CN207167087U - Apple-picking machinery hand - Google Patents
Apple-picking machinery hand Download PDFInfo
- Publication number
- CN207167087U CN207167087U CN201721231719.1U CN201721231719U CN207167087U CN 207167087 U CN207167087 U CN 207167087U CN 201721231719 U CN201721231719 U CN 201721231719U CN 207167087 U CN207167087 U CN 207167087U
- Authority
- CN
- China
- Prior art keywords
- sliding block
- action bars
- apple
- action
- pull bar
- 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.)
- Expired - Fee Related
Links
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model proposes a kind of apple-picking machinery hand, solves the problems, such as that apple-picking mode is unreasonable in the prior art, efficiency is low.The manipulator includes action bars, and its underpart is provided with the first internally positioned sliding block, and the first sliding block moves along action bars reciprocating linear；The upper end of action bars is provided with clamping device, including symmetrical two manipulators, manipulator are articulated and connected with action bars, and accommodating chamber is formed between two manipulators；The upper end of action bars is additionally provided with internally positioned pull bar, pull bar is identical with the bearing of trend of action bars, the upper end of pull bar is hinged by two second connecting rods and two manipulators, connected between first sliding block and pull bar by the first bracing wire, the first sliding block realizes the holding action of manipulator by the first bracing wire, pull bar, second connecting rod；Cutting mechanism is additionally provided with manipulator, the action of cutting mechanism is located at after clamping device action completion.Apple-picking machinery hand of the present utility model is simple in construction, easy to use, has good practicality.
Description
Technical field
Apple-picking machinery workmanship art field is the utility model is related to, particularly relates to a kind of simple in construction, easy to use, is plucked
Take the apple-picking machinery hand that mode is reasonable and picking efficiency is high.
Background technology
The Apple Culture in China has long history, is the big fruit country of consumption of the first in the world.Fruit-growing industry it is rapid
Development improves the market demand of Machinery for orchard, and Chinese cultivated area of the apple increases therewith.In China, the plantation of apple is still
In units of family, due to various planning problems in planting process, cause picking process extremely difficult.In apple cultivation side
Face, Agricultural Mechanization Degree is very low, and links are required for having been manually done.Traditional Softening efficiency is low and easily to fruit
Tree causes certain injury.
Into 21 century, with the development of process of industrialization, China is also faced with the problem of an aging population, with urbanization
The development people in the countryside of process gradually shift to city, and agricultural workforce gradually shifts to other industry.So as to cause rural area labor
The reduction of power, labor shortage cause the increase of cost of labor, and apple-picking work be it is most time-consuming during apple cultivation,
A laborious link.Apple cultivation belongs to labor-intensive industry, and traditional apple-picking need of work people often borrow
Help ladder to ascend a height and win the apple of eminence, waste time and energy and dangerous higher.Moreover, often rubbed in picking process
Collision causes many apples to damage.With the development of society, the improvement of people's living standards, people are reluctant to be engaged in this hardships
Work.
Utility model content
The utility model proposes a kind of apple-picking machinery hand, solve apple-picking mode in the prior art it is unreasonable,
The problem of efficiency is low.
What the technical solution of the utility model was realized in：Apple-picking machinery hand, including action bars, the action bars
Bottom be provided with the first sliding block on its interior, length direction reciprocating linear of first sliding block along action bars moves；
The upper end of the action bars is provided with clamping device, including symmetrical two manipulators, two manipulators with operation
It is articulated and connected between bar, the accommodating chamber for clamping fruit thing is formed between two manipulators；
The upper end of the action bars is additionally provided with pull bar on its interior, the bearing of trend phase of the pull bar and action bars
Together, the upper end of the pull bar is articulated and connected with two manipulators respectively by two second connecting rods, first sliding block and pull bar
Between connected by the first bracing wire, first sliding block realizes the folder of two manipulators by the first bracing wire, pull bar, second connecting rod
Hold action；
Cutting mechanism is additionally provided with the manipulator, the action of the cutting mechanism is located at clamping device action and completed
Afterwards.
As a preferred embodiment, the top of the action bars is provided with middle cavity, on the inwall of the middle cavity
Provided with the projection protruded inwardly, the top of the projection is provided with the baffle plate being fixed as one with the pull bar, the projection pair
The baffle plate plays position-limiting action；
The first stage clip is connected with the lower surface of the baffle plate, first bracing wire is provided with extension spring, the bullet of the extension spring
Property coefficient is more than the coefficient of elasticity of the first stage clip；
Be additionally provided with the second sliding block for controlling cutting mechanism action below first sliding block, the baffle plate with
Bump contact is located at before the first sliding block and the second shoe contact.
As another preferred embodiment, the cutting mechanism includes the blade in the embedded manipulator, two
External gear is equipped with described manipulator, is connected between the external gear and the second sliding block by the second bracing wire, described second
Sliding block drives external gear to rotate by the second bracing wire；
One section of internal gear being meshed with external gear is additionally provided with the manipulator, the blade is fixed on the internal gear
On, the external tooth wheel drive internal gear movement, the stretching of two blades is realized, for cutting off the carpopodium of fruit thing.
As another preferred embodiment, misplace arrangement up and down when blade described in two stretches out.
As another preferred embodiment, the external gear is provided with the torsion spring for resetting, second sliding block
Lower surface on be connected with the second stage clip.
As another preferred embodiment, handle, the handle are hinged with the lower end outer surface of the action bars
It is articulated and connected between the first sliding block by first connecting rod.
As another preferred embodiment, the action bars is connected through the hinge group by upper action bars and lower action bars
Into the action bars can be bent centered at hinge；
The collecting bag to be reciprocatingly slided along lower action bars is additionally provided with below the hinge.
As another preferred embodiment, the lower action bars is provided with guide rail, and being reciprocatingly slided on the guide rail has
3rd sliding block, the collecting bag are fixed on the 3rd sliding block, and the 3rd stage clip is connected with the lower surface of the 3rd sliding block.
As another preferred embodiment, eight rollers are evenly equipped with the 3rd sliding block, the roller is with leading
Rail contacts.
As another preferred embodiment, cushion is equipped with the inner surface of the manipulator and collecting bag.
After employing above-mentioned technical proposal, the beneficial effects of the utility model are：The apple-picking machinery hand utilizes first
Sliding block affects the first bracing wire, then affects pull bar to move using the first bracing wire, finally controls two second connecting rods to move using pull bar
Make, realize the holding actions of two manipulators, after the completion of clamping device action, cutting mechanism is acted again, is avoided pair
Fruit thing causes to damage.
Because pull bar and baffle plate are fixed as one, at the same baffle plate by projection to its position-limiting action, therefore, the pole of baffle plate
Extreme position is the extreme position of clamping device (two manipulators), when baffle plate is moved downward to bump contact, clamping machine
Structure completes holding action, and now, the first stage clip is compressed into most short, and is not connect also between the first sliding block and the second sliding block
Touch, due to there is the presence of extension spring in the first bracing wire, therefore, the first sliding block can also continue to move down, when the first sliding block is to moving down
Move to when touching the second sliding block, the second sliding block just controls cutting mechanism to act, and the carpopodium of fruit thing is cut off, ensure that and cut
Action is cut just to carry out after the completion of holding action.
When second sliding block moves down, the rotation of external gear is realized by the second bracing wire, and then external tooth wheel drive is nibbled with it
The internal gear rotation of conjunction, internal gear drive respective blade to be stretched out out of manipulator, realize the cut-out to carpopodium.
The structure type for being arranged to misplace up and down when two blades are stretched out can ensure thoroughly to cut off the carpopodium of fruit thing.
Set on external gear and the second stage clip is connected on torsion spring, and the lower surface of the second sliding block, can be after the completion of cutting
Ensure the timely reset of blade.
By action bars be arranged to upper and lower be hinged form can when cutting off carpopodium, in the presence of fruit thing self gravitation,
Action bars is bent centered at hinge, and the fruit thing in manipulator can be fallen into freely falling body in the collecting bag of lower section, is received
Collect bag to slide along lower action bars under gravity, facilitate worker to take out fruit thing, continue the operation of next step.
The 3rd stage clip is connected on the lower surface of the 3rd sliding block, can be after fruit thing be taken out from collecting bag, the 3rd stage clip
3rd sliding block, collecting bag are resetted, it is convenient that next fruit thing is collected.
Set cushion to be effectively ensured on the inner surface of manipulator and collecting bag the surface of fruit thing not being caused to damage
Wound.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of embodiment of the utility model；
Fig. 2 is the structural representation of robot section in the embodiment；
Fig. 3 is the structural representation of handle portion；
Fig. 4 is the structural representation at the 3rd sliding block；
Fig. 5 is the structural representation of action bars bending state；
In figure：1- action bars；2- manipulators；3- accommodating chambers；4- blades；5- handles；The sliding blocks of 6- first；7- first connecting rods；
Cavity in 8-；9- pull bars；10- second connecting rods；The bracing wires of 11- first；12- extension springs；13- external gears；14- internal gears；15- second is slided
Block；The bracing wires of 16- second；17- projections；18- baffle plates；The stage clips of 19- first；The stage clips of 20- second；The upper action bars of 21-；Operated under 22-
Bar；23- hinges；24- collecting bags；25- guide rails；The sliding blocks of 26- the 3rd；The stage clips of 27- the 3rd；28- cushions；29- rollers.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Embodiment：
As shown in figure 1, being a kind of embodiment of the utility model apple-picking machinery hand, the embodiment includes one first
Action bars 1, action bars 1 are provided with several main mechanisms：Controlling organization, clamping device, cutting mechanism and collecting mechanism, below
These main mechanisms are elaborated.
As shown in Fig. 2 being the structural representation on the top of action bars 1, what is shown in figure mainly has clamping device and cutting machine
Structure, clamping device are included in symmetrical two manipulators 2 of the top of action bars 1 setting, and the two manipulators 2 are be hinged side
Formula is connected on action bars 1, forms the accommodating chamber 3 for clamping fruit thing between two manipulators 2, under original state, two machines
Tool hand 2 opens completely, can ensure that the larger fruit thing of volume enters in accommodating chamber 3, and after the entrance of fruit thing, worker passes through
The control of controlling organization, you can to realize two manipulators 2 and rotated respectively with respective pin joint, two manipulators are 2-in-1 and get up,
Realize the clamping to fruit thing.
Cavity 8 in being provided with the upper end of action bars 1, the interior setting of middle cavity 8 and the bearing of trend identical pull bar 9 of action bars 1,
The upper end of the pull bar 9 is hinged on two manipulators 2 by two second connecting rods 10 respectively, therefore, when pull bar 9 moves downward
When, the angle between two second connecting rods 10 will diminish, and two manipulators 2 will be closed up, and realized holding action, worked as drawing
When bar 9 moves upwards, the angle between two second connecting rods 10 will become big, and two manipulators 2 will separate, to press from both sides next time
Action is held to prepare.
In addition, being additionally provided with the projection 17 protruded inwardly in middle cavity 8, the top of projection 17 is provided with baffle plate 18, and
Projection 17 shift position of baffle plate 18 can be carried out it is spacing, namely baffle plate 18 be merely able to projection 17 and the middle top surface of cavity 8 it
Between move.The baffle plate 18 is fixed as one with pull bar 9, both synchronizing movings.That is, when pull bar 9 moves down,
Baffle plate 18 also moves down simultaneously, and two manipulators 2 start to close up, when baffle plate 18 touches projection 17, baffle plate 18 and pull bar 9
It can not be further continued for moving down, now, two manipulators 2 move to extreme position, fully come together, and complete holding action.When
When pull bar 9 and baffle plate 18 move upwards, two manipulators 2 start to open, until when baffle plate 18 touches the top surface of middle cavity 8,
Baffle plate 18 can not be further continued for moving up with pull bar 9, and now, two manipulators 2 move to another extreme position, open completely
Open.In addition, being also associated with the first stage clip 19 on the lower surface of baffle plate 18, the first stage clip can be compressed when baffle plate 18 moves down
19, after a holding action terminates, under the elastic force effect of the first stage clip 19, the first stage clip 19 can by baffle plate 18 and pull bar 9 to
Upper jack-up, two manipulators 2 is opened again, be easy to take out its internal fruit thing, prepared for clamping next time.Such as Fig. 2, figure
Shown in 3, in order to realize a series of actions of the clamping device, the embodiment be provided with the bottom of action bars 1 it is be hinged with outside it
Handle 5 on surface, while the first sliding block 6 that can up and down reciprocatingly move linearly is provided with the inside of action bars 1, handle 5 with
It is articulated and connected between first sliding block 6 by first connecting rod 7, while passes through the first bracing wire 11 between the first sliding block 6 and pull bar 9
Connect, when worker presses handle 5, handle 5 realizes pull bar 9 by first connecting rod 7, the first sliding block 6, the first bracing wire 11
Move down, so as to realize the clamping of two manipulators 2.
After completing to the holding action of fruit thing, next just need to cut off carpopodium, therefore, the embodiment is in machine
Cutting mechanism is provided with tool hand 2, and in order to ensure fruit thing not to be caused to damage, the action of cutting mechanism must be dynamic in clamping
It could be carried out after completing.In order to facilitate the control of worker, the action of cutting mechanism is also what is controlled by handle 5, therefore,
The embodiment is provided with extension spring 12 in the first bracing wire 11 so that after two completion holding actions of manipulators 2 (namely baffle plate 18 connects
When contacting projection 17), handle 5 can also press the first sliding block 6 and move down, and now, extension spring 12 is elongated, certainly, extension spring 12
Coefficient of elasticity be greater than the coefficient of elasticity of the first stage clip 19, with ensure the first stage clip 19 be compressed into it is most short after, extension spring 12
It is elongated again.The second sliding block 15 is additionally provided with the lower section of the first sliding block 6, the second sliding block 15 is direct control cutting mechanism action
, therefore, after baffle plate 18 contacts with projection 17, the first sliding block 6 can contact with the second sliding block 15, can so protect
The action for demonstrate,proving cutting mechanism is carried out after holding action is completed, and effectively protects fruit thing injury-free.
The cutting mechanism in the embodiment is elaborated below, cutting mechanism includes the knife inside embedded manipulator 2
Piece 4, and the structure of two manipulators 2 is full symmetric, and under original state, blade 4 is completely embedded into the inside of manipulator 2,
Avoid that fruit thing is caused to damage.External gear 13 is additionally provided with manipulator 2, external gear 13 can only be carried out with its center axis
Rotate, one section of internal gear 14 is engaged with external gear 13, blade 4 is fixed on corresponding internal gear 14, when external gear 13 revolves
When turning, internal gear 14 is subjected to displacement in manipulator 2, certainly, is opened up in the domestic demand of manipulator 2 and is led to for what internal gear 14 moved
Road, two internal gears 14 are relative movement when moving, so will two blades 4 stretched out from manipulator 2, when two blades
During 4 docking, the cutting to carpopodium is realized.The rotation of external gear 13 is that it is connected into reality with the second sliding block 15 by the second bracing wire 16
Existing, certainly, the second bracing wire 16 is upwardly extended by the second sliding block 15, all the way through the first sliding block 6, extension spring 12, pull bar 9,
One stage clip 19, baffle plate 18, be connected to by being arranged in multiple rollers inside manipulator 2 on external gear 13, the second bracing wire 16 with
It is parallel and mutually will not interfere between first bracing wire 11, and the second bracing wire 16 and the first bracing wire 11 are all the time in stretching shape
State.
In order to ensure the effect of cutting, the form to misplace up and down, or even two knives are arranged to when can two blades 4 be stretched out
Piece 4 can be with overlapped, to ensure the thorough cut-out to carpopodium when fully extended.After the completion of cutting, in order to realize blade 4
Reset, facilitate the taking-up of fruit thing, torsion spring is additionally provided with external gear 13, while the is also set up on the lower surface of the second sliding block 15
Two stage clips 20, when the operating physical force of worker disappears, in the presence of torsion spring and the second stage clip 20, blade 4 can be retracted to rapidly
In manipulator 2, complete to reset.
, it is necessary to fruit thing be taken out out of accommodating chamber 3, as shown in Figure 1 and Figure 5, therefore, the implementation after the completion of cutting action
Action bars 1 is arranged to connect the structure type formed, action bars 1 by hinge 23 by upper action bars 21 and lower action bars 22 by example
It can be bent centered at hinge 23, after the completion of cutting action, fruit thing is fallen in accommodating chamber 3 completely, now,
In the presence of fruit thing self gravitation, upper action bars 21 can bend certain angle (state as shown in Figure 5), and now, worker applies
Disappeared in the power on handle 5, cutting mechanism and clamping device have resetted, and manipulator 2 opens completely, and fruit thing is in itself weight
The lower meeting nature of power effect drops.Therefore, being additionally provided with collecting bag 24 in the lower section of hinge 23, fruit thing freely falling body falls into collecting bag 24
It is interior.In addition, as shown in figure 4, guide rail 25 is additionally provided with lower action bars 22, being reciprocatingly slided on the guide rail 25 has the 3rd sliding block
26, the collecting bag 24 is fixed on the 3rd sliding block 26, and the 3rd stage clip 27 is connected with the lower surface of the 3rd sliding block 26.Work as fruit
After thing is fallen into collecting bag 24, the gravity increase of collecting bag 24, collecting bag 24 moves down simultaneously with the 3rd sliding block 26, compresses the
Three stage clips 27.When collecting bag 24 is moved to extreme lower position, worker takes out fruit thing from collecting bag 24, the gravity of collecting bag 24
Reduce again, in the presence of the 3rd stage clip 27, the sliding block 26 of collecting bag 24 and the 3rd rises to initial position, for fruit thing next time
Drop and be ready.
In order to ensure the stability during movement of the 3rd sliding block 26, the embodiment is provided with eight uniformly on the 3rd sliding block 26
Roller 29, be in contact between these rollers 29 and guide rail 25, ensure that the 3rd sliding block 26 can stablize decline and rising.
Finally, in order to be further ensured that the epidermis of fruit thing is injury-free, the embodiment is in manipulator 2 and collecting bag 24
Cushion 28 is provided with surface.
The action process of the apple-picking machinery hand is elaborated below：
First, all parts are in original state, including, baffle plate 18 is in extreme higher position, two manipulators 2 with pull bar 9
In complete open configuration, two blades 4 are completely hidden in inside manipulator 2, and collecting bag 24 is in extreme higher position, the first stage clip
19 are in most long status, and the second stage clip 20 is in most long status, and the 3rd stage clip 27 is in most long status, upper action bars 21 and lower behaviour
It is in parastate to make bar 22；
Worker's moving operation bar so that the fruit thing to be gripped presses handle 5 between two manipulators 2, and handle 5 is logical
Crossing first connecting rod 7 drives the first sliding block 6 to move down, and the first sliding block 6 drives baffle plate 18 and pull bar 9 downward by the first bracing wire 11
Mobile, because the coefficient of elasticity of extension spring 12 is more than the coefficient of elasticity of the first stage clip 19, therefore, shape will not occur for extension spring 12 now
Become, and the first stage clip 19 can be compressed, two manipulators 2 start to close up, until baffle plate 18 touches projection 17, two manipulators
2 fully come together, and complete the clamping to fruit thing；
Worker continues to push handle 5, and the first sliding block 6 continues to move down, and extension spring 12 now is stretched, the first sliding block 6
The second sliding block 15 is pushed after touching the second sliding block 15, the second sliding block 15 drives external gear 13 to rotate by the second bracing wire 16, outside
Gear 13 drives internal gear 14 to produce displacement, and blade 4 stretches out the cut-out completed to carpopodium；
Worker's release handle 5, under the elastic force effect of each spring, the first sliding block 6 and the second sliding block 15 rise, blade 4
Resetted first under the active force of torsion spring, be completely embedded into the inside of manipulator 2, then the first stage clip 19 is by baffle plate 18 and pull bar
9 jack up upwards, and two manipulators 2 open；
Because fruit thing is in free state in manipulator 2, under its own Action of Gravity Field, upper action bars 21 can be bent necessarily
Angle (state as shown in Figure 5), fruit thing is freely fallen into collecting bag 24, and under gravity, collecting bag 24 declines, compression the 3rd
Stage clip 27, when collecting bag 24 reaches extreme lower position, worker takes out the fruit thing in it, and the 3rd stage clip 27 resets collecting bag 24；
So far, a complete picking process is completed.
Apple-picking machinery hand of the present utility model is simple in construction, easy to use, and picking efficiency is high, can substantially reduce work
The labor intensity of people, fruit thing will not be caused to damage, there is good practicality.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (10)
1. apple-picking machinery hand, it is characterised in that：Including action bars, the bottom of the action bars is provided with its interior the
One sliding block, length direction reciprocating linear of first sliding block along action bars move；
The upper end of the action bars is provided with clamping device, including symmetrical two manipulators, two manipulators with action bars it
Between be articulated and connected, the accommodating chamber for clamping fruit thing is formed between two manipulators；
The upper end of the action bars is additionally provided with pull bar on its interior, and the pull bar is identical with the bearing of trend of action bars, institute
The upper end for stating pull bar is articulated and connected with two manipulators respectively by two second connecting rods, is led between first sliding block and pull bar
The first bracing wire connection is crossed, first sliding block realizes that the clamping of two manipulators is moved by the first bracing wire, pull bar, second connecting rod
Make；
Cutting mechanism is additionally provided with the manipulator, the action of the cutting mechanism is located at clamping device action completion
Afterwards.
2. apple-picking machinery hand as claimed in claim 1, it is characterised in that：The top of the action bars is provided with middle cavity,
The inwall of the middle cavity is provided with the projection protruded inwardly, and the top of the projection is provided with to be fixed as one with the pull bar
Baffle plate, the projection to the baffle plate rise position-limiting action；
The first stage clip is connected with the lower surface of the baffle plate, first bracing wire is provided with extension spring, the elasticity system of the extension spring
Coefficient of elasticity of the number more than the first stage clip；
The second sliding block for controlling the cutting mechanism action, the baffle plate and projection are additionally provided with below first sliding block
Contact is before the first sliding block and the second shoe contact.
3. apple-picking machinery hand as claimed in claim 2, it is characterised in that：The cutting mechanism includes the embedded machinery
Blade in hand, external gear is equipped with the manipulator described in two, pass through second between the external gear and the second sliding block and draw
Line connects, and second sliding block drives external gear to rotate by the second bracing wire；
One section of internal gear being meshed with external gear is additionally provided with the manipulator, the blade is fixed on the internal gear,
The external tooth wheel drive internal gear movement, realizes the stretching of two blades, for cutting off the carpopodium of fruit thing.
4. apple-picking machinery hand as claimed in claim 3, it is characterised in that：Blade described in two misplaces up and down when stretching out
Arrangement.
5. the apple-picking machinery hand as described in claim 3 or 4, it is characterised in that：The external gear, which is provided with, to be used to reset
Torsion spring, be connected with the second stage clip on the lower surface of second sliding block.
6. apple-picking machinery hand as claimed in claim 1, it is characterised in that：It is hinged on the lower end outer surface of the action bars
There is handle, be articulated and connected between the handle and the first sliding block by first connecting rod.
7. apple-picking machinery hand as claimed in claim 1, it is characterised in that：The action bars is by upper action bars and lower operation
Bar is connected through the hinge composition, and the action bars can be bent centered at hinge；
The collecting bag to be reciprocatingly slided along lower action bars is additionally provided with below the hinge.
8. apple-picking machinery hand as claimed in claim 7, it is characterised in that：The lower action bars is provided with guide rail, described
Being reciprocatingly slided on guide rail has the 3rd sliding block, and the collecting bag is fixed on the 3rd sliding block, connects on the lower surface of the 3rd sliding block
It is connected to the 3rd stage clip.
9. apple-picking machinery hand as claimed in claim 8, it is characterised in that：Eight rollings are evenly equipped with 3rd sliding block
Wheel, the roller is and guide rail contact.
10. apple-picking machinery hand as claimed in claim 7, it is characterised in that：The inner surface of the manipulator and collecting bag
On be equipped with cushion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721231719.1U CN207167087U (en) | 2017-09-23 | 2017-09-23 | Apple-picking machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721231719.1U CN207167087U (en) | 2017-09-23 | 2017-09-23 | Apple-picking machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207167087U true CN207167087U (en) | 2018-04-03 |
Family
ID=61748223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721231719.1U Expired - Fee Related CN207167087U (en) | 2017-09-23 | 2017-09-23 | Apple-picking machinery hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207167087U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107455088A (en) * | 2017-09-23 | 2017-12-12 | 山西农业大学 | Apple-picking machinery hand |
| CN108650998A (en) * | 2018-04-27 | 2018-10-16 | 安徽大学 | Multi-axis linkage apple harvesting integrated device |
| CN111512787A (en) * | 2020-06-25 | 2020-08-11 | 权为为 | Portable fruit picking device |
| CN116406569A (en) * | 2023-06-09 | 2023-07-11 | 山西农业大学 | Intelligent fruit picking equipment |
-
2017
- 2017-09-23 CN CN201721231719.1U patent/CN207167087U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107455088A (en) * | 2017-09-23 | 2017-12-12 | 山西农业大学 | Apple-picking machinery hand |
| CN107455088B (en) * | 2017-09-23 | 2023-02-21 | 山西农业大学 | Apple picking manipulator |
| CN108650998A (en) * | 2018-04-27 | 2018-10-16 | 安徽大学 | Multi-axis linkage apple harvesting integrated device |
| CN108650998B (en) * | 2018-04-27 | 2021-07-16 | 安徽大学 | Multi-axis linkage apple harvesting integrated device |
| CN111512787A (en) * | 2020-06-25 | 2020-08-11 | 权为为 | Portable fruit picking device |
| CN116406569A (en) * | 2023-06-09 | 2023-07-11 | 山西农业大学 | Intelligent fruit picking equipment |
| CN116406569B (en) * | 2023-06-09 | 2023-08-15 | 山西农业大学 | Intelligent fruit picking equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107455088A (en) | Apple-picking machinery hand | |
| CN207167087U (en) | Apple-picking machinery hand | |
| CN106111242B (en) | A kind of discarded footwear mould efficiency crushing device of footwear industry | |
| CN109496549B (en) | Rod type picking shears | |
| WO2023072316A2 (en) | Compensation growth mowing method of desert plant anabasis aphylla | |
| CN207995701U (en) | A kind of fruit picker | |
| CN207130241U (en) | A kind of microbial culture garden culture dish fixing device | |
| CN207382939U (en) | A kind of agricultural machinery fruit picker | |
| CN107253661B (en) | A kind of vehicle suspender | |
| CN208273626U (en) | Labor-saving portable formula cherry harvesting device | |
| CN205651525U (en) | Building site is with special brick cutting device | |
| CN208462408U (en) | A kind of adjustable height device for picking fruit | |
| CN208896278U (en) | It is a kind of for making the silicon rod slicing device of solar energy photovoltaic panel | |
| CN207201370U (en) | Apple-picking clamping device and cutting mechanism | |
| CN207476245U (en) | A kind of movable type picker | |
| CN104429249B (en) | A kind of grafting returns cultivation end effector | |
| CN111699832B (en) | Dendrobium officinale picking machine | |
| CN108575310B (en) | Telescopic cutting strawberry picker | |
| CN209113083U (en) | Clamp device used in a kind of digital battery high/low temperature discharge test | |
| CN107094515A (en) | A kind of mobile device for cutting shape automatically for shrub | |
| CN203367137U (en) | Spring operation mechanism for vacuum switch | |
| CN106149344A (en) | A kind of multi-functional cutting platform | |
| CN206010980U (en) | A kind of rubber hammer of telescopic handle | |
| CN202222182U (en) | Edible mushroom bag binding machine | |
| CN205888271U (en) | Device is cuted to hardware high efficiency |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180403 Termination date: 20200923 |