CN208300345U - One kind firmly grasping part, fruit grabbing device and picker - Google Patents
One kind firmly grasping part, fruit grabbing device and picker Download PDFInfo
- Publication number
- CN208300345U CN208300345U CN201820921825.0U CN201820921825U CN208300345U CN 208300345 U CN208300345 U CN 208300345U CN 201820921825 U CN201820921825 U CN 201820921825U CN 208300345 U CN208300345 U CN 208300345U
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- screw rod
- fruit
- connecting rod
- limiting tube
- flexible sheets
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Abstract
The utility model relates to firmly grasp part, fruit grabbing device and picker to a kind of, including position-limiting tube and the connecting rod being sleeved in position-limiting tube, it further include flexible sheets in 2 pieces, 2 pieces of outer flexible sheets and 2 collets, connecting rod and collet are fixed in the both ends of interior flexible sheets respectively, position-limiting tube and collet are fixed in the both ends of outer flexible sheets respectively, flexible sheets are located between 2 pieces of outer flexible sheets in 2 pieces, and the utility model is avoided that clamping force crosses macrolesion fruit.It occupies little space, intensive suitable for fruit growth, branches and leaves interference picking environment, simple and reliable for structure, manufacturing cost, use cost are low.It is suitable for fine work picking fruit；Fruit is clamped using two point form, working space is effectively reduced, adapts to the high situation of fruit growth density.
Description
Technical field
The utility model belongs to a kind of picking fruit machine, be specifically related to it is a kind of firmly grasp part, fruit grabbing device and
Picker.
Background technique
Era development of the modern agriculture towards mechanization, mechanical instruments of labour for gradually replacing people original and original
Labour method, unprecedented development potentiality is presented.But modern large-scale picking machine is costly, and people are considering oneself
Economic interests while have to the high efficiency for abandoning mechanical picking, use original artificial picking method.Apple, peach,
Pear and other fruits trees are tall and big, and tree height is commonly 3-4m, and high-altitude fruit is not easy to pick, and picked by hand efficiency is very low.
Fruit is clamped frequently with Rigid Manipulators at present, realizes the firm crawl to fruit.Or it is entangled using locating cover
Fruit is entirely fixed in locating cover by fruit.Rigid Manipulators clamping force is not easily controlled, and is easy to damage fruit；For
Different size of fruit, Rigid Manipulators tip displacement amount are equally not easily controlled, and need to increase pressure sensor and negative-feedback control
Clamping function just can be achieved in system.To different fruit bad adaptabilities, manufacturing cost is high.It is comparable easily fixed to fruit using locating cover
Position, tolerance are high.But occupied space is big, the fruit on the side that is very easy to damage in picking, and uncomfortable fruit growth is intensive, branches and leaves
Interfere the environment of picking.
Utility model content
The technical problem to be solved by the present invention is to provide one kind to firmly grasp part, fruit grabbing device and picker.
The content of the utility model is that one kind firmly grasps part, further includes 2 including position-limiting tube and the connecting rod being sleeved in position-limiting tube
Connecting rod and collet are fixed in flexible sheets, 2 pieces of outer flexible sheets and 2 collets in block, the both ends of interior flexible sheets respectively, and the two of outer flexible sheets
Position-limiting tube and collet are fixed in end respectively, and flexible sheets are located between 2 pieces of outer flexible sheets in 2 pieces.
The collet includes fixed plate, elastic piece and dashpot, and dashpot and elastic piece, bullet are provided in the fixed plate
Property piece is covered on dashpot.
A kind of fruit grabbing device, further includes motor, screw rod, connecting rod and promptly part, the both ends of the connecting rod are respectively set
There are screw rod mounting groove and promptly part；One end of the screw rod is connected in the shaft of motor and rotates with the rotation of shaft,
The other end of screw rod is located in screw rod mounting groove, and screw rod and screw rod mounting groove are threadedly coupled, screw rod end and screw rod mounting groove end
There are the spaces that screw mandrel is mobile between portion；It is described promptly part include 2 pieces of collets, the distance between 2 pieces of collets with connecting rod to
Screw rod direction is mobile and reduces.
Shaft coupling is connected in the shaft of the motor, the other end of shaft coupling is provided with screw rod connector, screw rod connector
The other end is connected with screw rod.
The end of the connecting rod is fixed with linkage connector, and setting is fluted in linkage connector；The end of the linkage connector
It is fixed with feed screw nut, feed screw nut connects with wire rod thread.Clamping slot, feed screw nut and Lian are provided on linkage connector
Knock-off joint passes through the bolt being arranged in clamping slot and is fixedly connected.
The connecting rod is sleeved in position-limiting tube, and position-limiting tube is sleeved in sleeve, and sleeve is fixed in mounting base, and connecting rod can be certainly
By limit in-pipe, cannot freely be rotated in position-limiting tube.
The longest cross-sectional width of the connecting rod is less than the longest cross-sectional width of position-limiting tube internal cavity, position-limiting tube internal cavity
Minimum cross-section width be less than connecting rod longest cross-sectional width.
Finite place piece, the end of position-limiting tube and locating part contact are set in the sleeve, between position-limiting tube and locating part
Frictional force is greater than the frictional force of the threaded connection of screw rod and screw rod mounting groove.
The position-limiting tube includes that internal sleeve is equipped with the intermediate tube of connecting rod and is set with the casing of intermediate tube, intermediate tube and set
Pipe is fixedly connected.
The invention also discloses a kind of pickers, including the fruit grabbing device, further include fixed motor
Mounting base is fixed in mounting base and grabs bar and bracket, the bearing net for accepting fruit is provided on bracket.
The utility model has the beneficial effects that the utility model dexterously uses flexible clamping mechanism, flexible manipulator is not
Pressure sensor and feedback control are needed, only different size of fruit can be adapted to by self-deformation and be avoided that clamping force
Cross macrolesion fruit.It occupies little space, intensive suitable for fruit growth, branches and leaves interference picking environment, simple and reliable for structure, manufacture
Cost, use cost are low.It is suitable for fine work picking fruit；Fruit is clamped using two point form, working space is effectively reduced, can fit
The situation for answering fruit growth density high.The utility model passes through the stroke of nut in limitation screw mechanism, only with a power
Source realizes the opening and closing and rotary motion of picking head.
The utility model is small in size, easy to carry, easy to operate, at low cost, highly-safe, high reliablity, and can have
Effect improves the seed harvester of high-altitude fruit picking efficiency.The utility model be it is a can indirect labor's dexterity picking high-altitude fruit
Device.Its structure is made of picking part, collection part and auxiliary bearing part three parts.The device uses in-built electrical
Source has many advantages, such as simple structure, at low cost, light weight, easy to carry, the range manually picked is made easily to be expanded to high-altitude,
Picking efficiency and safety are effectively improved, labor intensity is reduced, can be widely applied to the leisure such as middle-size and small-size orchard worker and Peasants Joy
The fruit picking project of occasion.
The utility model uses screw mechanism and a power source, realizes collet closure and twists off two, carpopodium movements, fruit
After handle twists off, fruit falls into channel i.e. elastomer slideway and rubber tubing is steadily tumbled into folder surface vessels.
Detailed description of the invention
Fig. 1 is the side structure schematic diagram of the utility model.
Fig. 2 is the partial enlarged view of Fig. 1.
Fig. 3 is the structural schematic diagram that the utility model is in open configuration.
Fig. 4 is the utility model structural schematic diagram in clamped condition.
Fig. 5 is the schematic diagram of the section structure of the connecting rod of the utility model.
Fig. 6 is the structural schematic diagram of the connecting rod of the utility model.
Fig. 7 is the structural schematic diagram of the promptly part of the utility model.
Fig. 8 is the structural schematic diagram of the collet of the utility model.
Bar, 5 motors, 6 shaft couplings, 7 screw rod connectors, 8 screw rods, 9 companies are grabbed in 1 fixing seat, 2 handles, 3 power packs, 4 in the figure
Knock-off joint, 91 grooves, 92 clamping slots, 10 feed screw nuts, 11 mounting bases, 111 sleeves, 1111 locating parts, 12 casings, in 13
Between pipe, 14 connecting rods, 141 end plates, 142 connecting plates, 143 holding tanks, 15 brackets, 16 flexible sheets, 161 outer flexible sheets, flexible in 162
Piece, 17 collets, 171 fixed plates, 172 elastic pieces, 173 dashpots.
Specific embodiment
As shown in figures 1-8, the utility model discloses one kind to firmly grasp part, including flexible sheets 16 and collet 17, specifically wraps
162,2 pieces of flexible sheets outer flexible sheets 161 and 2 collets 17 in 2 pieces are included, 14 He of connecting rod is fixed at the both ends of interior flexible sheets 162 respectively
Collet 17, the both ends of outer flexible sheets 161 fix flexible sheets 162 in position-limiting tube and 17,2 pieces of collet respectively and are located at 2 pieces of outer flexible sheets
Between 161.
Connecting rod 14 is manually pulled, since position-limiting tube is motionless, flexible sheets 162 can be close to each other in 2 pieces, and collet 17 clamps
Then fruit shuts down fruit by artificial mode.Push connecting rod 14 up when, fruit unclamp, fall.
The fruit grabbing device of the utility model further includes motor 5, screw rod 8, connecting rod 14 and promptly part, the connecting rod 14
Both ends be respectively arranged with screw rod mounting groove and promptly part；One end of the screw rod 8 be connected in the shaft of motor 5 and with turn
The rotation of axis and rotate, the other end of screw rod 8 is located in screw rod mounting groove, and screw rod 8 and screw rod mounting groove are threadedly coupled, screw rod 8
There are the spaces that screw mandrel 8 is mobile between end and screw rod mounting groove end；The promptly part includes 2 pieces of collets, 17,2 pieces of collets
The distance between 17 are reduced as connecting rod 14 is mobile to 8 direction of screw rod.
After the motor 5 of the utility model starts, shaft rotation drives screw rod 8 to rotate, due to screw rod 8 and screw rod mounting groove
It is threadedly coupled, the bipartite frictional force of threaded connection can be very small, and connecting rod 14 is connected with promptly part, the rotation of connecting rod 14
There can be certain resistance, the source of this resistance can be the frictional force of connecting rod 14 itself and other component, be also possible to grab
The gravity or otherwise resistance of tight part itself, this resistance can be greater than the frictional force between being threadedly coupled, when screw rod 8
When rotation, connecting rod 14 will not be with rotation, therefore, and connecting rod 14 can be mobile to the direction of screw rod 8 with the rotation of screw rod 8, and 2 pieces
The distance between collet 17 is reduced, and clamps fruit.When the advance of connecting rod 14, the bottom of screw rod mounting groove and screw rod 8 is caused to contact, or
Person's connecting rod 14 is blocked from when moving again, and screw rod 8 and connecting rod 14 form an entirety, and connecting rod 14 is immovable, can only be rotated,
Specific manifestation are as follows: connecting rod 14, which advances, causes the feed screw nut 10 consolidated with connecting rod 14 to contact with shaft coupling 6, and feed screw nut 10 cannot
It moves again and screw rod 8 forms a unitary rotation.It is final to drive fruit rotation, fruit is backed out from end of the branch, to realize fruit
Clamping and back out, realize fruit crawl.
The motor 5 of the utility model is preferably direct current generator, takes on two movements of the clamping of driving executing agency and rotation
Power source, it is contemplated that executive device clamps the real-time efficiency of rotating fruit and stability, and rotation speed is tentatively set to 60r/min.
Since executing agency's spinning movement is directly driven by a motor, revolving speed is selected to subtract for the direct current of 50r/min according to motor normal revolution
Speed motor.After actual measurement, its carpopodium when pear and other fruits maturation, is twisted off required torque and is generally no greater than 0.5Nm by apple.For small
For the decelerating motor of type tributary, motor quality is positively correlated with motor maximum torque.Comprehensively consider installation weight and required torque,
Select Rated motor torque for 0.7Nm.
Known motor revolving speed n=50r/min, screw rod impulse stroke L=10mm.In view of device operation efficiency, design is single
T < 2s the time required to secondary holding action.According between lead screw impulse stroke L, motor speed n, single time t and guide screw lead s
Relationship calculates lead s:
So:
Determine immediate lead s=8mm.
Shaft coupling 6 is connected in the shaft of the motor 5, the other end of shaft coupling 6 is provided with screw rod connector 7, and screw rod connects
First 7 other end is connected with screw rod 8.The shaft coupling 6 is preferably Hooks coupling universal coupling.The shaft coupling 6 includes two pieces and sets relatively
The mounting plate set, is arranged in the pin shaft between two pieces of mounting plates, and pin shaft is preferably the pin shaft being able to rotate, hinged on the side wall of pin shaft
There is screw rod connector 7, the screw rod connector 7 includes 2 pieces of mounting plates being oppositely arranged, and the company through pin shaft is provided between mounting plate
Extension bar.Therefore, screw rod connector 7 and shaft can have a certain degree, and when the spindle is rotated, screw rod connector 7 rotates, and 8 turns of screw rod
It is dynamic, pull connecting rod 14 and pivot link 14.
The motor 5 is fixed in mounting base 11.
The end of the connecting rod 14 is fixed with linkage connector 9, setting fluted 91 in linkage connector 9.
The end of the linkage connector 9 is fixed with feed screw nut 10, and feed screw nut 10 and screw rod 8 are threadedly coupled.Groove 91
Screw rod mounting groove is collectively formed with the cavity in feed screw nut 10.
Screw rod installation slot part is provided with screw thread, preferably internal screw thread, and partially without screw thread, reduction screw rod as far as possible is installed
Frictional force between slot and screw rod 8.
The connecting rod 14 is sleeved in position-limiting tube, and position-limiting tube is sleeved in sleeve 111, and sleeve 111 is fixed on mounting base 11
On, connecting rod 14 can freely cannot rotate in position-limiting tube freely in limit in-pipe.When connecting rod 14 is mobile, position-limiting tube
It does not move and does not rotate yet, when connecting rod 14 rotates, position-limiting tube is with rotation.Position-limiting tube can be freely rotated in sleeve 111.
The longest cross-sectional width of the connecting rod 14 is less than the longest cross-sectional width of position-limiting tube internal cavity, sky in position-limiting tube
The minimum cross-section width of chamber is less than the longest cross-sectional width of connecting rod 14.
The cross-sectional shape of connecting rod 14 is irregular, and there are many shapes, and in addition to circle, other shapes, such as rectangle are oval
Shape, square etc. can realize all above-mentioned purposes of the utility model substantially, it may be assumed that connecting rod 14 cannot be freely in position-limiting tube
Interior rotation, when connecting rod 14 is mobile, position-limiting tube, which does not move, also not to be rotated, and when connecting rod 14 rotates, position-limiting tube is with rotation.Limit
The shape of the cross section of the inner wall of pipe can be identical with the cross-sectional shape of connecting rod 14, can also be different, as long as it meets: limit
The minimum cross-section width of pipe internal cavity is less than the longest cross-sectional width of connecting rod 14.
At least part of cross-sectional shape of the connecting rod 14 is preferably " I " fonts, including 2 pieces of end plates 141 and fixation
The cavity that 142, the 2 pieces of end plates 141 of connecting plate and 142 edge of connecting plate for connecting 2 pieces of end plates 141 are formed is holding tank 143, promptly
Part is fixed in the cavity on the side wall of connecting plate 142 or in connecting plate 142.
As shown in Figure 2 and Figure 5, the position-limiting tube includes that internal sleeve is equipped with the intermediate tube 13 of connecting rod 14 and is set with centre
The casing 12 of pipe 13, intermediate tube 13 are fixedly connected with casing 12.
The inside of the intermediate tube 13 is rectangle, and outside is round or rectangle.
Finite place piece 1111 is set in the sleeve 111, and locating part 1111 is preferably the ring-type for being fixed on 111 inner wall of sleeve
Protrusion, the end of position-limiting tube and locating part 1111 contact, and the frictional force between position-limiting tube and locating part 1111 is greater than screw rod 8 and silk
The frictional force of the threaded connection of bar mounting groove.Frictional force between position-limiting tube and locating part 1111 is less than the torsion that screw rod 8 rotates.
Therefore, even if connecting rod 14 and other component do not have frictional force, when screw rod 8 rotates, connecting rod 14 has been driven to rotate, due to connecting rod 14
It cannot be freely rotated in position-limiting tube, will drive position-limiting tube rotation, and due to the frictional force between position-limiting tube and locating part 1111
Greater than the frictional force of the threaded connection of screw rod 8 and screw rod mounting groove, position-limiting tube not can rotate, and connecting rod 14 will not rotate, connecting rod
14 can only move.Connecting rod 14 is non-rotary, and the reason is that being hindered by intermediate tube 13, the circular casing 12 of intermediate tube 13 and outside is consolidated,
Circular casing 12 generates frictional force without being able to rotate because pulling force is pressed at the locating part 1111 being arranged in sleeve 111.
As shown in figure 3, the promptly part includes flexible sheets 16 and collet 17, it specifically include 162,2 pieces of flexible sheets in 2 pieces
Connecting rod 14 and collet 17 are fixed in outer flexible sheets 161 and 2 collet 17, the both ends of interior flexible sheets 162 respectively, outer flexible sheets 161
Both ends are fixed flexible sheets 162 in position-limiting tube and 17,2 pieces of collet respectively and are located between 2 pieces of outer flexible sheets 161.
When motor 5 starts, machine shaft rotation drives screw rod 8 to rotate, thus connecting rod 14 is mobile toward 8 direction of screw rod,
The distance between 2 pieces of collets 17 are reduced, and clamp fruit, when screw rod 8 is moved to screw rod installation trench bottom, either, screw rod 8 and company
Bar 14 is linked together, and screw rod 8 is in rotation, due to being that the torsion of screw rod 8 is applied directly on connecting rod 14 at this time, 14 turns of connecting rod
It is dynamic, fruit rotation is driven, fruit is twisted into two parts from end of the branch.
The collet 17 includes fixed plate 171, elastic piece 172 and dashpot 173, is provided in the fixed plate 171 slow
Jet-bedding 173 and elastic piece 172, elastic piece 172 are covered on dashpot 173.The elastic piece is preferably that rubber material is made.Rubber
Glue material matter is soft, and has higher coefficient of friction, can increase contact by deforming adaptive fruit shapes when contacting with fruit
Area achievees the purpose that lossless picking.
The utility model in order to adapt to the needs of different-diameter fruit, between adjustable machine shaft and connecting rod 14 just
Beginning distance, adjustment mode can be the position for being directly changed motor 5 in mounting base 11, and also adjustable screw rod connector 7 is located at
The position etc. of shaft coupling 6.
The invention also discloses a kind of pickers, including the fruit grabbing device, further include fixed motor 5
Mounting base 11 is fixed in mounting base 11 and grabs bar 4 and bracket 15, the bearing net for accepting fruit is provided on bracket 15.
The channel for leading to ground is communicated in the bearing net.Feeder connection in bearing net is located at minimum in bearing net
End.
The bar 4 of grabbing is preferably telescopic rod.The channel is preferably fixed on and grabs on bar 4.The channel is mesh grid group
At, or be made of compressible material.It grabs bar 4 and uses three-stage telescopic rod, carrying executing agency, transmission mechanism and collection
Mechanism.Contraction state length is 1m, and elongation state length is 2.5m, to meet the picking of fruit at positioning height 2-4m.
The end for grabbing bar 4 is provided with fixing seat 1, is fixed with power pack 3 and handle 2 in fixing seat 1, in power pack 3
The power supply of 5 electricity consumption of power supply machine is installed.Handle 2 is used for the gripping of hand.
The utility model further includes auxiliary carrier, including the clothes being worn on human body, the clothes and grab bar 4 or/
It is connected with mounting base 11.
The invention also discloses a kind of picking methods, include the following steps, start motor 5, machine shaft rotation, silk
Bar 8 rotates, and pulls connecting rod 14 mobile toward 8 direction of screw rod, the distance between 8 end of screw rod mounting groove end and screw rod gradually subtracts
Few, the distance between 2 pieces of collets 17 are reduced, and final screw rod 8 and connecting rod 14 are linked together, and fruit is clamped；Connecting rod 14 is in screw rod 8
Torsion under rotate, drive connecting rod 14 to rotate, clamped fruit is with rotation, fruit rotation, twists into two parts and end of the branch separation.
Fruit is after machine shaft reversion, and to far from the movement of 8 direction of screw rod, the distance between 2 pieces of collets 17 increase connecting rod 14
Greatly, fruit is fallen, and is preferably fallen into bearing net, then can remove from bearing net or fruit passes through from bearing net
Channel falls to ground.
Claims (10)
1. one kind firmly grasps part, characterized in that further include soft in 2 pieces including position-limiting tube and the connecting rod (14) being sleeved in position-limiting tube
Property piece (162), 2 pieces of outer flexible sheets (161) and 2 collets (17), the both ends of interior flexible sheets (162) fix respectively connecting rod (14) and
Position-limiting tube and collet (17) are fixed in collet (17), the both ends of outer flexible sheets (161) respectively, and flexible sheets (162) are located at 2 pieces in 2 pieces
Between outer flexible sheets (161).
2. firmly grasping part as described in claim 1, characterized in that the collet (17) includes fixed plate (171), elastic piece
(172) and dashpot (173) dashpot (173) and elastic piece (172), elastic piece, are provided on the fixed plate (171)
(172) it is covered on dashpot (173).
3. a kind of fruit grabbing device, characterized in that further include motor (5), screw rod (8), connecting rod (14) and such as claim 1 or
Part is firmly grasped described in 2, the both ends of the connecting rod (14) are respectively arranged with screw rod mounting groove and promptly part；The one of the screw rod (8)
End is connected in the shaft of motor (5) and rotates with the rotation of shaft, and the other end of screw rod (8) is located at screw rod mounting groove
Interior, screw rod (8) and screw rod mounting groove are threadedly coupled, and there are screw mandrel (8) shiftings between screw rod (8) end and screw rod mounting groove end
Dynamic space；The distance between 2 pieces of collets (17) are reduced as connecting rod (14) is mobile to screw rod (8) direction.
4. fruit grabbing device as claimed in claim 3, characterized in that be connected with shaft coupling in the shaft of the motor (5)
(6), the other end of shaft coupling (6) is provided with screw rod connector (7), and the other end of screw rod connector (7) is connected with screw rod (8).
5. fruit grabbing device as claimed in claim 3, characterized in that the end of the connecting rod (14) is fixed with linkage connector
(9), fluted (91) are set in linkage connector (9)；The end of the linkage connector (9) is fixed with feed screw nut (10), screw rod
Nut (10) and screw rod (8) are threadedly coupled.
6. fruit grabbing device as claimed in claim 3, characterized in that the position-limiting tube is sleeved in sleeve (111), sleeve
(111) it is fixed on mounting base (11), connecting rod (14) can freely cannot turn in position-limiting tube freely in limit in-pipe
It is dynamic.
7. fruit grabbing device as claimed in claim 6, characterized in that the longest cross-sectional width of the connecting rod (14) is less than
The longest cross-sectional width of position-limiting tube internal cavity, the longest that the minimum cross-section width of position-limiting tube internal cavity is less than connecting rod (14) are horizontal
Cross-sectional width.
8. fruit grabbing device as claimed in claims 6 or 7, characterized in that finite place piece is arranged in the sleeve (111)
(1111), the end of position-limiting tube and locating part (1111) contact, the frictional force between position-limiting tube and locating part (1111) are greater than silk
The frictional force of the threaded connection of bar (8) and screw rod mounting groove.
9. such as the described in any item fruit grabbing devices of claim 3-7, characterized in that the position-limiting tube includes that internal sleeve is equipped with
The intermediate tube (13) of connecting rod (14) and the casing (12) for being set with intermediate tube (13), intermediate tube (13) and casing (12) are fixed to be connected
It connects.
10. a kind of picker, characterized in that including the described in any item fruit grabbing devices of such as claim 3-9, further include
The mounting base (11) of fixed motor (5), is fixed on mounting base (11) and grabs bar (4) and bracket (15), bracket is arranged on (15)
There is the bearing net for accepting fruit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820921825.0U CN208300345U (en) | 2018-06-14 | 2018-06-14 | One kind firmly grasping part, fruit grabbing device and picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820921825.0U CN208300345U (en) | 2018-06-14 | 2018-06-14 | One kind firmly grasping part, fruit grabbing device and picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208300345U true CN208300345U (en) | 2019-01-01 |
Family
ID=64707405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820921825.0U Expired - Fee Related CN208300345U (en) | 2018-06-14 | 2018-06-14 | One kind firmly grasping part, fruit grabbing device and picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208300345U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901357A (en) * | 2018-06-14 | 2018-11-30 | 王昊男 | A kind of fruit grabbing device, picker and picking method |
| CN109548488A (en) * | 2019-01-17 | 2019-04-02 | 中南林业科技大学 | Torsional mode nuts picking machinery hand and nuts picking method |
-
2018
- 2018-06-14 CN CN201820921825.0U patent/CN208300345U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901357A (en) * | 2018-06-14 | 2018-11-30 | 王昊男 | A kind of fruit grabbing device, picker and picking method |
| CN108901357B (en) * | 2018-06-14 | 2024-01-23 | 王昊男 | Fruit grabbing device, picking device and picking method |
| CN109548488A (en) * | 2019-01-17 | 2019-04-02 | 中南林业科技大学 | Torsional mode nuts picking machinery hand and nuts picking method |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190101 Termination date: 20190614 |
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| CF01 | Termination of patent right due to non-payment of annual fee |