CN208317477U - Fruit picking apparatus - Google Patents
Fruit picking apparatus Download PDFInfo
- Publication number
- CN208317477U CN208317477U CN201820999770.5U CN201820999770U CN208317477U CN 208317477 U CN208317477 U CN 208317477U CN 201820999770 U CN201820999770 U CN 201820999770U CN 208317477 U CN208317477 U CN 208317477U
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- Prior art keywords
- fruit
- gear
- picking
- middle cylinder
- claw
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 104
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 61
- 210000000078 claw Anatomy 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 229910052757 nitrogen Inorganic materials 0.000 claims description 29
- 238000003860 storage Methods 0.000 claims description 14
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 4
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 4
- 241001330002 Bambuseae Species 0.000 claims description 4
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 4
- 239000011425 bamboo Substances 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- QJGQUHMNIGDVPM-UHFFFAOYSA-N nitrogen group Chemical group [N] QJGQUHMNIGDVPM-UHFFFAOYSA-N 0.000 claims 1
- 229910001873 dinitrogen Inorganic materials 0.000 abstract 4
- 230000008859 change Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000006748 scratching Methods 0.000 description 2
- 230000002393 scratching effect Effects 0.000 description 2
- 244000144730 Amygdalus persica Species 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 235000006040 Prunus persica var persica Nutrition 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000000378 dietary effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model provides a kind of fruit picking apparatus, including main cylinder, middle cylinder, moving-coil, rotating mechanism, picking claw and nitrogen gas spring；The bottom of main cylinder is provided with fruit channel, being internally located above fruit channel for main cylinder is provided with internal screw thread, slow platform is provided at the top of main cylinder；Rotating mechanism includes motor, the first gear being sleeved on motor output shaft, bearing, the second gear for being sleeved on bearing both ends and third gear, first gear and second gear engaged transmission；Middle cylinder is hollow communicating structure, is provided with external screw thread on the outer wall of middle cylinder；On slow platform, the inner ring of moving-coil has a gear teeth for moving-coil setting, the third gear external screw thread engaged transmission with the gear teeth of moving-coil, middle cylinder respectively；At the top of moving-coil integrally formed with the nitrogen gas spring hinged seat for hinged nitrogen gas spring, at the top of middle cylinder integrally formed with the picking claw hinged seat for hinged picking claw, nitrogen gas spring is hinged with picking claw.The mechanization of fruit picking is realized using the utility model.
Description
Technical Field
The utility model belongs to the technical field of machinery, more specifically relates to a fruit picker.
Background
In vast rural areas, agricultural production widely adopts various operation modes, and mass production and market release of economic crops, particularly fruits enrich dietary varieties of people and improve life quality of people. In the production operation of fruit, the results is picked to be the link that consumes the most time and makes the most effort in whole production, and the quality of fruit picking operation quality directly influences market price and economic benefits, and many areas in the country still rely on the manual work to pick, and at the in-process of manual picking, fruit can hardly avoid having the emergence of the condition such as collision drops, causes the damage to fruit, is unfavorable for the save and the transportation of fruit. As the requirements of people on the quality of life are continuously improved, the damaged fruits lose the original economic value after entering the consumption market, and the economic benefit of fruit growers is reduced.
With the aging of the domestic population and the reduction of agricultural labor, the labor cost is continuously increased, and the original manual picking of the high-branch fruits not only has the possibility of causing certain damage to the fruits and the fruit trees, but also has certain dangers. Modern large picking machines, while capable of picking fruit efficiently, are too expensive and have limitations in use.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, the utility model aims at providing a fruit picker to solve artifical fruit of picking and take trouble hard, still cause the problem of damage to fruit easily.
The utility model provides a fruit picker, include: the device comprises a main cylinder, a middle cylinder, a moving coil, a rotating mechanism, a picking claw and a nitrogen spring; the fruit feeding device comprises a main barrel, a machine base, a buffer platform, a fruit channel, a fruit feeding device, a fruit discharging device, a motor base, a motor driving device and a motor control device, wherein the bottom of the main barrel is provided with the fruit channel communicated with the outside; the rotating mechanism comprises a motor, a first gear, a second gear, a third gear and a bearing, wherein the second gear, the third gear and the bearing are meshed with the first gear; the middle cylinder is of a hollow through structure, external threads are arranged on the outer wall of the middle cylinder, and the middle cylinder is matched with the main cylinder through threads to lift; the moving coil is arranged on the slow table, the inner ring of the moving coil is provided with gear teeth, and the third gear is positioned between the moving coil and the middle cylinder and is respectively in meshing transmission with the gear teeth of the moving coil and the external threads of the middle cylinder; and at least three nitrogen spring hinge seats which are uniformly distributed at the top of the moving coil are integrally formed on the moving coil, picking claw hinge seats which are the same in number with the nitrogen spring hinge seats and correspond to the nitrogen spring hinge seats in position are integrally formed at the top of the middle barrel, the bottom ends of the picking claws are hinged to the picking claw hinge seats, the fixed ends of the nitrogen springs are hinged to the nitrogen spring hinge seats, and the movable ends of the nitrogen springs are hinged to the picking claws.
In addition, the preferred structure is that the picking claw is of an arc structure.
In addition, the preferred construction is to wrap a layer of fabric of flexible material around the picking jaws.
In addition, the preferred structure is that a resistance strain gauge is arranged on the surface of the picking claw, which is contacted with the fruit, in the middle position.
In addition, the preferred structure is that the fruit picker also comprises a storage battery for supplying power to the motor and a forward and reverse rotation switch for controlling the forward rotation or reverse rotation of the motor, the forward and reverse rotation switch comprises two movable contacts and six fixed contacts, the six fixed contacts are divided into two groups and are respectively matched with one movable contact, and the two fixed contacts in each group are connected with the positive pole and the negative pole of the storage battery; and the motor and the resistance strain gauge are connected between the two movable contacts in series.
In addition, the preferred structure is that the fruit passageway is the arc, and the export of fruit passageway is seted up on the section of thick bamboo wall of main section of thick bamboo, and the storage bag has been covered tightly on the export of fruit passageway.
Furthermore, it is preferred that a layer of fluff is adhered within the fruit passageway.
In addition, the preferable structure is that a base is installed at the bottom of the main cylinder, and a telescopic rod is connected to the base.
In addition, the preferable structure is that a top cover is covered on the moving coil, and the edge of the top cover is buckled with the slow platform.
Compared with the prior art, the utility model discloses the technological effect that can gain as follows:
(1) the middle cylinder is driven by the rotating mechanism to lift in the main cylinder, so that the picking claws are driven to open or close, the fruit picking is replaced by manual picking, and time and labor are saved;
(2) the cost of the fruit picker is far lower than that of a large picking machine, and the use occasions are wider;
(3) the picking claw with the arc-shaped structure can be suitable for the shapes of various fruits, the picking is convenient, the picking angle is not limited, and the resistance strain gauge arranged on the picking claw can sense the stress of the fruits, so that the rotating speed of the middle cylinder is reduced, and the picking claw is prevented from scratching the fruits;
(4) the nitrogen spring can ensure constant force grabbing of the picking claw, and the stability of grabbing force of the picking claw is improved;
(5) the fruit directly enters the containing bag from the fruit channel after being picked, and the picking claws do not need to continuously clamp the fruit until the fruit is placed in the containing bag, so that the fruit channel can realize the continuous picking of the fruit, the picking efficiency is improved, and the picking claws and the fruit channel can protect the fruit from accidentally falling;
(6) the fluff adhered in the fruit channel can play a role in buffering, so that the fruit is prevented from being damaged.
Drawings
Other objects and results of the present invention will become more apparent and more readily appreciated as the same becomes better understood by reference to the following description and appended claims, taken in conjunction with the accompanying drawings.
In the drawings:
fig. 1 is a front view of a fruit picker according to an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a cross-sectional view of a main cartridge according to an embodiment of the present invention;
FIG. 4 is a block diagram of a middle barrel according to an embodiment of the present invention;
fig. 5 is a top view of a moving coil according to an embodiment of the present invention;
fig. 6 is a schematic circuit diagram according to an embodiment of the present invention.
Wherein the reference numerals include: the fruit picking machine comprises a main cylinder 1, a fruit channel 1-1, internal threads 1-2, a machine base 1-3, a buffer table 1-4, a middle cylinder 2, external threads 2-1, a picking claw hinge seat 2-2, a moving coil 3, gear teeth 3-1, a nitrogen spring hinge seat 3-2, a picking claw 4, a nitrogen spring 5, a top cover 6, a resistance strain gauge 7, a base 8, a motor 9-1, a first gear 9-2, a second gear 9-3, a third gear 9-4 and a bearing 9-5.
The same reference numbers in all figures indicate similar or corresponding features or functions.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 and fig. 2 show the front view structure and overlooking structure of the fruit picker according to the embodiment of the utility model.
As shown in fig. 1 and fig. 2, the fruit picker of the embodiment of the present invention comprises: the fruit picking machine comprises a main cylinder 1, a middle cylinder 2, a moving coil 3, a rotating mechanism, picking claws 4 and a nitrogen spring 5, wherein the rotating mechanism is used for driving the middle cylinder 2 and the moving coil 3 to synchronously rotate, the rotating motion of the middle cylinder 2 is converted into linear motion in the main cylinder 1 in a spiral transmission mode, the middle cylinder 2 can lift up and down in the main cylinder 1, in order to guarantee the picking stability, the picking claws 4 are at least three in number, the picking claws are uniformly distributed on the middle cylinder 2, the bottom end of each picking claw 4 is hinged to the middle cylinder 2, the fixed end of the nitrogen spring 5 is hinged to the moving coil 3, the movable end of the nitrogen spring 5 is hinged to the picking claws 4, and when the middle cylinder 2 lifts up and down in the main cylinder 1, the picking claws 4 are driven to be opened or folded, and the.
Fig. 3 is a sectional structure of a main drum according to an embodiment of the present invention.
As shown in fig. 3, a fruit channel 1-1 communicated with the outside is arranged inside the main cylinder 1, a containing bag is tightly sleeved on the outlet of the fruit channel, the picked fruit enters the containing bag through the fruit channel 1-1, the fruit channel 1-1 can be linear or arc, if the fruit channel 1-1 is linear, the bottom of the main cylinder 1 is open, and the internal channel of the middle cylinder 2 is used as the fruit channel 1-1; if the fruit channel 1-1 is arc-shaped, the outlet of the fruit channel 1-1 is arranged on the wall of the main barrel 1, preferably, the fruit channel 1-1 adopts an arc-shaped channel, so that the falling impact force of the fruit can be reduced, further preferably, a base 8 is arranged at the bottom of the main barrel 1, the base 8 comprises a seat body, a barrel and a reinforcing rib, the seat body and the barrel are integrally formed, the reinforcing rib is positioned between the seat body and the barrel, a telescopic rod is inserted into the barrel, and the length of the telescopic rod can be adjusted by a picking person according to different heights of the fruit.
An internal thread 1-2 is arranged on the inner wall of the main cylinder 1 above the fruit channel 1-1, and a base 1-3 is arranged on the outer wall of the main cylinder 1.
In order to reduce the damage caused by the collision of the fruit and the inner wall of the fruit channel 1-1, a layer of fluff is stuck in the fruit channel 1-1.
The top of the main barrel 1 is also provided with a slow platform 1-4, the moving coil 3 is arranged on the slow platform 1-4, in order to prevent the moving coil 3 from shaking out of the slow platform 1-4 during rotation, the moving coil 3 is covered with a top cover 6, and the edge of the top cover 6 is buckled with the slow platform 1-4.
Fig. 4 is a structure of a middle tube according to an embodiment of the present invention.
As shown in fig. 4, the middle cylinder 2 is a hollow through structure, i.e. a hollow structure without top and bottom, which facilitates the picked fruit to pass through the middle cylinder 2 and enter the fruit channel, the outer wall of the middle cylinder 2 is provided with an external thread 2-1, the external thread 2-1 is matched with the internal thread 1-2 to realize the lifting motion of the middle cylinder 2 in the main cylinder 1, picking claw hinge seats 2-2 with the same number as the picking claws 4 are integrally formed at the top of the middle cylinder, and the bottom end of each picking claw 4 is hinged with the corresponding picking claw hinge seat 2-2 through a pin shaft.
Fig. 5 is a top view of a moving coil according to an embodiment of the present invention.
As shown in fig. 5, the inner ring of the moving coil 3 is provided with gear teeth 3-1, the top of the moving coil 3 is integrally formed with nitrogen spring hinge seats 3-2 which are the same in number and corresponding in position to the picking claw hinge seats 2-2, the number of the nitrogen springs 5 is the same as the number of the picking claws 4, the fixed end of each nitrogen spring 5 is hinged to the corresponding nitrogen spring hinge seat 3-2 through a pin shaft, the movable end of each nitrogen spring 5 is hinged to the corresponding picking claw 4 through a rotating shaft, when the middle barrel 2 ascends in the main barrel 1, the picking claws 4 are opened through the nitrogen springs 5, when the middle barrel 2 descends in the main barrel 1, the picking claws 4 are folded through the nitrogen springs 5, and the nitrogen springs 5 can guarantee constant-force grabbing of the picking claws.
Returning to fig. 1, the rotating mechanism comprises a motor 9-1, a first gear 9-2, a second gear 9-3, a third gear 9-4 and a bearing 9-5, the motor 9-1 is fixed on the base 1-3, the first gear 9-2 is sleeved on an output shaft of the motor 9-1, the second gear 9-3 and the third gear 9-4 are respectively sleeved at two ends of the bearing 9-5, the second gear 9-3 is in meshing transmission with the first gear 9-2, the third gear 9-4 is positioned between the middle barrel 2 and the moving coil 3 and is in meshing transmission with internal threads of the middle barrel 2 and gear teeth of the moving coil 3, and the synchronous rotation of the middle barrel 2 and the moving coil 3 is realized through the third gear 9-4 so as to ensure that the nitrogen spring 5 and the picking claw 4 rotate synchronously.
The motor 9-1 drives the first gear 9-2 to rotate, the first gear 9-2 drives the second gear 9-3 to rotate, the second gear 9-3 drives the third gear 9-4 to rotate through the bearing 9-5, and the third gear 9-4 drives the middle cylinder 2 to rotate, so that the lifting motion of the middle cylinder 2 in the main cylinder 1 is finally realized.
In order to grab fruits with similar shapes such as apples, plows, peaches, tomatoes and the like, the picking claw 4 is of an arc-shaped structure, and the radian of the picking claw 4 is matched with that of the surface of the fruit.
In order to prevent the picking claw 4 from scratching the fruit, the picking claw 4 is wrapped with a layer of fabric made of flexible material.
In order to sense the picking force of the picking claws 4 and control the rotating speed of the middle cylinder 2 in real time according to the picking force of the picking claws 4, a resistance strain gauge 7 is arranged on the middle position of the picking claws 4 and one surface contacted with fruits, and the resistance strain gauge 7 can convert the picking force of the picking claws 4 into resistance change.
The motor 9-1 is powered by a 12V storage battery, the positive and negative rotation of the motor 9-1 is controlled by a positive and negative rotation switch, the positive and negative rotation switch comprises two movable contacts and six fixed contacts, the six fixed contacts are divided into two groups and are respectively matched with one movable contact, one fixed contact in each group is connected with the positive pole of the storage battery, and the other fixed contact in each group is connected with the negative pole of the storage battery; the motor 9-1 and the resistance strain gauge 7 are connected in series between two movable contacts, namely, the storage battery, the forward and reverse rotation switch, the motor 9-1 and the resistance strain gauge 7 form a closed circuit, as shown in fig. 6, six fixed contacts from top to bottom in fig. 6 are a first fixed contact, a second fixed contact, a third fixed contact, a fourth fixed contact, a fifth fixed contact and a sixth fixed contact in sequence, the first fixed contact is connected with the positive electrode of the storage battery, the second fixed contact is connected with the empty (nothing is connected), the fourth fixed contact is connected with the negative electrode of the storage battery, the fifth fixed contact is connected with the empty, the sixth fixed contact is connected with the positive electrode of the storage battery, the two movable contacts from top to bottom in fig. 6 are the first movable contact and the second movable contact in sequence, and when the first movable contact is communicated with the first fixed contact, and the second movable contact is communicated with the fourth fixed contact, the motor 9-1 rotates forward; when the first movable contact is communicated with the third fixed contact and the second movable contact is communicated with the sixth fixed contact, the motor 9-1 rotates reversely; when the first movable contact is communicated with the second fixed contact and the second movable contact is communicated with the fifth fixed contact, the motor 9-1 is connected to the neutral gear and does not act.
When the resistance strain gauge 7 contacts with the fruit, the pressure change is converted into resistance change, thereby changing the current of the motor 9-1 and adjusting the rotating speed of the motor.
In the fruit picking process, firstly, the motor 9-1 is controlled to rotate forwards through a forward and reverse rotation switch to enable the middle cylinder 2 to ascend, and at the moment, the picking claws 4 are opened; secondly, placing the opened picking claws 4 below the fruits; then, through the reversal of positive and negative rotation switch control motor 9-1, make well section of thick bamboo 2 descend, pick claw 4 this moment and draw in, cliies fruit, plucks fruit through the rotation, in fruit after plucking directly gets into the storage bag through fruit passageway 1-1, compare in current picking ware, pick claw 4 need not to last centre gripping fruit until putting into the storage bag with fruit, after fruit is plucked, pick claw 4 and can open at once, pluck next time, consequently, the utility model discloses can realize the continuous harvesting of fruit, it is very fast to pick speed.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A fruit picker, comprising: the device comprises a main cylinder, a middle cylinder, a moving coil, a rotating mechanism, a picking claw and a nitrogen spring; wherein,
a fruit channel communicated with the outside is arranged in the main barrel, an internal thread is arranged above the fruit channel in the main barrel, a base is fixed on the barrel wall of the main barrel, and a buffer platform is arranged at the top of the main barrel;
the rotating mechanism comprises a motor, a first gear, a second gear, a third gear and a bearing, wherein the second gear, the third gear and the bearing are meshed with the first gear;
the middle cylinder is of a hollow through structure, external threads are arranged on the outer wall of the middle cylinder, and the middle cylinder is matched with the main cylinder through threads to lift;
the moving coil is arranged on the slow table, gear teeth are arranged on an inner ring of the moving coil, and the third gear is located between the moving coil and the middle cylinder and is in meshing transmission with the gear teeth of the moving coil and the external threads of the middle cylinder respectively; and the number of the first and second groups,
integrated into one piece has at least three evenly distributed to be in on the movable coil the articulated seat of nitrogen spring at the top of movable coil the top integrated into one piece of well section of thick bamboo have with the articulated seat quantity of nitrogen spring the same and with the articulated seat position of nitrogen spring corresponding picking claw is articulated, the bottom of picking the claw with it is articulated to pick the articulated seat of claw, the stiff end of nitrogen spring with the articulated seat of nitrogen spring is articulated, the expansion end of nitrogen spring with it is articulated to pick the claw.
2. The fruit picker of claim 1, wherein the picking claw is of arcuate configuration.
3. The fruit picker of claim 2, wherein the picking tines are wrapped with a layer of fabric of flexible material.
4. Fruit picker according to claim 1, 2 or 3, wherein an electrical resistance strain gauge is mounted on the face of the picking claw that contacts the fruit at a central position.
5. The fruit picker according to claim 4, further comprising a storage battery for supplying power to the motor and a forward and reverse switch for controlling the forward or reverse rotation of the motor, wherein the forward and reverse switch comprises two movable contacts and six stationary contacts, three stationary contacts are divided into two groups and are respectively matched with one movable contact, and two stationary contacts in each group are connected to the positive pole and the negative pole of the storage battery; and the motor and the resistance strain gauge are connected between the two movable contacts in series.
6. The fruit picker according to claim 1, wherein the fruit passage is arc-shaped, the outlet of the fruit passage is arranged on the wall of the main cylinder, and a receiving bag is tightly sleeved on the outlet of the fruit passage.
7. The fruit picker according to claim 1 or 6, wherein a layer of fluff is adhered within the fruit passage.
8. The fruit picker according to claim 7, wherein a base is mounted to the bottom of the main cylinder, and a telescopic rod is connected to the base.
9. The fruit picker according to claim 1, wherein the movable ring is covered with a top cover, and the edge of the top cover is buckled with the slow platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820999770.5U CN208317477U (en) | 2018-06-27 | 2018-06-27 | Fruit picking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820999770.5U CN208317477U (en) | 2018-06-27 | 2018-06-27 | Fruit picking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208317477U true CN208317477U (en) | 2019-01-04 |
Family
ID=64784956
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820999770.5U Expired - Fee Related CN208317477U (en) | 2018-06-27 | 2018-06-27 | Fruit picking apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208317477U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937707A (en) * | 2019-04-29 | 2019-06-28 | 重庆科技学院 | A kind of landscape style fruit picking robot |
| CN110192472A (en) * | 2019-03-25 | 2019-09-03 | 山东交通学院 | Both arms apple-picking circle is classified collecting robot people |
| CN113678642A (en) * | 2021-10-25 | 2021-11-23 | 山东省农业机械科学研究院 | Apple snatchs manipulator with adjustable |
| CN114916317A (en) * | 2022-05-09 | 2022-08-19 | 华南理工大学 | Multi-connecting-rod fruit picking manipulator |
| CN115176595A (en) * | 2022-08-03 | 2022-10-14 | 重庆文理学院 | Tea picking manipulator and tea picking robot thereof |
-
2018
- 2018-06-27 CN CN201820999770.5U patent/CN208317477U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192472A (en) * | 2019-03-25 | 2019-09-03 | 山东交通学院 | Both arms apple-picking circle is classified collecting robot people |
| CN110192472B (en) * | 2019-03-25 | 2024-02-27 | 山东交通学院 | Round grading collection robot for picking apples with two arms |
| CN109937707A (en) * | 2019-04-29 | 2019-06-28 | 重庆科技学院 | A kind of landscape style fruit picking robot |
| CN113678642A (en) * | 2021-10-25 | 2021-11-23 | 山东省农业机械科学研究院 | Apple snatchs manipulator with adjustable |
| CN114916317A (en) * | 2022-05-09 | 2022-08-19 | 华南理工大学 | Multi-connecting-rod fruit picking manipulator |
| CN115176595A (en) * | 2022-08-03 | 2022-10-14 | 重庆文理学院 | Tea picking manipulator and tea picking robot thereof |
| CN115176595B (en) * | 2022-08-03 | 2023-12-08 | 重庆文理学院 | Tea picking manipulator and tea picking robot thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 Termination date: 20210627 |