CN108076812B - Semi-automatic pineapple picker - Google Patents
Semi-automatic pineapple picker Download PDFInfo
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- CN108076812B CN108076812B CN201810143940.4A CN201810143940A CN108076812B CN 108076812 B CN108076812 B CN 108076812B CN 201810143940 A CN201810143940 A CN 201810143940A CN 108076812 B CN108076812 B CN 108076812B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
According to the invention, the shearing motor, the lifting gear motor and the rotating gear motor are arranged, the control box is arranged to realize button-type semiautomatic picking of the pineapple, the picking mechanism drives the cutter to cut off the fruit stalks through the handle pull rod, the pineapple is clamped by the pineapple loading frame, the rack and the pinion are combined with the magnet attraction to keep the clamping state until the pineapple is placed in the pineapple loading frame, so that the manual labor can be reduced, and the pineapple picking efficiency can be improved. The whole equipment has small volume and low cost, and is suitable for popularization and application.
Description
Technical Field
The invention relates to the field of daily living appliances, in particular to a semiautomatic pineapple picking machine.
Background
Pineapple contains protein and multiple vitamins, and is popular with people because of unique flavor. Pineapple is delicious but pineapple leaves are zigzag, and can be easily cut when picked by peasants. Most of the conventional automatic picking devices are large-scale equipment, are large in size and high in price, are not suitable for small farmers or growers in hilly areas, are traditional manual picking, bear a large basket, bend down to cut off pineapple stems by using a knife, and have the advantages of high labor intensity, easiness in injury and low efficiency.
Disclosure of Invention
The invention aims to provide a semiautomatic pineapple picking machine which has the advantages of small volume, light weight and convenience in operation, reduces labor intensity of farmers and improves pineapple picking efficiency.
The technical problems solved by the invention can be realized by adopting the following technical scheme:
a semiautomatic pineapple picker, characterized in that: the picking mechanism comprises handle pull rods, supporting tubes, cylindrical magnets, cutters, a fixing frame and a pineapple loading frame, wherein one handle pull rod is arranged at two ends of the supporting tubes, the supporting tubes are hollow, the cylindrical magnets are arranged in a nested manner, the two cylindrical magnets are arranged in a different-pole opposite-attraction manner, and the other ends of the cylindrical magnets are respectively connected with the left handle pull rod and the right handle pull rod; the upper side and the lower side of the supporting tube are provided with a circular arc surface, the fixing frame is positioned below the supporting tube, penetrates through the sliding groove and is connected with the cylindrical magnet, the fixing frame is a square bracket and consists of left and right connecting rods, the left and right connecting rods are L-shaped, the front end of a short side is provided with two cutters, and the cutters are correspondingly arranged in a left-right matching manner; the pineapple holding frame is a frame with two semi-elliptic cambered surfaces, the shape of the frame is similar to that of pineapple after being butted, a round hole is reserved below the frame, and the side surface of the frame is connected with the fixing frame;
the machine frame is used for mounting a picking mechanism, a picking power mechanism and a rotating mechanism, and is also a walking device, and consists of a driving motor, a front wheel, a base, a battery pack, a driving motor switch, a steering gear device, a rear wheel, a connecting frame and a seat, wherein the rear wheel is a steering wheel, steering is controlled by the steering gear device, the front end of the machine frame is provided with a pineapple mounting frame, and the mounting frame is fixedly mounted on the base of the machine frame;
the control box is arranged in front of the seat, a control circuit is arranged in the control box, an operation panel is arranged outside the control box, forward and reverse rotation start and stop buttons of the driving motor switch, the shearing motor, the lifting gear motor and the rotating gear motor are all arranged on the operation panel, and the shearing motor, the lifting gear motor and the rotating gear motor are all connected with the battery pack and the control box;
one end of the picking power mechanism is connected with the handle pull rod, and the other end of the picking power mechanism is connected with the rotating mechanism; the picking power mechanism comprises a shearing motor, a gear, racks and picking fixing rods, wherein the shearing motor is a forward and backward rotating motor and is arranged on the upper end face of the picking fixing rods, the front ends of the picking fixing rods are welded with the side faces of supporting tubes of the picking mechanism, the motor output shafts of the shearing motor are connected with the centers of the gears to drive the gears to rotate, the gears are meshed with the racks to drive the racks to horizontally reciprocate, two racks are arranged, one ends of the racks are respectively meshed with the upper section and the lower section of the gears, and the other ends of the racks are provided with connecting rods which penetrate through sliding grooves and are connected with the upper end faces of the inner sides of the left handle pull rods and the right handle pull rods;
the rotary mechanism comprises a rotary support, a mounting frame, a screw rod, a lifting gear motor, a rotary gear and a rotary gear motor, wherein the rotary support is a T-shaped support, the screw rod is arranged on one side of a lower support leg, a nut hole is formed in the rear end of a picking fixing rod, the screw rod penetrates through the nut hole and then is connected with the lower support leg of the rotary support, the lifting gear motor, the rotary gear and the rotary gear motor are arranged on the upper surface of the rotary support, the lifting gear and the rotary gear are conical gear sets, and the mounting frame is hinged to the rear side of the upper support leg of the rotary support.
The infrared sensing device is arranged on the lower end face of the fixing frame for mounting the cutter and is connected with the battery pack and a control circuit inside the control box.
Still include drum magnet, install drum magnet in the stay tube, drum magnet has two, and the opposite side is inhaled mutually and is installed, and the other end is connected with the handle pull rod about respectively, on the butt joint gear of shearing motor, on the upper and lower face of swivel mount installation lead screw position and the articulated department mutually of mounting bracket and swivel mount all be equipped with extreme position switch, be equipped with manual switch on the control box, be connected with left side on the short side front and lower terminal surface of controlling the connecting rod respectively and press pineapple leaf frame and right side and press pineapple leaf frame, left side presses pineapple leaf frame and right side to press pineapple leaf frame to be semi-circular, and the upper and lower position staggers each other, can not hinder cutter cutting fruit stalk when folding the state.
According to the invention, the shearing motor, the lifting gear motor and the rotating gear motor are arranged, the control box is arranged to realize button-type semiautomatic picking of the pineapple, the picking mechanism drives the cutter to cut off the fruit stalks through the handle pull rod, the pineapple is clamped by the pineapple loading frame, the rack and the pinion are combined with the magnet attraction to keep the clamping state until the pineapple is placed in the pineapple loading frame, so that the manual labor can be reduced, and the pineapple picking efficiency can be improved. The whole equipment has small volume and low cost, and is suitable for popularization and application.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a specific construction of the picking mechanism and the rotating mechanism.
FIG. 3 is a schematic diagram of a control module.
Fig. 4 is a schematic diagram of the operation.
In the figure, the 1-picking mechanism, the 2-picking power mechanism, the 3-rotating mechanism, the 4-rack, the 5-pineapple loading frame, the 6-control box, the 7-infrared induction device, the 11-handle pull rod, the 12-supporting tube, the 13-cylinder magnet, the 14-cutter, the 15-fixing frame, the 16-pineapple, the 17-pineapple loading frame, the 18-left-pressing pineapple leaf frame, the 19-right-pressing pineapple leaf frame, the 21-shearing motor, the 22-gear, the 23-rack, the 24-picking fixing rod, the 31-rotating bracket, the 32-mounting frame, the 33-screw rod, the 34-lifting gear, the 35-lifting gear motor, the 36-rotating gear, the 37-rotating gear motor, the 41-driving motor, the 42-front wheel, the 43-base, the 44-battery pack, the 45-driving motor switch, the 46-steering gear device, the 47-rear wheel, the 48-connecting frame and the 49-seat are arranged.
Detailed Description
The present invention will be described in further detail with reference to examples, but embodiments of the present invention are not limited thereto.
Figures 1-4 are preferred schemes of the invention, and comprise a picking mechanism 1, a picking power mechanism 2, a rotating mechanism 3, a frame 4, a pineapple loading frame 5, a control box 6 and an infrared sensing device 7.
The frame 4 is used for mounting other components such as the picking mechanism 1, the picking power mechanism 2, the rotating mechanism 3 and the like, and is a running gear, and the running gear is driven by a motor to run, and is a power-driven running gear which consists of a driving motor 41, a front wheel 42, a base 43, a battery pack 44, a driving motor switch 45, a steering gear device 46, a rear wheel 47, a connecting frame 48, a seat 49 and the like, and the working principle is the same as that of a common power running gear, wherein the rear wheel 47 is a steering wheel, the steering gear device 46 controls steering, the running gear can also adopt gasoline or diesel engine to provide power, and in the embodiment, the battery pack 44 also provides power for other components.
The picking mechanism 1 comprises handle pull rods 11, supporting tubes 12, cylindrical magnets 13, cutters 14, fixing frames 15, pineapple loading frames 17, left pineapple leaf pressing frames 18 and right pineapple leaf pressing frames 19, wherein the number of the handle pull rods 11 is two, one handle pull rod is arranged at the two ends of the supporting tubes 12 left to right, the supporting tubes 12 are hollow, the cylindrical magnets 13 are arranged in a nested mode, the number of the cylindrical magnets 13 is two, opposite poles are arranged in a suction and opposite direction, and the other ends of the cylindrical magnets are connected with the left handle pull rods 1 and the right handle pull rods 1 respectively. The handle bar 11 pulls the cylindrical magnet 13 to slide in the support tube 12.
The upper and lower side arc surfaces of the support tube 12 are provided with sliding grooves, the movement of the cylindrical magnet 13 can be seen in the sliding grooves, the fixing frame 15 is positioned below the support tube 12, and the fixing frame passes through the sliding grooves to be connected with the cylindrical magnet 13. The fixing frame 15 is a square bracket and consists of left and right connecting rods, the left and right connecting rods are L-shaped, the front end of the short side is provided with two cutters 14, and the cutter edges are correspondingly arranged in a left-right matching way. The pineapple mounting frame 17 is arranged on the inner sides of the long sides of the left connecting rod and the right connecting rod, the pineapple mounting frame 17 is composed of two frames with semi-elliptical cambered surfaces, the shape of the pineapple mounting frame is similar to that of the pineapple 16 after the pineapple mounting frame is in butt joint, a round hole is reserved below the pineapple mounting frame, the pineapple 16 can be entirely wrapped in the round hole, and fruit stalks are reserved.
The left pineapple leaf pressing frame 18 and the right pineapple leaf pressing frame 19 are respectively connected to the front lower end surfaces of the short sides of the left connecting rod and the right connecting rod of the fixing frame 15, the left pineapple leaf pressing frame 18 and the right pineapple leaf pressing frame 19 are semicircular, the upper position and the lower position are staggered, and the cutter 4 is not blocked from cutting fruit stalks in a folding state.
In this embodiment, the picking power mechanism 2 adopts a rack and pinion form, and includes a shearing motor 21, a gear 22, a rack 23 and a picking fixing rod 24, the shearing motor 21 is a forward and reverse rotation motor, and is installed on the upper end surface of the picking fixing rod 24, the front end of the picking fixing rod 24 is welded with the side surface of the supporting tube 12 of the picking mechanism 2, the shearing motor 21 is connected with the battery pack 44 and the control box 6, the motor output shaft of the shearing motor 21 is connected with the center of the gear 22, the gear 22 is driven to rotate, the gear 22 is meshed with the rack 23, and the rack 23 is driven to horizontally reciprocate. The racks 23 are two, one end is respectively meshed with the upper and lower tangential surfaces of the gear 22, the other end is provided with a connecting rod, and the connecting rod penetrates through the sliding groove 121 to be connected with the inner upper end surfaces of the left and right handle pull rods 11.
The picking power mechanism 2 can also be replaced by a pull rope traction device or a crank sliding block mechanism, so long as the opening and closing of the cylindrical magnet 13 can be realized.
The rotating mechanism 3 is a device for moving picked pineapple to the upper part of the basket and comprises a rotating bracket 31, a mounting frame 32, a screw rod 33, a lifting gear 34, a lifting gear motor 35, a rotating gear 36 and a rotating gear motor 37, wherein the rotating bracket 31 is a T-shaped bracket, the screw rod 33 is arranged on one side of a lower support leg of the rotating bracket 31, a nut hole is formed in the rear end of the picking fixing rod 24, and the screw rod 33 is connected with the lower support leg of the rotating bracket 31 after passing through the nut hole. The lifting gear 34, the lifting gear motor 35, the rotating gear 36 and the rotating gear motor 37 are arranged on the upper surface of the rotating bracket 31, and the lifting gear 34 and the rotating gear 36 are bevel gear sets, so that the rotation of the motor output shaft in the horizontal direction can be converted into the rotation in the vertical direction. The elevating gear motor 35 and the rotating gear motor 37 are connected to the battery pack 44 and the control box 6, respectively. The lifting gear motor 35 drives the lifting gear 34 to rotate, the upper end of the screw rod 33 is connected with the lifting gear 34, and lifting of the screw rod 33 is realized under the drive of the lifting gear motor 35, so that the picking power mechanism 2 is driven to lift. The rotating bracket 31 is also hinged with a mounting bracket 32 connected with the frame 4, and in order to make the rotation moment larger, the mounting bracket 32 is preferably arranged at the rear side of the upper support leg of the rotating bracket 31. The mounting position of the mounting frame 32 and the rack 4 is determined according to the basket position and the length of the rotating bracket 31.
The pineapple loading frame 5 is arranged at the front end of the frame 4, after the picking mechanism 1 picks up the pineapple 16, the rotating mechanism 3 rises to rotate to the position above the pineapple loading frame 5, and the picking mechanism 1 releases the pineapple 16 to be put into the pineapple loading frame 5.
The control box 6 is arranged in front of the seat 49, a control circuit is arranged in the box, an operation panel is arranged outside the control box, and forward and reverse turning start and stop buttons of the driving motor switch 45, the shearing motor 21, the lifting gear motor 35 and the rotating gear motor 37 are all arranged on the operation panel.
In order to ensure that the cutter 14 can accurately reach the pineapple stems, the shearing position is at the highest position closest to the pineapple stems, an infrared sensing device 7 is arranged on the lower end face of a fixing frame 15 provided with the cutter 14, and the infrared sensing device 7 is connected with a battery pack 44 and a control circuit in the control box 6.
Limit position switches are arranged on the butt-joint gear 22 of the shearing motor 21, on the upper surface and the lower surface of the position where the screw rod 33 is arranged on the rotary support 31 and at the hinged position of the mounting frame 32 and the rotary support 31, and the motor stops when the motor rotates positively and negatively to touch the limit position switches. The control box 6 is provided with a manual switch for correcting the position when aligning with the pineapple.
Fig. 3 is a schematic diagram of a control module in this embodiment, three sets of action motors are connected with a battery pack 44 and a control circuit in the control box 6, the infrared sensing device 7 is connected with the control circuit, fig. 4 is a schematic diagram of the working process in this embodiment, as shown in the drawing, when the infrared sensing device 7 is positioned at the highest position of the stem, a warning sound is sent, the control circuit sends a signal to the shearing motor 21, the shearing motor 21 drives the gear 22 to rotate anticlockwise, the cutter 14 cuts off the stem, the gear 22 touches a right position switch, and the shearing motor 21 stops rotating. The control circuit sends a signal to the lifting gear motor 35, and the nut is driven to rise through the conical gear, namely the lifting gear 34, so that the picking mechanism 1 and the picking power mechanism 2 are driven to rise, and when the picking power mechanism touches the upper position switch, the lifting gear motor 35 stops rotating. The control circuit sends out a signal to the rotary gear motor 37, the picking mechanism 1 and the picking power mechanism 2 which are provided with pineapple are rotated to the upper part of the pineapple loading frame 5 through the transmission of the conical gear, namely the rotary gear 36, the reverse start is carried out, the gear is rotated clockwise, the cutter 14 is loosened, the pineapple falls into the pineapple loading frame 5, and the shearing motor 21 stops rotating when the pineapple touches the left position switch, so that one picking action is completed. The travelling mechanism of the frame 1 walks to the next pineapple position, meanwhile, the rotary gear motor 37 is reversely started, when the left-pressing pineapple leaf frame 18 and the right-pressing pineapple leaf frame 19 approach a straight line with the center of a pineapple, the manual switch is turned on, the lifting gear motor 35 is reversely started for inching control adjustment, the conical gear, namely the lifting gear 34, drives the nut to descend, and when the nut touches the lower position switch, the lifting gear motor 35 stops to finish descending and start picking next time.
The picking mechanism 1 has the working sequence that a shearing motor 21 drives a gear 22, a rack 23 pulls a handle pull rod 11 outwards, a cylindrical magnet 13 is mutually far away under the drive of the handle pull rod 1, left and right connecting rods of a fixing frame 15 are driven to move towards opposite sides, a pineapple loading frame 17, a left pineapple leaf pressing frame 18 and a right pineapple leaf pressing frame 19 are opened, a pineapple 16 is sleeved into the pineapple loading frame 17 from top to bottom, the pineapple She Yadao is sleeved by the left pineapple leaf pressing frame 18 and the right pineapple leaf pressing frame 19, a cutter 14 is aligned with fruit stalks, the shearing motor 21 reversely pulls the left and right handle pull rods 11 towards the middle, the left and right connecting rods drive the cutter 14 to cut the pineapple stalks, and the cylindrical magnet 13 can keep a suction state after cutting is completed, so that the pineapple 16 is prevented from falling.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention still fall within the scope of the present invention.
Claims (2)
1. A semiautomatic pineapple picker, characterized in that: the picking mechanism comprises handle pull rods, supporting tubes, cutters, a fixing frame and a pineapple loading frame, wherein the supporting tubes are hollow, two handle pull rods are arranged in the supporting tubes in a left-right nested mode, sliding grooves are formed in the arc surfaces of the upper side and the lower side of the supporting tubes, the fixing frame is located below the supporting tubes and penetrates through the sliding grooves to be connected with the handle pull rods, the fixing frame is a square support and consists of left and right connecting rods, the left and right connecting rods are L-shaped, the cutters are arranged at the front ends of short sides, and the two cutters are arranged in a matched mode relative to one another; the pineapple holding frame is a frame with two semi-elliptic cambered surfaces, the shape of the frame is similar to that of pineapple after being butted, a round hole is reserved below the frame, and the side surface of the frame is connected with the fixing frame;
the machine frame is used for mounting a picking mechanism, a picking power mechanism and a rotating mechanism, and is also a walking device, and consists of a driving motor, a front wheel, a base, a battery pack, a driving motor switch, a steering gear device, a rear wheel, a connecting frame and a seat, wherein the rear wheel is a steering wheel, steering is controlled by the steering gear device, the front end of the machine frame is provided with a pineapple mounting frame, and the mounting frame is fixedly mounted on the base of the machine frame;
the control box is internally provided with a control circuit and is externally provided with an operation panel, positive and negative rotation start and stop buttons of the driving motor switch, the shearing motor, the lifting gear motor and the rotating gear motor are all arranged on the operation panel, and the shearing motor, the lifting gear motor and the rotating gear motor are all connected with the battery pack and the control box;
one end of the picking power mechanism is connected with the handle pull rod, the other end of the picking power mechanism is connected with the rotating mechanism, the picking power mechanism comprises a shearing motor, a gear, racks and a picking fixing rod, the shearing motor is a forward and backward rotating motor and is arranged on the upper end face of the picking fixing rod, the front end of the picking fixing rod is welded with the side face of a supporting tube of the picking mechanism, a motor output shaft of the shearing motor is connected with the center of the gear to drive the gear to rotate, the gear is meshed with the racks to drive the racks to do horizontal reciprocating motion, the racks are two, one end of each rack is meshed with the upper section and the lower section of the gear, and the other end of each rack is provided with a connecting rod which penetrates through a sliding groove and is connected with the inner upper end faces of the left handle pull rod and the right handle pull rod;
the rotary mechanism comprises a rotary support, a mounting frame, a screw rod, a lifting gear motor, a rotary gear and a rotary gear motor, wherein the rotary support is a T-shaped support, the screw rod is arranged on one side of a lower support leg, a nut hole is formed in the rear end of a picking fixing rod, the screw rod penetrates through the nut hole and then is connected with the lower support leg of the rotary support, the lifting gear motor, the rotary gear and the rotary gear motor are arranged on the upper surface of the rotary support, the lifting gear and the rotary gear are conical gear sets, and the mounting frame is hinged to the rear side of the upper support leg of the rotary support;
the control box is arranged in front of the seat;
the infrared sensing device is arranged on the lower end face of the fixing frame for mounting the cutter and is connected with the battery pack and a control circuit inside the control box.
2. A semiautomatic pineapple picker according to claim 1, wherein: still include drum magnet, install drum magnet in the stay tube, drum magnet has two, and the opposite side is inhaled mutually and is installed, and the other end is connected with the handle pull rod about respectively, on the butt joint gear of shearing motor, on the upper and lower face of swivel mount installation lead screw position and the articulated department mutually of mounting bracket and swivel mount all be equipped with extreme position switch, be equipped with manual switch on the control box, be connected with left side on the short side front and lower terminal surface of controlling the connecting rod respectively and press pineapple leaf frame and right side and press pineapple leaf frame, left side presses pineapple leaf frame and right side to press pineapple leaf frame to be semi-circular, and the upper and lower position staggers each other, can not hinder cutter cutting fruit stalk when folding the state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810143940.4A CN108076812B (en) | 2018-02-12 | 2018-02-12 | Semi-automatic pineapple picker |
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| CN201810143940.4A CN108076812B (en) | 2018-02-12 | 2018-02-12 | Semi-automatic pineapple picker |
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| CN108076812A CN108076812A (en) | 2018-05-29 |
| CN108076812B true CN108076812B (en) | 2023-07-07 |
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Families Citing this family (8)
| 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 |
| CN108566823B (en) * | 2018-06-19 | 2023-08-22 | 武汉职业技术学院 | Conjugate flat-rotating progressive pineapple harvester |
| CN108713388B (en) * | 2018-06-22 | 2021-02-19 | 安徽机电职业技术学院 | Supplementary equipment of picking of pineapple |
| CN108702926B (en) * | 2018-07-17 | 2020-06-12 | 叶红月 | Use method of intelligent pineapple picking robot |
| CN110393082A (en) * | 2018-09-21 | 2019-11-01 | 湖南科技大学 | Pineapple picking and collection device and its application method |
| CN109429696B (en) * | 2018-11-28 | 2024-05-03 | 南昌大学 | Trolley for picking pineapple |
| CN111165173B (en) * | 2020-02-24 | 2022-07-12 | 廖祥静 | Hand propelled asparagus lettuce harvesting device |
| CN112425363B (en) * | 2021-01-15 | 2021-12-14 | 泉州市英花建筑物清洁服务有限公司 | Device for automatically harvesting and picking pineapples |
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| US2576991A (en) * | 1946-03-22 | 1951-12-04 | Maui Pineapple Company Ltd | Apparatus for harvesting pineapples |
| CN201504423U (en) * | 2009-10-14 | 2010-06-16 | 中国农业大学 | Mechanical gripper for picking pineapples |
| JP2012244969A (en) * | 2011-05-31 | 2012-12-13 | Yanmar Co Ltd | Head forming vegetable harvester |
| CN104663121B (en) * | 2013-11-30 | 2017-04-26 | 西北农林科技大学 | Automatic garlic sprout harvesting mechanical device |
| CN103947380B (en) * | 2014-04-18 | 2015-11-11 | 金陵科技学院 | A kind of both arms fruit picking robot and fruit picking method |
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| CN106416621B (en) * | 2016-09-29 | 2018-09-18 | 南京信息职业技术学院 | Automatic collection vehicle for green picking of tropical pineapples |
| CN106973625B (en) * | 2017-04-26 | 2023-04-25 | 海南大学 | Automatic pineapple harvester |
| CN107214716B (en) * | 2017-06-14 | 2023-04-18 | 中国计量大学 | Tomato fruit string picking end effector and picking method thereof |
| CN208047313U (en) * | 2018-02-12 | 2018-11-06 | 龙岩学院 | One kind is semi-automatic to pluck Machine for pineapple |
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| RU5066U1 (en) * | 1996-07-01 | 1997-10-16 | Омский государственный аргарный университет | CABBAGE HARVEST |
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