CN106416623A - Vehicle-mounted vibration excitation type picking arm for fresh soapberry fruit - Google Patents
Vehicle-mounted vibration excitation type picking arm for fresh soapberry fruit Download PDFInfo
- Publication number
- CN106416623A CN106416623A CN201610897518.9A CN201610897518A CN106416623A CN 106416623 A CN106416623 A CN 106416623A CN 201610897518 A CN201610897518 A CN 201610897518A CN 106416623 A CN106416623 A CN 106416623A
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- China
- Prior art keywords
- push rod
- casket
- vehicle
- fructus sapindi
- sapindi mukouossi
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to the technical field of forest-fruit picking, and discloses a vehicle-mounted vibration excitation type picking arm for fresh soapberry fruit. The picking arm for fresh soapberry fruit comprises a telescoping mechanism, a push-rod latching mechanism, a vibration excitation mechanism and a clamping mechanism, wherein the telescoping mechanism is able to conduct stretching and shrinking so as to drive the clamping mechanism to make contact with a soapberry fruit tree and control the clamping mechanism to conduct locking and clamping on a soapberry tree trunk; the push-rod latching mechanism conducts restrictions on the telescoping mechanism, that is, controls the stretching and the shrinking of the telescoping mechanism; the vibration excitation mechanism receives power from the outside and drives the telescoping mechanism and the clamping mechanism to conduct periodic vibration excitation movements so as to drive the soapberry fruit tree to vibrate and complete fresh fruit picking work. The vehicle-mounted vibration excitation type picking arm for fresh soapberry fruit is simple in structure, reliable in function and easy to operate and achieve, achieves the outbreak from manual picking of the soapberry fruit to mechanization, improves production efficiency and lowers the production cost at the same time, and avoids the damages caused to the fruit tree.
Description
Technical field
The present invention relates to woods fruit picked technology field, in particular, more particularly to a kind of vehicle-mounted excitation type Fructus Sapindi Mukouossi is fresh
Fruit Picker arm.
Background technology
In the today for pursuing green living, natural plant resourceses are also gradually liked by masses as the source of the articles for daily use
Wear, therefore driven the development of woods fruit process technology.The China's economic seed of forest is planted industry and just quickly sends out in provinces such as Fujian, Zhejiang
Exhibition, the formation of industrial chain also causes people to put forward higher requirement related process technology equipment to development.
Fructus Sapindi Mukouossi is a kind of domestic common deciduous tree, is precious from head to foot.Its fruit is not only the former material for preparing beads
Material, and in the exploitation of the industrial, biomass energy of life products, be owned by the research of medical supplies outstanding latent
Can, it is a kind of outstanding biomass raw material.But at present on Fructus Sapindi Mukouossi fruit is plucked, also both hands are passed through using artificial harvesting i.e.
Rock the Softening that mature fruit is come off by trunk.So not only efficiency is low, time and effort consuming, and economic benefit is also bad.
For complying with the development trend of forestry modernization, need to address these deficiencies that plucks in Fructus Sapindi Mukouossi fruit.
Content of the invention
Present invention aims to the technical problem that prior art is present, provides a kind of vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh
Fruit Picker arm, it is possible to increase pluck the efficiency of Fructus Sapindi Mukouossi fruit, and time saving and energy saving, increase economic benefit.
In order to solve posed problems above, the technical solution used in the present invention is：
A kind of vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm, including telescoping mechanism, push rod lockable mechanism, exciting agency and clamping machine
Structure；
The telescoping mechanism can be stretched, and drive clamping device contact Fructus Sapindi Mukouossi fruit tree, and control clamping device no to be suffered from
Subtree is dry to carry out locking clamping；The push rod lockable mechanism enters row constraint to telescoping mechanism, that is, control which to stretch；The vibration exciter
Structure is received from outside power, and drives telescoping mechanism and clamping device to carry out periodicity shock motion, and then drive is no suffered from
Sub- fruit tree vibration completes fresh fruit harvesting work.
The telescoping mechanism includes push rod, push rod case lid and push rod casing, and wherein push rod case lid is installed with push rod casing
Together, and the outer surface of push rod is sleeved on.
The push rod lockable mechanism includes to push up casket, left casket, right casket and base, and wherein floor installation is on push rod casing, left
Casket and right casket are then fixed on the outer surface that the both sides of base are placed in push rod；The end of the top casket is hinged on the upper end of left casket
Together, the groove for coordinating with right casket top is machined with its side, is additionally provided with handle on the side relative with groove.
The exciting agency includes crank, alignment pin, crank connecting link case and connecting rod, and wherein crank is arranged on crank connecting link case
Interior, crank connecting link case forms closed cavity with Box Cover and is fixed on the mountain bike of outside, and crank is connected with by alignment pin
Connecting rod, the end of connecting rod is connected with push rod casing.
The slide rail for coordinating with push rod is machined with the Box Cover.
The clamping device includes fixed seat, movable block and fixed block, wherein movable block be hinged in fixed seat and with push away
Bar connects, and fixed block is arranged in fixed seat and corresponding with the position of movable block.
The first flexible glue is provided with the fixed block, is provided with the second flexible glue on the movable block.
The lower section of the fixed seat is provided with self-locking case, is provided with self-locking spring piece in the self-locking case, and both are arranged on
The outer surface of push rod, the outer surface of push rod is also machined with the V-arrangement draw-in groove for coordinating with self-locking spring piece.
Compared with prior art, the beneficial effects of the present invention is：
（1）The present invention realizes clamping Fructus Sapindi Mukouossi trunk by telescoping mechanism, push rod lockable mechanism and clamping device, and leads to
Cross exciting agency and carry out exciting and realize harvesting to Fructus Sapindi Mukouossi fruit, whole device simple structure, function be reliable, easy to operation and
Realizing, and achieve the breakthrough that mechanization is manually plucked from Fructus Sapindi Mukouossi fresh fruit, reduces while production efficiency is improve
Personnel cost, it also avoid the damage produced by fruit tree, improves indirectly the product fruit rate of Fructus Sapindi Mukouossi；In addition Picker arm is arranged on mountain
On ground car, i.e. the Picker arm of vehicular is more suitable for this mountain topography of fruit-bearing forest, alleviates the hand-held burden of staff.
（2）The push rod lockable mechanism of the present invention is using the operation principle for being similar to " brake ", and installs on left casket and right casket
Rubber friction disc, by pushing up opening and conjunction for casket, left casket and right casket is carried out friction lock.During relaxed state, that is, top casket is lifted
When, left casket and right casket do not produce pressure, and at this moment push rod just freely can stretch；And lockup state, casket pressure will be pushed up by handle
Under, in the card entry slot of right casket top, the rubber friction disc on left and right casket and casket compresses push rod, limits the shake of push rod, just permissible
Preferably clamping device is transferred vibrations to, harvesting work is carried out, its simple structure, function reliability.
（3）The clamping device of the present invention is the device for being capable of folding as " robot arm ", promotes movable block to tree by push rod
Dry clamped, complete vibration and pluck work, so pass through freely to clamp and disclosure satisfy that the fruit tree to different-diameter is plucked
Work, thoroughly solve manually pluck this loaded down with trivial details, the drawbacks of take time and effort；And in order to prevent vibration from making Fructus Sapindi Mukouossi fruit tree
Become to damage, on fixed block and movable block, rubber is installed, can play a protective role.
（4）Self-locking case is additionally provided with the clamping device of the present invention, and by self-locking spring piece in self-locking case, is passed through
Arching and the V-arrangement draw-in groove for coordinating on push rod that resets for self-locking spring piece, realizes locking push rod.When clamping work is completed,
The presence of trunk when push rod is reclaimed, is relied on, by movable block toward back pressure, push rod is pushed back home position, and makes the draw-in groove on push rod
Return to self-locking spring piece position and self-locking state is come back to, its simple structure.
Description of the drawings
Fig. 1 is the overall axonometric drawing of Fructus Sapindi Mukouossi fresh fruit Picker arm of the present invention.
Fig. 2 is the sectional view of telescoping mechanism of the present invention.
Fig. 3 is the partial enlarged drawing of self-locking case of the present invention.
Fig. 4 is the locking axonometric drawing of push rod lockable mechanism of the present invention.
Fig. 5 is the folding axonometric drawing of push rod lockable mechanism of the present invention.
Fig. 6 is the axonometric drawing of exciting agency of the present invention.
Fig. 7 is the folding axonometric drawing of clamping device of the present invention.
Fig. 8 is the locking axonometric drawing of clamping device of the present invention.
Fig. 9 is the scheme of installation of the vehicle-mounted Fructus Sapindi Mukouossi fresh fruit Picker arm of the present invention.
Description of reference numerals：1- mountain bike, 2- Picker arm, 3- telescoping mechanism, 4- push rod lockable mechanism, 5- exciting agency,
6- clamping device, 7- top casket, the left casket of 8-, the right casket of 9-, 10- base, 11- crank, 12- alignment pin, 13- crank connecting link case, 14- are even
Bar, the first flexible glue of 15-, 16- fixed seat, the second flexible glue of 17-, 18- movable block, 19- self-locking case, 20- self-locking spring piece, 21- are solid
Determine block, 22- push rod, 23- push rod case lid, 24- push rod casing.
Specific embodiment
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing
Give presently preferred embodiments of the present invention.But, the present invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure of invention more thorough complete
Face.
Unless otherwise defined, all technology used herein and scientific terminology and the technology for belonging to technical field
The implication that personnel are generally understood that is identical.The term for being used in this manual is intended merely to describe the purpose of specific embodiment,
It is not intended to be the restriction present invention.
Refering to shown in Fig. 1, a kind of vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm that the present invention is provided, including telescoping mechanism 3,
Push rod lockable mechanism 4, exciting agency 5 and clamping device 6.
The telescoping mechanism 3 can be stretched, and drive clamping device 6 to contact Fructus Sapindi Mukouossi fruit tree, and control clamping device 6
Fructus Sapindi Mukouossi trunk is carried out locking clamping；The push rod lockable mechanism 4 enters row constraint to telescoping mechanism 3, that is, control which to stretch；Institute
State exciting agency 5 to receive from outside power, and drive telescoping mechanism 3 and clamping device 6 that periodicity shock motion is carried out, enter
And drive the vibration of Fructus Sapindi Mukouossi fruit tree to complete fresh fruit harvesting work.
As shown in Figure 2, the telescoping mechanism 3 includes push rod 22, push rod case lid 23 and push rod casing 24.With reference to man-machine
Body dimension's parameter in engineering, the stroke for taking push rod 22 is 500mm.The push rod case lid 23 is arranged on one with push rod casing 24
Rise, and be sleeved on the outer surface of push rod 22 so that push rod 22 can enter line slip in both inside, and then drive clamping device
6 complete to clamp work.Push rod casing 24 is linked together with exciting agency 5 again, on mountain bike 1.
In above-mentioned, the push rod 22 is the square elongated stick of 40X40mm using section, and length is 2500mm, its two ends
Extend outwardly to form stepped stem.The section of one offset bench is the rectangle of 40X30mm, and length is 200mm；Another offset
Bench is the rectangle of section 60X40mm, and length is 500mm.
As shown in figures 3 and 4, the push rod lockable mechanism 4 includes to push up casket 7, left casket 8, right casket 9 and base 10, wherein bottom
Seat 10 is by screw on push rod casing 24, and the both sides that left casket 8 and right casket 9 are then fixed on base 10 are placed in push rod 22
Outer surface.The end of the top casket 7 is hinged with the upper end of left casket 8, i.e., top casket 7 can be around both pin joint rotations
Carry out realizing the conversion of folding and locking state.The side of the top casket 7 is machined with the groove for coordinating with 9 top of right casket, and recessed
Groove is additionally provided with handle on relative side.When under the handle for pushing up casket 7 is pulled, 9 top of right casket enters solid in the groove of top casket 7
Fixed, the rubber on left casket 8 and right casket 9 carries out friction locking to push rod 22 so that vibration can preferably be delivered to clamping device 6
On, i.e., control push rod 22 to lock and lax by pushing up opening for casket 9 with closing, complete to limit push rod 22.
In above-mentioned, the height of the left casket 8 and right casket 9 is 60mm, and width is 10mm, to be higher by 40mm than 22 section of push rod,
And reserved top 7 installing space of casket.The overall length of top casket 7 is 170mm, handle diameter phi 10mm.
As shown in Figure 5, the exciting agency 5 adopts brace and connecting rod framework, it is considered to which the amplitude of Fructus Sapindi Mukouossi fruit tree is 10mm,
The length of crank 11 is taken as 5mm, has so both met the requirement of Fructus Sapindi Mukouossi fresh fruit harvesting rate, is also prevented from fruit tree is caused to damage, and
Because the length of 5mm means that between crank connecting link input shaft and crank connecting link pin, distance between axles is song 5mm, in order to meet requirement
Handle 11 is double-decker.The exciting agency 5 includes crank 11, alignment pin 12, crank connecting link case 13 and connecting rod 14, wherein crank
11 in crank connecting link case 13, and crank connecting link case 13 forms closed cavity with Box Cover and is fixed on the mountain bike 1 of outside
On, crank 11 is connected with connecting rod 14 by alignment pin 12, and the end of connecting rod 14 is connected with push rod casing 24.In outside gasoline engine
Under drive, the exciting agency 5 can do reciprocal vibration.
In above-mentioned, in the exciting agency 5, the length of crank 11 will affect the amplitude of exciting, and the height of the crank 11 is
60mm, width is 50mm, aperture φ 30mm；The length of connecting rod 14 is 550mm.In order to adapt to the work space of crank connecting link, bent
A length of 310mm of handle connecting rod case 13, a width of 240mm, a height of 180mm.The cunning for coordinating with push rod 22 is machined with the Box Cover
Rail, its length is 300mm, a width of 10mm, so both to have can guarantee that push rod 22 will not derail in vibration, can guarantee that vibration again
Directivity.
As illustrated in 6,7, the clamping device 6 is the core of fresh fruit Picker arm, including fixed seat 16, movable block
18 and fixed block 21, wherein movable block 18 is hinged in fixed seat 16 and is connected with push rod 22, and fixed block 21 is arranged on fixed seat
On 16 and corresponding with the position of movable block 18.The fixed block 21 and movable block 18 are used for positioning Fructus Sapindi Mukouossi fruit tree,
Movable block 18 is rotated under the promotion of telescoping mechanism 3, till being matched for clamping tightly fruit tree with fixed block 21.
In order to prevent in clamping, Fructus Sapindi Mukouossi fruit tree being caused to crush, the first flexible glue 15 on the fixed block 21, is provided with,
The second flexible glue 17 is provided with the movable block 18.
In order to ensure clamping device 6 when not being operated, will not be with respect to 22 free movement of push rod, the fixed seat 16
Lower section be provided with self-locking case 19.Self-locking spring piece 20 is provided with the self-locking case 19, both are installed in the appearance of push rod 22
Face, the outer surface of push rod 22 is also machined with the draw-in groove for coordinating with self-locking spring piece 20.When clamping device 6 works, fixed block 21
Contact fruit tree, because which cannot move, and push rod 22 moves on, and allows for the sky that self-locking spring piece 20 shrinks back self-locking case 19
Intracavity, completes work；When clamping device 6 does not work, self-locking spring piece 20 is stuck in the draw-in groove of 22 outer surface of push rod, that is, complete
Self-locking.
In above-mentioned, the self-locking case 19 is long 180mm, width 70mm, the semiclosed hollow cuboid of high 90mm, its internal sky
Chamber is 40 × 40mm.Stretch out on the self-locking spring piece 20 V-arrangement projection is formed, on push rod 22, be machined with V-arrangement draw-in groove（Refer to
Shown in Fig. 8）, so both coordinate more reliable and stable, V-arrangement projection section be isosceles triangle, its bottom be 40mm, a height of
10mm.
The work process of the present invention is as follows：
As shown in Figure 9, the Picker arm 2 is on mountain bike 1, and workman drives mountain bike 1 and works in forest zone.When selected fruit
When tree carries out harvesting work, workman promotes push rod 22 to move forward, and the top of push rod 22 promotes the movable block 18 of clamping device 6 to revolve
Turning, and coordinates fixed block 21 holding action to be completed to fruit tree.Then the handle on the top casket 7 of lower push-rod lockable mechanism 4 is pulled, makes top
Casket 7 locks push rod 22 with right casket 9, after completing a series of operation.Outside gasoline engine is started working, and drives crank 11 to carry out
Rotation, is moved by 12 drivening rod 14 of alignment pin, is then transferred vibrations on clamping device 6 by push rod 22, that is, drive
Fructus Sapindi Mukouossi fruit tree vibrates so that fruit abscission, so as to complete to pluck work.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, other any spirit without departing from the present invention and the change that is made under principle, modification, replacement, combine, simplify,
Equivalent substitute mode is all should be, is included within protection scope of the present invention.
Claims (8)
1. a kind of vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm, it is characterised in that：Including telescoping mechanism（3）, push rod lockable mechanism
（4）, exciting agency（5）And clamping device（6）；
The telescoping mechanism（3）Can be stretched, be driven clamping device（6）Contact Fructus Sapindi Mukouossi fruit tree, and control clamping device
（6）Fructus Sapindi Mukouossi trunk is carried out locking clamping；The push rod lockable mechanism（4）To telescoping mechanism（3）Enter row constraint, that is, control which
Flexible；The exciting agency（5）Receive from outside power, and drive telescoping mechanism（3）And clamping device（6）Enter line period
Property shock motion, and then drive the vibration of Fructus Sapindi Mukouossi fruit tree to complete fresh fruit harvesting work.
2. vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm according to claim 1, it is characterised in that：The telescoping mechanism
（3）Including push rod（22）, push rod case lid（23）And push rod casing（24）, wherein push rod case lid（23）With push rod casing（24）Peace
It is fitted together, and is sleeved on push rod（22）Outer surface.
3. vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm according to claim 2, it is characterised in that：The push rod locking machine
Structure（4）Including pushing up casket（7）, left casket（8）, right casket（9）And base（10）, wherein base（10）Installed in push rod casing（24）On,
Left casket（8）With right casket（9）Base is then fixed on（10）Both sides be placed in push rod（22）Outer surface；The top casket（7）End
Portion and left casket（8）Upper end hinged, be machined with its side and right casket（9）The groove that top coordinates is relative with groove
Side on be additionally provided with handle.
4. the vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm according to Claims 2 or 3, it is characterised in that：The vibration exciter
Structure（5）Including crank（11）, alignment pin（12）, crank connecting link case（13）And connecting rod（14）, wherein crank（11）Installed in crank
Connecting rod case（13）Interior, crank connecting link case（13）Closed cavity is formed with Box Cover and be fixed on the mountain bike of outside（1）On, crank
（11）By alignment pin（12）It is connected with connecting rod（14）, connecting rod（14）End and push rod casing（24）Connection.
5. vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm according to claim 4, it is characterised in that：Add on the Box Cover
Work has and push rod（22）The slide rail of cooperation.
6. vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm according to claim 4, it is characterised in that：The clamping device
（6）Including fixed seat（16）, movable block（18）And fixed block（21）, wherein movable block（18）It is hinged on fixed seat（16）Upper and with
Push rod（22）Connection, fixed block（21）It is arranged on fixed seat（16）Upper and and movable block（18）Position corresponding.
7. vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm according to claim 6, it is characterised in that：The fixed block（21）
On be provided with the first flexible glue（15）, the movable block（18）On be provided with the second flexible glue（17）.
8. the vehicle-mounted excitation type Fructus Sapindi Mukouossi fresh fruit Picker arm according to claim 6 or 7, it is characterised in that：The fixed seat
（16）Lower section be provided with self-locking case（19）, the self-locking case（19）Self-locking spring piece is inside provided with（20）, both are arranged on and push away
Bar（22）Outer surface, push rod（22）Outer surface be also machined with and self-locking spring piece（20）The V-arrangement draw-in groove of cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610897518.9A CN106416623B (en) | 2016-10-15 | 2016-10-15 | A kind of vehicle-mounted excitation type soapberry fresh fruit Picker arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610897518.9A CN106416623B (en) | 2016-10-15 | 2016-10-15 | A kind of vehicle-mounted excitation type soapberry fresh fruit Picker arm |
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| Publication Number | Publication Date |
|---|---|
| CN106416623A true CN106416623A (en) | 2017-02-22 |
| CN106416623B CN106416623B (en) | 2018-06-01 |
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| CN201610897518.9A Active CN106416623B (en) | 2016-10-15 | 2016-10-15 | A kind of vehicle-mounted excitation type soapberry fresh fruit Picker arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107654452A (en) * | 2017-09-21 | 2018-02-02 | 浙江灵奇光电科技有限公司 | A kind of locking structure |
| CN107750621A (en) * | 2017-11-10 | 2018-03-06 | 黄德懿 | A kind of pinecone picking machine easy to operation |
| CN108811762A (en) * | 2018-07-16 | 2018-11-16 | 武汉理工大学 | Balancing mechanical arm suitable for the picking of woods fruit |
| CN109121722A (en) * | 2018-10-29 | 2019-01-04 | 常熟理工学院 | Integrated mechanical arm is collected in oscillatory type picking |
| CN109429721A (en) * | 2018-12-26 | 2019-03-08 | 杭州电子科技大学 | A kind of semi-automation jujube slave recovery integration apparatus |
| CN115024090A (en) * | 2022-05-10 | 2022-09-09 | 青岛农业大学 | Semi-hand-held vibrating fruit-shaking device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107654452A (en) * | 2017-09-21 | 2018-02-02 | 浙江灵奇光电科技有限公司 | A kind of locking structure |
| CN107750621A (en) * | 2017-11-10 | 2018-03-06 | 黄德懿 | A kind of pinecone picking machine easy to operation |
| CN107750621B (en) * | 2017-11-10 | 2019-10-01 | 蔡银花 | A kind of pinecone picking machine convenient for operation |
| CN108811762A (en) * | 2018-07-16 | 2018-11-16 | 武汉理工大学 | Balancing mechanical arm suitable for the picking of woods fruit |
| CN109121722A (en) * | 2018-10-29 | 2019-01-04 | 常熟理工学院 | Integrated mechanical arm is collected in oscillatory type picking |
| CN109121722B (en) * | 2018-10-29 | 2020-10-02 | 常熟理工学院 | Vibrating type picking and collecting integrated mechanical arm |
| CN109429721A (en) * | 2018-12-26 | 2019-03-08 | 杭州电子科技大学 | A kind of semi-automation jujube slave recovery integration apparatus |
| CN115024090A (en) * | 2022-05-10 | 2022-09-09 | 青岛农业大学 | Semi-hand-held vibrating fruit-shaking device |
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|---|---|
| CN106416623B (en) | 2018-06-01 |
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