2017-11-23 | 2018-04-17 | 恭城福茂生油茶文化产业发展有限公司 | A kind of Siraitia grosvenorii picking vehicle |
| CN207505447U (en) * | 2017-12-05 | 2018-06-19 | 延安大学 | A kind of not damaged apple picking of classification |
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| CN109156161A (en) * | 2018-08-31 | 2019-01-08 | 靖西海越农业有限公司 | A kind of fertile mandarin orange picking robot of intelligence |
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