CN109937703B - Bag sleeving device for picking apples - Google Patents
Bag sleeving device for picking apples Download PDFInfo
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- CN109937703B CN109937703B CN201910327692.3A CN201910327692A CN109937703B CN 109937703 B CN109937703 B CN 109937703B CN 201910327692 A CN201910327692 A CN 201910327692A CN 109937703 B CN109937703 B CN 109937703B
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- 235000021016 apples Nutrition 0.000 title claims abstract description 29
- 244000141359 Malus pumila Species 0.000 title description 2
- 210000000078 claw Anatomy 0.000 claims abstract description 78
- 241000220225 Malus Species 0.000 claims abstract description 57
- 238000010008 shearing Methods 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 5
- 210000003734 kidney Anatomy 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000013138 pruning Methods 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 235000011430 Malus pumila Nutrition 0.000 description 24
- 235000015103 Malus silvestris Nutrition 0.000 description 24
- 230000007246 mechanism Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 244000126211 Hericium coralloides Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006355 external stress Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001012 protector Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Control And Other Processes For Unpacking Of Materials (AREA)
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Abstract
The invention relates to a bagging device for picking apples, which consists of a mechanical claw, a lifting device, a shearing blade, a force measuring device and a bag supporting linkage device, wherein the bag supporting linkage device is arranged at the upper end of a supporting arm of the bag supporting device, the mechanical claw is arranged at the lower part of the supporting arm of the bag supporting device and corresponds to the center of the bag supporting linkage device, the lifting device and the force measuring device are arranged at one side of the supporting arm of the bag supporting device, the upper end of the lifting device is fixedly connected with the shearing blade, the lower end of the lifting device is connected with the force measuring device, and the force measuring device is connected with the lifting device through a coupler, a screw rod and a lifting nut. The device can realize all functions of grabbing, pruning and bagging in the apple picking process. Compared with the existing apple picking device, the apple picking device has the advantages of reduced labor cost, high functional integration level, shortened production links and the like.
Description
Technical Field
The invention relates to an apple picking device, in particular to an apple auxiliary picking bagging device which can realize the shortest pruning of apple stems and the auxiliary bagging function during picking.
Background
The traditional picking mode is also a common mode of picking apples on the market at present, and mainly comprises the steps of clamping the apples through a mechanical claw and then pulling the apples downwards through manpower, so that the picking mode has a larger influence on the health of apple trees. The residual branches at the top of the apples are also trimmed for the second time after picking, and part of the branches also need to be bagged by a foam net, which is time-consuming and labor-consuming. The European technology has the advantages that apples are automatically identified and then picked, and the whole set of actions are automatically performed, but the cost is too high, and the quality requirements on operators are high. What we hope to make is that an easy and simple to handle, compact structure, multiple functional apple picking device solves the actual problem of current device
Disclosure of Invention
The invention aims to provide the apple picking bagging device, which integrates the functions of grabbing, shearing branches and bagging, and can reduce the cost of instruments, labor and processes under the condition that the cost of the traditional picking mode is not too much.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides a bagging apparatus is picked to apple, is constituteed by gripper, elevating gear, shearing sword, force measuring device and bag opening linkage, bag opening linkage installs in bag opening device support arm upper end, and gripper installs in bag opening device support arm lower part to corresponding with bag opening linkage center, elevating gear and force measuring device install in bag opening device support arm one side, elevating gear upper end fixed connection shearing sword, lower extreme connection force measuring device, force measuring device passes through shaft coupling and lead screw and lifting nut connection elevating gear.
Further, the bag supporting linkage device comprises a driving turntable, a bag supporting hook, a connecting rod, a fixed wheel, blades and a rotating shaft, wherein the fixed wheel is connected with the driving turntable in a matched manner, three blades are uniformly distributed on the fixed wheel, each blade is connected with the fixed wheel through the rotating shaft and can rotate around the rotating shaft, each blade is connected with the driving shaft through the connecting rod, the driving shaft penetrates through a kidney slot formed in the fixed wheel and is fixed on the driving turntable, and the connecting rod is hinged with the blades through a pin shaft; the top of each blade is provided with a bag-supporting hook.
Further, when the driving turntable is rotated, the driving shaft moves in the kidney-shaped groove of the fixed wheel, and the pin shaft is driven to move through the movement of the connecting rod, so that the blades rotate around the rotating shaft, and the three blades are rotated to realize opening and closing.
The mechanical claw comprises a first claw and a second claw, wherein the first connecting rod, the second connecting rod, the third connecting rod, a connecting rod rotating shaft, a mechanical arm driving rod and a mechanical arm support are respectively connected with the two first claws and the one second claw through one rotation of the connecting rod, and the two first claws and the one second claw are uniformly arranged; the two first claws and the one second claw are respectively hinged with a manipulator driving rod in the manipulator support through a connecting rod II and a connecting rod III, and the connecting rod I is connected with the manipulator support and the first claw, the connecting rod I is connected with the manipulator support and the second claw, the connecting rod II is connected with the first claw and the connecting rod III, and the connecting rod III is connected with the manipulator driving rod through connecting rod rotating shafts.
Further, the length of the first claw is larger than that of the second claw, and the first claw rubber protective sleeve and the second claw rubber protective sleeve are respectively sleeved on the first claw and the second claw.
Further, the shearing blade comprises an upper shearing plate, a lower shearing plate and a driving motor, wherein the driving motor is fixedly connected below the rear end part of the lower shearing plate, and a driving shaft of the driving motor penetrates through the lower shearing plate and then is connected with the upper shearing plate.
Further, the upper scissor plate and the lower scissor plate are comb-shaped scissor plates.
Further, the lifting device comprises a scissors lifting bracket and a lifting device base, wherein the scissors lifting bracket is inserted into the lifting device base and can move up and down along the lifting device base; the side of the scissor lifting support is provided with a convex rib, the side of the lifting device base is provided with a guide groove, and the convex rib of the scissor lifting support is connected with the guide groove of the lifting device base in a matched mode.
Further, the knife lifting support and the lifting device base form a certain angle with the bag supporting device supporting arm, so that apples are prevented from being blocked by scissors when passing through the linkage bag supporting device, and the operation is convenient.
Further, the force measuring device comprises a screw rod, an outer ratchet wheel, an inner ratchet wheel, a shell, a spring, a motor and a measuring pressure sensor, wherein the lower part of the screw rod is arranged in the shell, the outer ratchet wheel is connected with the inner ratchet wheel through internal teeth, the inner ratchet wheel is fixed on the screw rod, the spring is connected between the bottom of the outer ratchet wheel and the bottom of the shell, the outer ratchet wheel is connected with the motor, the measuring pressure sensor is arranged on the screw rod, and the measuring pressure sensor is connected with a driving motor of the shearing blade.
The beneficial effects of the invention are as follows: the device consists of a mechanical claw, a lifting device, a shearing blade, a force measuring device and a bag supporting linkage device. Can realize all functions of grabbing, pruning and bagging in the apple picking process. Compared with the existing apple picking device, the apple picking device has the advantages of reduced labor cost, high functional integration level, shortened production links and the like.
The gripper consists of three grippers, the movement of which is based on the principle of a four-bar mechanism. The driving ends of the three mechanical claws are fixed on the lifting rod, and the opening and closing of the claws are realized through the lifting of the lifting rod.
The lifting device uses a screw rod structure, and the function of converting rotary motion into linear motion is realized by limiting the freedom degree of the lifting pipe around the Z axis direction.
The shearing blade adopts the form of comb tooth blade, no longer is limited to single cutting edge shearing, and each tooth blade can independently accomplish the shearing of branch, reduces workman's operation degree of difficulty.
The force measuring device is fixed on a screw rod of the lifting device, and is directly driven to rotate by the stepping motor and simultaneously drives the screw rod to rotate. The double-ratchet force measuring device is adopted, and the elastic restoring device is arranged in the double-ratchet force measuring device, so that when the torque on the force measuring device reaches a certain limit, namely the blade is clung to an apple, the ratchet wheel idles, the blade is not lowered any more, and the function of protecting the apple is achieved.
The bag supporting linkage device adopts a four-bar mechanism and is composed of an upper layer of circular ring and a lower layer of circular ring, the lower layer of circular ring plays a role in fixing the mechanism, the upper layer of circular ring is a movable part, the blades and the rod piece are fixed between the upper layer of circular ring and the lower layer of circular ring, the movable circular ring drives the rod piece to rotate so as to realize opening and closing of the blades, and barbs on the blades hook the apple net bag to open the apple net bag.
Drawings
FIG. 1 is a schematic diagram of a bagging apparatus for picking apples according to the present invention;
FIG. 2 is a schematic diagram of a bag-opening linkage;
wherein: (a) front view, (b) left view, (c) rear view;
FIG. 3 is a schematic perspective view of a gripper structure;
FIG. 4 is a front view of the gripper structure;
FIG. 5 is a left side view of the gripper structure;
FIG. 6 is a schematic view of a shear blade configuration;
FIG. 7 is a schematic view of a lifting device;
wherein: (a) front view, (b) left view, (c) top view, (d) bottom view;
FIG. 8 is a schematic diagram of a force-measuring protector;
wherein: (a) a front cross-sectional view, (b) a top view.
Detailed Description
The invention will be further described with reference to the drawings and examples.
As shown in fig. 1, the bagging device for picking apples consists of a mechanical claw 2, a lifting device 5, a shearing blade 4, a force measuring device 9 and a bag supporting linkage device 1. The bag supporting linkage device 1 is arranged at the upper end of a bag supporting device supporting arm 3, the mechanical claw 2 is arranged at the lower part of the bag supporting device supporting arm 3 and corresponds to the center of the bag supporting linkage device 1, the lifting device 5 and the force measuring device 6 are arranged on one side of the bag supporting device supporting arm 3, the upper end of the lifting device 5 is fixedly connected with the shearing blade 4, the lower end of the lifting device is connected with the force measuring device 9, and the force measuring device 9 is connected with the lifting device 5 through the shaft coupling 8, the screw rod 6 and the lifting nut 7.
As shown in fig. 2 (a), (b) and (c), the bag-supporting linkage 1 comprises a driving turntable 1-1, a bag-supporting hook 1-2, a connecting rod 1-3, a fixed wheel 1-4, a blade 1-5, a rotating shaft 1-6 and a driving shaft 1-7. The fixed wheel 1-4 is connected with the driving turntable 1-1 in a matched manner, three blades 1-5 are uniformly distributed on the fixed wheel 1-4, each blade 1-5 is connected with the fixed wheel 1-4 through a rotating shaft 1-6, the blade 1-5 can rotate around the rotating shaft 1-6, each blade 1-5 is connected with a driving shaft 1-7 through a connecting rod 1-3, the driving shaft 1-7 penetrates through the fixed wheel 1-4 to form a kidney-shaped groove and then is fixed on the driving turntable 1-1, and the connecting rods 1-3 are hinged with the blades 1-5 through pin shafts. When the driving turntable 1-1 is rotated, the driving shaft 1-7 moves in the kidney-shaped groove of the fixed wheel 1-4, the pin shaft is driven to move through the movement of the connecting rod 1-3, and meanwhile, the driving shaft 1-7 limits the freedom degrees of the blades 1-5 in the horizontal and vertical directions, so that the blades 1-5 can only rotate around the rotating shaft 1-6, and the blades are opened and closed through the rotation of the three blades 1-5. The top of each blade 1-5 is provided with a bag-supporting hook 1-2.
When the apple bagging device is used, the diameter of the fixed wheel is set according to the size range of apples, and the opening space of the blades in the bagging device is enough for common apples to pass through. Three blades on the mechanism are provided with bag supporting hooks, so that the edge part of the bag can be hooked, and the bag is opened by driving the blades to open and close by utilizing the movement of the connecting rod mechanism. The bag opening linkage device is in an initial state, an operator needs to hook a new and tight net bag on the bag opening hooks on the blades, then drives the driving turntable, and the bag opening hooks open the bag along three directions along with the opening of the blades of the driving turntable, so that apples can conveniently enter the opened bag from a reserved space, be gripped by the mechanical claws below and cut off stems by the lowering of comb-shaped scissors.
As shown in fig. 3,4 and 5, the mechanical claw 2 comprises a first claw 2-2, a second claw 2-10, a first claw rubber protective sleeve 2-1, a second claw rubber protective sleeve 2-9, a first connecting rod 2-3, a second connecting rod 2-4, a third connecting rod 2-5, a connecting rod rotating shaft 2-6, a mechanical arm driving rod 2-7 and a mechanical arm support 2-8. The manipulator support 2-8 is respectively connected with two first claws 2-2 and one second claw 2-10 in a rotating way through a connecting rod 2-3, and the two first claws 2-2 and the one second claw 2-10 are uniformly arranged. The two first claws 2-2 and the one second claw 2-10 are respectively hinged with a manipulator driving rod 2-7 in the manipulator support 2-8 through a connecting rod two 2-4 and a connecting rod three 2-5, and the connecting rod one 2-3 is connected with the manipulator support 2-8 and the first claw 2-2, the connecting rod one 2-3 is connected with the manipulator support 2-8 and the second claw 2-10, the connecting rod two 2-4 is connected with the first claw 2-2 and the connecting rod three 2-5, and the connecting rod three 2-5 is connected with the manipulator driving rod 2-7 through a connecting rod rotating shaft 2-6. The first jaw 2-2 is longer than the second jaw 2-10. The first claw 2-2 and the second claw 2-10 are respectively sleeved with a first claw rubber protective sleeve 2-1 and a second claw rubber protective sleeve 2-9.
The mechanical claw is a clamping part of the apple picker, and the mechanical claw with two movable joints can simulate the grabbing action of a human hand on apples. The mechanical claw has one degree of freedom, and the mechanical claw can be driven to open and close by the movement of the movable rod. The mechanical claw has the advantages that the mechanical claw can simulate the gesture of grabbing apples by a human hand to a large extent, and the claw with radian can be well attached to the surface of the apples. The solid mechanical claw is also provided with an elastic rubber claw sleeve, so that the flexibility and elasticity of the claw can be improved, and the claw can not hurt apples. Meanwhile, the rubber with a larger friction coefficient can also increase the friction force between the mechanical claw and the apple surface, so that the clamping of the mechanical claw is firmer and more stable. The mechanical claw is designed to be long on two sides and short on one side, and the short side is close to the lifting device. The purpose is to obtain a sufficient gripping force without interfering with the normal operation of the lifting device.
As shown in fig. 6, the cutting blade 4 includes an upper blade 4-1, a lower blade 4-2, and a drive motor 4-3. The lower surface of the rear end part of the lower scissor plate 4-2 is fixedly connected with a driving motor 4-3, and a driving shaft of the driving motor 4-3 penetrates through the lower scissor plate 4-2 and is connected with the upper scissor plate 4-1. The upper scissor plate 4-1 and the lower scissor plate 4-2 are comb-shaped scissor plates.
Considering that the actual situation in the apple picking process is not as ideal as in the laboratory, and that the apple branches are high, it is difficult to align the branches exactly with the cutting edges. Therefore, the multi-tooth structure is designed, and the branches can be reliably sheared under any condition. The upper scissor plate is driven by a driving motor, and the cutting mode is rotary cutting. The working space is much larger than that of the traditional shearing structure, and reliable shearing can be realized. The isolating pad is arranged below the comb-shaped scissors to protect apples. Gaps are formed between the comb teeth of the upper scissors plate and the comb teeth of the lower scissors plate at the initial positions, so that apple stems can enter conveniently. The driving shaft is fixed with the upper scissor plate, and the upper scissor plate is driven to rotate through the rotation of the driving motor, so that the shearing operation of apple stems is realized through staggered teeth.
As shown in fig. 7 (a), (b), (c), and (d), the lifting device 5 includes a scissor lifting bracket and a lifting device base. The scissors lifting support is inserted into the lifting device base and can move up and down along the lifting device base. The side of the scissors lifting support is provided with a convex rib, the side of the lifting device base is provided with a guide groove, and the convex rib of the scissors lifting support is connected with the guide groove of the lifting device base in a matched manner. The knife lifting support and the lifting device base form a certain angle with the bag supporting device supporting arm, so that apples are prevented from being blocked by scissors when passing through the linkage bag supporting device, and the operation is convenient.
As shown in fig. 8 (a), (b), the force measuring device 9 includes a screw rod 9-1, an outer ratchet, an inner ratchet 9-2, a housing 9-3, a spring 9-4, a set screw 9-5, a stepping motor, and a measuring pressure sensor. The lower part of the screw rod 9-1 is arranged in the shell 9-3, the outer ratchet wheel is connected with the inner ratchet wheel 9-2 through internal teeth, the inner ratchet wheel 9-2 is fixed on the screw rod 9-1, a spring 9-4 is connected between the bottom of the outer ratchet wheel and the bottom of the shell 9-3, the outer ratchet wheel is connected with a stepping motor, a measuring pressure sensor is arranged on the screw rod 9-1, and the measuring pressure sensor is connected with a driving motor of the cutting blade.
The measuring device can realize shortest cutting of apple stems and does not hurt apples. In order to realize the function, the working principle of the ratchet mechanism is used as a reference, and a force measuring protection device with an internal elastic restoring function is designed. The elastic restoring device is arranged in the device, and under the limit of certain elastic force, the outer ratchet wheel drives the inner ratchet wheel by means of the inner teeth, and the inner ratchet wheel rotates to drive the screw rod matched with the inner ratchet wheel to move up and down. When the screw rod moving up and down touches the shoulder part of the apple, the elastic internal teeth of the outer ratchet wheel exceed the elastic force value, and the outer ratchet wheel and the inner ratchet wheel slip, so that the screw rod does not move any more. The measuring pressure sensor on the screw rod will move the controlled driving motor to execute shearing movement. The measuring device converts rotation into linear motion through the screw rod, and the transmission change can be transmitted in a feedback way through the ratchet mechanism, so that the scissors can be sent to the shortest position of the apple stems. And the external stress of the apples can be controlled, so that the aim of protecting the apples is fulfilled.
According to the invention, the principle of a lead screw lifting mechanism is utilized, the lead screw is connected with the measurement protection device, the stepping motor is connected with the force measurement device, when the torque reaches a certain threshold value, the scissors are in contact with apples, and the force measurement device enables the stepping motor to idle so as to protect the apples. The scissors are fixed at the upper end of the lifting device and lift together with the lifting device.
Claims (6)
1. A cover bagging apparatus is picked to apple comprises gripper, elevating gear, shearing sword, dynamometry device and bag support aggregate unit, its characterized in that: the bag supporting linkage device is arranged at the upper end of a supporting arm of the bag supporting device, the mechanical claw is arranged at the lower part of the supporting arm of the bag supporting device and corresponds to the center of the bag supporting linkage device, the lifting device and the force measuring device are arranged at one side of the supporting arm of the bag supporting device, the upper end of the lifting device is fixedly connected with the shearing blade, the lower end of the lifting device is connected with the force measuring device, and the force measuring device is connected with the lifting device through the coupler, the screw rod and the lifting nut; the bag supporting linkage device comprises a driving turntable, bag supporting hooks, a connecting rod, fixed wheels, blades, a rotating shaft and a driving shaft, wherein the fixed wheels are connected with the driving turntable in a matched mode, three blades are uniformly distributed on the fixed wheels, each blade is connected with the fixed wheels through the rotating shaft and can rotate around the rotating shaft, each blade is connected with the driving shaft through the connecting rod, the driving shaft penetrates through a kidney slot formed in the fixed wheels and is fixed on the driving turntable, and the connecting rods are hinged with the blades through pin shafts; the top of each blade is provided with a bag supporting hook; when the driving turntable is rotated, the driving shaft moves in the kidney-shaped groove of the fixed wheel, and the pin shaft is driven to move through the movement of the connecting rod, so that the blades rotate around the rotating shaft, and the three blades are rotated to realize opening and closing; the mechanical claw comprises a first claw, a second claw, a first connecting rod, a second connecting rod, a third connecting rod, a connecting rod rotating shaft, a mechanical arm driving rod and a mechanical arm support, wherein the two first claws and the one second claw are respectively connected with one another through one rotation of the connecting rod, and the two first claws and the one second claw are uniformly arranged; the two first claws and the one second claw are respectively hinged with a manipulator driving rod in the manipulator support through a connecting rod II and a connecting rod III, and the connecting rod I is connected with the manipulator support and the first claw, the connecting rod I is connected with the manipulator support and the second claw, the connecting rod II is connected with the first claw and the connecting rod III, and the connecting rod III is connected with the manipulator driving rod through a connecting rod rotating shaft; the first claw length is greater than the second claw length, and the first claw rubber protective sleeve and the second claw rubber protective sleeve are respectively sleeved on the first claw and the second claw.
2. The bagging apparatus for picking apples as claimed in claim 1 wherein: the shearing blade comprises an upper shearing blade, a lower shearing blade and a driving motor, wherein the driving motor is fixedly connected below the rear end part of the lower shearing blade, and a driving shaft of the driving motor penetrates through the lower shearing blade and then is connected with the upper shearing blade.
3. The bagging apparatus for apple picking of claim 2, wherein: the upper scissor plate and the lower scissor plate are comb-shaped scissor plates.
4. The bagging apparatus for picking apples as claimed in claim 1 wherein: the lifting device comprises a scissors lifting bracket and a lifting device base, wherein the scissors lifting bracket is inserted into the lifting device base and can move up and down along the lifting device base; the side of the scissor lifting support is provided with a convex rib, the side of the lifting device base is provided with a guide groove, and the convex rib of the scissor lifting support is connected with the guide groove of the lifting device base in a matched mode.
5. The bagging apparatus for apple picking of claim 4, wherein: the scissor lifting support and the lifting device base form a certain angle with the bag supporting device supporting arm, so that apples are prevented from being blocked by the scissor when passing through the linkage bag supporting device, and the operation is convenient.
6. The bagging apparatus for picking apples as claimed in claim 1 wherein: the force measuring device comprises a screw rod, an outer ratchet wheel, an inner ratchet wheel, a shell, a spring, a motor and a measuring pressure sensor, wherein the lower part of the screw rod is arranged in the shell, the outer ratchet wheel is connected with the inner ratchet wheel through internal teeth, the inner ratchet wheel is fixed on the screw rod, the spring is connected between the bottom of the outer ratchet wheel and the bottom of the shell, the outer ratchet wheel is connected with the motor, the measuring pressure sensor is arranged on the screw rod, and the measuring pressure sensor is connected with a driving motor of the cutting edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910327692.3A CN109937703B (en) | 2019-04-23 | 2019-04-23 | Bag sleeving device for picking apples |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910327692.3A CN109937703B (en) | 2019-04-23 | 2019-04-23 | Bag sleeving device for picking apples |
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| Publication Number | Publication Date |
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| CN109937703A CN109937703A (en) | 2019-06-28 |
| CN109937703B true CN109937703B (en) | 2024-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910327692.3A Active CN109937703B (en) | 2019-04-23 | 2019-04-23 | Bag sleeving device for picking apples |
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| CN (1) | CN109937703B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111296069A (en) * | 2020-03-20 | 2020-06-19 | 李堂勇 | Ware is picked to portable agricultural product |
| CN116897686B (en) * | 2023-09-11 | 2023-12-01 | 山东寿光蔬菜种业集团有限公司 | Picking device for agricultural cucumber planting |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR8800977A (en) * | 1988-03-07 | 1988-06-07 | Renato Arantes Scheibel | IMPLEMENT FOR HARVESTING, CLEANING AND PACKING OF GRAINS AND / OR SEEDS |
| CN104082076A (en) * | 2014-07-21 | 2014-10-08 | 河北科技大学 | Fruit tree bagging mechanical arm |
| CN207678466U (en) * | 2017-12-28 | 2018-08-03 | 四川建筑职业技术学院 | A kind of apple wins bagging all-in-one machine |
| CN208242274U (en) * | 2018-05-01 | 2018-12-18 | 浙江工业大学 | A kind of grasping mechanism in fruit picking packing machine |
| CN109566095A (en) * | 2018-11-29 | 2019-04-05 | 南京晓庄学院 | A kind of automation picking bagging integrated device |
-
2019
- 2019-04-23 CN CN201910327692.3A patent/CN109937703B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR8800977A (en) * | 1988-03-07 | 1988-06-07 | Renato Arantes Scheibel | IMPLEMENT FOR HARVESTING, CLEANING AND PACKING OF GRAINS AND / OR SEEDS |
| CN104082076A (en) * | 2014-07-21 | 2014-10-08 | 河北科技大学 | Fruit tree bagging mechanical arm |
| CN207678466U (en) * | 2017-12-28 | 2018-08-03 | 四川建筑职业技术学院 | A kind of apple wins bagging all-in-one machine |
| CN208242274U (en) * | 2018-05-01 | 2018-12-18 | 浙江工业大学 | A kind of grasping mechanism in fruit picking packing machine |
| CN109566095A (en) * | 2018-11-29 | 2019-04-05 | 南京晓庄学院 | A kind of automation picking bagging integrated device |
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| CN109937703A (en) | 2019-06-28 |
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