CN106489436A - A kind of fruit picker control system of three stations - Google Patents
A kind of fruit picker control system of three stations Download PDFInfo
- Publication number
- CN106489436A CN106489436A CN201611023636.3A CN201611023636A CN106489436A CN 106489436 A CN106489436 A CN 106489436A CN 201611023636 A CN201611023636 A CN 201611023636A CN 106489436 A CN106489436 A CN 106489436A
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- fixed
- oil cylinder
- fruit picking
- fixed plate
- telescopic arm
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of fruit picker control system of three stations, including base, mechanical arm, traveling control chamber, fruit picking operation element platform, fruit picking control chamber, assist control case, crawler crane chassis, diesel engine and transport carriage；The mechanical arm is fixed on base by slew gear, fruit picking operation element platform is fixed on the robotic arm, traveling control chamber is fixed on base by support, and fruit picking control chamber is fixed on fruit picking operation element platform, and assist control case is fixed on base, the transport carriage is articulated on base, have three independent control stations, can with multi-faceted complete fruit picking operation, easy to operate, timeliness has been saved, safe and reliable.
Description
Technical field
The present invention relates to a kind of control system, and in particular to a kind of fruit picker control system of three stations.
Background technology
Petiolus Trachycarpi oil is important industry and people's livelihood raw material, mainly originates in Africa, South America and Southeast Asian countries.As Petiolus Trachycarpi oil
Raw materials for production palm fruit, most of growing height more than 5 meters, typically by picked by hand.In picking process, orchard worker
Labor intensity and difficulty larger, labor efficiency is low, thus result in palm fruit pluck labour force supply wretched insufficiency, become restriction
The key factor of palm oil industry development.
The fruit picker of one automatization of research and development is imperative, as fruit picker is related to work high above the ground, to safety and
Stability requirement is higher, to guarantee that fruit picking job safety is effectively completed.
Content of the invention
The present invention proposes a kind of fruit picker control system of three stations for the problems referred to above, with three independent controls
Station, can with multi-faceted complete fruit picking operation, easy to operate, saved timeliness, safe and reliable.
Specific technical scheme is as follows：
A kind of fruit picker control system of three stations, including base, mechanical arm, traveling control chamber, fruit picking operation element platform,
Fruit picking control chamber, assist control case, crawler crane chassis, diesel engine and transport carriage；The mechanical arm is fixed on by slew gear
On base, fruit picking operation element platform is fixed on the robotic arm, and traveling control chamber is fixed on base by support, fruit picking control chamber
It is fixed on fruit picking operation element platform, assist control case is fixed on base, the transport carriage is articulated on base.
A kind of fruit picker control system of above-mentioned three station, wherein, mechanical arm include the first support base, the first telescopic arm,
Second telescopic arm, the 3rd telescopic arm, trailing arm, the first oil cylinder, the second oil cylinder, the 3rd oil cylinder, the second support column and pivoting support dress
Put, first support base is constituted by two piece of first gripper shoe is relative, and the first gripper shoe includes upper backup pad and lower supporting plate, the
One telescopic arm one end is rotatable to be fixed between two upper backup pads, and the other end is provided with the first transfer block, and the second telescopic arm can
Rotated is fixed in the first transfer block, and first oil cylinder one end is rotatable to be fixed between two lower supporting plates, and the other end can
Rotated is fixed on below the first telescopic arm, and second oil cylinder one end is rotatable to be fixed on above the first telescopic arm, and the other end can
Rotated is fixed on above the second telescopic arm；Second telescopic arm is provided with regulation chamber, and the 3rd oil cylinder is fixed on regulation intracavity,
3rd telescopic arm is plug-type to be arranged on regulation intracavity, is fixedly connected with the 3rd oil cylinder, and described fupport arm one end is fixed on the 3rd and stretches
On contracting arm, the other end is movably coated on outside the second telescopic arm；
First support base is rotatably fixed on base by slew gear, and the first support base is provided with staircase,
Second support column is rotatably fixed on the telescopic end of the 3rd telescopic arm, and the second support column bottom is stretched with being fixed on the 3rd
The 4th oil cylinder on contracting arm is connected, and the rotary supporting device is fixed on the second support column.
The rotary supporting device includes revolving support post, the 5th oil cylinder and transfer panel, the vertical fixation of revolving support post
In the second support column side, revolving support post is provided with first rotating shaft, and transferring, tray bottom is rotatable to be fixed on the second support column
On, it is fixed at the top of transfer panel on pinboard, transfer panel periphery is provided with the second rotating shaft, and the 5th oil cylinder one end can by the first snap ring
Rotated is arranged in first rotating shaft, and the other end is spindle rotationally arranged in the second rotating shaft by the second snap ring, by the 5th oil
The extension and contraction control switching disc spins of cylinder.
A kind of fruit picker control system of above-mentioned three station, wherein, the fruit picking operation element platform bottom is provided with pinboard,
Pinboard is fixed on transfer panel, and fruit picking operation element platform includes that fruit picking base plate, first longitudinal direction fixed plate, second longitudinal direction are fixed
Plate, the 3rd longitudinally fixed plate, the 4th longitudinally fixed plate, the first longitudinal direction fixed plate, second longitudinal direction fixed plate, the 3rd longitudinal direction are solid
What fixed board was vertical is fixed on fruit picking bottom edge, and the quantity of second longitudinal direction fixed plate is two, two second longitudinal direction fixed plates point
It is not oppositely arranged, first longitudinal direction fixed plate and the 3rd longitudinally fixed plate are relative respectively to be arranged on second longitudinal direction fixed plate both sides,
The quantity of the 4th longitudinally fixed plate be three, orthogonal be fixed on first longitudinal direction fixed plate outer wall, the 4th longitudinal direction
With first longitudinal direction fixed plate around shedding passage is formed, fruit picking control chamber is fixed on first longitudinal direction fixed plate inwall fixed plate,
The 3rd longitudinally fixed plate is provided with door-plate, and door-plate side is fixedly connected with the 3rd rotating shaft, and opposite side is consolidated by latch
Fixed.
A kind of fruit picker control system of above-mentioned three station, wherein, the transport carriage includes railway carriage main body, railway carriage main body
Lower section be provided with tire, railway carriage body side is provided with clamping mechanism, the clamping mechanism include clamping mechanism main body, the first screw mandrel,
Second screw mandrel, the first adjusting rod, the second adjusting rod, clamping ring, regulation fixture block and runner, are provided with regulation in clamping mechanism main body
Chamber, the first screw mandrel is through regulation chamber, and is rotatably fixed on regulation intracavity by axle sleeve, and runner is fixed on the first screw mandrel,
First screw mandrel is provided with the first external screw thread and the second external screw thread, the first external screw thread and the second externally threaded hand of spiral conversely,
One adjusting rod and second adjusting rod one end are rotatably linked into an integrated entity with the medial extremity for adjusting fixture block by rotating shaft, the other end point
It is not fixed at first external screw thread and the second external screw thread of the first screw mandrel by the first adjusting nut, the clamping ring is tied for U-shaped
Structure, clamping ring one end are rotatably fixed on the outboard end for adjusting fixture block, and the clamping ring other end is provided with affixed projection；Adjust
Fixture block is movably disposed in the first buckling groove of clamping mechanism main body, and second screw mandrel is removable by the second adjusting nut
Dynamic is arranged in the first fixation passage, and the second screw mandrel is mutually agreed with the second fixation passage adjusted on fixture block, and described first adjusts
Pole and the second adjusting rod are rotatably fixed on the first adjusting nut respectively, and it is logical that the regulation intracavity is provided with the 3rd fixation
Road, the 3rd fixation passage are corresponding with the first fixation passage, and the clamping mechanism main body is provided with the second buckling groove, clamping ring
Affixed projection is placed in the second buckling groove, and the inwall of the second buckling groove is provided with some clamping projections, and clamping projection is hemisphere
Body structure, affixed projection are sphere structure.
A kind of fruit picker control system of above-mentioned three station, wherein, the fruit picking control chamber is with assist control case respectively
Be connected with the first oil cylinder, the second oil cylinder, the 3rd oil cylinder, the 4th oil cylinder and the 5th oil cylinder, for control machinery arm stretching, extension and
Rotate.
A kind of automatic fruit picker of above-mentioned high safety performance, wherein, the traveling control chamber is used for diesel fuel tanks, to control to cover
Band chassis is carried out.
A kind of automatic fruit picker of above-mentioned high safety performance, wherein, the assist control case is provided with remote-controlled chip, is used for
Receive the signal that IR remote controller sends.
Beneficial effects of the present invention are：
The present invention controls stations by three and respectively fruit picker fruit picking process is controlled by, and is easy to user in addition fruit picking
Operation, has a safety feature, and good stability is easy to operate, has significantly saved cost, at the same time, uses on assist control case
Remote control carries out controlled in wireless, further improves the handling of equipment.
Description of the drawings
Fig. 1 is present configuration figure.
Fig. 2 is mechanical arm structure chart of the present invention.
Fig. 3 is the rotary supporting device structure chart of mechanical arm of the present invention.
Fig. 4 is the transfer panel structure chart of mechanical arm of the present invention.
5th oil cylinder top view of Fig. 5 mechanical arms of the present invention
Fig. 6 is fruit picking operation element platform structure chart of the present invention.
Fig. 7 is fruit picking operation element platform top view of the present invention.
Fig. 8 is fruit picking operation element platform right view of the present invention.
Fig. 9 is clamping mechanism open mode sectional view of the present invention.
Figure 10 is clamping mechanism closed mode sectional view of the present invention.
Specific embodiment
For making technical scheme become apparent from clearly, the present invention is described further below in conjunction with the accompanying drawings,
Any technical characteristic to technical solution of the present invention carries out the scheme that equivalencing and conventional reasoning draw and each falls within guarantor of the present invention
Shield scope.
Reference
Base 1, mechanical arm 2, traveling control chamber 3, fruit picking operation element platform 4, fruit picking control chamber 5, assist control case 6, cover
Band chassis 7, diesel engine 8, transport carriage 9, slew gear 10, support 11, pinboard 15, the first support base 22, the first telescopic arm
23rd, the second telescopic arm 24, the 3rd telescopic arm 25, trailing arm 26, the first oil cylinder 27, the second oil cylinder 28, the 3rd oil cylinder 29, second are supported
Post 210, rotary supporting device 211, the first gripper shoe 212, upper backup pad 213, lower supporting plate 214, the first transfer block 215,
Four oil cylinders 217, revolving support post 218, the 5th oil cylinder 219, transfer panel 220, first rotating shaft 221, pinboard 222, the second rotating shaft
223rd, the first snap ring 224, the second snap ring 225, fruit picking base plate 51, first longitudinal direction fixed plate 52, second longitudinal direction fixed plate the 53, the 3rd
Longitudinally fixed plate 54, the 4th longitudinally fixed plate 55, shedding passage 57, door-plate 58, the 3rd rotating shaft 59, latch 510, railway carriage main body
91st, tire 92, clamping mechanism 93, clamping mechanism main body 94, the first screw mandrel 95, the second screw mandrel 96, the first adjusting rod 97, second are adjusted
Pole 98, clamping ring 99, adjust fixture block 910, runner 911, adjust chamber 912, the first external screw thread 913, the second external screw thread 914, the
One adjusting nut 915, affixed projection 916, the second buckling groove 917, clamping projection 918, the first buckling groove 919, second adjust spiral shell
Female 920, first fixes passage 921, second fixes the fixation passage 923 of passage the 922, the 3rd.
A kind of fruit picker control system of three stations as shown in the figure, including base 1, mechanical arm 2, traveling control chamber 3, fruit picking
Operation element platform 4, fruit picking control chamber 5, assist control case 6, crawler crane chassis 7, diesel engine 8 and transport carriage 9；The mechanical arm leads to
Cross slew gear 10 to be fixed on base, fruit picking operation element platform is fixed on the robotic arm, and traveling control chamber is solid by support 11
It is scheduled on base, fruit picking control chamber is fixed on fruit picking operation element platform, and assist control case is fixed on base, the transhipment is little
Car is articulated on base.
The mechanical arm includes the first support base 22, the first telescopic arm 23, the second telescopic arm 24, the 3rd telescopic arm 25, support
Arm 26, the first oil cylinder 27, the second oil cylinder 28, the 3rd oil cylinder 29, the second support column 210 and rotary supporting device 211, described first
Support base is constituted by two piece of first gripper shoe 212 is relative, and the first gripper shoe includes upper backup pad 213 and lower supporting plate 214, and first
Telescopic arm one end is rotatable to be fixed between two upper backup pads, and the other end is provided with the first transfer block 215, and the second telescopic arm can
Rotated is fixed in the first transfer block, and first oil cylinder one end is rotatable to be fixed between two lower supporting plates, and the other end can
Rotated is fixed on below the first telescopic arm, and second oil cylinder one end is rotatable to be fixed on above the first telescopic arm, and the other end can
Rotated is fixed on above the second telescopic arm；Second telescopic arm is provided with regulation chamber, and the 3rd oil cylinder is fixed on regulation intracavity,
3rd telescopic arm is plug-type to be arranged on regulation intracavity, is fixedly connected with the 3rd oil cylinder, and described fupport arm one end is fixed on the 3rd and stretches
On contracting arm, the other end is movably coated on outside the second telescopic arm；
First support base is rotatably fixed on base by slew gear, and the first support base is provided with staircase
10, second support column is rotatably fixed on the telescopic end of the 3rd telescopic arm, the second support column bottom be fixed on the
The 4th oil cylinder 217 on three telescopic arms is connected, and the rotary supporting device is fixed on the second support column.
The rotary supporting device includes that revolving support post 218, the 5th oil cylinder 219 and transfer panel 220, revolving support post hang down
Straight is fixed on the second support column side, and revolving support post is provided with first rotating shaft 221, and transferring, tray bottom is rotatable to be fixed on
On second support column, it is fixed at the top of transfer panel on pinboard 222, transfer panel periphery is provided with the second rotating shaft 223, the 5th oil cylinder one
End is spindle rotationally arranged in first rotating shaft by the first snap ring 224, and the other end is spindle rotationally arranged in by the second snap ring 225
In second rotating shaft, by the extension and contraction control switching disc spins of the 5th oil cylinder.
The fruit picking control chamber and assist control case respectively with the first oil cylinder, the second oil cylinder, the 3rd oil cylinder, the 4th oil cylinder
It is connected with the 5th oil cylinder, for the stretching, extension and rotation of control machinery arm, the traveling control chamber is used for diesel fuel tanks, to control to cover
Band chassis is carried out, and the assist control case is provided with remote-controlled chip, for receiving the signal that IR remote controller sends.
The fruit picking operation element platform bottom is provided with pinboard 15, and pinboard is fixed on transfer panel, fruit picking operation element
Platform includes fruit picking base plate 51, first longitudinal direction fixed plate 52, second longitudinal direction fixed plate 53, the 54, the 4th longitudinal direction of the 3rd longitudinally fixed plate
Fixed plate 55, what the first longitudinal direction fixed plate, second longitudinal direction fixed plate, the 3rd longitudinally fixed plate were vertical are fixed on fruit picking base plate
Edge, the quantity of second longitudinal direction fixed plate is two, and two second longitudinal direction fixed plates are oppositely arranged respectively, first longitudinal direction fixed plate
Relative respectively with the 3rd longitudinally fixed plate be arranged on second longitudinal direction fixed plate both sides, the quantity of the 4th longitudinally fixed plate is
Three, orthogonal be fixed on first longitudinal direction fixed plate outer wall, the 4th longitudinally fixed plate is surrounded with first longitudinal direction fixed plate
Shedding passage 57 is formed, fruit picking control chamber is fixed on first longitudinal direction fixed plate inwall, and the 3rd longitudinally fixed plate is provided with
Door-plate 58, door-plate side are fixedly connected with the 3rd rotating shaft 59, and opposite side is fixed by latch 510.
The transport carriage includes railway carriage main body 91, is provided with tire 92 below railway carriage main body, and railway carriage body side is provided with card
Connection mechanism 93, the clamping mechanism include clamping mechanism main body 94, the first screw mandrel 95, the second screw mandrel 96, the first adjusting rod 97,
Two adjusting rods 98, clamping ring 99, regulation fixture block 910 and runner 911, are provided with regulation chamber 912, the first screw mandrel in clamping mechanism main body
Through regulation chamber, and regulation intracavity is rotatably fixed on by axle sleeve, runner is fixed on the first screw mandrel, sets on the first screw mandrel
There are the first external screw thread 913 and the second external screw thread 914, the first external screw thread and the second externally threaded hand of spiral conversely, first is adjusted
Bar and second adjusting rod one end are rotatably linked into an integrated entity with the medial extremity for adjusting fixture block by rotating shaft, and the other end passes through respectively
First adjusting nut 915 is fixed at first external screw thread and the second external screw thread of the first screw mandrel, first adjusting rod and second
Adjusting rod is rotatably fixed on the first adjusting nut respectively, and the clamping ring is U-shaped structure, and clamping ring one end is rotatable
It is fixed on the outboard end for adjusting fixture block, the clamping ring other end is provided with affixed projection 916, and the clamping mechanism main body is provided with
Second buckling groove 917, the affixed projection of clamping ring are placed in the second buckling groove, and the inwall of the second buckling groove is provided with some cards
Projection 918 is connect, clamping projection is hemisphere structure, and affixed projection is sphere structure；Adjust fixture block and be movably disposed at clamping
In first buckling groove 919 of mechanism body, it is solid that second screw mandrel is movably disposed at first by the second adjusting nut 920
In routing 921, the second screw mandrel is mutually agreed with the second fixation passage 922 adjusted on fixture block, and the regulation intracavity is provided with the 3rd
Fixed passage 923, it is corresponding that the 3rd fixation passage fixes passage with first.
Claims (7)
1. a kind of fruit picker control system of three stations, it is characterized by, including base, mechanical arm, traveling control chamber, fruit picking operation
Workbench, fruit picking control chamber, assist control case, crawler crane chassis, diesel engine and transport carriage；The mechanical arm passes through slew gear
It is fixed on base, fruit picking operation element platform is fixed on the robotic arm, and traveling control chamber is fixed on base by support, fruit picking
Control chamber is fixed on fruit picking operation element platform, and assist control case is fixed on base, and the transport carriage is articulated on base.
2. a kind of fruit picker control system of three stations as claimed in claim 1, it is characterized by, mechanical arm includes the first support
Seat, the first telescopic arm, the second telescopic arm, the 3rd telescopic arm, trailing arm, the first oil cylinder, the second oil cylinder, the 3rd oil cylinder, second support
Post and rotary supporting device, first support base are constituted by two piece of first gripper shoe is relative, and the first gripper shoe includes support
Plate and lower supporting plate, first telescopic arm one end is rotatable to be fixed between two upper backup pads, and the other end is provided with the first switching
Block, the second telescopic arm is rotatable to be fixed in the first transfer block, and rotatable being fixed under two in first oil cylinder one end supports
Between plate, the other end is rotatable to be fixed on below the first telescopic arm, and second oil cylinder one end is rotatable to be fixed on first and stretch
Above arm, the other end is rotatable to be fixed on above the second telescopic arm；Second telescopic arm is provided with regulation chamber, the 3rd oil cylinder
Regulation intracavity is fixed on, the 3rd telescopic arm is plug-type to be arranged on regulation intracavity, is fixedly connected with the 3rd oil cylinder, the fupport arm one
End is fixed on the 3rd telescopic arm, and the other end is movably coated on outside the second telescopic arm；
First support base is rotatably fixed on base by slew gear, and the first support base is provided with staircase, described
Second support column is rotatably fixed on the telescopic end of the 3rd telescopic arm, and second supports column bottom and be fixed on the 3rd telescopic arm
On the 4th oil cylinder be connected, the rotary supporting device is fixed on the second support column；
The rotary supporting device includes revolving support post, the 5th oil cylinder and transfer panel, and what revolving support post was vertical is fixed on
Two support column sides, revolving support post are provided with first rotating shaft, and transferring, tray bottom is rotatable to be fixed on the second support column, turns
It is fixed at the top of flange on pinboard, transfer panel periphery is provided with the second rotating shaft, the 5th oil cylinder one end is rotatable by the first snap ring
Be arranged in first rotating shaft, the other end is spindle rotationally arranged in the second rotating shaft by the second snap ring, by the 5th oil cylinder
Extension and contraction control switching disc spins.
3. a kind of fruit picker control system of three stations as claimed in claim 1, it is characterized by, the fruit picking operation element platform
Bottom is provided with pinboard, and pinboard is fixed on transfer panel, and fruit picking operation element platform includes that fruit picking base plate, first longitudinal direction are fixed
Plate, second longitudinal direction fixed plate, the 3rd longitudinally fixed plate, the 4th longitudinally fixed plate, the first longitudinal direction fixed plate, second longitudinal direction are solid
What fixed board, the 3rd longitudinally fixed plate were vertical be fixed on fruit picking bottom edge, the quantity of second longitudinal direction fixed plate is two, two the
Two longitudinally fixed plates are oppositely arranged respectively, and first longitudinal direction fixed plate and the 3rd longitudinally fixed plate are relative respectively to be arranged on second and indulge
To fixed plate both sides, the quantity of the 4th longitudinally fixed plate is three, orthogonal is fixed on outside first longitudinal direction fixed plate
On wall, with first longitudinal direction fixed plate around shedding passage is formed, fruit picking control chamber is fixed on first longitudinal direction to the 4th longitudinally fixed plate
On fixed plate inwall, the 3rd longitudinally fixed plate is provided with door-plate, and door-plate side is fixedly connected with the 3rd rotating shaft, and opposite side leads to
Cross latch to be fixed.
4. a kind of fruit picker control system of three stations as claimed in claim 1, it is characterized by, the transport carriage includes car
Box main body, is provided with tire below railway carriage main body, railway carriage body side is provided with clamping mechanism, and the clamping mechanism includes clamping mechanism
Main body, the first screw mandrel, the second screw mandrel, the first adjusting rod, the second adjusting rod, clamping ring, regulation fixture block and runner, clamping mechanism master
Regulation chamber is provided with vivo, and the first screw mandrel is through regulation chamber, and is rotatably fixed on regulation intracavity by axle sleeve, and runner is fixed on
On first screw mandrel, the first screw mandrel is provided with the first external screw thread and the second external screw thread, the first external screw thread and the second externally threaded screw thread
In opposite direction, the first adjusting rod and second adjusting rod one end rotatably connect into one with the medial extremity for adjusting fixture block by rotating shaft
Body, the other end are fixed at first external screw thread and the second external screw thread of the first screw mandrel by the first adjusting nut respectively, the card
Ring is connect for U-shaped structure, clamping ring one end is rotatably fixed on the outboard end for adjusting fixture block, and the clamping ring other end is provided with solid
Connect projection；Adjust fixture block to be movably disposed in the first buckling groove of clamping mechanism main body, second screw mandrel passes through second
Adjusting nut is movably disposed in the first fixation passage, the second fixation passage phase contract on the second screw mandrel and regulation fixture block
Close, first adjusting rod and the second adjusting rod are rotatably fixed on the first adjusting nut respectively, the regulation intracavity sets
There is the 3rd fixation passage, the 3rd fixation passage is corresponding with the first fixation passage, and the clamping mechanism main body is provided with the second card
Access slot, the affixed projection of clamping ring are placed in the second buckling groove, and the inwall of the second buckling groove is provided with some clamping projections, card
Projection is connect for hemisphere structure, affixed projection is sphere structure.
5. a kind of fruit picker control system of three stations as claimed in claim 1, it is characterized by, the fruit picking control chamber with auxiliary
Control chamber is helped respectively to be connected with the first oil cylinder, the second oil cylinder, the 3rd oil cylinder, the 4th oil cylinder and the 5th oil cylinder, for controlling
The stretching, extension and rotation of mechanical arm.
6. a kind of fruit picker control system of three stations as claimed in claim 1, it is characterized by, the traveling control chamber is used for
Diesel fuel tanks, are carried out with controlling crawler crane chassis.
7. a kind of fruit picker control system of three stations as claimed in claim 1, it is characterized by, set on the assist control case
There is remote-controlled chip, for receiving the signal that IR remote controller sends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023636.3A CN106489436B (en) | 2016-11-21 | 2016-11-21 | A kind of fruit picker control system of three stations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023636.3A CN106489436B (en) | 2016-11-21 | 2016-11-21 | A kind of fruit picker control system of three stations |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106489436A true CN106489436A (en) | 2017-03-15 |
| CN106489436B CN106489436B (en) | 2018-09-11 |
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ID=58327241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611023636.3A Active CN106489436B (en) | 2016-11-21 | 2016-11-21 | A kind of fruit picker control system of three stations |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108513803A (en) * | 2018-06-14 | 2018-09-11 | 梧州学院 | Mandarin orange picks collection device |
| CN110366952A (en) * | 2019-08-23 | 2019-10-25 | 重庆市经贸中等专业学校 | A kind of miniature tracked agricultural robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003054884A (en) * | 2001-08-09 | 2003-02-26 | Seirei Ind Co Ltd | Vehicle for high lift work |
| CN202773418U (en) * | 2012-02-29 | 2013-03-13 | 黑龙江带岭科技开发有限公司 | Mountain automatic elevation type seed picking machine |
| JP2016086696A (en) * | 2014-10-31 | 2016-05-23 | 古河ユニック株式会社 | Harvesting work machine |
| CN206237835U (en) * | 2016-11-21 | 2017-06-13 | 镇江市胜得机械制造有限责任公司 | A kind of fruit picker control system of three stations |
-
2016
- 2016-11-21 CN CN201611023636.3A patent/CN106489436B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003054884A (en) * | 2001-08-09 | 2003-02-26 | Seirei Ind Co Ltd | Vehicle for high lift work |
| CN202773418U (en) * | 2012-02-29 | 2013-03-13 | 黑龙江带岭科技开发有限公司 | Mountain automatic elevation type seed picking machine |
| JP2016086696A (en) * | 2014-10-31 | 2016-05-23 | 古河ユニック株式会社 | Harvesting work machine |
| CN206237835U (en) * | 2016-11-21 | 2017-06-13 | 镇江市胜得机械制造有限责任公司 | A kind of fruit picker control system of three stations |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108513803A (en) * | 2018-06-14 | 2018-09-11 | 梧州学院 | Mandarin orange picks collection device |
| CN110366952A (en) * | 2019-08-23 | 2019-10-25 | 重庆市经贸中等专业学校 | A kind of miniature tracked agricultural robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106489436B (en) | 2018-09-11 |
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