CN111201897A - Apple picking robot - Google Patents
Apple picking robot Download PDFInfo
- Publication number
- CN111201897A CN111201897A CN202010104548.6A CN202010104548A CN111201897A CN 111201897 A CN111201897 A CN 111201897A CN 202010104548 A CN202010104548 A CN 202010104548A CN 111201897 A CN111201897 A CN 111201897A
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- motor
- lead screw
- picking robot
- plate
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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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- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 abstract description 17
- 241000220225 Malus Species 0.000 description 52
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 241000282326 Felis catus Species 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- BJEPYKJPYRNKOW-REOHCLBHSA-N (S)-malic acid Chemical compound OC(=O)[C@@H](O)CC(O)=O BJEPYKJPYRNKOW-REOHCLBHSA-N 0.000 description 1
- OYPRJOBELJOOCE-UHFFFAOYSA-N Calcium Chemical compound [Ca] OYPRJOBELJOOCE-UHFFFAOYSA-N 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 241000693079 Maloideae Species 0.000 description 1
- 208000008589 Obesity Diseases 0.000 description 1
- 235000004789 Rosa xanthina Nutrition 0.000 description 1
- 241000220222 Rosaceae Species 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- BJEPYKJPYRNKOW-UHFFFAOYSA-N alpha-hydroxysuccinic acid Natural products OC(=O)C(O)CC(O)=O BJEPYKJPYRNKOW-UHFFFAOYSA-N 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 239000011575 calcium Substances 0.000 description 1
- 229910052791 calcium Inorganic materials 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000011090 malic acid Nutrition 0.000 description 1
- 239000001630 malic acid Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000000050 nutritive effect Effects 0.000 description 1
- 235000020824 obesity Nutrition 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000011593 sulfur Substances 0.000 description 1
- 229910052717 sulfur Inorganic materials 0.000 description 1
- 239000011782 vitamin Substances 0.000 description 1
- 235000013343 vitamin Nutrition 0.000 description 1
- 229940088594 vitamin Drugs 0.000 description 1
- 229930003231 vitamin Natural products 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of agricultural machinery, in particular to an apple picking robot which does not need to climb a ladder for picking manually, so that the picking efficiency and the operation safety are improved; the automatic feeding device comprises a base plate, a vertical plate, a first motor, a first coupler, a lead screw nut, a sliding plate, two sets of sliders, two sets of guide rails, a gas claw, a cylinder and a cutting device, the top end of the base plate is connected with the bottom end of the vertical plate, the top of the left end of the vertical plate is connected with the right end of the first motor, the output end of the first motor is connected with the input end of the first coupler, the output end of the first coupler is connected with the input end of the lead screw, the outer wall of the lead screw is connected with the inner wall of the lead screw nut in a screwed mode, the left end of the lead screw nut is connected with the right end of the sliding plate, the left ends of the two sets of sliders are respectively connected with the right ends of the two sets of guide rails, the right.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an apple picking robot.
Background
The apple is a plant of Malus of Maloideae of Rosaceae, and its tree is deciduous tree. The apple has high nutritive value, is rich in minerals and vitamins, has rich calcium content, is helpful for metabolizing excessive salt in vivo, and malic acid can metabolize heat to prevent obesity of lower body.
Apple is a low calorie food that produces approximately 60 kcal per 100 grams. The apple has high solubility of nutrient components and is easy to be absorbed by human body, so it is called "running water". It is beneficial to dissolving sulfur element and making skin smooth and tender.
Most of the existing apple pickers enable workers to climb ladders for picking, and the picking efficiency is low and the operation safety is poor.
Improvement of the invention
In order to solve the technical problems, the invention provides the apple picking robot which does not need to climb a ladder manually for picking and improves the picking efficiency and the operation safety.
The invention discloses an apple picking robot which comprises a bottom plate, a vertical plate, a first motor, a first coupler, a lead screw nut, a sliding plate, two groups of sliding blocks, two groups of guide rails, a gas claw, an air cylinder and a cutting device.
The invention discloses an apple picking robot, which comprises a U-shaped frame, a first motor frame, a second motor, a second coupler and a rotating shaft, wherein the bottom end of the first motor frame is connected with the top end of the U-shaped frame, the right end of the second motor is connected with the left end of the first motor frame, the output end of the second motor is connected with the input end of the second coupler, the output end of the second coupler is connected with the input end of the rotating shaft, the outer wall of the rotating shaft is rotatably connected with the left end of the U-shaped frame, and a cutting blade is arranged on the rotating shaft.
The apple picking robot further comprises a collecting box, springs and a buffer plate, wherein a cavity is arranged in the collecting box, a top opening is formed in the top end of the collecting box and communicated with the cavity, two groups of handles are arranged on the outer walls of the two ends of the collecting box, the bottom ends of a plurality of groups of springs are connected with the bottom end of the inner wall of the cavity of the collecting box, the top ends of the plurality of groups of springs are connected with the bottom end of the buffer plate, and sponge is arranged at the.
The apple picking robot further comprises a second motor frame, a third motor and a fan blade group, wherein the bottom end of the second motor frame is connected with the top end of the bottom plate, the right end of the second motor frame is connected with the left end of the third motor, and the output end of the third motor is connected with the input end of the fan blade group.
The apple picking robot further comprises four groups of moving devices, the top ends of the four groups of moving devices are respectively connected with the bottom end of the bottom plate, each moving device comprises a sliding column, a sliding sleeve, a second spring and a trundle, the outer wall of the sliding column is connected with the top end of the sliding sleeve in a sliding mode, the bottom end of the sliding column is connected with the top end of the second spring, the bottom end of the second spring is connected with the bottom end of the inner wall of the sliding sleeve, and the top end of the trundle is connected with.
The apple picking robot further comprises a push handle, the bottom end of the push handle is connected with the top end of the bottom plate, and a handle sleeve is arranged at the top end of the push handle.
According to the apple picking robot, the bearing seat is arranged, so that the transmission of the lead screw is more stable, the lead screw is prevented from deforming due to long-time operation, and the service life of the lead screw is prolonged.
According to the apple picking robot, the rubber pad is arranged on the inner side of the air claw.
Compared with the prior art, the invention has the beneficial effects that: open first motor, first motor output drives first shaft coupling and lead screw and rotates together, and screw drive drives screw nut and slide together rebound to the apple high department that needs to be picked, and the gas claw is cliied the apple, opens cutting device, opens the cylinder, and the cylinder extension bar drives cutting device and stretches out and cut off the apple handle, controls first motor and rotates in the opposite direction, and the gas claw moves down takes off the apple, need not artifical cat ladder and picks, has improved picking efficiency and operational safety.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged partial structural view of the invention A;
FIG. 3 is a schematic view of a partial enlarged structure of the present invention B;
FIG. 4 is a schematic view of a partial enlarged structure of C of the present invention;
in the drawings, the reference numbers: 1. a base plate; 2. a vertical plate; 3. a first motor; 4. a first coupling; 5. a lead screw; 6. a lead screw nut; 7. a slide plate; 8. a slider; 9. a guide rail; 10. a pneumatic claw; 11. a cylinder; 12. a U-shaped frame; 13. a first motor mount; 14. a second motor; 15. a second coupling; 16. a rotating shaft; 17. cutting the slices; 18. a collection box; 19. a handle; 20. a spring; 21. a buffer plate; 22. a sponge; 23. a second motor mount; 24. a third motor; 25. a fan blade group; 26. a traveler; 27. a sliding sleeve; 28. a second spring; 29. a caster wheel; 30. a push handle; 31. covering the handlebar; 32. a bearing seat; 33. a rubber pad.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in figures 1 to 4, the apple picking robot comprises a bottom plate 1, a vertical plate 2, a first motor 3, a first coupler 4, a lead screw 5, a lead screw nut 6, a sliding plate 7, two sets of slide blocks 8, two sets of guide rails 9, a gas claw 10, a cylinder 11 and a cutting device, wherein the top end of the bottom plate 1 is connected with the bottom end of the vertical plate 2, the top of the left end of the vertical plate 2 is connected with the right end of the first motor 3, the output end of the first motor 3 is connected with the input end of the first coupler 4, the output end of the first coupler 4 is connected with the input end of the lead screw 5, the outer wall of the lead screw 5 is in threaded connection with the inner wall of the lead screw nut 6, the left end of the lead screw nut 6 is connected with the right end of the sliding plate 7, the left ends of the two sets of slide blocks 8 are respectively connected with the right ends of the sliding plate 7, the right ends of the, the right end of the cylinder 11 is connected with the left end of the sliding plate 7, and the left end of the cylinder 11 is connected with the cutting device; open first motor, first motor output drives first shaft coupling and lead screw and rotates together, and screw drive drives screw nut and slide together rebound to the apple high department that needs to be picked, and the gas claw is cliied the apple, opens cutting device, opens the cylinder, and the cylinder extension bar drives cutting device and stretches out and cut off the apple handle, controls first motor and rotates in the opposite direction, and the gas claw moves down takes off the apple, need not artifical cat ladder and picks, has improved picking efficiency and operational safety.
The invention discloses an apple picking robot, wherein a cutting device comprises a U-shaped frame 12, a first motor frame 13, a second motor 14, a second coupler 15 and a rotating shaft 16, the bottom end of the first motor frame 13 is connected with the top end of the U-shaped frame 12, the right end of the second motor 14 is connected with the left end of the first motor frame 13, the output end of the second motor 14 is connected with the input end of the second coupler 15, the output end of the second coupler 15 is connected with the input end of the rotating shaft 16, the outer wall of the rotating shaft 16 is rotatably connected with the left end of the U-shaped frame 12, and a cutting blade 17 is arranged on the rotating shaft 16; open the second motor, second motor output drives second shaft coupling and pivot and rotates together, and rotatory cutting piece cuts off the apple handle, makes the apple pick more easily, has reduced the limitation of using.
The apple picking robot further comprises a collecting box 18, springs 20 and a buffer plate 21, wherein a cavity is arranged in the collecting box 18, a top opening is formed in the top end of the collecting box 18 and communicated with the cavity, two groups of handles 19 are arranged on the outer walls of two ends of the collecting box 18, the bottom ends of the groups of springs 20 are connected with the bottom end of the inner wall of the cavity of the collecting box 18, the top ends of the groups of springs 20 are connected with the bottom end of the buffer plate 21, and a sponge 22 is arranged at the top end of the buffer plate; when the gas claw moves to the top end of the collecting box, the apple falls onto the sponge after being loosened, so that the apple is convenient to collect, the apple is prevented from colliding, and the use reliability is improved.
The apple picking robot further comprises a second motor frame 23, a third motor 24 and a fan blade group 25, wherein the bottom end of the second motor frame 23 is connected with the top end of the bottom plate 1, the right end of the second motor frame 23 is connected with the left end of the third motor 24, and the output end of the third motor 24 is connected with the input end of the fan blade group 25; and the third motor is started, the output end of the third motor drives the fan blade group to rotate, and the airflow generated by the rotation of the fan blade group blows dust on the apples and fallen leaves completely, so that the use limitation is reduced.
The apple picking robot further comprises four groups of moving devices, the top ends of the four groups of moving devices are respectively connected with the bottom end of the bottom plate 1, each moving device comprises a sliding column 26, a sliding sleeve 27, a second spring 28 and a caster 29, the outer wall of the sliding column 26 is connected with the top end of the sliding sleeve 27 in a sliding mode, the bottom end of the sliding column 26 is connected with the top end of the second spring 28, the bottom end of the second spring 28 is connected with the bottom end of the inner wall of the sliding sleeve 27, and the top end of the caster 29 is connected with the bottom end; through setting up four sets of mobile device, can carry out the bulk movement to the device and play the cushioning effect when removing, reduce the limitation of using.
The apple picking robot further comprises a push handle 30, the bottom end of the push handle 30 is connected with the top end of the bottom plate 1, and a handle sleeve 31 is arranged at the top end of the push handle 30; through setting up and pushing away the handle, make the device more conveniently hold when removing, improved the operation convenience.
According to the apple picking robot, the bearing seat 32 is arranged, so that the transmission of the lead screw 5 is more stable, the lead screw 5 is prevented from deforming due to long-time operation, and the service life of the lead screw 5 is prolonged; through setting up the bearing frame, make lead screw transmission more steady, prevent that the lead screw from long-time operation and producing the deformation, prolonged the life of lead screw.
According to the apple picking robot, the rubber pad 33 is arranged on the inner side of the air claw 10; through setting up the cushion, can prevent that the gas claw from hindering the apple clamp, improved the use reliability.
The invention relates to an apple picking robot, which is characterized in that a first motor is turned on during working, the output end of the first motor drives a first coupler and a lead screw to rotate together, the lead screw drives a lead screw nut and a sliding plate to move upwards together to the height of an apple to be picked, an air claw clamps the apple, a cutting device is turned on, an air cylinder is turned on, an extension rod of the air cylinder drives a cutting device to extend out to cut off the apple stem, the first motor is controlled to rotate in the opposite direction, the air claw moves downwards to take the apple down, a second motor is turned on, the output end of the second motor drives a second coupler and a rotating shaft to rotate together, a rotating cutting piece cuts off the apple stem, when the air claw moves to the top end of a collecting box, the air claw loosens the apple to fall onto a sponge, a third motor is turned on, and the output.
According to the apple picking robot, the installation mode, the connection mode or the arrangement mode are all common mechanical modes, and the apple picking robot can be implemented as long as the beneficial effects of the apple picking robot are achieved; the air cylinder and the air claw of the apple picking robot are purchased from the market, and technicians in the industry only need to install and operate the apple picking robot according to the attached operating instructions.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010104548.6A CN111201897A (en) | 2020-02-20 | 2020-02-20 | Apple picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010104548.6A CN111201897A (en) | 2020-02-20 | 2020-02-20 | Apple picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111201897A true CN111201897A (en) | 2020-05-29 |
Family
ID=70781193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010104548.6A Pending CN111201897A (en) | 2020-02-20 | 2020-02-20 | Apple picking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111201897A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1237116A1 (en) * | 1984-08-10 | 1986-06-15 | Научно-Исследовательский Зональный Институт Садоводства Нечерноземной Полосы Рсфср | Apparatus for determining frequency of vibrations of working member for fruit picking up |
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| CN205794134U (en) * | 2016-05-10 | 2016-12-14 | 李刚 | A kind of gardens Fructus Kaki high efficiency picker |
| CN206274782U (en) * | 2016-12-20 | 2017-06-27 | 山东科技大学 | A kind of automatic picking machine of novel link type grape |
| CN107094429A (en) * | 2017-07-03 | 2017-08-29 | 彭紫薇 | A kind of multiaxis fruit picking robot |
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| CN109348863A (en) * | 2018-12-05 | 2019-02-19 | 韩超 | A kind of planting fruit trees with can synchronous collection fruit picking robot |
| CN109496546A (en) * | 2018-10-08 | 2019-03-22 | 项奕统 | A kind of multi-functional picking vehicle |
| CN109496563A (en) * | 2018-11-30 | 2019-03-22 | 东莞理工学院 | Fruit picking robot |
| CN208768474U (en) * | 2018-08-30 | 2019-04-23 | 闽清县凯福农业专业合作社 | A kind of peach plantation picker with buffering protection function |
| CN209057557U (en) * | 2018-09-14 | 2019-07-05 | 湖南良源糖酒食品有限公司 | A convenient fruit picking device for agriculture |
| CN110291880A (en) * | 2019-07-31 | 2019-10-01 | 安徽工程大学 | Multi-Arm Apple Picking Robot |
| CN209710759U (en) * | 2019-02-03 | 2019-12-03 | 福建农林大学 | A kind of eggplant picking machine |
| CN110637874A (en) * | 2019-11-06 | 2020-01-03 | 三门督学制冷科技有限公司 | Be used for cold-stored cold storage plant of fruit picking |
-
2020
- 2020-02-20 CN CN202010104548.6A patent/CN111201897A/en active Pending
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| SU1237116A1 (en) * | 1984-08-10 | 1986-06-15 | Научно-Исследовательский Зональный Институт Садоводства Нечерноземной Полосы Рсфср | Apparatus for determining frequency of vibrations of working member for fruit picking up |
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
| CN205305443U (en) * | 2015-12-15 | 2016-06-15 | 山东科技大学 | Fruit -picking device |
| CN205794134U (en) * | 2016-05-10 | 2016-12-14 | 李刚 | A kind of gardens Fructus Kaki high efficiency picker |
| CN206274782U (en) * | 2016-12-20 | 2017-06-27 | 山东科技大学 | A kind of automatic picking machine of novel link type grape |
| CN107094429A (en) * | 2017-07-03 | 2017-08-29 | 彭紫薇 | A kind of multiaxis fruit picking robot |
| CN107517655A (en) * | 2017-09-22 | 2017-12-29 | 镇江市胜得机械制造有限责任公司 | A kind of fruit collecting box of fruit picker |
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| CN208338333U (en) * | 2018-06-29 | 2019-01-08 | 河北康智农业科技开发有限公司 | A kind of movable type fruit picker |
| CN208768474U (en) * | 2018-08-30 | 2019-04-23 | 闽清县凯福农业专业合作社 | A kind of peach plantation picker with buffering protection function |
| CN209057557U (en) * | 2018-09-14 | 2019-07-05 | 湖南良源糖酒食品有限公司 | A convenient fruit picking device for agriculture |
| CN109496546A (en) * | 2018-10-08 | 2019-03-22 | 项奕统 | A kind of multi-functional picking vehicle |
| CN109496563A (en) * | 2018-11-30 | 2019-03-22 | 东莞理工学院 | Fruit picking robot |
| CN109348863A (en) * | 2018-12-05 | 2019-02-19 | 韩超 | A kind of planting fruit trees with can synchronous collection fruit picking robot |
| CN109328643A (en) * | 2018-12-17 | 2019-02-15 | 青岛科技大学 | A self-balancing apple picking cart |
| CN209710759U (en) * | 2019-02-03 | 2019-12-03 | 福建农林大学 | A kind of eggplant picking machine |
| CN110291880A (en) * | 2019-07-31 | 2019-10-01 | 安徽工程大学 | Multi-Arm Apple Picking Robot |
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Application publication date: 20200529 |