CN110226426A - A kind of self-propelled leaf descaling machine - Google Patents
A kind of self-propelled leaf descaling machine Download PDFInfo
- Publication number
- CN110226426A CN110226426A CN201910538192.4A CN201910538192A CN110226426A CN 110226426 A CN110226426 A CN 110226426A CN 201910538192 A CN201910538192 A CN 201910538192A CN 110226426 A CN110226426 A CN 110226426A
- Authority
- CN
- China
- Prior art keywords
- rack
- connecting rod
- self
- executing agency
- descaling machine
- 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
- 230000003028 elevating effect Effects 0.000 claims abstract description 21
- 239000000758 substrate Substances 0.000 claims description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 235000021438 curry Nutrition 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 12
- 238000000034 method Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 241000237858 Gastropoda Species 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229920001778 nylon Polymers 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000009367 silviculture Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0666—Multiple scissor linkages vertically arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Ecology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of self-propelled leaf descaling machines, including rack, executing agency, electric pushrod, elevating mechanism, executing agency includes motor, clamping rack, worm gear, worm screw, clamping limb, connecting rod and connecting rod, the rotation of motor drive worm screw, two worm wheel symmetricals are engaged on the two sides of worm screw, it is fixedly connected with a connecting rod on each worm gear end face, the connecting rod is hinged with clamping limb simultaneously with a connecting rod, and connecting rod is also hinged with clamping rack；Hingedly on the rack, rack is fixed on the upper end of elevating mechanism, the upper end of both ends the connection executing agency and elevating mechanism of electric pushrod to the fixing end of executing agency, and electric pushrod drives executing agency to swing around rack；Elevating mechanism is mounted on swing mechanism, and swing mechanism is mounted on crawler type walking mechanism.The present invention easily realizes the picking cleaning of leaf on branch, can mitigate the labor burden of sanitationman and not damage branch, it can be achieved that continuous, efficient, the environmentally friendly operation that leaf is cleared up.
Description
Technical field
The invention belongs to silviculture machinery technical field more particularly to a kind of self-propelled leaf descaling machines.
Background technique
The season that leaf is fallen is usually sanitationman's most busy time, and a large amount of leaf falls the work for increasing them
It measures.For the labor intensity for mitigating sanitationman, there is mature leaf sweeping equipment currently on the market, but leaf falls
The period varying length fallen, quantity is not also identical for daily falling, and sanitationman still needs within the period that leaf is fallen
Street cleans, therefore although above-mentioned leaf sweeping equipment alleviates the labor intensity of sanitationman, but it is clear not shorten them
Manage the working time of leaf.It is mechanical to be badly in need of a kind of efficient, environmentally friendly, reliable leaf cleaning currently on the market.
Summary of the invention
According to the above-mentioned deficiencies of the prior art, the present invention provides a kind of compact-sized, and tree-like adaptability is good, and operating configurations are more
Become, it can be steadily current on ground, it can be achieved that folding embraces the movement of branch upper and lower, left and right and rotates the clamping device that band curries tooth
Along a kind of self-propelled leaf descaling machine of branch direction of extension cleaning leaf.
The technical solution adopted by the present invention to solve the technical problems is: a kind of self-propelled leaf descaling machine, including rack,
Executing agency, electric pushrod, elevating mechanism, swing mechanism and crawler type walking mechanism etc., the executing agency include motor,
It clamps rack, worm gear, worm screw, a pair of of clamping limb, a pair of of connecting rod and a pair of links, the motor drive worm screw to rotate, two
A worm wheel symmetrical is engaged on the two sides of worm screw, is fixedly connected with a connecting rod on each worm gear end face, and the connecting rod and a connecting rod are same
When it is hinged with clamping limb, connecting rod is also hinged with clamping rack, is uniformly distributed on the inside of each clamping limb and several curries tooth；It is described to hold
Hingedly on the rack, rack is fixed on the upper end of elevating mechanism to the fixing end of row mechanism, and the both ends of electric pushrod connect execution machine
The upper end of structure and elevating mechanism, electric pushrod drive executing agency to swing around rack；Elevating mechanism is mounted on swing mechanism, is returned
Rotation mechanism is mounted on crawler type walking mechanism.
Further, the motor is fixed on motor support frame, and the both ends of motor support frame are mounted on bearing block,
Bearing block is fixed on the rack.
Further, the motor is stepping motor.
Further, the elevating mechanism includes pedestal, the second substrate, hydraulic cylinder and scissors mechanism, the scissors mechanism
Bottom end be mounted in the sliding slot of pedestal, the second substrate is fixed on the upper end of scissors mechanism, the both ends of hydraulic cylinder and scissors mechanism
Hingedly, driving scissors mechanism lifting.
Further, the electric pushrod and motor support frame are hinged, and the bottom end of electric pushrod is fixed in the second substrate.
Further, the swing mechanism includes cabinet and electric turntable, and bottom end and the cabinet of the electric turntable are fixed,
The top of electric turntable is fixedly connected with pedestal.
Further, the crawler type walking mechanism includes first substrate and crawler-type traveling chassis, the first substrate
It is fixed on the upper ledge on crawler-type traveling chassis.
Further, the power source on the crawler-type traveling chassis is battery, and battery is mounted on crawler-type traveling bottom
In disk.
Further, the cabinet is bolted on first substrate.
The present invention has the beneficial effects that
1. the configuration of the present invention is simple is compact, cross-country ability and stability are good, and easy to operate, leaf adopts on Yi Shixian branch
Cleaning is plucked, the labor burden of sanitationman can be mitigated and does not damage branch, it can be achieved that continuous, the efficient, ring that leaf is cleared up
Protect operation.
2. self-propelled leaf descaling machine of the present invention makes clamping device reach in ground by controlling crawler type walking mechanism
Face predetermined position, adjusting elevating mechanism using hydraulic cylinder makes clamping device reach predetermined altitude, passes through worm and gear engaged transmission
Clamping limb is opened, while so that clamping limb is directed at branch using the rotation of swing mechanism, then controls electric pushrod and adjusts clamping limb
With the angle of horizontal plane, clamping limb is enable to enter the two sides of branch, then accurate adjustment level with the position perpendicular to branch direction of extension
The displacement of direction and vertical direction makes the tooth that curries on clamping limb be close to branch root, while controlling crawler type walking mechanism, rising
Descending mechanism and swing mechanism it is left and right, move up and down and rotary motion, make to curry tooth real along branch direction of extension continuous moving
The cleaning of existing leaf, is curried tooth and is made of nylon material, branch will not be damaged during currying.
3. control clamping device opens clamping limb, while making crawler belt after clamping limb is finished along a branch operation
Formula walking mechanism drives clamping limb to exit branch certain distance, completes the cleaning of a leaf, repeating the above process can be realized
The leaf cleaning work of whole trees.The amount of falling of leaf at any time is in normal distribution substantially, therefore can be occurred in normal curve
Leaf cleaning work is carried out to trees in the period of peak value, had not only shortened sanitationman in the work time in fallen leaves season, but also
Trees are not damaged, it can be achieved that continuous, the efficient mechanical of leaf cleaning are turned into industry.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the right view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
In figure, 1, crawler-type traveling chassis；2, battery；3, first substrate；4, cabinet；5, electric turntable；6, pedestal；7,
Sliding slot；8, hydraulic cylinder；9, scissors mechanism；10, the second substrate；11, the first hex bolts；12, electric pushrod；13, link bolt；
14, clamping limb；15, tooth is curried；16, connecting rod；17, connecting rod；18, the first pin shaft；19, the second pin shaft；20, pin；21, snail
Wheel；22, worm screw；23, motor；24, rack is clamped；25, protruding shaft；26, bearing；27, bearing (ball) cover；28, screw；29, rack；
30, the second hex bolts；31, boss；32, third hex bolts.
Specific embodiment
The embodiment of the present invention is described further with reference to the accompanying drawing:
As shown in Figure 1-Figure 3, the present invention provides a kind of self-propelled leaf descaling machine, including rack 29, executing agency, electronic
Push rod 12, elevating mechanism, swing mechanism and crawler type walking mechanism, executing agency include motor 23, clamping rack 24, worm gear
21, worm screw 22, a pair of of clamping limb 14, a pair of of connecting rod 16 and a pair of links 17, worm gear 21 and worm screw 22 are mounted on clamping rack
On 24, one end of connecting rod 16 is connect with the middle part of clamping limb 14 by the first pin shaft 18, the other end of connecting rod 16 and clamping
Rack 24 is connected by the second pin shaft 19, and 17 one end of connecting rod is connect with one end of clamping limb 14 by the first pin shaft 18, the other end
It is fixedly connected with 21 end face of worm gear by pin 20, the output end of the motor 23 and one end of worm screw 22 are fixed, two snails
Wheel 21 is symmetrically engaged on the two sides of worm screw 22, curries the inside that tooth 15 is evenly distributed on clamping limb 14.The executing agency consolidates
Fixed end is hinged in rack 29, and rack 29 is fixed on the upper end of elevating mechanism, the both ends connection executing agency of electric pushrod 12 and
The upper end of elevating mechanism, electric pushrod 12 drive executing agency to swing around rack；Elevating mechanism is mounted on swing mechanism, revolution
Mechanism is mounted on crawler type walking mechanism.
In the embodiment of the present application, bearing 26 and bearing (ball) cover 27, the electricity of the executing agency are housed in the rack 29
Motivation 23 is fixed on motor support frame, and the both ends of motor support frame have protruding shaft, and protruding shaft 25 supports over the shaft 26, to reduce
Resistance, bearing (ball) cover 27 is fixed by screw 28 and rack 29, to prevent bearing 26 to be detached from cooperation.The motor 23 is preferably
Stepping motor.
In the embodiment of the present application, the elevating mechanism includes pedestal 6, the second substrate 10, hydraulic cylinder 8 and scissors mechanism 9,
The bottom end of the scissors mechanism 9 is mounted in the sliding slot 7 of pedestal 6, and the second substrate 10 is fixed on the upper end of scissors mechanism 9, driving
Scissors mechanism 9 is gone up and down, and the rack 29 is connect with the second substrate 10 by the second hex bolts 30, is fixed on scissors mechanism 9
Boss 31, one end of hydraulic cylinder 8 and boss 31 are hinged, and the other end and pedestal 6 of hydraulic cylinder 8 are hinged.
In the embodiment of the present application, 12 bottom end of electric pushrod is fixed on the second substrate 10 by the first hex bolts 11
On, the other end of electric pushrod 12 is hinged by link bolt 13 and motor support frame.
In the embodiment of the present application, the swing mechanism includes cabinet 4 and electric turntable 5, the bottom end of the electric turntable 5
Fixed with cabinet 4, the top of electric turntable 5 is fixedly connected with pedestal 6.The bottom end of pedestal 6 is fixed on electric turntable 5.
In the embodiment of the present application, the crawler type walking mechanism includes first substrate 3 and crawler-type traveling chassis 1, case
Body 4 is fixed by third hex bolts 32 and first substrate 3, and the first substrate 3 is fixed on the upper of crawler-type traveling chassis 1
Frame.
In the embodiment of the present application, the power source on the crawler-type traveling chassis 1 is battery 2, and battery 2 is mounted on shoe
In belt walking chassis 1, power is provided for all executing agencies.
The working principle of the invention and use process:
Moving freely on the ground can be achieved by the power supply of battery 2 in crawler-type traveling chassis 1, carries out leaf prune job
Before, manipulation crawler-type traveling chassis 1 reaches ground predetermined position, and scissors mechanism 9 can be realized perpendicular under the promotion of hydraulic cylinder 8 later
Histogram to height adjustment, reach predetermined altitude when, manipulation electric turntable 5 make elevating mechanism drive executing agency turn to it is specified
Direction, then 21 worm screw of worm gear, 22 engaged transmission is driven by the rotation of motor 23, make connecting rod 17 as worm gear 21 rotates and will
Power is transmitted to clamping limb 14, realizes the open and close movement of clamping limb 14, while controlling electric pushrod 12 in the flexible of vertical direction
Clamping limb 14 is realized in the swing of vertical direction, the folding of clamping limb 14 and swing, which enable to curry tooth 15, is close to branch, curries
Tooth 15 is made of nylon material, and branch will not be damaged during currying.
Carry out leaf prune job when, using crawler-type traveling chassis 1, scissors mechanism 9, electric pushrod 12 it is left and right,
It moving up and down and swings, manipulation clamping limb 14 can continuously be moved with the angle perpendicular to branch along the direction of growth of branch always,
The cleaning of leaf on branch can be achieved.After clamping limb 14 is finished along a branch operation, control clamping device makes clamping limb
14 open, while making crawler type walking mechanism that clamping limb 14 be driven to exit branch certain distance, complete the cleaning of a leaf, weight
The leaf cleaning work of whole trees can be realized in the multiple above process.
The present invention is not limited in above-mentioned specific embodiment, and those of ordinary skill in the art are in essential scope of the invention
The variations, modifications, additions or substitutions inside made, also should belong to protection scope of the present invention.
Claims (9)
1. a kind of self-propelled leaf descaling machine, which is characterized in that including rack, executing agency, electric pushrod, elevating mechanism, return
Rotation mechanism and crawler type walking mechanism etc., the executing agency include motor, clamping rack, worm gear, worm screw, a pair of of clamping
Arm, a pair of of connecting rod and a pair of links, the motor drive worm screw rotation, two worm wheel symmetricals are engaged on the two sides of worm screw,
Be fixedly connected with a connecting rod on each worm gear end face, the connecting rod is hinged with clamping limb simultaneously with a connecting rod, connecting rod also with folder
It is hinged to hold rack, is uniformly distributed on the inside of each clamping limb and several curries tooth；The fixing end of the executing agency hingedly on the rack,
Rack is fixed on the upper end of elevating mechanism, the upper end of both ends the connection executing agency and elevating mechanism of electric pushrod, electric pushrod
Executing agency is driven to swing around rack；Elevating mechanism is mounted on swing mechanism, and swing mechanism is mounted on crawler type walking mechanism
On.
2. a kind of self-propelled leaf descaling machine according to claim 1, which is characterized in that the motor is fixed on motor
On support frame, the both ends of motor support frame are mounted on bearing block, and bearing block is fixed on the rack.
3. a kind of self-propelled leaf descaling machine according to claim 2, which is characterized in that the motor is that stepping is electronic
Machine.
4. a kind of self-propelled leaf descaling machine according to claim 3, which is characterized in that the elevating mechanism includes bottom
The bottom end of seat, the second substrate, hydraulic cylinder and scissors mechanism, the scissors mechanism is mounted in the sliding slot of pedestal, and the second substrate is solid
It is scheduled on the upper end of scissors mechanism, the both ends of hydraulic cylinder and scissors mechanism are hinged, driving scissors mechanism lifting.
5. a kind of self-propelled leaf descaling machine according to claim 4, which is characterized in that the electric pushrod and motor branch
Support is hinged, and the bottom end of electric pushrod is fixed in the second substrate.
6. a kind of self-propelled leaf descaling machine according to claim 5, which is characterized in that the swing mechanism includes cabinet
And electric turntable, bottom end and the cabinet of the electric turntable are fixed, the top of electric turntable is fixedly connected with pedestal.
7. a kind of self-propelled leaf descaling machine according to claim 6, which is characterized in that the crawler type walking mechanism packet
First substrate and crawler-type traveling chassis are included, the first substrate is fixed on the upper ledge on crawler-type traveling chassis.
8. a kind of self-propelled leaf descaling machine according to claim 7, which is characterized in that the crawler-type traveling chassis
Power source is battery, and battery is mounted in crawler-type traveling chassis.
9. a kind of self-propelled leaf descaling machine according to claim 8, which is characterized in that the cabinet is bolted
On the first substrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538192.4A CN110226426A (en) | 2019-06-20 | 2019-06-20 | A kind of self-propelled leaf descaling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910538192.4A CN110226426A (en) | 2019-06-20 | 2019-06-20 | A kind of self-propelled leaf descaling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110226426A true CN110226426A (en) | 2019-09-13 |
Family
ID=67857198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910538192.4A Pending CN110226426A (en) | 2019-06-20 | 2019-06-20 | A kind of self-propelled leaf descaling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110226426A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112273043A (en) * | 2020-11-02 | 2021-01-29 | 扬州大学 | Leaf picking device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6453583B1 (en) * | 2000-03-27 | 2002-09-24 | Honda Giken Kogyo Kabushiki Kaisha | Walk behind self-propelled crawler snowplow |
| CN105248161A (en) * | 2015-11-03 | 2016-01-20 | 国网山东济南市历城区供电公司 | Electric power maintenance tree obstacle clearing vehicle |
| CN108633466A (en) * | 2018-04-12 | 2018-10-12 | 浙江农林大学 | Curry the electronic leaf picking collection machine of formula |
| CN109429704A (en) * | 2018-11-06 | 2019-03-08 | 浙江农林大学 | Formula leaf picking collection machine is curried in electronic swing arm |
| CN210275196U (en) * | 2019-06-20 | 2020-04-10 | 浙江农林大学 | Self-propelled leaf descaling machine |
-
2019
- 2019-06-20 CN CN201910538192.4A patent/CN110226426A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6453583B1 (en) * | 2000-03-27 | 2002-09-24 | Honda Giken Kogyo Kabushiki Kaisha | Walk behind self-propelled crawler snowplow |
| CN105248161A (en) * | 2015-11-03 | 2016-01-20 | 国网山东济南市历城区供电公司 | Electric power maintenance tree obstacle clearing vehicle |
| CN108633466A (en) * | 2018-04-12 | 2018-10-12 | 浙江农林大学 | Curry the electronic leaf picking collection machine of formula |
| CN109429704A (en) * | 2018-11-06 | 2019-03-08 | 浙江农林大学 | Formula leaf picking collection machine is curried in electronic swing arm |
| CN210275196U (en) * | 2019-06-20 | 2020-04-10 | 浙江农林大学 | Self-propelled leaf descaling machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112273043A (en) * | 2020-11-02 | 2021-01-29 | 扬州大学 | Leaf picking device |
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