公开(公告)号：EP1879443A4

公开(公告)日：2012-01-11

申请号：EP06725935

申请日：2006-04-21

申请人： GREEN AUTOMATION LTD OY

发明人： RAPILA TIMO ,  KANTOLA JUHANA ,  RAPILA TERO

IPC分类号： A01D45/00 ,  A01D20060101

CPC分类号： A01D45/005

摘要： 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.