CN108391509A - A kind of pineapple picking vehicle and application method - Google Patents
A kind of pineapple picking vehicle and application method Download PDFInfo
- Publication number
- CN108391509A CN108391509A CN201810195097.4A CN201810195097A CN108391509A CN 108391509 A CN108391509 A CN 108391509A CN 201810195097 A CN201810195097 A CN 201810195097A CN 108391509 A CN108391509 A CN 108391509A
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- Prior art keywords
- pineapple
- chain
- frame
- lifting platform
- drive
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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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of pineapple picking vehicle and application methods, it includes frame part, there are four wheel arrangements for the frame part bottom foot side installation, the frame part is equipped with lifting platform component and chain transmission part across single plant pineapple tree, forward position, and rear positions are equipped with conveyor components, the lifting platform component is for gathering in pineapple fruit, it is risen or fallen by chain transmission part drive, and the fruit under harvesting is transmitted in the collecting bag of frame part both sides by the conveyor components；It further includes remote control and automatically controlled hardware.By the cooperation between pineapple picking vehicle and operator, the efficient picking of pineapple is realized, not only can avoid human hand and scratched, but also can improve the picking efficiency of pineapple.
Description
Technical field
The present invention relates to a kind of fruit picker and application method, pineapple is picked in especially a kind of single straighforward operation
Small-sized mobile devices.
Background technology
Pineapple is as tropical name fruit, and there are about 70, annual output accounts for about world's fruit total output for plantation area and country at present
5%.Pineapple belongs to most large one of kind in tropical fruit (tree) trade.With the improvement of people ' s living standards and to the torrid zone
Fruit is had deep love for, and pineapple industry has obtained preferable development, and pineapple cultivation area increases.Pineapple picking season property is stronger,
The only harvest peak period of or so two weeks.
At present in addition to a small number of orchards are equipped with auxiliary device, domestic fruit is mainly based on manually harvesting.Entire recovery operations
The manpower needed in a short time has accounted for the 40% of entire pineapple production cost.In the case where labour increasingly lacks, pineapple agriculture
Family wants to change the status quo by picking equipment.
Invention content
In view of the deficienciess of the prior art, the main purpose of the present invention is to provide a kind of pineapple picking vehicle and use
Method realizes the efficient picking of pineapple by the cooperation between pineapple picking vehicle and operator, both can avoid human hand and has drawn
Wound, and the picking efficiency of pineapple can be improved.
In order to solve the above-mentioned technical problem, the present invention proposes following technical scheme：A kind of pineapple picking vehicle, feature exist
In：It includes frame part, and there are four wheel arrangements for the frame part bottom foot side installation, and the frame part is across single plant
Pineapple tree, forward position are equipped with lifting platform component and chain transmission part, and rear positions are equipped with conveyor components, the liter
Drop platform component is for gathering in pineapple fruit, it is risen or fallen by chain transmission part drive, and the conveyor components will be under harvesting
Fruit be transmitted in the collecting bag of frame part both sides；It further includes remote control and automatically controlled hardware.
The frame part includes vehicle frame, and the vehicle frame is assembled by more crossbeams and upright bar, the vehicle frame rear portion
Side plate is installed, the vehicle frame is also equipped with more driving member supporting rods, the driving member supporting rod and vehicle between two crossbeams
Respective girders are used to support chain transmission part and conveyor components together in frame, and the frame part further includes being located at vehicle frame or so
The collecting bag open stand and collecting bag pallet of both sides, the collecting bag pallet are located at the positive decentralization of collecting bag open stand, institute
It states and is fixed with plastic collection bag in collecting bag open stand.
The wheel arrangement includes wheel electrical machine, and the wheel electrical machine is mounted on wheel electrical machine holder, and output shaft is logical
It crosses shaft coupling with axletree to be connected, for the axletree for driving wheel, the wheel passes through the inner flange of its both sides and outer
Ring flange is fixed on axletree.
The lifting platform component includes frame, and the frame both sides are separately installed with two sliding blocks, two sliding blocks it
Between be connected with sliding block connector, the sliding block and optical axis guide rail are constituted and are slidably matched, and can above and below be slided in optical axis guide rail,
The upper/lower terminal of the optical axis guide rail is mounted in optical axis fixed seat, and the front and rear sides in the frame centre position are installed respectively
Have the rear baffle for the front apron and servo driving that servo motor drives, bottom that collecting board is installed, on the left of the collecting board under
There is V-tool in side, and the V-tool cuts the pineapple carpopodium for being trapped in collecting board V-type open interior by solenoid actuated,
Other non-working surfaces between the frame are all covered with side plate.
The chain transmission part includes chain drive motor, and the chain drive motor is fixed on chain drive electric machine support,
Output shaft is connected by shaft coupling and main shaft, and the main shaft is supported on main driving shaft bearing seat, and drives left and right
The active chain-drive mechanism of both sides is run, and the active chain-drive mechanism is mounted on vehicle frame on end floor beam, and drives Vertical Square
Upward driven chain-drive mechanism operation, the chain of the driven chain-drive mechanism with it by hanging connected sliding block connector
Driving lifting platform component rises or falls, and the active chain-drive mechanism and driven chain-drive mechanism are by two sprocket wheels and one
Root chain forms, and the sprocket wheel is supported on by chain wheel transmission shaft in sprocket shaft bearing.
The conveyor components include transmission translator, and the transmission translator is fixed on transmission translator holder, are led to
It crosses shaft coupling and drives drive roll rotation, the drive roll is supported on the roller bearing seat at its both ends, it and driven roller
It drives conveyer belt operation, the conveyer belt to be used for bi-directionally transmitted pineapple together, so that pineapple is dropped into frame part both sides plastics and receive
Collect in bag.
The remote control uses Terminal Server Client, and rests in user hand；The remote control passes through wireless telecommunications
Mode controls the automatically controlled hardware on pineapple picking vehicle, and the automatically controlled hardware receives remote control control signal, and drives picking vehicle
Upper each motor is completed from pineapple picking, is packed to transport integration action.
The picking method of pineapple picking vehicle described in any one, it is characterised in that it includes the following steps：
Step1：User holds client, and remote control pineapple picking vehicle moves ahead, when frame part is across single plant pineapple tree, and collects
When the V-type opening of plate is positioned at the surface of pineapple tree fruit, lifting platform component declines and depresses the blade on fruit periphery, until spinach
The V-type opening of trailing plants collecting board faces below pineapple carpopodium；
Step2：Picking vehicle moves on, and pineapple carpopodium is made to be embedded into the V-type open interior of pineapple collecting board, Serve Motor Control
Front apron is closed, and lifting platform component rises, and the V-type of pineapple collecting board is open rises to proper height, righting fruit along pineapple carpopodium
It is real；
Step3：The electromagnet of lifting platform component drives V-tool to cut off carpopodium；
Step4：Lifting platform component carries the fruit to be got off by harvesting, and continuing to rise keeps its bottom end concordant with conveyer belt upper surface,
Rear baffle is opened, and front apron, which sweeps pineapple, makes it fall on a moving belt；
Step5：Last transmission translator drives conveyer belt, pineapple to be transported to frame part both sides by conveyer belt, fall in plastics
In collecting bag.
The method have the advantages that：
1, pineapple picking at this stage is cut pineapple using scissors by manpower and is completed, and pineapple leaves length is sharp, and people is easy injury, this machine
Tool picking method can mitigate manual labor amount, improve picking efficiency.
2, pineapple picking vehicle integrates picking, pack and transport, and pineapple is stored in collecting bag, can be replaced after filling
Collecting bag, replaced collecting bag are placed at the scene, are deposited so that these collecting bags can be transported to concentration by subsequent artefacts on the spot
Put ground.
3, pineapple picking vehicle matches the method for resultant motion using collecting board, V-tool and lifting platform, and pineapple picking is made to have very well
Adaptability and reliability.
4, conveyer belt can be stored in Bidirectional driving, pineapple in the collecting bag of vehicle frame both sides, not only make picking in this way
Vehicle load balance, and increase the parking space of pineapple.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall structure figure of the present invention.
Fig. 2 is the frame part structure chart of the present invention.
Fig. 3 is wheel arrangement the first viewing angle constructions figure of the present invention.
Fig. 4 is wheel arrangement the second viewing angle constructions figure of the present invention.
Fig. 5 is the lifting platform part structure diagram of the present invention.
Fig. 6 is the V-tool structure chart of the present invention.
Fig. 7 is the chain transmission part structure chart of the present invention.
Fig. 8 is the conveyor components structure chart of the present invention.
In figure：Frame part 10, wheel arrangement 20, lifting platform component 30, chain transmission part 40, conveyor components 50；
Vehicle frame 101, side plate 102, driving member supporting rod 103, collecting bag open stand 104, collecting bag pallet 105；
Wheel 201, outward flange disk 202, axletree 203, wheel electrical machine 204, wheel electrical machine holder 205, shaft coupling 206, interior method
Blue disk 207；
Frame 301, steering engine 302, optical axis fixed seat 303, servo motor 304, optical axis guide rail 305, front apron 306, sliding block 307,
Collecting board 308, electromagnet 309, V-tool 310, rear baffle 311 and sliding block connector 312；
Chain drive electric machine support 401, chain drive motor 402, shaft coupling 403, main driving shaft bearing seat 404, main shaft 405,
Active chain-drive mechanism 406, driven chain-drive mechanism 407, sprocket shaft bearing 408, chain wheel transmission shaft 409；
Transmission translator holder 501, transmission translator 502, shaft coupling 503, bearing block 504, drive roll 505, conveyer belt
506, driven roller 507.
Specific implementation mode
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
Embodiment 1：
Such as Fig. 1, a kind of pineapple picking vehicle includes frame part 10, wheel arrangement 20, lifting platform component 30,40 and of chain transmission part
Conveyor components 50, there are four wheel arrangements 20 for the installation of 10 bottom foot side of the frame part, and the frame part 10 is across list
Strain pineapple tree, forward position are equipped with lifting platform component 30 and chain transmission part 40, and rear positions are equipped with conveyor components
50, the lifting platform component 40 is for gathering in pineapple fruit, it is risen or fallen by the drive of chain transmission part 40, the conveyer belt
Component 50 is transmitted to the fruit that harvesting is got off in the collecting bag of 10 both sides of frame part.
Such as Fig. 2, further, the frame part 10 includes vehicle frame 101, side plate 102, driving member supporting rod 103, collection
Bag open stand 104 and collecting bag pallet 105, the vehicle frame 101 are made of nine crossbeams and four upright bars, the side plate 102
Between two crossbeams at 101 rear portion of vehicle frame, for preventing pineapple from being fallen from the conveyer belt 506 of pineapple picking vehicle, institute
It states and four driving member supporting rods 103 is installed on vehicle frame 101, be used to support driving member, four wheel arrangements 20 are mounted on
101 bottom edge of vehicle frame, the movement for controlling pineapple picking vehicle, the collecting bag open stand 104 and collecting bag pallet
105 are fixed on 101 both sides of vehicle frame, for fixing and supporting plastic collection bag.
Such as Fig. 3-4, further, the wheel arrangement 20 includes wheel 201, outward flange disk 202, axletree 203, wheel
Motor 204, wheel electrical machine holder 205, shaft coupling 206 and inner flange 207, the wheel electrical machine 204 pass through wheel electrical machine branch
Frame 205 is mounted on 101 bottom of vehicle frame, and passing power, the wheel are joined together to by shaft coupling 206 and axletree 203
201 are fixed on by the inner flange 207 and outward flange disk 202 of its both sides on axletree 203.
Such as Fig. 5-6, further, the lifting platform component 30 includes frame 301, steering engine 302, and optical axis fixed seat 303 is watched
Take motor 304, optical axis guide rail 305, front apron 306, sliding block 307, collecting board 308, electromagnet 309, V-tool 310, rear baffle
311 and sliding block connector 312,301 both sides of the frame are separately installed with two optical axis guide rails 305, on the optical axis guide rail 305
Lower both ends are mounted in optical axis fixed seat 303, and sliding block 307 is slided up and down in optical axis guide rail 305, the front and back peace of the frame 301
Equipped with servo motor 304 and steering engine 302, front apron 306 and rear baffle 311 are controlled respectively, and collecting board has been picked for controlling
Pineapple motion range on 308, the collecting board 308 are mounted on 301 bottom of frame, and V-tool 310 is mounted on collecting board 308
Lower left, electromagnet 309 can cut the pineapple sarcocarp for the V-type open interior for being trapped in collecting board 308 with driving V-shaped cutter 310
Other non-working surfaces of handle, the frame 301 are all covered with side plate.
Such as Fig. 7, further, the chain transmission part 40 includes chain drive electric machine support 401, chain drive motor 402, connection
Axis device 403, main driving shaft bearing seat 404, main shaft 405, active chain-drive mechanism 406, driven chain-drive mechanism 407, chain
Wheel bearing seat 408 and chain wheel transmission shaft 409, the chain drive motor 402 by the connection with chain drive electric machine support 401, Gu
It being scheduled on driving member supporting rod 103, chain drive motor 402 is connect with main shaft 405 come passing power by shaft coupling 403,
The active chain-drive mechanism 406 of the driving left and right sides moves, and it is horizontal that the active chain-drive mechanism 406 is mounted on 101 upper end of vehicle frame
Liang Shang, it drives the driven chain-drive mechanism 407 in vertical direction to move, and the chain of the driven chain-drive mechanism 407 passes through
Connected sliding block connector 312 is hung with it lifting platform component 30 is driven to be moved along optical axis guide rail 305 rise or fall, the master
The sprocket wheel of dynamic chain-drive mechanism 406 and driven chain-drive mechanism 407 is supported on sprocket shaft bearing 408 by chain wheel transmission shaft 409
On.
Such as Fig. 8, further, the conveyor components 50 include transmission translator holder 501, transmission translator 502, connection
Axis device 503, bearing block 504, drive roll 505, conveyer belt 506 and driven roller 507, the transmission translator 502 by with
The connection of transmission translator holder 501 is fixed on driving member supporting rod 103, and the transmission translator 502 passes through shaft coupling
503 passing powers, driving drive roll 505, driven roller 507 and conveyer belt 506 move, the drive roll 505 and driven
Roller 507 is supported by the bearing block at its both ends 504 respectively.
Embodiment 2：
The picking method of pineapple picking vehicle described in any one, it is characterised in that it includes the following steps：
Step1：User holds client, and remote control pineapple picking vehicle moves ahead, when frame part 10 is across single plant pineapple tree, and receives
When collecting the V-type opening of plate 308 positioned at the surface of pineapple tree fruit, lifting platform component 30 declines and depresses the leaf on fruit periphery
Piece, until the V-type opening of pineapple collecting board 308 faces below pineapple carpopodium；
Step2：Picking vehicle moves on, and pineapple carpopodium is made to be embedded into the V-type open interior of pineapple collecting board 308, servo motor
304 control front aprons 306 are closed, and lifting platform component 30 rises, and the V-type opening of pineapple collecting board 308 rises to along pineapple carpopodium
Proper height, righting fruit；
Step3：The electromagnet 309 of lifting platform component 30 drives V-tool 310 to cut off carpopodium；
Step4：Lifting platform component 30 carries the fruit to be got off by harvesting, and continuing to rise makes 506 upper surface of its bottom end and conveyer belt
Concordantly, rear baffle 311 is opened, and front apron 306, which sweeps pineapple, makes it fall on conveyer belt 506；
Step5：Last transmission translator 502 drives conveyer belt 506, pineapple to be transported to 10 both sides of frame part by conveyer belt 506,
It falls in plastic collection bag.
Through the above description, those skilled in the art completely can be in the model without departing from this invention technological thought
In enclosing, various changes and amendments are carried out all within protection scope of the present invention.The unaccomplished matter of the present invention, belongs to ability
The common knowledge of field technique personnel.
Claims (8)
1. a kind of pineapple picking vehicle, it is characterised in that：It includes frame part（10）, the frame part（10）Pacify on bottom foot side
There are four wheel arrangements for dress（20）, the frame part（10）Across single plant pineapple tree, forward position is equipped with lifting platform portion
Part（30）And chain transmission part（40）, rear positions are equipped with conveyor components（50）, the lifting platform component（40）For receiving
Pineapple fruit is cut, it is by chain transmission part（40）Drive rises or falls, the conveyor components（50）, by the fruit under harvesting
It is transmitted to frame part（10）In the collecting bag of both sides；It further includes remote control and automatically controlled hardware.
2. a kind of pineapple picking vehicle according to claim 1, it is characterised in that：The frame part（10）Including vehicle frame
（101）, the vehicle frame（101）Assembled, the vehicle frame by more crossbeams and upright bar（101）Pacify between two crossbeams at rear portion
Equipped with side plate（102）, the vehicle frame（101）It is also equipped with more driving member supporting rods（103）, the driving member supporting rod
（103）With vehicle frame（101）Middle respective girders are used to support chain transmission part together（40）And conveyor components（50）, the vehicle frame
Component（10）Further include being located at vehicle frame（101）The collecting bag open stand of the left and right sides（104）With collecting bag pallet（105）, institute
State collecting bag pallet（105）Positioned at collecting bag open stand（104）Positive decentralization, the collecting bag open stand（104）It is upper solid
Surely there is plastic collection bag.
3. a kind of pineapple picking vehicle according to claim 1, it is characterised in that：The wheel arrangement（20）Including wheel electricity
Machine（204）, the wheel electrical machine（204）Mounted on wheel electrical machine holder（205）On, output shaft passes through shaft coupling（206）With
Axletree（203）It is connected, the axletree（203）For driving wheel（201）, the wheel（201）By in its both sides
Ring flange（207）With outward flange disk（202）It is fixed on axletree（203）On.
4. a kind of pineapple picking vehicle according to claim 1, it is characterised in that：The lifting platform component（30）Including frame
（301）, the frame（301）Both sides are separately installed with two sliding blocks（307）, two sliding blocks（307）Between connected with sliding block
Fitting（312）It is connected, the sliding block（307）With optical axis guide rail（305）Composition is slidably matched, and can be in optical axis guide rail（305）
Upper and lower sliding, the optical axis guide rail（305）Upper/lower terminal be mounted on optical axis fixed seat（303）On, the frame（301）In
Between the front and rear sides of position be separately installed with servo motor（304）The front apron of driving（306）And steering engine（302）The rear gear of driving
Plate（311）, bottom is equipped with collecting board（308）, the collecting board（308）There is V-tool below left side（310）, the V-type
Cutter（310）By electromagnet（309）Driving, and cut and be trapped in collecting board（308）The pineapple carpopodium of V-type open interior, it is described
Frame（301）Between other non-working surfaces all covered with side plate.
5. a kind of pineapple picking vehicle according to claim 1, it is characterised in that：The chain transmission part（40）It is passed including chain
Dynamic motor（402）, the chain drive motor（402）It is fixed on chain drive electric machine support（401）On, output shaft passes through shaft coupling
（403）With main shaft（405）It is connected, the main shaft（405）It is supported on main driving shaft bearing seat（404）On, and drive
The active chain-drive mechanism of the left and right sides（406）Operation, the active chain-drive mechanism（406）Mounted on vehicle frame（10）Upper end is horizontal
Liang Shang, and drive the driven chain-drive mechanism in vertical direction（407）Operation, the driven chain-drive mechanism（407）Chain
By hanging connected sliding block connector with it（312）Drive lifting platform component（30）It rises or falls, the active chain drive
Mechanism（406）With driven chain-drive mechanism（407）It is made of two sprocket wheels and a chain, the sprocket wheel is passed by sprocket wheel
Moving axis（409）It is supported on sprocket shaft bearing（408）On.
6. a kind of pineapple picking vehicle according to claim 1, it is characterised in that：The conveyor components（50）Including transmission
Translator（502）, the transmission translator（502）It is fixed on transmission translator holder（501）On, pass through shaft coupling（503）Band
Dynamic drive roll（505）Rotation, the drive roll（505）It is supported on the roller bearing seat at its both ends（504）On, it with it is driven
Roller（507）Conveyer belt is driven together（506）Operation, the conveyer belt（506）For bi-directionally transmitted pineapple, pineapple is made to drop into
Frame part（10）In the plastic collection bag of both sides.
7. a kind of pineapple picking vehicle according to claim 1, it is characterised in that：The remote control uses remote client
End, and rest in user hand；The remote control controls the automatically controlled hardware on pineapple picking vehicle, institute by wireless communication mode
It states automatically controlled hardware and receives remote control control signal, and each motor on picking vehicle is driven to complete from pineapple picking, pack to transport
Integration action.
8. using the picking method of pineapple picking vehicle described in claim 1-7 any one, it is characterised in that it includes following step
Suddenly：
Step1：User holds client, and remote control pineapple picking vehicle moves ahead, and works as frame part（10）Across single plant pineapple tree, and
Collecting board（308）V-type opening positioned at pineapple tree fruit surface when, lifting platform component（30）Decline and depresses fruit periphery
Blade, until pineapple collecting board（308）V-type opening face below pineapple carpopodium；
Step2：Picking vehicle moves on, and pineapple carpopodium is made to be embedded into pineapple collecting board（308）V-type open interior, servo electricity
Machine（304）Control front apron（306）It closes, lifting platform component（30）Rise, pineapple collecting board（308）V-type be open along pineapple
Carpopodium rises to proper height, righting fruit；
Step3：Lifting platform component（30）Electromagnet（309）Drive V-tool（310）Cut off carpopodium；
Step4：Lifting platform component（30）The fruit to be got off by harvesting is carried, continuing to rise makes its bottom end and conveyer belt（506）On
Flush, rear baffle（311）It opens, front apron（306）Sweeping pineapple makes it fall in conveyer belt（506）On；
Step5：Last transmission translator（502）Drive conveyer belt（506）, pineapple is by conveyer belt（506）It is transported to frame part
（10）Both sides are fallen in plastic collection bag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810195097.4A CN108391509B (en) | 2018-03-09 | 2018-03-09 | Pineapple picking vehicle and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810195097.4A CN108391509B (en) | 2018-03-09 | 2018-03-09 | Pineapple picking vehicle and using method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108391509A true CN108391509A (en) | 2018-08-14 |
| CN108391509B CN108391509B (en) | 2023-05-02 |
Family
ID=63092627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810195097.4A Active CN108391509B (en) | 2018-03-09 | 2018-03-09 | Pineapple picking vehicle and using method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108391509B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109644674A (en) * | 2019-02-22 | 2019-04-19 | 北京工商大学 | A kind of automatic picking Machine for pineapple and automatic picking method |
| CN115486265A (en) * | 2022-05-25 | 2022-12-20 | 尉金利 | Convenient ware of picking of durian |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2028626A (en) * | 1978-08-31 | 1980-03-12 | Flufy M Le | Mobile harvester |
| CN106233925A (en) * | 2016-10-11 | 2016-12-21 | 山东农业大学 | A kind of white asparagus based on machine vision is gathered robot and collecting method |
| CN106416621A (en) * | 2016-09-29 | 2017-02-22 | 南京信息职业技术学院 | Automatic collecting vehicle for tropical pineapple green picking |
| CN107750626A (en) * | 2017-10-17 | 2018-03-06 | 汕头大学 | A kind of pineapple harvests intelligent carriage |
| CN208987338U (en) * | 2018-03-09 | 2019-06-18 | 三峡大学 | A kind of pineapple picking vehicle |
-
2018
- 2018-03-09 CN CN201810195097.4A patent/CN108391509B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2028626A (en) * | 1978-08-31 | 1980-03-12 | Flufy M Le | Mobile harvester |
| CN106416621A (en) * | 2016-09-29 | 2017-02-22 | 南京信息职业技术学院 | Automatic collecting vehicle for tropical pineapple green picking |
| CN106233925A (en) * | 2016-10-11 | 2016-12-21 | 山东农业大学 | A kind of white asparagus based on machine vision is gathered robot and collecting method |
| CN107750626A (en) * | 2017-10-17 | 2018-03-06 | 汕头大学 | A kind of pineapple harvests intelligent carriage |
| CN208987338U (en) * | 2018-03-09 | 2019-06-18 | 三峡大学 | A kind of pineapple picking vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109644674A (en) * | 2019-02-22 | 2019-04-19 | 北京工商大学 | A kind of automatic picking Machine for pineapple and automatic picking method |
| CN115486265A (en) * | 2022-05-25 | 2022-12-20 | 尉金利 | Convenient ware of picking of durian |
| CN115486265B (en) * | 2022-05-25 | 2024-04-05 | 尉金利 | Convenient durian picking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108391509B (en) | 2023-05-02 |
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