CN113812261A - Automatic picking machine for fruits of Maloideae - Google Patents
Automatic picking machine for fruits of Maloideae Download PDFInfo
- Publication number
- CN113812261A CN113812261A CN202110286027.1A CN202110286027A CN113812261A CN 113812261 A CN113812261 A CN 113812261A CN 202110286027 A CN202110286027 A CN 202110286027A CN 113812261 A CN113812261 A CN 113812261A
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- Prior art keywords
- umbrella
- fruits
- picking
- frame
- collecting basket
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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
- A01D46/24—Devices for picking apples or like fruit
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/22—Baskets or bags attachable to the picker
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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
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Abstract
The invention relates to the field of agricultural picking and discloses an automatic picking machine for fruits of Maloideae, which comprises a picking vehicle, wherein an umbrella type picking net is arranged at the right end of the picking vehicle and comprises an umbrella frame and umbrella ribs, an opening is formed in one side of each umbrella rib and used for allowing a target tree to pass through during working, a hinge joint is arranged at one end of each umbrella frame and fixedly arranged on each umbrella rib, the umbrella frames are arranged in an upper layer and a lower layer, an annular rack is arranged on the inner side of each hinge joint and meshed with the hinge joints, and an elastic belt is arranged on each umbrella frame; according to the automatic picking machine for the fruits in the subfamily Maloideae, the picking frame is provided with the elastic bandages through the umbrella-shaped picking frame, the elastic bandages are combined into a net shape, gaps are reserved among the bandages for the fruits to sink, the elastic bandages are arranged into two layers, the gap between the bandages on the upper layer is larger than that of the second layer, and the gaps between the bandages on the second layer are staggered with those of the first layer, so that the fruits falling off the second layer can be prevented from colliding with the fruits on the first layer after rebounding.
Description
Technical Field
The invention relates to the technical field of agricultural picking, in particular to an automatic picking machine for fruits of Maloideae.
Background
Fruits mainly represented by fruits of the Maloideae family include apples, pears and the like, the fruit trees are trees, the fruits are at a certain height from the ground after being ripe, the fruits are difficult to be completely picked without tools, the method of climbing trees is firstly very hidden in safety of workers and can damage trees to influence the yield of the next year, the length of a common picking rod on the market is limited at present, the fruits directly fall off without protection and are easy to damage, the fruits still cannot be completely picked for higher fruit trees, the operation is labor-saving, the picking equipment with a mechanical trolley is high enough, the manual operation is still needed for fruit identification, the picking efficiency depends on the proficiency of an operator, and when some picking equipment which depends on image identification has the condition that the color of the fruits such as green apples is similar to that of leaves, the picking equipment often has large errors, still easily omit to higher place to this type of mechanical picking arm adopts scissors to make the fruit break away from the trees, but often has a large amount of apples to grow in same rhizome in actual practice, and the rhizome of the fruit of the subfamily Maloideae is shorter, adopts scissors very easily to damage the fruit epidermis, also is difficult to pick fast, often can injure the branch by mistake simultaneously, influences the output of coming year.
Disclosure of Invention
The invention aims to provide an automatic picking machine for fruits of Maloideae, which is used for overcoming the defects in the prior art.
The invention is realized by the following technical scheme.
The automatic picking machine for the fruits of the subfamily Maloideae comprises a picking vehicle, wherein an umbrella-type picking net is arranged at the right end of the picking vehicle and comprises an umbrella frame and umbrella ribs, an opening is formed in one side of each umbrella rib and used for allowing a target tree to pass through during working, a hinge joint is arranged at one end of each umbrella frame and fixedly mounted on each umbrella rib, each umbrella frame is mounted in an upper layer and a lower layer, annular racks are arranged on the inner sides of the hinge joints and meshed with the hinge joints, elastic belts are arranged on the umbrella frames, gaps among the elastic belts on the umbrella frames on the upper layer are larger than those on the lower layer but not larger than the diameter of an apple, the gaps between the elastic belts on the upper layer and the lower layer are staggered to avoid collision, electric push rods are arranged at the lower ends of the annular racks and used for pushing the annular racks to achieve the opening and closing state of the umbrella frames, the umbrella picking device is characterized in that a mounting frame is arranged on the lower side of the umbrella frame, the mounting frame is used for fixedly mounting the umbrella type picking net on a picking vehicle, and a vibration groove is formed in the bottom end of each umbrella rib.
According to the technical scheme, the middle of the picking vehicle is provided with a collecting basket which is of a fan-shaped structure and is suitable for tree branches, an inclined structure is arranged in the collecting basket and is used for enabling fruits to be concentrated to one piece, and a vibration receiving block is arranged on the lower side of the collecting basket.
According to a further technical scheme, a large number of inflatable pellets are arranged in the collecting basket, the inflatable pellets are white, so that fruits can be distinguished conveniently, and the diameter of each inflatable pellet is smaller than that of an apple.
According to a further technical scheme, a vibrator is fixedly arranged at the right end of the picking vehicle, a vibrating frame is arranged on the left side of the vibrator and can be combined with the vibration receiving block, and the vibrator enables the collecting basket to vibrate through the vibrating frame to enable the internal fruits to gather.
According to the technical scheme, the bottom end of the umbrella-type picking net is provided with a vibration bayonet, the vibration bayonet is opened leftwards, the umbrella-type picking net is close to trees during working, the vibration bayonet is connected with the output end of the vibrator, and the vibration of the vibrator is utilized to drive the umbrella ribs to vibrate, so that picked fruit trees vibrate, and the fruits are vibrated down.
According to the technical scheme, an electric push rod is fixedly arranged on the left side of the collecting basket, and is used for moving the collecting basket to the right to the working position, so that the vibration receiving block and the vibration rack on the left side of the vibrator work in a matched mode and move to the position below the umbrella-type picking net to collect fruits.
According to the technical scheme, the upper portion of the collecting basket is designed to be an opening, an external mechanical assembly line can be arranged in practical use, and the mechanical arm gap of the mechanical assembly line is slightly larger than the inflatable small balls so that the inflatable small balls can be screened and left in real time when fruits are collected.
According to a further technical scheme, a work control seat is arranged on the left side of the picking vehicle.
The invention has the beneficial effects that: this device has designed brand-new umbelliform and has picked the frame, be equipped with the elastic bandage picking a piece, constitute netted with the elastic bandage, leave the subsidence that the space is used for the fruit between the bandage, its elastic bandage sets up to two-layer, wherein the clearance of upper bandage is greater than the second floor, and the space between the bandage of second floor and the staggering of first layer, with this can avoid the fruit bounce-back of the second floor that drops and the fruit collision of first layer, this design can reduce the inertia of fruit, avoided the fruit to be pounded badly, the design of staggering of double-deck simultaneously, avoid bumping between the fruit that the different heights dropped, the integrality of fruit has been guaranteed.
The collection basket that sets up below picking the frame can be better for fan-shaped design in the fruit tree cooperation, is equipped with a large amount of balls that aerify in during operation picking basket, and its bobble diameter is less than the minimum diameter of picking the apple, falls into the collection basket after the buffering of elastic bandage when the fruit by picking the frame, aerifys the bobble and will play the cushioning effect to the fruit, and meanwhile the collection basket regularly vibrates the great fruit of messenger density and sinks to prevent to collide the bad fruit of production between the fruit that continuously drops.
The setting is in picking basket rear, and its working path runs through the picking line in picking the basket and drags for the operation to packing basket inner packing through the fruit in the transmission will picking the basket, because the interval design of picking the line makes the ball of aerifing not taken out, has guaranteed that the fruit density in picking the basket can not bump, has improved efficiency simultaneously, has realized the continuation operation of picking the car.
The core component of the device is a low-amplitude high-frequency vibrator arranged below the picking frame, the vibration amplitude of the low-amplitude high-frequency vibrator is low, damage to trees cannot be caused, fruits can fall off under the high-frequency vibration due to the inertia effect caused by the weight of the fruits, the damage to branches is extremely small, quick picking can be achieved for the fruits of any height, the semi-mechanical picking efficiency is greatly improved compared with that of the traditional method, and labor cost is reduced.
The device is suitable for all fruits with growth characteristics similar to apples, such as pears, peaches and the like, and has wide application range.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a right-view enlarged schematic view of FIG. 1;
FIG. 3 is a top enlarged schematic view of the vibrator of FIG. 1;
fig. 4 is an enlarged top view of the umbrella picking net of fig. 1;
fig. 5 is a schematic view of the main view of the umbrella picking net of fig. 1;
FIG. 6 is a right enlarged view of the umbrella picking net of FIG. 1;
fig. 7 is an enlarged top view of the collection basket of the present invention.
Detailed Description
The invention will now be described in detail with reference to fig. 1-7, wherein for ease of description the orientations described below are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
With reference to the accompanying drawings 1-7, the automatic picking machine for the fruits of the subfamily Maloideae comprises a picking vehicle 21, an umbrella type picking net 44 is mounted at the right end of the picking vehicle 21, the umbrella type picking net 44 comprises an umbrella frame 11 and umbrella ribs 14, an opening 66 is formed in one side of each umbrella rib 14 and used for allowing a target tree to pass through during working, a hinge 12 is mounted at one end of each umbrella frame 11, each hinge 12 is fixedly mounted on each umbrella rib 14, each umbrella frame 11 is mounted in an upper layer and a lower layer, an annular rack 13 is arranged on the inner side of each hinge 12, each annular rack 13 is meshed with each hinge 12, an elastic belt 10 is arranged on each umbrella frame 11, a gap between the elastic belts 10 on the upper layer of each umbrella frame 11 is larger than a gap of the lower layer but not larger than the diameter of an apple, the gaps of the upper layer and the lower layer of the elastic belts are staggered to avoid collision, a push rod 17 is mounted at the lower end of each annular rack 13, the push rod 17 is used for pushing the annular rack 13 to achieve the opening and closing state of the umbrella stand 11, an installation frame 30 is arranged on the lower side of the umbrella stand 11, the installation frame 30 is used for fixedly installing the umbrella type picking net 44 on the picking vehicle 21, and the bottom end of the umbrella rib 14 is provided with a vibration groove 15.
Preferably, the middle part of the picking vehicle 21 is provided with a collecting basket 18, the collecting basket 18 is of a fan-shaped structure to adapt to the branches and the trunks of trees, an inclined structure is arranged in the collecting basket 18 to concentrate the fruits into one piece, and the lower side of the collecting basket 18 is provided with a vibration receiving block 19.
Preferably, the collection basket 18 is filled with a plurality of inflatable beads 26, the inflatable beads 26 are white in color to distinguish fruits, and the diameter of the inflatable beads 26 is smaller than that of the apples.
Preferably, a vibrator 50 is fixedly arranged at the right end of the picking vehicle 21, a vibrating frame is arranged at the left side of the vibrator 50 and can be combined with the vibration receiving block 19, and the vibrator 50 enables the collecting basket 18 to vibrate through the vibrating frame to gather the fruits inside.
Preferably, the bottom end of the umbrella-type picking net 44 is provided with a vibration bayonet 15, the vibration bayonet 15 is opened leftwards, when the umbrella-type picking net 44 is close to a tree in work, the vibration bayonet 15 is connected with the output end of the vibrator 50, and the vibration of the vibrator 50 is utilized to drive the umbrella ribs 14 to vibrate, so that the picked fruit tree vibrates and the fruit is vibrated down.
Preferably, an electric push rod 22 is fixedly arranged at the left side of the collecting basket 18, and the electric push rod 22 is used for moving the collecting basket 18 to the right to a working position, enabling the vibration receiving block 19 to work with the vibration rack at the left side of the vibrator 50 and move to the position below the umbrella-type picking net 44 so as to collect the fruits.
Preferably, the collection basket 18 is of an open design, and an external mechanical assembly line 51 can be arranged during design and use, and the mechanical arm gap of the mechanical assembly line 51 is slightly larger than that of the small inflatable balls 26 so as to screen and leave the small inflatable balls 26 in real time when fruits are collected.
The specific use method of the invention is as follows:
when the harvesting basket is in work, a worker drives the harvesting cart to a designated tree, aligns the opening 66 with the tree trunk, drives the harvesting cart forwards to enable the tree trunk to enter the umbrella ribs 14 through the opening 66, enables the inner walls of the umbrella ribs 14 to tightly depend on the tree trunk, starts the push rod 17 to push the annular rack 13 upwards, enables the umbrella stand 11 to be opened through the gear meshing motion of the annular rack 13 and the hinge joint 12, enables the fruits on the second layer to bounce and then collide with the fruits on the first layer, can reduce the inertia of the fruits, avoids the fruits from being smashed, simultaneously, avoids the collision among the fruits falling at different heights due to the double-layer staggered design, ensures the integrity of the fruits, then starts the electric push rod 22 to move the collecting basket 18 to the right end to enable the vibration receiving block 19 to be connected with the vibration stand at the right end of the vibrator 50, and enables the main vibration stand at the right end of the vibrator 50 to be sleeved in the vibration bayonet 15, adding a large amount of white inflatable pellets in the collecting basket 18, starting the vibrator 50 to enable the trunk to vibrate at high frequency, achieving high efficiency, comprehensively picking the whole fruit tree at each height, enabling mature fruits to fall under the action of inertia, enabling the fruits to contact the upper elastic band 10 after falling, buffering most of the inertia under the action of the elastic band 10, enabling the fruits to fall from the lower elastic band 10 through gaps among the elastic bands 10 to further buffer, preventing the fruits on the second layer from rebounding and colliding with the fruits on the upper layer which fall, buffering the fruits by the elastic band to fall into the collecting basket 18, buffering the fruits by the inflatable pellets in the basket, simultaneously enabling the fruits with larger density to sink by timing vibration of the collecting basket to prevent the fruits which continuously fall from colliding to generate damaged fruits, meanwhile, fishing the fruits in the collecting basket 18 to the packaging basket by an external mechanical production line 51, when the picking of the fruit tree is finished, the electric push rod 22 and the push rod 17 return to return the collecting basket 18 to the original position, and the umbrella stand 11 is folded, so that the picking vehicle can run in the orchard and move to the next picking position.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. The invention relates to an automatic picking machine for fruits of Maloideae, which comprises a picking vehicle, wherein an umbrella-type picking net is arranged at the right end of the picking vehicle, the umbrella type picking net comprises an umbrella frame and umbrella ribs, wherein one side of each umbrella rib is provided with an opening, the openings are used for allowing target trees to pass through when the umbrella is in operation, one end of the umbrella frame is provided with a hinge joint which is fixedly arranged on the umbrella ribs, the umbrella frame is arranged in an upper-lower double-layer way, the inner side of the hinged joint is provided with an annular rack which is meshed with the hinged joint, the umbrella stand is provided with an elastic belt, the lower end of the annular rack is provided with an electric push rod which is used for pushing the annular rack to realize the opening and closing state of the umbrella stand, the umbrella picking device is characterized in that a mounting frame is arranged on the lower side of the umbrella frame, the mounting frame is used for fixedly mounting the umbrella type picking net on a picking vehicle, and a vibration groove is formed in the bottom end of each umbrella rib.
2. The automatic picking machine for fruits of the subfamily maloideae according to claim 1, wherein: the harvesting vehicle is characterized in that a collecting basket is arranged in the middle of the harvesting vehicle and is of a fan-shaped structure so as to adapt to branches of trees, an inclined structure is arranged in the collecting basket and is used for enabling fruits to be collected to one block, and a vibration receiving block is arranged on the lower side of the collecting basket.
3. The automatic picking machine for fruits of the subfamily maloideae according to claim 2, wherein: the collecting basket is internally provided with a large number of small inflatable balls, the color of each small inflatable ball is white, so that fruits can be distinguished conveniently, and the diameter of each small inflatable ball is smaller than that of an apple.
4. The automatic picking machine for fruits of the subfamily maloideae according to claim 1, wherein: the right end of the picking vehicle is fixedly provided with a vibrator, the left side of the vibrator is provided with a vibration frame which can be combined with the vibration receiving block, and the vibrator enables the collecting basket to vibrate through the vibration frame to gather fruits inside.
5. The automatic picking machine for fruits of the subfamily Maloideae according to claim 3, wherein: the umbrella type picking net is provided with a vibrating bayonet at the bottom, the vibrating bayonet is opened leftwards, the vibrating bayonet is connected with the output end of the vibrator after the umbrella type picking net is close to trees in work, the vibration of the vibrator is utilized to drive the umbrella ribs to vibrate, so that picked fruit trees vibrate down.
6. The automatic picking machine for fruits of the subfamily maloideae according to claim 1, wherein: the electric push rod is fixedly arranged on the left side of the collecting basket and used for moving the collecting basket to the right to the working position, so that the vibration receiving block and the vibration rack on the left side of the vibrator work in a matched mode and move to the position below the umbrella-type picking net to collect fruits.
7. The automatic picking machine for fruits of the subfamily maloideae according to claim 2, wherein: the collecting basket is provided with an opening, an external mechanical assembly line can be arranged when the collecting basket is designed and used, and the mechanical arm gap of the mechanical assembly line is slightly larger than the inflatable small balls so that the inflatable small balls can be screened and left in real time when fruits are collected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110286027.1A CN113812261B (en) | 2021-03-17 | 2021-03-17 | Automatic picking machine for apple subfamily fruits |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110286027.1A CN113812261B (en) | 2021-03-17 | 2021-03-17 | Automatic picking machine for apple subfamily fruits |
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| Publication Number | Publication Date |
|---|---|
| CN113812261A true CN113812261A (en) | 2021-12-21 |
| CN113812261B CN113812261B (en) | 2023-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110286027.1A Active CN113812261B (en) | 2021-03-17 | 2021-03-17 | Automatic picking machine for apple subfamily fruits |
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| Country | Link |
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| CN (1) | CN113812261B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024028821A1 (en) * | 2022-08-05 | 2024-02-08 | Mira S.R.L. | Fruit harvesting device |
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| FR2875812A1 (en) * | 2004-09-27 | 2006-03-31 | Vinci Environnement Sa | DRUM FOR INSTALLATION FOR AEROBIC FERMENTATION OF WASTE |
| US20160120124A1 (en) * | 2014-11-05 | 2016-05-05 | Mark De Kleine | Harvesting machine for formally trained orchards |
| CN207653019U (en) * | 2017-12-12 | 2018-07-27 | 华东交通大学 | A kind of scalable jujube picker with umbrella collection device |
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| CN209489173U (en) * | 2018-12-07 | 2019-10-15 | 王建明 | Fruit collection device |
| CN209930955U (en) * | 2019-04-15 | 2020-01-14 | 哈尔滨理工大学 | Umbrella-shaped fruit collecting device for vibratory picking of arbor fruits |
| CN210157674U (en) * | 2019-03-01 | 2020-03-20 | 浙江机电职业技术学院 | Cherry picking and sorting all-in-one machine |
| CN211531880U (en) * | 2019-12-13 | 2020-09-22 | 余思宇 | Harvester and processing device |
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2021
- 2021-03-17 CN CN202110286027.1A patent/CN113812261B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2875812A1 (en) * | 2004-09-27 | 2006-03-31 | Vinci Environnement Sa | DRUM FOR INSTALLATION FOR AEROBIC FERMENTATION OF WASTE |
| US20160120124A1 (en) * | 2014-11-05 | 2016-05-05 | Mark De Kleine | Harvesting machine for formally trained orchards |
| CN207653019U (en) * | 2017-12-12 | 2018-07-27 | 华东交通大学 | A kind of scalable jujube picker with umbrella collection device |
| CN109930850A (en) * | 2017-12-19 | 2019-06-25 | 新昌县卓能电子有限公司 | A kind of construction engineering protective net of multi-ensuring |
| CN209489173U (en) * | 2018-12-07 | 2019-10-15 | 王建明 | Fruit collection device |
| CN210157674U (en) * | 2019-03-01 | 2020-03-20 | 浙江机电职业技术学院 | Cherry picking and sorting all-in-one machine |
| CN209930955U (en) * | 2019-04-15 | 2020-01-14 | 哈尔滨理工大学 | Umbrella-shaped fruit collecting device for vibratory picking of arbor fruits |
| CN211531880U (en) * | 2019-12-13 | 2020-09-22 | 余思宇 | Harvester and processing device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024028821A1 (en) * | 2022-08-05 | 2024-02-08 | Mira S.R.L. | Fruit harvesting device |
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| Publication number | Publication date |
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| CN113812261B (en) | 2023-05-09 |
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Effective date of registration: 20230412 Address after: 716000 west side of No. 5 road, apple Industrial Park, Fengqi Town, Luochuan County, Yan'an City, Shaanxi Province Applicant after: SHAANXI TOP FRUIT INDUSTRY TECHNOLOGY CO.,LTD. Address before: 311500 group 5, Qingyuan village, Jiangnan Town, Tonglu County, Hangzhou City, Zhejiang Province Applicant before: Ye Jinmei |
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