Abstract: An apparatus for picking mushrooms including a carriage, at least one picking head arranged to move back and forth horizontally, and a suction pad apparatus configured to grip mushrooms for picking. A movable camera or scanner may be arranged to image an area in which the mushrooms grow. A first member may be coupled to the picking head and arranged to move back and forth horizontally for moving the suction pad apparatus horizontally. A controlled parallelogram mechanism may lift and lower the suction pad apparatus and couple the suction pad apparatus to the first member, and which may be arranged to maintain a position of the suction pad apparatus irrespective of a height on which the suction pad apparatus is positioned.
Type:
Grant
Filed:
April 21, 2006
Date of Patent:
October 11, 2011
Assignee:
Green Automation Ltd Oy
Inventors:
Timo Rapila, Juhana Kantola, Tero Rapila
Abstract: An apparatus for picking mushrooms including a carriage, at least one picking head arranged to move back and forth horizontally, and a suction pad apparatus configured to grip mushrooms for picking. A movable camera or scanner may be arranged to image an area in which the mushrooms grow. A first member may be coupled to the picking head and arranged to move back and forth horizontally for moving the suction pad apparatus horizontally. A controlled parallelogram mechanism may lift and lower the suction pad apparatus and couple the suction pad apparatus to the first member, and which may be arranged to maintain a position of the suction pad apparatus irrespective of a height on which the suction pad apparatus is positioned.
Type:
Application
Filed:
April 21, 2006
Publication date:
December 31, 2009
Applicant:
GREEN AUTOMATION LTD OY
Inventors:
Timo Rapila, Juhana Kantola, Tero Rapila