CN109328641A - A kind of fruit picking collection integrated apparatus - Google Patents
A kind of fruit picking collection integrated apparatus Download PDFInfo
- Publication number
- CN109328641A CN109328641A CN201811450921.2A CN201811450921A CN109328641A CN 109328641 A CN109328641 A CN 109328641A CN 201811450921 A CN201811450921 A CN 201811450921A CN 109328641 A CN109328641 A CN 109328641A
- Authority
- CN
- China
- Prior art keywords
- fruit
- picking
- integrated apparatus
- basket
- chain
- 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.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 87
- 210000000078 claw Anatomy 0.000 claims description 17
- 238000013016 damping Methods 0.000 claims description 11
- 238000013459 approach Methods 0.000 claims description 3
- 238000010030 laminating Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000000926 separation method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 241000283690 Bos taurus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229920001821 foam rubber Polymers 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G11/00—Chutes
- B65G11/10—Chutes flexible
- B65G11/103—Chutes flexible for articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
- B65G2201/0211—Fruits and vegetables
Abstract
The invention discloses a kind of fruit pickings to collect integrated apparatus, including device for picking, the device for picking include rod piece, picking head, driver and circulation duct；The circulation duct is installed on rod piece, is formed by the dropping channel of picking fruit；The picking head is installed on the upper end of circulation duct；The driver is installed on the lower end of rod piece, for driving picking head to pick fruit.The present invention be a kind of picking collection have a style of one's own, continuous type auxiliary device, the present invention can make fruit be damaged minimum from picking to the process of collection, totebox, which is uniformly distributed, guarantees that each fruit is stablized into totebox, can save a large amount of human and material resources.
Description
Technical field
The present invention relates to fruit picking fields of automation technology, and in particular to a kind of fruit picking collection integrated apparatus.
Background technique
China is Production of fruit big country, and yield accounts for the 65% of fruit total output.According to statistics according to imperfect number: China at present
Have become the world's largest Production of fruit state and country of consumption.In 2017, more than 7,600 ten thousand tons of world's fruit total output, China reached
43800000 tons, production and consumption scale accounts for 50% or more the whole world.
Currently, after fruit is mature, people be typically all frame ladder or directly climb up a tree plucked with hand getting.Existing fruit is adopted
Plucking generally has the characteristics that seasonality is strong, costly, the amount of labour is big, and also easily causes personal safety accident.Thus, it is badly in need of one kind
Can indirect labor's fruit-picking device, with improve picking convenience, reduce picking the amount of labour.
Summary of the invention
The purpose of the present invention is to provide a kind of fruit pickings to collect integrated apparatus, to solve manually to adopt in the prior art
It picks fruit big with the amount of labour and the problem of easily cause safety accident.
To achieve the above object, the invention provides the following technical scheme: a kind of fruit picking collects integrated apparatus, including
Device for picking, the device for picking include rod piece, picking head, driver and circulation duct；The circulation duct is installed on rod piece, shape
At by the dropping channel of picking fruit；The picking head is installed on the upper end of circulation duct；The driver is installed on rod piece
Lower end, for driving picking head to pick fruit.
Further, the driver includes fixed handle, flexible handle and driving spring；The fixed handle and activity
The front end of handle is hinged, rear end separates；The rear end of the driving spring and the front end of flexible handle are connected, front end and picking head connect
It connects；
The driving spring generates elastic pulling force when flexible handle approaches fixed handle, and picking head is driven to pick fruit.
Further, the circulation duct includes container and flexible pipe；The bottom end of the container is fixed on flexible pipe
Top, and form the dropping channel by picking fruit of perforation；The flexible pipe fitting is installed on the outside wall surface of rod piece.
Further, the picking head includes the claw of two U-shapeds；Each claw is behind the upper end of container, and two
Side footing is hingedly connected on the relative wall of container, and one of footing and driving spring front end are connected；
The driving spring can drive each claw to do the rotary type movement around footing hinge joint, and drive the top of two claws horizontal
Beam does fitting movement, and the top surface opening of laminating points face container.
Further, the collecting cart for further including fruit basket and being installed on fruit basket.
Further, the collecting cart includes vertical rack, chain drive component and several toteboxs；
The chain drive component includes chain, drive sprocket, driven sprocket and driving motor；The drive sprocket and driven chain
Wheel is opposite respectively to be installed on vertical rack；The driving motor is installed on vertical rack, for driving drive sprocket motion；
The chain is set on drive sprocket and driven sprocket, and chain is at non-aqueous flat-shaped；
The totebox is uniformly installed on chain, for connecing the fruit contained and fallen from circulation duct.
It further, further include controller, the operating condition of the controller control driving motor.
Further, the fruit basket includes basket body, plate and several damping springs；
The basket body is top surface hatch frame；Several damping spring uniform verticals are laid in basket body inner bottom surface；The plate is laid with
In the top of several damping springs.
It further, further include connection frame；The connection frame includes the basket body connection frame and peace for being installed on fruit basket upper end
Collecting cart connection frame loaded on collecting cart lower end；
The collecting cart connection frame is installed on basket body connection frame, and reciprocating sliding motion can be done with respect to basket body.
Further, the totebox is top surface hatch frame, and at least side side wall is from top to bottom at introversion shape.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention be a kind of picking collection have a style of one's own, continuous type auxiliary device, the present invention can make fruit from adopting
The process for picking collection is damaged minimum, and totebox, which is uniformly distributed, guarantees that each fruit is stablized into totebox, can make
Picking work is carried out continuously, while not needing to artificially collect, and can save a large amount of human and material resources in this way, efficiency and effect also pole
Big improves；
(2) collecting cart of the invention can do reciprocating sliding motion along guide rail, so that fruit is fallen into fruit basket at random, guarantee water
The balance of fruit basket each position collecting amount；
(3) damping spring in fruit basket can reduce impact force suffered by fruit；When the fruit number in fruit basket increases, subtract
Spring is shaken by lower pressure, so that plank height declines, thus will not influence the splendid attire quantity of single fruit basket；
(4) first stroke switch and second stroke, which are switched, passes to controller for the position signal of collecting cart, then by controller control
The reliability of device can be improved in the movement of belt motor processed.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of device for picking；
Fig. 2 is the structural schematic diagram of collecting cart；
Fig. 3 is the structural schematic diagram of connection frame；
Fig. 4 is the structural schematic diagram of fruit basket；
Fig. 5 is the schematic diagram that connection frame connects collecting cart and fruit basket；
In figure: 1- container, 2- claw, 3- driving spring, 4- rod piece, 5- flexible pipe, the fixed handle of 6-, 7- flexible handle, 8-
First sensor, 9- second sensor, 10- vertical rack, 11- inside casing, 12- drive sprocket, 13- driven sprocket, 14- transport
Bucket, 15- chain, 16- driving motor, 17- first stroke switch, 18- sliding block, 19- second stroke switch, 20- driving pulley,
21- belt motor, 22- belt, 23- outline border, 24- driven pulley, 25- guide rail, 26- basket body, 27- damping spring, 28- plate,
29- foam-rubber cushion.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment 1: please referring to Fig. 1-5, and the present invention provides a kind of technical solution: a kind of fruit picking collection one makeup
It sets, including device for picking, collecting cart, connection frame and fruit basket；
The device for picking includes rod piece 4, picking head, driver and circulation duct；
Wherein, the rod piece 4 is hollow circular-tube structure；
The circulation duct includes container 1 and flexible pipe 5；The container 1 is rectangular parallelepiped structure, the flexible pipe 5 is empty
Heart circular tube structure, and the interior wide size of the container 1, flexible pipe 5 is greater than the contour dimension of fruit to be picked；The container
1 bottom end is fixed on the top of flexible pipe 5, and forms the dropping channel by picking fruit of perforation；The outer wall of the flexible pipe 5
The outside wall surface of face and rod piece 4 is connected, and flexible pipe 5 is parallel with the axis of rod piece 4；
The picking head includes the claw 2 of two U-shapeds；Each claw 2 is behind the upper end of container 1, side feet difference
It is articulated on the relative wall of container 1；
The driver includes fixed handle 6, flexible handle 7 and driving spring 3；Before the fixed handle 6 and flexible handle 7
End is hinged, rear end separates；After the driving spring 3 passes through rod piece 4, the front end of its rear end and flexible handle 7 is connected, front end and every
One of footing of one claw 2 is connected；The driving spring 3 generates elasticity when flexible handle 7 approaches fixed handle 6 and draws
Power, and pull down footing；The claw 2 does the rotary type movement around hinge joint under the drive of footing, so that the top of two claws 2
Crossbeam is bonded to each other movement, and the top surface opening of laminating points face container 1；
The fruit basket includes basket body 26, plate 28 and several damping springs 27；The basket body 26 is top surface hatch frame；It is several
27 uniform vertical of damping spring is laid in 26 inner bottom surface of basket body；The plate 28 is layed in the top of several damping springs 27；
The collecting cart includes vertical rack 10, chain drive component and 7 toteboxs 14；
Wherein, the chain drive component includes chain 15, drive sprocket 12, driven sprocket 13 and driving motor 16；The master
Movable sprocket 12, driven sprocket 13 are installed on lower end, the upper end of vertical rack 10 relatively respectively；The driving motor 16 is installed on perpendicular
The lower end of straight bracket 10, and drive sprocket 12 is set in the drive shaft of driving motor 16, for driving drive sprocket 12 to move；
The chain 15 is set on drive sprocket 12 and driven sprocket 13, and chain 15 is at vertical shape；
The totebox 14 is uniformly installed on chain 15, for connecing the fruit contained and fallen from circulation duct；
The connection frame includes being installed on the basket body connection frame of fruit basket upper end to connect with the collecting cart for being installed on collecting cart lower end
Frame；
Wherein, the collecting cart connection frame includes inside casing 11, and the inside casing 11 is rectangular frame structure；The vertical rack 10 is pacified
Upper end loaded on inside casing 11, and the inside of inside casing 11 forms the overturning space of totebox 14；
The basket body connection frame includes that 23, two guide rails 25 of outline border, first stroke 17, second stroke of opening the light are opened the light 19, four cunnings
Block 18, belt 22, belt motor 21, driving pulley 20, driven pulley 24；The outline border 23 is rectangular frame structure；Two are led
Rail 25 is separated by a distance, is parallelly mounted on outline border 23；The first stroke open the light 17 and second stroke open the light 19 opposite peaces
Loaded on a certain guide rail 25；Four 18 every two of sliding block are one group, and are respectively arranged on two guide rails 25；The inside casing 11
Opposite side frame is installed on the upper of four sliding blocks 18；
The belt motor 21 is fixedly arranged on outline border 23, and driving pulley 20 is set in the drive shaft of belt motor 21；It is described
Driven pulley 24 is turnably installed on outline border 23；The belt 22 is set on driving pulley 20 and driven pulley 24, and
Belt 22 is parallel to guide rail 25, and neighbouring does not install the guide rail 25 that stroke opens the light；The outer wall of the belt 22 passes through intermediate connection
Part and inside casing 11 are connected, and inside casing 11 is driven to do reciprocating sliding motion along guide rail 25；
After the fruit of acquisition is sent into collecting cart by the device for picking, the collecting cart pours into fruit in fruit basket.
In order to reduce broken skin during picking fruit, fall loss rate, the present apparatus is also added such as flowering structure: (1) claw 2
It is set with loss prevention pad outside, to act on the impact force on fruit rinds when reducing by the 2 clamping fruit root base of a fruit of claw, drop-down fruit；(2)
The side that 14 fruit of totebox falls inside is equipped with shock-absorbing protecting layer or loss prevention pad at introversion shape from top to bottom；(3)
Spongy layer is equipped on plank 28 in fruit basket.
In order to improve the stability and accuracy of device movement, the device further include: first sensor 8, second senses
Device 9 and controller；The first sensor 8 is installed on vertical rack 10, for perceiving the transport of the top fruit to be contained
Whether there is fruit to fall into bucket 14；The second sensor 9 is installed on vertical rack 10, and is located at first sensor 8 just
Lower section, the alternating for perceiving totebox 14 are mobile；The controller obtains the detection of first sensor 8 and second sensor 9
After signal, the movement of driving motor 16 is controlled；The controller obtains the inspection of first stroke switch 17 and second stroke switch 19
After surveying signal, the movement of belt motor 21 is controlled；
The belt motor 21 and driving motor 16 are stepper motor；The controller is PLC controller；First sensing
Device 8 and second sensor 9 are optoelectronic switch；
The controller is PLC controller.
The course of work:
(1) present apparatus is placed under fruit tree；
(2) picking personnel's hand takes device for picking, and container 1 is just treated below picking fruit；Picking personnel hold with a firm grip 7 He of flexible handle
Fixed handle 6, so that driving spring 3 is generated elastic pulling force by lower pulling force；The claw 2 moves under the action of elastic pulling force
Make and blocks fruit rhizome；After picking personnel pull fruit rhizome, fruit falls to the transport on collecting cart top along flexible pipe 5
In bucket 14；
(3) there is fruit to fall into the totebox 14 on the perception of first sensor 8 top, and signal is passed into controller；
(4) controller control driving motor 16 rotates, and totebox 14 is with the movement of chain 15；Meanwhile controller controls belt
Motor 21 rotates, and collecting cart slides certain distance on fruit basket；
(5) when second sensor 9 detects the totebox 14 on top, signal is passed into controller；The controller control
Driving motor 16, belt motor 21 stall；
(6) step (2)-(5) are repeated.
In the operational process of the present apparatus, since totebox 14 is uniformly mounted on chain 15, in the driving of stepper motor
Under, chain 15 runs smoothly, and keeps 14 falling speed of totebox equipped with fruit steady；When guaranteeing totebox 14 by minimum point,
Fruit guarantees fruit quality because self weight rolls out totebox 14 without generating biggish velocity inertial.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understand without departing from the principles and spirit of the present invention, can to these embodiments carry out it is a variety of variation, modification, replacement and
Modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of fruit picking collects integrated apparatus, including device for picking, it is characterised in that: the device for picking include rod piece (4),
Picking head, driver and circulation duct；The circulation duct is installed on rod piece (4), is formed by the dropping channel of picking fruit；
The picking head is installed on the upper end of circulation duct；The driver is installed on the lower end of rod piece (4), for driving picking head to adopt
Pluck fruit.
2. fruit picking according to claim 1 collects integrated apparatus, it is characterised in that: the driver includes fixing
Handle (6), flexible handle (7) and driving spring (3)；The front end of the fixed handle (6) and flexible handle (7) is hinged, rear end
Separation；The rear end of the driving spring (3) is connected with the front end of flexible handle (7), front end and picking head are connect；
The driving spring (3) generates elastic pulling force when flexible handle (7) approach fixed handle (6), and picking head is driven to adopt
Pluck fruit.
3. fruit picking according to claim 2 collects integrated apparatus, it is characterised in that: the circulation duct includes containing
Glassware (1) and flexible pipe (5)；The bottom end of the container (1) is fixed on the top of flexible pipe (5), and forms being adopted for perforation
Pluck the dropping channel of fruit；Flexible pipe (5) fitting is installed on the outside wall surface of rod piece (4).
4. fruit picking according to claim 3 collects integrated apparatus, it is characterised in that: the picking head includes two
The claw (2) of U-shaped；For each claw (2) behind the upper end of container (1), side feet is hingedly connected to container (1)
On relative wall, and one of footing and driving spring (3) front end are connected；
The driving spring (3) can drive each claw (2) to do the rotary type movement around footing hinge joint, and drive two claws
(2) top cross-bar does fitting movement, and the top surface opening of laminating points face container (1).
5. fruit picking described in any one of -4 collects integrated apparatus according to claim 1, it is characterised in that: further include water
Fruit basket and the collecting cart being installed on fruit basket.
6. fruit picking according to claim 5 collects integrated apparatus, it is characterised in that: the collecting cart includes vertical
Bracket (10), chain drive component and several toteboxs (14)；
The chain drive component includes chain (15), drive sprocket (12), driven sprocket (13) and driving motor (16)；It is described
Drive sprocket (12) and driven sprocket (13) are installed on vertical rack (10) relatively respectively；The driving motor (16) is installed on
On vertical rack (10), for driving drive sprocket (12) to move；The chain (15) be set in drive sprocket (12) and
On driven sprocket (13), and chain (15) is at non-aqueous flat-shaped；
The totebox (14) is uniformly installed on chain (15), for connecing the fruit contained and fallen from circulation duct.
7. fruit picking according to claim 6 collects integrated apparatus, it is characterised in that: it further include controller, it is described
Controller controls the operating condition of driving motor (16).
8. fruit picking according to claim 6 collects integrated apparatus, it is characterised in that: the fruit basket includes basket body
(26), plate (28) and several damping springs (27)；
The basket body (26) is top surface hatch frame；Several damping spring (27) uniform verticals are laid in basket body (26) inner bottom surface；
The plate (28) is layed in the top of several damping springs (27).
9. fruit picking according to claim 8 collects integrated apparatus, it is characterised in that: further include connection frame；It is described
Connection frame includes the basket body connection frame for being installed on fruit basket upper end and the collecting cart connection frame for being installed on collecting cart lower end；
The collecting cart connection frame is installed on basket body connection frame, and can do reciprocating sliding motion with respect to basket body (26).
10. the fruit picking according to any one of claim 6-9 collects integrated apparatus, it is characterised in that: the fortune
Defeated bucket (14) is top surface hatch frame, and at least side side wall is from top to bottom at introversion shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811450921.2A CN109328641A (en) | 2018-11-30 | 2018-11-30 | A kind of fruit picking collection integrated apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811450921.2A CN109328641A (en) | 2018-11-30 | 2018-11-30 | A kind of fruit picking collection integrated apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109328641A true CN109328641A (en) | 2019-02-15 |
Family
ID=65319573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811450921.2A Pending CN109328641A (en) | 2018-11-30 | 2018-11-30 | A kind of fruit picking collection integrated apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109328641A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190701582A (en) * | 1907-01-21 | 1907-12-31 | Mark Donald Rochford | Improvements in Excavators and the like |
| CN102317162A (en) * | 2009-02-11 | 2012-01-11 | 匹克技术公司 | The download conveyer that is used for apple and similar object |
| CN108834567A (en) * | 2018-06-26 | 2018-11-20 | 浙江理工大学 | A kind of drawing scissors fruit recovering device |
| CN209201560U (en) * | 2018-11-30 | 2019-08-06 | 三江学院 | A kind of fruit picking collection integrated apparatus |
-
2018
- 2018-11-30 CN CN201811450921.2A patent/CN109328641A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190701582A (en) * | 1907-01-21 | 1907-12-31 | Mark Donald Rochford | Improvements in Excavators and the like |
| CN102317162A (en) * | 2009-02-11 | 2012-01-11 | 匹克技术公司 | The download conveyer that is used for apple and similar object |
| CN108834567A (en) * | 2018-06-26 | 2018-11-20 | 浙江理工大学 | A kind of drawing scissors fruit recovering device |
| CN209201560U (en) * | 2018-11-30 | 2019-08-06 | 三江学院 | A kind of fruit picking collection integrated apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209201560U (en) | A kind of fruit picking collection integrated apparatus | |
| CN110447390B (en) | Internal comb type posture-changing vibrating wolfberry picking device | |
| CN109005923A (en) | A kind of full-automatic fruit picking device | |
| CN202773423U (en) | Fruit picking machine | |
| CN110432001A (en) | A kind of orchard fruit picking robot | |
| CN203934353U (en) | Full-automatic medlar-picking machine | |
| CN108114405A (en) | Treadmill Adaptable System based on 3D depth cameras and flexible force sensitive sensor | |
| CN108633464A (en) | A kind of self-propelled auxiliary machine for picking fruits suitable for mountainous region | |
| CN205305441U (en) | Tea garden aviation equipment of picking tea -leaves | |
| CN108575318A (en) | A kind of strawberry automatic picking apparatus and method based on flexible manipulator | |
| CN110192471A (en) | A kind of hickory nut picking and collection device and method based on unmanned plane | |
| CN109328649A (en) | A kind of semi-automatic jujube fruit picking travelling bogie | |
| CN106110604A (en) | Service robot collected by semi-automatic shuttlecock | |
| CN109328641A (en) | A kind of fruit picking collection integrated apparatus | |
| CN204539987U (en) | A kind of self-propelled all-hydraulic red date reaping machine | |
| US3793814A (en) | Fruit harvester | |
| CN107736276A (en) | Intelligent unattended honey harvester and its control method | |
| CN108179231A (en) | A kind of cutting equipment being easy to use and security performance is high for leather processing | |
| CN209369393U (en) | A kind of glass curtain wall cleaning equipment | |
| CN216254040U (en) | Blueberry harvester | |
| CN108353630A (en) | All-in-one machine is collected in strawberry picking | |
| CN108464123A (en) | A kind of automatic picking vehicle of jujube with rapping apparatus | |
| CN105746460B (en) | Automatic co-ordinate-type fishing control system and method | |
| KR20100003899U (en) | shoulder type wild berry picking equipment | |
| CN113812261B (en) | Automatic picking machine for apple subfamily fruits |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Wei Inventor after: Liu Kai Inventor after: Zuo Tianyu Inventor after: Ma Ziyuan Inventor after: Zhang Jiakun Inventor after: Feng Ying Inventor after: Zhang Yiming Inventor before: Liu Kai Inventor before: Xu Wei Inventor before: Zuo Tianyu Inventor before: Ma Ziyuan Inventor before: Zhang Jiakun Inventor before: Feng Ying Inventor before: Zhang Yiming |
|
| CB03 | Change of inventor or designer information |