CN105580557A - Banana picking mechanism - Google Patents
Banana picking mechanism Download PDFInfo
- Publication number
- CN105580557A CN105580557A CN201610133770.2A CN201610133770A CN105580557A CN 105580557 A CN105580557 A CN 105580557A CN 201610133770 A CN201610133770 A CN 201610133770A CN 105580557 A CN105580557 A CN 105580557A
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- Prior art keywords
- clamping
- cutting
- slide
- grain
- cutting bed
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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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a banana picking mechanism. The banana picking mechanism comprises a workbench, a clamping mechanism and a cutting device, wherein the clamping mechanism comprises a clamping bench and two clamping arms, the clamping bench is arranged on the workbench in a forward-backward slidable mode and driven by a clamping bench sliding mechanism to slide, the front end of each clamping arm is provided with a clamping jaw, and the two clamping arms are arranged at the front end of the clamping bench and driven by a clamping driving mechanism to be closed or opened so that the two clamping jaws can move close to or depart from each other; the cutting device comprises a cutting bench and a cutting tool, the cutting bench is arranged on the workbench in a forward-backward slidable mode and driven by a cutting bench sliding mechanism to slide, and the cutting tool is arranged at the front end of the cutting bench in a leftward-rightward slidable mode and driven by a cutting tool sliding mechanism to slide. By means of the banana picking mechanism, mechanization of banana picking can be achieved, work efficiency of banana picking can be improved, labor intensity is lowered, and mechanical damage to bananas can be further reduced.
Description
Technical field
The present invention relates to agriculture seed harvester field, particularly a kind of banana picking mechanism.
Background technology
Food and agricultural organization of banana united state regards as and is only second to paddy rice, wheat, corn the fourth-largest grain afterwardsFood product, its trading volume is first of world's fruit trading volume. China's banana industry stable development nearly ten years,Banana planting area constantly increases. But the harvesting means that banana is current or main dependence manpower, this adoptingNot only labour intensity is large to pluck mode, and picking efficiency is low, and cost is high, and safe not, easily causes peopleMember is injured, so realize banana picking mechanical, avoids manpower to pluck the damage to fruit, pushes and touchesHit, improve its economic benefit and be significant.
The information that is disclosed in this background technology part is only intended to increase the reason to general background of the present inventionSeparate, and should not be regarded as admitting or imply that in any form this information structure has been this area general technologyThe prior art that personnel are known.
Summary of the invention
The object of the present invention is to provide a kind of banana picking mechanism, existingly adopt by manpower thereby overcomeThe labour intensity of plucking banana is large, efficiency is low, cost is high and unsafe shortcoming.
For achieving the above object, the invention provides a kind of banana picking mechanism, wherein, comprising: workPlatform; Clamping device, it comprises: grain-clamping table, its with can before and after slide mode be arranged at described workOn platform, this grain-clamping table drives into line slip by a grain-clamping table slide mechanism; And two clamping limbs, twoThe front end of this clamping limb is respectively provided with a jaw; Two these clamping limbs are arranged at the front end of described grain-clamping table,And two these clamping limbs are driven and are carried out closure or open by a clamping driving mechanism, so that two these clamping limbsFront end described jaw mutually near or deviate from; Cutter sweep, it comprises: cutting bed, it is with canThe mode of sliding in front and back is arranged on described workbench, and this cutting bed is driven into by a cutting bed slide mechanismLine slip; This cutting bed is positioned at the top of described grain-clamping table; And cutter, it is horizontally slippingMode be arranged at the front end of described cutting bed, these cutter are driven and are slided by a cutter slide mechanismMoving.
Preferably, in technique scheme, on described workbench, be provided with one and comprise upper rail and lower guidewayDouble-layer guide rail, described grain-clamping table with can before and after the mode of sliding be arranged on described lower guideway, and instituteState cutting bed with can before and after slide mode be arranged on described upper rail.
Preferably, in technique scheme, described grain-clamping table slide mechanism is one to be arranged at described workbenchOn grain-clamping table hydraulic cylinder, this grain-clamping table hydraulic cylinder is connected with the rear end of described grain-clamping table; Described cuttingCeding of Taiwan slide mechanism is one to be arranged at the cutting bed hydraulic cylinder on described workbench, this cutting bed hydraulic cylinder withThe rear end of described cutting bed connects.
Preferably, in technique scheme, the middle part cross-articulation of two described clamping limbs is in described clampingThe front end of platform, and described clamping driving mechanism comprises: two first connecting rods, and in two these first connecting rodsPortion's cross-articulation is on described grain-clamping table, and the front end of two these first connecting rods is each and a described clamping limbRear end carry out hinged; Two second connecting rods, the front end of two these second connecting rods each with one described firstThe rear portion of connecting rod is carried out hinged; Clamping slide, the rear end of two described second connecting rods is all articulated with this clampingOn slide; And clamping hydraulic cylinder, it is arranged on described grain-clamping table, and this clamping hydraulic cylinder with described inClamping slide connects.
Preferably, in technique scheme, described cutter slide mechanism comprises: cutting slide, described inCutter are arranged on this cutting slide; Cutting screw mandrel, it is cut described in being set up in the mode that can rotateThe front end of the ceding of Taiwan, described cutting slide is connected with a joggle by screw and this cutting screw mandrel; And cuttingMotor, it is arranged on described cutting bed, and this cutting motor enters by transmission mechanism and described cutting screw mandrelRow connects, to drive described cutting screw mandrel to rotate.
Preferably, in technique scheme, this banana picking mechanism also comprises that one for driving described workPlatform carries out the lowering or hoisting gear of lifting.
Preferably, in technique scheme, described lowering or hoisting gear comprises: lifting platform; Elevating screw, itsBe set up on described lifting platform in the mode that can rotate; Lift slide, it is by screw and described liftingScrew mandrel is connected with a joggle; This lift slide is fixed and is connected with described workbench; And lifting motor,It is arranged on described lifting platform, and this lifting motor connects by transmission mechanism and described elevating screwConnect.
Preferably, in technique scheme, this banana picking mechanism also comprises that one for driving described liftingThe tumbler that platform rotates.
Preferably, in technique scheme, described tumbler comprises: base, described lifting platform passes throughOne rotating shaft is arranged on this base in the mode that can rotate; And rotary electric machine, it is arranged at the described endOn seat, this rotary electric machine is connected with described rotating shaft by transmission mechanism.
Compared with prior art, the present invention has following beneficial effect:
The present invention can realize the mechanization that banana is plucked, the operating efficiency of plucking to improve China's banana,And reduce labour intensity, and can also reduce the mechanical damage of banana and avoid injury to personnel, it has wideMarket application and promotion prospect.
Brief description of the drawings
Fig. 1 is the structural representation of the banana picking mechanism according to the present invention.
Fig. 2 is the structural representation according to clamping device of the present invention.
Fig. 3 is the structural representation according to cutter sweep of the present invention.
Main description of reference numerals:
1-workbench, 11-double-layer guide rail; 2-clamping device, 21-grain-clamping table, 22-grain-clamping table hydraulic cylinder, 23-Clamping limb, 24-jaw, 25-first connecting rod, 26-second connecting rod, 27-clamps slide, 28-clamping hydraulic cylinder;3-cutter sweep, 31-cutting bed, 32-cutting bed hydraulic cylinder, 33-cutter, 34-cuts slide, and 35-cutsCut screw mandrel, 36-cutting motor; 4-lowering or hoisting gear, 41-lifting platform, 42-elevating screw, 43-lift slide,44-lifting motor; 5-tumbler, 51-base, 52-rotary electric machine.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that thisThe protection domain of invention is not subject to the restriction of detailed description of the invention.
Unless separately there is other clearly to represent, otherwise in whole description and claims, term " bagDraw together " or its conversion element of stating being understood to include as " comprising " or " including " etc. orPart, and do not get rid of other element or other part.
Fig. 1 to Fig. 3 has shown a kind of according to the preferred embodiment of the present invention structure of banana picking mechanismSchematic diagram, this banana picking mechanism comprises workbench 1, clamping device 2 and cutter sweep 3, reference diagram1 and Fig. 2, clamping device 2 comprises grain-clamping table 21 and two clamping limbs 23, grain-clamping table 21 with can beforeThe mode of rear slip is arranged on workbench 1, and grain-clamping table 21 is driven and slided by a grain-clamping table slide mechanismMoving. Preferably, folder grain-clamping table slide mechanism is one to be arranged at the grain-clamping table hydraulic cylinder 22 on workbench 1,Grain-clamping table hydraulic cylinder 22 is connected with the rear end of grain-clamping table 21, thereby pushes away by grain-clamping table hydraulic cylinder 22Draw grain-clamping table 21 to move forward and backward. The front end of two clamping limbs 23 is respectively provided with a jaw 24, jaw24 is semicircular arc. Two clamping limbs are arranged at the front end of grain-clamping table 21, and two clamping limbs 23 are by oneClamping driving mechanism drives and carries out closure or open, so that jaw 24 phases of the front end of two clamping limbs 23Mutually near or deviate from, thereby realize the clamping to any of several broadleaf plants fruit or unclamp. Continue with reference to figure 2, preferably, twoThe middle part cross-articulation of clamping limb 23 is in the front end of grain-clamping table 21, and clamping driving mechanism comprises that first connectsIn bar 25, second connecting rod 26, clamping slide unit 27 and 28, two first connecting rods 25 of clamping hydraulic cylinderPortion's cross-articulation is on grain-clamping table 21, and the front end of two first connecting rods 25 is each and a clamping limb 23Rear end is carried out hinged, and cut with scissors at the front end rear portion each and a first connecting rod 25 of two second connecting rods 26Connect, and the rear end of two second connecting rods 26 is all articulated with on clamping slide 27. Clamping hydraulic cylinder 28 arrangesOn grain-clamping table 21, and clamping hydraulic cylinder 28 with clamping slide 27 be connected, thereby pass through clamping liquidCylinder pressure 28 push-and-pull clamping slides 27, make first connecting rod 25 and second connecting rod 26 drive two clamping limbs 23Carry out closure or open, so that two jaws 24 clamp or unclamp any of several broadleaf plants fruit.
With reference to figure 1 and Fig. 3, cutter sweep 3 comprises cutting bed 31 and cutter 33, cutting bed 31With can before and after the mode of sliding be arranged on workbench 1, and cutting bed 31 is by a cutting bed slide mechanismDrive into line slip. Preferably, cutting bed slide mechanism is one to be arranged at the cutting bed liquid on workbench 1Cylinder pressure 32, cutting bed hydraulic cylinder 32 is connected with the rear end of cutting bed 31. Cutter 33 are with can be leftThe mode of right slip is arranged at the front end of cutting bed 31, and cutter 33 are driven by a cutter slide mechanismSlide, thereby carpopodium is cut off. Continue with reference to figure 3, preferably, cutter slide mechanism bagDraw together cutting slide 34, cutting screw mandrel 35 and cutting motor 36, cutter 33 are arranged at cutting slide 34Upper, cutting screw mandrel 35 is set up in the front end of cutting bed 31 in the mode that can rotate, and cutting slide 34 is logicalCrossing screw is connected with a joggle with cutting screw mandrel 35. Cutting motor 36 is arranged on cutting bed 31, cuttingMotor 36 is connected with cutting screw mandrel 35 by transmission mechanisms such as chain transmission or band transmissions, cuts to driveCutting screw mandrel 35 rotates. Cutting screw mandrel 35 drives cutting slide 34 left and right to move around by rotating,Thereby cutter 33 are cut back and forth, to cut off carpopodium to carpopodium.
Continue with reference to figure 1, cutting bed 31 is positioned at the top of grain-clamping table 21, preferably, on workbench 1, establishesBe equipped with a double-layer guide rail 11 that comprises upper rail and lower guideway, grain-clamping table 21 with can before and after the mode of slidingBe arranged on lower guideway, and cutting bed 31 with can before and after slide mode be arranged on upper rail, clampingPlatform 21 is independent of each other with the slip of cutting bed 31. In the process that banana is plucked, first moving clipHold platform 21 to suitable position, then drive two jaws 24 to clamp any of several broadleaf plants fruit by clamping limb 23; Then handleCutting bed 31 moves to correct position, then cuts off carpopodium by cutter 33. Finally by 23 of clamping limbsAny of several broadleaf plants fruit moves to behind suitable position, then makes two jaws 24 unclamp any of several broadleaf plants fruit, so that collect, thereby completePaired one the harvesting of banana.
Further, adjust for convenience the height of cutter 33 and clamping limb 23, improve applicability, thisThe banana picking mechanism of invention also comprises that one for driving workbench 1 to carry out the lowering or hoisting gear 4 of lifting. Enter oneStep preferably, continues with reference to figure 1, and lowering or hoisting gear 4 comprises lifting platform 41, elevating screw 42, lifting cunningSeat 43 and lifting motor 44, it is set up in elevating screw 42 on lifting platform 41 in the mode that can rotate,The axis of elevating screw 42 longitudinally distributes. Lift slide 43 is nibbled by screw and elevating screw 42Close connection, lift slide 43 is fixed and is connected with workbench 1. Lifting motor 44 is arranged at lifting platformOn 41, and lifting motor 44 is connected with elevating screw 42 by transmission mechanism, and transmission mechanism canFor tape handler, chain-drive mechanism or gear drive etc. Lifting motor 44 is by driving lifting silkBar 42 carries out rotating, just can drive workbench 1 to carry out lifting by lift slide 43. Elevating screw 42Can be two, two elevating screws 42 are driven and are synchronously rotated by lifting motor 44, to improve literThe stability that slide 43 moves is fallen.
Again further, for adjusting the operating angle of cutter 33 and clamping limb 23, to expand harvesting modelEnclose, improve applicability, banana picking mechanism also comprises a rotation for driving lifting platform 41 to rotateDevice 5. Further preferably, continue with reference to figure 1, tumbler 5 comprises base 51 and rotates electricityMachine 52, lifting platform 41 is arranged on base 51 in the mode that can rotate by a rotating shaft (figure depending on),Rotary electric machine 52 is arranged on base 51, and rotary electric machine 52 is connected with rotating shaft by transmission mechanism.Rotary electric machine 52 drives lifting platform 41 to rotate by rotating shaft, thereby adjusts flexibly cutter 33 and folderThe operating angle of gripping arm 23.
The present invention may be wholy set on draw-gear, corresponding with any of several broadleaf plants fruit to be transported to by draw-gearPosition, it is suitable then by lowering or hoisting gear 4 and tumbler 5, cutter 33 and clamping limb 23 to be adjusted toPosition, then by the jaw 24 of clamping limb 23, the bottom of the carpopodium to any of several broadleaf plants fruit clamps, and by cuttingCutter 33 cuts off the top of carpopodium, and after carpopodium is cut off, two jaws 24 keep capturing any of several broadleaf plantsReally. By lowering or hoisting gear 4 and tumbler 5, clamping limb 23 is adjusted again, then driven jig arm 23 to unclampJaw 24, so that workman collects any of several broadleaf plants fruit. The present invention can realize the mechanization that banana is plucked, to improveThe operating efficiency that China's banana is plucked, and reduce labour intensity, can also reduce the mechanical damage of banana and keep awayExempt from injury to personnel, it has wide market application and promotion prospect.
The aforementioned description to concrete exemplary of the present invention is in order to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentionedInstruction, can much change and change. Exemplary embodiment is selected and the object described existsIn explaining certain principles of the present invention and practical application thereof, thereby make those skilled in the art can be realNow and utilize various exemplary of the present invention and various selection and change.Scope of the present invention is intended to be limited by claims and equivalents thereof.
Claims (9)
1. a banana picking mechanism, is characterized in that, comprising:
Workbench;
Clamping device, it comprises:
Grain-clamping table, its with can before and after slide mode be arranged on described workbench, this grain-clamping tableDrive into line slip by a grain-clamping table slide mechanism; And
Two clamping limbs, the front end of two these clamping limbs is respectively provided with a jaw; Two these clamping limbsBe arranged at the front end of described grain-clamping table, and two these clamping limbs are driven and are carried out closure by a clamping driving mechanismOr open so that the described jaw of the front end of two these clamping limbs mutually near or deviate from;
Cutter sweep, it comprises:
Cutting bed, its with can before and after slide mode be arranged on described workbench, this cutting bedDrive into line slip by a cutting bed slide mechanism; This cutting bed is positioned at the top of described grain-clamping table; And
Cutter, it is arranged at the front end of described cutting bed in the mode that can horizontally slip, and this is cutCutter drives into line slip by a cutter slide mechanism.
2. banana picking mechanism according to claim 1, is characterized in that, on described workbench, establishesBe equipped with a double-layer guide rail that comprises upper rail and lower guideway, described grain-clamping table with can before and after the mode of slidingBe arranged on described lower guideway, and described cutting bed with can before and after the mode of sliding be arranged on described and leadOn rail.
3. banana picking mechanism according to claim 2, is characterized in that, described grain-clamping table slidesMechanism one is arranged at the grain-clamping table hydraulic cylinder on described workbench, this grain-clamping table hydraulic cylinder and described clampingThe rear end of platform connects; Described cutting bed slide mechanism is one to be arranged at the cutting bed on described workbenchHydraulic cylinder, this cutting bed hydraulic cylinder is connected with the rear end of described cutting bed.
4. banana picking mechanism according to claim 1, is characterized in that, two described clamping limbsMiddle part cross-articulation in the front end of described grain-clamping table, and described clamping driving mechanism comprises:
Two first connecting rods, the middle part cross-articulation of two these first connecting rods on described grain-clamping table, and twoThe front end rear end each and a described clamping limb of individual this first connecting rod is carried out hinged;
Two second connecting rods, the front end rear portion each and a described first connecting rod of two these second connecting rods is enteredRow is hinged;
Clamping slide, the rear end of two described second connecting rods is all articulated with on this clamping slide; And
Clamping hydraulic cylinder, it is arranged on described grain-clamping table, and this clamping hydraulic cylinder and described clamping slideConnect.
5. banana picking mechanism according to claim 1, is characterized in that, described cutter slideMechanism comprises:
Cutting slide, described cutter are arranged on this cutting slide;
Cutting screw mandrel, it is set up in the front end of described cutting bed in the mode that can rotate, and described cutting is slidingSeat is connected with a joggle by screw and this cutting screw mandrel; And
Cutting motor, it is arranged on described cutting bed, this cutting motor by transmission mechanism with described in cutCut screw mandrel and connect, to drive described cutting screw mandrel to rotate.
6. banana picking mechanism according to claim 1, is characterized in that, this banana picking mechanismAlso comprise that one for driving described workbench to carry out the lowering or hoisting gear of lifting.
7. banana picking mechanism according to claim 6, is characterized in that, described lowering or hoisting gear bagDraw together:
Lifting platform;
Elevating screw, it is set up on described lifting platform in the mode that can rotate;
Lift slide, it is connected with a joggle by screw and described elevating screw; This lift slide and instituteState workbench and be fixed connection; And
Lifting motor, it is arranged on described lifting platform, and this lifting motor by transmission mechanism with described inElevating screw connects.
8. banana picking mechanism according to claim 7, is characterized in that, this banana picking mechanismAlso comprise a tumbler for driving described lifting platform to rotate.
9. banana picking mechanism according to claim 8, is characterized in that, described tumbler bagDraw together:
Base, described lifting platform is arranged on this base in the mode that can rotate by a rotating shaft; And
Rotary electric machine, it is arranged on described base, and this rotary electric machine is by transmission mechanism and described rotating shaftConnect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610133770.2A CN105580557A (en) | 2016-03-09 | 2016-03-09 | Banana picking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610133770.2A CN105580557A (en) | 2016-03-09 | 2016-03-09 | Banana picking mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN105580557A true CN105580557A (en) | 2016-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610133770.2A Pending CN105580557A (en) | 2016-03-09 | 2016-03-09 | Banana picking mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106233929A (en) * | 2016-08-02 | 2016-12-21 | 广西大学 | A kind of multi-degree-of-freemechanical mechanical arm Folium Mori picker |
| CN106385932A (en) * | 2016-09-18 | 2017-02-15 | 广西大学 | Electromechanical self-locking clamping peanut pulling-up device |
| CN106416581A (en) * | 2016-09-18 | 2017-02-22 | 广西大学 | Multi-degree-of-freedom horizontal type level self-locking peanut clamping and pulling-up device |
| CN106416583A (en) * | 2016-09-21 | 2017-02-22 | 广西大学 | Connecting rod rope self-locking and clamping peanut pulling-out device |
| CN106416582A (en) * | 2016-09-18 | 2017-02-22 | 广西大学 | Upright lever-type self-locked clamping peanut plant pulling device |
| CN106508283A (en) * | 2016-09-30 | 2017-03-22 | 广西大学 | Banana-picking-machine auxiliary device |
| CN106538150A (en) * | 2016-09-30 | 2017-03-29 | 广西大学 | A kind of fruit picker |
| CN106576593A (en) * | 2017-02-24 | 2017-04-26 | 四川农业大学 | Efficient tea-leaf picker clamping end transmission device |
| CN106612941A (en) * | 2016-09-18 | 2017-05-10 | 广西大学 | Vertical screw lifting multi-degree-of-freedom banana picking trolley |
| CN106717568A (en) * | 2016-11-25 | 2017-05-31 | 广西大学 | A kind of vertical electromechanical scissor type sisal hemp clamping device |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN106973613A (en) * | 2017-04-10 | 2017-07-25 | 宁波工程学院 | Bamboo shoots excavate forwarder |
| CN107637267A (en) * | 2017-09-27 | 2018-01-30 | 湖州吴兴升浪生态农业有限公司 | A kind of ecological agriculture vegetable cultivation harvesting apparatus |
| CN108293423A (en) * | 2018-04-11 | 2018-07-20 | 陈巧丽 | A kind of banana picker |
| CN108521990A (en) * | 2018-04-19 | 2018-09-14 | 武汉理工大学 | Wearable one step of scissor-type pineapple picks sub-arm |
| CN108811731A (en) * | 2018-06-15 | 2018-11-16 | 苏州艾捷尔斯生物科技有限公司 | A kind of agricultural vegetables and fruits are with facilitating picking clamping device |
| CN108811752A (en) * | 2018-06-28 | 2018-11-16 | 华南农业大学 | A kind of reciprocating cutting formula lichee picking machine |
| CN109496546A (en) * | 2018-10-08 | 2019-03-22 | 项奕统 | A kind of multi-functional picking vehicle |
| CN109819768A (en) * | 2019-03-18 | 2019-05-31 | 南京禹智智能科技有限公司 | It is a kind of for slowing down the fruit tree stripper and its win method that fruit is got injured by a fall |
| CN110583232A (en) * | 2019-10-16 | 2019-12-20 | 仲恺农业工程学院 | Banana carpopodium clamping and cutting composite actuating mechanism |
| CN112930860A (en) * | 2021-01-26 | 2021-06-11 | 华南农业大学 | Semi-automatic banana picking harvester |
| CN113207404A (en) * | 2021-06-01 | 2021-08-06 | 秦振华 | Device is picked to fig |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106233929A (en) * | 2016-08-02 | 2016-12-21 | 广西大学 | A kind of multi-degree-of-freemechanical mechanical arm Folium Mori picker |
| CN106612941A (en) * | 2016-09-18 | 2017-05-10 | 广西大学 | Vertical screw lifting multi-degree-of-freedom banana picking trolley |
| CN106385932A (en) * | 2016-09-18 | 2017-02-15 | 广西大学 | Electromechanical self-locking clamping peanut pulling-up device |
| CN106416582A (en) * | 2016-09-18 | 2017-02-22 | 广西大学 | Upright lever-type self-locked clamping peanut plant pulling device |
| CN106416581A (en) * | 2016-09-18 | 2017-02-22 | 广西大学 | Multi-degree-of-freedom horizontal type level self-locking peanut clamping and pulling-up device |
| CN106416583A (en) * | 2016-09-21 | 2017-02-22 | 广西大学 | Connecting rod rope self-locking and clamping peanut pulling-out device |
| CN106538150A (en) * | 2016-09-30 | 2017-03-29 | 广西大学 | A kind of fruit picker |
| CN106508283A (en) * | 2016-09-30 | 2017-03-22 | 广西大学 | Banana-picking-machine auxiliary device |
| CN106508283B (en) * | 2016-09-30 | 2019-06-18 | 广西大学 | A kind of banana picking mechanical auxiliary device |
| CN106717546B (en) * | 2016-11-22 | 2019-05-24 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN106717568A (en) * | 2016-11-25 | 2017-05-31 | 广西大学 | A kind of vertical electromechanical scissor type sisal hemp clamping device |
| CN106576593A (en) * | 2017-02-24 | 2017-04-26 | 四川农业大学 | Efficient tea-leaf picker clamping end transmission device |
| CN106973613A (en) * | 2017-04-10 | 2017-07-25 | 宁波工程学院 | Bamboo shoots excavate forwarder |
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| CN108293423A (en) * | 2018-04-11 | 2018-07-20 | 陈巧丽 | A kind of banana picker |
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| CN108521990A (en) * | 2018-04-19 | 2018-09-14 | 武汉理工大学 | Wearable one step of scissor-type pineapple picks sub-arm |
| CN108521990B (en) * | 2018-04-19 | 2020-07-10 | 武汉理工大学 | Wearable fork-type pineapple one-step picking auxiliary arm |
| CN108811731B (en) * | 2018-06-15 | 2021-02-09 | 海安爵珈机械科技有限公司 | Agricultural vegetables and fruits are with conveniently picking clamping device |
| CN108811731A (en) * | 2018-06-15 | 2018-11-16 | 苏州艾捷尔斯生物科技有限公司 | A kind of agricultural vegetables and fruits are with facilitating picking clamping device |
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| CN112088653A (en) * | 2019-03-18 | 2020-12-18 | 南京禹智智能科技有限公司 | Fruit tree picking device for relieving fruit falling injury and picking method thereof |
| CN110583232A (en) * | 2019-10-16 | 2019-12-20 | 仲恺农业工程学院 | Banana carpopodium clamping and cutting composite actuating mechanism |
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