CN109121695A - Melon and fruit picking machine - Google Patents
Melon and fruit picking machine Download PDFInfo
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- CN109121695A CN109121695A CN201810737560.3A CN201810737560A CN109121695A CN 109121695 A CN109121695 A CN 109121695A CN 201810737560 A CN201810737560 A CN 201810737560A CN 109121695 A CN109121695 A CN 109121695A
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- melon
- fruit
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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
- A01D46/005—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs picking or shaking pneumatically
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- Harvesting Machines For Specific Crops (AREA)
Abstract
Melon and fruit picking machine, including rack are provided with the vertical conveyer system of melon and fruit picker system, melon and fruit and melon and fruit horizontal transmission system in rack, and the material outlet of melon and fruit picker system is connect with the material input of the vertical conveyer system of melon and fruit;In conclusion structure of the invention design is rationally, by being used cooperatively for multiple groups motor and air pump, picking, the conveying operation of melon and fruit are completed, whole picking process is high-efficient, can substantially reduce the amount of labour of orchard worker.
Description
Technical field
The present invention relates to a kind of agricultural equipments, and in particular to a kind of melon and fruit picking machine.
Background technique
Since reform and opening-up, fruit market is decontroled, and country sufficiently payes attention to, and Production of fruit is adequately developed.2015
27381.8 ten thousand tons of national fruit total output, wherein 17479.6 ten thousand tons of gardens fruits output, 9902.2 ten thousand tons of melon and fruit yield.
China's apple production in 2015 is 4261.3 ten thousand tons, and orange yield is 3660.1 ten thousand tons；Pears yield is 1869.9 ten thousand tons；Grape produces
Amount is 1366.9 ten thousand tons；Banana production is 1246.6 ten thousand tons.283,190,000 tons of China's fruits output in 2016 increases by 3.4%；In fruit
In the production of real class fruit, people's not timing the maturity of fruit is judged and harvested is needed.Now, the height of many fruit trees
The height often beyond people is spent, this is very big to affect picking efficiency, and manually picks, and needs by works such as the short ladders of stool
Tool, picking garden also faces security risk.Apple, peach, pears are easy to be destroyed, both at home and abroad under the action of collision and extruding
To fruit class fruit using artificial picking, this significantly limits picking efficiency.
Summary of the invention
The present invention provides a kind of utilization mechanical equipment high efficiency completion melon and fruit to solve shortcoming in the prior art
Pick the melon and fruit picking machine of work.
In order to solve the above technical problems, the present invention adopts the following technical scheme: melon and fruit picking machine, including rack, in rack
It is provided with the vertical conveyer system of melon and fruit picker system, melon and fruit and melon and fruit horizontal transmission system, the material of melon and fruit picker system is defeated
Outlet is connect with the material input of the vertical conveyer system of melon and fruit, and the material outlet and melon and fruit of the vertical conveyer system of melon and fruit are horizontal
The material input of conveyer system connects.
Melon and fruit picker system includes steering motor, hydraulic telescopic rod and connecting shaft, and connecting shaft is assemblied in machine in the vertical direction
Top of the trellis and connecting shaft and gantry rotation cooperate, and the lower end of connecting shaft is fixed with short axle, are fixed in short axle from bevel gear, are turned to
Motor assembles on the rack, and the main shaft of steering motor is hydraulic equipped with master bevel gear, master bevel gear and from bevel gear engaged transmission
The telescopic rod side of being arranged on the rack, the lower end of hydraulic telescopic rod are hinged on the upper end of connecting shaft, the first pin by the first pin shaft
Axis and the lower end of hydraulic telescopic rod are to be fixedly connected, and the top of connecting shaft is fixed with oscillating motor, the main shaft of oscillating motor and the
One pin shaft is fixedly connected, and the upper end of hydraulic telescopic rod is connected with melon and fruit picking mechanical arm.
Melon and fruit picking mechanical arm includes picking cylinder and material conduit, and the bottom for picking cylinder is equipped with bottom cover, hydraulic telescopic rod
Upper end is fixed with connector, and angular adjustment motor is fixed on connector, and bottom cover is fixed on angular adjustment motor by engaging lug
Main shaft on, pick cylinder top side open up it is jagged, material conduit by clip be fixed on picking cylinder outer wall on, material
The feed end of conduit is mutually connected with the notch of picking cylinder, and push-and-pull motor, mounting rack, rack gear and picking sucker are equipped in picking cylinder,
Push-and-pull motor and mounting rack are fixed in picking cylinder, and mounting rack is equipped with transparent guide slots, and rack gear sliding is plugged in
In guide slots and the length direction of rack gear is arranged in the vertical direction, and the main shaft for pushing and pulling motor is equipped with gear, wheel and rack
Engaged transmission, the upper end of rack gear are fixed with mounting base, are fixed with rotating electric machine in mounting base, and the bottom for picking sucker is fixed with company
Joint chair, attachment base are hinged in mounting base by the second pin shaft, and the second pin shaft is horizontally arranged, the main shaft of rotating electric machine and
Two pin shafts are fixedly connected；Carpopodium cutter assembly is additionally provided on picking cylinder；
The inside for picking sucker is equipped with cavity, and the sucker face for picking sucker offers several stomatas, picks and is additionally provided with exhausting on cylinder
Machine, rack are equipped with air pump, and the air inlet pipe of exhaust fan is connect with the cavity of picking sucker, and air pump passes through appendix and picking sucker
Cavity connection, appendix be equipped with air pressure valve.
Carpopodium cutting assembly includes blade and cutting motor.Insert shape is spherical structure, and blade two sides pass through third
Pin shaft is hinged on the top of picking cylinder, and third pin shaft is fixedly connected with blade, and one of third pin shaft is equipped with from belt wheel, cuts
Power machine is fixed in picking cylinder, and the main shaft for cutting off motor is respectively positioned on picking cylinder equipped with main pulley, main pulley and from belt wheel
Outside, main pulley are connect by belt with from belt wheel.
The vertical conveyer system of melon and fruit includes fixed frame and vertical motor, and fixed frame is fixed on the rack surface, on fixed frame
Rotation connection is there are two sprocket wheel, two sprocket wheel settings side by side up and down, is equipped with transmission chain between two sprocket wheels, on transmission chain between
Every be provided with it is several pick spoon, conveying protective case is further fixed on fixed frame, wherein adjacent to the half range transmission chain of hydraulic telescopic rod
In conveying protective case, the upper end of conveying protective case is fixed with receiving hopper, and the lower end of conveying protective case is material outlet, material output
Mouth is connect with the feed inlet of melon and fruit horizontal transmission system；Vertical motor is mounted on the rack, the main shaft of vertical motor and lower section
Sprocket wheel transmission connection.
Melon and fruit horizontal transmission system is belt conveyor, and belt conveyor is arranged on the rack surface.
By adopting the above technical scheme, the invention has the following advantages:
(1), the present invention wins the melon and fruit of eminence when picking melon and fruit by melon and fruit picker system first, then vertical through melon and fruit
The melon and fruit of eminence is delivered in the melon and fruit horizontal transmission system of lower by conveyer system, is sent to melon through melon and fruit horizontal transmission system
In fruit collection frame, overall process is smooth, and work efficiency is high, changes traditional artificial mode and picks melon and fruit, substantially increases agriculture
Industry melon and fruit picks operating efficiency；
(2), the melon and fruit picker system in the present invention simulation manually can pick melon and fruit mode very well, and the melon and fruit of eminence is adopted
It plucks, picks movement decomposition are as follows: starting hydraulic telescopic rod first, so that the melon and fruit picking mechanical arm of hydraulic telescopic rod upper end faces
Melon and fruit to be picked starts oscillating motor, and oscillating motor drives hydraulic telescopic rod to swing around connecting shaft by the first pin shaft, until liquid
Press the upper end inclination of telescopic rod towards melon and fruit to be picked, stop swinging motor, starts hydraulic telescopic rod, and hydraulic telescopic rod extends,
Until melon and fruit picking mechanical arm stops hydraulic telescopic rod, then starts steering motor, steering motor passes through master in face of picking melon and fruit
Bevel gear drives connecting shaft rotation from bevel gear, so that hydraulic telescopic rod follows connecting shaft to rotate, until melon and fruit picking mechanical arm
Picking cylinder upper end be located at below melon and fruit to be picked；
Then start to win melon and fruit, starting push-and-pull motor, push-and-pull motor driven gear rotates, and wheel and rack engaged transmission makes
It obtains rack gear and stretches out picking cylinder upwards, until the sucker face of picking sucker and the bottom of melon and fruit fit, push-and-pull motor stops working,
Then starting exhaust fan, exhaust fan is evacuated by air inlet pipe by the lacuna between the sucker face of sucker and melon and fruit outer surface is picked,
Negative pressure is formed, under atmospheric pressure effect, melon and fruit is firmly adsorbed on picking sucker；
Since melon and fruit is connected by carpopodium with fruit tree, so needing to cut off carpopodium, melon and fruit could be picked, starting cutting electricity
Machine, cutting motor drive blade rotation by belt transmission agency, so that blade cuts off the carpopodium being connected with melon and fruit；
Then starting push-and-pull motor, push-and-pull motor are bounced back downwards by gear driving rack, are adopted to pick sucker and be drawn back into
It plucks in cylinder, starting hydraulic telescopic rod makes hydraulic telescopic rod bounce back to normal condition, starts oscillating motor, so that hydraulic telescopic rod
Restore to original state, start steering motor, so that hydraulic telescopic rod rotates, until the lower end of material conduit is mutually held in the mouth with receiving hopper
It connects；
Melon and fruit can be picked by operating above, in the melon and fruit investment conveying protective case after then needing to pick, starting
Rotating electric machine, rotating electric machine drive picking sucker rotation, until picking sucker inclination is then shut off exhausting towards material conduit
Machine, booster air pump open air pressure valve, and air pump inputs gas to picking sucker by tracheae, under the promotion of gas, picks sucker
On melon and fruit be pushed in material conduit, then entered in conveying protective case by material conduit and dropped down on splicing spoon, vertical motor
Drive chain transmission, under the transmission of chain, splicing spoon is moved down, and melon and fruit follows splicing spoon to move down, until being moved to
Chain bottom, melon and fruit is fallen on Belt Conveying band under the effect of gravity, then under the transmission of belt conveyor, melon and fruit quilt
It is delivered in melon and fruit collection frame, so far completes whole movements of melon and fruit picking；
In conclusion structure of the invention design is rationally, by being used cooperatively for multiple groups motor and air pump, adopting for melon and fruit is completed
It plucks, convey operation, whole picking process is high-efficient, can substantially reduce the amount of labour of orchard worker.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of melon and fruit picking mechanical arm；
Fig. 3 is the scheme of installation of rack gear；
Fig. 4 is the structural schematic diagram for picking sucker.
Specific embodiment
As shown in Figs 1-4, melon and fruit picking machine of the invention, including rack 1 are provided with melon and fruit picker system, melon in rack 1
The vertical conveyer system of fruit and melon and fruit horizontal transmission system, the material outlet and the vertical conveyer system of melon and fruit of melon and fruit picker system
Material input connection, the material input of the material outlet of the vertical conveyer system of melon and fruit and melon and fruit horizontal transmission system connects
It connects.
Melon and fruit picker system includes steering motor 2, hydraulic telescopic rod 3 and connecting shaft 4, and connecting shaft 4 is assembled in the vertical direction
At the top of rack 1 and connecting shaft 4 is rotatably assorted with rack 1, and the lower end of connecting shaft 4 is fixed with short axle, is fixed in short axle from cone
Gear 5, steering motor 2 are assemblied in rack 1, and the main shaft of steering motor 2 is equipped with master bevel gear 6, master bevel gear 6 with from cone tooth
5 engaged transmission of wheel, hydraulic telescopic rod 3 are arranged above rack 1, and the lower end of hydraulic telescopic rod 3 passes through 7 company of being hinged on of the first pin shaft
The upper end of spindle 4, the first pin shaft 7 are to be fixedly connected with the lower end of hydraulic telescopic rod 3, and the top of connecting shaft 4 is fixed with swing
Motor (oscillating motor is not shown in the figure), the main shaft of oscillating motor are fixedly connected with the first pin shaft 7, the upper end of hydraulic telescopic rod 3
It is connected with melon and fruit picking mechanical arm.
Melon and fruit picking mechanical arm includes picking cylinder 8 and material conduit 9, and the bottom of picking cylinder 8 is equipped with bottom cover 10, hydraulically extensible
The upper end of bar 3 is fixed with connector 11, and angular adjustment motor 12 is fixed on connector 11, and bottom cover 10 is fixed by engaging lug 41
On the main shaft of angular adjustment motor 12, the top side of picking cylinder 8 opens up jagged 13, and material conduit 9 is fixed by clip
On the outer wall of picking cylinder 8, the feed end of material conduit 9 is connected with 13 phase of notch of picking cylinder 8, is equipped with push-and-pull in picking cylinder 8
Motor 14, mounting rack 15, rack gear 16 and picking sucker 17, push and pull motor 14 and mounting rack 15 is fixed in picking cylinder 8, mounting rack
15 are equipped with transparent guide slots, rack gear 16 slide be plugged in guide slots and the length direction of rack gear 16 vertically
Direction setting, the main shaft of push-and-pull motor 14 are equipped with gear 18, and 16 engaged transmission of gear 18 and rack gear, the upper end of rack gear 16 is fixed
There is mounting base 19, rotating electric machine 20 is fixed in mounting base 19, the bottom of picking sucker 17 is fixed with attachment base 21, attachment base 21
It is hinged in mounting base 19 by the second pin shaft, the second pin shaft is horizontally arranged, the main shaft of rotating electric machine 20 and the second pin shaft
It is fixedly connected；Carpopodium cutter assembly is additionally provided on picking cylinder 8；
The inside for picking sucker 17 is equipped with cavity 23, and the sucker face of picking sucker 17 offers several stomatas 24, picks on cylinder 8 also
Equipped with exhaust fan 25, rack 1 is equipped with air pump 26, and the air inlet pipe of exhaust fan 25 is connect with the cavity 23 of picking sucker 17, air pump
26 are connect by appendix 28 with the cavity 23 for picking sucker 17, and appendix 28 is equipped with air pressure valve.
Carpopodium cutting assembly includes blade 29 and cutting motor 30, and 29 shape of blade is spherical structure, and 29 two sides of blade are equal
The top of picking cylinder 8 is hinged on by third pin shaft, third pin shaft is fixedly connected with blade 29, sets on one of third pin shaft
Have from belt wheel 31, cuts off motor 30 and be fixed in picking cylinder 8, the main shaft of cutting motor 30 is equipped with main pulley 32, main pulley 32
With the outside for being respectively positioned on picking cylinder 8 from belt wheel 31, main pulley 32 is connect by belt 33 with from belt wheel 31.
The vertical conveyer system of melon and fruit includes fixed frame 34 and vertical motor, and fixed frame 34 is fixed on 1 upper surface of rack, fixed
Rotation connection is there are two sprocket wheel 35 on frame 34, two settings side by side up and down of sprocket wheel 35, and transmission chain is equipped between two sprocket wheels 35
36, be arranged at intervals on transmission chain 36 it is several pick spoon 37, conveying protective case 38 is further fixed on fixed frame 34, wherein adjacent to liquid
The half range transmission chain 36 of pressure telescopic rod 3 is located in conveying protective case 38, and the upper end of conveying protective case 38 is fixed with receiving hopper 39, conveying
The lower end of protective case 38 is material outlet, and material outlet is connect with the feed inlet of melon and fruit horizontal transmission system；Vertical motor peace
In rack 1, the main shaft of vertical motor and the sprocket wheel 35 of lower section are sequentially connected.
Melon and fruit horizontal transmission system is belt conveyor 40, and belt conveyor 40 is arranged in 1 upper surface of rack.
Specifically when picking melon and fruit, apparatus of the present invention are placed on vehicle by the present invention, then drive vehicle on one side, on one side
It carries out melon and fruit and picks operation, specifically pick job step are as follows:
(1), hydraulic telescopic rod 3 is adjusted, so that the melon and fruit picking mechanical arm of 3 upper end of hydraulic telescopic rod faces melon and fruit to be picked: opening
Dynamic oscillating motor, oscillating motor drives hydraulic telescopic rod 3 to swing around connecting shaft 4 by the first pin shaft 7, until hydraulic telescopic rod 3
Upper end inclination towards melon and fruit to be picked, stop swinging motor, starts hydraulic telescopic rod 3, and hydraulic telescopic rod 3 extends, until melon
Fruit picking machine tool gesture and facial expression stops hydraulic telescopic rod 3 to picking melon and fruit, then starts steering motor 2, and steering motor 2 passes through main cone
Gear 186 drives connecting shaft 4 to rotate from bevel gear 185, so that hydraulic telescopic rod 3 follows connecting shaft 4 to rotate, until melon and fruit is adopted
8 upper end of picking cylinder for plucking manipulator is located at below melon and fruit to be picked, and then starts angular adjustment motor 12, angular adjustment motor 12
Driving picking cylinder 8 rotates, so that the upper end open-mouth of picking cylinder 8 is located at the lower section of melon and fruit, angular adjustment motor 12 is for adjusting
The obliquity of cylinder 8 upper end and melon and fruit is picked, so that picking is more smooth；
(2), starting push-and-pull motor 14, push-and-pull motor 14 are rotated with moving gear 18,16 engaged transmission of gear 18 and rack gear, so that tooth
Item 16 stretches out picking cylinder 8 upwards, until the sucker face of picking sucker 17 and the bottom of melon and fruit fit, push-and-pull motor 14 stops work
Make, then start exhaust fan 25, exhaust fan 25 will be between sucker face and melon and fruit outer surface that pick sucker 17 by air inlet pipe
Lacuna evacuates, and forms negative pressure, and under atmospheric pressure effect, melon and fruit is firmly adsorbed on picking sucker 17；
(3), then motor 30 is cut off in starting, and cutting motor 30 is rotated by belt transmission agency band cutting blade 29, thus blade
29 cut off the carpopodium being connected with melon and fruit；
(4), then starting pushes and pulls motor 14, and push-and-pull motor 14 is by the downward retraction of 18 drive rack of gear 16, to pick suction
Disk 17 is drawn back into picking cylinder 8, and starting hydraulic telescopic rod 3 makes hydraulic telescopic rod 3 bounce back to normal condition, and starting swings electricity
Machine starts steering motor 2 so that hydraulic telescopic rod 3 is restored to original state, so that hydraulic telescopic rod 3 rotates, until material is led
The lower end of pipe 9 is connected with 39 phase of receiving hopper；
(5), start rotating electric machine 20, the drive picking sucker 17 of rotating electric machine 20 rotates, until picking sucker 17 is tilted towards object
Expect conduit 9, be then shut off exhaust fan 25, booster air pump 26 opens air pressure valve, and air pump 26 inputs picking sucker 17 by tracheae
Gas, under the promotion of gas, the melon and fruit picked on sucker 17 is pushed in material conduit 9, is then entered by material conduit 9 defeated
It in material protective case 38 and drops down on splicing spoon 37, vertical motor driven chain drive, under the transmission of chain, splicing spoon 37 is to moving down
Dynamic, melon and fruit follows splicing spoon 37 to move down, until being moved to chain bottom, it is defeated to fall to belt for melon and fruit under the effect of gravity
It send on band 40, then under the transmission of belt conveyor 40, melon and fruit is transported in melon and fruit collection frame, so far completes melon and fruit picking
Whole movements.
The present embodiment not makes any form of restriction shape of the invention, material, structure etc., all according to this hair
Bright technical spirit any simple modification, equivalent change and modification to the above embodiments, belong to the technology of the present invention side
The protection scope of case.
Claims (6)
1. melon and fruit picking machine, it is characterised in that: including rack, melon and fruit picker system is provided in rack, melon and fruit vertically transmits and is
System and melon and fruit horizontal transmission system, the material outlet of melon and fruit picker system and the material input of the vertical conveyer system of melon and fruit
Connection, the material outlet of the vertical conveyer system of melon and fruit are connect with the material input of melon and fruit horizontal transmission system.
2. melon and fruit picking machine according to claim 1, it is characterised in that: melon and fruit picker system includes steering motor, hydraulic
Telescopic rod and connecting shaft, connecting shaft is assemblied in frame top in the vertical direction and connecting shaft and gantry rotation cooperate, connecting shaft
Lower end is fixed with short axle, is fixed in short axle from bevel gear, steering motor is assembled on the rack, and the main shaft of steering motor is equipped with
Master bevel gear, master bevel gear with from bevel gear engaged transmission, the hydraulic telescopic rod side of being arranged on the rack, the lower end of hydraulic telescopic rod
The upper end of connecting shaft is hinged on by the first pin shaft, the first pin shaft is to be fixedly connected with the lower end of hydraulic telescopic rod, connecting shaft
Top be fixed with oscillating motor, the main shaft of oscillating motor is fixedly connected with the first pin shaft, and the upper end of hydraulic telescopic rod is connected with
Melon and fruit picking mechanical arm.
3. melon and fruit picking machine according to claim 2, it is characterised in that: melon and fruit picking mechanical arm includes picking cylinder and material
Conduit, the bottom for picking cylinder are equipped with bottom cover, and the upper end of hydraulic telescopic rod is fixed with connector, is fixed with angular adjustment on connector
Motor, bottom cover are fixed on the main shaft of angular adjustment motor by engaging lug, and the top side for picking cylinder opens up jagged, material
Conduit is fixed on the outer wall of picking cylinder by clip, and the feed end of material conduit is mutually connected with the notch of picking cylinder, picks cylinder
It is interior to be equipped with push-and-pull motor, mounting rack, rack gear and picking sucker, it pushes and pulls motor and mounting rack is fixed in picking cylinder, on mounting rack
Equipped with transparent guide slots, rack gear sliding is plugged in guide slots and the length direction of rack gear is set in the vertical direction
It sets, the main shaft for pushing and pulling motor is equipped with gear, and wheel and rack engaged transmission, the upper end of rack gear is fixed with mounting base, mounting base
On be fixed with rotating electric machine, the bottom for picking sucker is fixed with attachment base, and attachment base is hinged in mounting base by the second pin shaft,
Second pin shaft is horizontally arranged, and the main shaft of rotating electric machine is fixedly connected with the second pin shaft；Carpopodium cutter is additionally provided on picking cylinder
Component；
The inside for picking sucker is equipped with cavity, and the sucker face for picking sucker offers several stomatas, picks and is additionally provided with exhausting on cylinder
Machine, rack are equipped with air pump, and the air inlet pipe of exhaust fan is connect with the cavity of picking sucker, and air pump passes through appendix and picking sucker
Cavity connection, appendix be equipped with air pressure valve.
4. melon and fruit picking machine according to claim 3, it is characterised in that: carpopodium cutting assembly includes blade and cutting electricity
Machine.Insert shape is spherical structure, and blade two sides pass through the top that third pin shaft is hinged on picking cylinder, third pin shaft and blade
It is fixedly connected, one of third pin shaft is equipped with from belt wheel, is cut off motor and is fixed in picking cylinder, cuts off on the main shaft of motor
The outside of picking cylinder is respectively positioned on equipped with main pulley, main pulley and from belt wheel, main pulley is connect by belt with from belt wheel.
5. melon and fruit picking machine according to claim 3, it is characterised in that: the vertical conveyer system of melon and fruit includes fixed frame and erects
To motor, fixed frame is fixed on the rack surface, and there are two sprocket wheels for rotation connection on fixed frame, and two sprocket wheels are side by side up and down to be set
Set, transmission chain be equipped between two sprocket wheels, be arranged at intervals on transmission chain it is several pick spoon, be further fixed on fixed frame defeated
Expect protective case, wherein the half range transmission chain adjacent to hydraulic telescopic rod is located in conveying protective case, the upper end of conveying protective case, which is fixed with, to be connect
The lower end of hopper, conveying protective case is material outlet, and material outlet is connect with the feed inlet of melon and fruit horizontal transmission system；Vertically
Motor is mounted on the rack, and the main shaft of vertical motor and the sprocket wheel of lower section are sequentially connected.
6. melon and fruit picking machine according to claim 1, it is characterised in that: melon and fruit horizontal transmission system is belt conveyor,
Belt conveyor is arranged on the rack surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810737560.3A CN109121695B (en) | 2018-07-06 | 2018-07-06 | Melon and fruit picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810737560.3A CN109121695B (en) | 2018-07-06 | 2018-07-06 | Melon and fruit picking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109121695A true CN109121695A (en) | 2019-01-04 |
| CN109121695B CN109121695B (en) | 2021-08-20 |
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ID=64799891
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810737560.3A Active CN109121695B (en) | 2018-07-06 | 2018-07-06 | Melon and fruit picking machine |
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| US20130091821A1 (en) * | 2011-10-17 | 2013-04-18 | Charles Dietrich | Pneumatic fruit decelerator body |
| CN102396326A (en) * | 2011-11-23 | 2012-04-04 | 浙江工业大学 | Mechanical arm of Chinese walnut picking robot |
| CN203801306U (en) * | 2014-03-03 | 2014-09-03 | 浙江海洋学院 | Convenient fruit picker |
| ES1137685U (en) * | 2015-03-09 | 2015-03-23 | Tallers Vilaró-Bernat, S.L. | Fruit harvesting machine and various agricultural products (Machine-translation by Google Translate, not legally binding) |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| CN104798538A (en) * | 2015-04-20 | 2015-07-29 | 东北农业大学 | Self-adaptive push-out type fruit and vegetable capturing end executer |
| CN204697532U (en) * | 2015-06-15 | 2015-10-14 | 重庆市和兆山生态农业有限责任公司 | A kind of grape picker |
| CN105123125A (en) * | 2015-09-18 | 2015-12-09 | 广西大学 | Fruit picking rod |
| CN205357149U (en) * | 2016-01-28 | 2016-07-06 | 连云港职业技术学院 | Executor is picked to apple based on four components become born of same parents mechanism |
| CN206227037U (en) * | 2016-11-21 | 2017-06-09 | 镇江市胜得机械制造有限责任公司 | A kind of mechanical arm for automatic fruit picker |
| CN206237836U (en) * | 2016-11-21 | 2017-06-13 | 永登越国开心农场种植养殖农民专业合作社 | A kind of fruit picking |
| CN206274778U (en) * | 2016-12-16 | 2017-06-27 | 天津农学院 | Fruit picker |
| CN206602857U (en) * | 2017-04-10 | 2017-11-03 | 湖南科技职业学院 | A kind of instrument plucked for Chinese chestnut |
| CN206813050U (en) * | 2017-04-20 | 2017-12-29 | 内蒙古农业大学 | A kind of melon and fruit transport establishment |
| CN206760102U (en) * | 2017-06-02 | 2017-12-19 | 林朝辉 | A kind of agriculture Liftable type mango picking machine |
| CN107466600A (en) * | 2017-09-19 | 2017-12-15 | 郑州大学 | A kind of artificial vasculum of winter jujube |
| CN207443511U (en) * | 2017-11-18 | 2018-06-05 | 剑河县宏毅生态农业发展有限公司 | A kind of eminence fruit picker |
| CN107771528A (en) * | 2017-11-29 | 2018-03-09 | 浙江海洋大学 | A kind of fruit adsorbent equipment for fruit harvesting robot |
| CN108076819A (en) * | 2018-01-10 | 2018-05-29 | 和县绿源蔬菜种植有限责任公司 | A kind of portable eminence vegetables and fruits picker |
| CN107950189A (en) * | 2018-01-19 | 2018-04-24 | 北京林业大学 | A kind of hand-held pushes and pulls vacuum fruit picking device |
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