CN208609430U - A kind of variable-pitch auger picker and apple, pears, pomegranate device for picking - Google Patents
A kind of variable-pitch auger picker and apple, pears, pomegranate device for picking Download PDFInfo
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- CN208609430U CN208609430U CN201820792486.0U CN201820792486U CN208609430U CN 208609430 U CN208609430 U CN 208609430U CN 201820792486 U CN201820792486 U CN 201820792486U CN 208609430 U CN208609430 U CN 208609430U
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Abstract
The utility model belongs to the picked technology field of water fruits and vegetables, hops or similar crop, disclose a kind of variable-pitch auger picker and apple, pears, pomegranate device for picking, it include: transmission device, for providing pulling force and torque for two-freedom pawl fruit-picking；Resetting apparatus makes two-freedom pawl move down and realize and automatically resets；Executive device, for grabbing and fixing fruit.The utility model makes carpopodium tension stress and shear stress simultaneously, it is easier to be detached from carpopodium and branch；Two-freedom pawl preferably firmly grasps different size of fruit, reduces degree of falling and damage rate of the fruit in picking process.The different fruit of height can be picked, while also avoiding the risk that orchard worker carries out high altitude operation on ladder；Weight is lighter, and small volume, operation is simple；Cost is lower, and price and picking fruit device price current in the market are suitable；Deft design, it is easily disassembled, if there is component wear or damage, can be easy to be replaced.
Description
Technical field
The utility model belongs to water fruits and vegetables, the picked technology field of hops or similar crop more particularly to a kind of change
Pitch auger picker and apple, pears, pomegranate device for picking.
Background technique
Currently, the prior art commonly used in the trade is such thatThree-pawl type picker is that first fruit is firmly grasped, then directly
It drags from branch, carpopodium is only by pulling force in this process, so fruit is not easy to separate with fruit tree, while pawl is downward
What movement needed two hands of orchard worker while movement to complete, so this picker can expend many strength of orchard worker；It is scissor
Picker be directly with scissors cut carpopodium complete picking, but due to scissors apart from orchard worker farther out, so orchard worker operation essence
Degree will reduce, and scissors is easily made to damage fruit；Full-automatic device autonomous classification is picked, although largely reducing
Artificial work, but since presently relevant technology is also immature, so cost of manufacture is high, price orchard worker can't receive.Separately
Outside, the scarce capacity of full-automatic device identification fruit maturation, therefore immature fruit can be taken.Variable-pitch auger picking dress
It sets after firmly grasping fruit by three-jaw, the Softening that the side Bian Xuanzhuan moves down, so that carpopodium had both been born pulling force in picking process and hold
By torque, so carpopodium is easily separated with fruit tree.And moving down for pawl is completed by a hand, so being realized with this device
It picks relatively labor-saving.
In conclusion problem of the existing technology is:
(1) three-pawl type picker is that fruit directly is dragged from branch, and orchard worker is made to be easy to produce fatigue.
(2) operation precision of scissor picker is low, is easy fruit of damaging.
(3) full-automatic device cost of manufacture is high, and price orchard worker cannot receive.
(4) full application of brake device can take a large amount of immature fruit, cause economic loss.
Solve the difficulty and meaning of above-mentioned technical problem:
A pawl how is designed, allows to realize fruit not of uniform size that not damaging fruit by pressure promptly is this
The difficult point that utility model faces；
The speed of pulling force and picking needed for the selection of thread parameter directly affects orchard worker's picking, i.e. influence picking efficiency,
So another difficult point that the selection of thread parameter faces the utility model.
After the utility model solves two above difficult point, variable-pitch auger device for picking is by can be to not of uniform size
Fruit can realize the picking of zero-pressure wound, and picking efficiency will also be greatly improved.
Summary of the invention
In view of the problems of the existing technology, the utility model provides a kind of variable-pitch auger picker and spiral
Device for picking.
The utility model is realized in this way a kind of variable-pitch auger picker, the variable-pitch auger picker
Include:
Transmission device, for providing pulling force and torque for two-freedom pawl fruit-picking；
Resetting apparatus makes two-freedom pawl move down and realize and automatically resets；
Executive device, for grabbing and fixing fruit.
Further, the resetting apparatus includes: reset spring, aluminium bar；
Reset spring is socketed in aluminium bar.
The another object of the utility model, which is to provide, a kind of realizes spirally adopting for the variable-pitch auger picker
Device is plucked, the spiral device for picking includes: hand handle, support rod, connecting rod, reset spring, aluminium bar, bearing holder (housing, cover), rolling bearing, pawl
Disk, two-freedom pawl, spiral pieces, helical orbit；
The top of hand handle is threadedly coupled with support rod, and support rod and connecting rod are socketed, and connecting rod and aluminium bar are socketed, aluminium bar with
Bearing holder (housing, cover) socket, the top of bearing holder (housing, cover) are embedded with rolling bearing, and two-freedom pawl and bearing holder (housing, cover), pawl disk rivet；Reseting spring sleeve
In aluminium bar.
Further, the helical orbit is applied in the inside of support rod, connecting rod, aluminium bar, bearing holder (housing, cover), rolling bearing；Spiral shell
The top of rotation track welds together with pawl disk；
The spiral pieces socket is on spiral tracks.
The another object of the utility model is to provide a kind of apple-picking for realizing the variable-pitch auger picker
Device, the apple picking device include: hand handle, support rod, connecting rod, reset spring, aluminium bar, bearing holder (housing, cover), rolling bearing, pawl disk,
Two-freedom pawl, spiral pieces, helical orbit；
The top of hand handle is threadedly coupled with support rod, and support rod and connecting rod are socketed, and connecting rod and aluminium bar are socketed, aluminium bar with
Bearing holder (housing, cover) socket, the top of bearing holder (housing, cover) are embedded with rolling bearing, and two-freedom pawl and bearing holder (housing, cover), pawl disk rivet；Reseting spring sleeve
In aluminium bar.
Further, the helical orbit is applied in the inside of support rod, connecting rod, aluminium bar, bearing holder (housing, cover), rolling bearing；Spiral shell
The top of rotation track welds together with pawl disk；
The spiral pieces socket is on spiral tracks.
The another object of the utility model is to provide a kind of pears device for picking for realizing the variable-pitch auger picker,
The pears device for picking includes: hand handle, support rod, connecting rod, reset spring, aluminium bar, bearing holder (housing, cover), rolling bearing, pawl disk, two freedom
Spend pawl, spiral pieces, helical orbit；
The top of hand handle is threadedly coupled with support rod, and support rod and connecting rod are socketed, and connecting rod and aluminium bar are socketed, aluminium bar with
Bearing holder (housing, cover) socket, the top of bearing holder (housing, cover) are embedded with rolling bearing, and two-freedom pawl and bearing holder (housing, cover), pawl disk rivet；Reseting spring sleeve
In aluminium bar.
Further, the helical orbit is applied in the inside of support rod, connecting rod, aluminium bar, bearing holder (housing, cover), rolling bearing；Spiral shell
The top of rotation track welds together with pawl disk；
The spiral pieces socket is on spiral tracks.
The another object of the utility model is to provide a kind of pomegranate picking for realizing the variable-pitch auger picker
Device, the pomegranate device for picking include: hand handle, support rod, connecting rod, reset spring, aluminium bar, bearing holder (housing, cover), rolling bearing, pawl disk,
Two-freedom pawl, spiral pieces, helical orbit；
The top of hand handle is threadedly coupled with support rod, and support rod and connecting rod are socketed, and connecting rod and aluminium bar are socketed, aluminium bar with
Bearing holder (housing, cover) socket, the top of bearing holder (housing, cover) are embedded with rolling bearing, and two-freedom pawl and bearing holder (housing, cover), pawl disk rivet；Reseting spring sleeve
In aluminium bar.
Further, the helical orbit is applied in the inside of support rod, connecting rod, aluminium bar, bearing holder (housing, cover), rolling bearing；Spiral shell
The top of rotation track welds together with pawl disk；
The spiral pieces socket is on spiral tracks.
In conclusion the advantages of the utility model and good effect are as follows:Based on improved screw mechanism, and two from
The picking of fruit is realized by degree pawl and reset spring.Softening makes carpopodium tension stress or shear stress at present, this is practical new
The Softening of type can make carpopodium tension stress and shear stress simultaneously, it is easier to be detached from carpopodium and branch.Two-freedom pawl can
Preferably to firmly grasp different size of fruit, degree of falling and damage rate of the fruit in picking process are reduced.Instead of ladder
Function can pick the different fruit of height, while also avoid the risk that orchard worker carries out high altitude operation on ladder；Weight ratio
Relatively light, small volume, operation is simple；Cost is lower, and price and picking fruit device price current in the market are suitable；If
Meter is exquisite, easily disassembled, if there is component wear or damage, can be easy to be replaced.
The comfort level when efficiency and orchard worker's use process of fruit-picking can be improved in the utility model, and essence of doing manual work
Ingeniously, it is readily disassembled, it is cheap；Softening makes carpopodium tension stress and shear stress effect simultaneously, so carpopodium is easy and fruit
Previous rope control has been abandoned in the control of tree separation, goes control two-freedom pawl, spiral pieces conduct using spiral pieces mechanism
Driving link, crank is as executive item, the accurate angular displacement and displacement of the lines for controlling two-freedom pawl；Two-freedom pawl is closed one more
Pawl is saved, for fruit not of uniform size, can realize preferable promptly movement；Transmission device is improved worm drive, spiral shell
Rotation cylinder, that is, nut is fixed, and movable slider, that is, screw rod rotation and movement make inoperative stroke not occur to turn between the two when resetting
It is dynamic, the abrasion of spiral-tube screw thread is on the one hand reduced, on the other hand also allows fruit is steadily non-rotary to fall into fruit basket.
Detailed description of the invention
Fig. 1 is spiral device for picking structural schematic diagram provided by the embodiment of the utility model；
Fig. 2 is two-freedom pawl structural schematic diagram provided by the embodiment of the utility model；
Fig. 3 is the structural schematic diagram of spiral pieces provided by the embodiment of the utility model；
In figure: 1, hand handle；2, support rod；3, connecting rod；4, reset spring；5, aluminium bar；6, bearing holder (housing, cover)；7, rolling bearing；
8, pawl disk；9, two-freedom pawl；10, spiral pieces；11, helical orbit.
Specific embodiment
For the invention, features and effects that can further appreciate that the utility model, the following examples are hereby given, and cooperates
Detailed description are as follows for attached drawing.
The utility model realizes the picking of fruit using special rotational structure and two-freedom pawl and reset spring；
It solves existing picker fruit and easily falls the technical problem high with existing full-automatic device cost of manufacture.
The application principle of the utility model is explained in detail with reference to the accompanying drawing.
Variable-pitch auger picker provided by the embodiment of the utility model includes:
Transmission device, for providing pulling force and torque for two-freedom pawl fruit-picking.
Resetting apparatus is made of reset spring and aluminium bar, is moved down two-freedom pawl smoothly and is realized certainly
It is dynamic to reset.
Executive device, the size for grabbing and fixing fruit and fruit match, avoid fruit due to size not
It is same to be extruded damage.
As shown in Figure 1, spiral device for picking provided by the embodiment of the utility model includes: hand handle 1, support rod 2, connection
Bar 3, reset spring 4, aluminium bar 5, bearing holder (housing, cover) 6, rolling bearing 7, pawl disk 8, two-freedom pawl 9, spiral pieces 10, helical orbit
11。
The top of hand handle 1 is threadedly coupled with support rod 2, and support rod 2 and connecting rod 3 are socketed, connecting rod 3 with 5 sets of aluminium bar
It connects, aluminium bar 5 and bearing holder (housing, cover) 6 are socketed, and the top of bearing holder (housing, cover) 6 is embedded with rolling bearing 7, two-freedom pawl 9 and bearing holder (housing, cover) 6, pawl disk 8
Riveting；4 sets of reset spring in aluminium bar 5, helical orbit 11 be applied in support rod 2, connecting rod 3, aluminium bar 5, bearing holder (housing, cover) 6, rotation
The inside of bearing 7, top and the pawl disk 8 of helical orbit 11 weld together；Spiral pieces 10 are socketed on helical orbit 11.
As shown in Fig. 2, two-freedom pawl 9 provided by the utility model is riveted with pawl disk 8, pawl disk 8 and helical orbit 11 are welded
It connects, helical orbit 11 passes through rolling bearing 7.When pawl disk 8 moves downward, held by the four-bar mechanism drive of two-freedom pawl 9
Fruit pawl is gathered in be achieved the purpose that clamp fruit.The fruit picking device under the action of axial-rotation power that spiral pieces 13 provide simultaneously
Fruit pawl integral-rotation is held on three, head, reduces the process that fruit is separated with fruit tree as far as possible by way of pulling and rotating twisting
The middle damage that may be subject to.Two-freedom pawl 9 keeps the process for clamping fruit strong using bionical more finger joint structures, while more finger joints
Mechanism is conducive to adapt to various sizes of fruit, expands the use scope of fruit picking device, improves product reliability.
As shown in figure 3, spiral pieces 10 are improved thread transmission, cover in support rod 2, it can largely
Reduce the occupied space of product, and keeps transmission mechanism most simplified；Drive rotary slider in guide rail when connecting rod 3 moves downward
Interior movement, the at this time movement of spiral pieces 10 are that pawl disk 8 provides downward pulling force and axial-rotation power.
Entire transmission process is divided into two steps:
The first step is crawl process, by the way that the length of helical orbit 11 and the positional relationship of pawl disk 8 is rationally arranged, makes to hold two
Freedom degree pawl 9 can complete the clamping to fruit in the at most mobile 10mm of pawl disk 8, and hold fruit pawl and do not rotate:
Second step is disengaging process, makes pawl disk by the way that 10 entry position of spiral pieces and 11 screw pitch of helical orbit is rationally arranged
8 move down at the appropriate speed and hold two-freedom pawl 9 integral-rotation reach do not injure fruit under the premise of rapid picking
The purpose of fruit.
For reset spring 4 when picking apple, connecting rod 3 pushes strength push rod to move down pawl disk 8 while compressed spring.
After hand handle 1 sheds pulling force, playback is resetted under the effect of reset spring 4.
When the utility model is used, a holding is stopped 1, as the support of device for picking, another hand holds connection
Bar 3, first by the two-freedom pawl 9 on device for picking top close to the fruit that will win, with hand by connecting rod 3 and support rod 2 to
It is pushed forward, reset spring 4 compresses, and two-freedom pawl 9 opens under the action of pawl disk 8 and helical orbit 11, and two-freedom pawl 9 is complete
Fruit is wrapped up, connecting rod 3 is unclamped, under the action of reset spring 4, connecting rod 3 and support rod 2 reset, promptly in 8 He of pawl disk
It is closed under the action of helical orbit 11, holds fruit；Spiral pieces 10 are closed simultaneously, drive spiral shell under the action of reset spring 4
It revolves track 11 to rotate, and then is rotated with pawl disk 8 and two-freedom pawl 9, it will be under fruit；Direction is controlled, with hand by connecting rod
3 and support rod 2 to being pushed forward, reset spring 4 compresses, and two-freedom pawl 9 opens under the action of pawl disk 8 and helical orbit 11, will
Fruit is put into designated position.
Application principle of the invention is further described below with reference to design principle.
1, whole design scheme
The utility model is from product hands-on background and overall beautiful angle, based on fruit average-size,
Height and fruit tree actual height further according to user set its whole long 1.5m, and integral material uses stainless steel, aluminium block and PLA
Material.Running part uses improved screw mechanism, provides pulling force and torque in pawl disk slide downward for three-jaw fruit-picking,
Largely make product gently and small under the premise of meeting functional requirement.
2, localized design solutions claw type size is because the approximate sphere of the shape of fruit, ought planar be divided
When analysis, it can be equivalent to a circle, since three-jaw has axial symmetry, analyzed i.e. so need to only take out a pawl
Can, one of pawl is reduced to rod piece 1, rod piece 2, rod piece 3 and rod piece 4.Because most of diameter of fruit concentrates on 70mm-
100mm, as soon as so only need to design a pawl can respectively firmly grasp 70mm and 100mm apple, can almost firmly grasp any apple
Fruit.In order to make three-jaw to apple of different sizes can realize it is preferable promptly, the utility model is by traditional single-degree-of-freedom pawl
Innovation becomes the pawl with two-freedom, joined torsional spring between rod piece 3 and rod piece 4, therefore opposite can turn between them
It is dynamic.The fruit that diameter is 70mm is analyzed first, since fruit is smaller, so when three-jaw firmly grasps fruit, rod piece 3 and bar
Angle between part 4 will keep initial value.Fruit is contacted with rod piece 1 and rod piece 3 or rod piece 4, i.e., the top of guarantee fruit is under
Side is all by the effect of power, so pawl can firmly grasp fruit at this time.To diameter be 100mm apple analyze, when fruit compared with
It when big, when pawl just starts to contact fruit, will relatively rotate between rod piece 3 and rod piece 4, final realize firmly grasps fruit
Movement.The upper part of fruit is contacted with rod piece 1, has exceeded the position where rod piece 3 and rod piece 4 below fruit, therefore fruit
Lower section is certain to be in contact with rod piece 3 or rod piece 4 in practical situations.Thus, it can be known that the size of each rod piece complies fully with picking
Requirement.
Torsional spring coefficient of elasticity
Because itself has position-limiting action after rod piece connection, when not relatively rotating between rod piece 3 and rod piece 4,
When claw type is finally firmly grasped, the angle between rod piece 3 and rod piece 4 is b1 (b1=90 °), but in order to allow pawl can be lesser fruit
Promptly, make to generate biggish frictional force between pawl and fruit to prevent from skidding, rod piece 3 must rotate a2 (a2=relative to rod piece 4
23°)。
B1+a2=90 ° at this time, the utility model by power of the fruit at this time to pawl be equivalent to one act on bar 3 one
A resultant force FPawl。
It carries out experiment and surveys the coefficient of elasticity that can measure torsional spring
For big fruit, torsional spring generates when pawl firmly grasps big fruit power, which is greater than, to be generated when acting on fruitlet
Power, therefore slipping phenomenon will not occur between whose fruit and pawl, it can smoothly be removed.
Compressed spring coefficient of elasticity
For pawl from original state to promptly state, amount of spring compression Δ x=200mm is constant.Therefore when pawl firmly grasps flood
When fruit, power suffered by spring is larger, i.e., coefficient of elasticity is larger.Therefore fruitlet is also able to satisfy according to the coefficient of elasticity that big fruit designs
Requirement to promptly degree.
Spiral-tube screw pitch
Statistics knows each carpopodium in the case where bearing certain pulling force by inquiry, and number is averagely enclosed required for being twisted off
N=2 circle, that is, design the first requirement of spiral-tube screw pitch.
In order to improve picking rate, the acceleration a that pawl moves downyA should be mety>=1m/s, i.e. the of design spiral-tube screw pitch
Two requirements.
Spiral-tube is divided into two parts, front portion length l1=110mm, rotating cycle n of the pawl in this section1=2.5 circles, it is latter
Partial-length l2=70mm, pawl are not required in the rotating cycle of this section.
Therefore pawl may be implemented first more circle number is rotated in short stroke, after in long stroke rapid backward function.
3, theoretical calculation
Since part processing precision is not high and installation error, so there is friction inside device, in order to overcome friction, make pawl
Fruit can be firmly grasped, the utility model takes the elasticity values K=1143N/m of compressed spring.
Then the utility model carries out static analysis and strength check to single unit system.From final result it is found that the aluminium of pawl
The intensity of bar meets picking and requires.
The above is only the preferred embodiment to the utility model, is not made in any form to the utility model
Limitation, it is all according to the technical essence of the utility model any simple modification made to the above embodiment, equivalent variations with
Modification, is all within the scope of the technical scheme of the utility model.
Claims (7)
1. a kind of variable-pitch auger picker, which is characterized in that the variable-pitch auger picker includes:
Transmission device, for providing pulling force and torque for two-freedom pawl fruit-picking；
Resetting apparatus makes two-freedom pawl move down and realize and automatically resets；
Executive device, for grabbing and fixing fruit；
The transmission device includes hand handle, support rod, connecting rod；The top of hand handle is threadedly coupled with support rod, support rod and company
Extension bar socket；
The resetting apparatus includes: reset spring, aluminium bar；Reset spring is socketed in aluminium bar；
The executive device includes: bearing holder (housing, cover), rolling bearing, pawl disk, two-freedom pawl, spiral pieces, helical orbit；Each structure
Between position and connection relationship are as follows: aluminium bar and bearing holder (housing, cover) are socketed, and the top of bearing holder (housing, cover) is embedded with rolling bearing, two-freedom
Pawl and bearing holder (housing, cover), pawl disk rivet；The spiral pieces socket is on spiral tracks；
The helical orbit is applied in the inside of support rod, connecting rod, aluminium bar, bearing holder (housing, cover), rolling bearing；The top of helical orbit
Weld together with pawl disk；The spiral pieces socket is on spiral tracks.
2. a kind of apple picking device for realizing variable-pitch auger picker described in claim 1, which is characterized in that the apple
Device for picking include: hand handle, support rod, connecting rod, reset spring, aluminium bar, bearing holder (housing, cover), rolling bearing, pawl disk, two-freedom pawl,
Spiral pieces, helical orbit；
The top of hand handle is threadedly coupled with support rod, and support rod and connecting rod are socketed, and connecting rod and aluminium bar are socketed, aluminium bar and bearing
Set socket, the top of bearing holder (housing, cover) are embedded with rolling bearing, and two-freedom pawl and bearing holder (housing, cover), pawl disk rivet；Reseting spring sleeve is in aluminium
On bar.
3. apple picking device as claimed in claim 2, which is characterized in that the helical orbit be applied in support rod, connecting rod,
The inside of aluminium bar, bearing holder (housing, cover), rolling bearing；The top of helical orbit welds together with pawl disk；
The spiral pieces socket is on spiral tracks.
4. a kind of pears device for picking for realizing variable-pitch auger picker described in claim 1, which is characterized in that the pears picking
Device includes: hand handle, support rod, connecting rod, reset spring, aluminium bar, bearing holder (housing, cover), rolling bearing, pawl disk, two-freedom pawl, spiral
Sliding block, helical orbit；
The top of hand handle is threadedly coupled with support rod, and support rod and connecting rod are socketed, and connecting rod and aluminium bar are socketed, aluminium bar and bearing
Set socket, the top of bearing holder (housing, cover) are embedded with rolling bearing, and two-freedom pawl and bearing holder (housing, cover), pawl disk rivet；Reseting spring sleeve is in aluminium
On bar.
5. pears device for picking as claimed in claim 4, which is characterized in that the helical orbit is applied in support rod, connecting rod, aluminium
The inside of bar, bearing holder (housing, cover), rolling bearing；The top of helical orbit welds together with pawl disk；
The spiral pieces socket is on spiral tracks.
6. a kind of pomegranate device for picking for realizing variable-pitch auger picker described in claim 1, which is characterized in that the pomegranate
Device for picking include: hand handle, support rod, connecting rod, reset spring, aluminium bar, bearing holder (housing, cover), rolling bearing, pawl disk, two-freedom pawl,
Spiral pieces, helical orbit；
The top of hand handle is threadedly coupled with support rod, and support rod and connecting rod are socketed, and connecting rod and aluminium bar are socketed, aluminium bar and bearing
Set socket, the top of bearing holder (housing, cover) are embedded with rolling bearing, and two-freedom pawl and bearing holder (housing, cover), pawl disk rivet；Reseting spring sleeve is in aluminium
On bar.
7. pomegranate device for picking as claimed in claim 6, which is characterized in that the helical orbit be applied in support rod, connecting rod,
The inside of aluminium bar, bearing holder (housing, cover), rolling bearing；The top of helical orbit welds together with pawl disk；
The spiral pieces socket is on spiral tracks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820792486.0U CN208609430U (en) | 2018-05-25 | 2018-05-25 | A kind of variable-pitch auger picker and apple, pears, pomegranate device for picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820792486.0U CN208609430U (en) | 2018-05-25 | 2018-05-25 | A kind of variable-pitch auger picker and apple, pears, pomegranate device for picking |
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| CN208609430U true CN208609430U (en) | 2019-03-19 |
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ID=65701303
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111052937A (en) * | 2019-12-31 | 2020-04-24 | 张群 | Movable lifting type fruit picking equipment capable of adapting to multiple terrains |
| CN112400473A (en) * | 2020-11-28 | 2021-02-26 | 河北工程大学 | Mechanically adjustable fruit picking ring |
| CN114711025A (en) * | 2022-05-16 | 2022-07-08 | 长安大学 | Bionic backswing type fruit picking device |
| CN117686496A (en) * | 2024-01-19 | 2024-03-12 | 中国国检测试控股集团山东有限公司 | Portable garnet infrared identification detection device and detection method |
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2018
- 2018-05-25 CN CN201820792486.0U patent/CN208609430U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111052937A (en) * | 2019-12-31 | 2020-04-24 | 张群 | Movable lifting type fruit picking equipment capable of adapting to multiple terrains |
| CN112400473A (en) * | 2020-11-28 | 2021-02-26 | 河北工程大学 | Mechanically adjustable fruit picking ring |
| CN112400473B (en) * | 2020-11-28 | 2021-08-17 | 河北工程大学 | Mechanically adjustable fruit picking ring |
| CN114711025A (en) * | 2022-05-16 | 2022-07-08 | 长安大学 | Bionic backswing type fruit picking device |
| CN117686496A (en) * | 2024-01-19 | 2024-03-12 | 中国国检测试控股集团山东有限公司 | Portable garnet infrared identification detection device and detection method |
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