CN103766080A - Chinese chestnut picking machine - Google Patents
Chinese chestnut picking machine Download PDFInfo
- Publication number
- CN103766080A CN103766080A CN201410027348.XA CN201410027348A CN103766080A CN 103766080 A CN103766080 A CN 103766080A CN 201410027348 A CN201410027348 A CN 201410027348A CN 103766080 A CN103766080 A CN 103766080A
- Authority
- CN
- China
- Prior art keywords
- motor
- fixedly connected
- fixed
- holder
- chinese chestnut
- 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.)
- Granted
Links
Images
Landscapes
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a Chinese chestnut picking machine, which comprises a rotating base which can rotates for 360 degrees in both horizontal and vertical directions, a first fixed seat, a second fixed seat, a retractable part, a striking part and a self-locking manipulator, wherein the bottom part of the retractable part is fixedly connected with the end part, which can rotate for 360 degrees in both horizontal and vertical directions, of the rotating base, the top part of the retractable part is fixedly connected with the bottom surface of the first fixed seat, the self-locking manipulator which is in parallel with the top surface of the first fixed seat is fixedly arranged on the side surface of the first fixed seat, the second fixed seat is fixedly arranged on the top surface of the first fixed seat and the striking part is fixedly arranged on the top surface of the second fixed seat. The Chinese chestnut picking machine disclosed by the invention has the advantages that since the mechanical operation is adopted for replacing manual operation to strike Chinese chestnuts down from trees, the picking workers are only required to clearly pick up chestnut buds and chestnuts on the ground, the labor intensity of the picking workers can be relieved and the picking efficiency is improved.
Description
Technical field
The invention belongs to a kind of fruit picking, relate in particular to a kind of Chinese chestnut picking machine.
Background technology
The nutritive value of Chinese chestnut is high, especially the marrons glaces food that people like especially.Chinese Chestnut gross yield accounts for global output 65-70% left and right, and within 2010, national Chinese chestnut output reaches 1,100,000 tons.The workload of so huge its harvesting of output is also very huge.
The harvesting of Chinese chestnut bothers very much, Chinese chestnut fruit tree is generally all taller and bigger, staff cannot directly be won, and be mostly grown in the precipitous slope, field of physical features, often need to climb to set harvest season people and fruit be picked or adopted the grain method of beating, disperse exactly in batches ripe chestnut bud to be hit down with bamboo pole, then chestnut bud, chestnut are picked up clean in fact, but do like this, plucker's labour intensity is large, inefficiency and dangerous, and the weather conditions such as rain are plucked and also had larger impact Chinese chestnut.
Summary of the invention
For addressing the above problem, the object of the present invention is to provide a kind of Chinese chestnut picking machine, Chinese chestnut is plucked and become convenient, fast, greatly improve picking efficiency, reduced the labour intensity of orchard worker in the time plucking Chinese chestnut, reduced weather conditions to the impact of plucking, meanwhile, Chinese chestnut is plucked and become safer.
For achieving the above object, technical scheme of the present invention is: a kind of Chinese chestnut picking machine, comprise that has the rotating base that can carry out in the horizontal direction 360 degree rotations with vertical direction, Chinese chestnut picking machine also comprises the first holder, the second holder, extensible member, hammer bank and self-locking mechanical hand, the end that the bottom of described extensible member and rotating base can be in the horizontal direction can carry out 360 degree rotations with vertical direction is fixedly connected with, extensible member top is fixedly connected with the bottom surface of the first holder, the side of described the first holder is fixed with the self-locking mechanical hand parallel with the first holder end face, described the second holder is fixed on the end face of the first holder, described hammer bank is perpendicular to the end face of the second holder and be fixed on the end face of the second holder.
As preferably, described self-locking mechanical hand comprises the 3rd motor, the 3rd motor fixed block, connecting plate, two pawl cleft hands, the first transmission mechanism and over cap, described the 3rd motor fixed block is fixed on the first holder, described the 3rd motor is fixed on the 3rd motor fixed block, described two pawl cleft hands are the circular arc barred body that one end is all fixed with sector gear, described sector gear intermeshing and be positioned at over cap and center all with over cap madial wall chain connection, described connecting plate one end is fixed on the first holder, the center of the other end and two sector gears is all connected through the hinge, one end of described the first transmission mechanism is fixedly connected with the output shaft of the 3rd motor, the other end and described two pawl the cleft hands wherein center of the sector gear on a cleft hand are fixedly connected with.
As preferably, described the first transmission mechanism is Worm and worm-wheel gearing, the first scroll bar is fixed by socket on the output shaft of the 3rd motor, the first turbine center is fixed with an axle, and one end of described axle is fixedly connected with through the center of the sector gear on a wherein cleft hand of connecting plate and described two pawl cleft hands.
As preferably; described hammer bank comprises quadric chain; containment vessel; the 4th motor; flabellum and the second transmission mechanism; the frame of described quadric chain is fixed on the second holder; wherein a side link is fixedly connected with containment vessel; described the 4th motor is fixed on containment vessel lateral wall; and output shaft passes containment vessel and is fixedly connected with the center of flabellum in end; described the second transmission mechanism is positioned at containment vessel inside, and one end of the second transmission mechanism is fixedly connected with the 4th motor output shaft, and the other end is fixedly connected with the connecting rod of quadric chain.
As preferably; described quadric chain is double rocker mechanism; comprise the first side link; the second side link; frame bar and connecting rod, wherein, frame bar is fixed on the second holder; the second side link is fixedly connected with containment vessel, and connecting rod can be around carrying out the rotation of 360 degree with the hinge of the second side link formation.
As preferably; described the second transmission mechanism is Worm and worm-wheel gearing; comprise the second turbine and the second worm screw; described the second worm screw socket is fixed on the output shaft of the 4th motor; described the second turbine center is provided with a through hole; described through hole is through the connecting axle that matches of size with it, and described connecting axle one end is articulated with on the madial wall of containment vessel, the forming hinged end with the second side link and be fixedly connected with of the other end and connecting rod.
As preferably, the material of described flabellum is rubber.
As preferably, described rotating base comprises base, the first motor, the second motor, rotation end arm, the second motor fixing seat and adpting flange, described base is hollow cavity body structure, the motor body of described the first motor is fixed on the inside cavity of base, the motor shaft of the first motor penetrates base top cover center and penetrates and be fixedly connected with rotation end arm from described rotation Di Bei bottom center, described the second motor fixing seat is hollow cavity body structure, the motor body of described the second motor is fixed on the inside cavity of the second motor fixing seat, the motor shaft of the second motor stretches out and penetrates from the side of rotation end arm and be fixedly connected with rotation end arm perpendicular to the motor shaft of the first motor and from the inside cavity of the second motor fixing seat, the bottom of described adpting flange is fixedly connected with the side of the second motor fixing seat, top is fixedly connected with the bottom of extensible member.
As preferably, described extensible member is the combination of at least two cylinders, the push rod top that is positioned at the cylinder of below is fixedly connected with the outer casing bottom of the relative cylinder that is positioned at top, the bottom that described extensible member is positioned at the shell of the cylinder of bottommost is fixed on the sidewall of the second motor fixing seat, and the push rod top that this extensible member is positioned at the cylinder of top is fixedly connected with the first holder.
As preferably, the first described motor and the second motor are self-locking motor.
Compared with prior art, the present invention has following beneficial effect:
(1) adopt machine power to replace manpower that Chinese chestnut is laid from tree, plucker only need pick up chestnut bud, chestnut clean in fact on the ground, has alleviated plucker's labour intensity.
(2) base can all carry out 360 degree rotations with vertical direction in the horizontal direction, so the Chinese chestnut in certain limit all can carry out disposable harvesting and not need often to move picking machine, has improved picking efficiency.
(3) telescoping mechanism can make this picking machine adapt to the work of winning of the Chinese chestnut of differing heights.
(4) four-bar mechanism on hammer bank can make in use reciprocally swinging within the scope of of whole hammer bank, so that flabellum can all be laid the Chinese chestnut in hunting range, improve operating efficiency, simultaneously, the material of flabellum is rubber, can not damage branch when Chinese chestnut is laid.
(5) effect of self-locking mechanical hand is to be positioned at after the hammer bank arrival assigned address at top when Chinese chestnut picking machine, the mobile jib of self-locking mechanical hand grip tree, thereby strengthen the stability of complete machine in the time of work, play a fixing effect, and this self-locking mechanical hand is because employing has the Worm and worm-wheel gearing of self-locking performance, makes the security performance of this self-locking mechanical hand good.
Accompanying drawing explanation
Fig. 1 is the overall structure fracture schematic diagram of the Chinese chestnut picking machine of the embodiment of the present invention;
Fig. 2 is the telescoping mechanism structural representation of the Chinese chestnut picking machine of the embodiment of the present invention;
Fig. 3 is the self-locking mechanical hand of Chinese chestnut picking machine and the structure for amplifying schematic diagram of hammer bank of the embodiment of the present invention;
Fig. 4 is the structure for amplifying schematic diagram of the self-locking mechanical hand of the Chinese chestnut picking machine of the embodiment of the present invention;
Fig. 5 is the structure for amplifying schematic diagram of the hammer bank of the Chinese chestnut picking machine of the embodiment of the present invention;
Fig. 6 is the structure for amplifying schematic diagram of the rotating base of the Chinese chestnut picking machine of the embodiment of the present invention;
Fig. 7 is the cutaway view of A-A face in Fig. 5;
Fig. 8 is the cutaway view of B-B face in Fig. 5.
Description of reference numerals:
10-base; 20-the first motor; 30-rotation end arm; 40-the second motor; 50-the second motor fixing seat; 60-adpting flange; 70-extensible member; 80-self-locking mechanical hand; 801-the first holder; 802-the 3rd motor; 803-the 3rd motor fixed block; 804-connecting plate; 805-two pawl cleft hands; 806-the first transmission mechanism; 8061-the first turbine; 8062-the first scroll bar; 807-over cap; 90-hammer bank; 901-the second holder; 902-quadric chain; 9021-frame bar; 9022-the first side link; 9023-the second side link; 9024-connecting rod; 903-containment vessel; 904-the 4th motor; 905-flabellum; 906-the second transmission mechanism; 9061-the second turbine; 9062-the second worm screw.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
On the contrary, the present invention contain any defined by claim in marrow of the present invention and scope, make substitute, modification, equivalent method and scheme.Further, for the public is had a better understanding to the present invention, in below details of the present invention being described, detailed some specific detail sections of having described.Do not have for a person skilled in the art the description of these detail sections can understand the present invention completely yet.
Referring to Fig. 1, be depicted as the overall structure fracture schematic diagram of a kind of Chinese chestnut picking machine of the embodiment of the present invention, it comprises that has the rotating base that can carry out in the horizontal direction 360 degree rotations with vertical direction, the first holder 801, the second holder 901, extensible member 70, hammer bank 90 and self-locking mechanical hand 80, the end that the bottom of extensible member 70 and rotating base can be in the horizontal direction can carry out 360 degree rotations with vertical direction is fixedly connected with, extensible member 70 tops are fixedly connected with the bottom surface of the first holder 801, the side of the first holder 801 is fixed with the self-locking mechanical hand 80 parallel with the first holder 801 end faces, the second holder 901 is fixed on the end face of the first holder 801, hammer bank 90 is perpendicular to the end face of the second holder 901 and be fixed on the end face of the second holder 901.
Further, in a concrete application example, referring to Fig. 2, be depicted as the structure for amplifying schematic diagram of extensible member, , the extensible member 70 of Chinese chestnut picking machine is for adopting three cylinder combinations, in other application example, for the combination of at least two cylinders, the push rod top that is positioned at the cylinder of below is fixedly connected with the outer casing bottom of the relative cylinder that is positioned at top, the bottom that extensible member 70 is positioned at the shell of the cylinder of bottommost is fixed on the sidewall of the second motor fixing seat 50, the push rod top that this extensible member 70 is positioned at the cylinder of top is fixedly connected with the first holder 801.In the time that the Chinese chestnut picking machine by the embodiment of the present invention is plucked operation, by extensible member 70 be the height of controllable adjustable Chinese chestnut picking machine, to adapt to the harvesting of Chinese chestnut of differing heights.
Further, referring to Fig. 3 and Fig. 4, self-locking mechanical hand 80 comprises the 3rd motor 802, the 3rd motor fixed block 803, connecting plate 804, two pawl cleft hands 805, the first transmission mechanism 806 and over cap 807, the 3rd motor fixed block 803 is fixed on the first holder 801, the 3rd motor 802 is fixed on the 3rd motor fixed block 803, two pawl cleft hands 805 are the circular arc barred body that one end is all fixed with sector gear, sector gear intermeshing and be positioned at over cap 807 and center all with over cap 807 madial wall chain connections, connecting plate 804 one end are fixed on the first holder 801, the center of the other end and two sector gears is all connected through the hinge, the first transmission mechanism 806 is Worm and worm-wheel gearing, the first scroll bar 8062 is fixed by socket on the output shaft of the 3rd motor 802, the first turbine 8061 centers are fixed with an axle, one end of this axle is fixedly connected with through the center of the sector gear on a wherein cleft hand of connecting plate 804 and two pawl cleft hands 805.The Main Function of this self-locking mechanical hand 80 is when the hammer bank 90 that is positioned at top arrives after assigned address in the time that Chinese chestnut picking machine is worked, the promptly mobile jib of tree of self-locking mechanical hand 80, thereby strengthen the stability of complete machine in the time of work, and this self-locking mechanical hand 80 is because transmission mechanism is Worm and worm-wheel gearing, so there is self-locking performance, therefore, the security performance of this self-locking mechanical hand is good.
Further, referring to Fig. 3 and Fig. 5, hammer bank 90 comprises quadric chain 902, containment vessel 903, the 4th motor 904, flabellum 905 and the second transmission mechanism 906, the material of flabellum 905 is rubber, just be not easy itself to cause too major injury to setting impacting in process like this, quadric chain 902 is double rocker mechanism, comprise the first side link 9022, the second side link 9023, frame bar 9021 and connecting rod 9024, wherein, frame bar 9021 is fixed on the second holder 901, the second side link 9023 is fixedly connected with containment vessel 903, connecting rod 9024 can carry out the rotation of 360 degree around the hinge forming with the second side link 9023, the 4th motor 904 is fixed on containment vessel 903 lateral walls, and output shaft passes containment vessel 903 and is fixedly connected with the center of flabellum 905 in end, described the second transmission mechanism 906 is positioned at containment vessel 903 inside, the second transmission mechanism 906 is Worm and worm-wheel gearing, comprise the second turbine 9061 and the second worm screw 9062, the second worm screw 9062 is fixed by socket on the output shaft of the 4th motor 904, the second turbine 9061 centers are provided with a through hole, described through hole is through a connecting axle that size matches with it, described connecting axle one end is articulated with on the madial wall of containment vessel 903, the forming hinged end with the second side link 9023 and be fixedly connected with of the other end and connecting rod 9024.This hammer bank effect is that quadric chain 902 plays the whole hammer bank effect of reciprocally swinging within the specific limits that makes for the Fruits in Chinese Chestnut in specified scope is shot down from tree, thereby increases the scope that impacts.
Further, referring to Fig. 6-8, rotating base comprises base 10, the first motor 20, the second motor 40, rotation end arm 30, the second motor fixing seat 50 and adpting flange 60, base 10 is hollow cavity body structure, the motor body of the first motor 20 is fixed on the inside cavity of base 10, the motor shaft of the first motor 20 penetrates base 10 top cover centers and penetrates and be fixedly connected with rotation end arm 30 from described rotation Di Bei 30 bottom center, the second motor fixing seat 50 is hollow cavity body structure, the motor body of the second motor 40 is fixed on the inside cavity of the second motor fixing seat 50, the motor shaft of the second motor 40 stretches out and penetrates from the side of rotation end arm 30 and be fixedly connected with rotation end arm 30 perpendicular to the motor shaft of the first motor 20 and from the inside cavity of the second motor fixing seat 50, the bottom of adpting flange 60 is fixedly connected with the side of the second motor fixing seat 50, top is fixedly connected with the bottom of extensible member 70.Rotating base can be realized the omnibearing 360 degree rotations of whole Chinese chestnut picking machine, and the first motor 20 and the second motor 40 are self-locking motor simultaneously, and in cold situation, motor shaft is locked, is conducive to like this improve the stability of whole Chinese chestnut picking machine.
This Chinese chestnut picking machine only needs singlely just can operate, when use, control the first motor and the running of the second motor in base, self-locking mechanical hand and the hammer bank of Chinese chestnut picking machine are adjusted to assigned address, then control telescopic cylinder, regulate height, when the self-locking mechanical hand and the hammer bank that are positioned at Chinese chestnut picking machine top reach after harvesting height, control self-locking mechanical the 3rd motor running on hand, the two pawl cleft hands that are self-locking mechanical hand are firmly grasped trunk, and then the 4th machine operation on control hammer bank, flabellum rotation, four-bar mechanism swings, Chinese chestnut on tree is shot down.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a Chinese chestnut picking machine, comprise that has the rotating base that can carry out in the horizontal direction 360 degree rotations with vertical direction, it is characterized in that, also comprise the first holder (801), the second holder (901), extensible member (70), hammer bank (90) and self-locking mechanical hand (80), the end that the bottom of described extensible member (70) and rotating base can be in the horizontal direction can carry out 360 degree rotations with vertical direction is fixedly connected with, extensible member (70) top is fixedly connected with the bottom surface of the first holder (801), the side of described the first holder (801) is fixed with the self-locking mechanical hand (80) parallel with the first holder (801) end face, described the second holder (901) is fixed on the end face of the first holder (801), described hammer bank (90) is fixed on the end face of the second holder (901).
2. Chinese chestnut picking machine according to claim 1, it is characterized in that, the self-locking mechanical hand (80) of described Chinese chestnut picking machine comprises the 3rd motor (802), the 3rd motor fixed block (803), connecting plate (804), two pawl cleft hands (805), the first transmission mechanism (806) and over cap (807), described the 3rd motor fixed block (803) is fixed on the first holder (801), described the 3rd motor (802) is fixed on the 3rd motor fixed block (803), every cleft hand of described two pawl cleft hands (805) is the circular arc barred body that one end is all fixed with sector gear, described sector gear intermeshing and be positioned at over cap (807) and center all with over cap (807) madial wall chain connection, described connecting plate (804) one end is fixed on the first holder (801), the center of the other end and two sector gears is all connected through the hinge, one end of described the first transmission mechanism (806) is fixedly connected with the output shaft of the 3rd motor (802), the other end and described two pawl cleft hands (805) the wherein center of the sector gear on a cleft hand are fixedly connected with.
3. Chinese chestnut picking machine according to claim 2, it is characterized in that, described the first transmission mechanism (806) is Worm and worm-wheel gearing, the first scroll bar (8062) is fixed by socket on the output shaft of the 3rd motor (802), the first turbine (8061) center is fixed with an axle, and one end of described axle is fixedly connected with through the center of the sector gear on a wherein cleft hand of connecting plate (804) and described two pawl cleft hands (805).
4. according to the arbitrary described Chinese chestnut picking machine of claims 1 to 3, it is characterized in that, described hammer bank (90) comprises quadric chain (902), containment vessel (903), the 4th motor (904), flabellum (905) and the second transmission mechanism (906), the frame of described quadric chain (902) is fixed on the second holder (901), wherein a side link is fixedly connected with containment vessel (903), described the 4th motor (904) is fixed on containment vessel (903) lateral wall, and output shaft passes containment vessel (903) and is fixedly connected with the center of flabellum (905) in end, described the second transmission mechanism (906) is positioned at containment vessel (903) inside, one end of the second transmission mechanism (906) is fixedly connected with the 4th motor (904) output shaft, the other end is fixedly connected with the connecting rod of quadric chain (902).
5. Chinese chestnut picking machine according to claim 4; it is characterized in that; the quadric chain (902) of described hammer bank (90) is double rocker mechanism; comprise the first side link (9022); the second side link (9023); frame bar (9021) and connecting rod (9024); wherein; frame bar (9021) is fixed on the second holder (901); the second side link (9023) is fixedly connected with containment vessel (903), and connecting rod (9024) can be around carrying out the rotation of 360 degree with the hinge of the second side link (9023) formation.
6. Chinese chestnut picking machine according to claim 4, it is characterized in that, described the second transmission mechanism (906) is Worm and worm-wheel gearing, comprise the second turbine (9061) and the second worm screw (9062), described the second worm screw (9062) is fixed by socket on the output shaft of the 4th motor (904), described the second turbine (9061) center is provided with a through hole, described through hole is through a connecting axle that size matches with it, described connecting axle one end is articulated with on the madial wall of containment vessel (903), the forming hinged end with the second side link (9023) and be fixedly connected with of the other end and connecting rod (9024).
7. Chinese chestnut picking machine according to claim 4, is characterized in that, the material of the flabellum (905) of described hammer bank (90) is rubber.
8. Chinese chestnut picking machine according to claim 1, it is characterized in that, described rotating base comprises base (10), the first motor (20), the second motor (40), rotation end arm (30), the second motor fixing seat (50) and adpting flange (60), described base (10) is hollow cavity body structure, the motor body of described the first motor (20) is fixed on the inside cavity of base (10), the motor shaft of the first motor (20) penetrates base (10) top cover center and penetrates and be fixedly connected with rotation end arm (30) from arm (30) bottom center at the bottom of described rotation, described the second motor fixing seat (50) is hollow cavity body structure, the motor body of described the second motor (40) is fixed on the inside cavity of the second motor fixing seat (50), the motor shaft of the second motor (40) stretches out and penetrates from the side of rotation end arm (30) and be fixedly connected with rotation end arm (30) perpendicular to the motor shaft of the first motor (20) and from the inside cavity of the second motor fixing seat (50), the bottom of described adpting flange (60) is fixedly connected with the side of the second motor fixing seat (50), top is fixedly connected with the bottom of extensible member (70).
9. Chinese chestnut picking machine according to claim 1, it is characterized in that, the combination that described extensible member (70) is at least two cylinders, the push rod top that is positioned at the cylinder of below is fixedly connected with the outer casing bottom of the relative cylinder that is positioned at top, the bottom that described extensible member (70) is positioned at the shell of the cylinder of bottommost is fixed on the sidewall of the second motor fixing seat (50), and the push rod top that this extensible member (70) is positioned at the cylinder of top is fixedly connected with the first holder (801).
10. Chinese chestnut picking machine according to claim 1, is characterized in that, described the first motor (20) and the second motor (40) are self-locking motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410027348.XA CN103766080B (en) | 2014-01-21 | 2014-01-21 | A kind of Chinese chestnut picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410027348.XA CN103766080B (en) | 2014-01-21 | 2014-01-21 | A kind of Chinese chestnut picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103766080A true CN103766080A (en) | 2014-05-07 |
| CN103766080B CN103766080B (en) | 2015-11-11 |
Family
ID=50559213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410027348.XA Expired - Fee Related CN103766080B (en) | 2014-01-21 | 2014-01-21 | A kind of Chinese chestnut picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103766080B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108353639A (en) * | 2018-05-04 | 2018-08-03 | 青岛理工大学 | Fruit shakes dropping control device |
| CN109079751A (en) * | 2018-07-13 | 2018-12-25 | 安徽派日特智能装备有限公司 | A kind of rotary type robot base |
| CN109121722A (en) * | 2018-10-29 | 2019-01-04 | 常熟理工学院 | Integrated mechanical arm is collected in oscillatory type picking |
| CN112586192A (en) * | 2020-12-23 | 2021-04-02 | 中国科学院沈阳自动化研究所 | Robot system is picked to matrimony vine fruit |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2419803Y (en) * | 2000-04-10 | 2001-02-21 | 黄福功 | Long arm fruit picker |
| EP1671531A2 (en) * | 2004-12-16 | 2006-06-21 | DAVIDE E LUIGI VOLPI S.p.A. | Portable fruit tree beating device, particularly for picking olives, and method of controlling such a device |
| CN201243499Y (en) * | 2008-08-15 | 2009-05-27 | 马新增 | Clamp for collecting Chinese chestnut |
| CN201509440U (en) * | 2009-09-24 | 2010-06-23 | 浙江中力工具制造有限公司 | Nut picking machine |
| CN201639998U (en) * | 2010-04-28 | 2010-11-24 | 陈浩 | Fruit picking device |
| CN203675655U (en) * | 2014-01-21 | 2014-07-02 | 浙江工业大学 | Chinese chestnut picking machine |
-
2014
- 2014-01-21 CN CN201410027348.XA patent/CN103766080B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2419803Y (en) * | 2000-04-10 | 2001-02-21 | 黄福功 | Long arm fruit picker |
| EP1671531A2 (en) * | 2004-12-16 | 2006-06-21 | DAVIDE E LUIGI VOLPI S.p.A. | Portable fruit tree beating device, particularly for picking olives, and method of controlling such a device |
| CN201243499Y (en) * | 2008-08-15 | 2009-05-27 | 马新增 | Clamp for collecting Chinese chestnut |
| CN201509440U (en) * | 2009-09-24 | 2010-06-23 | 浙江中力工具制造有限公司 | Nut picking machine |
| CN201639998U (en) * | 2010-04-28 | 2010-11-24 | 陈浩 | Fruit picking device |
| CN203675655U (en) * | 2014-01-21 | 2014-07-02 | 浙江工业大学 | Chinese chestnut picking machine |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108353639A (en) * | 2018-05-04 | 2018-08-03 | 青岛理工大学 | Fruit shakes dropping control device |
| CN109079751A (en) * | 2018-07-13 | 2018-12-25 | 安徽派日特智能装备有限公司 | A kind of rotary type robot base |
| CN109121722A (en) * | 2018-10-29 | 2019-01-04 | 常熟理工学院 | Integrated mechanical arm is collected in oscillatory type picking |
| CN109121722B (en) * | 2018-10-29 | 2020-10-02 | 常熟理工学院 | Vibrating type picking and collecting integrated mechanical arm |
| CN112586192A (en) * | 2020-12-23 | 2021-04-02 | 中国科学院沈阳自动化研究所 | Robot system is picked to matrimony vine fruit |
| CN112586192B (en) * | 2020-12-23 | 2023-04-07 | 中国科学院沈阳自动化研究所 | Wolfberry fruit picking robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103766080B (en) | 2015-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103766080A (en) | Chinese chestnut picking machine | |
| CN203435376U (en) | Novel portable walnut picking machine | |
| CN102656999B (en) | Vibrating fruit tree harvester | |
| CN201563389U (en) | Electric fruit picker | |
| CN206821319U (en) | A kind of Bu Funa planting fruit trees picker | |
| CN108124592A (en) | A kind of picking fruit device for upper branch of fruit trees | |
| CN106171291B (en) | A kind of gardens picking fruit device | |
| CN203675655U (en) | Chinese chestnut picking machine | |
| CN207995701U (en) | A kind of fruit picker | |
| CN203675645U (en) | Shaking-fan-type beating component | |
| CN209861633U (en) | Fruit picking equipment | |
| CN218789171U (en) | Tool for picking fruits on tree | |
| CN206227046U (en) | A kind of portable electric walnut picker | |
| KR101336350B1 (en) | Fruit defoliating and thinning device for use in fruit trees | |
| CN104012248A (en) | Grape picking device | |
| CN210726047U (en) | A harvesting device for quercus acutissima seed | |
| CN211509860U (en) | A flexible cantilever type picking operation mechanism for hillside orchard | |
| CN211931422U (en) | Walnut picking and tree shaking machine | |
| CN201349417Y (en) | General mechanical arm device for picking ground grown fruits and vegetables | |
| CN205128132U (en) | Corn leaf comminution device | |
| CN207626131U (en) | Portable telescopic fruits picking mechanical hand | |
| CN208370358U (en) | Hand electric cotton top-cutting machine | |
| CN106342483A (en) | Stretchable electric fruit picking device | |
| CN206743900U (en) | Fruit/vegetable harvesting device | |
| CN108142101B (en) | Cantilever impact device of whole pricklyash peel picking machine and application method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| 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: 20151111 Termination date: 20180121 |