CN117426206B - Picking manipulator and picking equipment - Google Patents
Picking manipulator and picking equipment Download PDFInfo
- Publication number
- CN117426206B CN117426206B CN202311455066.5A CN202311455066A CN117426206B CN 117426206 B CN117426206 B CN 117426206B CN 202311455066 A CN202311455066 A CN 202311455066A CN 117426206 B CN117426206 B CN 117426206B
- Authority
- CN
- China
- Prior art keywords
- annular
- notch
- frame body
- collecting
- clamping
- 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
Classifications
-
- 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
-
- 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
- B25J15/0019—End effectors other than grippers
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The application provides a picking manipulator and picking equipment, and relates to the technical field of manipulators. Wherein, picking manipulator includes: the annular frame body is provided with a first notch; the annular ring gear is sleeved on the outer periphery of the annular frame body and can rotate relative to the annular frame body, cutting saw teeth are circumferentially arranged on the annular ring gear, and the tip parts of the cutting saw teeth are higher than the bottom of the first notch and lower than or equal to the opening position of the first notch; the annular ring gear is provided with a first driving connecting part which is connected with a first driving device, so that cutting saw teeth cut objects entering the first notch.
Description
Technical Field
The application relates to the technical field of manipulators, in particular to a picking manipulator and picking equipment.
Background
With the progress of science and technology, the comprehensive development of agricultural modernization is realized, the machine is an important trend to replace manpower in the production operation process, and an intelligent control system is utilized to replace manual labor by combining with automatic equipment such as a robot, so that the manual use cost is reduced, the efficiency of lifting can be greatly improved when repeated labor such as sowing, picking and harvesting is carried out, especially, the picking is required to be carried out in an air environment far away from the ground while the operation precision is also maintained, and the operation quality can be improved while the safety is ensured by using a machine, so that the agricultural production is further promoted.
For mature crop picking, a mechanical shearing mode is generally adopted, namely mechanical scissors are driven to enable a cutter body to be staggered to generate shearing force to act on fruit stalks, separation of the fruit stalks and plants is achieved, and fruit picking is completed.
However, in the picking process, the mechanical scissors are easy to hurt fruits and cause unnecessary loss to fruit farmers. Therefore, there is a need to propose a device that is capable of picking fruits without loss.
Disclosure of Invention
The embodiment of the application aims to provide a picking manipulator to solve the problem that fruits are not damaged when the fruits are picked, the annular support can protect the fruits and isolate saw teeth for cutting fruit stalks, so that the fruits are prevented from being damaged in the mechanical picking process, the picking accuracy is improved, and the lossless picking effect of the fruits is achieved.
In order to solve the technical problems, the embodiment of the application provides the following technical scheme:
A first aspect of the present application provides a picking manipulator comprising: the annular frame body is provided with a first end and a second end at two ends along the penetrating direction of the middle channel, and the first end is provided with a first notch; the annular ring gear is sleeved on the outer periphery of the annular frame body and can rotate relative to the annular frame body, the annular ring gear corresponds to one end of the first end, cutting saw teeth are circumferentially arranged, and the tip parts of the cutting saw teeth are higher than the bottom of the first notch and lower than or equal to the opening position of the first notch;
The ring belt gear ring is provided with a first driving connecting part, and the first driving connecting part can be connected with a first driving device, so that the first driving device drives the ring belt gear ring to rotate relative to the circumferential direction of the ring frame body, and then cutting saw teeth cut objects entering the first notch.
In some embodiments of the first aspect of the present application, the number of the first notches is plural and equally spaced circumferentially along the first end.
In some embodiments of the first aspect of the present application, a bearing table is provided at the second end position of the annular frame body, the bearing table extends in a direction away from the outer periphery side of the annular frame body, and the bearing table has a first end face facing the first end and a second end face opposite to the first end face; the end part of the annular ring gear, which is opposite to the other end provided with one end of the cutting saw tooth, is contacted with the first end surface, and the outer periphery side of the other end is provided with a first driving connecting part.
In some embodiments of the first aspect of the present application, further comprising: the annular shell is arranged on the outer peripheral side of the annular ring gear, is fixedly arranged relative to the annular frame body, forms an annular accommodating space with the annular frame body and accommodates the annular ring gear; the annular shell is provided with a second notch, and the second notch is arranged corresponding to the first notch.
In some embodiments of the first aspect of the present application, the annular housing is provided with spaced comb teeth at one end opposite to the first end, a second gap is formed between two adjacent comb teeth, and the outer side surface of each comb tooth extends downwards from the top to form an inclined surface or a curved surface; the edge of the second notch is arranged at the outer side of the shell and is provided with a chamfer or a round angle.
In some embodiments of the first aspect of the present application, further comprising: the annular clamping piece is nested at the inner peripheral side of the annular frame body and can rotate relative to the annular frame body, one end of the annular clamping piece corresponding to the first end is provided with a clamping opening, and the clamping opening is rotatably arranged relative to the first notch;
The annular clamping piece can be driven by the second driving device to rotate relative to the annular frame body, so that the clamping opening and the first notch are mutually converted between a corresponding state and a mutually staggered state, and further objects entering the first notch and the clamping opening simultaneously are fixed and limited.
In some embodiments of the first aspect of the present application, the annular clamp comprises: the clamping arms are arranged at one end of the annular clamping piece, which corresponds to the first end, extend towards the first end, and form clamping openings between two adjacent clamping arms; the second driving connecting part is arranged at the other end of the annular clamping piece, which is opposite to one end of the clamping arm, and extends towards the direction away from the outer periphery of the annular clamping piece; the second drive connection part is positioned between the second end face of the bearing table and the other end of the annular shell and is contacted with the second end face and the other end of the annular shell.
In some embodiments of the first aspect of the present application, the plurality of clamping arms are circumferentially arranged on the annular clamping member at equal intervals, and the caliber of the clamping opening is not smaller than the caliber of the first notch.
In some embodiments of the first aspect of the present application, the clamping arms disposed along the circumferential direction of the annular clamping member include a first side and a second side opposite to each other, the first side being an inclined wall having an acute angle with respect to the vertical direction, the second side including an inclined wall having the same inclination angle as the first side and a concave arc wall located at the bottom of the clamping opening;
When the clamping opening and the first notch are in a corresponding state, the top end of the clamping arm extends towards the direction of the first notch, and the concave arc wall at the bottom of the clamping opening faces the bottom of the first notch.
In some embodiments of the first aspect of the present application, the carrier portion extends to the outer peripheral side to form a mounting station; a first driving device is mounted on a first assembly surface of the assembly table formed by extending the first end surface, and a second driving device is mounted on a second assembly surface opposite to the first assembly surface.
In some embodiments of the first aspect of the present application, the first drive connection and the second drive connection are both racks; the gear at the output end of the first driving device is meshed with the first driving connecting part for driving; the gear at the output end of the second driving device is meshed with the second driving connecting part for driving.
In some embodiments of the first aspect of the present application, the fruit cutting device further comprises a collecting device fixedly arranged with the second end for collecting cut fruits.
In some embodiments of the first aspect of the application, the collection device is a fixed open structure, one side of which is in communication with the central channel of the annular frame, and the other side of which is connected to a collection bag, a collection mesh or a collection pipe.
In some embodiments of the first aspect of the application, the collection device comprises: the collecting frame is arranged corresponding to the middle channel of the annular frame body and is positioned at one end of the second end;
the two ends of the collecting bar are respectively hinged with the collecting frame; one end of the collecting fence is connected with a third driving device, and the third driving device drives the collecting fence to open or close.
A second aspect of the present application provides a picking apparatus comprising a picking manipulator comprising: the annular frame body is provided with a first end and a second end at two ends along the penetrating direction of the middle channel, and the first end is provided with a first notch; the annular ring gear is sleeved on the outer periphery of the annular frame body and can rotate relative to the annular frame body, the annular ring gear corresponds to one end of the first end, cutting saw teeth are circumferentially arranged, and the tip parts of the cutting saw teeth are higher than the bottom of the first notch and lower than or equal to the opening position of the first notch; the ring belt gear ring is provided with a first driving connecting part, and the first driving connecting part can be connected with a first driving device, so that the first driving device drives the ring belt gear ring to rotate relative to the circumferential direction of the ring frame body, and then cutting saw teeth cut objects entering the first notch.
Compared with the prior art, the picking manipulator provided by the first aspect of the application has the advantages that the ring-shaped rack body is sleeved on the periphery of the fruits during picking, the wrapping protection for the fruits is formed and is separated from the ring-shaped gear ring sleeved on the periphery of the ring-shaped rack body, the protection for the fruits is realized during cutting of fruit stalks, and meanwhile, the fruit picking difficulty is reduced.
The height of the tips of the cutting saw teeth is further limited, so that the tips of the cutting saw teeth are higher than the bottom of the first notch and lower than or equal to the opening position of the first notch, the tips of the cutting saw teeth are prevented from being in direct contact with fruits, and the integrity of picked fruits is further ensured.
Through setting up first breach at the first end direction of annular support body, first breach is used for the spacing to the fruit stalk when cutting, makes the fruit stalk card advance in the first breach to contact with the cutting sawtooth, accomplish the cutting.
In summary, the picking manipulator provided by the first aspect of the application integrally protects picked fruits, ensures that the fruits are not damaged when the fruit stalks are cut, and can be sleeved outside the fruits by using the annular frame body, so that the picking positioning accuracy is improved, the picking manipulator can be suitable for picking operations under more complex fruit growth conditions, and the effect of rapidly cutting the fruit stalks and picking the fruits is achieved.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. In the drawings, wherein like or corresponding reference numerals indicate like or corresponding parts, there are shown by way of illustration, and not limitation, several embodiments of the application, in which:
fig. 1 schematically shows an exploded view of the present device;
fig. 2 schematically shows an assembly view of the annular housing;
FIG. 3 schematically illustrates an assembly view of the annular clamp;
FIG. 4 schematically illustrates an assembly of the annular clamp inside an annular housing;
fig. 5 schematically shows an exploded view of fig. 4;
FIG. 6 schematically illustrates a collection bar closed state diagram of the collection device;
fig. 7 schematically shows a collection column open state diagram of the collection device.
Reference numerals illustrate:
The annular frame body 1, the first end 101, the second end 102, the first notch 11, the bearing table 12 and the assembly table 121;
An annulus gear ring 2, cutting teeth 21, a first drive connection 22;
the annular shell 3, the second notch 31 and the comb teeth 32;
The annular clamping piece 4, the clamping opening 41, the clamping arm 42, the inclined wall 421, the concave arc wall 422 and the second driving connecting part 43;
the collecting device 5, the collecting frame 51, the mounting block 511, the collecting bar 52, the driving collecting bar 521, the driven collecting bar 522, the bearing bar 53 and the gear 54;
a first driving device 6; a second driving device 7; and a third driving means 8.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
In order to solve the problem that in the prior art, the mechanical picking equipment is used for picking fruits in real time, and the mechanical picking equipment is easy to damage the fruits, so that the quality and harvest of the fruits are affected.
The application provides a picking manipulator which is used for picking fruits efficiently by mechanical equipment and ensuring that the fruits are not cut and damaged by the equipment, wherein the picking manipulator is provided with a through annular frame body 1, when picking, the annular frame body 1 is sleeved outside the fruits, so that the fruits enter the annular frame body 1 and are contacted with the inner wall of the annular frame body 1, the fruits are wrapped and protected, an annular ring gear 2 sleeved on the annular frame body 1 is blocked outside the annular frame body 1, the tooth tip height of the annular ring gear 2 is further limited, the tooth tip height is not higher than the height of an opening of a first notch 11, the fruits are prevented from being cut in the picking process, and the technical effect of lossless picking of the fruits is achieved.
As shown in fig. 1, a picking manipulator includes:
The annular frame body 1, two ends of the annular frame body 1 along the penetrating direction of the middle channel are respectively provided with a first end 101 and a second end 102, and the first end 101 is provided with a first notch 11; the annular ring gear 2 is sleeved on the outer peripheral side of the annular frame body 1 and can rotate relative to the annular frame body 1, the annular ring gear 2 corresponds to one end of the first end 101, cutting saw teeth 21 are circumferentially arranged, and the tips of the cutting saw teeth 21 are higher than the bottom of the first notch 11 and lower than or equal to the opening position of the first notch 11; the ring belt gear 2 is provided with a first driving connection portion 22, and the first driving connection portion 22 can be connected with the first driving device 6, so that the first driving device 6 drives the ring belt gear 2 to rotate circumferentially relative to the ring-shaped frame 1, and further the cutting saw teeth 21 cut an object entering the first notch 11.
The fruit picking machine is sleeved on the periphery of the fruit through the annular frame body 1 during picking, the wrapping protection is formed on the fruit and is separated from the annular ring gear 2 sleeved on the periphery side of the annular frame body 1, and the fruit is protected during fruit stem cutting.
Further, by limiting the height of the tips of the cutting saw teeth 21 to be higher than the bottom of the first notch 11 and lower than or equal to the opening position of the first notch 11, the tips of the cutting saw teeth 21 are prevented from being in direct contact with the fruits, and the integrity of the picked fruits is further ensured. Through setting up first breach 11 in annular support body 1's first end 101 direction, first breach 11 is used for the spacing to the fruit stalk when cutting, makes the fruit stalk card advance in first breach 11 to contact with cutting sawtooth 21, accomplish the cutting.
Specifically, the main body of the annular frame body 1 is annular, the middle part is communicated with the middle part to form a channel, fruits can enter from one end and leave from the other end, the end where the fruits enter is a first end 101, and the other end where the fruits leave is a second end 102; the annular frame body 1 may be a circular truss structure, a cylindrical structure, or a cylindrical structure, and is not limited herein, and may have a supporting function and may allow fruits to pass through.
In the figure, the annular frame body 1 is of a cylindrical structure with a through middle part, the first notch 11 is formed at the first end 101 and longitudinally extends towards the second end 102, so that the first notch 11 has a certain depth, a fruit stem can be conveniently and rapidly clamped in the cylindrical structure smoothly, the first notch 11 has a transverse limiting function on the fruit stem, the fruit stem can be prevented from rotating along with the cutting saw teeth 21 when being contacted with the rotating cutting saw teeth 21, the effect of efficiently cutting the fruit stem by the cutting saw teeth 21 is achieved, and picking of fruits is achieved.
The inner diameter of the annular frame body 1 assembled by the picking manipulator is not smaller than the outer diameter of the fruit to be picked, wherein the fruit can be a single fruit or a cluster/string of fruits formed by converging a plurality of fruits.
The annular ring gear 2 is located at the periphery of the annular frame body 1 and can circumferentially rotate along the outer side of the annular frame body 1, the annular ring gear 2 can be a ring formed by connecting racks end to end, cutting saw teeth 21 are arranged on one side of the annular ring gear 2 towards the first end, and no saw teeth are arranged on the other opposite side, wherein a gap is reserved between the annular ring gear 2 and the annular frame body 1, relative rotation can be achieved through clearance fit between the annular ring gear 2 and the annular frame body 1, relative rotation of the annular ring gear 2 and the annular frame body can be achieved through arrangement of shaft sleeves and/or bearing structures, a plurality of bearings are evenly arranged between the annular frame body 1 and the annular ring gear 2 at intervals in the circumferential direction, relative rotation of the annular ring gear 2 and the annular frame body 1 can be achieved.
The first driving device 6 is in transmission connection with a first driving connection part 22 of the girdle gear 2, so that the girdle gear 2 is driven to rotate relative to the ring-shaped frame body 1, and then the fruit stalks are cut by the cutting saw teeth 21.
The transmission connection mode can realize transmission connection through gear engagement, and realizes driving through the engagement connection of a driving gear at the output end of the first driving device 6 and a driven gear arranged on the first driving connection part 22; the transmission connection mode can realize transmission connection through worm gears and worms, and the driving is realized through the arrangement of a worm at the output end of the first driving device 6 and a worm gear at the first driving connection part and the engagement connection of the worm and the worm gear; the transmission connection mode can also be connected through a transmission belt. The above driving connection is well known to those skilled in the art and can be achieved, and is not limited in the present application.
In more detail, the annular ring gear 2 corresponds to one end of the first end 101, the cutting saw teeth 21 are circumferentially arranged, and the tips of the cutting saw teeth 21 are higher than the bottom of the first notch 11 and lower than or equal to the opening position of the first notch 11, so that the cutting saw teeth 21 of the annular ring gear 2 can realize rotary cutting on fruit stalks falling into the first notch 11.
As shown in fig. 1, the number of the first notches 11 is plural, and the first notches are equally spaced circumferentially along the first end 101.
Specifically, in order to make the fruit stalk fall into first breach 11 fast, start first drive arrangement 6 drive clitellum ring gear 2 later and cut the fruit stalk, first breach 11 circumference equidistant distribution sets up on annular support body 1, and the fruit stalk of the fruit of conveniently growing towards any direction can all fall into first breach 11 smoothly, realizes quick location accurate cutting.
The annular frame body 1 is structurally provided with a first notch 11 corresponding to the circumferential reserved part of the first end 101 and is used as a mounting part (not shown in the attached drawings), so that the annular frame body is assembled on any tool through the mounting part for use in a matched mode, and the mounting part can be provided with mounting holes, so that the annular frame body is convenient to be assembled and disassembled in a matched mode with other tools, the effects of high matching degree and wide applicability are achieved.
In order to avoid that other parts of crops fall into the first notch 11 to be cut by the annular gear ring 2 when the fruit stalks are cut, the caliber of the first notch 11 of the annular frame body 1 is only slightly larger than the diameter of the fruit stalks to be cut, the caliber of the first notch 11 can be 2-4mm larger than the diameter of the fruit stalks to be cut, and the cutter is only used for cutting the fruit stalks, so that the situation that other branches and leaves enter the first notch 11 to cause miscut is prevented.
The caliber of the first notch 11 is limited according to the diameter range of the fruit stalks of the fruits to be picked, for example, the diameter of the fruit stalks of the tomatoes is 2-4mm, and the caliber of the first notch 11 corresponding to the diameter is slightly larger than the diameter of the conventional fruit stalks of the tomatoes, namely, the diameter is set to be 6-8mm.
The number of the first notches 11 is 1 to 30, wherein the variety selection of fruits to be cut can be more selected, and the number of the first notches 11 can be 3, 6, 8, 15, 18, 20 or 25, the specific number is not limited, and the number of the first notches 11 set in the embodiment is 19.
As shown in fig. 1, a carrying table 12 is provided at a position of the second end 102 of the annular frame body 1, the carrying table 12 extends in a direction away from the outer periphery side of the annular frame body 1, and the carrying table 12 has a first end face facing the first end 101 and a second end face opposite to the first end face; the end of the ring belt gear 2 opposite to the other end where the cutting serration 21 is provided is in contact with the first end face, and the outer peripheral side of the other end is provided with a first drive connection portion 22.
Specifically, the bearing table 12 extending towards the periphery can be a round table, a square table or a triangular table, the specific shape is not limited, the bearing table 12 and the annular frame body 1 can be an integral body, the bearing table 12 and the annular frame body 1 can be assembled into a whole through a threaded structure or assembled into a whole through screws and bolts, and the split type bearing table is convenient to assemble and simple in production and processing technology.
In order to enable the annular ring gear 2 to stably rotate when cutting fruit stalks, a bearing table 12 extending towards the outer circumferential side is arranged at the position of the second end 102 of the annular frame body 1, and the bearing table 12 can be integrally connected with the annular frame body 1 or assembled by bolts, screws or clamping components.
Because the cutting process of the cutting manipulator is to actively contact the fruit stalks through the annular gear ring 2 for cutting, and the reverse acting force applied when the fruit stalks contact can be received in the active contact process, the annular gear ring 2 can be propped against the first end surface of the bearing table 12 after being stressed at the moment, the condition of rotation and shaking during cutting is avoided, and the stability during rotation and cutting of the annular gear ring 2 is ensured.
The first driving connection portion 22 is fixedly disposed on the outer peripheral side of the ring belt gear 2, and the fixing manner may be welding, gluing, riveting, and the like, so that the first driving connection portion 22 and the ring belt gear 2 can be relatively fixed, and the first driving connection portion 22 is located on the first end surface of the bearing table 12 when being assembled and is connected with the first driving device 6 disposed on the first end surface, where the driving connection manner is preferably but not limited to engagement connection of a gear structure component, such as a rack, a planetary gear, a worm, and the like, and can be used for realizing rotation of the ring belt gear 2 relative to the ring frame body 1.
As shown in fig. 2, the annular housing 3 is disposed on the outer peripheral side of the ring belt gear 2, is fixedly disposed opposite to the annular frame 1, and forms an annular accommodating space with the annular frame 1 to accommodate the ring belt gear 2; the annular housing 3 is provided with a second notch 31, and the second notch 31 is arranged corresponding to the first notch 11.
Specifically, in picking fruit real-time, in order to protect other parts of crops from cutting damage, the annular shell 3 is utilized to wrap the annular ring gear 2, so that the annular ring gear 2 can rotate in the annular accommodating space, direct contact between the annular ring gear 2 and other plant parts of crops is avoided, the accidental injury of the plants is caused, and other parts of the crops are further protected from damage during picking. The material of the annular shell 3 can be metal, rubber or polyvinyl chloride;
The annular shell 3 can be fixedly connected with the outer peripheral side of the bearing table 12 of the annular frame body 1 through bolts or screws, and can be fixed through interference fit with the bearing table 12 of the annular frame body 1; the annular housing 3 is open on the side close to the drive means for connecting the first drive connection 22 with the first drive means 6. The annular shell can be formed by oppositely assembling the upper shell and the lower shell of the two approximate semicircular shells or oppositely assembling the left shell and the right shell, the annular shell is fixed through screws, the disassembly and the assembly are convenient, when the annular ring gear needs to be replaced, the screws can be loosened at the outer side, the annular shell is disassembled, and the novel annular ring gear 2 is replaced and then is installed very conveniently.
The second notch 31 is correspondingly arranged with the first notch 11, so that the communication of the bottom and the opening end of the notch of the second notch and the opening end of the first notch are realized, and then the annular gear ring 2 can leak out part of the tooth tips from the wrapping of the annular shell 3, and when the annular gear ring 2 rotates, fruit stalks clamped into the first notch 11 and the second notch 31 are cut. The concave part of the second notch 31 not only facilitates the clamping of the fruit stalks connected with the fruits, but also plays a role in blocking and protecting, and the main rattan or other branches and leaves are prevented from being mistakenly clamped into the second notch 31 and cut by the cutting saw teeth 21.
As shown in fig. 2, one end of the annular shell 3 opposite to the first end 101 is provided with spaced comb teeth 32, a second gap 31 is formed between two adjacent comb teeth 32, and the outer side surface of each comb tooth 32 extends downwards from the top to be an inclined surface or a curved surface; the edge of the second notch 31 is provided with a chamfer or rounded corner at a position outside the housing.
Specifically, when picking, utilize picking mechanical glove to survey at the fruit periphery, at first wrap up it, then pick the cutting, in this in-process, the broach 32 plays the effect of carding other branches and leaves near the fruit of waiting to pick, in dialling branch and leaf, can guide the fruit stalk and get into first breach 11 and second breach 31, wherein, the setting of inclined plane, curved surface, chamfer and fillet for the border of annular casing 3 can not damage crops because of the too sharp and damage in the picking in-process of annular casing 3 outside edge edges and corners.
As shown in fig. 3-5, the annular clamping piece 4 is nested at the inner peripheral side of the annular frame body 1 and can rotate relative to the annular frame body 1, one end of the annular clamping piece 4 corresponding to the first end 101 is provided with a clamping opening 41, and the clamping opening 41 is rotatably arranged relative to the first notch 11; the annular clamping member 4 can be driven by the second driving device 7 to rotate relative to the annular frame body 1, so that the clamping opening 41 and the first notch 11 are mutually switched between a corresponding state and a mutually staggered state, and further, an object entering the first notch 11 and the clamping opening 41 at the same time is fixed and limited.
Specifically, the annular clamping piece 4 can do reciprocating rotation motion or directional rotation motion relative to the annular frame body 1, the main body of the annular clamping piece 4 is annular, the middle of the annular clamping piece is communicated in a penetrating manner, a channel corresponding to the annular frame body 1 is formed in the middle of the annular clamping piece, fruits can enter from the first end 101, and the effect of clamping fruit stalks which simultaneously fall into the first notch 11 and the clamping opening 41 is achieved through relative motion with the annular frame body 1.
The main body frame of the annular clamping piece 4 can be a circular truss structure, a cylindrical structure or a cylindrical structure, and is not limited herein; the clamping ports 41 may be provided on the main body frame of the annular clamping member 4, or may be provided in plural, and the opening direction of the clamping ports 41 is the same as the opening direction of the first notch 11.
In the process of clamping the fruit stalks by the annular clamping piece 4, after the fruit stalks fall into the first notch 11, the second driving device 7 drives the annular clamping piece 4 to rotate, the clamping openings 41 are staggered with the first notch 11, at the moment, the fruit stalks which are approximately cylindrical are squeezed flat and clamped in the gaps between the clamping openings 41 and the first notch 11, and then are clamped and fixed; firstly, when picking, fruit stalks can be fixed, so that the girdle gear ring 2 can be cut efficiently; secondly, after the fruits are cut and picked, the fruit stalks connected with the fruits are clamped in the gaps between the first notch 11 and the clamping opening 41, so that the fruits cannot fall to the ground to cause damage, the integrity of the fruits is ensured, and the effect of nondestructive collection is achieved.
As shown in fig. 3-5, the annular clamp 4 comprises: the clamping arms 42 are arranged at one end of the annular clamping piece 4 corresponding to the first end 101 and extend towards the first end 101, and a clamping opening 41 is formed between two adjacent clamping arms 42;
A second drive connection portion 43 provided at the other end of the annular clip 4 opposite to the one end of the clip arm 42 and extending in a direction away from the outer periphery of the annular clip 4; the second drive connection 43 is located between the second end face of the carrying floor 12 and the other end of the annular housing 3 and is in contact with the second end face and the other end of the annular housing 3.
Specifically, the clamping arm 42 may be a protrusion or a block provided on the frame body of the annular clamping member 4 and extending in the first end direction; the second driving connection portion 43 is fixedly arranged with the annular clamping piece 4, and the arrangement mode can be welding, gluing, screw fixing and bolt fixing, so that the second driving connection portion 43 and the annular clamping piece 4 can be relatively fixed.
The second driving device 7 drives the second driving connecting part 43 to realize the matching of the clamping arm 42 and the first notch 11 to clamp fruit stalks, wherein a containing space is reserved between the second end surface and the other end of the annular shell 3 for assembling the second driving connecting part 43; the second drive connection portion 43 is located at the bottom end of the annular housing 3, and can rotate stably, thereby ensuring stable operation of the annular clamp 4. The annular housing 3 is provided with an opening (not shown in the figures) for connecting the second drive connection 43 with the second drive means 7.
The drive connection is preferably, but not limited to, a meshing connection of a gear assembly, such as a toothed rail, a planetary gear, a worm, a drive belt, etc., which enables the annular clamping element 4 to rotate relative to the annular carrier body 1. As shown in fig. 3 to 5, a plurality of clip arms 42 are circumferentially arranged on the annular clip 4 at equal intervals, and the aperture of the clip opening 41 is not smaller than the aperture of the first notch 11.
Specifically, the plurality of clamping arms 42 form a plurality of clamping openings 41 between the clamping arms, and the clamping arms can correspond to the plurality of first notches 11, so that the clamping efficiency is improved; the aperture of the clamping opening 41 between the clamping arms 42 must not be smaller than the caliber of the first notch 11, so as to ensure that the clamping arms 42 do not block the fruit stalks from being blocked into the first notch 11.
As shown in fig. 3-5, the clamping arms 42 circumferentially arranged along the annular clamping member 4 include a first side and a second side opposite to each other, the first side is an inclined wall 421 having an acute angle with respect to the vertical direction, and the second side includes an inclined wall 421 having the same inclination angle as the first side and a concave arc wall 422 located at the bottom of the clamping opening 41;
When the clamping opening 41 and the first notch 11 are in the corresponding state, the top end of the clamping arm 42 extends toward the first notch 11, and the concave arc wall 422 at the bottom of the clamping opening 41 faces the bottom of the first notch 11.
Specifically, in the process of clamping fruit stalks, the inclined wall 421 at the second side of the clamping arm 42 moves towards the direction of the first notch 11, and then the fruit stalks clamped into the first notch 11 are driven to be gradually close to the cutting saw teeth 21, so that the auxiliary cutting effect is achieved, the fruit stalks are cut fully, the connection is avoided, the efficient picking of fruits is realized, the concave arc wall 422 is arranged for adapting to the approximately cylindrical fruit stalks, and the effect of stabilizing the clamping of the fruit stalks is achieved by facilitating the adaptation of the fruit stalks and limiting the concave arc wall 422 during clamping.
As shown in fig. 3 to 5, the bearing table 12 is partially extended to the outer peripheral side to form an assembly table 121;
the first drive device 6 is mounted on a first mounting surface of the mounting table 121 formed by extension of the first end surface, and the second drive device 7 is mounted on a second mounting surface opposite to the first mounting surface.
Specifically, the assembly table 121 and the carrying table 12 are integrated, extend towards the distal end of the outer peripheral side of the carrying table 12, are provided with mounting grooves, mounting holes and the like on the carrying table 12, can be used and mounted in cooperation with other driving devices, can be mounted with a hand-held end or a mechanical arm end as a picking manipulator, and is suitable for picking operations without scenes.
As shown in fig. 3-5, the first drive connection 22 and the second drive connection 43 are both racks; the gear at the output end of the first driving device 6 is meshed with the first driving connecting part 22 for driving; the gear wheel at the output end of the second drive device 7 is in engagement with the second drive connection 43.
Specifically, the first driving connection portion 22 and the second driving connection portion 43 provided in the present embodiment are annular toothed rails, and are respectively and fixedly disposed on the outer peripheral sides of the ring belt gear 2 and the annular clamping member 4;
the first driving device 6 may be a motor capable of stably outputting, such as a gear motor, a servo motor, etc., to thereby drive the endless belt gear 2 to rotate;
The second driving device 7 may be a motor capable of stably and directionally rotating, such as a gear motor, a servo motor, etc., or may be a driving device capable of driving the annular clamping member 4 to reciprocate, such as a steering engine, etc., or may be a motor connected with a reciprocating motion assembly, so that the annular clamping member 4 reciprocally rotates relative to the annular frame body 1, and the clamping opening 41 and the first notch 11 are switched between corresponding and staggered states,
The working process of the driving annular clamping piece 4 is that firstly, when the fruit stalks enter the clamping opening 41 and the first notch 11 simultaneously before cutting, the fruit stalks are switched to an interlaced state, the clamped fruit stalks are clamped, and finally, the cutting is completed, the fruit stalks are switched to the corresponding state, so that the fruits fall down by self weight and are collected intensively.
As shown in fig. 6-7, the picking manipulator further comprises a collecting device 5, which collecting device 5 is fixedly arranged with the second end 102 for collecting cut fruits.
Specifically, the collecting device 5 is disposed on a side close to the second end surface of the carrying platform 12, and may be integrally disposed with the carrying platform 12, or may be disposed at intervals from the carrying body by extending through a mounting frame.
The collecting device 5 is of a fixed open structure, one side of the collecting device is communicated with a channel in the middle of the annular frame body 1, and the other side of the collecting device is connected with a collecting bag, a collecting net or a collecting pipeline (not shown in the drawing).
The collecting device 5 is arranged on one side of the bearing table 12 opposite to the cutting saw teeth 21, can collect cut fruits, can collect the fruits into a detachable collecting bag and a collecting net, can pick a plurality of fruits at one time and then take down the collecting bag or the collecting net, can also be directly communicated with a collecting pipeline, and enters collecting equipment through the collecting pipeline to collect the fruits while picking.
As shown in fig. 6 to 7, the collecting device 5 includes: a collection frame 51 and a collection column 52;
The collecting frame 51 is arranged corresponding to the middle channel of the annular frame body 1 and is positioned at one end of the second end 102; both ends of the collecting bar 52 are respectively hinged with the collecting frame 51;
One end of the collecting bar 52 is connected with the third driving device 8, and the third driving device 8 drives the collecting bar 52 to open or close.
Specifically, the collecting frame 51 is mounted at the position of the second end 102 of the annular frame body 1 through a mounting frame; mounting blocks 511 are respectively arranged at two corresponding ends of the collecting frame 51 along the length direction;
the two ends of the collecting fence are respectively hinged with the mounting blocks and can rotate along a virtual connecting line between the hinged points on the two mounting blocks 511 as an axis;
The collecting frame 51 may be a rectangular, circular or polygonal frame structure, and the collecting rail 52 may be a semi-annular, rectangular or polygonal shape with one side open; the collecting fence 52 is provided with a collecting net or a collecting bag on the side close to the collecting frame 51.
At this time, the collecting bar 52 is set to be one, and when fruits are collected, the third driving device 8 drives the collecting bar 52 to be turned from the first side of the collecting frame 51 to the opposite second side so that the collecting net and the collecting bag are unfolded, and form a containing space together with the collecting frame 51, so that the fruits fall into the containing space to be collected;
After picking, the third driving device 8 drives the collecting fence 52 to rotate from the second side to the first side of the collecting frame 51 so that the collecting net and the collecting bag are closed, and the fruits are separated from the accommodating space, so that the fruits are convenient to store in a concentrated mode.
The third driving device 8 can be a motor, a steering engine, preferably a steering engine, and can reciprocate, and has a motor device with a certain torsion, and the driving manner is a common use means in the mechanical field, and is not described herein.
As shown in fig. 6-7, on the basis of the above embodiment, the two collecting bars 52 are set, including a driving collecting bar 521 and a driven collecting bar 522, and one ends of the driving collecting bar 521 corresponding to the driven collecting bar 522 are respectively provided with a gear 54, and are in meshed connection with each other through the gear 54, the driving collecting bar 521 is arranged adjacent to the driven collecting bar 522, and a collecting net and a collecting bag (not shown in the figure) are respectively arranged between the opposite sides of the driving collecting bar 521 and the collecting frame 51;
One end of the active collecting bar 521 is indirectly connected with the output end of the third driving device 8 or fixedly arranged with the output end, and under the driving action of the third driving device 8, the driven collecting bar 522 is driven to move relative to the collecting frame 51 at the same time, so that the collecting bar 52 is switched between an open state and a closed state, and when the collecting bar 52 is opened, the active collecting bar 521 and the driven collecting bar 522 are far away from each other and respectively tend to move towards the collecting frame 51; when the collecting bar 52 is closed, the driving collecting bar 521 and the driven collecting bar 522 are attached to each other and move away from the collecting frame 51, respectively.
Correspondingly, when the collecting fence 52 is in an open state, the collecting net and the collecting bag are in a closed state, and when the collecting fence 52 is in a closed state, the collecting net and the collecting bag are in an open state, so that an accommodating space is formed;
When picking, the third driving device 8 drives the driving collecting bar 521 and the driven collecting bar 522 to move oppositely and to be close together, at the moment, the collecting bar 52 is in a closed state, so that the collecting net and the collecting bag are unfolded, fruits fall into the collecting net and the collecting bag, after picking, the fruits move to a designated position, the third driving device 8 drives the driving collecting bar 521 and the driven collecting bar 522 to move reversely, at the moment, the collecting bar is in an open state, and the fruits in the collecting net and the collecting bag fall into the designated position to be collected intensively.
Above-mentioned collection mode is through collecting the rotation of fence 52 for collect net, bag and open or close, can improve collection efficiency, compare with direct mount integral type collection net and bag, reduce and empty the action, save the process, high-efficient collection, especially fruit hangs the net easily when empting, is difficult for taking out, avoids the manual work to pick, and is very convenient.
The collecting fence 52 which can be opened and closed can limit the whole volume of the device, and when the collecting fence 52 is attached to the collecting frame 51, the picking manipulator can conveniently pass through dense branches and leaves to flexibly get in and out of a narrow space for picking.
Further, in order to increase the bearing of the fruits, a plurality of bearing bars 53 are arranged between the collecting bars 52 and the collecting frame 51, and are used for bearing the fruits, so as to avoid damage of collecting nets and bags, and two ends of the bearing bars 53 are respectively and coaxially connected with two ends of the driving collecting bar 521 and the driven collecting bar 522, and rotate along with the driving collecting bar 521 and the driven collecting bar 522; the above-described structure is common knowledge in the art and is not a main body of the present application, and the above-described functions can be achieved without being developed here.
In another aspect, the application provides a picking apparatus equipped with the picking manipulator described above;
A picking manipulator comprising: the annular frame body 1, two ends of the annular frame body 1 along the penetrating direction of the middle channel are respectively provided with a first end 101 and a second end 102, and the first end 101 is provided with a first notch 11; the annular ring gear 2 is sleeved on the outer peripheral side of the annular frame body 1 and can rotate relative to the annular frame body 1, the annular ring gear 2 corresponds to one end of the first end 101, cutting saw teeth 21 are circumferentially arranged, and the tips of the cutting saw teeth 21 are higher than the bottom of the first notch 11 and lower than or equal to the opening position of the first notch 11; the ring belt gear 2 is provided with a first driving connection portion 22, and the first driving connection portion 22 can be connected with the first driving device 6, so that the first driving device 6 drives the ring belt gear 2 to rotate circumferentially relative to the ring-shaped frame 1, and further the cutting saw teeth 21 cut an object entering the first notch 11.
The picking device comprises a mechanical arm, wherein the tail end joint of the mechanical arm is connected with the picking mechanical arm in an installation mode, the position corresponding to fruits is achieved through the mechanical arm, the picking mechanical arm is started, and the fruit stalks are cut and picked.
The picking manipulator can be further carried on any operation platform to form picking equipment.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (14)
1. A picking manipulator, comprising:
the annular frame body is provided with a first end and a second end at two ends along the penetrating direction of the middle channel, and the first end is provided with a first notch;
the annular ring gear is sleeved on the outer periphery of the annular frame body and can rotate relative to the annular frame body, the annular ring gear corresponds to one end of the first end, cutting saw teeth are circumferentially arranged, and the tip parts of the cutting saw teeth are higher than the bottom of the first notch and lower than or equal to the opening position of the first notch;
The first driving connecting part can be connected with a first driving device, so that the first driving device drives the annular gear to rotate circumferentially relative to the annular frame body, and then the cutting saw teeth cut objects entering the first notch;
The annular clamping piece is nested on the inner peripheral side of the annular frame body and can rotate relative to the annular frame body, one end of the annular clamping piece, which corresponds to the first end, is provided with a clamping opening, and the clamping opening is rotatably arranged relative to the first notch;
The annular clamping piece can be driven by the second driving device to rotate relative to the annular frame body, so that the clamping opening and the first notch are mutually converted between a corresponding state and a mutually staggered state, and further objects entering the first notch and the clamping opening at the same time are fixed and limited;
The annular clamping member includes: the clamping arms are arranged at one end of the annular clamping piece, which corresponds to the first end, extend towards the first end, and form the clamping opening between two adjacent clamping arms;
The clamping arms are arranged in a plurality, are circumferentially arranged on the annular clamping piece, and the caliber of the clamping opening is not smaller than that of the first notch.
2. The picking manipulator of claim 1, wherein the picking manipulator comprises a gripper,
The first notches are multiple in number and distributed at equal intervals along the circumference of the first end.
3. The picking manipulator of claim 1, wherein the picking manipulator comprises a gripper,
The bearing table is arranged at the second end position of the annular frame body, extends towards the outer periphery side direction far away from the annular frame body and is provided with a first end face facing the first end and a second end face opposite to the first end face;
The end part of the other end, opposite to the end provided with one end of the cutting saw tooth, is contacted with the first end surface, and the outer periphery side of the other end is provided with the first driving connecting part.
4. The picking manipulator of claim 3, further comprising:
The annular shell is arranged on the outer peripheral side of the annular ring gear, is fixedly arranged relative to the annular frame body, forms an annular accommodating space with the annular frame body and accommodates the annular ring gear;
the annular shell is provided with a second notch, and the second notch is arranged corresponding to the first notch.
5. The picking manipulator of claim 4, wherein the picking manipulator comprises a gripper,
The annular shell is provided with spaced comb teeth at one end opposite to the first end, a second gap is formed between two adjacent comb teeth, and the outer side surface of each comb tooth extends downwards from the top to form an inclined surface or a curved surface; the edge of the second notch is positioned outside the shell and is provided with a chamfer or a round angle.
6. The picking manipulator of claim 4, wherein the annular clamp comprises:
The second driving connecting part is arranged at the other end of the annular clamping piece, which is opposite to one end of the clamping arm, and extends towards the direction away from the outer periphery of the annular clamping piece; the second drive connection part is positioned between the second end face of the bearing table and the other end of the annular shell and is in contact with the second end face and the other end of the annular shell.
7. The picking manipulator of claim 6, wherein the picking manipulator comprises a gripper,
The clamping arms are arranged at equal intervals.
8. The picking manipulator of claim 7, wherein the picking manipulator comprises a gripper,
The clamping arms arranged along the circumferential direction of the annular clamping piece comprise a first side and a second side which are opposite, the first side is an inclined wall with an acute angle with the vertical direction, and the second side comprises an inclined wall with the same inclination angle as the first side and a concave arc wall positioned at the bottom of the clamping opening;
when the clamping opening and the first notch are in a corresponding state, the top end of the clamping arm extends towards the direction of the first notch, and the concave arc wall at the bottom of the clamping opening faces the bottom of the first notch.
9. The picking manipulator of claim 6, wherein the picking manipulator comprises a gripper,
The bearing table part extends to the outer peripheral side to form an assembly table;
the first driving device is installed on a first assembling surface of the assembling table formed by extending the first end surface, and the second driving device is installed on a second assembling surface opposite to the first assembling surface.
10. The picking manipulator of claim 6, wherein the picking manipulator comprises a gripper,
The first driving connecting part and the second driving connecting part are toothed rails;
the gear at the output end of the first driving device is meshed with the first driving connecting part for driving;
and a gear at the output end of the second driving device is meshed with the second driving connecting part for driving.
11. The picking manipulator of claim 1, further comprising:
and the collecting device is fixedly arranged at the second end and is used for collecting cut fruits.
12. The picking manipulator of claim 11, wherein the picking manipulator comprises a gripper,
The collecting device is of a fixed open structure, one side of the collecting device is communicated with the middle channel of the annular frame body, and the other side of the collecting device is connected with a collecting bag, a collecting net or a collecting pipeline.
13. The picking manipulator of claim 11, wherein the collection device comprises:
the collecting frame is arranged corresponding to the middle channel of the annular frame body and is positioned at one end of the second end;
The two ends of the collecting bar are hinged with the collecting frame respectively;
one end of the collecting fence is connected with a third driving device, and the third driving device drives the collecting fence to open or close.
14. A picking device is characterized in that,
A picking manipulator comprising any of claims 1-13.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311455066.5A CN117426206B (en) | 2023-11-03 | 2023-11-03 | Picking manipulator and picking equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311455066.5A CN117426206B (en) | 2023-11-03 | 2023-11-03 | Picking manipulator and picking equipment |
Publications (2)
Publication Number | Publication Date |
---|---|
CN117426206A CN117426206A (en) | 2024-01-23 |
CN117426206B true CN117426206B (en) | 2024-07-26 |
Family
ID=89547749
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202311455066.5A Active CN117426206B (en) | 2023-11-03 | 2023-11-03 | Picking manipulator and picking equipment |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN117426206B (en) |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108848922A (en) * | 2018-05-30 | 2018-11-23 | 李佳馨 | A kind of bearing-free branches of tall trees device for picking fruit |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB234269A (en) * | 1924-05-12 | 1925-05-28 | Frederick Charles Talbot | An improved device for gathering fruit from trees |
IL113686A0 (en) * | 1995-05-11 | 1995-08-31 | Netanya Istam Ltd | Fruit picking apparatus |
CN207897418U (en) * | 2018-02-11 | 2018-09-25 | 重庆理工大学 | A kind of lossless picker of fruit |
CN208128907U (en) * | 2018-03-30 | 2018-11-23 | 李国宁 | A kind of Novel apple device for picking |
CN108496558B (en) * | 2018-04-15 | 2024-09-13 | 浙江师范大学 | Multi-knife linkage orange picking tool |
CN108718701B (en) * | 2018-05-30 | 2020-08-18 | 中南林业科技大学 | Detachable net bag fruit and branch picking and shearing device |
CN108848927A (en) * | 2018-06-08 | 2018-11-23 | 常州工学院 | A kind of high-efficiency double-layer is opposite to turn round cutting structural formula fruit picking apparatus |
CN108458055B (en) * | 2018-06-25 | 2023-11-24 | 北京林业大学 | Fruit picking head based on planetary gear train |
CN113475233A (en) * | 2021-08-03 | 2021-10-08 | 惠州工程职业学院 | Electric self-shearing fruit picker |
CN113785692B (en) * | 2021-11-02 | 2022-11-29 | 华南农业大学 | Pineapple picker, picking method and picking robot integrated with clipping and cutting |
CN114766199A (en) * | 2022-05-12 | 2022-07-22 | 北京林业大学 | Longitudinal rotary-cut walnut picker |
CN115968653A (en) * | 2023-02-03 | 2023-04-18 | 新疆农业大学 | Pomegranate picking actuator, picking system and picking method |
CN116369053A (en) * | 2023-03-06 | 2023-07-04 | 阳江职业技术学院 | Nondestructive fruit picking manipulator |
-
2023
- 2023-11-03 CN CN202311455066.5A patent/CN117426206B/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108848922A (en) * | 2018-05-30 | 2018-11-23 | 李佳馨 | A kind of bearing-free branches of tall trees device for picking fruit |
Also Published As
Publication number | Publication date |
---|---|
CN117426206A (en) | 2024-01-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA2878715A1 (en) | Agricultural implement for reaping and windrowing | |
US5437146A (en) | Fruit stripping rakes | |
KR102438342B1 (en) | End effector of robot | |
EP2936959B1 (en) | Mower and windrower implement for various crops | |
CN117426206B (en) | Picking manipulator and picking equipment | |
KR101805830B1 (en) | Apparatus of cutting and removing trees and plants | |
US3473310A (en) | Harvesting apparatus | |
CN101312643A (en) | Selective harvester | |
EP1207738B1 (en) | Multi-tool mechanical harvesting device | |
CA2340426A1 (en) | Single row or plant combine harvesting machine | |
CN111133893B (en) | Kiwi fruit harvesting device | |
JP5697944B2 (en) | Combine | |
EP1913805B1 (en) | Shaking device for harvesting fruits such as olives and the like | |
CN112335398A (en) | Small-size electronic straw reaps except that root machine | |
EP2689652B1 (en) | System for picking olives and other fruits | |
CN210808296U (en) | Surrounding cutting type whole-branch fruit and leaf picking machine | |
CN210406219U (en) | A garlic harvesting device | |
CN210157701U (en) | Pruning tool for pruning garden shrubs | |
CN112005714A (en) | Surrounding cutting type whole-branch fruit and leaf picking machine | |
JPH0671374B2 (en) | All culm input combine harvester pre-mowing treatment device | |
KR200219512Y1 (en) | fruti hurvest a machine | |
CN212589009U (en) | Take thresher of ear of rice cutting function | |
JP3227147U (en) | Overlaid farm grain standing unit | |
CN220255137U (en) | Hemp harvesting header for flowers and leaves | |
CN113748845B (en) | Handheld peony pod picking machine for oil |
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 |