CN110036763A - Fruit picking vehicle - Google Patents
Fruit picking vehicle Download PDFInfo
- Publication number
- CN110036763A CN110036763A CN201910295878.5A CN201910295878A CN110036763A CN 110036763 A CN110036763 A CN 110036763A CN 201910295878 A CN201910295878 A CN 201910295878A CN 110036763 A CN110036763 A CN 110036763A
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- China
- Prior art keywords
- sleeve
- cutting
- connecting rod
- level
- fruit picking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- A01D46/22—Baskets or bags attachable to the picker
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
Fruit picking vehicle, belongs to agricultural machinery technological field.The mounting disc is fixed with car body, the first sleeve, successively sliding sleeve installing in gap is set from inside to outside for second sleeve and 3rd sleeve, 4th upper bush and the 4th lower sleeve is setting up and down and equal gap sliding sleeve is on the outside of 3rd sleeve, the 3rd sleeve lower end is fixedly connected with the central through hole of fixed disk, 3rd sleeve upper end sequentially pass through mounting disc central through hole and movable disk central through hole with extension ring flat-plate is concentric is fixedly connected, the movable disk with the 4th upper bush is concentric is fixedly connected, multiple cutting mechanisms are connected between movable disk and extension ring flat-plate, clamping device is connected between the extension ring flat-plate and second sleeve, 4th lower sleeve, elevating mechanism is mounted in second sleeve and first sleeve, rotating mechanism is equipped between 4th upper bush and the 4th lower sleeve.Work efficiency is high by the present invention, saves labour, reduces labor intensity.
Description
Technical field
The invention belongs to agricultural machinery technological fields, more particularly to a kind of fruit picking vehicle.
Background technique
Production of fruit big country, China and the largest fruit in the world country of consumption.The rapid development of fruit-growing industry improves
The market demand of Machinery for orchard.Labour used in picking operation accounts for 33%~50% of labour used in entire production process, mesh
The fruit picking overwhelming majority in preceding China is still based on manually picking.It is more complicated to pick operation, it is seasonal very strong, if using
Artificial picking, not only low efficiency, the amount of labour are big, if manpower cannot not enough be picked in time also results in economic loss, and
And the excessive height of some fruit, huge difficulty is brought to the picking of worker, therefore realize that fruits picking mechanical is turned into industry
Have great importance.
Summary of the invention
The purpose of the present invention is to provide a kind of fruit picking vehicles, for solving the above-mentioned problems of the prior art.
The technical solution used in the present invention is: fruit picking vehicle, including first sleeve, second sleeve, 3rd sleeve,
Four upper bushes, extension ring flat-plate, movable disk, mounting disc, rotating mechanism, the 4th lower sleeve, fixed disk, car body, three elevating mechanisms,
Multiple cutting mechanisms and multiple clamping devices；The mounting disc is fixed with car body, the first sleeve, second sleeve and third set
Cylinder from inside to outside successively set by the installing of gap sliding sleeve, the 4th upper bush and the 4th lower sleeve is setting up and down and the sliding of equal gap
Be sleeved on the outside of 3rd sleeve, the 3rd sleeve lower end is fixedly connected with the central through hole of fixed disk, 3rd sleeve upper end according to
The central through hole of secondary central through hole and movable disk across mounting disc with extension ring flat-plate is concentric is fixedly connected, the movable disk and the
Four upper bushes are fixedly connected with one heart, and multiple cutting mechanisms, the extension ring flat-plate and are connected between movable disk and extension ring flat-plate
It is connected with clamping device between two sleeves, is mounted on elevating mechanism in the 4th lower sleeve, second sleeve and first sleeve,
Rotating mechanism is equipped between 4th upper bush and the 4th lower sleeve.
The beneficial effects of the present invention are:
The present invention can adjust height, and convenient for picking the fruit of various height, and the present invention is by the way of single fruit-picking,
The damage of fruit is not easily caused, and work efficiency is high, saves labour, reduces labor intensity.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is cutting mechanism structural schematic diagram of the present invention；
Fig. 3 is rotating mechanism structural schematic diagram of the present invention；
Fig. 4 is body construction schematic diagram of the present invention；
Wherein: 100- cutting mechanism；110- cuts link mechanism；111- first cuts connecting rod；112- second cuts connecting rod；113-
Third cuts connecting rod；114- set square；120- cutter bar；130- cutting set；140- cutter；200- clamping device；210- folder
Hold connecting rod；220- gripper jaw；230- grip block；300- first sleeve；400- second sleeve；500- extension ring flat-plate；600- third
Sleeve；700- movable disk；The 4th upper bush of 800-；900- mounting disc；1000- rotating mechanism；The upper ring tooth of 1010-；1020- tooth
Wheel；Ring seat under 1030-；1100- electric up-down cylinder；The 4th lower sleeve of 1200-；1300- elevating mechanism；1310- lifting motor；
1320- screw rod；1330- sliding block；1340- screw lifting mechanism one；1350- screw lifting mechanism two；1360- screw lifting mechanism
Three；1400- fixed disk；1500- car body；1501- vehicle frame；1502- fruit case；1503- caterpillar wheel；1504- chain-drive mechanism；
1505- rotating seat；1506- level-one elevating lever；1507- secondary lifting bar；1508- three-level elevating lever；1509- level-one stepping electricity
Machine；1510- second level stepper motor；1511- three-level stepper motor；1512-installation sockets.
Specific embodiment
As shown in Fig. 1 ~ Fig. 4, fruit picking vehicle, including first sleeve 300, second sleeve 400,3rd sleeve the 600, the 4th
Upper bush 800, extension ring flat-plate 500, movable disk 700, mounting disc 900, rotating mechanism 1000, the 4th lower sleeve 1200, fixed disk
1400,1500, three elevating mechanisms 1300 of car body, multiple cutting mechanisms 100 and multiple clamping devices 200；The mounting disc 900
It is fixed with car body 1500, the first sleeve 300, second sleeve 400 and 3rd sleeve 600 successively gap sliding sleeve from inside to outside
Installing is set, the 4th upper bush 800 and the 4th lower sleeve 1200 is setting up and down and equal gap sliding sleeve is mounted in 3rd sleeve 600
Outside, 600 lower end of 3rd sleeve are fixedly connected with the central through hole of fixed disk 1400, and 600 upper end of 3rd sleeve is successively worn
Cross mounting disc 900 central through hole and movable disk 700 central through hole with extension ring flat-plate 500 is concentric is fixedly connected, the activity
Disk 700 with the 4th upper bush 800 is concentric is fixedly connected, multiple cutting mechanisms are connected between movable disk 700 and extension ring flat-plate 500
100, clamping device 200, the 4th lower sleeve 1200, second are connected between the extension ring flat-plate 500 and second sleeve 400
Elevating mechanism 1300 is mounted on sleeve 400 and first sleeve 300, between the 4th upper bush 800 and the 4th lower sleeve 1200
Equipped with rotating mechanism 1000, the 4th upper bush 800, movable disk 700 and the rotation of 100 horizontal direction of cutting mechanism are driven.
The clamping device 200 and cutting mechanism 100 are staggered around 600 annular of 3rd sleeve.
The quantity of the cutting mechanism 100 is preferably three, and the quantity of the clamping device 200 is preferably three.
Working principle: the 4th lower sleeve 1200, second sleeve 400 and 3rd sleeve 600 pass through about 1300 elevating mechanism
Lifting, second sleeve 400 move up, and push the inside contraction clip water holding fruit of several clamping devices 200, then the 4th lower sleeve
1200 go up and down upwards and push the 4th upper bush 800 lifting and the lifting upwards of movable disk 700 upwards, push several cutting mechanisms
100 cutter 100 are to contract, then under the drive of rotating mechanism 1000, rotate and simultaneously cut off fruit, fruit is from first
It is fallen into sleeve 300 in the fruit basket 1502 of car body 1500, first sleeve 300 can move up and down, and facilitate reception fruit.
As shown in Fig. 2, each cutting mechanism 100 includes cutting link mechanism 110, cutter bar 120, cutting set
130 and cutter 140；120 lower end of cutter bar is fixed on cutting link mechanism 110, and the cutting set 130 detachably covers
On cutter bar 120,130 upper ends of cutting set are connected with cutter 140.
Each cutting link mechanism 110 includes that the first cutting connecting rod 111, second cuts connecting rod 112, third cutting
Connecting rod 113 and set square 114；First cutting 111 lower end of connecting rod and third cutting 113 lower end of connecting rod pass through respective axis
Seat with 700 upper surface of movable disk be rotatablely connected, first cutting 111 lower end of connecting rod and third cutting connecting rod 113 from top to bottom by
Gradually slope inwardly setting, and the first cutting 111 upper end of connecting rod and second cutting 112 one end of connecting rod are coaxially hinged, second cutting
112 other end of connecting rod and 114 upper end of set square are coaxially hinged, and 114 lower end of set square passes through with 500 upper surface of extension ring flat-plate
Axle bed ball-joint connection, 114 middle part of set square and third cutting 113 upper end of connecting rod are coaxially hinged, and second cutting connects
112 upper surface of bar is fixedly connected with 120 lower end of cutter bar.
When rising under the action of movable plate 700 is in the 4th lower sleeve 1200, third cuts 113 upper end of connecting rod and pushes triangle
114 upper end of plate moves inward and the second cutting connecting rod 112 is pulled to move inward, at this point, the first cutting 111 upper end of connecting rod pushes the
Two cutting connecting rods 112 move inward, and cutter bar 120 and cutter 140 is driven to move inward, the distance of several cutter 140
Gradually taper up cutting fruit.
As shown in Fig. 2, each clamping device 200 including gripper jaw 220, grip block 230 and clamps connecting rod 210,
Grip block 230 is connected on the inside of 220 upper end of gripper jaw, 220 medial surface of gripper jaw is the arc that is recessed outward, convenient for folder
Water holding fruit, 220 lower end of gripper jaw and 400 upper surface of second sleeve are rotatablely connected by axle bed, and 220 middle part outside of gripper jaw and
It is coaxially hinged to clamp 210 upper end of connecting rod, 210 lower end of clamping connecting rod and 500 upper surface of extension ring flat-plate are rotated by axle bed and connected
It connects.Clamping connecting rod 210 is gradually inclined outwardly setting from top to bottom.
When second sleeve 400 moves up, clamping connecting rod 210 pushes gripper jaw 220 and grip block 230 to move inward, several
The distance of a gripper jaw 220 gradually tapers up clamping fruit.
The axle bed is constituted by U-shaped seat and with the shaft of U-shaped seat rotation connection.
As shown in Figure 1, three elevating mechanisms 1300 are screw lifting mechanism.
Each screw lifting mechanism includes lifting motor 1310, screw rod 1320 and sliding block 1330, the lifting motor
1310 output shaft is fixedly connected with screw rod 1320, and the sliding block 1330 is threadedly coupled with screw rod 1320.
Three screw lifting mechanisms are respectively screw lifting mechanism 1, screw lifting mechanism 2 1350 and screw rod lifting
Mechanism 3 1360.
The lifting motor 1310 of the screw lifting mechanism 3 1360 is fixedly mounted in fixed disk 1400, sliding block 1330
It is fixedly connected with 1200 lower end of the 4th lower sleeve, the 4th lower sleeve 1200 is driven to slide up and down along 3rd sleeve 600.
The lifting motor 1310 of the screw lifting mechanism 2 1350 is fixedly mounted in fixed disk 1400, sliding block 1330
It is fixedly connected with 400 lower end of second sleeve, second sleeve 400 is driven to slide up and down along 3rd sleeve 600.
The lifting motor 1310 of the screw lifting mechanism 1 is fixedly mounted on the cunning of screw lifting mechanism 2 1350
On block 1330, the sliding block 1330 of screw lifting mechanism 1 is fixedly connected with 300 lower end of first sleeve, drives first sleeve
300 slide up and down along second sleeve 400.
As shown in figure 3, the rotating mechanism 1000 includes upper ring tooth 1010, gear 1020, lower ring seat 1030 and rotation electricity
Machine；The upper ring tooth 1010 is coaxially fixedly set in 800 lower end of the 4th upper bush, offers on the lower periphery of upper ring tooth 1010
Multiple external tooths of annular arrangement, the lower ring seat 1030 are fixedly set in 1200 upper end of the 4th lower sleeve, the rotary electric machine
Output shaft fixing sleeve is equipped with gear 1020, and gear 1020 engages connection with upper cisterna ambiens, and the rotary electric machine is fixed on lower ring seat
On 1030.When initial position, gear 1020 is detached from upper ring tooth 1010, and when rotation operation, the 4th lower sleeve 1200 moves up promotion tooth
Wheel 1020 is engaged with upper ring tooth 1010, and rotary electric machine starting, band moving gear 1020 rotates, and gear 1020 makes ring tooth 1010 do water
Put down to circular motion, and drive the rotation of the 4th upper bush 800 to making 100 circumferential movement of extension ring flat-plate 500 and cutter device,
Cutting fruit.
As shown in Figure 1, covering ball-joint by ball bearing between the mounting disc 900 and the 4th upper bush 800.
Multiple electric up-down cylinders 1100, each electronic liter are connected between the mounting disc 900 and fixed disk 1400
Drop cylinder 1100 push rod outer end with 900 bottom surface ball-joint of mounting disc, the fixing end of each electric up-down cylinder 1100 with fixation
The upper surface ball-joint of disk 1400.
The adjustable fixed disk 1400 of lifting by adjusting electric lifting rod 1100 and the inclination angle between mounting disc 900
Degree, to enable first sleeve 300, second sleeve 400,3rd sleeve 600, the 4th upper bush 800 to tilt, not convenient for picking
With the fruit of angle.
As shown in figure 4, the car body 1500 includes vehicle frame 1501, fruit case 1502, rotating seat 1505, installation socket
1512, level-one elevating lever 1506, secondary lifting bar 1507, three-level elevating lever 1508, level-one stepper motor 1509, second level stepping electricity
Machine 1510, three-level stepper motor 1511 and two sides caterpillar wheel 1503；Creeper truck is mounted at left and right sides of the vehicle frame 1501
Wheel 1503, wheel motor drive two sides caterpillar wheel 1503 by chain-drive mechanism 1504, and two sides caterpillar wheel 1503 drives
Suitable position is arrived in the walking of vehicle frame 1510, and the fruit case 1502 is slidably connected with 1501 lower end drawing and pulling type of vehicle frame, the level-one liter
Drop 1506 lower end of bar and level-one stepper motor 1509 are mounted on the Plane of rotation of rotating seat 1505, and level-one stepper motor 1509 is horizontal
It is arranged and 1506 lower end of level-one elevating lever is driven to rotate, 1506 lifting angle of level-one elevating lever is adjusted, on level-one elevating lever 1506
End and 1507 lower end of secondary lifting bar are coaxially hinged, and second level stepper motor 1510 drives secondary lifting bar 1507 to rotate, and adjust two
Grade 1507 lifting angle of elevating lever, 1507 upper end of secondary lifting bar and 1508 lower end of three-level elevating lever are coaxially hinged, three-level
Stepper motor 1511 drives three-level elevating lever 1508 to rotate, and adjusts 1508 lifting angle of three-level elevating lever, the three-level elevating lever
1508 upper ends are fixed with installation socket 1512, and the mounting disc 900 is inserted into the central through hole for being mounted on installation socket 1512.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of fruit picking vehicle, it is characterised in that: including first sleeve (300), second sleeve (400), 3rd sleeve
(600), the 4th upper bush (800), extension ring flat-plate (500), movable disk (700), mounting disc (900), rotating mechanism (1000),
Four lower sleeves (1200), fixed disk (1400), car body (1500), three elevating mechanisms (1300), multiple cutting mechanisms (100) and
Multiple clamping devices (200)；The mounting disc (900) and car body (1500) are fixed, the first sleeve (300), second sleeve
(400) and 3rd sleeve (600) from inside to outside successively gap sliding sleeve installing set, under the 4th upper bush (800) and the 4th
Sleeve (1200) is setting up and down and equal gap sliding sleeve is on the outside of 3rd sleeve (600), 3rd sleeve (600) lower end with
The central through hole of fixed disk (1400) is fixedly connected, and 3rd sleeve (600) upper end sequentially passes through the central through hole of mounting disc (900)
With the central through hole of movable disk (700) with extension ring flat-plate (500) is concentric is fixedly connected, covered on the movable disk (700) and the 4th
Cylinder (800) is fixedly connected with one heart, and multiple cutting mechanisms (100), institute are connected between movable disk (700) and extension ring flat-plate (500)
It states and is connected between extension ring flat-plate (500) and second sleeve (400) clamping device (200), the 4th lower sleeve (1200),
It is mounted on elevating mechanism (1300) in two sleeves (400) and first sleeve (300), the 4th upper bush (800) and the 4th is trapped
Rotating mechanism (1000) are equipped between cylinder (1200).
2. fruit picking vehicle according to claim 1, it is characterised in that: each cutting mechanism (100) includes cutting
Cut link mechanism (110), cutter bar (120), cutting set (130) and cutter (140)；Cutter bar (120) lower end is fixed
In cutting link mechanism (110), cutting set (130) Demountable assembling is on cutter bar (120), on cutting set (130)
End is connected with cutter (140).
3. fruit picking vehicle according to claim 2, it is characterised in that: each cutting link mechanism (110) is wrapped
Include the first cutting connecting rod (111), the second cutting connecting rod (112), third cutting connecting rod (113) and set square (114)；Described first
It cuts connecting rod (111) lower end and third cutting connecting rod (113) lower end is rotatablely connected with movable disk (700) upper surface, first cuts
Cut connecting rod (111) upper end and second cutting connecting rod (112) one end it is coaxially hinged, it is described second cutting connecting rod (112) other end with
Set square (114) upper end is coaxially hinged, set square (114) lower end and extension ring flat-plate (500) upper surface ball-joint, and described three
Coaxially hinged with third cutting connecting rod (113) upper end in the middle part of gusset (114), described second cuts connecting rod (112) upper surface and cuts
Bar (120) lower end is cut to be fixedly connected.
4. fruit picking vehicle according to claim 1, it is characterised in that: each clamping device (200) includes folder
Pawl (220), grip block (230) and clamping connecting rod (210) are held, is connected with grip block on the inside of gripper jaw (220) upper end
(230), gripper jaw (220) lower end and second sleeve (400) upper surface are rotatablely connected, and outside and folder in the middle part of gripper jaw (220)
It is coaxially hinged to hold connecting rod (210) upper end, the clamping connecting rod (210) lower end and extension ring flat-plate (500) upper surface are rotatablely connected.
5. fruit picking vehicle according to claim 1, it is characterised in that: three elevating mechanisms (1300) are screw rod
Elevating mechanism.
6. fruit picking vehicle according to claim 1, it is characterised in that: the rotating mechanism (1000) includes upper ring tooth
(1010), gear (1020), lower ring seat (1030) and rotary electric machine；The upper ring tooth (1010) is coaxially fixedly set on the 4th
Sleeve (800) lower end offers multiple external tooths of annular arrangement, the lower ring seat on the lower periphery of upper ring tooth (1010)
(1030) it is fixedly set in the 4th lower sleeve (1200) upper end, the output shaft fixing sleeve of the rotary electric machine is equipped with gear
(1020), gear (1020) engages connection with upper cisterna ambiens, and the rotary electric machine is fixed on lower ring seat (1030).
7. fruit picking vehicle according to claim 1, it is characterised in that: the mounting disc (900) and the 4th upper bush
(800) ball-joint is covered by ball bearing between.
8. fruit picking vehicle according to claim 8, it is characterised in that: the mounting disc (900) and fixed disk (1400)
Between be connected with multiple electric up-down cylinders (1100), the push rod outer end of each electric up-down cylinder (1100) is and mounting disc
(900) bottom surface ball-joint, upper surface ball-joint of the fixing end of each electric up-down cylinder (1100) with fixed disk (1400).
9. fruit picking vehicle according to claim 1, it is characterised in that: the car body (1500) include vehicle frame (1501),
Fruit case (1502), rotating seat (1505), installation socket (1512), level-one elevating lever (1506), secondary lifting bar (1507), three
Grade elevating lever (1508), level-one stepper motor (1509), second level stepper motor (1510), three-level stepper motor (1511) and two sides
Caterpillar wheel (1503)；Caterpillar wheel (1503) are mounted at left and right sides of the vehicle frame (1501), wheel motor passes through chain
Transmission mechanism (1504) drives two sides caterpillar wheel (1503), and the fruit case (1502) and vehicle frame (1501) lower end drawing and pulling type are sliding
Dynamic connection, level-one elevating lever (1506) lower end and level-one stepper motor (1509) are mounted on the rotary flat of rotating seat (1505)
Face, level-one stepper motor (1509) is horizontally disposed and level-one elevating lever (1506) lower end is driven to rotate, level-one elevating lever (1506)
Upper end and secondary lifting bar (1507) lower end are coaxially hinged, and second level stepper motor (1510) drives secondary lifting bar (1507) to turn
Dynamic, secondary lifting bar (1507) upper end and three-level elevating lever (1508) lower end are coaxially hinged, three-level stepper motor (1511)
Three-level elevating lever (1508) rotation is driven, three-level elevating lever (1508) upper end is fixed with installation socket (1512), the peace
Sabot (900) insertion is mounted in the central through hole of installation socket (1512).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910295878.5A CN110036763B (en) | 2019-04-12 | 2019-04-12 | Fruit picking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910295878.5A CN110036763B (en) | 2019-04-12 | 2019-04-12 | Fruit picking vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110036763A true CN110036763A (en) | 2019-07-23 |
| CN110036763B CN110036763B (en) | 2021-06-25 |
Family
ID=67276998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910295878.5A Active CN110036763B (en) | 2019-04-12 | 2019-04-12 | Fruit picking vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110036763B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5413453A (en) * | 1993-04-23 | 1995-05-09 | Orchard-Rite Ltd., Inc. | Nut shaker |
| CN105993383A (en) * | 2016-05-23 | 2016-10-12 | 北京农业智能装备技术研究中心 | Stem-removing picking gripper |
| CN107593111A (en) * | 2017-11-01 | 2018-01-19 | 巢湖学院 | A kind of Portable novel fruit picker |
| CN108353634A (en) * | 2018-05-18 | 2018-08-03 | 青岛理工大学 | Single-motor multi-joint walking type flexible fruit picking equipment |
| CN108925231A (en) * | 2018-08-23 | 2018-12-04 | 安徽理工大学 | A kind of flexibility fruit picking vehicle |
| CN109104998A (en) * | 2018-09-12 | 2019-01-01 | 浙江工业大学 | Multi-rod stretches fruit picking grasping mechanism |
| CN208708172U (en) * | 2018-06-29 | 2019-04-09 | 武汉科技大学 | A kind of crawl shearing of rotary and telescopic operates synchronously fruit picking bar |
-
2019
- 2019-04-12 CN CN201910295878.5A patent/CN110036763B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5413453A (en) * | 1993-04-23 | 1995-05-09 | Orchard-Rite Ltd., Inc. | Nut shaker |
| CN105993383A (en) * | 2016-05-23 | 2016-10-12 | 北京农业智能装备技术研究中心 | Stem-removing picking gripper |
| CN107593111A (en) * | 2017-11-01 | 2018-01-19 | 巢湖学院 | A kind of Portable novel fruit picker |
| CN108353634A (en) * | 2018-05-18 | 2018-08-03 | 青岛理工大学 | Single-motor multi-joint walking type flexible fruit picking equipment |
| CN208708172U (en) * | 2018-06-29 | 2019-04-09 | 武汉科技大学 | A kind of crawl shearing of rotary and telescopic operates synchronously fruit picking bar |
| CN108925231A (en) * | 2018-08-23 | 2018-12-04 | 安徽理工大学 | A kind of flexibility fruit picking vehicle |
| CN109104998A (en) * | 2018-09-12 | 2019-01-01 | 浙江工业大学 | Multi-rod stretches fruit picking grasping mechanism |
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| Publication number | Publication date |
|---|---|
| CN110036763B (en) | 2021-06-25 |
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