CN108307795A - A kind of great-leap-forward pineapple picking vehicle - Google Patents
A kind of great-leap-forward pineapple picking vehicle Download PDFInfo
- Publication number
- CN108307795A CN108307795A CN201810190741.9A CN201810190741A CN108307795A CN 108307795 A CN108307795 A CN 108307795A CN 201810190741 A CN201810190741 A CN 201810190741A CN 108307795 A CN108307795 A CN 108307795A
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- picking
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- pineapple
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Classifications
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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
- A01D46/24—Devices for picking apples or like fruit
-
- 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
- A01D46/22—Baskets or bags attachable to the picker
Abstract
The present invention relates to fruit picking field, spy is related to a kind of great-leap-forward pineapple picking vehicle.Picking mechanism and elevating mechanism are adjusted to proper level and pick position by the translation mechanism of the present invention；Pineapple is directed into picking mechanism front end by guide mechanism；Picking mechanism is elevated to suitable plucking height by elevating mechanism by sprocket wheel, and pineapple is fixed；Picking mechanism applies active force backward for the frictional force of belt and the shearing force of blade to pineapple, disconnected to break pineapple from stem end, realizes the picking of pineapple.The efficiency that the present invention solves existing artificial picking or picking robot present in the prior art is low, complicated for operation, has the characteristics that simple in structure, easy to operate, picking efficiency is high.
Description
Technical field
The present invention relates to fruit picking field, spy is related to a kind of great-leap-forward pineapple picking vehicle.
Background technology
China is fruit industry big country, but most fruit is all manually picked, and lacks the device of picking.Pineapple is
Perennial fruit has special structure, therefore can not possibly once be carried out in the Mechaniaed harvest of large area, has been only possible to needle
Picking to property.The machinery field that China is picked in pineapple at present falls behind relatively, most of still manually to pick, because of pineapple
With sharp sharp mouth on leaf, pericarp very point is hard, and the protrusion with prickle, picked by hand be easy to cause pericarp by
Wound, largely reduces the efficiency of picking.Great-leap-forward pineapple picking vehicle can improve picking efficiency to a certain extent, and
It is simple in structure, it is easy to operate.
In recent years, domestic scholars also enter in-depth study to pineapple picking mechanism.Agricultural University Of South China's summer in 2012 is red
A kind of " picking executive device (application number for pineapple picking mechanical arm end of plum etc.：201210431101.5) " use
The paw mechanism of robot, the positioning of the simulation mankind's picking actions such as clutch, twist into two parts, discharging to realize the picking of pineapple fruit,
Although this kind invention design picking precision is high, the efficiency of picking is too low, and to the positioning requirements of manipulator height, cost when
Between it is long, equipment cost can not be reduced.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of great-leap-forward pineapple picking vehicles.The translation mechanism of the present invention
Picking mechanism and elevating mechanism are adjusted to proper level and pick position；Pineapple is directed into picking mechanism front end by guide mechanism；
Picking mechanism is elevated to suitable plucking height by elevating mechanism by sprocket wheel, and pineapple is fixed；Picking mechanism rubs for belt
Active force of the shearing force of power and blade to pineapple application backward is wiped, it is disconnected to break pineapple from stem end, realize adopting for pineapple
It plucks.The efficiency that the present invention solves existing artificial picking or picking robot present in the prior art is low, complicated for operation, has
The features such as simple in structure, easy to operate, picking efficiency is high.
The technical scheme is that：A kind of great-leap-forward pineapple picking vehicle, including translation mechanism, guide mechanism, picking machine
Structure, elevating mechanism, walking mechanism and supporting mechanism, supporting mechanism is by translation mechanism, picking mechanism and elevating mechanism and vehicle with walking machine
Structure links together, it is characterised in that：The picking mechanism include left harvesting mechanism, right harvesting mechanism, fixed tablet,
Guide rail, sliding block, slide plate, blade, spring stop and spring, wherein left harvesting mechanism is identical with right harvesting mechanism structure type, it is left
Harvesting mechanism includes motor, shaft coupling, motor support base, square plate, picking upper plate, roller shaft, roller, belt, vertical bearing branch
Seat, motor are connected with motor support base, and the axis of motor is connected by shaft coupling with one of roller shaft, and motor support base is fixed on
The front end of upper plate is picked, vertical bearing bearing is fixed on the lower end of picking upper plate, and roller shaft is fixed on the vertical bearing of lower end
Between bearing and picking upper plate, roller is fixedly connected with roller shaft, and belt bypasses multiple rollers, left harvesting mechanism and right harvest
The belt of mechanism forms splayed structure；Wherein left harvesting mechanism is fixed on slide plate, and slide plate is connected with two sliding blocks, sliding block with
Round guide coordinates, and round guide is connected with fixed tablet, and spring stop is connected with slide plate, and spring stop is connected with spring, spring with
Fixed tablet is connected；Right harvesting mechanism is connected by bolt with fixed tablet, and blade is fixed in the U-type groove of fixed tablet front end；
Square plate is fixedly linked with picking upper plate and slide plate in wherein left harvesting mechanism, square plate and picking upper plate and fixation in right harvesting mechanism
Tablet is fixedly linked；The translation mechanism includes transverse slat, round guide, square sliding block, translation plates, and round guide is connected with transverse slat, side
Sliding block is matched with round guide, and translation plates are connected with sliding block；The guide mechanism includes guiding transverse slat symmetrically arranged on the left and the right,
Guiding transverse slat is arc tablet, is oriented to transverse slat and is arranged in picking mechanism front end；The elevating mechanism includes handwheel, gear, interior
Gear, sliding key, shaft, bevel pinion, bevel gear wheel, sprocket shaft, left elevating mechanism and right elevating mechanism, wherein handwheel slide
Key is fixed in shaft, and gear is fixedly connected with the hand wheel, and internal gear is fixed on supporting mechanism, and bevel gear wheel is fixed on shaft
Rear end, shaft are connected with vertical bearing bearing, and vertical bearing bearing is fixed on supporting mechanism, and bevel pinion is fixed on sprocket shaft
Right end, bevel pinion engages with bevel gear wheel；Wherein left elevating mechanism and right elevating mechanism include sprocket wheel, chain, sliding block
One, bearing block, riser, rectangular tube two, hyphen plate, horizontal bearing spider and short axle, chain coordinate with upper and lower two sprocket wheels respectively,
Part chain is connected with bearing block, and bearing block is connected by screw with sliding block, and sliding block one coordinates with sliding rail one, and two sliding rails one are logical
It crosses bolt to be respectively connected with riser, two rectangular tubes two are separately fixed at left and right ends, and two upper end of rectangular tube is solid with translation mechanism
It is fixed to be connected；Hyphen plate is fixedly connected with rectangular tube two, and short axle coordinates with lower end sprocket wheel, two horizontal bearing spiders respectively with short axle
Left and right ends cooperation, horizontal bearing spider is bolted on hyphen plate；Left elevating mechanism and right elevating mechanism it is upper
Sprocket wheel coordinates with sprocket shaft or so end respectively, and two horizontal bearing spiders coordinate with the both ends of sprocket shaft respectively, upper end it is horizontal
Bearing spider is connected with translation mechanism.
According to great-leap-forward pineapple picking vehicle as described above, it is characterised in that：The walking mechanism include two front-wheels,
Two trailing wheels and rotating mechanism, wherein transmission mechanism include mandrel, small square plate, shaft stool, deep groove ball bearing and hexagonal fluting spiral shell
Mother, small square plate are connected with shaft stool, and mandrel coordinates with bearing spider, and two deep groove ball bearings are matched with the left and right ends of mandrel respectively
It closes, the right end of hexagon slotted nut and mandrel coordinates；Transmission mechanism coordinates with front wheels and rear wheels respectively.
According to great-leap-forward pineapple picking vehicle as described above, it is characterised in that：The supporting mechanism is different length
The square frame that rectangular tube one is fixedly connected, hand push frame are fixed on the upper rear end of square frame.
According to great-leap-forward pineapple picking vehicle as described above, it is characterised in that：The roller is hollow structure, left harvest
Four rollers are arranged in mechanism, and three rollers are arranged in right cropper.
According to great-leap-forward pineapple picking vehicle as described above, it is characterised in that：One section in the chain is unilateral curved
Plate chain.
According to great-leap-forward pineapple picking vehicle as described above, it is characterised in that：Two horizontal bearing spiders with it is flat
It moves plate to be bolted, translation plates are fixedly connected with rectangular tube two.
Therefore, the invention has the advantages that：
1. present invention employs including pineapple fruit guide mechanism, translation mechanism, picking mechanism, elevating mechanism, vehicle with walking machine
Structure and the supporting mechanism for coupling said mechanism, reliable operation is simple, and picking efficiency is high, adaptability is big, economy and durability, can
The integrality of pineapple fruit is protected, picking cost is saved.
2. the guide mechanism in the present invention, the pineapple of succeeding planting can be allowed, even if there are certain lateral position differences, still
Pineapple fruit can be directed to the front end of picking mechanism.
3. the translation mechanism in the present invention, the pineapple of multiple row planting can be allowed, even if there are certain lateral position difference,
Still it can be picked.
4. the picking mechanism in the present invention makes pineapple be bent backward using the frictional force of belt and the shearing force of blade, from
And pineapple is broken from stem end it is disconnected, while sliding rail movement, it can be achieved that different size pineapple picking.
5. the elevating mechanism in the present invention, using chain drive, picking platform can move up and down, can allow succeeding planting
Even if pineapple have the different difference of height, still can be picked.
Description of the drawings
Fig. 1 be the present invention stereochemical structure before schematic diagram.
Fig. 2 is the stereochemical structure side schematic view of the present invention.
Fig. 3 is the schematic diagram of the picking mechanism of the present invention.
Fig. 4 is the half-section diagram of the picking mechanism of the present invention.
Fig. 5 is the lifting structure and translation mechanism schematic diagram of the present invention.
Fig. 6 is the translation mechanism partial schematic diagram of the present invention.
Reference sign：Rectangular tube 1, front-wheel 2, small square plate 3, shaft stool 4, be oriented to transverse slat 5, hexagon slotted nut 6,
Mandrel 7, trailing wheel 8, hand push frame 9, deep groove ball bearing 10, motor 11, motor support base 12, picking upper plate 13, belt 14, slide plate 15,
Spring 16, square plate 17, guide rail 18, blade 19, vertical bearing bearing 20, roller shaft 21, roller 22, fixed tablet 23, sliding block
24, spring stop 25, shaft coupling 26, transverse slat 27, round guide 28, translation plates 29, bevel pinion 30, chain 31, rectangular tube 2 32,
Horizontal bearing spider 33, sprocket wheel 34, hyphen plate 35, short axle 36, sliding block 1, bearing block 38, sliding rail 1, riser 40, sprocket wheel
Axis 41, square sliding block 42, handwheel 43, sliding key 44, gear 45, internal gear 46, shaft 47, bevel gear wheel 48.
Specific implementation mode
Technical scheme of the present invention is described further below in conjunction with attached drawing.
As shown in Figures 1 to 6, great-leap-forward pineapple picking vehicle of the invention includes translation mechanism, guide mechanism, picking machine
Structure, elevating mechanism, walking mechanism and the supporting mechanism for coupling said mechanism, translation mechanism is by picking mechanism and elevating mechanism
Adjust proper level picking position；Pineapple is directed into picking mechanism front end by guide mechanism；Elevating mechanism will by sprocket wheel 34
Picking mechanism is elevated to suitable plucking height, and pineapple is fixed；Picking mechanism is used for the frictional force of belt 14 and cutting for blade 19
Shear force gives pineapple to apply active force backward, pineapple is broken from stem end disconnected, then will break disconnected pineapple fruit and is transported toward rear
Defeated, walking mechanism forward movement is picked next time, and supporting mechanism is by translation mechanism, picking mechanism and elevating mechanism and walking
Mechanism is connected.
As shown in figure 5, the translation mechanism of the present invention includes transverse slat 27, round guide 28, square sliding block 42, translation plates 29, circle is led
Rail 28 is connected by bolt with transverse slat 27, and square sliding block 42 is matched with round guide 28, and translation plates 29 pass through screw and 24 phase of sliding block
Even.
As shown in figures 1 and 3, guide mechanism of the invention includes guiding transverse slat symmetrically arranged on the left and the right, is oriented to transverse slat 5 and is
Arc tablet is oriented to transverse slat 5 and is linked together by bolt and the fixation tablet 23 of picking mechanism front end.
As shown in Figure 3, Figure 4, picking mechanism of the invention includes left harvesting mechanism, right harvesting mechanism, fixed tablet
23, guide rail 18, sliding block 24, slide plate 15, blade 19, spring stop 25 and spring 16, wherein left harvesting mechanism and right harvesting mechanism
Include motor 11, shaft coupling 26, motor support base 12, square plate 17, picking upper plate 13, roller shaft 21, roller 22, belt 14,
Vertical bearing bearing 20, wherein motor 11 are connected by bolt with motor support base 12, while the axis of motor 11 passes through shaft coupling 26
It is connected with one of roller shaft 21, motor support base 12 is fixed on the front end of picking upper plate 13, and vertical bearing bearing 20 passes through
Bolt point is fixed on the lower end (fixed position of vertical bearing bearing) of picking upper plate 13, and roller shaft 21 is fixed on the vertical of lower end
Between formula bearing spider 20 and picking upper plate 13, roller 22 is fixedly connected with roller shaft 21, and belt 14 bypasses multiple rollers 22,
The belt 14 of left harvesting mechanism and right harvesting mechanism forms splayed structure；Wherein left harvesting mechanism is bolted on slide plate
On 15, slide plate 15 is connected with two sliding blocks 24 respectively by bolt, and sliding block 24 coordinates with round guide 28, and round guide 28 passes through bolt
It is connected with fixed tablet 23, spring stop 25 is connected by bolt with slide plate 15, and spring stop 25 is connected with spring 16, spring 16
It is connected with fixed tablet 23；Right harvesting mechanism is connected by bolt with fixed tablet 23, before blade 19 is fixed on fixed tablet 23
It holds in U-type groove.Square plate 17 is fixedly linked with picking upper plate 13 and slide plate 15 in wherein left harvesting mechanism, square plate in right harvesting mechanism
17 are fixedly linked with picking upper plate 13 and fixed tablet 23.The left harvesting mechanism is moved by spring 16 and sliding block 24, is made
Picking mechanism picks different size of pineapple.The roller 22 is hollow structure, and there are four roller 22, right receipts for left harvesting mechanism
Obtaining machine, there are three rollers 22.
As shown in Figure 5, Figure 6, elevating mechanism of the invention includes handwheel 43, gear 45, and internal gear 46, turns sliding key 44
Axis 47, bevel pinion 30, bevel gear wheel 48, sprocket shaft 41, left elevating mechanism and right elevating mechanism, wherein handwheel 43 pass through sliding
Key 44 is fixed in shaft 47, and gear 45 is fixedly connected with handwheel 43, and internal gear 46 is bolted on supporting mechanism, greatly
Bevel gear 48 is fixed on the rear end of shaft 47, and left and right is connected shaft 47 respectively with two vertical bearing bearings 20, vertical bearing branch
Seat 20 is bolted in the translation plates of translation mechanism, and bevel pinion 30 is fixed on the right end of sprocket shaft 41, bevel pinion
It is engaged with bevel gear wheel；Wherein left elevating mechanism and right elevating mechanism include sprocket wheel 34, chain 31, sliding block 1, bearing block
38, riser 40, rectangular tube 2 32, hyphen plate 35, horizontal bearing spider 33 and short axle 36, chain 31 respectively with upper and lower two sprocket wheels
34 cooperations, sprocket wheel are fixed on the left and right ends of sprocket shaft, and part chain 31 is connected by bolt with bearing block 38, and bearing block 38 is logical
Screw is crossed with sliding block 24 to be connected, sliding block 1 and sliding rail 1 coordinate, two sliding rails 1 by bolt respectively with 40 phase of riser
Even, two rectangular tubes 2 32 are separately fixed at left and right ends, and 2 32 upper end of rectangular tube is fixedly linked with translation mechanism；Hyphen plate 35
Be fixedly connected with rectangular tube 2 32, short axle 36 and lower end sprocket wheel 34 coordinate, two horizontal bearing spiders 33 respectively with short axle 36
Left and right ends coordinate, and horizontal bearing spider 33 is bolted on hyphen plate 35；Left elevating mechanism and right elevating mechanism
Upper sprocket wheel 34 is held with sprocket shaft 41 or so respectively to be coordinated, and two horizontal bearing spiders 33 coordinate with the both ends of 34 axis of sprocket wheel respectively,
The horizontal bearing spider 33 of upper end is connected by bolt with translation mechanism, and handle band dynamic bevel gear rotates to drive sprocket shaft 41
Rotation, chain 31 drive bearing block 38 to move up and down, and the fixation tablet 23 of picking mechanism is fixed on two bearing blocks 38, with reality
Existing picking mechanism is moved up and down along guide rail one.
In the present invention, a bit of for unilateral bent plate chain 31 in chain 31, other are all conventional chain, the cunning of handwheel 43
Shifting movement is to realize that internal gear 46 and gear 45 coordinate, the self-locking function that elevating mechanism is realized.
In the present invention, two horizontal bearing spiders 33 are bolted with the translation plates 29 in translation mechanism respectively, put down
Plate 29 is moved to be fixedly connected with rectangular tube 2 32 respectively.
As depicted in figs. 1 and 2, walking mechanism of the invention includes two front-wheels 2, two trailing wheels 8 and rotating mechanisms, wherein
Transmission mechanism includes mandrel 7, small square plate 3, shaft stool 4, deep groove ball bearing 10 and hexagon slotted nut 6, and small square plate 3 passes through screw
It is connected with shaft stool 4, mandrel 7 coordinates with bearing spider, and two deep groove ball bearings 10 coordinate with the left and right ends of mandrel 7 respectively,
Hexagon slotted nut 6 and the right end of mandrel 7 coordinate；Transmission mechanism coordinates with front-wheel 2 and trailing wheel 8 respectively.
As depicted in figs. 1 and 2, supporting mechanism of the invention is by have that the rectangular tube 1 of different length is fixedly connected one
Square frame, hand push frame 9 are fixed on the upper rear end of square frame.The supporting mechanism of the present invention is fixedly connected with walking mechanism, is put down
The transverse slat 27 of telephone-moving structure is weldingly fixed on the upper end of supporting mechanism.
The course of work of the present invention is as follows：Translation mechanism is transferred to suitable horizontal position in advance, when device is close to pineapple sarcocarp
In real time, pineapple is directed into the front end of picking mechanism by guide mechanism, and rotational handle is to make elevating mechanism drive on picking mechanism
It is raised to suitable plucking height, the bending force of one, pineapple backward is given in the conveyer belt movement of picking mechanism, and fruit toward rear end
Transport, when picking is completed, in the active force bottom left harvesting mechanism reset of spring 16, people makes whole device move by hand push frame 9
Carry out pineapple picking next time.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (6)
1. a kind of great-leap-forward pineapple picking vehicle, including translation mechanism, guide mechanism, picking mechanism, elevating mechanism, walking mechanism and
Supporting mechanism, supporting mechanism link together translation mechanism, picking mechanism and elevating mechanism and walking mechanism, and feature exists
In：The picking mechanism include left harvesting mechanism, right harvesting mechanism, fixed tablet, guide rail, sliding block, slide plate, blade,
Spring stop and spring, wherein left harvesting mechanism is identical with right harvesting mechanism structure type, left harvesting mechanism includes motor, shaft coupling
Device, motor support base, square plate, picking upper plate, roller shaft, roller, belt, vertical bearing bearing, motor are connected with motor support base,
The axis of motor is connected by shaft coupling with one of roller shaft, and motor support base is fixed on the front end of picking upper plate, vertical shaft
The lower end that bearing is fixed on picking upper plate is held, roller shaft is fixed between the vertical bearing bearing of lower end and picking upper plate, rolling
Cylinder is fixedly connected with roller shaft, and belt bypasses multiple rollers, the belt formation splayed of left harvesting mechanism and right harvesting mechanism
Structure；Wherein left harvesting mechanism is fixed on slide plate, and slide plate is connected with two sliding blocks, and sliding block and round guide coordinate, round guide with
Fixed tablet is connected, and spring stop is connected with slide plate, and spring stop is connected with spring, and spring is connected with fixed tablet；Right harvest
Mechanism is connected by bolt with fixed tablet, and blade is fixed in the U-type groove of fixed tablet front end；Square plate in wherein left harvesting mechanism
It is fixedly linked with picking upper plate and slide plate, square plate is fixedly linked with picking upper plate and fixed tablet in right harvesting mechanism；Described
Translation mechanism includes transverse slat, round guide, square sliding block, translation plates, and round guide is connected with transverse slat, and square sliding block is matched with round guide,
Translation plates are connected with sliding block；The guide mechanism includes guiding transverse slat symmetrically arranged on the left and the right, and guiding transverse slat is arc tablet,
Transverse slat is oriented to be arranged in picking mechanism front end；The elevating mechanism includes handwheel, gear, internal gear, sliding key, shaft, small
Bevel gear, bevel gear wheel, sprocket shaft, left elevating mechanism and right elevating mechanism, wherein handwheel sliding key are fixed in shaft, gear
It is fixedly connected with the hand wheel, internal gear is fixed on supporting mechanism, and bevel gear wheel is fixed on the rear end of shaft, shaft and vertical bearing
Bearing is connected, and vertical bearing bearing is fixed on supporting mechanism, and bevel pinion is fixed on the right end of sprocket shaft, bevel pinion with it is big
Bevel gear engages；Wherein left elevating mechanism and right elevating mechanism include sprocket wheel, chain, sliding block one, bearing block, riser, rectangular
Pipe two, hyphen plate, horizontal bearing spider and short axle, chain coordinate with upper and lower two sprocket wheels respectively, part chain and bearing block phase
Even, bearing block is connected by screw with sliding block, sliding block one and the cooperation of sliding rail one, two sliding rails one by bolt respectively with riser phase
Even, two rectangular tubes two are separately fixed at left and right ends, and two upper end of rectangular tube is fixedly linked with translation mechanism；Hyphen plate with it is rectangular
Pipe two is fixedly connected, and short axle coordinates with lower end sprocket wheel, and two horizontal bearing spiders coordinate with the left and right ends of short axle respectively, horizontal
Bearing spider is bolted on hyphen plate；The upper sprocket wheel of left elevating mechanism and right elevating mechanism is respectively with sprocket shaft or so
End cooperation, two horizontal bearing spiders coordinate with the both ends of sprocket shaft respectively, horizontal bearing spider and the translation mechanism phase of upper end
Even.
2. great-leap-forward pineapple picking vehicle according to claim 1, it is characterised in that：The walking mechanism is including before two
Wheel, two trailing wheels and rotating mechanism, wherein transmission mechanism include mandrel, small square plate, shaft stool, deep groove ball bearing and hexagonal fluting
Nut, small square plate are connected with shaft stool, and mandrel and bearing spider coordinate, two deep groove ball bearings respectively with the left and right ends of mandrel
The right end of cooperation, hexagon slotted nut and mandrel coordinates；Transmission mechanism coordinates with front wheels and rear wheels respectively.
3. great-leap-forward pineapple picking vehicle according to claim 1, it is characterised in that：The supporting mechanism is different length
The square frame that is fixedly connected of rectangular tube one, hand push frame is fixed on the upper rear end of square frame.
4. great-leap-forward pineapple picking vehicle according to claim 1,2 or 3, it is characterised in that：The roller is hollow knot
Four rollers are arranged in structure, left harvesting mechanism, and three rollers are arranged in right cropper.
5. great-leap-forward pineapple picking vehicle according to claim 1,2 or 3, it is characterised in that：One section in the chain
For unilateral bent plate chain.
6. great-leap-forward pineapple picking vehicle according to claim 1,2 or 3, it is characterised in that：Two horizontal bearings
Bearing is bolted with translation plates, and translation plates are fixedly connected with rectangular tube two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190741.9A CN108307795B (en) | 2018-03-08 | 2018-03-08 | A kind of great-leap-forward pineapple picking vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810190741.9A CN108307795B (en) | 2018-03-08 | 2018-03-08 | A kind of great-leap-forward pineapple picking vehicle |
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| Publication Number | Publication Date |
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| CN108307795A true CN108307795A (en) | 2018-07-24 |
| CN108307795B CN108307795B (en) | 2019-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810190741.9A Expired - Fee Related CN108307795B (en) | 2018-03-08 | 2018-03-08 | A kind of great-leap-forward pineapple picking vehicle |
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Cited By (5)
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| CN108702928A (en) * | 2018-07-17 | 2018-10-26 | 东莞市皓奇企业管理服务有限公司 | The application method of pineapple intelligence harvesting robotic |
| CN108934433A (en) * | 2018-08-06 | 2018-12-07 | 路阳 | Pineapple assists harvester |
| CN108990532A (en) * | 2018-09-07 | 2018-12-14 | 深圳大学 | A kind of pineapple harvester |
| CN111133892A (en) * | 2018-11-06 | 2020-05-12 | 中原工学院 | Torsion type peach picking machine |
| CN114872007A (en) * | 2022-04-13 | 2022-08-09 | 仲恺农业工程学院 | Pineapple picking robot based on binocular vision |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108702928A (en) * | 2018-07-17 | 2018-10-26 | 东莞市皓奇企业管理服务有限公司 | The application method of pineapple intelligence harvesting robotic |
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| CN108990532A (en) * | 2018-09-07 | 2018-12-14 | 深圳大学 | A kind of pineapple harvester |
| CN108990532B (en) * | 2018-09-07 | 2021-10-26 | 深圳大学 | Pineapple harvester |
| CN111133892A (en) * | 2018-11-06 | 2020-05-12 | 中原工学院 | Torsion type peach picking machine |
| CN114872007A (en) * | 2022-04-13 | 2022-08-09 | 仲恺农业工程学院 | Pineapple picking robot based on binocular vision |
| CN114872007B (en) * | 2022-04-13 | 2023-04-18 | 仲恺农业工程学院 | Pineapple picking robot based on binocular vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108307795B (en) | 2019-10-11 |
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Granted publication date: 20191011 |