CN106179968B - Apple grading sorting equipment - Google Patents
Apple grading sorting equipment Download PDFInfo
- Publication number
- CN106179968B CN106179968B CN201610556783.0A CN201610556783A CN106179968B CN 106179968 B CN106179968 B CN 106179968B CN 201610556783 A CN201610556783 A CN 201610556783A CN 106179968 B CN106179968 B CN 106179968B
- Authority
- CN
- China
- Prior art keywords
- workbench
- unit
- gear
- sorting equipment
- import
- 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 - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B13/00—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
- B07B13/04—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices according to size
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
Landscapes
- Sorting Of Articles (AREA)
- Labeling Devices (AREA)
Abstract
The invention discloses a kind of apple grading sorting equipments, including workbench, it is cavity structure inside the workbench, the workbench is equipped with the rectangular aperture with being connected inside cavity structure, the rectangular aperture upper end is equipped with blanking unit, the workbench is equipped with delivery unit, the workbench is equipped with the sorting unit being connected to each other with delivery unit, the workbench is equipped with labelling unit, the quality product entrance is equipped with switch gate, the workbench is equipped with control box, the control box respectively with blanking unit, delivery unit, labelling unit, No.1 electric rotating machine, No.1 linear motor, clamp arm, Image Acquisition camera and switch gate are electrically connected.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to sorting mechanical modification, particularly a kind of apple grading sorting equipments.
Background technology
The traditional apple grading in China generally takes manual type, and operating personnel are according to the size of apple, shape and lack
It falls into, apple is classified, productivity is low, and grading effect is unstable.On the other hand, these detection devices are only for apple
The detection of fruit individual, can not realize the pile line operation of detection.
Invention content
The purpose of the present invention is to solve the above problems, devise a kind of apple grading sorting equipment.
Realize above-mentioned purpose the technical scheme is that, a kind of apple grading sorting equipment, including workbench, the work
Make to be equipped with the rectangular aperture with inside cavity structure being connected for cavity structure, the workbench inside platform, the rectangle is opened
Mouth upper end is equipped with blanking unit, and the workbench is equipped with delivery unit, and the workbench is equipped with and is connected to each other with delivery unit
Sorting unit, the workbench is equipped with labelling unit, the sorting unit be by be arranged in workbench lower surface and
Round end stretch out workbench outside No.1 electric rotating machine, be angularly inserted into No.1 electric rotating machine round end No.1 shift plate, two
Number shift plate and No. three shift plates, setting on the table and the substandard products import between No.1 shift plate and No. two shift plates on part,
The No.1 channel being connected to each other inside workbench and with substandard products import, setting are arranged on the table and positioned at No. two shift plates and three
Quality product import between number shift plate on part is arranged on No. two channels being connected to each other inside workbench and with quality product import, setting
On the table and the circular groove between No.1 shift plate and No. three shift plates on part, the horizontal stroke that is arranged on above workbench
Beam, the No.1 linear motor being arranged on crossbeam and be arranged on No.1 linear motor telescopic end clamp arm and setting on the table
Picture collection camera collectively form, the quality product entrance is equipped with switch gate, and the workbench is equipped with control box, institute
State control box respectively with blanking unit, delivery unit, labelling unit, No.1 electric rotating machine, No.1 linear motor, clamp arm, figure
As acquisition camera and switch gate are electrically connected.
The blanking unit be by be arranged on funnel above workbench one end, be arranged on funnel feed opening gear door,
What the hydraulic cylinder that driving gear door moves back and forth collectively formed, the feed opening of the funnel is opposite at the rectangular aperture on workbench
It connects.
The delivery unit be by set multiple grooves being mutually parallel on the table, be arranged on it is multiple in groove
Support roller mandrel, the No.1 gear being sleeved on support roller mandrel, be flexibly connected with workbench side surface and with two neighboring No.1 tooth
The mutually ratcheting multiple tumbler gears of wheel, are arranged on baffle and support roller mandrel company at a pair of of the baffle being inserted on multiple support roller mandrels
The bearing at the place of connecing and it is arranged on workbench side and driving motor that round end is fixedly connected with one of No.1 gear is common
It forms.
The labelling unit is by setting column on the table, being arranged on the housing of the upper end of the column, be arranged on shell
External lower surface and round end stretches into No. two electric rotating machines of enclosure interior, is sleeved on the sliding tooth of No. two electric rotating machine round ends
It takes turns, be arranged on the driven worm gear being flexibly connected in housing and with drive gear, housing is stretched out in and lower end mutually ratcheting with driven worm gear
Outer worm screw is arranged on what the labeller of worm screw lower end collectively formed.
The switch gate be by be arranged in cavity structure No. two linear motors, be arranged on No. two linear motor telescopic ends
Connector, the round gear door that is fixedly connected with connector collectively forms.
The diameter of the round gear door is slightly less than the interior diameter of quality product import.
Angle between the pair of baffle is 30 ° -40 °.
The proximal end of the pair of baffle mutually overlaps respectively with substandard products import.
The substandard products import, quality product import and circular groove are located on same circumference.
The width of the rectangular aperture is slightly less than the interior diameter of substandard products import.
The apple grading sorting equipment made using technical scheme of the present invention, Mechanization Level is high, does not need to be manually dry
In advance, detection efficiency is high and is suitble to the detection of the assembly line of apple.
Description of the drawings
Fig. 1 is the vertical view of apple grading sorting equipment of the present invention；
Fig. 2 is the front view of apple grading sorting equipment of the present invention；
Fig. 3 is the left view of apple grading sorting equipment of the present invention；
Fig. 4 is the structure diagram of blanking unit of the present invention；
In figure, 1, workbench；2nd, No.1 electric rotating machine；3rd, No.1 shift plate；4th, No. two shift plates；5th, No. three shift plates；6th, substandard products
Import；7th, No.1 channel；8th, quality product import；9th, No. two channels；10th, circular groove；11st, crossbeam；12nd, No.1 linear motor；13、
Clamp arm；14th, picture collection camera；15th, control box；16th, funnel；17th, door is kept off；18th, hydraulic cylinder；19th, support roller mandrel；20th, one
Number gear；21st, tumbler gear；22nd, baffle；23rd, driving motor；24th, column；25th, housing；26th, No. two electric rotating machines；27th, it drives
Moving gear；28th, driven worm gear；29th, worm screw；30th, labeller；31st, No. two linear motors；32nd, connector；33rd, round gear door.
Specific embodiment
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in Figs 1-4, a kind of apple grading sorting equipment, packet
Workbench (1) is included, is equipped with inside the workbench (1) for cavity structure, the workbench (1) with being connected inside cavity structure
Logical rectangular aperture, the rectangular aperture upper end are equipped with blanking unit, and the workbench (1) is equipped with delivery unit, the work
Make platform (1) and be equipped with the sorting unit that is connected to each other with delivery unit, the workbench (1) is equipped with labelling unit, described point
Pick unit be by be arranged on the interior lower surface of workbench (1) and round end stretch out the outer No.1 electric rotating machine (2) of workbench (1), etc.
Angle is inserted into the No.1 shift plate (3) of No.1 electric rotating machine round end, No. two shift plates (4) and No. three shift plates (5), is arranged on work
Substandard products import (6) on platform (1) and between No.1 shift plate (3) and No. two shift plates (4) on part is arranged on workbench (1)
It is internal and be connected to each other with substandard products import (6) No.1 channel (7), be arranged on workbench (1) and positioned at No. two shift plates (4) and three
Quality product import (8) between number shift plate (5) on part, be arranged on workbench (1) it is internal and be connected to each other with quality product import (8) two
Number channel (9) is arranged on workbench (1) and the circular groove between No.1 shift plate (3) and No. three shift plates (5) on part
(10), the crossbeam (11) above workbench (1), the No.1 linear motor (12) being arranged on crossbeam (11) are arranged on and is arranged on
The clamp arm (13) of No.1 linear motor (12) telescopic end and picture collection camera (14) the common structure being arranged on workbench (1)
Into, switch gate is equipped at the quality product import (8), the workbench (1) is equipped with control box (15), the control box (15)
Respectively with blanking unit, delivery unit, labelling unit, No.1 electric rotating machine (2), No.1 linear motor (12), clamp arm (13),
Image Acquisition camera (14) and switch gate are electrically connected；The blanking unit is the funnel by being arranged on above workbench one end
(16), it is arranged on the gear door (17) at funnel (16) feed opening, hydraulic cylinder (18) common structure that driving gear door (17) moves back and forth
Into, it is connected to each other at the feed opening and the rectangular aperture on workbench (1) of the funnel (16)；The delivery unit is by setting
Multiple grooves being mutually parallel on workbench (1), are sleeved on support roller core at the multiple support roller mandrels (19) being arranged in groove
No.1 gear (20) on axis (19), be flexibly connected with workbench (1) side surface and with two neighboring No.1 gear (20) phase tooth
Close multiple tumbler gears (21), be inserted on multiple support roller mandrels (19) a pair of of baffle (22), be arranged on baffle (22) with
The bearing of support roller mandrel (19) junction and to be arranged on workbench (1) side and round end solid with one of No.1 gear (20)
What the driving motor (23) connected surely collectively formed；The labelling unit is the column (24) by being arranged on workbench (1),
The housing (25) of column (24) upper end is arranged on, is arranged on the outer lower surface of housing (25) and round end stretches into housing (25) inside
No. two electric rotating machines (26), the drive gear (27) for being sleeved on No. two electric rotating machine (26) round ends are arranged in housing (25)
And driven worm gear (28), and lower end mutually ratcheting with driven worm gear (28) the stretching housing (25) being flexibly connected with drive gear (27)
Outer worm screw (29) is arranged on what the labeller (30) of worm screw (29) lower end collectively formed；The switch gate is by being arranged on
No. two linear motors (31) in cavity structure, the connector (32) for being arranged on No. two linear motor (31) telescopic ends, with connecting
What the round gear door (33) that body (32) is fixedly connected collectively formed；The diameter of the round gear door (33) is slightly less than quality product import
(8) interior diameter；Angle between the pair of baffle (22) is 30 ° -40 °；The proximal end of the pair of baffle (22) respectively with
Substandard products import (6) mutually overlaps；The substandard products import (6), quality product import (8) and circular groove (10) are on same circumference；Institute
The width for stating rectangular aperture is slightly less than the interior diameter of substandard products import (6).
The characteristics of the technical program, is, is cavity structure inside workbench, and workbench is equipped with and phase inside cavity structure
The rectangular aperture of connection, rectangular aperture upper end are equipped with blanking unit, and workbench is equipped with delivery unit, and workbench is equipped with and fortune
The sorting unit that unit is connected to each other is sent, workbench is equipped with labelling unit, and sorting unit is by being arranged on following table in workbench
No.1 electric rotating machine that face and round end are stretched out outside workbench, the No.1 for being angularly inserted into No.1 electric rotating machine round end are dialled
Plate, No. two shift plates and No. three shift plates, setting are on the table and the substandard products between No.1 shift plate and No. two shift plates on part
Import is arranged on the No.1 channel being connected to each other inside workbench and with substandard products import, setting on the table and positioned at No. two groups
Quality product import between plate and No. three shift plates on part, to be arranged on No. two be connected to each other inside workbench and with quality product import logical
Road, setting on the table and the circular groove positioned at No.1 shift plate and No. three shift plates between on part, set on the table
It the crossbeam of side, the No.1 linear motor that is arranged on crossbeam and is arranged on the clamp arm of No.1 linear motor telescopic end and is arranged on work
Make what the picture collection camera on platform collectively formed, quality product entrance is equipped with switch gate, and workbench is equipped with control box, control
Box respectively with blanking unit, delivery unit, labelling unit, No.1 electric rotating machine, No.1 linear motor, clamp arm, Image Acquisition
Camera and switch gate are electrically connected, and Mechanization Level is high, do not need to manual intervention, detection efficiency is high and is suitble to the flowing water of apple
Line detects.
In the technical program, in use, being run by controller control device, apple to be sorted is contained in funnel
Fruit, the gear door movement at Driven by Hydraulic Cylinder funnel feed opening, makes gear door be detached with funnel feed opening, apple falls into work from funnel
In rectangular aperture on platform, driving motor driving No.1 gear rotation, mutually ratcheting multiple tumbler gears are therewith with No.1 gear
Rotation, the support roller mandrel being connected with No.1 gear rotates in the groove of workbench, by the apple on workbench drive to point
It picking at unit, No.1 electric rotating machine drives No.1 shift plate, No. two shift plates and No. three shift plates to be rotated around No.1 electric rotating machine round end,
Apple by the substandard products entrance between No.1 shift plate and No. two shift plates, is fallen into secondary if apple size is less than substandard products import one by one
It in product import, carries out through No.1 channel, if apple size is more than substandard products import, is moved under the action of No. two shift plates
At circular groove, the picture collection camera on workbench judges whether fruit quality is qualified, if off quality on crossbeam
No.1 linear motor work, the clamp arm of No.1 linear motor telescopic end pinches unqualified apple to other places, if up-to-standard
Quality product entrance is then moved under the action of No.1 shift plate, No. two electric rotating machines work of the outer lower surface of housing is sleeved on two
The drive gear of number electric rotating machine round end rotates therewith, the driven worm gear rotation being flexibly connected with drive gear, so with from
The mutually ratcheting worm screw rotation of dynamic worm gear, drives the labeller of worm screw lower end to act on apple, labelled to apple, and subsequent two
The work of number linear motor drives round gear door to be detached with quality product import lower end by connector, and apple is transported to through No. two channels
Other places.
In the technical program, labelling unit is by setting column on the table, being arranged on the shell of the upper end of the column
Body, being arranged on housing, lower surface and round end stretch into No. two electric rotating machines of enclosure interior, are sleeved on No. two electric rotating machines rotations outside
Turn the drive gear at end, the driven worm gear for being arranged in housing and be flexibly connected with drive gear and driven worm gear it is mutually ratcheting and
Worm screw that lower end is stretched out outside housing is arranged on what the labeller of worm screw lower end collectively formed, ensures that labelling is accurate, efficiently
Rate.
In the technical program, delivery unit is by setting multiple grooves being mutually parallel on the table, being arranged on
Multiple support roller mandrels in groove, the No.1 gear being sleeved on support roller mandrel, be flexibly connected with workbench side surface and with phase
The mutually ratcheting multiple tumbler gears of adjacent two No.1 gears, are arranged on baffle at a pair of of the baffle being inserted on multiple support roller mandrels
With the bearing of support roller mandrel junction and being arranged on workbench side and round end is fixedly connected with one of No.1 gear
What driving motor collectively formed, ensure that transport is smooth, stablizes under the premise of ensureing that apple is injury-free.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of which part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. a kind of apple grading sorting equipment, including workbench (1), which is characterized in that be cavity knot inside the workbench (1)
Structure, the workbench (1) are equipped with the rectangular aperture with being connected inside cavity structure, and the rectangular aperture upper end is equipped with blanking
Unit, the workbench (1) are equipped with delivery unit, and the workbench (1) is equipped with the sorting list being connected to each other with delivery unit
Member, the workbench (1) are equipped with labelling unit, and the sorting unit is by being arranged on the interior lower surface of workbench (1) and rotation
Turn end and stretch out workbench (1) outer No.1 electric rotating machine (2), the No.1 shift plate for being angularly inserted into No.1 electric rotating machine round end
(3), No. two shift plates (4) and No. three shift plates (5), be arranged on workbench (1) and positioned at No.1 shift plate (3) and No. two shift plates (4)
Between substandard products import (6) on part, be arranged on the No.1 channel that workbench (1) is internal and is connected to each other with substandard products import (6)
(7), it is arranged on the quality product import (8) on workbench (1) and between No. two shift plates (4) and No. three shift plates (5) on part, sets
It puts in No. two channels (9) that workbench (1) is internal and is connected to each other with quality product import (8), be arranged on workbench (1) and positioned at one
Circular groove (10) number between shift plate (3) and No. three shift plates (5) on part, the crossbeam (11) being arranged on above workbench (1),
The No.1 linear motor (12) that is arranged on crossbeam (11) and be arranged on No.1 linear motor (12) telescopic end clamp arm (13) and
What the picture collection camera (14) being arranged on workbench (1) collectively formed, switch gate is equipped at the quality product import (8),
The workbench (1) is equipped with control box (15), and the control box (15) is signed a bill respectively with blanking unit, delivery unit, labeling
Member, No.1 electric rotating machine (2), No.1 linear motor (12), clamp arm (13), Image Acquisition camera (14) and switch gate electrically connect
It connects.
2. apple grading sorting equipment according to claim 1, which is characterized in that the blanking unit is by being arranged on work
Make the funnel (16) above platform one end, the gear door (17) being arranged at funnel (16) feed opening, driving gear door (17) to move back and forth
Hydraulic cylinder (18) collectively form, be connected to each other at the feed opening and the rectangular aperture on workbench (1) of the funnel (16).
3. apple grading sorting equipment according to claim 1, which is characterized in that the delivery unit is by being arranged on work
Make multiple grooves being mutually parallel on platform (1), the multiple support roller mandrels (19) being arranged in groove, be sleeved on support roller mandrel
(19) No.1 gear (20) on is flexibly connected and mutually ratcheting with two neighboring No.1 gear (20) with workbench (1) side surface
Multiple tumbler gears (21), be inserted on multiple support roller mandrels (19) a pair of of baffle (22), be arranged on baffle (22) with support
It takes turns the bearing of mandrel (19) junction and is arranged on workbench (1) side and round end and the fixation of one of No.1 gear (20)
What the driving motor (23) of connection collectively formed.
4. apple grading sorting equipment according to claim 1, which is characterized in that the labelling unit is by being arranged on
Column (24) on workbench (1) is arranged on the housing (25) of column (24) upper end, is arranged on the outer lower surface of housing (25) and rotation
Turn end and stretch into No. two internal electric rotating machines (26) of housing (25), the drive gear for being sleeved on No. two electric rotating machine (26) round ends
(27), the driven worm gear (28) being flexibly connected in housing (25) and with drive gear (27) and driven worm gear (28) phase are arranged on
The labeller (30) that ratcheting and lower end stretches out the outer worm screw (29) of housing (25), is arranged on worm screw (29) lower end collectively forms
's.
5. apple grading sorting equipment according to claim 1, which is characterized in that the switch gate is by being arranged on cavity
No. two linear motors (31) in structure, the connector (32) and connector for being arranged on No. two linear motor (31) telescopic ends
(32) what the round gear door (33) being fixedly connected collectively formed.
6. apple grading sorting equipment according to claim 5, which is characterized in that the diameter of the round gear door (33) omits
Less than the interior diameter of quality product import (8).
7. apple grading sorting equipment according to claim 3, which is characterized in that the folder between the pair of baffle (22)
Angle is 30 ° -40 °.
8. apple grading sorting equipment according to claim 3, which is characterized in that the proximal end of the pair of baffle (22) point
It is not overlapped mutually with substandard products import (6).
9. apple grading sorting equipment according to claim 1, which is characterized in that the substandard products import (6), quality product import
(8) and circular groove (10) is on same circumference.
10. apple grading sorting equipment according to claim 4, which is characterized in that the width of the rectangular aperture is smaller
Interior diameter in substandard products import (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610556783.0A CN106179968B (en) | 2016-07-13 | 2016-07-13 | Apple grading sorting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610556783.0A CN106179968B (en) | 2016-07-13 | 2016-07-13 | Apple grading sorting equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106179968A CN106179968A (en) | 2016-12-07 |
| CN106179968B true CN106179968B (en) | 2018-06-08 |
Family
ID=57475572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610556783.0A Expired - Fee Related CN106179968B (en) | 2016-07-13 | 2016-07-13 | Apple grading sorting equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106179968B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110385277A (en) * | 2019-08-30 | 2019-10-29 | 贵州大学 | A kind of apple sorting equipment and its method for sorting |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU545324A1 (en) * | 1974-10-14 | 1977-02-05 | Головное Специализированное Конструкторское Бюро По Машинам Для Садов И Виноградников Министерства Тракторного И Сельскохозяйственного Машиностроения Ссср | Transporter for sorting fruits and vegetables |
| US5845002A (en) * | 1994-11-03 | 1998-12-01 | Sunkist Growers, Inc. | Method and apparatus for detecting surface features of translucent objects |
| CN2555109Y (en) * | 2002-08-03 | 2003-06-11 | 浙江大学 | Fruit real time sorting controlling system controlled by utilizing shift register |
| CN101912847B (en) * | 2010-08-02 | 2012-11-14 | 扬州福尔喜果蔬汁机械有限公司 | Fruit grading system and method based on DSP machine vision |
| CN202010662U (en) * | 2011-01-07 | 2011-10-19 | 昆明理工大学 | Real-time inspection and grading system device for fruit appearance quality |
| CN202336437U (en) * | 2011-11-08 | 2012-07-18 | 深圳市鼎为科技有限公司 | Fruit grading and conveying production line |
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2016
- 2016-07-13 CN CN201610556783.0A patent/CN106179968B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110385277A (en) * | 2019-08-30 | 2019-10-29 | 贵州大学 | A kind of apple sorting equipment and its method for sorting |
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| Publication number | Publication date |
|---|---|
| CN106179968A (en) | 2016-12-07 |
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