CN108781754A - Citrus assists device for picking and its picking method - Google Patents
Citrus assists device for picking and its picking method Download PDFInfo
- Publication number
- CN108781754A CN108781754A CN201810529956.9A CN201810529956A CN108781754A CN 108781754 A CN108781754 A CN 108781754A CN 201810529956 A CN201810529956 A CN 201810529956A CN 108781754 A CN108781754 A CN 108781754A
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- Prior art keywords
- citrus
- movable guard
- picking
- gear
- motor
- 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.)
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- 235000020971 citrus fruits Nutrition 0.000 title claims abstract description 56
- 241000207199 Citrus Species 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 235000013399 edible fruits Nutrition 0.000 claims description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 241001672694 Citrus reticulata Species 0.000 claims 2
- 238000005520 cutting process Methods 0.000 abstract description 3
- 239000002420 orchard Substances 0.000 description 3
- JLIDBLDQVAYHNE-YKALOCIXSA-N (+)-Abscisic acid Chemical compound OC(=O)/C=C(/C)\C=C\[C@@]1(O)C(C)=CC(=O)CC1(C)C JLIDBLDQVAYHNE-YKALOCIXSA-N 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- FCRACOPGPMPSHN-UHFFFAOYSA-N desoxyabscisic acid Natural products OC(=O)C=C(C)C=CC1C(C)=CC(=O)CC1(C)C FCRACOPGPMPSHN-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 235000021022 fresh fruits Nutrition 0.000 description 1
- 235000015203 fruit juice Nutrition 0.000 description 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000029305 taxis Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
Classifications
-
- 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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses citrus auxiliary device for picking and its picking methods.The artificial picking efficiency of citrus is low, and picking personnel are easily injured.The main body motor of the present invention is through gear engaged transmission driving annular blade；Bar position motor is drivingly connected through toggle to be covered；Movable guard constitutes revolute pair with connect cover；Connect cover drives the opening and closing movement of movable guard relative collection cylinder；When movable guard relative collection cylinder is opened, hand-held telescopic rod makes citrus enter between movable guard and collecting vessel, and then movable guard relative collection cylinder is closed under the driving of bar position motor, and citrus stalk is on movable guard between two of which limited post；At this point, pulling downward on telescopic rod so that movable guard is rotated relative to connect cover, is sheared by annular blade to make citrus stalk move at annular blade；The citrus cut off slides into collecting vessel, and then slides into collection conduit.The present invention realizes orientation and the different fly-cuttings towards citrus.
Description
Technical field
The invention belongs to fruit picker fields, and in particular to a kind of growth is with a varied topography, growing height is different, growing way
Different citrus auxiliary device for picking and its picking method.
Background technology
China is one of important source area of citrus, and citrus is resourceful, and improved seeds are various, there is cultivation in more than 4000 years
History.Early in the Xia dynasty, the citrus of the ground such as Chinese Jiangsu, Anhui, Jiangxi, Hunan, Hubei production has been classified as the object of tribute and taxes.Through
Cross cultivated since long, selection, citrus at the mankind precious fruit.Citrusfruit is full of nutrition, color, smell and taste and excellent, can both eat raw,
It can be processed into the various fabricated products based on fruit juice again.And citrus longevity, high and stable yield, high financial profit, it is China south
The most important seeds of Fang Guoshu, shake off poverty and set out on the road to prosperity to orchard worker, and rural economic development plays great effect.
China's Citrus Industry was even more sustainable development, orange yield and cultivated area cumulative year after year in recent years, was opened from 2012
Beginning China's citrus cultivated area and annual output leap to the first in the world, and up to 34,320,000 mu, total output reaches national citrus cultivated area
2944.04 ten thousand tons, become China's export advantageous agricultural product.Domestic related citrus picks main or artificial picking at present, by passing
The tools such as scissors, fruit picking basket, the picking ladder of system are picked.In the process entirely picked, since the fruit tree of orange is barbed,
People are easy to injury.Usual people when picking citrus, cut the stem of citrus fruit crucial point with scissors by custom, but
It is the mode cut with scissors, it is necessary to which human hand auxiliary operation, therefore, operation are cumbersome；In addition, the citrus cut with scissors is usual
It is long at the stem of fruit, it when fruit accumulation is excessive, collides with each other between fruit, if the stem that fruit stays is long, easily will
The citrus being adjacent to stabs, and is flowed out so as to cause juice, shortens the holding time.With aging of population and rural area person between twenty and fifty's labor
Power population is shifted to city, and there is an urgent need to mechanized equipment auxiliary to pick.But the growth of fruits and vegetables with the variation of space-time environment and
Variation, there are unstructuredness and uncertainty, and fruit is delicate, and carpopodium is hard, and are thick with leaves, and working environment is sufficiently complex.
External also some large size picking agricultural machinery, but most of is also a few days ago to spray an abscisic acid in picking, then shakes tree.
The disadvantage is that fruit rapid wear, inefficient, selective harvest can not be especially carried out, picking is soft, fresh fruits and vegetables side
There is also significant limitations in face.In addition this method is not applicable in the most areas in China, and the area that citrus is planted in China is more
For mountain topography, large-scale agricultural machinery is not suitable for operation, therefore the citrus auxiliary device for picking for designing a indirect labor is particularly important.
Invention content
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of dress that can pick arbitrary growing way citrus automatically
It sets and its picking method, is suitable for most of Citrus Cultivars in orchard, and have the characteristics that easy to operate, reliable and stable, efficient.
Citrus of the present invention assists device for picking, including collection device, power plant, annular blade, grabs fruit device, transmission device
And telescopic rod.The collection device includes surge drum and collection conduit；Collection conduit top is fixed on surge drum bottom end.It is described
Power plant include main body motor, active Knucle-gear, driven Knucle-gear, drive bevel gear, driven wheel of differential and blade shaft；The
One motor rack is fixed on the surge drum side wall of collection device；The pedestal of main body motor is fixed on first motor frame, main body electricity
The output shaft of machine is fixed with active Knucle-gear；Active Knucle-gear is engaged with driven Knucle-gear, driven Knucle-gear and drive bevel gear
It is each attached on gear mounting shaft；Gear mounting shaft constitutes revolute pair with first motor frame；Drive bevel gear and driven wheel of differential
Engagement, driven wheel of differential are fixed on blade shaft；The surge drum side wall of blade shaft and collection device constitutes revolute pair；Annular blade
It is fixed on the blade shaft of power plant.The fruit device of grabbing includes movable guard and connect cover；Edge is fixed on movable guard
Circumferentially uniformly distributed multiple limited posts；Movable guard constitutes revolute pair with connect cover.
The transmission device includes curved connecting rod, follower link, crank, bar position motor, the second motor rack and connecting rod branch
Frame.The pedestal of bar position motor is fixed on the second motor rack；One end of crank and the output shaft of bar position motor are fixed, the other end with
Follower link one end is hinged；Revolute pair is constituted in the middle part of connecting rod articulated shaft and the follower link other end and curved connecting rod, and fixed
On the first hinged-support；Curved connecting rod one end is hinged with the second hinged-support, and the other end is hinged with connecting rod rack；First hinged-support and
Second hinged-support spacing is fixed in the connect cover for grabbing fruit device；Second motor rack and connecting rod rack spacing are fixed on telescopic rod
On.The top of telescopic rod is fixed on the collecting vessel side wall of collection device, and telescopic rod is located at the difference of collecting vessel with power plant
Side.
The main body motor is battery powered.
The citrus assists the picking method of device for picking, specific as follows：
Start main body motor and bar position motor；Main body motor drives active Knucle-gear uniform rotation；Active Knucle-gear with from
Power is transmitted to gear mounting shaft and drive bevel gear by dynamic Knucle-gear engagement rotation；Drive bevel gear is engaged with driven wheel of differential to be turned
It is dynamic, power is transmitted to blade shaft and annular blade, annular blade uniform rotation；The power of bar position motor is successively through crank, driven
Connecting rod and curved connecting rod are transmitted to connect cover；Connect cover drives the opening and closing campaign of movable guard realization relative collection cylinder；When movable guard phase
When being opened to surge drum, hand-held telescopic rod makes citrus enter between movable guard and collecting vessel, then living under the driving of bar position motor
Dynamic cover relative collection cylinder is closed, and citrus stalk is on movable guard between two of which limited post；At this point, telescopic rod is pulled downward on,
So that movable guard is rotated relative to connect cover, sheared by annular blade to make citrus stalk move at annular blade；It cuts off
Citrus slide into collecting vessel, and then slide into collection conduit, the picking of citrus is completed；Movable guard relative collection cylinder repeats to be opened and closed
Cheng Zhong acts in conjunction with telescopic rod drop-down, realizes the continuous picking of citrus.
The citrus for sliding into collection conduit is fallen into pack basket.
Beneficial effects of the present invention：
1) folding of movable guard is controlled by simple Planar Linkages, convenient for continuous work and control opening and closing speed
Degree；The design of multi-bar linkage, low cost may be implemented to effectively collect, and improve efficiency.
2) movable guard surrounding is uniformly arranged limited post, and in order to collapse orange rhizome, rhizome sideslip when preventing from cutting is realized
Orientation and the different fly-cuttings towards citrus.
3) unique bell-type gathering mechanism can disposably collapse more fruit.
4) fruit device and annular blade integrated design are grabbed, the complexity of structure is reduced；
5) it is not constrained by orchard terrain environment.
Description of the drawings
Fig. 1 is the overall structure stereogram of the present invention；
Fig. 2 is the structural schematic diagram of power plant in the present invention；
Fig. 3 is the structural schematic diagram that fruit device and transmission device are grabbed in the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, citrus assist device for picking, including collection device 1, power plant 2, annular blade 3, grab fruit device 4,
Transmission device 5 and telescopic rod 6.Collection device 1 includes surge drum 1-1 and collection conduit 1-2；Collection conduit top is fixed on collection
The bottom ends cylinder 1-1.
As shown in Figure 1,2 and 3, power plant 2 include main body motor 2-2, active Knucle-gear 2-4, driven Knucle-gear 2-5,
Drive bevel gear 2-7, driven wheel of differential 2-9 and blade shaft 2-8；First motor frame 2-1 is fixed on the surge drum 1-1 of collection device
On side wall；Main body motor 2-2 is battery powered；The pedestal of main body motor 2-2 is fixed on first motor frame 2-1, main body motor
Output shaft 2-3 and active Knucle-gear 2-4 fix；Active Knucle-gear 2-4 is engaged with driven Knucle-gear 2-5, driven Knucle-gear 2-5
It is each attached on gear mounting shaft 2-6 with drive bevel gear 2-7；Gear mounting shaft 2-6 is constituted with first motor frame 2-1 and is rotated
It is secondary；Drive bevel gear 2-7 is engaged with driven wheel of differential 2-9, and driven wheel of differential 2-9 is fixed on blade shaft 2-8；Blade shaft 2-8
Revolute pair is constituted with the surge drum 1-1 side walls of collection device；Annular blade 3 is fixed on the blade shaft 2-8 of power plant.
As shown in Figure 1,2 and 3, it includes movable guard 4-2 and connect cover 4-3 to grab fruit device 4；It is fixed on movable guard 4-2
N limited post 4-1 being evenly distributed, n >=10, n=16 in the present embodiment；Movable guard 4-2 is constituted with connect cover 4-3 and is rotated
It is secondary.
As shown in Figure 1,2 and 3, transmission device 5 includes curved connecting rod 5-1, follower link 5-2, crank 5-3, bar position motor
5-4, the second motor rack 5-6 and connecting rod rack 5-5.The pedestal of bar position motor 5-4 is fixed on the second motor rack 5-6；Crank 5-3
One end and the output shaft of bar position motor 5-4 fix, the other end and the one end follower link 5-2 are hinged；Connecting rod articulated shaft with it is driven
Revolute pair is constituted in the middle part of the connecting rod 5-2 other ends and curved connecting rod 5-1, and is fixed on the first hinged-support, i.e., curved connecting rod 5-
1, follower link 5-2 and the first hinged-support form compound hinges；The one end curved connecting rod 5-1 is hinged with the second hinged-support, the other end
It is hinged with connecting rod rack 5-5；First hinged-support and the second hinged-support spacing are fixed on the connect cover 4-3 for grabbing fruit device 4；Second
Motor rack 5-6 and connecting rod rack 5-5 spacing are fixed on telescopic rod 6.The top of telescopic rod 6 is fixed on the collection of collection device 1
Bucket 1-1 side walls, and telescopic rod 6 is located at the not homonymy of collecting vessel 1-1 with power plant 2.
The citrus assists the picking method of device for picking, specific as follows：
Start main body motor 2-2 and bar position motor 5-4；Main body motor 2-2 drives active Knucle-gear 2-4 uniform rotation；It is main
Power is transmitted to gear mounting shaft 2-6 and drive bevel gear 2-7 by dynamic Knucle-gear 2-4 with driven Knucle-gear 2-5 engagement rotations；Actively
Power is transmitted to blade shaft 2-8 and annular blade 3 by bevel gear 2-7 and driven wheel of differential 2-9 engagement rotations, thus drives annular
3 uniform rotation of blade；The power of bar position motor 5-4 is transmitted to connection through crank 5-3, follower link 5-2 and curved connecting rod 5-1 successively
Cover 4-3；Connect cover 4-3 drives the opening and closing campaign of movable guard 4-2 realization relative collection cylinders 1-1；When movable guard 4-2 relative collection cylinders
When 1-1 is opened, hand-held telescopic rod 6 makes citrus enter between movable guard 4-2 and collecting vessel 1-1, is then driven in bar position motor 5-4
Lower movable guard 4-2 relative collection cylinders 1-1 is closed, and citrus stalk is on movable guard between two of which limited post 4-1；At this point, to
Lower pulling telescopic rod 6 so that movable guard 4-2 is rotated relative to connect cover 4-3, and citrus stalk is made to move at annular blade 3 by ring
Shape blade 3 is sheared；The citrus cut off slides into collecting vessel 1-1, and then slides into collection conduit 1, finally falls to and is ready in advance
Pack basket in；One citrus picking is completed；Movable guard 4-2 relative collection cylinders 1-1 is repeated during being opened and closed, in conjunction under telescopic rod 6
It pulls and makees, realize the continuous picking of citrus.
Claims (4)
1. citrus assists device for picking, including collection device, power plant, annular blade, grab fruit device, transmission device and flexible
Bar, it is characterised in that：The collection device includes surge drum and collection conduit；Collection conduit top is fixed on surge drum bottom
End；The power plant includes main body motor, active Knucle-gear, driven Knucle-gear, drive bevel gear, driven wheel of differential and knife
Bobbin；First motor frame is fixed on the surge drum side wall of collection device；The pedestal of main body motor is fixed on first motor frame,
The output shaft of main body motor is fixed with active Knucle-gear；Active Knucle-gear is engaged with driven Knucle-gear, driven Knucle-gear and active
Bevel gear is each attached on gear mounting shaft；Gear mounting shaft constitutes revolute pair with first motor frame；Drive bevel gear with it is driven
Bevel gear engages, and driven wheel of differential is fixed on blade shaft；The surge drum side wall of blade shaft and collection device constitutes revolute pair；Ring
Shape blade is fixed on the blade shaft of power plant；The fruit device of grabbing includes movable guard and connect cover；It is fixed on movable guard
Equipped with the multiple limited posts being evenly distributed；Movable guard constitutes revolute pair with connect cover；
The transmission device includes curved connecting rod, follower link, crank, bar position motor, the second motor rack and connecting rod rack；Bar
The pedestal of position motor is fixed on the second motor rack；One end of crank and the output shaft of bar position motor are fixed, the other end with it is driven
Connecting rod one end is hinged；Revolute pair is constituted in the middle part of connecting rod articulated shaft and the follower link other end and curved connecting rod, and is fixed on the
On one hinged-support；Curved connecting rod one end is hinged with the second hinged-support, and the other end is hinged with connecting rod rack；First hinged-support and second
Hinged-support spacing is fixed in the connect cover for grabbing fruit device；Second motor rack and connecting rod rack spacing are fixed on telescopic rod；It stretches
The top of contracting bar is fixed on the collecting vessel side wall of collection device, and telescopic rod is located at the not homonymy of collecting vessel with power plant.
2. citrus according to claim 1 assists device for picking, it is characterised in that：The main body motor is battery powered.
3. the picking method of citrus auxiliary device for picking according to claim 1, it is characterised in that：This method is specific as follows：
Start main body motor and bar position motor；Main body motor drives active Knucle-gear uniform rotation；Active Knucle-gear and driven circle
Power is transmitted to gear mounting shaft and drive bevel gear by gear engagement rotation；Drive bevel gear and driven wheel of differential engagement rotation,
Power is transmitted to blade shaft and annular blade, annular blade uniform rotation；The power of bar position motor is successively through crank, follower link
It is transmitted to connect cover with curved connecting rod；Connect cover drives the opening and closing campaign of movable guard realization relative collection cylinder；It is received when movable guard is opposite
When collecting cylinder opening, hand-held telescopic rod makes citrus enter between movable guard and collecting vessel, then the movable guard under the driving of bar position motor
Relative collection cylinder is closed, and citrus stalk is on movable guard between two of which limited post；At this point, pulling downward on telescopic rod so that
Movable guard is rotated relative to connect cover, is sheared by annular blade to make citrus stalk move at annular blade；The mandarin orange cut off
Tangerine slides into collecting vessel, and then slides into collection conduit, and a citrus picking is completed；Movable guard relative collection cylinder repeats opening and closing process
In, it is acted in conjunction with telescopic rod drop-down, realizes the continuous picking of citrus.
4. the picking method of citrus auxiliary device for picking according to claim 3, it is characterised in that：The slide-in collection conduit
Citrus fall into pack basket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810529956.9A CN108781754B (en) | 2018-05-29 | 2018-05-29 | Auxiliary picking device and picking method for oranges |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810529956.9A CN108781754B (en) | 2018-05-29 | 2018-05-29 | Auxiliary picking device and picking method for oranges |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108781754A true CN108781754A (en) | 2018-11-13 |
| CN108781754B CN108781754B (en) | 2019-12-24 |
Family
ID=64090897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810529956.9A Active CN108781754B (en) | 2018-05-29 | 2018-05-29 | Auxiliary picking device and picking method for oranges |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108781754B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997510A (en) * | 2019-04-04 | 2019-07-12 | 华中农业大学 | A kind of picking of citrus and collection device |
| CN110226410A (en) * | 2019-07-15 | 2019-09-13 | 洛阳智能农业装备研究院有限公司 | A kind of pricklyash peel picker for protecting Chinese prickly ash bud tire |
| CN110476612A (en) * | 2019-09-27 | 2019-11-22 | 武汉轻工大学 | Picker |
| CN111345158A (en) * | 2020-03-06 | 2020-06-30 | 天津农学院 | Trolley type winter jujube picking device combined with phytohormone |
| CN111615929A (en) * | 2020-07-06 | 2020-09-04 | 西南大学 | Semi-occluded citrus fruit picking end effector |
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| WO2007094517A1 (en) * | 2006-02-16 | 2007-08-23 | National University Corporation Chiba University | Robot hand |
| CN102318473A (en) * | 2011-05-31 | 2012-01-18 | 中国农业大学 | Melon and fruit picking device and picking method thereof |
| CN102656997A (en) * | 2012-05-23 | 2012-09-12 | 沈福兴 | Citrus picker |
| CN103004374A (en) * | 2012-12-11 | 2013-04-03 | 江苏大学 | End effector of clamp-shear integrated pick robot |
| CN206596391U (en) * | 2017-04-11 | 2017-10-31 | 李斌 | A kind of fruit picking device |
-
2018
- 2018-05-29 CN CN201810529956.9A patent/CN108781754B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007094517A1 (en) * | 2006-02-16 | 2007-08-23 | National University Corporation Chiba University | Robot hand |
| CN102318473A (en) * | 2011-05-31 | 2012-01-18 | 中国农业大学 | Melon and fruit picking device and picking method thereof |
| CN102656997A (en) * | 2012-05-23 | 2012-09-12 | 沈福兴 | Citrus picker |
| CN103004374A (en) * | 2012-12-11 | 2013-04-03 | 江苏大学 | End effector of clamp-shear integrated pick robot |
| CN206596391U (en) * | 2017-04-11 | 2017-10-31 | 李斌 | A kind of fruit picking device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997510A (en) * | 2019-04-04 | 2019-07-12 | 华中农业大学 | A kind of picking of citrus and collection device |
| CN110226410A (en) * | 2019-07-15 | 2019-09-13 | 洛阳智能农业装备研究院有限公司 | A kind of pricklyash peel picker for protecting Chinese prickly ash bud tire |
| CN110226410B (en) * | 2019-07-15 | 2024-04-02 | 洛阳智能农业装备研究院有限公司 | Pricklyash picking machine for protecting pricklyash bud embryo |
| CN110476612A (en) * | 2019-09-27 | 2019-11-22 | 武汉轻工大学 | Picker |
| CN111345158A (en) * | 2020-03-06 | 2020-06-30 | 天津农学院 | Trolley type winter jujube picking device combined with phytohormone |
| CN111615929A (en) * | 2020-07-06 | 2020-09-04 | 西南大学 | Semi-occluded citrus fruit picking end effector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108781754B (en) | 2019-12-24 |
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Effective date of registration: 20201111 Address after: 310012 room 2603, building 8, No. 2, xiyuanba Road, Sandun Town, Xihu District, Hangzhou City, Zhejiang Province Patentee after: HANGZHOU ZHUILIE TECHNOLOGY Co.,Ltd. Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park No. 2 street Patentee before: HANGZHOU DIANZI University |
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