CN208285885U - Embrace the rock type picker of tree - Google Patents

Embrace the rock type picker of tree Download PDF

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Publication number
CN208285885U
CN208285885U CN201820615685.4U CN201820615685U CN208285885U CN 208285885 U CN208285885 U CN 208285885U CN 201820615685 U CN201820615685 U CN 201820615685U CN 208285885 U CN208285885 U CN 208285885U
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China
Prior art keywords
tree
armful
telescopic
ring
tree ring
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Expired - Fee Related
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CN201820615685.4U
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Chinese (zh)
Inventor
王方艳
***
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Qingdao Agricultural University
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Qingdao Agricultural University
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Priority to CN201820615685.4U priority Critical patent/CN208285885U/en
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Publication of CN208285885U publication Critical patent/CN208285885U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to Tree Fruits to pick field, especially a kind of to embrace the rock type picker of tree.Including rack, shedding mechanism, tree-cohesion mechanism, Yao Shu mechanism, shedding mechanism is connect with tree-cohesion mechanism, and one end of Yao Shu mechanism is connect with rack, and the other end is connect with tree-cohesion mechanism;The tree-cohesion mechanism includes telescopic armful of the upper and lower tree ring, each telescopic armful tree ring is made of the symmetrically arranged telescopic armful of tree ring of arranged on left and right sides, one end of telescopic armful of tree ring is fixedly connected with connection frame and connecting plate, the other end of telescopic armful of tree ring is extension type, connecting plate is arranged between two parallel connection frames, and connecting plate is fixedly connected with connection frame, the connection frame for being fixed on the telescopic armful of tree ring in upper layer is connected with Yao Shu mechanism, and the connection frame for being fixed on telescopic armful of tree ring of lower layer is connected with rack.Its picking and collection that fruit on fruit tree is realized by mechanized manner, improve and pluck fruit efficiency, and greatly reduce and pluck fruit cost.

Description

Embrace the rock type picker of tree
Technical field
The utility model relates to Tree Fruits to pick field, especially a kind of to embrace the rock type picker of tree.
Background technique
With the raising and expanding economy of agriculture and forestry plantation level, planting fruit trees are from original dispersion plantation to collection The single-minded type planting fruit trees garden of middle plantation development, large-scale even ultra-large type frequently occurs on various regions, this makes the work to fruit tree Industry is converted into mechanically actuated from manual operation and is possibly realized.Mechanically actuated can not only save big in the application of planting fruit trees industry Cost of labor is measured, and can be improved the efficiency of planting fruit trees, to improve the economic well-being of workers and staff of plantation owner.
However, still being limited to mechanical concentration spray to the mechanically actuated in planting fruit trees garden in the prior art, mechanical concentrate fills Irrigate and it is mechanical concentrate weeding etc., for needing working hour most picking fruit, since the professional and fruit of picking is in fruit The diversity being distributed on tree, it is still necessary to arrange many picking personnel to pick in fixed time period, this artificial Softening Have the following drawbacks: (1) picking takes a long time, and for requiring the fruit tree of rapid picking, often leads to many fruits and has little time to adopt It plucks and falls branch, lead to not eat;(2) picking is at high cost, and in the season of fruit maturation, cost of labor is higher, to plantation Garden is main to cause biggish financial burden;(3) fruit of fruit tree is picked, it usually needs by the tool that ladder, pedal stool etc. are ascended a height, It ascends a height and plucks fruit inherently there is certain risk.
Currently, foreign countries have had already appeared picking fruit machine, but due to external fruit tree plant is tall and big, spacing in the rows relatively dispersion, Branch is less, and domestic fruit tree plant is lower, it is more to plant comparatively dense, branch, therefore external picking machine is not particularly suited for The picking of domestic fruit tree.For the plantation characteristic of domestic fruit tree, a kind of fruit tree conducive to dense planting space of folding retractable is had developed Picker.
Utility model content
Utility model aims to solve the above-mentioned problems in the prior art, and it is rock type to propose a kind of armful of tree Picker realizes the picking and collection of fruit on fruit tree by mechanized manner, improves and plucks fruit efficiency, and drops significantly It is low to pluck fruit cost.
The technical solution of the utility model is: one kind embracing the rock type picker of tree, including rack, wherein further includes falling Fruit mechanism, tree-cohesion mechanism, Yao Shu mechanism, shedding mechanism are connect with tree-cohesion mechanism, and one end of Yao Shu mechanism is connect with rack, another End is connect with tree-cohesion mechanism;
The tree-cohesion mechanism includes telescopic armful of the upper and lower tree ring, each telescopic armful tree ring is by left and right two The symmetrically arranged telescopic armful of tree ring composition in side, one end of telescopic armful of tree ring is fixedly connected with connection frame and connecting plate, stretches The other end that formula embraces tree ring is extension type, and connecting plate is arranged between two parallel connection frames, and connecting plate and connection frame are solid Fixed connection, the connection frame for being fixed on the telescopic armful of tree ring in upper layer are connected with Yao Shu mechanism, are fixed on telescopic armful of tree ring of lower layer Connection frame is connected with rack, by stretching between the free end of the telescopic armful of tree ring in free end and lower layer of telescopic armful of upper layer tree ring The connection of contracting formula connecting rod;
The telescopic armful of tree ring embraces tree ring by several sections and is formed by connecting, and the diameter of adjacent armful of tree ring successively becomes smaller, and diameter is small Tree ring set of embracing embrace in tree ring its adjacent diameter is big, and the small tree ring of embracing of diameter is embraced in tree ring adjacent diameter is big Sliding, maximum armful of tree ring of diameter are fixedly connected with fixed plate, are embraced for every section and are respectively and fixedly provided with support rod connecting plate, fruit picker on tree ring Structure is connect with support rod connecting plate;
It is equipped with annular bull gear above telescopic armful of tree ring of left and right side of the telescopic armful of tree ring in the upper layer, annular Gear wheel is arc-shaped, and annular bull gear is engaged with the gear being arranged in fixed plate, and annular bull gear sets ring with telescopic armful Free end is fixedly connected;
The shedding mechanism include it is several along telescopic armful set ring the spaced support frame of circumferencial direction and be located at Tarpaulin is collected in shedding above support frame, and support frame includes support rod I, support rod II, support rod III and support rod IV, One end of middle support rod III and the telescopic armful of tree ring on upper layer are hinged, and the other end and support rod IV of support rod III are hinged, support One end of bar I and telescopic armful of tree ring of lower layer are hinged, and one end of support rod I and support rod II are hinged, support rod II it is another End is hinged with the middle part of support rod IV, and support rod III and support rod I are arranged in a crossed manner, and support rod III and support rod I are cut with scissors at middle part It connects;
The Yao Shu mechanism includes cam, connecting rod and rotation axis, and one end of connecting rod and cam are hinged, the other end and rotation axis It is fixedly connected, the free end for the connection frame being fixedly connected with telescopic armful of upper layer tree ring is equipped with hole, and rotation axis sequentially passes through two companies The through-hole on frame is connect, and hinged with connection frame;
It is set equipped with the tree ring of embracing for preventing diameter small from big the embracing of diameter the end of the described adjacent two sections junctions for embracing tree ring The limiting component to fall off in ring, the limiting component include the big crimping for embracing tree ring end of diameter being arranged in and diameter is small embraces The protrusion of ring end is set, raised diameter is less than big the embracing of diameter and sets ring diameter, and is greater than the diameter of curled edges.
It further include transport establishment and collecting mechanism in the utility model, one end of rack is arranged in tree-cohesion mechanism, collects machine The corresponding other end that rack is arranged in of structure, is equipped with transport establishment between tree-cohesion mechanism and collecting mechanism, transport establishment's setting exists In rack, transport establishment is inclined to set, and low side is close to tree-cohesion mechanism, the high-end top positioned at collecting mechanism.
The end of the described adjacent two sections junctions for embracing tree ring is equipped with limiting component, prevents small the embracing of diameter from setting ring from diameter Big embracing falls off in tree ring.
It is to be obliquely installed that tarpaulin is collected in the telescopic armful of tree ring and the shedding connecting with telescopic armful of tree ring, with ground Between angle be 8-15 °, it is least significant end that telescopic armful of tree ring and shedding, which collect tarpaulin close to one end of transport establishment,.By inclining Tiltedly setting can all concentrate on the fruit being collected into then being transferred out by transport establishment close to one end of transport establishment.
The utility model has the beneficial effects that the arrangement achieves mechanizations to collect the ripening fruits on fruit tree, substantially reduce The cost for plucking fruit, improves the picking efficiency of fruit, and reduces worker and pick risk in work;In addition, the device Foldable telescopic, the picking fruit suitable for dense planting space.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model;
Fig. 2 is the structural schematic diagram of tree-cohesion mechanism;
Fig. 3 is the structural schematic diagram of shedding mechanism;
Fig. 4 is the top view of tree-cohesion mechanism;
Fig. 5 is the structural schematic diagram of Yao Shu mechanism.
In figure: 1 shedding mechanism;101 support rods I;102 support rods II;103 support rods III;104 support rods IV;2 armfuls of tree machines Structure;201 connecting plates;202 pinion gears;203 annular bull gears;204 telescopic armfuls of tree rings;205 support rod connecting plates;206 armfuls of trees Ring I;207 armfuls of tree rings II;208 armfuls of tree rings III;209 connection frames;210 fixed plates;211 telescopic connection rods;3 racks;4 transports Mechanism;5 collecting mechanisms;6 Yao Shu mechanisms;601 cams;602 connecting rods;603 rotation axis.
Specific embodiment
The utility model is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, the described in the utility model armful of rock type picker of tree includes rack 3, shedding mechanism 1, Bao Shu Mechanism 2, Yao Shu mechanism 6, transport establishment 4 and collecting mechanism 5, wherein one end of rack 3, collecting mechanism is arranged in tree-cohesion mechanism 2 The 5 corresponding other ends that rack 3 is arranged in, are equipped with transport establishment 4 between tree-cohesion mechanism 2 and collecting mechanism 5, transport establishment 4 sets It sets in rack 3, transport establishment 4 is inclined to set, and low side is high-end positioned at the upper of collecting mechanism 5 close to tree-cohesion mechanism 2 Side.Shedding mechanism 1 is connect with tree-cohesion mechanism 2, and one end of Yao Shu mechanism 6 is connect with rack 3, and the other end is connect with tree-cohesion mechanism 2.
As shown in Figure 2 and Figure 4, tree-cohesion mechanism 2 includes upper and lower two telescopic armful of tree rings, and telescopic armful of tree ring is inclined Setting, the angle between ground is 10 °, and telescopic armful of tree ring is least significant end close to one end of transport establishment.Each is stretched Contracting formula is embraced tree ring and is made of the symmetrically arranged telescopic armful of tree ring 204 of arranged on left and right sides, and telescopic armful of tree of arranged on left and right sides Ring is symmetrical set.One end of telescopic armful of tree ring 204 is fixedly connected with connection frame 209 and fixed plate 201, telescopic armful of tree ring 204 other end is extension type.Fixed plate 209 is arranged between two parallel connection frames 209, and fixed plate 201 with connect Frame 209 is fixedly connected.The connection frame 209 and Yao Shu mechanism 6 for being fixed on telescopic armful of upper layer tree ring connect, and it is flexible to be fixed on lower layer Formula embraces the connection frame 209 of tree ring and rack 3 connects.Telescopic armful of tree ring 204 embraces tree ring by multistage and is formed by connecting, adjacent armful of tree ring Diameter successively become smaller, the small tree ring set of embracing of diameter is embraced in tree ring its adjacent diameter is big, and diameter it is small embrace a tree ring can To slide in big the embracing in tree ring of adjacent diameter, the length for realizing telescopic armful of tree ring 204 is variable, maximum armful of diameter tree Ring is fixedly connected with fixed plate 210.After telescopic armful of tree ring 204 is fully extended, telescopic armful of tree ring of arranged on left and right sides The distance between 201 free end minimum, telescopic at this time armful of tree ring 204 can tightly surround the trunk of fruit tree.Phase The end of the adjacent two sections junctions for embracing tree ring is equipped with limiting component, and the tree ring of embracing for preventing diameter small takes off from big the embracing in tree ring of diameter It falls.The limiting component includes that the big crimping for embracing tree ring end of diameter and the small protrusion for embracing tree ring end of diameter is arranged in, The diameter of protrusion is less than big the embracing of diameter and sets ring diameter, and is greater than the diameter of curled edges.
The utility model realizes that the flexible of tree ring is embraced on upper layer by the way of gear engagement.Two are fixed in fixed plate 210 One end of a connecting plate 201, connecting plate 201 is fixedly connected with fixed plate 210, and the other end is connected with horizontal positioned gear 202, Gear 202 is engaged with annular bull gear 203, and annular bull gear 203 is arc-shaped, is located at telescopic armful of tree ring of left and right side 204 top, annular bull gear 203 are fixedly connected with the free end of the telescopic armful of tree ring in upper layer, realize telescopic armful of upper layer Set the adjusting of ring length.While gear 202 rotates, by engaging for gear 202 and annular bull gear 203, annular is driven greatly Gear 203 does circular motion, while annular bull gear 203 drives the free end of the telescopic armful of tree ring 204 in upper layer flexible.It stretches on upper layer Contracting formula, which is embraced, to be connected between the free end for setting telescopic armful of tree ring of ring and lower layer by telescopic connection rod 211, telescopic connection rod 211 upper end is fixedly connected with the free end of the telescopic armful of tree ring in upper layer, and the lower end of telescopic connection rod 211 and lower layer are flexible The free end that formula embraces tree ring is fixedly connected.By telescopic connection rod, realizes telescopic armful of upper layer tree ring and lower layer is telescopic The rigid connection for embracing tree ring is able to drive telescopic armful of tree ring simultaneous retractable of lower layer when telescopic armful of upper layer tree ring is flexible.
In the present embodiment, telescopic armful of tree ring 204 by three sections embrace tree rings be connected in sequence, be respectively embrace tree a ring I 206, Embrace tree ring II 207 and embrace tree a ring III 208, wherein embrace tree ring III 208, embrace tree ring II 207, embrace tree ring I 206 diameter successively become It is small, it embraces tree ring II 207 and is inserted in armful tree ring III 208, and embrace tree ring II 207 to slide embracing to set in ring III 208, embrace tree ring I 206 are inserted in armful tree ring II 207, and armful tree ring I 206 can be slided embracing to set in ring II 207.It embraces tree ring II 207 and embraces tree ring The end of III 208 junctions is equipped with position-limit mechanism, prevents armful tree ring II 207 from skidding off out of armful tree ring III 208;Embrace tree ring I 206 It is equipped with position-limit mechanism with an armful end for tree II 207 junction of ring, prevents armful tree ring I 206 from skidding off out of armful tree ring II 207.Embrace tree Ring III 208 is fixedly connected with fixed plate 210, and the free end for embracing tree ring I 206 is fixedly connected with one end of annular bull gear 203.Ring Shape gear wheel 203 during rotation, drives and embraces the tree movement of ring I 206, to change the length for embracing tree ring.
It constitutes and is respectively and fixedly provided with support rod connecting plate 205 on the every section armful of tree ring of telescopic armful of tree ring, connected by support rod Plate 205 realizes the connection of tree-cohesion mechanism 2 and shedding mechanism 1.As shown in figure 3, shedding mechanism 1 include multiple support frames and Tarpaulin is collected in shedding above support frame, and the circumferencial direction interval that support frame sets ring 204 along telescopic armful is arranged, by It is inclined to set in telescopic armful of tree ring, therefore it is also to be obliquely installed that tarpaulin is collected in shedding, the angle between ground is 10°.It is least significant end that shedding, which collects tarpaulin close to one end of transport establishment,.The fruit being collected into can be concentrated by being obliquely installed In one end close to transport establishment, then transferred out by transport establishment.Support frame includes support rod I 101, support rod II 102, support rod III 103 and support rod IV 104, wherein the telescopic armful of tree ring of one end and upper layer of support rod III 103 is hinged, branch The other end and support rod IV 104 of strut III 103 are hinged, and one end of support rod I 101 and telescopic armful of tree ring of lower layer are hinged, One end of support rod I 101 and support rod II 102 are hinged, and the other end of support rod II 102 and the middle part of support rod IV 104 are cut with scissors It connects, support rod III 103 and support rod I 101 are arranged in a crossed manner, and support rod III 103 and support rod I 101 are hinged at middle part.It is above-mentioned The support frame of structure can be shunk, and can also be opened, and tarpaulin is collected in shedding and the upper surface of support frame connects, and work as support rib When frame is opened, shedding is collected tarpaulin and is also accordingly opened, and can start to pluck fruit work at this time;After plucking fruit work, support frame It shrinks, shedding is driven to collect tarpaulin closure.It embraces tree ring to complete after embracing tree movement, the length of telescopic connection rod 211 shortens, upper layer It embraces and sets circumferential lower layer to embrace tree ring movement close, to make shedding mechanism opening, therefore telescopic connection rod 211 is flexible, makes Layer embraces tree ring and lower layer embraces the distance between tree ring and changes, while realizing the opening and closing of shedding mechanism.In addition, falling Fruit mechanism 1 realizes the connection between telescopic armful of tree ring of telescopic armful of upper layer tree ring and lower layer, therefore works as telescopic armful of upper layer While tree ring is flexible, under the drive of shedding mechanism, telescopic armful of tree ring of lower layer stretches with telescopic armful of upper layer tree ring. Meanwhile the skeleton of the structure also acts the effect of buffering and damping.
As shown in Figure 4 and Figure 5, Yao Shu mechanism 6 includes cam 601, connecting rod 602 and rotation axis 603, one end of connecting rod 602 Hinged with cam 601, the other end is fixedly connected with rotation axis 603.The connection frame 209 being fixedly connected with telescopic armful of upper layer tree ring Free end be equipped with hole, rotation axis 603 sequentially passes through the through-hole on two connection frames 209, to realize Yao Shu mechanism 6 and Bao Shu The connection of mechanism 2.In 601 rotation process of cam, drives connecting rod 602 and rotation axis 603 to be moved forward and backward, moved before and after rotation axis 603 During dynamic, it will drive telescopic armful of tree ring and be moved forward and backward, the trunk set in ring telescopic armful is applied with one and rocks back and forth Power, so that mellow fruit on fruit tree be made to fall.
The course of work of the utility model is as described below: when needing to pluck fruit, which being disposed close to the trunk of fruit tree Place makes annular bull gear 203 drive the telescopic armful of tree ring on upper layer and downside firstly, the gear by tree-cohesion mechanism engages 204 length, until telescopic armful of tree ring 204 holds the trunk of fruit tree tightly, while by the support frame of shedding mechanism and The shedding connecting with support frame is collected tarpaulin and is opened, and Yao Shu mechanism 6 is then started, and the cam 601 of Shi Yaoshu mechanism 6 rotates, The power swayed forwards and backwards is applied to the trunk of fruit tree, mellow fruit is fallen on fruit tree during shaking, directly falls in shedding mechanism Shedding collect tarpaulin in, by shedding collect tarpaulin collect fruit, be delivered in collecting mechanism 5 by transport establishment 4.It plucks It after the completion of fruit, is engaged by gear, the length of telescopic armful of tree ring is gradually shortened, while shrink support frame, shedding is received Collect tarpaulin closure, which is pushed into carry out plucking fruit operation at other fruit trees.

Claims (3)

1. one kind embraces the rock type picker of tree, including rack (3), it is characterised in that: further include shedding mechanism (1), embrace tree machine Structure (2), Yao Shu mechanism (6), shedding mechanism (1) are connect with tree-cohesion mechanism (2), and one end and rack (3) of Yao Shu mechanism (6) are even It connects, the other end is connect with tree-cohesion mechanism (2);
The tree-cohesion mechanism (2) includes telescopic armful of the upper and lower tree ring, each telescopic armful tree ring is by arranged on left and right sides Symmetrically arranged telescopic armful of tree ring (204) composition, one end and connection frame (209) and the connecting plate of telescopic armful of tree ring (204) (201) it is fixedly connected, the other end of telescopic armful of tree ring (204) is extension type, and two parallel companies are arranged in fixed plate (210) It connects between frame (209), and connecting plate (201) is fixedly connected with connection frame (209), is fixed on the connection of the telescopic armful of tree ring in upper layer The connection frame (209) and rack (3) connection of telescopic armful of tree ring of lower layer are fixed in frame (209) and Yao Shu mechanism (6) connection, on Between the free end of the telescopic armful of tree ring in free end and lower layer of telescopic armful of tree ring of layer even by telescopic connection rod (211) It connects;
The telescopic armful of tree ring (204) embraces tree ring by several sections and is formed by connecting, and the diameter of adjacent armful of tree ring successively becomes smaller, and diameter is small Tree ring set of embracing embrace in tree ring its adjacent diameter is big, and the small tree ring of embracing of diameter is embraced in tree ring adjacent diameter is big Sliding, maximum armful of tree ring of diameter are fixedly connected with fixed plate (210), are embraced for every section and are respectively and fixedly provided with support rod connecting plate on tree ring (205), shedding mechanism (1) is connect with support rod connecting plate (205);
Annular bull gear is equipped with above telescopic armful of tree ring (204) of left and right side of the telescopic armful of tree ring in the upper layer (203), annular bull gear (203) is arc-shaped, and annular bull gear (203) is nibbled with the gear (202) being arranged on fixed plate (210) It closes, the free end that annular bull gear (203) sets ring (204) with telescopic armful is fixedly connected;
The shedding mechanism (1) includes several spaced support frames of circumferencial direction for setting ring along telescopic armful and is located at branch Tarpaulin is collected in shedding above support bone frame, and support frame includes support rod I (101), support rod II (102), support rod III (103) With support rod IV (104), wherein the telescopic armful of tree ring of one end and upper layer of support rod III (103) is hinged, support rod III (103) The other end and support rod IV (104) hingedly, one end of support rod I (101) and telescopic armful of tree ring of lower layer are hinged, support rod Hingedly, the other end of support rod II (102) and the middle part of support rod IV (104) are cut with scissors for one end of I (101) and support rod II (102) It connects, support rod III (103) and support rod I (101) are arranged in a crossed manner, and support rod III (103) and support rod I (101) are cut with scissors at middle part It connects;
The Yao Shu mechanism (6) includes cam (601), connecting rod (602) and rotation axis (603), one end of connecting rod (602) and cam (601) hingedly, the other end is fixedly connected with rotation axis (603), the connection frame (209) being fixedly connected with telescopic armful of upper layer tree ring Free end be equipped with hole, rotation axis (603) sequentially passes through the through-hole on two connection frames (209), and hinged with connection frame (209);
The end of the described adjacent two sections junctions for embracing tree ring is equipped with the tree ring of embracing for preventing diameter small and embraces in tree ring from diameter is big The limiting component to fall off, the limiting component include that ring is set in the crimping that the big armful tree ring end of diameter is arranged in and small the embracing of diameter The protrusion of end, raised diameter is less than big the embracing of diameter and sets ring diameter, and is greater than the diameter of curled edges.
2. the according to claim 1 armful of rock type picker of tree, it is characterised in that: further include transport establishment (4) and receipts Collecting mechanism (5), in one end of rack (3), collecting mechanism (5) is corresponding to be arranged in the another of rack (3) for tree-cohesion mechanism (2) setting End is equipped with transport establishment (4) between tree-cohesion mechanism (2) and collecting mechanism (5), and transport establishment (4) is arranged on rack (3), fortune Transfer mechanism (4) is inclined to set, and low side is close to tree-cohesion mechanism (2), the high-end top positioned at collecting mechanism (5).
3. the according to claim 2 armful of rock type picker of tree, it is characterised in that: the telescopic armful of tree ring (204) It is to be obliquely installed with setting the shedding that ring is connect to collect tarpaulin with telescopic armful, the angle between ground is 8-15 °, telescopic It is least significant end that tree ring and shedding collection tarpaulin, which are embraced, close to one end of transport establishment.
CN201820615685.4U 2018-04-27 2018-04-27 Embrace the rock type picker of tree Expired - Fee Related CN208285885U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820615685.4U CN208285885U (en) 2018-04-27 2018-04-27 Embrace the rock type picker of tree

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820615685.4U CN208285885U (en) 2018-04-27 2018-04-27 Embrace the rock type picker of tree

Publications (1)

Publication Number Publication Date
CN208285885U true CN208285885U (en) 2018-12-28

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Application Number Title Priority Date Filing Date
CN201820615685.4U Expired - Fee Related CN208285885U (en) 2018-04-27 2018-04-27 Embrace the rock type picker of tree

Country Status (1)

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CN (1) CN208285885U (en)

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Granted publication date: 20181228

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