CN107094553A - A kind of mechanical hand of fruit automatic bag sheathing and bagging method - Google Patents
A kind of mechanical hand of fruit automatic bag sheathing and bagging method Download PDFInfo
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- CN107094553A CN107094553A CN201710538709.0A CN201710538709A CN107094553A CN 107094553 A CN107094553 A CN 107094553A CN 201710538709 A CN201710538709 A CN 201710538709A CN 107094553 A CN107094553 A CN 107094553A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
- A01G13/02—Protective coverings for plants; Coverings for the ground; Devices for laying-out or removing coverings
- A01G13/025—Devices for laying-out or removing plant coverings
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Abstract
The invention discloses a kind of mechanical hand of fruit automatic bag sheathing and bagging method, including frame, described frame includes four columns, a paper bag box top plate is fixed with the top of four root posts, middle part is provided with a middle bracket, and bottom is provided with a bottom bracket；The two of which opposite flank of the middle bracket respectively connects a bagging finger, and middle bracket moves up and down under the driving of first driving means, and then drives two bagging hands movements；Described paper bag box top plate is used to fix paper bag box and connection bagging finger, and described paper bag box is used to be loaded with paper bag, and the second drive device is provided with the side of paper bag box, for described paper bag to be taken out at the top of paper bag box；Described bagging finger catches paper bag sack, realizes opening and the sealing of paper bag.
Description
Technical field
The invention discloses a kind of manipulator and bagging method for being used to realize fruit automatic bag sheathing.
Background technology
In Modern Fruits production technology, fruit bagging cultivation is the current production maximally effective skill of high-quality Pollution-free Fruit
Art.The technology can promote apple, pear and other fruits overall tint, and uniform color, bright-coloured, beautiful, can make the delicacy of fruit face, light
It is sliding, clean, it can effectively prevent and treat fruit pest and disease damage, reduce times for spraying, reduce residues of pesticides, be conducive to producing green fruit,
It can also mitigate or from the harm of general hail.Bagging can be obviously improved the exterior quality of fruit, significantly improve high-quality
Fruit rate, economic benefit is very notable.
Currently in the technical field, similar manipulator for sheathing bags is roughly divided into following two：A kind of robot manipulator structure is complicated, can
The process such as continuous bag sleeving and automatic sealing package sack is completed, but is due to that weight is big, it is necessary to borrow vehicle carrying mechanical arm clamping machine
Tool hand, driving vehicle has inconvenience in orchard, and manipulator volume is larger, other water of being damaged unavoidably during bagging
Really, fruit quality is influenceed；Another robot manipulator structure is simple, is mostly auto-manual system, bagging process is discontinuous, without bag
Box, it is impossible to realize continuous bag sleeving, inefficiency.Manipulator described in this patent is light easy to operate, can be carried out by the way of hand-held
Bagging works, small volume, smaller on neighbouring fruit influence during bagging, can continuous bag sleeving.
On the premise of China's fruits output is so huge, exploitation one kind is cheap, hand-held on the ground can complete aerial
The fruit bagging machinery hand of automatic bag sheathing operation is very necessary.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of mechanical hand of fruit automatic bag sheathing, and this manipulator can be by
Paper bag is sent to operating position from paper bag box, encases fruit, then seals, and realizes the purpose that automatic bag sheathing is carried out to fruit.
The technical solution adopted by the present invention is as follows：
A kind of mechanical hand of fruit automatic bag sheathing, including frame, described frame includes four columns, on the top of four root posts
Portion is fixed with a paper bag box top plate, and middle part is provided with a middle bracket, and bottom is provided with a bottom bracket；The middle bracket
Two of which opposite flank respectively connection one bagging finger, and middle bracket under the driving of first driving means up and down transport
It is dynamic, and then drive two bagging finger motions；Described paper bag box top plate is used to fix paper bag box and connection bagging finger, described
Paper bag box be used to contain paper bag, the second drive device is installed in the side of paper bag box, for by described paper bag from paper bag
Taken out at the top of box；Described bagging finger catches paper bag sack, realizes opening and the sealing of paper bag.
Further, described first driving means include the motor being fixed in middle bracket, described motor driving
Little gear is rotated, and described little gear is engaged with a gear wheel, and described canine tooth wheel drive leading screw rotation, described leading screw is worn
Middle bracket and bottom bracket are crossed, the nut coordinated with leading screw is fixed on bottom bracket, in being driven when leading screw, which rotates, to be risen
Portion's support is moved up and down along four described root posts.
Further, the cylindrical bar described in four is used with paper bag box top plate and bottom bracket and is fixedly connected, with middle part branch
Frame is used and is slidably connected.
Further, described bagging finger refers to including structure identical left hand and referred to the right hand, each finger include finger,
Top inside connecting rod, middle part inside connecting rod, upper connecting rod, lower connecting rod, top outside connecting rod, acute angle connecting rod, middle part outside connecting rod, obtuse angle connect
Bar, lower link, one end of described lower connecting rod are hinged with middle bracket, and the other end is hinged with lower link one end, described
The other end of lower link be hinged the corner of obtuse angle connecting rod, two ends one end of obtuse angle connecting rod is hinged middle part inside connecting rod, the other end
It is hinged middle part outside connecting rod；Middle part inside connecting rod and obtuse angle rod hinge connection position are also hinged with upper connecting rod, described upper connecting rod with
Paper bag box top plate is affixed；The corner of described acute angle connecting rod is hinged with middle part outside connecting rod, and two ends one end of obtuse angle connecting rod is hinged over
Portion's inside connecting rod, the other end is hinged top outside connecting rod；The other end of top inside connecting rod and top outside connecting rod is hinged finger.
Whole manipulator is made up of three joints；In manipulator operation, motor drives transmission mechanism, props up middle part
Frame is slided up and down along cylindrical bar, and the vertical range between middle bracket and paper bag box top plate changes, and passes through middle bracket and paper bag
The connection of box top plate and bagging finger, makes bagging finger motion, completes to strut the action of paper bag and closure paper bag.
Further, electromagnet is installed on described finger.
Further, the second described drive device includes motor, rack-and-pinion, paper bag grab and battery and control
Device, for outwards conveying paper bag from paper bag box；Described motor-driven gear rotation, described wheel and rack engagement,
The bottom of described rack is provided with paper bag grab, during rack is moved upwards, and grab drives paper bag to move upwards, will
Paper bag takes out.
Further, described paper bag box base model is cuboid, and there are wide, narrow two openings at top, there is one sideways
Strip opening；The width at top is open for being put into paper bag into paper bag box before bagging work, can once be put according to openings of sizes
Enter about 20 paper bags；Narrow opening is the outlet that manipulator carries out paper bag during bagging work, slightly larger than one paper bag of its openings of sizes
Thickness, it is ensured that each only one of which paper bag output；Lateral opening is used to export paper bag when bagging works, and is transmitted and driven by paper bag
The paper bag transmission hook of dynamic device sends out paper bag.
Further, described paper bag size is designed according to the size of fruit.It is wrong equipped with position at paper bag mouthful
Two small iron plates opened, small iron plate is attracted by the electromagnet at bagging finger during paper bag opening, completes mouth-opening action；Bagging terminates
Afterwards, paper bag mouthful is pressed by bagging finger, completes the sealing of paper bag.
Further, provided with an elastic device between the inwall and paper bag of described paper bag box, when a upper paper bag
After taking-up, next paper bag reaches specified location under elastic device driving.
The bagging method of manipulator described above is as follows
First, the second drive device is run, and paper bag is sent out from narrow opening at the top of paper bag box；Paper bag mouthful is close to finger, finger
On electromagnet be powered, the small iron plate for attracting the position at paper bag mouthful place to stagger, then, first driving means driving middle bracket to
Lower operation, drives bagging finger to open, and paper bag is strutted；Then, hand-held manipulator for sheathing bags puts fruits into paper bag close to fruit
In；Finally, first driving means driving middle bracket is run up, and drives bagging finger closure, bilateral finger pressing paper bag mouthful
Locate specific structure, realize the sealing of paper bag, complete a bagging process；Then, manipulator repeats said process by under automatically
One paper bag is sent out, and struts paper bag, is that bagging is prepared next time.
Beneficial effects of the present invention：
1st, the present invention solves existing part manipulator for sheathing bags weight greatly, it is necessary to which borrowing vehicle passes through mechanical arm clamping machine
Tool hand, driving vehicle has the shortcomings that inconvenience in fruit garden, reduces the cost of bagging, expands the use model of manipulator
Enclose.
2nd, compact conformation of the present invention, is easy to manipulator to be shuttled between fruit branch, and it will not be damaged during bagging
Its fruit, influences fruit quality.
3rd, relative to it is simple in construction, be unable to the manipulator of continuous bag sleeving, the present invention can improve bagging efficiency, and once loading can
Automatic sealing during continuous bag sleeving, bagging, it is easy to use.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not constitute the improper restriction to the application.
Fig. 1 fruit bagging machinery hand total figures；
Fig. 2 bagging finger figures；
Fig. 3 bagging finger actuation installation drawings；
Fig. 4 paper bag box figures；
Fig. 5 paper bags transmit drive device figure
Fig. 6 paper bags transmit schematic diagram
In figure：11 paper bag box top plates, 12 cylindrical bars, 13 middle brackets, 14 bottom brackets, 15 left bagging fingers, 16 right sets
Bag finger, 17 paper bags transmission drive device, 18 bagging finger actuation devices；
21 fingers, 22 top inside connecting rods, 23 middle part inside connecting rods, 24 upper connecting rods, 25 lower connecting rods, 26 top outside connecting rods,
27 acute angle connecting rods, 28 middle part outside connecting rods, 29 obtuse angle connecting rods, 210 lower links；
31 bagging finger actuation motors, 32 little gears, 33 lead screw shaft, 34 gear wheels, 35 feed screw nuts；
Wide opening, 43 paper bag boxes top narrow opening, 44 paper bag boxes, 45 paper at the top of 41 bagging finger bearings, 42 paper bag boxes
Bag box lateral opening；
51 paper bags transmission motor, 52 paper bags transmission rack, 53 paper bag transmission gears, 54 rack sliding sleeves；
61 springs, 62 paper bags, 63 paper bags transmission hook.
Embodiment
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, currently in the technical field, similar manipulator for sheathing bags is roughly divided into following two：
A kind of robot manipulator structure is complicated, can complete the process such as continuous bag sleeving and automatic sealing package sack, but be due to that weight is big, it is necessary to borrow
Vehicle carries mechanical arm clamping manipulator, and driving vehicle has inconvenience in orchard, and manipulator volume is larger, in bagging
During damage unavoidably other fruit, influence fruit quality；Another robot manipulator structure is simple, is mostly auto-manual system, bagging
Process is discontinuous, without bag storage box, it is impossible to realize continuous bag sleeving, inefficiency.Manipulator described in this patent is light easy to operate, can
Bagging work is carried out by the way of hand-held, small volume is smaller on neighbouring fruit influence during bagging, can continuously cover
Bag, in order to solve technical problem as above, present applicant proposes a kind of mechanical hand of fruit automatic bag sheathing and bagging method.
As shown in figure 1, the mechanical hand of the automatic bag sheathing of design, integral mechanical structure includes frame, bagging finger, driving dress
Put, paper bag box, paper bag.
Frame connection paper bag box, bagging finger, drive device, are the supporting constructions of whole manipulator.Bagging finger is divided into
Two parts, are that left hand refers to and referred to the right hand respectively, and two parts cooperation completes bag taking, struts bag, bagging, envelope during bagging is carried out
The process of mouth.Drive device includes motor, transmission device, the direct-flow storage battery and motor control dress of power is provided for motor
Put；Motor has two, is bagging finger actuation motor and paper bag transmission motor respectively, and bagging finger actuation motor is
The motion of bagging finger provides power, and paper bag transmission motor provides power for paper bag from the output inside paper bag box.Paper bag
Box is used to hold paper bag, to realize continuous bag sleeving function, improves bagging efficiency.
Frame of the present invention is divided into paper bag box top plate 11, middle bracket 13, bottom bracket 14 and cylindrical bar 12, left bagging finger
15 and right casing finger 16 be fixed on by fixing device on paper bag box top plate 11 and middle bracket 13.
Fig. 2 show the connected mode between each connecting rod.Connected mode in Fig. 2 between all parts is connected using hinge
Connect；Specific annexation is as follows：
Each finger include finger 21, top inside connecting rod 22, middle part inside connecting rod 23, upper connecting rod 24, lower connecting rod 25, on
Portion's outside connecting rod 26, acute angle connecting rod 27, middle part outside connecting rod 28, obtuse angle connecting rod 29, lower link 210, described lower connecting rod 25
One end is hinged with middle bracket, and the other end is hinged with the one end of lower link 24, and the other end of described lower link 24 is hinged blunt
The corner of angle connecting rod 29, two ends one end of obtuse angle connecting rod 29 is hinged middle part inside connecting rod, and the other end is hinged middle part outside connecting rod 28；Middle part
Inside connecting rod 23 is also hinged with upper connecting rod with the articulated position of obtuse angle connecting rod 29, and described upper connecting rod 24 is consolidated with paper bag box top plate
Connect；The corner of described acute angle connecting rod is hinged with middle part outside connecting rod, and two ends one end of obtuse angle connecting rod 29 is hinged top inside connecting rod 22,
The other end is hinged top outside connecting rod 26；The other end of top inside connecting rod 22 and top outside connecting rod 26 is hinged finger 21.
Wherein, upper connecting rod 24 is arranged on the bagging finger bearing 41 in paper bag box top plate in the way of being fixedly connected
On, lower connecting rod 25 is arranged in middle bracket 13 in hinged mode.Electromagnet is installed on finger 21, paper bag is strutted
When, electromagnet is powered, and attracts the small iron plate at paper bag mouthful, completes support bag action.
As shown in figure 3, during the work of bagging finger actuation motor 31, driving little gear 32 to rotate, passing through the biography of gear wheel 34
It is dynamic, drive lead screw shaft 33 to rotate, because feed screw nut 35 is fixed on bottom bracket 14, during the rotation of lead screw shaft 33 is changed into
The up and down motion of portion's support 13, so as to drive lower connecting rod 25 and lower link in middle bracket 13 to be transported about 210
It is dynamic, so as to control the folding of left and right manipulator to complete the corresponding actions such as support bag, sealing.
As shown in figure 4, paper bag box top plate 11 and paper bag box 44 are mutually connected, bagging finger bearing 41 with it is upper in figure two
Connecting rod 24 is connected；Wide opening 42 is the opening for being put into paper bag at the top of paper bag box, can once be put into about 20 paper bags；Paper bag box top
Portion's narrow opening 43 is the outlet of paper bag operationally, slightly larger than one paper bag thickness of its width, it is ensured that transmission only has every time
One paper bag outflow；Paper bag box lateral opening 45 is used to spread out of paper bag.
As shown in figure 5, when paper bag transmission motor 51 works, driving paper bag transmission gear 53 to rotate, so that paper bag
Transmission rack 52 is done to be moved along a straight line up and down, and wherein paper bag transmission motor 51 is fixed on paper bag box, paper bag transmission rack 52
It is arranged on by two rack sliding sleeves 54 on paper bag box 44, paper bag transmission rack 52 can freely up and down be slided in rack sliding sleeve 54.
As shown in fig. 6, paper bag transmission hook 63 is fixed on paper bag transmission rack 52, when paper bag transmission rack 52 is moved upwards
Paper bag transmission hook 63 is driven to move upwards, paper bag transmission hook 63 is placed in paper bag box lateral opening 45, and its hook side width is smaller
In the thickness of a paper bag, it is ensured that a paper bag is only sent out in motion every time；Paper bag 62 in paper bag box 44 is pressed to by spring 44
The side of paper bag box lateral opening 45, can enable each action that paper bag is driven hook 63 catch on paper bag.
The specific course of work is as follows：
First, paper bag transmission drive device 17 is run, and paper bag 62 is sent out from narrow opening 43 at the top of paper bag box；Paper bag mouthful is close
Electromagnet on finger 21, finger 21 is powered, the small iron plate for attracting the position at paper bag mouthful to stagger, then, bagging finger actuation
The driving middle bracket 13 of device 18 is run downwards, drives bagging finger 15,16 to open, paper bag 62 is strutted；Then, hand-held packing machine
Tool hand is put fruits into paper bag close to fruit；Finally, the driving of bagging finger actuation device 18 middle bracket 13 is run up,
Bagging finger 15,16 is driven to close, specific structure at the pressing paper bag mouthful of bilateral finger 21 realizes the sealing of paper bag, completes one
Secondary bagging process；Then, repeatedly said process sends out next paper bag to manipulator, and strut paper bag automatically, is to cover next time
Bag is prepared.
As can be seen from the above description, the application the above embodiments realize following technique effect：
1st, the present invention solves existing part manipulator for sheathing bags weight greatly, it is necessary to which borrowing vehicle passes through mechanical arm clamping machine
Tool hand, driving vehicle has the shortcomings that inconvenience in fruit garden, reduces the cost of bagging, expands the use model of manipulator
Enclose.
2nd, compact conformation of the present invention, is easy to manipulator to be shuttled between fruit branch, and it will not be damaged during bagging
Its fruit, influences fruit quality.
3rd, relative to it is simple in construction, be unable to the manipulator of continuous bag sleeving, the present invention can improve bagging efficiency, and once loading can
Automatic sealing during continuous bag sleeving, bagging, it is easy to use.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (10)
1. the mechanical hand of a kind of fruit automatic bag sheathing, it is characterised in that including frame, described frame includes four columns, four
A paper bag box top plate is fixed with the top of root post, middle part is provided with a middle bracket, and bottom is provided with a bottom bracket；Institute
State two of which opposite flank respectively one bagging finger of connection, and middle bracket is in the driving of first driving means of middle bracket
It is lower to move up and down, and then drive two bagging hands movements；Described paper bag box top plate is used to fix paper bag box and connection bagging hand
Refer to, described paper bag box is used to contain paper bag, and the second drive device is provided with the side of paper bag box, for by described paper bag
Taken out at the top of from paper bag box；Described bagging finger catches paper bag sack, realizes opening and the sealing of paper bag.
2. a kind of mechanical hand of fruit automatic bag sheathing as claimed in claim 1, it is characterised in that described first driving means bag
The motor being fixed in middle bracket is included, described motor driving pinion rotation, described little gear is nibbled with a gear wheel
Close, described canine tooth wheel drive leading screw rotation, described leading screw passes through middle bracket and bottom bracket, the nut coordinated with leading screw
It is fixed on bottom bracket, drives middle bracket to be moved up and down along four described root posts when leading screw, which rotates, to be risen.
3. the mechanical hand of a kind of fruit automatic bag sheathing as claimed in claim 1, it is characterised in that cylindrical bar and paper described in four
Bag box top plate, using being fixedly connected, is used with middle bracket and is slidably connected with bottom bracket.
4. the mechanical hand of a kind of fruit automatic bag sheathing as claimed in claim 1, it is characterised in that described bagging finger includes knot
Structure identical left hand refers to be referred to the right hand, and each finger includes finger, top inside connecting rod, middle part inside connecting rod, upper connecting rod, lower connection
Bar, top outside connecting rod, acute angle connecting rod, middle part outside connecting rod, obtuse angle connecting rod, lower link, one end of described lower connecting rod is with
Portion's support is hinged, and the other end is hinged with lower link one end, and the other end of described lower link is hinged the corner of obtuse angle connecting rod,
Two ends one end of obtuse angle connecting rod is hinged middle part inside connecting rod, and the other end is hinged middle part outside connecting rod；Middle part inside connecting rod is cut with scissors with obtuse angle connecting rod
Connect position and be also hinged with upper connecting rod, described upper connecting rod and paper bag box top plate is affixed；The corner of described acute angle connecting rod with
Middle part outside connecting rod is hinged, and two ends one end of obtuse angle connecting rod is hinged top inside connecting rod, and the other end is hinged top outside connecting rod；Connect in top
The other end of bar and top outside connecting rod is hinged finger.
5. the mechanical hand of a kind of fruit automatic bag sheathing as claimed in claim 4, it is characterised in that be provided with described finger
Electromagnet.
6. a kind of mechanical hand of fruit automatic bag sheathing as claimed in claim 1, it is characterised in that the second described drive device bag
Motor, rack-and-pinion, paper bag grab and battery and control device are included, for outwards conveying paper bag from paper bag box；It is described
Motor-driven gear rotation, described wheel and rack engagement, the bottom of described rack is provided with paper bag grab, in rack
Upwards during motion, grab drives paper bag to move upwards, and paper bag is taken out.
7. a kind of mechanical hand of fruit automatic bag sheathing as claimed in claim 1, it is characterised in that described paper bag box base model
For cuboid, there are wide, narrow two openings at top, there is a strip opening sideways；The width at top is open for before bagging work
Paper bag is put into paper bag box；Narrow opening is the outlet that manipulator carries out paper bag during bagging work, and its openings of sizes is slightly larger than one
Individual paper bag thickness；Lateral opening is used to export paper bag when bagging works, and the paper bag for transmitting drive device by paper bag transmits hook will
Paper bag is sent out.
8. the mechanical hand of a kind of fruit automatic bag sheathing as claimed in claim 1, it is characterised in that position is housed at described paper bag mouthful
Two small iron plates staggered are put, small iron plate is attracted by the electromagnet at bagging finger during paper bag opening, complete mouth-opening action；Bagging
After end, paper bag mouthful is pressed by bagging finger, the sealing of paper bag is completed.
9. the mechanical hand of a kind of fruit automatic bag sheathing as claimed in claim 1, it is characterised in that in the inwall of described paper bag box
Provided with an elastic device between paper bag, after a upper paper bag takes out, next paper bag is reached under elastic device driving
Specified location.
10. a kind of bagging method of the mechanical hand of fruit automatic bag sheathing as described in claim 1-9 is any, it is characterised in that
First, the second drive device is run, and paper bag is sent out from narrow opening at the top of paper bag box；Paper bag mouthful is on finger, finger
Electromagnet is powered, the small iron plate for attracting the position at paper bag mouthful to stagger, then, and first driving means driving middle bracket is transported downwards
OK, bagging finger is driven to open, paper bag is strutted；Then, hand-held manipulator for sheathing bags is put fruits into paper bag close to fruit；Most
Afterwards, first driving means driving middle bracket is run up, and is driven specific at bagging finger closure, bilateral finger pressing paper bag mouthful
Structure, realize the sealing of paper bag, complete a bagging process；Then, manipulator repeats said process by next paper automatically
Bag is sent out, and struts paper bag, is that bagging is prepared next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710538709.0A CN107094553B (en) | 2017-07-04 | 2017-07-04 | A kind of fruit automatic bag sheathing machinery hand and bagging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710538709.0A CN107094553B (en) | 2017-07-04 | 2017-07-04 | A kind of fruit automatic bag sheathing machinery hand and bagging method |
Publications (2)
| Publication Number | Publication Date |
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| CN107094553A true CN107094553A (en) | 2017-08-29 |
| CN107094553B CN107094553B (en) | 2019-07-05 |
Family
ID=59664649
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710538709.0A Expired - Fee Related CN107094553B (en) | 2017-07-04 | 2017-07-04 | A kind of fruit automatic bag sheathing machinery hand and bagging method |
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| CN108432523A (en) * | 2018-05-23 | 2018-08-24 | 无锡江普创新科技有限公司 | A kind of hand-held flower bud bagging handle |
| CN108513847A (en) * | 2018-06-11 | 2018-09-11 | 北京信息科技大学 | Banana packing machine |
| CN108557314A (en) * | 2018-05-21 | 2018-09-21 | 山东大学 | A kind of fully-automatic household intelligent garbage bin and its working method |
| CN112913547A (en) * | 2021-02-20 | 2021-06-08 | 青岛黄海学院 | Automatic bagging apparatus that overlaps of apple |
| CN113475287A (en) * | 2021-08-03 | 2021-10-08 | 沈阳化工大学 | Fruit bagging device for high branches |
| CN113913601A (en) * | 2021-10-09 | 2022-01-11 | 任富强 | Cooling auxiliary mechanism of metal bar section bar |
| CN113928639A (en) * | 2021-11-03 | 2022-01-14 | 四川大学 | Automatic change bent material and retrieve equipment for packing |
| CN115812493A (en) * | 2022-11-18 | 2023-03-21 | 常州大学 | Fruit and vegetable bagging manipulator, and vision-guided fruit and vegetable bagging system and method |
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| CN108557314A (en) * | 2018-05-21 | 2018-09-21 | 山东大学 | A kind of fully-automatic household intelligent garbage bin and its working method |
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| CN108432523A (en) * | 2018-05-23 | 2018-08-24 | 无锡江普创新科技有限公司 | A kind of hand-held flower bud bagging handle |
| CN108513847A (en) * | 2018-06-11 | 2018-09-11 | 北京信息科技大学 | Banana packing machine |
| CN108513847B (en) * | 2018-06-11 | 2023-11-28 | 北京信息科技大学 | Banana bagging machine |
| CN112913547A (en) * | 2021-02-20 | 2021-06-08 | 青岛黄海学院 | Automatic bagging apparatus that overlaps of apple |
| CN113475287A (en) * | 2021-08-03 | 2021-10-08 | 沈阳化工大学 | Fruit bagging device for high branches |
| CN113913601A (en) * | 2021-10-09 | 2022-01-11 | 任富强 | Cooling auxiliary mechanism of metal bar section bar |
| CN113928639A (en) * | 2021-11-03 | 2022-01-14 | 四川大学 | Automatic change bent material and retrieve equipment for packing |
| CN113928639B (en) * | 2021-11-03 | 2022-07-12 | 四川大学 | Automatic change bent material and retrieve equipment for packing |
| CN115812493A (en) * | 2022-11-18 | 2023-03-21 | 常州大学 | Fruit and vegetable bagging manipulator, and vision-guided fruit and vegetable bagging system and method |
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|---|---|
| CN107094553B (en) | 2019-07-05 |
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