ES2021747B3 - Maquina robotizada, especialmente para la recogida de frutas. - Google Patents

Maquina robotizada, especialmente para la recogida de frutas.

Info

Publication number
ES2021747B3
ES2021747B3 ES87430032T ES87430032T ES2021747B3 ES 2021747 B3 ES2021747 B3 ES 2021747B3 ES 87430032 T ES87430032 T ES 87430032T ES 87430032 T ES87430032 T ES 87430032T ES 2021747 B3 ES2021747 B3 ES 2021747B3
Authority
ES
Spain
Prior art keywords
fruits
collection
robotized machine
robotized
machine
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.)
Expired - Lifetime
Application number
ES87430032T
Other languages
English (en)
Inventor
Roger Pellenc
Jose Luis Montoya
D' Esnon Antoine Grand
Marc Rombaut
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pellenc SAS
Institut National de Recherche en Sciences et Technologies pour l'Environnement et l'Agriculture
Original Assignee
Centre National du Machinisme Agricole du Genie Rural des Eaux et des Forets CEMAGREF
Pellenc et Motte SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Centre National du Machinisme Agricole du Genie Rural des Eaux et des Forets CEMAGREF, Pellenc et Motte SA filed Critical Centre National du Machinisme Agricole du Genie Rural des Eaux et des Forets CEMAGREF
Application granted granted Critical
Publication of ES2021747B3 publication Critical patent/ES2021747B3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Multimedia (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Manipulator (AREA)
ES87430032T 1986-11-05 1987-11-04 Maquina robotizada, especialmente para la recogida de frutas. Expired - Lifetime ES2021747B3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8615522A FR2605834B1 (fr) 1986-11-05 1986-11-05 Machine robotisee, notamment pour la recolte de fruits

Publications (1)

Publication Number Publication Date
ES2021747B3 true ES2021747B3 (es) 1991-11-16

Family

ID=9340617

Family Applications (1)

Application Number Title Priority Date Filing Date
ES87430032T Expired - Lifetime ES2021747B3 (es) 1986-11-05 1987-11-04 Maquina robotizada, especialmente para la recogida de frutas.

Country Status (5)

Country Link
US (1) US4975016A (es)
EP (1) EP0270469B1 (es)
DE (1) DE3768445D1 (es)
ES (1) ES2021747B3 (es)
FR (1) FR2605834B1 (es)

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Also Published As

Publication number Publication date
FR2605834B1 (fr) 1989-01-06
US4975016A (en) 1990-12-04
DE3768445D1 (de) 1991-04-11
EP0270469A1 (fr) 1988-06-08
FR2605834A1 (fr) 1988-05-06
EP0270469B1 (fr) 1991-03-06

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