CN107750621B - A kind of pinecone picking machine convenient for operation - Google Patents
A kind of pinecone picking machine convenient for operation Download PDFInfo
- Publication number
- CN107750621B CN107750621B CN201711097554.8A CN201711097554A CN107750621B CN 107750621 B CN107750621 B CN 107750621B CN 201711097554 A CN201711097554 A CN 201711097554A CN 107750621 B CN107750621 B CN 107750621B
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- stock
- front handlebar
- push
- push rod
- pinecone
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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)
- Food-Manufacturing Devices (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The present invention discloses a kind of pinecone picking machine convenient for operation, picking machine main body including being provided with hanging basket, universal joint, one end of universal joint is connected to the frame of hanging basket, the other end is connect with a support base, stock is slidably connected on support base, the front end of stock is provided with two hooks, the front of stock is provided with slide plate, slide plate is equipped with the collet being located in front of hook, first in command's component is provided on stock, first in command's component includes front handlebar, first back-moving spring, front handlebar is positioned close on the position at clamping device rear, front handlebar has the pulling department for extending to long rod rear end, front handlebar is connect by a pulling mechanism with clamping device, the rear portion of stock is provided with switching mechanism, one end of switching mechanism is connect with front handlebar, the other end is connect with slide plate.The present invention pulls front handlebar that can shut down fruit, and certain supporting role is played to stock convenient for interior operation, universal joint and support base in a limited space, also not easy to fatigue using arm for a long time.
Description
Technical field
The present invention relates to a kind of picking machine, specifically a kind of pinecone picking machine convenient for operation.
Background technique
The fruit of Korean pine fruit tree is commonly referred to as the pinecone or Pinus koraiensis, is grown on the treetop of Korean pine tree, due to Korean pine tree one
As all grow very high, this to picking Pinus koraiensis bring big inconvenience.It is adopted convenient for picking operations, also to occur the pinecone now
Equipment is plucked, such as application No. is in 201821001022.6 patent, pinecone picking machine is disclosed, mainly with crawler
Be arranged it is telescopic elevate arm, elevate arm front end and be provided with hanging basket, picking personnel station is in hanging basket when operation, by elevating on arm
It is raised to certain altitude, hooks the pinecone using the stock of buckle, significantly stock is pulled to shut down the pinecone.Since the operation of hanging basket is empty
Between it is very limited, and the treetop of Korean pine fruit tree needs to pull the quite long section shifting of stock could be by Pinus koraiensis than more flexible
It shuts down, and holds stock arm for a long time and be also easy to tire out, influence picking efficiency.
Summary of the invention
To solve the deficiencies in the prior art, the present invention provides one kind convenient in confined space operation and long-time operation
Also it is not easy tired pinecone picking machine.
The present invention solve the problems, such as the technical solution adopted is that:
A kind of pinecone picking machine convenient for operation, the picking machine main body including being provided with hanging basket, further includes universal joint, institute
The one end for stating universal joint is detachably fixed on the frame for being connected to basket open, and the other end is fixedly connected with a support base, institute
It states and slidably connects stock on support base, the left and right sides of the front end of the stock is symmetrically arranged at intervals with two hooks, the length
The front of bar is provided with the slide plate that can be slided along stock length direction, is provided with clamping device, the clamping machine on the slide plate
Structure includes the collet in front of hook, first in command's component is provided on the stock, first in command's component includes can
The front handlebar slided along stock length direction and the first back-moving spring for forcing front handlebar to have Forward trend, the front handlebar are set
It sets on the position close to clamping device rear, the front handlebar has the pulling department for running parallel to long rod rear end, before described
Handle is connect by a pulling mechanism with clamping device, and the rear portion of the stock is provided with switching mechanism, the switching mechanism
One end is connect with front handlebar, and the other end is connect with slide plate；When front handlebar moves back a distance, the front handlebar passes through pulling machine
Structure pulls clamping device, and collet thereon is in clamped condition, when front handlebar continues to move back, one end of the switching mechanism by
Front handlebar promotion moves back, and the other end pushes slide plate Forward.
Further, the one side of the stock is provided with detent, and second handle component, institute are additionally provided on the support base
Second handle component is stated to include the left handle being fixedly connected on support base, can be slidably connected on support base along what is moved left and right
Right handle and force right handle to have to move to right the second back-moving spring of trend, the lower side of the right handle is provided with card
Tooth, the right handle move right to when maximum displacement, and latch thereon engages with detent.
Further, the clamping device includes left splint, right splint, left push rod and right push rod, and the collet includes left folder
Block and right fixture block, the left clamp and right clamping plate are respectively hinged at left and right sides of slide plate, and the left fixture block and right fixture block are set respectively
It sets in the front end of left clamp and right clamping plate, one end of the left push rod and the rear end of left clamp are hinged, one end of the right push rod
Hinged with the rear end of right clamping plate, the other end of the other end and right push rod of the left push rod is hinged.
Further, the pulling mechanism includes push-pull rod, push-and-pull head and spring, one end of the push-pull rod and front handlebar
It is fixedly connected, the other end is fixedly connected with the end plate of push-and-pull head, and the hinged place of the left push rod and right push rod is located at push-and-pull head
Inside, the spring is arranged on push-and-pull head and one end withstands the front end-plate of push-and-pull head, and the other end withstands left push rod and the right side
The hinged end of push rod；When front handlebar moves forward to maximum displacement, the left push rod and right push rod forming V-shape shape and its V-arrangement angle
Towards stock rear portion, the end plate of the push-and-pull head withstands V-arrangement angle two sides, and the spring is in natural length state.
Further, the switching mechanism includes the lever being hinged on stock, the cross recess being arranged on front handlebar, setting
Perpendicular groove and a connecting rod on slide plate, the rear end of the connecting rod are hinged on the upper end of lever, and the front end insertion of connecting rod is horizontal recessed
In slot, the lower end of the lever is connect by pin shaft with perpendicular groove；When front handlebar moves forward to maximum displacement, before the connecting rod
The rear side face contact at end and cross recess, the lever is in substantially vertical state and the trailing flank of lever and front handlebar has one
Fixed spacing.
Further, first in command's component further includes that can cover upper active ring, the drawing outside stock movably forward and backward
The rear end in dynamic portion is extended downward into be fixedly connected with active ring.
Further, it is uniformly distributed on the frame of the basket open and is provided at least two mounting holes, the universal joint
One end be inserted in one of mounting hole, the side of the mounting hole is additionally provided with the locking hand for locking universal joint
Wheel.
Further, pulley is provided at left and right sides of the stock front end face.
Beneficial effects of the present invention: in the use of the present invention, hanging basket rises to suitable height, user controls stock and appoints
Meaning direction is mobile, hooks fruit using hook, hooks latter and pull stock, another hand pulls back pulling department, before making
Handle pulls collet to clamp the limb before fruit, and continuing to press makes front handlebar band manual converting mechanism, and then pushes slide plate Forward, sliding
Plate will drive clamping device and move forward, and collet pulls limb to enable it with the fruit generation effect of pullling up to disconnection during being somebody's turn to do, entirely
It only needs mobile stock that hook is hooked fruit in the process, pulls front handlebar that can shut down fruit, do not need such as the prior art
Stock is substantially equally pulled, convenient for interior operation in a limited space, simultaneously because thering is universal joint and support base to play stock
Certain supporting role, it is also not easy to fatigue using arm for a long time.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is support base of the invention, hanging basket schematic diagram of internal structure；
Fig. 3 is the vertical view schematic diagram of internal structure of stock of the invention；
Fig. 4 is the side view schematic diagram of internal structure of stock of the invention；
Fig. 5 is the schematic perspective view of push-and-pull head of the invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the invention, specific structure and generation
Clear, complete description, to be completely understood by the purpose, feature and effect of the invention.Each skill in the invention
Art feature, can be with combination of interactions under the premise of not conflicting conflict.
Referring to figs. 1 to Fig. 5, a kind of pinecone picking machine convenient for operation, the picking machine main body including being provided with hanging basket 1, also
Including universal joint 2, one end of the universal joint 2 is detachably fixed on the frame for being connected to the opening of hanging basket 1, the other end and one
Support base 3 is fixedly connected, and stock 4 is slidably connected on the support base 3, between the left and right sides of the front end of the stock 4 is symmetrical
Every being provided with two hooks 5, the front of the stock 4 is provided with can be along the slide plate 6 of 4 length direction of stock sliding, the slide plate 6
It is provided with clamping device 7, the clamping device 7 includes the collet 71 positioned at 5 front of hook, is provided with first on the stock 4
Handle assembly 8, first in command's component 8 include the front handlebar 81 that can be slided along 4 length direction of stock and force front handlebar 81
First back-moving spring 82 with Forward trend, the front handlebar 81 is positioned close on the position at 7 rear of clamping device, described
Front handlebar 81 has the pulling department 811 for running parallel to 4 rear end of stock, and the front handlebar 81 passes through a pulling mechanism 9 and clamping
Mechanism 7 connects, and the rear portion of the stock 4 is provided with switching mechanism 10, and one end of the switching mechanism 10 is connect with front handlebar 81,
The other end is connect with slide plate 6；When front handlebar 81 moves back a distance, the front handlebar 81 pulls clamping by pulling mechanism 9
Mechanism 7, collet 71 thereon is in clamped condition, and when front handlebar 81 continues to move back, one end of the switching mechanism 10 is by preceding
The promotion of handle 81 moves back, and the other end pushes slide plate 6 to move forward.In the present embodiment, have between two hooks 2 of the left and right sides
The spacing of 15mm to 30mm, preferably 22mm to 26mm, spacing can preferably hook fruit, and enable the limb of fruit from this
Away from stretching.The length of long slab 1 is arranged according to actual needs, is generally not less than 3m.
The present embodiment, the one side of the stock 4 are provided with detent, are additionally provided with second handle group on the support base 3
Part 110, the second handle component 110 include be fixedly connected on support base 3 left handle 111, can be along the cunning moved left and right
The dynamic right handle 112 being connected on support base 3 and the second back-moving spring 113 for forcing right handle 112 that there is the trend that moves to right, it is described
The lower side of right handle 112 is provided with latch, and the right handle 112 moves right to when maximum displacement, latch thereon with
Detent engaging.The thumb of one hand of user resists left handle 111, and four refer to that latch and detent point can be enabled by pressing right handle 112
It opens, another hand can move stock 4, hold left handle 111 and right handle 112 convenient for each to rotation of manipulation support base 3, just
Hook fruit in operation, loosen four fingers after hooking fruit, under the action of second back-moving spring 113, the latch of right handle 112 with
Detent engaging, stock 4 is lockable at this time, and holding left handle 111 can enable universal joint 2 and support base 3 no longer rotate, another hand
Pull pulling department 811 that picking operation can be completed.It is further improved, 4 section of stock is square or polygon.
Further improved embodiment, the clamping device 7 include that left clamp 72, right clamping plate 73, left push rod 74 and the right side push away
Bar 75, the collet 71 include left fixture block and right fixture block, and the left clamp 72 and right clamping plate 73 are respectively hinged at slide plate 6 or so two
Side, the left fixture block and right fixture block are separately positioned on the front end of left clamp 72 and right clamping plate 73, one end of the left push rod 74 with
The rear end of left clamp 72 is hinged, and one end of the right push rod 75 and the rear end of right clamping plate 73 are hinged, the left push rod 74 it is another
It holds hinged with the other end of right push rod 75.Be additionally provided with sawtooth on general left fixture block and right fixture block, and between the two between
It is consistent away from the spacing between two hooks 5.Be further improved, the pulling mechanism 9 include push-pull rod 91, push-and-pull head 92 and
One end of spring 93, the push-pull rod 91 is fixedly connected with front handlebar 81, and the end plate 922 of the other end and push-and-pull head 92 is fixed to be connected
It connects, the hinged place of the left push rod 74 and right push rod 75 is located inside push-and-pull head 92, and the setting of spring 93 is on push-and-pull head 92
And one end withstands the front end-plate 921 of push-and-pull head 92, and the other end withstands the hinged end of left push rod 74 and right push rod 75；Currently handle
When hand 81 moves forward to maximum displacement, it is slidably connected on long slab 4 in general, front handlebar 81 passes through the sliding slot being arranged on long slab 4,
When front handlebar 81 is moved to the front end of the sliding slot, the as maximum displacement of front handlebar 81, under the state, left 74 He of push rod
Right 75 forming V-shape shape of push rod and its V-arrangement angle withstand V-arrangement angle towards 4 rear portion of stock, the end plate 922 of the push-and-pull head 92
Two sides, the spring 93 are in natural length state.
Further improvement to above-described embodiment, referring to Fig. 5, the push-and-pull head 92 is by front end-plate 921,922 and of end plate
Four pillars 923 are constituted, wherein the both ends of four pillars 923 are respectively fixedly connected on front end-plate 921 and end plate 922, this four
Root pillar 923 has spacing between being uniformly distributed and being adjacent.In use, the hinged place of left push rod 74 and right push rod 75 is located at four
In the space that root pillar 923 surrounds, left push rod 74 and right push rod 75 are stretched out from the spacing of left and right sides adjacent struts 923 respectively,
93 sets of spring outside four pillars 623, one end withstands front end-plate 921, and the other end withstands left push rod 74 and right push rod 75
Hinged end.
Further improved embodiment, referring to Fig. 5, the switching mechanism 10 include the lever 101 being hinged on stock 4,
The cross recess 102 being arranged on front handlebar 81, the perpendicular groove 103 and a connecting rod 104 that are arranged on slide plate 6, the connecting rod 104
Rear end be hinged on the upper end of lever 101, in the front end insertion cross recess 102 of connecting rod 104, the lower end of the lever 101 passes through
Pin shaft is connect with perpendicular groove 103；When front handlebar 81 moves forward to maximum displacement, front end and the cross recess 102 of the connecting rod 104
Rear side face contact, the lever 101 be in substantially vertical state and the trailing flank of lever 101 and front handlebar 81 have it is certain between
Away from.Here the trailing flank tool of lever 101 and front handlebar 81 is at regular intervals when being to allow front handlebar 81 to move backward, and first pulls
Clamping device 7 drives collet 71 to be clamped movement, until the trailing flank for being moved to front handlebar 81 is contacted with lever 101, then pushes away
The upper end of dynamic lever 101 rotates backward, and then the lower end of lever 101 rotates forward, pushes slide plate 6 to move forward, collet 71 is enabled to follow
Limb is pullled in Forward.During collet 71 moves forward, V-arrangement angle is continued to increase by the pressure of spring 93, the angle of V-arrangement angle
It may continue to increase until collet clamps limb or collet 71 and clamps limb completely, the angle of V-arrangement angle can not increase again
Greatly, at this time spring 93 continue compression enable the chucking power of collet 71 continue growing, clamping limb it is more secured.In general, in collet
In the state that 71 without clamping limb, when front handlebar 81 is moved back to V-arrangement folder when maximum displacement, between left push rod 74 and right push rod 75
The angle at angle is slightly less than 180 °；When reset, front handlebar 81 moves forward, and is rotated forward by 74 pull lever of connecting rod, 101 upper end, lever
74 lower ends rotate backward, and by the effect of pin shaft and perpendicular groove 103, slide plate 6 are driven to move back；During being somebody's turn to do, push-pull rod 91 is pushed
Head 92 is pushed and pulled, end plate 922 thereon makes the V-arrangement angle between left push rod 74 and right push rod 75 become smaller, left clamp 72 and right folder
Plate 73 unclamps left fixture block and right fixture block with opening；When final front handlebar 81 moves forward to maximum displacement, lever 101 is in big
Plumbness, the front end of connecting rod 104 and the inner back side face contact of cross recess 102 are caused, and collet 71 also opens completely.
In further improved embodiment, first in command's component 8 further includes that can cover movably forward and backward outside stock 4
Upper active ring 83, the rear end of the pulling department 811 is extended downward into be fixedly connected with active ring 83.Active ring 83 is set and supports drawing
The rear end in dynamic portion 811, enables it be unlikely to deform, in addition active ring 83 can be as needed, is set as playing counterweight with constant weight
Effect makes rotation stock 4 more laborsaving.
At least two mounting holes are provided in addition, being uniformly distributed on the frame that the hanging basket 1 is open, the universal joint 2
One end be inserted in one of mounting hole, the side of the mounting hole is additionally provided with the locking for locking universal joint 2
Handwheel there are four mounting hole is general, is mounted on different location convenient for that will state universal joint 2, picks the fruit of different direction.Into one
It walks, pulley 120 is provided at left and right sides of 4 front end face of stock, setting pulley 120 can reduce frictional force, be convenient for collet
71 move towards the movement of clamping.
The present invention has just manipulated the clamping and release movement of collet 71 by the pulling department 811 of front handlebar 81, while also controlling
It has made the Forward of collet 71 and has moved back movement, clamping and the effect of pullling successively have been carried out to fruit front limb, enabled itself and fruit
It is real to disconnect, it realizes picking, is convenient for operation in a limited space, while carrying out to stock 4 by universal joint 2 and support base 3
Certain support, it is also not easy to fatigue using arm for a long time, be conducive to improve picking efficiency.
It should be noted that above-mentioned embodiment is mainly the embodiment of some mechanism or component, reconcilable
In the case of, each embodiment of these mechanisms or component is interchangeable to constitute new embodiment, these simple changes,
The purpose that the invention is only realized with essentially identical means, all should belong to protection scope of the present invention.
Claims (7)
1. a kind of pinecone picking machine convenient for operation, the picking machine main body including being provided with hanging basket (1), it is characterised in that: also wrap
It includes universal joint (2), one end of the universal joint (2) is detachably fixed on the frame for being connected to hanging basket (1) opening, the other end
It is fixedly connected with a support base (3), is slidably connected stock (4) on the support base (3), a left side for the front end of the stock (4)
Right two sides are symmetrically arranged at intervals with two hooks (5), and the front of the stock (4), which is provided with, to be slided along stock (4) length direction
Slide plate (6), be provided with clamping device (7) on the slide plate (6), the clamping device (7) includes being located in front of hook (5)
Collet (71) is provided with first in command's component (8) on the stock (4), and first in command's component (8) includes can be along stock
(4) front handlebar (81) and force the first back-moving spring (82) of front handlebar (81) with Forward trend, institute that length direction slides
It states front handlebar (81) to be positioned close on the position at clamping device (7) rear, the front handlebar (81), which has, runs parallel to length
The pulling department (811) of bar (4) rear end, the front handlebar (81) is connect by a pulling mechanism (9) with clamping device (7), described
The rear portion of stock (4) is provided with switching mechanism (10), and one end of the switching mechanism (10) is connect with front handlebar (81), the other end
It is connect with slide plate (6)；When front handlebar (81) moves back a distance, the front handlebar (81) pulls folder by pulling mechanism (9)
Mechanism (7) are held, collet (71) thereon is in clamped condition, when front handlebar (81) continues to move back, the switching mechanism (10)
One end by front handlebar (81) push move back, and the other end push slide plate (6) Forward；The one side of the stock (4) is provided with
Detent is additionally provided with second handle component (110) on the support base (3), and the second handle component (110) includes fixed connects
Connect on support base (3) left handle (111), can be along the right handle (112) being slidably connected on support base (3) moved left and right
With the second back-moving spring (113) for forcing right handle (112) to have the trend that moves to right, the lower side of the right handle (112) is set
It is equipped with latch, the right handle (112) moves right to when maximum displacement, and latch thereon engages with detent.
2. a kind of pinecone picking machine convenient for operation according to claim 1, it is characterised in that clamping device (7) packet
Left clamp (72), right clamping plate (73), left push rod (74) and right push rod (75) are included, the collet (71) includes left fixture block and right folder
Block, the left clamp (72) and right clamping plate (73) are respectively hinged at left and right sides of slide plate (6), the left fixture block and right fixture block difference
It is arranged in the front end of left clamp (72) and right clamping plate (73), one end of the left push rod (74) and the rear end of left clamp (72) are cut with scissors
It connects, one end of the right push rod (75) and the rear end of right clamping plate (73) are hinged, the other end and right push rod of the left push rod (74)
(75) the other end is hinged.
3. a kind of pinecone picking machine convenient for operation according to claim 2, it is characterised in that pulling mechanism (9) packet
Push-pull rod (91), push-and-pull head (92) and spring (93), one end of the push-pull rod (91) is included to be fixedly connected with front handlebar (81),
The other end is fixedly connected with the end plate (922) of push-and-pull head (92), the hinged place position of the left push rod (74) and right push rod (75)
Internal in push-and-pull head (92), spring (93) setting is in push-and-pull head (92) and one end withstands the front end of push-and-pull head (92)
Plate (921), the other end withstand the hinged end of left push rod (74) and right push rod (75)；When front handlebar (81) moves forward to maximum displacement
When, the left push rod (74) and right push rod (75) forming V-shape shape and its V-arrangement angle are towards stock (4) rear portion, the push-and-pull head
(92) end plate (922) withstands V-arrangement angle two sides, and the spring (93) is in natural length state.
4. a kind of pinecone picking machine convenient for operation according to claim 1, it is characterised in that the switching mechanism (10)
Including the lever (101) being hinged on stock (4), the cross recess (102) being arranged on front handlebar (81), it is arranged in slide plate (6)
On perpendicular groove (103) and a connecting rod (104), the rear end of the connecting rod (104) is hinged on the upper end of lever (101), connecting rod
(104) in front end insertion cross recess (102), the lower end of the lever (101) is connect by pin shaft with perpendicular groove (103)；When
When front handlebar (81) moves forward to maximum displacement, the front end of the connecting rod (104) and the rear side face contact of cross recess (102) are described
Lever (101) is in substantially vertical state and lever (101) and the trailing flank tool of front handlebar (81) are at regular intervals.
5. a kind of pinecone picking machine convenient for operation according to claim 1, it is characterised in that first in command's component
It (8) further include that can cover the active ring (83) on stock (4) outside movably forward and backward, the rear end of the pulling department (811) is to downward
It extends to and is fixedly connected with active ring (83).
6. a kind of pinecone picking machine convenient for operation according to claim 1, it is characterised in that hanging basket (1) opening
It is uniformly distributed on frame and is provided at least two mounting holes, one end of the universal joint (2) is inserted in one of mounting hole
Interior, the side of the mounting hole is additionally provided with the locking handwheel for locking universal joint (2).
7. a kind of pinecone picking machine convenient for operation according to claim 1, it is characterised in that stock (4) front end face
The left and right sides be provided with pulley (120).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711097554.8A CN107750621B (en) | 2017-11-10 | 2017-11-10 | A kind of pinecone picking machine convenient for operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711097554.8A CN107750621B (en) | 2017-11-10 | 2017-11-10 | A kind of pinecone picking machine convenient for operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107750621A CN107750621A (en) | 2018-03-06 |
| CN107750621B true CN107750621B (en) | 2019-10-01 |
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ID=61272273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711097554.8A Active CN107750621B (en) | 2017-11-10 | 2017-11-10 | A kind of pinecone picking machine convenient for operation |
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| Country | Link |
|---|---|
| CN (1) | CN107750621B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2365871Y (en) * | 1999-05-05 | 2000-03-01 | 张涛 | Device for picking fruit |
| CN103460904A (en) * | 2013-09-29 | 2013-12-25 | 东北农业大学 | Multi-direction vibrating portable small berry picker |
| CN106416623A (en) * | 2016-10-15 | 2017-02-22 | 北京林业大学 | Vehicle-mounted vibration excitation type picking arm for fresh soapberry fruit |
| CN107318381A (en) * | 2017-07-19 | 2017-11-07 | 刘奇美 | A kind of fruit picking mechanical arm for upper branch of fruit trees |
-
2017
- 2017-11-10 CN CN201711097554.8A patent/CN107750621B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2365871Y (en) * | 1999-05-05 | 2000-03-01 | 张涛 | Device for picking fruit |
| CN103460904A (en) * | 2013-09-29 | 2013-12-25 | 东北农业大学 | Multi-direction vibrating portable small berry picker |
| CN106416623A (en) * | 2016-10-15 | 2017-02-22 | 北京林业大学 | Vehicle-mounted vibration excitation type picking arm for fresh soapberry fruit |
| CN107318381A (en) * | 2017-07-19 | 2017-11-07 | 刘奇美 | A kind of fruit picking mechanical arm for upper branch of fruit trees |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107750621A (en) | 2018-03-06 |
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