CN108496558A - Multitool linkage orange picker - Google Patents
Multitool linkage orange picker Download PDFInfo
- Publication number
- CN108496558A CN108496558A CN201810334874.9A CN201810334874A CN108496558A CN 108496558 A CN108496558 A CN 108496558A CN 201810334874 A CN201810334874 A CN 201810334874A CN 108496558 A CN108496558 A CN 108496558A
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- knife
- knife rest
- blade
- rotating
- transmission ring
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- 230000005540 biological transmission Effects 0.000 claims abstract description 52
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 43
- 230000000694 effects Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 4
- 241000167854 Bourreria succulenta Species 0.000 description 9
- 235000019693 cherries Nutrition 0.000 description 9
- 241000675108 Citrus tangerina Species 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000000050 nutritive effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- 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
- A01D46/24—Devices for picking apples or like fruit
- A01D46/247—Manually operated fruit-picking tools
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention belongs to picking mechanical fields, are related to a kind of multitool linkage orange picker.It, which solves picker in the prior art, cannot have more the technical issues of orange direction of growth multi-angle cuts carpopodium.It includes knife rest, knife rest is in circular ring shape, multiple card fruit slots are provided on knife rest, card fruit slot is provided with the first blade on a V-shaped and side in card fruit slot, knife rest bottom is also arranged with transmission ring, it is connected with the rotating knife equal with card fruit slot number amount on transmission ring, the second blade being oppositely arranged with the first blade is provided on rotating knife, rotating knife is hinged with knife rest.Compared with prior art, the method have the characteristics that the different directions of growth can be adapted to according to orange growth characteristic, carpopodium is cut in multi-angle picking.
Description
Technical field
The invention belongs to picking mechanical technical fields, more particularly, to a kind of multitool linkage orange picker.
Background technology
Orange is a kind of fruit being favored by people, and nutritive value is high, in good taste, has the prodigious market demand.Tangerine
The picking work of son, it is deep to be influenced by conditions such as time, spaces, and orange yield is big, picking process expends huge manpower object
Power.Labor intensity can be substantially reduced using picker.The agricultural production of difference and general cereal crops, tangerine is perennial Qiao
Wood cannot damage tangerine branch in picking process, in order to avoid influence to carry out annual output, therefore most large-scale harvesting apparatus cannot fit
Orange is answered to pick work.
To reduce the input of labour, labor intensity is reduced, improves picking quality, by constantly researching and developing, people develop
Diversified picking mechanism.For example, Chinese patent literature discloses a kind of cherry picking device [CN201720035141.6], packet
Shear, telescopic rod and splicing bag are included, the splicing bag connects shear, the shear connection expansion link top
End, the shear are set as comb teeth-shaped, and the shear includes blade and engine, and blade setting exists
In the side groove of monodentate, the blade connects engine, the engine connection expansion link；Wherein shear is set as
Comb teeth-shaped is convenient for the shear in picking to comb multiple cherries, and multiple cherries are placed in different slots in a slot simultaneously
Cherry individually forms a line, and prevents from damaging cherry when shearing, shear is inserted at cherry stems and after separating cherry, hair is utilized
The groove that blade is stretched out monodentate side by motivation cuts off carpopodium, and cherry is fallen into splicing bag, and blade is retracted the recessed of monodentate side again
In slot.
Said program picks cherry by way of multiple tracks linkage to a certain extent and improves picking efficiency, but for adopting
It plucks for orange, orange fruit tufted is grown thickly, and carpopodium is stiffening, and fruit growth is in multiple directions, and said program is difficult to need continuous
Picking position is replaced, to realize picking completely, leverages picking efficiency, and be not suitable with orange picking.
Invention content
It is practical and convenient regarding the issue above, the present invention provides a kind of simple in structure, can multi-angle picking grow thickly
The multitool linkage orange picker of orange.
In order to achieve the above objectives, present invention employs following technical proposals：This multitool linkage orange picker, including knife
Frame, knife rest are in circular ring shape, are provided with multiple card fruit slots on the knife rest, the card fruit slot is V-shaped and the one of card fruit slot
It is provided with the first blade on side, the knife rest bottom is also arranged with transmission ring, is connected with and blocks on the transmission ring
Fruit slot number amount equal rotating knife is provided with the second blade being oppositely arranged with the first blade on the rotating knife, described
Rotating knife is hinged with knife rest.
In above-mentioned multitool linkage orange picker, the dress equal with card fruit slot number amount is provided on knife rest lateral surface
Knife plane, the dress knife plane are crossed to form the first blade with card fruit slot, and second blade is tightly attached in dress knife plane,
First blade and the second blade are staggered to form scissors mouth.
In above-mentioned multitool linkage orange picker, it is provided with rotating part on rotating knife, is set on the rotating part
It is equipped with axis hole, shaft is equipped in the axis hole, the one end of the shaft far from rotating knife is provided with against platform, the other end
It is provided with locating piece, the locating piece is pressed against on rotating knife, described to be provided with against platform close to the side of knife rest and knife
The arc surface that frame medial surface mutually agrees with.
In above-mentioned multitool linkage orange picker, rotating part is provided with cut part close to one end of the first blade,
Second blade is arranged in cut part close to the side of the first blade, and side of the cut part far from the first blade is set
It is equipped with exterior arc surface, side of the rotating part far from exterior arc surface is provided with inner arc surface.
In above-mentioned multitool linkage orange picker, side of the rotating part far from cut part is provided with driving section, institute
Be provided on the transmission ring stated with the one-to-one driving groove of rotating knife, the driving section is fastened in driving groove, described
Transmission cambered surface is provided on driving section, the transmission cambered surface is resisted against in transmission groove sidewall.
In above-mentioned multitool linkage orange picker, knife rest bottom is equipped with positioning convex platform, the transmission ring bottom
It is provided with limited step, the positioning convex platform is fastened in limited step.
In above-mentioned multitool linkage orange picker, the one end of transmission ring far from limited step is provided with limiting slot,
Limited block is provided in the limiting slot, the limited block is fixedly mounted on knife rest, and the limited block is pressed on limit
The slot bottom of position slot is provided with activity space between the limited block side wall and limit groove sidewall.
In above-mentioned multitool linkage orange picker, it is provided with cableties on transmission ring, is arranged in the limited block
There are threading hole, side of the limited block far from knife rest to be provided with hollow hand lever, cable wire is fixedly connected on the cableties,
The cable wire is connected with a bracing wire block by threading hole and hollow hand lever.
In above-mentioned multitool linkage orange picker, side of the threading hole far from cableties is provided with roller pin, described
Shaft pin axis it is parallel with knife rest axis, be provided with reverse wheel in the roller pin, the limited block and hollow hand lever
It is hinged.
In above-mentioned multitool linkage orange picker, resetting spring, the reset bullet are additionally provided on transmission ring
The side far from cableties in limited block is arranged in spring, and described resetting spring one end is fixedly connected on transmission ring, and the other end is fixed
It is connected on limited block.
Compared with prior art, the advantages of this multitool linkage orange picker, is：
1. knife rest is more linkage rotation knife in being provided on circular ring shape and knife rest, multi-angle, comprehensive picking growth are realized
The different orange in direction avoids replacing picking angle, reduces labor intensity.
2. designing arc surface on against platform, increase forced area, enhance knife rest intensity, in the premise for ensureing knife rest intensity
Under, knife rest quality can be reduced, controllability and operability are improved.
3. rotating knife designs exterior arc surface and inner arc surface, reduce the damage to fruit and branch, it is ensured that nutrient quality and
Carry out annual output.
4. determining transmission ring degree of freedom using positioning convex platform and limited step and limited block, simplify mechanical structure, matter
Amount is light and handy, and controllability is strong.
Description of the drawings
Fig. 1 is structural schematic diagram provided by the invention.
Fig. 2 is shear history figure provided by the invention.
Fig. 3 is that shearing provided by the invention finishes figure.
Fig. 4 is vertical view provided by the invention.
Fig. 5 is sectional view provided by the invention.
Fig. 6 is standoff features schematic diagram provided by the invention.
Fig. 7 is rotating knife structural schematic diagram provided by the invention.
In figure, knife rest 1, card fruit slot 2, the first blade 3, transmission ring 4, rotating knife 5, dress knife plane 6, the second blade 7, rotation
Portion 8, axis hole 9, shaft 10, against platform 11, locating piece 12, cut part 13, driving section 14, driving groove 15, transmission cambered surface 16, positioning
Boss 17, limited step 18, limiting slot 19, limited block 20, cableties 21, threading hole 22, hollow hand lever 23, cable wire 24, bracing wire block
25, roller pin 26, resetting spring 27.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
As shown in Figs 1-4, this multitool links orange picker, including knife rest 1, which is characterized in that the knife rest 1 is in
Circular ring shape is provided with multiple card fruit slots 2 on the knife rest 1, and the card fruit slot 2 is V-shaped and in a side of card fruit slot 2
On be provided with the first blade 3,1 bottom of knife rest is also arranged with transmission ring 4, be connected on the transmission ring 4 with card fruit
2 quantity of slot equal rotating knife 5 is provided with the second blade 7 being oppositely arranged with the first blade 3 on the rotating knife 5, described
Rotating knife 5 and knife rest 1 it is hinged.
By 1 set of knife rest to the orange fruit grown thickly, position is adjusted so that the carpopodium of one or more fruits is caught in card fruit slot
2, drive transmission ring 4, transmission ring 4 to drive the rotation of rotating knife 5 that the first blade 3 being oppositely arranged and the second blade 4 are closed up, profit
The carpopodium being caught in card fruit slot 2 is cut with shearing force.Preferably, the lower section of knife rest 1 is provided with undertaking bag, and fruit is being cut fruit
It falls into and is accepted in bag after stalk, complete picking.Knife rest 1 is in a ring and card fruit slot 2 is evenly distributed on knife rest 1, to adapt to not
The orange fruit of equidirectional growth realizes Multi-angle omnibearing picking without picking position is needed to change.
Preferably, 2 bottom of card fruit slot is provided with arc-shaped slot so that after carpopodium is caught in card fruit slot 2, is not easy to skid off card fruit
Slot limits carpopodium position when transmission ring 4 drives rotating knife 5 to close up, and prevents carpopodium from skidding off card fruit slot 2, improve cutting carpopodium at
Power.
Specifically, the dress knife plane 6 equal with card fruit 2 quantity of slot is provided on 1 lateral surface of knife rest, the dress knife plane
6 are crossed to form the first blade 3 with card fruit slot 2, and second blade 7 is tightly attached in dress knife plane 6, and rotating knife 5 is avoided to revolve
During turning, since outer force effect is shaken so that the rotation of rotating knife 5 is more steady.Be conducive to the first blade 3 and the simultaneously
Two blades 7 are staggered to form scissors mouth, avoid rotating knife 5 in rotary course, and the first blade 3 is detached to lose and be cut with the second blade 7
Cut effect.
Further, it is provided with rotating part 8 on rotating knife 5, axis hole 9, the axis hole 9 are provided on the rotating part 8
In be equipped with shaft 10, described one end of shaft 10 far from rotating knife 5 is provided with against platform 11, and the other end is provided with locating piece
12, the locating piece 12 is pressed against on rotating knife 5, it is described against platform 11 close to the side of knife rest 1 be provided with in knife rest 1
The arc surface that side is mutually agreed with.Arc surface is resisted against the medial surface of knife rest 1, increases the forced area against platform 11, and limitation is supported
Platform 11 rotates, and prevents shaft 10 in 5 rotary course of rotating knife, shakes so that the first blade 3 divides with the second blade 7
From losing shear effect.The bearing area in knife rest 1 against platform 11 is increased simultaneously, improves the rigid of knife rest 1, drop
Low knife rest 1 is because stress twists, extension carriage physical life.
Further, as shown in fig. 7, rotating part 8 is provided with cut part 13 close to one end of the first blade 3, described
Two blades 7 are arranged in cut part 13 close to the side of the first blade 3, and side of the cut part 13 far from the first blade 3 is set
It is equipped with exterior arc surface, the side of the rotating part 8 far from exterior arc surface is provided with inner arc surface.Rotating knife 5 and knife rest 1 are
Metal material, quality is hard, using designed arc-shaped appearance, rotating knife 5 is avoided to scratch fruit surface in rotary course, improves picking product
Matter, while branch is avoided damage to, it influences to carry out annual output.
Further, side of the rotating part 8 far from cut part 13 is provided with driving section 14, is arranged on the transmission ring 4
Have with 5 one-to-one driving groove 15 of rotating knife, the driving section 14 is fastened in driving groove 15, on the driving section 14
It is provided with transmission cambered surface 16, the transmission cambered surface 16 is resisted against on 15 side wall of driving groove.Transmission ring 4 rotates, driving groove 15 1
A side wall applies thrust to driving section 14 so that rotating knife 5 is that center of rotation rotates with shaft 10, the first blade 3 of realization and the
Two blades 7 close up or detach.
Preferably, as seen in figs. 5-6,1 bottom of knife rest is equipped with positioning convex platform 17, and 4 bottom of transmission ring setting is limited
Position step 18, the positioning convex platform 17 are fastened in limited step 18.The one end of transmission ring 4 far from limited step 18 is provided with
Limiting slot 19 is provided with limited block 20 in the limiting slot 19, and the limited block 20 is fixedly mounted on knife rest 1, described
Limited block 20 be pressed on the slot bottom of limiting slot 19, transmission ring 4 is inserted in knife rest 1 from the top of knife rest 1, and positioning convex platform 17 is utilized to limit
Transmission ring 4 processed cannot be detached from knife rest from 1 bottom of knife rest, while limited block 20 is pressed on the slot bottom of limiting slot 19, limits transmission ring 4
It is upwardly separated from knife rest, realizes that transmission ring 4 can only be rotated with knife rest 1 for rotary shaft.20 side wall of limited block and 19 side wall of limiting slot it
Between be provided with activity space.When the rotation of transmission ring 4 is resisted against the side wall of limiting slot 19 to limited block 20, transmission ring 4 stops turning
It is dynamic, 4 angle rotatable of transmission ring is limited, to reach control 5 rotation angle of rotating knife, prevents rotating knife 5 is stuck from cannot reset.Letter
Change connection structure, drop knife rest body weight, enhances controllability.Operator grasp position be 27 end of hollow hand lever, knife rest 1 and
The weight of transmission ring 4 is transmitted in operator's hand and will be multiplied by hollow hand lever 27 according to lever principle, reduces knife rest 1
It is greatly improved operability with 4 mass of transmission ring, and reduces labor intensity.
Preferably, it is provided with cableties 21 on transmission ring 4, threading hole 22, the limit are provided in the limited block 20
Position side of the block 20 far from knife rest 1 is provided with hollow hand lever 23, and cable wire 24, the steel are fixedly connected on the cableties 21
Rope 24 is connected with a bracing wire block 25 by threading hole 22 and hollow hand lever 23.User holds hollow hand lever 23 and controls 1, knife rest
It sets so that carpopodium falls into card fruit slot 2, pulls bracing wire block, cableties 21 is affected by cable wire 24, to pull transmission ring 4 to be with knife rest 1
Rotary shaft rotates.Wherein preferably, hollow hand lever 23 can be telescopic rod, can be adjusted empty according to fruit growth height using this
23 length of heart hand lever wins the different orange of height to facilitate, and avoids carrying ladder, picking of climbing tree, it is strong to reduce labour
Degree saves labour, improves picking efficiency.
It is highly preferred that limited block 20 is hinged with hollow hand lever 23, according to fruit growth position, knife rest 1 and hollow hand are adjusted
The angle of bar 23, the orange that different location is grown in practicality are picked.
Preferably, side of the threading hole 22 far from cableties 21 is provided with roller pin 26,26 axis of roller pin and knife
1 axis of frame is parallel, and reverse wheel is provided in the roller pin 26, and the limited block 20 is hinged with hollow hand lever 23.Cable wire
24 change 24 lead of cable wire by reverse wheel, avoid cable wire 24 and 23 sliding friction of hollow hand lever, cause cable wire 24 or sky
The abrasion of heart hand lever 23, prolongs the service life.
It is highly preferred that being additionally provided with resetting spring 27 on transmission ring 4, the resetting spring 27 setting is remote in limited block 20
The side of offline button 21, described 27 one end of resetting spring are fixedly connected on transmission ring 4, and the other end is fixedly connected on limited block
On 20.After the first blade 3 and the second blade 7, which collapse, cuts carpopodium, user unclamps cable wire 24, and resetting spring 27 is shunk, and is drawn
The 4 negative direction rotation of dynamic transmission ring, drives rotating knife to reset, and the first blade 3 is detached with the second blade 7, waits for collapsing next time and adopt
It plucks.It reduces manpower and resets work, reduce labor intensity, simplify picking step.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Although knife rest 1, card fruit slot 2, the first blade 3, transmission ring 4, rotating knife 5, dress knife plane is used more herein
6, the second blade 7, rotating part 8, axis hole 9, shaft 10, against platform 11, locating piece 12, cut part 13, driving section 14, driving groove
15, cambered surface 16, positioning convex platform 17, limited step 18, limiting slot 19, limited block 20, cableties 21, threading hole 22, hollow hand are driven
The terms such as bar 23, cable wire 24, bracing wire block 25, roller pin 26, resetting spring 27, but the possibility using other terms is not precluded
Property.The use of these items is only for more easily describe and explain the essence of the present invention；It is construed as any type
Additional limitation is all disagreed with spirit of that invention.
Claims (10)
- The orange picker 1. a kind of multitool links, including knife rest (1), which is characterized in that the knife rest (1) is in circular ring shape, It is provided on V-shaped and in card fruit slot (2) side of multiple, described card fruit slots (2) and is provided on the knife rest (1) First blade (3), the knife rest (1) bottom are also arranged with transmission ring (4), are connected on the transmission ring (4) and card fruit Slot (2) quantity equal rotating knife (5) is provided with the second knife being oppositely arranged with the first blade (3) on the rotating knife (5) Sword (7), the rotating knife (5) are hinged with knife rest (1).
- The orange picker 2. multitool according to claim 1 links, which is characterized in that described knife rest (1) lateral surface On be provided with the dress knife plane (6) equal with card fruit slot (2) quantity, the dress knife plane (6) is crossed to form with card fruit slot (2) First blade (3), second blade (7) are tightly attached in dress knife plane (6), and the first blade (3) interlocks with the second blade (7) Form scissors mouth.
- The orange picker 3. multitool according to claim 2 links, which is characterized in that set on the rotating knife (5) It is equipped with rotating part (8), axis hole (9) is provided on the rotating part (8), shaft (10), institute are equipped in the axis hole (9) The one end of the shaft (10) stated far from rotating knife (5) is provided with against platform (11), and the other end is provided with locating piece (12), described Locating piece (12) is pressed against on rotating knife (5), described to be provided with and knife rest (1) close to the side of knife rest (1) against platform (11) The arc surface that medial surface mutually agrees with.
- The orange picker 4. multitool according to claim 3 links, which is characterized in that the rotating part (8) is close One end of first blade (3) is provided with cut part (13), and second blade (7) setting is in cut part (13) close to the first knife The side of sword (3), the side of the cut part (13) far from the first blade (3) are provided with exterior arc surface, the rotating part (8) side far from exterior arc surface is provided with inner arc surface.
- The orange picker 5. multitool according to claim 4 links, which is characterized in that the rotating part (8) is separate The side of cut part (13) is provided with driving section (14), is provided on the transmission ring (4) one-to-one with rotating knife (5) Driving groove (15), the driving section (14) are fastened in driving groove (15), and the driving section is provided with transmission arc on (14) Face (16), the transmission cambered surface (16) are resisted against on driving groove (15) side wall.
- The orange picker 6. multitool according to claim 1 links, which is characterized in that described knife rest (1) bottom is set There are positioning convex platform (17), the transmission ring (4) bottom to be provided with limited step (18), the positioning convex platform (17) is fastened on In limited step (18).
- The orange picker 7. multitool according to claim 6 links, which is characterized in that the transmission ring (4) is separate One end of limited step (18) is provided with limiting slot (19), and limited block (20) is provided in the limiting slot (19), described Limited block (20) is fixedly mounted on knife rest (1), and the limited block (20) is pressed on the slot bottom of limiting slot (19), the limit It is provided with activity space between position block (20) side wall and limiting slot (19) side wall.
- The orange picker 8. multitool according to claim 7 links, which is characterized in that set on the transmission ring (4) Cableties (21) are equipped with, threading hole (22) is provided in the limited block (20), the separate knife rest (1) of the limited block (20) Side is provided with hollow hand lever (23), and cable wire (24) is fixedly connected on the cableties (21), and the cable wire passes through threading Hole (22) and hollow hand lever (23) are connected with a bracing wire block (25).
- The orange picker 9. multitool according to claim 8 links, which is characterized in that the threading hole (22) is separate The side of cableties (21) is provided with roller pin (26), and the roller pin (26) axis is parallel with knife rest (1) axis, and described turns Reverse wheel is provided on pivot pin (26), the limited block (20) is hinged with hollow hand lever (23).
- The orange picker 10. multitool according to claim 8 links, which is characterized in that on the transmission ring (4) also It is provided with resetting spring (27), the side far from cableties (21) in limited block (20) is arranged in the resetting spring (27), described Resetting spring (27) one end be fixedly connected on transmission ring (4), the other end is fixedly connected on limited block (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810334874.9A CN108496558A (en) | 2018-04-15 | 2018-04-15 | Multitool linkage orange picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810334874.9A CN108496558A (en) | 2018-04-15 | 2018-04-15 | Multitool linkage orange picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108496558A true CN108496558A (en) | 2018-09-07 |
Family
ID=63382204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810334874.9A Pending CN108496558A (en) | 2018-04-15 | 2018-04-15 | Multitool linkage orange picker |
Country Status (1)
| Country | Link |
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| CN (1) | CN108496558A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109618665A (en) * | 2019-01-18 | 2019-04-16 | 德施普科技发展温州有限公司 | A kind of fruit picking apparatus |
| CN110881314A (en) * | 2019-11-18 | 2020-03-17 | 饶美婷 | Agricultural fruit clamping and shearing device |
| CN113141872A (en) * | 2021-04-07 | 2021-07-23 | 湖南省农业装备研究所 | Citrus picking robot, end effector thereof and citrus picking method |
| CN117426206A (en) * | 2023-11-03 | 2024-01-23 | 北京中科原动力科技有限公司 | Picking manipulator and picking equipment |
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| CN113141872A (en) * | 2021-04-07 | 2021-07-23 | 湖南省农业装备研究所 | Citrus picking robot, end effector thereof and citrus picking method |
| CN117426206A (en) * | 2023-11-03 | 2024-01-23 | 北京中科原动力科技有限公司 | Picking manipulator and picking equipment |
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