CN114868525B - Soilless culture tomato harvesting equipment - Google Patents
Soilless culture tomato harvesting equipment Download PDFInfo
- Publication number
- CN114868525B CN114868525B CN202210611260.7A CN202210611260A CN114868525B CN 114868525 B CN114868525 B CN 114868525B CN 202210611260 A CN202210611260 A CN 202210611260A CN 114868525 B CN114868525 B CN 114868525B
- Authority
- CN
- China
- Prior art keywords
- rod
- fixedly connected
- sliding
- frame
- vibrating
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Abstract
The invention discloses soilless culture tomato harvesting equipment which comprises a movable base, wherein one side of the top of the movable base is fixedly connected with an electric cabinet, and the other side of the top of the movable base is fixedly connected with a supporting frame.
Description
Technical Field
The invention relates to the technical field of tomato harvesting, in particular to soilless culture tomato harvesting equipment.
Background
Tomato contains abundant nutrients such as protein, vitamins and carotene. At present, many fruit growers plant tomatoes in a large-scale planting mode, but the current tomato picking mainly depends on manual operation, the tomatoes are directly picked from plants by the fruit growers, and the manual picking of large-area tomatoes requires a large amount of manpower and material resources, and is high in cost and labor intensity.
Chinese patent discloses a robot for picking tomatoes (publication No. CN 109168594A), which shears tomatoes by utilizing a shearing mechanism and enables the tomatoes to fall into a collecting box along a material conveying net bag, but shears the tomatoes one by one in a shearing mode, so that the speed of harvesting is low, a plurality of fruits are likely to appear on one branch when the tomatoes grow, and at the moment, when one tomato is cut, the shearing mechanism is likely to damage other tomatoes.
Disclosure of Invention
The invention aims to provide soilless culture tomato harvesting equipment, which is characterized in that the operating end of a mechanical arm is connected with a vibrating frame, a hollow fixed rod and a first sliding rod which are arranged on two sides of the inner wall of the vibrating frame and two movable rods which are arranged on one side of the inner wall of the vibrating frame and are slidable are utilized, harvesting cloth between the hollow fixed rod and the movable rods is matched, when the vibrating frame vibrates, the movable rods shake stems of tomatoes at the moment, so that mature tomatoes fall on the harvesting cloth, and the tomato harvesting speed can be greatly improved by the mode, and the tomatoes are prevented from being damaged.
The aim of the invention can be achieved by the following technical scheme:
the soilless culture tomato harvesting equipment comprises a movable base, wherein one side of the top of the movable base is fixedly connected with an electric cabinet, the other side of the top of the movable base is fixedly connected with a support frame, one side of the inner wall of the support frame is fixedly connected with a horizontal seat, the bottom of the horizontal seat is slidably connected with a mechanical arm, and the bottom end of the mechanical arm is provided with a vibrating frame capable of vibrating;
the utility model discloses a vibrating frame, including hollow fixed rod, first sliding rod, second sliding rod, hollow fixed rod, first sliding rod, step groove, two the equal sliding connection of internal surface in step groove has the movable rod, the second sliding rod has been seted up to one side of movable rod, the internal surface sliding connection in second sliding rod has the second sliding rod, two be provided with the results cloth between second sliding rod and the hollow fixed rod.
As a further scheme of the invention: the vibration frame is characterized in that fixed sleeves are fixedly connected to two sides of the front face and the back face of the vibration frame respectively, an electric telescopic rod is fixedly connected to the inner surface of each fixed sleeve, a connecting block is fixedly connected to the output end of each electric telescopic rod, a push rod is fixedly connected to one side of each connecting block, and one side of each push rod is fixedly connected with one side of each first sliding rod.
As a further scheme of the invention: the top fixedly connected with driving motor of vibration frame, driving motor's output fixedly connected with first bevel gear, the internal surface rotation of vibration frame is connected with two-way threaded rod, two the screw hole has all been run through to one side of movable rod, the surface and the surface threaded connection of two-way threaded rod of screw hole, the surface fixedly connected with second bevel gear of two-way threaded rod, second bevel gear meshes with first bevel gear mutually.
As a further scheme of the invention: the hollow fixed rod, the movable rod, the first sliding rod and the second sliding rod are fixedly connected with sleeve rods on the opposite sides of the hollow fixed rod and the movable rod, a storage cavity is formed between the opposite sides of the two sleeve rods, a short rod is connected between the inner surfaces of the storage cavities in a sliding mode, and a thrust spring is sleeved on the outer surface of the short rod.
As a further scheme of the invention: the mechanical arm comprises a rotating seat, a rotating arm and a connecting arm positioned on the rotating arm, wherein one side of the connecting arm is penetrated and provided with a sliding hole and a mounting hole, the inner surface of the sliding hole is connected with a connecting rod in a sliding mode, one side of the outer surface of the connecting rod is fixedly connected with a vibrating plate, the inner surface of the mounting hole is fixedly connected with a servo motor, the output end of the servo motor is fixedly connected with a rotating plate for pushing the vibrating plate, the outer surface of the connecting rod is sleeved with a reset spring, and one end of the reset spring is fixedly connected with one side of the connecting arm.
As a further scheme of the invention: the rotary ball is fixedly connected to two sides of the rotary plate, a gradual change arc groove is formed in one side of the vibration plate, and the inner surface of the gradual change arc groove is matched with the outer surface of the rotary ball.
As a further scheme of the invention: the outer surface fixedly connected with a plurality of spacing of connecting rod, the surface of spacing and the interior surface looks adaptation of sliding hole, the one end fixedly connected with check ring of spacing.
As a further scheme of the invention: the section of the movable rod is L-shaped.
The invention has the beneficial effects that:
(1) According to the invention, the operating end of the mechanical arm is connected with the vibration frame, the hollow fixed rods and the first sliding rods on two sides of the inner wall of the vibration frame and the two sliding rods which are arranged on one side of the inner wall of the vibration frame and can slide are utilized, and the harvesting cloth between the hollow fixed rods and the sliding rods is matched, so that when the vibration frame vibrates, the moving rods shake stems of tomatoes, and therefore mature tomatoes fall on the harvesting cloth.
(2) According to the invention, the driving motor is arranged at the top of the vibration frame, the first bevel gear on the driving motor is matched to drive the second bevel gear to rotate, so that the bidirectional threaded rod rotates, the two moving rods are further driven to slide on the inner surface of the stepped groove, the two moving rods move to one side relatively close to each other, the stalks of tomatoes can be clamped through the structure, the short rod and the thrust spring between the two loop bars can be used for further clamping the stalks, vibration cannot be transmitted to the stalks of tomatoes, and stability in vibration can be ensured through the structure.
(3) According to the invention, the servo motor is connected in the mounting hole, the sliding relationship between the sliding hole and the connecting rod is matched, when the rotating ball on the rotating plate rotates, the connecting rod drives the vibrating frame to slide by utilizing the gradual change arc groove on the vibrating plate, and the vibrating frame can be restored to the initial position by utilizing the reset spring, so that vibration is generated, the vibration frequency generated by the structure is higher, the amplitude is smaller, the stalks of tomatoes can be prevented from being damaged while the stalks of tomatoes are rocked, and the practicability of the tomato is further improved.
(4) According to the invention, the first sliding rod capable of sliding is arranged in the hollow fixed rod, the sliding step groove is arranged in the moving rod, and the harvesting cloth can be stretched by utilizing the connecting block and the push rod on the electric telescopic rod, so that the area of the harvesting cloth can be increased, tomatoes are prevented from falling on the ground, and a plurality of tomatoes can be harvested simultaneously, so that the practicability is improved to a certain extent.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall external structure of the present invention;
FIG. 2 is a partial sectional plan view of a vibration frame according to the present invention;
FIG. 3 is an enlarged view of the structure of portion A of FIG. 2 in accordance with the present invention;
FIG. 4 is a schematic view of a partial structure of a connecting arm according to the present invention;
fig. 5 is a schematic view showing an external structure of a vibration plate in the present invention;
fig. 6 is a schematic view of the internal structure of the loop bar of the present invention.
In the figure: 1. a moving base; 2. an electric control box; 3. a support frame; 4. a horizontal seat; 5. a mechanical arm; 51. a connecting arm; 52. a mounting hole; 53. a sliding hole; 54. a servo motor; 55. a connecting rod; 6. a vibration frame; 7. harvesting cloth; 8. a return spring; 9. a limit bar; 10. a baffle ring; 11. a vibration plate; 12. a rotating plate; 13. a rotating ball; 14. a gradual change arc groove; 15. a fixed sleeve; 16. an electric telescopic rod; 17. a hollow fixed rod; 18. a first sliding chamber; 19. a first slide bar; 20. a connecting block; 21. a push rod; 22. a moving rod; 23. a second sliding chamber; 24. a stepped groove; 25. a threaded hole; 26. a two-way threaded rod; 27. a driving motor; 28. a first bevel gear; 29. a second bevel gear; 30. a loop bar; 31. a storage cavity; 32. a short bar; 33. a thrust spring; 34. and a second slide bar.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the invention discloses soilless culture tomato harvesting equipment, which comprises a movable base 1, wherein one side of the top of the movable base 1 is fixedly connected with an electric cabinet 2, a conveying belt is arranged in the movable base 1, a vibration frame 6 is inclined through a mechanical arm, tomatoes on harvesting cloth 7 fall on the conveying belt, the tomatoes fall into the movable base 1 from the inner part of the electric cabinet 2, so that the tomatoes are conveniently collected, the other side of the top of the movable base 1 is fixedly connected with a support frame 3, one side of the inner wall of the support frame 3 is fixedly connected with a horizontal seat 4, the bottom of the horizontal seat 4 is slidably connected with a mechanical arm 5, and the bottom end of the mechanical arm 5 is provided with a vibration frame 6 capable of vibrating;
the utility model discloses a tomato harvester, including vibration frame 6, first sliding rod 18, first sliding rod 19, step groove 24, two step groove 24's internal surface all sliding connection has movable rod 22, the cross-section of movable rod 22 is letter L shape, second sliding cavity 23 has been seted up to one side of movable rod 22, the internal surface sliding connection of second sliding cavity 23 has second sliding rod 34, two be provided with harvest cloth 7 between second sliding rod 34 and the hollow fixed rod 17, through connecting vibration frame 6 at the operating end of arm 5, utilize hollow fixed rod 17 and first sliding rod 19 of vibration frame 6 inner wall both sides and two movable rods 22 that are located vibration frame 6 inner wall one side slidable this moment, the harvest cloth 7 between hollow fixed rod 17 and the movable rod 22 when vibration frame 6 produces, and the movable rod 22 carries out the harvest cloth 7 that shakes the tomato in the very big rate of harvest rate to this kind of tomato harvester, thereby can improve the harvest rate of tomato in the very big harvest mode.
The vibration frame 6 is positive with the both sides of back all fixedly connected with fixed cover 15, the internal surface fixedly connected with electric telescopic handle 16 of fixed cover 15, the output fixedly connected with connecting block 20 of electric telescopic handle 16, one side fixedly connected with push rod 21 of connecting block 20, one side of push rod 21 and one side fixedly connected with of first slide bar 19.
The top fixedly connected with driving motor 27 of vibration frame 6, driving motor 27's output fixedly connected with first bevel gear 28, the internal surface rotation of vibration frame 6 is connected with two-way threaded rod 26, and two one side of movable rod 22 is all run through and is offered screw hole 25, the surface of screw hole 25 and the surface threaded connection of two-way threaded rod 26, the surface fixedly connected with second bevel gear 29 of two-way threaded rod 26, second bevel gear 29 meshes with first bevel gear 28.
The hollow fixed rod 17 and the movable rod 22 and one side opposite to the first sliding rod 19 and the second sliding rod 34 are fixedly connected with the loop rod 30, a storage cavity 31 is formed between one side opposite to the two loop rods 30, a short rod 32 is slidably connected between the inner surfaces of the storage cavities 31, a thrust spring 33 is sleeved on the outer surface of the short rod 32, a driving motor 27 is arranged at the top of the vibration frame 6, a first bevel gear 28 on the driving motor 27 is matched to drive a second bevel gear 29 to rotate, the bidirectional threaded rod 26 is enabled to rotate, the two movable rods 22 are further driven to slide on the inner surface of the stepped groove 24, the two movable rods 22 move to one side relatively close to each other, the stems of tomatoes can be clamped through the structure, the short rod 32 and the thrust spring 33 between the two loop rods 30 can enable the movable rods 22 and the hollow fixed rod 17 to further clamp the stems, vibration cannot be transmitted to the stems of tomatoes, and stability in vibration can be guaranteed through the structure.
The mechanical arm 5 comprises a rotating seat, a rotating arm and a connecting arm 51 positioned on the rotating arm, one side of the connecting arm 51 is provided with a sliding hole 53 and a mounting hole 52 in a penetrating mode, the inner surface of the sliding hole 53 is connected with a connecting rod 55 in a sliding mode, one side of the outer surface of the connecting rod 55 is fixedly connected with a vibrating plate 11, the inner surface of the mounting hole 52 is fixedly connected with a servo motor 54, the output end of the servo motor 54 is fixedly connected with a rotating plate 12 used for pushing the vibrating plate 11, the outer surface of the connecting rod 55 is sleeved with a reset spring 8, and one end of the reset spring 8 is fixedly connected with one side of the connecting arm 51.
The utility model discloses a vibrating plate, including rotating plate 12, vibration board 11, connecting rod 55, vibrating plate 11, gradually change arc groove 14 has been seted up to both sides of rotating plate 12, gradually change arc groove 14's internal surface and the surface looks adaptation of rotating ball 13 are through connecting servo motor 54 in mounting hole 52, cooperation sliding connection of sliding hole 53 and connecting rod 55, when rotating ball 13 on rotating plate 12 rotates, utilize gradually change arc groove 14 on the vibration board 11, can make connecting rod 55 drive vibrating frame 6 and slide, reuse reset spring 8 can make vibrating frame 6 resume initial position, thereby produce the vibration, the vibration frequency that produces through this structure is higher, the range is less, can not cause the injury to it when can guaranteeing that the stem stalk of tomato rocks, further improve its practicality.
The surface fixedly connected with a plurality of spacing 9 of connecting rod 55, the surface of spacing 9 and the interior surface looks adaptation of sliding hole 53, the one end fixedly connected with check ring 10 of spacing 9, check ring 10 play the effect of spacing to the removal of vibration frame 6.
The working principle of the invention is as follows: firstly, the movable base 1 is moved to a proper position, then the mechanical arm 5 is moved to a proper position through the horizontal seat 4, then the mechanical arm 5 is driven to move through the PLC, the two movable rods 22 are positioned at two sides of a tomato stalk, then the electric telescopic rod 16 in the fixed sleeve 15 is started to extend, the first sliding rod 19 in the hollow fixed rod 17 can be pulled to slide on the inner surface of the first sliding cavity 18 through the push rod 21 at the output end of the electric telescopic rod 16, the harvesting cloth 7 is further extended and positioned below the tomato stalk, the driving motor 27 can be started to rotate at the moment, the first bevel gear 28 is driven to rotate, the two movable rods 22 are driven to move towards one side close to the stepped groove 24 by utilizing the meshing relationship of the first bevel gear 28 and the second bevel gear 29, until the two moving rods 22 clamp the stalks of tomatoes, at the same time, the short rods 32 in the two sleeve rods 30 slide on the inner surfaces of the thrust springs 33, the two sleeve rods 30 move to the far side, at the moment, the servo motor 54 in the mounting hole 52 is started to rotate, thereby driving the rotating plate 12 to rotate, further enabling the rotating ball 13 on the rotating plate 12 to rotate along with the rotation of the rotating plate 12, after the surface of the rotating ball 13 starts to contact with the gradual arc grooves 14 on the vibrating plate 11, as the inner surfaces of the gradual arc grooves 14 are arranged at the middle high and low sides, the rotating ball 13 pushes the vibrating plate 11 to communicate with the connecting rod 55 to move to one side, at the moment, the connecting rod 55 and the limiting strips 9 slide on the inner surfaces of the sliding holes 53, further elongating the reset springs 8 on the connecting rod 55, when the rotating ball 13 rotates out of the gradual arc groove 14 on the vibrating plate 11, the sliding hole 53 on the connecting arm 51 slides reversely on the surface of the connecting rod 55 under the action of the reset spring 8, the connecting rod 55 is communicated with the vibrating frame 6 to vibrate for 5-10s due to the continuous rotation of the rotating plate 12, the two moving rods 22 shake stems of tomatoes, under the action of shaking, the tomatoes which are ripe fall from the support rods and fall on the harvesting cloth 7, then the tomatoes on the harvesting cloth 7 are placed on the moving base 1 through the mechanical arm 5, and then the tomatoes are conveyed into the moving base 1 through the conveying belt on the moving base 1.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (3)
1. The soilless culture tomato harvesting equipment comprises a movable base (1), wherein one side of the top of the movable base (1) is fixedly connected with an electric cabinet (2), the other side of the top of the movable base (1) is fixedly connected with a support frame (3), and the soilless culture tomato harvesting equipment is characterized in that one side of the inner wall of the support frame (3) is fixedly connected with a horizontal seat (4), the bottom of the horizontal seat (4) is slidably connected with a mechanical arm (5), and the bottom end of the mechanical arm (5) is provided with a vibrating frame (6) capable of vibrating;
the two sides of the inner wall of the vibration frame (6) are fixedly connected with hollow fixed rods (17), one end of each hollow fixed rod (17) is provided with a first sliding cavity (18), the inner surface of each first sliding cavity (18) is slidably connected with a first sliding rod (19), the front side and the rear side of one side of the inner wall of the vibration frame (6) are respectively provided with a stepped groove (24), the inner surfaces of the two stepped grooves (24) are slidably connected with a movable rod (22), one side of each movable rod (22) is provided with a second sliding cavity (23), the inner surface of each second sliding cavity (23) is slidably connected with a second sliding rod (34), and harvesting cloth (7) is arranged between each second sliding rod (34) and each hollow fixed rod (17);
the vibrating frame is characterized in that two sides of the front surface and the back surface of the vibrating frame (6) are fixedly connected with a fixing sleeve (15), the inner surface of the fixing sleeve (15) is fixedly connected with an electric telescopic rod (16), the output end of the electric telescopic rod (16) is fixedly connected with a connecting block (20), one side of the connecting block (20) is fixedly connected with a push rod (21), and one side of the push rod (21) is fixedly connected with one side of a first sliding rod (19);
the top of the vibration frame (6) is fixedly connected with a driving motor (27), the output end of the driving motor (27) is fixedly connected with a first bevel gear (28), the inner surface of the vibration frame (6) is rotationally connected with a bidirectional threaded rod (26), one side of each of the two movable rods (22) is provided with a threaded hole (25) in a penetrating mode, the outer surface of each threaded hole (25) is in threaded connection with the outer surface of the corresponding bidirectional threaded rod (26), the outer surface of each bidirectional threaded rod (26) is fixedly connected with a second bevel gear (29), and the second bevel gears (29) are meshed with the corresponding first bevel gears (28);
the hollow fixed rod (17) and the movable rod (22) as well as the opposite sides of the first sliding rod (19) and the second sliding rod (34) are fixedly connected with sleeve rods (30), a storage cavity (31) is formed between the opposite sides of the two sleeve rods (30), a short rod (32) is connected between the inner surfaces of the two storage cavities (31) in a sliding manner, and a thrust spring (33) is sleeved on the outer surface of the short rod (32);
the mechanical arm (5) comprises a rotating seat, a rotating arm and a connecting arm (51) positioned on the rotating arm, wherein a sliding hole (53) and a mounting hole (52) are formed in one side of the connecting arm (51) in a penetrating mode, a connecting rod (55) is connected to the inner surface of the sliding hole (53) in a sliding mode, a vibrating plate (11) is fixedly connected to one side of the outer surface of the connecting rod (55), a servo motor (54) is fixedly connected to the inner surface of the mounting hole (52), a rotating plate (12) for pushing the vibrating plate (11) is fixedly connected to the output end of the servo motor (54), a reset spring (8) is sleeved on the outer surface of the connecting rod (55), and one end of the reset spring (8) is fixedly connected with one side of the connecting arm (51);
the two sides of the rotating plate (12) are fixedly connected with rotating balls (13), one side of the vibrating plate (11) is provided with a gradual change arc groove (14), and the inner surface of the gradual change arc groove (14) is matched with the outer surface of the rotating balls (13).
2. A soilless culture tomato harvesting device as claimed in claim 1, wherein the outer surface of the connecting rod (55) is fixedly connected with a plurality of limit bars (9), the outer surface of the limit bars (9) is matched with the inner surface of the sliding hole (53), and one end of the limit bars (9) is fixedly connected with a baffle ring (10).
3. A soilless culture tomato harvesting device as claimed in claim 1, wherein the cross section of the moving rod (22) is letter L shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210611260.7A CN114868525B (en) | 2022-05-31 | 2022-05-31 | Soilless culture tomato harvesting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210611260.7A CN114868525B (en) | 2022-05-31 | 2022-05-31 | Soilless culture tomato harvesting equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114868525A CN114868525A (en) | 2022-08-09 |
| CN114868525B true CN114868525B (en) | 2023-07-07 |
Family
ID=82679845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210611260.7A Active CN114868525B (en) | 2022-05-31 | 2022-05-31 | Soilless culture tomato harvesting equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114868525B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100513096C (en) * | 2007-11-05 | 2009-07-15 | 中国农业大学 | Cartesian coordinate type fruit picking mechanical arm device |
| CN208876665U (en) * | 2018-01-31 | 2019-05-21 | 重庆西山科技股份有限公司 | Class screw type reciprocating transmission mechanism and reciprocating saw |
| CN108544469A (en) * | 2018-04-27 | 2018-09-18 | 王承辉 | The three dimensions walking mechanism of agricultural manipulator |
| CN214257217U (en) * | 2020-10-26 | 2021-09-24 | 仲恺农业工程学院 | Crawler-type agricultural picking robot |
| CN214070708U (en) * | 2020-12-31 | 2021-08-31 | 石城县雄达白莲有限责任公司 | High-efficient collection system of seedpod of lotus |
| CN215188328U (en) * | 2021-06-23 | 2021-12-17 | 安徽农业大学 | Intelligent frequency-adjustable walnut vibration picking trolley |
| CN114175927B (en) * | 2021-11-29 | 2022-10-18 | 季华实验室 | Cherry tomato picking method and cherry tomato picking manipulator |
| CN216314075U (en) * | 2021-12-03 | 2022-04-19 | 无锡太湖学院 | Picking device |
-
2022
- 2022-05-31 CN CN202210611260.7A patent/CN114868525B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114868525A (en) | 2022-08-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107409621B (en) | Comb brush vibrating matrimony vine results test device | |
| CN108781754B (en) | Auxiliary picking device and picking method for oranges | |
| CN112492972B (en) | Cross mechanical vibration type wolfberry harvesting machine | |
| CN111002366B (en) | Vegetables cucumber self-cleaning section device | |
| CN216451973U (en) | Air bag type citrus picking manipulator end effector | |
| CN109121720B (en) | Rotary vibration type red date harvester and red date harvesting method | |
| CN108419528B (en) | Layered picking machine capable of achieving pre-positioning vibration and falling | |
| CN212413842U (en) | Harvester based on rhizome crops | |
| CN109079744A (en) | fruit and vegetable picking robot | |
| CN104303699B (en) | The harvesting apparatus of a kind of cave dish plantation leaf vegetables and harvesting method | |
| CN109618729B (en) | Plant cultivation assembly and cultivation method | |
| CN114868525B (en) | Soilless culture tomato harvesting equipment | |
| CN204560259U (en) | Leaf vegetables recovering device during a kind of plant factor produces | |
| CN113752272A (en) | Orange picking robot | |
| CN108040604B (en) | Double-row reverse vibration type medlar harvester | |
| CN108901358B (en) | Serrated knife cherry auxiliary picking device with easily-adjusted comb structure and picking method thereof | |
| CN215582651U (en) | Novel electric vibration harrow | |
| CN207201505U (en) | A kind of Multi-functional green house covered with plastic film film draw off gear | |
| CN209425425U (en) | Fruit and vegetable picking robot | |
| CN214316161U (en) | Edible fungus and dictyophora indusiata planting device | |
| CN203233698U (en) | Tree fruit harvester | |
| CN108811730B (en) | Fruit picking device for fruit trees | |
| CN216982637U (en) | Tomorrow sees oranges and tangerines to plant with adjustable equipment of picking | |
| CN215223199U (en) | Arborescent vegetables collection system | |
| CN219205275U (en) | Green Chinese onion harvester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |