CN208708181U - It is a kind of to be pre-positioned autonomous clipping picking mechanism and picking collection device - Google Patents
It is a kind of to be pre-positioned autonomous clipping picking mechanism and picking collection device Download PDFInfo
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- CN208708181U CN208708181U CN201821150347.4U CN201821150347U CN208708181U CN 208708181 U CN208708181 U CN 208708181U CN 201821150347 U CN201821150347 U CN 201821150347U CN 208708181 U CN208708181 U CN 208708181U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 84
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Abstract
Autonomous clipping picking mechanism and picking collection device are pre-positioned the utility model discloses a kind of, it is simple that it solves device for picking fruit structure in the prior art, the problem of direction can not be accurately controlled, with the beneficial effect for facilitating fruit to fall by vibration, its scheme is as follows: a kind of to be pre-positioned autonomous clipping picking mechanism, it is capable of the sleeve of axial stretching including more piece, most inner side sleeve is connect with the first telescoping mechanism, picking mechanical arm is set in most inner side sleeve, picking mechanical arm includes the second telescoping mechanism, second telescoping mechanism is connect by hinge with gripper, with gripping or releasing by the telescopic band motivation machinery claw of the second telescoping mechanism, vibrating mechanism is arranged to drive shaking off for fruit in outermost sleeve.
Description
Technical field
The utility model relates to picking fruit fields, more particularly to a kind of autonomous clipping picking mechanism of pre-determined bit and adopt
Pluck collection device.
Background technique
Seed harvester is the important farm machinery of one kind in agricultural for fruit-picking, and existing seed harvester is a variety of more
Sample.
China develops winter jujube picking mechanical since 1970 and is turned into industry, once develops hand-held gasbag-type fruit picker and holds
Electric fruit picker.The two is essentially or the auxiliary of manual work is mechanical, although in the protection injury-free side of winter jujube
Face is made preferably, but its efficiency is still too low.After 1980, China begins one's study and manufactures cutting-type device for picking, but usually
Picker structure is relatively simple, and picking efficiency is lower, and winter jujube picking gradually develops to auxiliaryization using scissors picking from artificial
Picking, higher to requirement for height, direction is not easy to control.Such as long-handle scissors picking, although the damage to fruit is also small, according to
It is old time-consuming and laborious without solving the problems, such as.More auxiliary tools such as hydraulic branch pruning hoistable platform is developed after this, is used to
Operating position is improved, in order to pick operation.Once China also used air blowing type winter jujube to pick, but since its air-flow is unstable,
Easy damaged fruit branch fruit, although separating effect is preferable, picking is ineffective, so being eliminated soon.
For foreign study, the working efficiency of mechanical work picking is generally lower, and the damage ratio picked is higher, is not suitable for
In the winter jujube that picking has the characteristics that easy damaged and requires serviceability rate high.Nineteen sixty mid-term, American Studies go out hydraulic elevating platform
Vehicle uses as auxiliary picker, so that picking efficiency is greatly improved, but cannot cope with adopting for large-scale plantation
It plucks.Latter stage in 1970, with the rapid development of science and technology, the western countries headed by the U.S. begin one's study various agricultural robots.
Picking robot is mainly made of the big system of manipulator, end effector, visual identifying system and running gear etc. four.Although adopting
It plucks robot flexibility ratio and operational readiness is higher and higher, if but winter jujube quantity is more, individual is small and mellow and full, spacial distribution density is adopted greatly
With picking robot, picking efficiency is not obviously high.And the dimension and scope of activities very little of manipulator, it is difficult to adapt to various operating conditions.
Therefore, it is necessary to carry out new researching and designing to a kind of independently clipping picking mechanism that is pre-positioned.
Utility model content
In order to overcome the deficiencies of the prior art, the utility model provides it is a kind of be pre-positioned autonomous clipping picking mechanism,
The picking mechanism assists people's rapid picking fruit in harvest, so that improves fruit shakes off rate, reduces the surface damage of fruit
Hurt rate, maximizes and assist to be accomplished manually integrated work, guarantee the high efficiency of picking.
A kind of concrete scheme being pre-positioned autonomous clipping picking mechanism is as follows:
It is a kind of to be pre-positioned autonomous clipping picking mechanism, be capable of the sleeve of axial stretching including more piece, most inner side sleeve with
The connection of first telescoping mechanism, most inner side sleeve is interior to be arranged picking mechanical arm, and picking mechanical arm includes the second telescoping mechanism, and second stretches
Contracting mechanism is connect by hinge with gripper, with gripping or releasing by the telescopic band motivation machinery claw of the second telescoping mechanism, most
Vibrating mechanism is arranged to drive shaking off for fruit in outer barrel.
Above-mentioned picking mechanism, by manipulator clamping fruit tree branches and leaves, sleeve is provided with the protection being conducive to manipulator,
And facilitate transmitting vibrational energy, vibrational energy is passed to by manipulator by vibrating mechanism, fruit is driven to shake off by vibration
Mode hurtle down, realize picking, picking efficiency is high.
Further, long connect is set for the working range of prolonged mechanical pawl, between second telescoping mechanism and hinge
Bar.
Further, the gripper includes two grippers of interconnection, and each gripper includes the first gripper and with the
Second gripper of one gripper articulated connection, the second gripper connect with the hinge, the crosspoints of two grippers in the first gripper,
And the connecting plate with most inner side sleeve connection is set in hinge and two gripper junctions, it is first-hand by two grippers in gripper
Pawl clamps branch, under the effect of vibration of vibrating mechanism, is conducive to falling off for fruit.Interference
Further, gasket is set on the inside of first gripper, gasket is triangle, after two gaskets closures for pair
Branch is effectively clamped.
Further, first telescoping mechanism is electric threaded shaft, and electric threaded shaft is set to the most inner side sleeve connection
Nut, the rotation of such electric threaded shaft, nut drives most inner side sleeve mobile, to extend the length of picking mechanism, Ke Yigen
Extending the extended length of picking mechanism according to the position where fruit, electric threaded shaft is set to the top of the second telescoping mechanism, alternatively,
Electric threaded shaft is set to the inboard of most inner side sleeve, the connecting plate and most inner side sleeve of such picking mechanical arm relative to picking mechanical arm
Connection drives, to drive the forward or backward of picking mechanical arm by most inner side sleeve, to avoid the interference problem of the two.
Further, the setting of sleeve ends described in outermost is used to hold the side of sleeve with the annular disk of the sleeve connection
To, the rotation of entire picking mechanism can control by annular disk in this way and be lifted the movement of decline, base bottom setting rotation
Axis, rotary shaft are set to rack by bearing, realize the rotation of picking mechanism；
Outermost circumference setting circle set, the circle set lower section setting vibrating mechanism, vibrating mechanism includes being set to base
Elastic component is arranged in the vibrating motor of seat, pedestal, and pedestal is column articulated by fixed branch with circle set, and eccentric wheel level is set to pedestal, base
Seat includes two layers, and vibrating motor is fixed on upper layer pedestal, and spring is arranged between two layers of pedestal and plays damping effect.
Further, in order to realize the elongation of adjacent two sleeve, sliding bearing is set between the adjacent sleeve；
Alternatively, sleeve on the inside of be arranged convex block, on the inside of the sleeve sleeve setting with convex block cooperation sliding slot in order to
Linear movement of the inner barrel relative to outer barrel, each settable multiple sliding slots of sleeve, convex block are moved along sliding slot, thus
Realize the extension of entire sleeve.
For overcome the deficiencies in the prior art, the utility model additionally provides a kind of autonomous clipping picking collection of pre-determined bit
Device, including a kind of autonomous clipping picking mechanism of pre-determined bit, are arranged collecting mechanism in the side of the picker, are including more
While angle semi-automatic Telescopic adjustable picker, collecting fruit is realized.
Further, the collecting mechanism includes collecting frame, and collecting frame is set to rack, and gripper is set to the upper of collecting mechanism
Side, collecting frame surface is arranged two groups, and for driving, fan cloth is unfolded or the support rod of closure connecting with fan cloth, support rod include master
Lever and auxiliary rod, driving lever and auxiliary rod are connected by transport mechanism, and the direction of rotation of two groups of support rods is on the contrary, and driving lever
Setting is tilted upward with auxiliary rod and is used to support fan cloth, and driving lever and auxiliary rod are all fixedly connected to the inner side with fan cloth.
Alternatively, collecting frame is provided with the opening passed through for fruit, the bottom of support rod is around opening setting, driving lever and electricity
The active axis connection of machine, driving shaft drives auxiliary rod by transport mechanism, that is, chain sprocket and gear transfer mechanism, and then drives
The rotation of another driving lever keeps the steering of another driving lever opposite with first driving lever by gear drive deflecting.It is auxiliary
Help bar equipped with needle bearing, needle bearing outer ring is equipped with sprocket wheel, therefore auxiliary rod is unpowered, and auxiliary rod and collecting frame are in and freely cut with scissors
State is connect, auxiliary rod is moved with the opening and closing in fan portion.Fan cloth volume is larger, is in reversed round bench shaped, and bottom is communicated with opening,
Convenient for falling the collection of fruit to vibration, collecting frame is arranged lower than pedestal.
Further, the driving lever is opening or closure of " 7 " the type structural member to drive fan cloth, driving lever and auxiliary rod
It is spaced set distance setting, quarter butt and the stock of driving lever are vertically arranged, and quarter butt and active axis connection, initial state, fan cloth
Closure, when collecting, driving lever spindle rotation drives two groups of driving levers to reversely rotate for realizing fan cloth to closing up at one
It opens, after the completion of collection, motor drives driving shaft overturning, realizes the closure of fan cloth.
Compared with prior art, the utility model has the beneficial effects that
1) setting of the utility model overall structure is compact, not only reduces machine manufacturing cost, also reduces machine operation
Occupied area, be conducive to mechanical small-sized, efficient, direction is controllable, expands the scope of application of machine, is protected by sleeve
Manipulator, and the conveniently control to manipulator direction, convenient for the transmitting of energy.
2) the utility model controls the clamping and release of gripper by electric pushrod, and method is simply light and handy, easily controllable,
The process for clamping branch is not easy to generate it destruction, and facilitates ripening fruits and fall off from branch, maximumlly protects tree
Wood and fruit.
3) the utility model is extended manipulator by the transmission of nut screw and shortening reaches picking effect, and work is steady
It is fixed, it is higher to shake off rate.The direction annular disk of postposition carries out comprehensive location control to manipulator, and manipulator is enable accurately to press from both sides
To target branch, the accuracy rate of picking ensure that.
4) the utility model improves the controlling of machine by the control to sleeve direction, and the design of damper will shake
The vibration energy absorption of dynamic motor part, reduces the vibration of fuselage, the stable operation of fuselage sections workpiece has been effectively ensured.
5) the utility model plays the role of critical for the picking stage of entire winter jujube picking machine, passes through picking mechanical
Hand clamps branch, by the vibrating effect of motor and eccentric wheel, winter jujube is made to fall off, and then is received by umbrella cover to winter jujube
Collection, collecting effect are good.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is utility model device main view
Fig. 2 is utility model device axonometric drawing
Fig. 3 is mechanical paw top view in utility model device
Fig. 4 is utility model device internal transmission main view
Fig. 5 is utility model device collection device axonometric drawing
Fig. 6 is utility model device collection device internal drive axonometric drawing
Fig. 7 is utility model device totality axonometric drawing
Wherein: 1- gripper；2- most inner side sleeve；3- middle sleeve；4- outermost sleeve；5- annular disk；6- damper；7-
Vibrating motor；9- electric pushrod；10- long connecting rod；11- connecting plate；The second gripper of 12-；The first gripper of 13-；16- nut；17-
Thick stick；18- shaft coupling；19- spindle motor；20- fixes pillar；21- semicircle disk；The chassis 22-；23- rack；24- picking mechanical
Hand；25- collecting mechanism；The first driving lever of 26-；27- the first main auxiliary bar；The secondary auxiliary rod of 28- first；29- sprocket wheel a；30- gear
b；31- gear a；32- sprocket wheel b；33- sprocket wheel c；34- sprocket wheel d；35- sprocket wheel e；The secondary auxiliary rod of 36- second；The second main auxiliary of 37-
Bar；The second driving lever of 38-；39- needle bearing.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has 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 specific 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 singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, the deficiencies in the prior art, in order to solve technical problem as above, this Shen
It please propose a kind of autonomous clipping picking mechanism of pre-determined bit.
In a kind of typical embodiment of the application, as shown in Figure 1, the semi-automatic Telescopic adjustable picking dress of multi-angle
It sets, the sleeve of axial stretching is capable of including more piece, most inner side sleeve 2 is connect with the first telescoping mechanism, setting in most inner side sleeve 2
Picking mechanical arm 24, picking mechanical arm include the second telescoping mechanism, and the second telescoping mechanism is connect by hinge with gripper 1, with
By gripping or releasing for the telescopic band motivation machinery claw 1 of the second telescoping mechanism, vibrating mechanism is arranged to drive fruit in outermost sleeve
Real shakes off.
Vibrational energy is passed to machine by vibrating mechanism by manipulator clamping fruit tree branches and leaves by above-mentioned picking mechanism
Tool hand drives fruit to hurtle down in such a way that vibration is shaken off, and realizes picking, and picking efficiency is high.
For the working range of prolonged mechanical pawl, setting long connecting rod 10 between second telescoping mechanism and hinge, second
Telescoping mechanism is electric pushrod 9.
Gripper includes two grippers of interconnection, and each gripper is hinged including the first gripper 13 and with the first gripper 13
Second gripper 12 of connection, the second gripper 12 connect with the hinge, the crosspoint of two grippers in the first gripper 13, and
The connecting plate 11 of hinge and two gripper junctions settings and most inner side sleeve connection, passes through two the first grippers of gripper in gripper
13 pairs of branches clamp, and under the effect of vibration of vibrating mechanism, are conducive to falling off for fruit.
Gasket is set on the inside of the first gripper 13, and gasket is triangle, is used to have branch after two gasket closures
Effect clamping, the arc-shaped structure of the first gripper 13, gasket are arranged close to the first gripper crosspoint.
First telescoping mechanism is electric threaded shaft, and the nut 16 with the most inner side sleeve connection is arranged in electric threaded shaft, in this way
Electric threaded shaft rotation, it is mobile that nut 16 drives most inner side sleeve 2, so that the length of picking mechanism is extended, it can be according to fruit institute
Position extend the extended length of picking mechanism, electric threaded shaft is set to the top of the second telescoping mechanism, to avoid the two
Interference problem, electric threaded shaft include spindle motor 19 and the lead screw connecting with spindle motor 19 17, lead screw 17 and spindle motor 19
It is connected by shaft coupling.
The setting of sleeve ends described in outermost is used to hold the direction of sleeve with the annular disk 5 of the sleeve connection, in this way
It can control the movement of rotation and the lifting decline of entire picking mechanism by annular disk, rotary shaft, rotation is arranged in base bottom
Axis is set to rack 23 by bearing, realizes the rotation of picking mechanism；
Outermost circumference setting circle set, the circle set lower section setting vibrating mechanism, vibrating mechanism includes being set to base
Elastic component is arranged in the vibrating motor 7 of seat, pedestal, and eccentric wheel 8 is arranged at the top of vibrating motor, and pedestal passes through fixed pillar 20 and covers with circle
Connection, fixed pillar 20 pass through axis connection, to realize that sleeve is rotated upwardly and downwardly relative to fixed pillar 20,8 water of eccentric wheel with circle set
Flat to be set to pedestal, pedestal includes two layers, and upper layer is semicircle disk 21, and lower layer is chassis 22, and it is round that vibrating motor is set to upper layer half
Disk 21, and spring is set between two layers of pedestal and plays damping effect.
In order to realize the elongation of adjacent two sleeve, linear bearing is set between the adjacent sleeve；
Alternatively, sleeve on the inside of be arranged convex block, on the inside of the sleeve sleeve setting with convex block cooperation sliding slot in order to
Linear movement of the inner barrel relative to outer barrel, each settable multiple sliding slots of sleeve, convex block are moved along sliding slot, thus
Realize the extension of entire sleeve, sliding slot is arranged along the length direction of sleeve.
The utility model additionally provides a kind of autonomous clipping picking collection device of pre-determined bit, including a kind of pre-determined bit is independently
Collecting mechanism 25 is arranged in the side of the picker in clipping picking mechanism, adjustably adjusts including that multi-angle is semi-automatic
While formula picker, collecting fruit is realized, Liang Ge mechanism is set to rack, and rack is frame shape, and bottom of the frame setting can
Mobile scroll wheel.
Collection device includes collecting frame, and two groups of support rods for driving fan cloth to be unfolded or be closed are arranged in collecting frame surface,
Support rod includes driving lever and auxiliary rod, and driving lever is connected with auxiliary rod by transport mechanism, the direction of rotation of two groups of support rods
On the contrary, and driving lever and auxiliary rod tilt upward setting and be used to support fan cloth, collecting frame is arranged lower than pedestal, so that collecting dress
It sets low and is arranged in manipulator；
Alternatively, collecting frame is provided with the opening passed through for fruit, the bottom of support rod is around opening setting, wherein an active
The active axis connection of bar and motor, another driving lever quarter butt end and the transmission axis connection being vertically arranged, driving shaft pass through transmission
Mechanism, that is, chain sprocket and gear transfer mechanism drive the rotation of other side driving lever, and auxiliary rod is equipped with needle bearing 39, needle roller axis
Bearing outer-ring is equipped with sprocket wheel, therefore auxiliary rod is unpowered, moves with the opening and closing of umbrella cloth, and each auxiliary rod is bent rod, curved
The quarter butt of pole is vertically arranged, and stock tilts upward setting.
Specific work process are as follows: as shown in Figure 5 and Figure 6, rotated forward with the stepper motor of active axis connection, drive the first active
Bar 26 rotates, and gear a31 is fixed on driving shaft, nibbles with the gear b30 by 39 empty set of needle bearing in the first main auxiliary bar 27
It closes, gear b and empty set sprocket wheel a29 are connected, and are set to the first main auxiliary bar, and further empty set sprocket wheel a29 is transmitted dynamic by chain
Power gives empty set sprocket wheel c33, sprocket wheel c33 and empty set sprocket wheel b32 to be connected, and is set to the first secondary auxiliary rod, and further sprocket wheel b is by power
It passes to empty set sprocket wheel d34, sprocket wheel d34 and empty set sprocket wheel e35 to be connected, further, sprocket wheel e35 is imparted power to and the second master
The fixed sprocket wheel of lever 38, the second main auxiliary bar are set to collecting frame by bearing, so that the first driving lever 26 and second is main
Lever 38 turns on the contrary, so that umbrella cover opens；Similarly, when stepper motor inverts, umbrella cover closure.
Driving lever is " 7 " type structural member, and quarter butt and the stock of driving lever are vertically arranged, and quarter butt and active axis connection, two
The stock of driving lever contacts setting in group support rod, and driving lever and auxiliary rod interval set distance are arranged.
First driving lever is welded on the driving shaft top of motor, and the first main auxiliary bar is set to the first secondary auxiliary rod and the first master
Between lever, the first secondary auxiliary rod (left side) and the second secondary auxiliary rod (right side) are respectively welded on the transmission shaft (gear shaft) on each side,
Motor drives driving shaft and gear rotation thereon, drives the first secondary auxiliary rod to rotate simultaneously by the sprocket wheel on coaxial, logical
Chain conveyer is crossed, achievees the effect that rotate in same direction, and passes to the second main auxiliary bar by chain conveyer, by the sprocket on coaxial
It is engaged with gear, two driving levers realize backwards rotation, and the positive and negative rotation of motor drives driving lever positive and negative rotation, and then drives
The positive and negative rotation of sprocket wheel realizes the expansion and closure of fan cloth.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of be pre-positioned autonomous clipping picking mechanism, which is characterized in that it is capable of the sleeve of axial stretching including more piece, it is most interior
Side sleeve is connect with the first telescoping mechanism, and picking mechanical arm is arranged in most inner side sleeve, and picking mechanical arm includes the second telescopic machine
Structure, the second telescoping mechanism are connect by hinge with gripper, to pass through the clamping of the telescopic band motivation machinery claw of the second telescoping mechanism
Or unclamp, vibrating mechanism is arranged to drive shaking off for fruit in outermost sleeve.
2. the autonomous clipping picking mechanism of a kind of pre-determined bit according to claim 1, which is characterized in that described second is flexible
Long connecting rod is set between mechanism and hinge.
3. the autonomous clipping picking mechanism of a kind of pre-determined bit according to claim 1, which is characterized in that the gripper packet
Including two grippers of interconnection, each gripper includes the first gripper and the second gripper with the articulated connection of the first gripper, and second
Gripper is connect with the hinge, and the crosspoint of two grippers is arranged in the first gripper, and in hinge and two gripper junctions
With the connecting plate of most inner side sleeve connection.
4. the autonomous clipping picking mechanism of a kind of pre-determined bit according to claim 3, which is characterized in that first gripper
Gasket is arranged in inside, and gasket is triangle.
5. the autonomous clipping picking mechanism of a kind of pre-determined bit according to claim 1, which is characterized in that described first is flexible
Mechanism is electric threaded shaft, the nut of electric threaded shaft setting and the most inner side sleeve connection.
6. the autonomous clipping picking mechanism of a kind of pre-determined bit according to claim 1, which is characterized in that described in outermost
Sleeve ends setting is used to hold the direction of sleeve with the annular disk of the sleeve connection；
Outermost circumference setting circle set, the circle set lower section setting vibrating mechanism, vibrating mechanism includes being set to pedestal
Elastic component is arranged in vibrating motor, pedestal, and pedestal is connect with circle set by fixed pillar.
7. the autonomous clipping picking mechanism of a kind of pre-determined bit according to claim 1, which is characterized in that the adjacent sleeve
Between linear bearing is set；
Alternatively, convex block is arranged on the inside of sleeve, the sliding slot that the sleeve setting on the inside of the sleeve cooperates with convex block is in order to inside
Linear movement of the sleeve relative to outer barrel.
8. a kind of be pre-positioned autonomous clipping picking mechanism, which is characterized in that any in the claim 1-7 including being set to rack
Collecting mechanism is arranged in the side of the picking mechanism in the autonomous clipping picking mechanism of a kind of pre-determined bit described in.
9. the autonomous clipping picking mechanism of a kind of pre-determined bit according to claim 8, which is characterized in that the collecting mechanism
Including collecting frame, two groups of support rods connecting with fan cloth for driving fan cloth to be unfolded or be closed are arranged in collecting frame surface, support
Bar includes driving lever and auxiliary rod, and driving lever is connected with auxiliary rod by transport mechanism, the direction of rotation of two groups of support rods on the contrary,
And driving lever and auxiliary rod tilt upward setting and are used to support fan cloth；
Alternatively, collecting frame is provided with the opening passed through for fruit.
10. the autonomous clipping picking mechanism of a kind of pre-determined bit according to claim 9, which is characterized in that the driving lever
The opening or closure of fan cloth are driven for " 7 " type structural member, driving lever and auxiliary rod interval set distance are arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821150347.4U CN208708181U (en) | 2018-07-19 | 2018-07-19 | It is a kind of to be pre-positioned autonomous clipping picking mechanism and picking collection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821150347.4U CN208708181U (en) | 2018-07-19 | 2018-07-19 | It is a kind of to be pre-positioned autonomous clipping picking mechanism and picking collection device |
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| Publication Number | Publication Date |
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| CN208708181U true CN208708181U (en) | 2019-04-09 |
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ID=65974267
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821150347.4U Expired - Fee Related CN208708181U (en) | 2018-07-19 | 2018-07-19 | It is a kind of to be pre-positioned autonomous clipping picking mechanism and picking collection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192471A (en) * | 2019-06-04 | 2019-09-03 | 大连理工大学 | A kind of hickory nut picking and collection device and method based on unmanned plane |
| CN111011002A (en) * | 2020-01-19 | 2020-04-17 | 中南林业科技大学 | Forest fruit harvester |
-
2018
- 2018-07-19 CN CN201821150347.4U patent/CN208708181U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192471A (en) * | 2019-06-04 | 2019-09-03 | 大连理工大学 | A kind of hickory nut picking and collection device and method based on unmanned plane |
| CN111011002A (en) * | 2020-01-19 | 2020-04-17 | 中南林业科技大学 | Forest fruit harvester |
| CN111011002B (en) * | 2020-01-19 | 2022-06-14 | 中南林业科技大学 | Forest fruit harvester |
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