CN110073804B - Deduction type pineapple picking device - Google Patents
Deduction type pineapple picking device Download PDFInfo
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- CN110073804B CN110073804B CN201910184236.8A CN201910184236A CN110073804B CN 110073804 B CN110073804 B CN 110073804B CN 201910184236 A CN201910184236 A CN 201910184236A CN 110073804 B CN110073804 B CN 110073804B
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- pineapple
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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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Abstract
The invention relates to an inference type pineapple picking device. This device is picked to inference formula pineapple includes the mounting bracket, and the downside of mounting bracket is equipped with walking wheel or walking track, installs the guide frame on the mounting bracket, is equipped with the guiding groove that supplies the pineapple tree to get into on the guide frame, the guide frame is equipped with thrust mechanism in one side of guiding groove, and thrust mechanism is arranged in promoting the pineapple in the guiding groove and makes the pineapple break off from the pineapple tree, still install elevating system on the mounting bracket, elevating system is used for driving the guide frame up-and-down motion to adjust the guiding groove to the height position such as with the pineapple bottom. When the pineapple picking device is used, the lifting mechanism adjusts the guide frame to be flush with the bottom of a pineapple, and the pushing mechanism moves to push the pineapple so as to break the pineapple off from the pineapple tree. Compared with the pineapple picking device in the prior art, the inference type pineapple picking device provided by the invention adopts an inference mode, so that the pineapple or a pineapple tree is prevented from being screwed, and the damage to the pineapple and the seedlings on the pineapple tree is reduced.
Description
Technical Field
The invention relates to the technical field of pineapple picking devices, in particular to an inference type pineapple picking device.
Background
Pineapple, short stem, most leaves, rosette arrangement, sword-like shape, gradually pointed top, full margin or sharp teeth, green ventral surface, pink green back, brownish red edges and top, small leaves growing on the top of inflorescence, and red color. Extracting inflorescence from leaf cluster, and making it into pine cone; the base of the bract is green, the upper half of the bract is light red, and the bract is triangular and oval; sepals are wide, oval, fleshy, and reddish at the top; the petals are oblong, pointed, purple red at the upper part and white at the lower part. Gather the fruit meat quality. From summer to winter in the flowering phase. The cultivation is carried out in Fujian, Guangdong, Hainan, Guangxi and Yunnan provinces of China. The native tropical region of America is one of famous tropical fruits.
At present, only a few fruit growers have semi-mechanical auxiliary picking devices, and the pineapple picking machines owned by markets mainly full-manual picking at home and abroad are still in the initial development stage. The Chinese patent application with the application publication number of CN109247129A discloses a pineapple picking device, which comprises an installation frame, a lifting device, a transverse moving device, a longitudinal moving device and a picking device, wherein a plurality of supporting leg columns are arranged below the installation frame, walking wheels are arranged at the lower ends of the supporting leg columns, a plurality of connecting rods are arranged on the supporting leg columns in parallel, the lifting device is arranged on the connecting rods, the output end of the lifting device is connected with the bottom side of the installation frame, the longitudinal moving device is fixedly arranged on the installation frame, the transverse moving device is connected with the lower side of the output end of the longitudinal moving device, a first mounting plate is arranged on the output end of the transverse moving device, a lifting device is also arranged on the mounting plate, a second mounting plate is arranged on the output end of the lifting device, and the picking device is arranged on the second mounting plate, the second mounting plate is also provided with a rotating device for driving the picking device to rotate. This device is picked to pineapple has improved the picking efficiency of pineapple through snatching and twisting off the mode. However, the pineapple is different from other fruits and vegetables, the mass of the pineapple is large, and the pineapple picking device is not easy to grab and twist off; and the pineapple picking device is likely to damage the pineapples and seedlings on the pineapple trees in the twisting-off process.
Disclosure of Invention
In order to solve the problems, the invention provides an inference type pineapple picking device, which aims to solve the technical problem that in the prior art, seedlings on pineapples and pineapple trees are easily damaged in the picking process of the pineapple picking device.
The technical scheme of the inferred pineapple picking device is as follows:
the utility model provides a device is picked to inference formula pineapple includes the mounting bracket, the downside of mounting bracket is equipped with walking wheel or walking track, install the guide frame on the mounting bracket, be equipped with the guiding groove that supplies the pineapple tree to get into on the guide frame, the guide frame is equipped with thrust mechanism in one side of guiding groove, thrust mechanism is arranged in promoting the pineapple in the guiding groove and makes the pineapple break off from the pineapple tree, still install elevating system on the mounting bracket, elevating system is used for driving the guide frame up-and-down motion to adjust the guiding groove to with the pineapple bottom equal high position
The beneficial effects are that: when the inferred pineapple picking device is used, the guide frame is adjusted to be flush with the bottom of a pineapple through the lifting mechanism, the pineapple picking device moves forwards, in the process of advancing, the pineapple enters the guide groove, the pushing mechanism moves to push the pineapple, so that the pineapple is broken off from the pineapple, and the picking of the pineapple is completed. Compared with the pineapple picking device in the prior art, the pineapple picking device provided by the invention picks pineapples in an inferred mode, so that pineapples or pineapple trees are prevented from being screwed, and damages to the pineapples and seedlings on the pineapple trees are reduced.
Further, thrust mechanism includes driving motor, lead screw assembly and push pedal, the lead screw assembly includes lead screw, screw nut and the screw gear of suit on the screw, screw gear and screw nut fixed connection, screw gear passes through gear drive with driving motor, drives screw nut rotates in order to promote axial displacement is made to the screw, the push pedal with the screw rod is connected. The thrust mechanism adopts the form, and the stability is higher.
Furthermore, the screw rod assemblies are provided with two sets, and the two sets of screw rod assemblies are respectively arranged on two sides of the driving motor. The two sets of lead screw assemblies are beneficial to increasing the thrust of the push plate.
Furthermore, the two sides of the screw gear are respectively provided with a thrust bearing and a bearing seat matched with the thrust bearing, and the thrust bearing is used for axially limiting the screw nut. The thrust bearing plays an axial limiting role in the lead screw nut, and axial movement of the lead screw nut is avoided.
Further, the transmission between the screw rod gear and the driving motor is accelerated transmission. The accelerating transmission is beneficial to the quick action of the push plate, and the efficiency of the pineapple picking device is improved.
Furthermore, the lifting mechanism comprises a double-output-shaft motor and transmission assemblies respectively connected to output shafts at two ends of the double-output-shaft motor, each transmission assembly comprises a first bevel gear connected with the output shaft of the double-output-shaft motor through a coupler, a second bevel gear meshed with the first bevel gear, a screw rod connected to the second bevel gear, and a screw rod sliding block arranged on the screw rod, and the screw rod sliding block is fixedly connected with the guide frame. The lifting mechanism in this form enhances the lifting force of the lifting mechanism.
Furthermore, a guide rod parallel to the screw rod is arranged on the mounting frame, a mounting frame sliding block is arranged at one end, away from the screw rod sliding block, of the guide frame, and the mounting frame sliding block is sleeved on the guide rod. The guide rod and the sliding block are arranged, so that the stability of the guide frame in the up-and-down movement process is enhanced.
Further, the guide frame includes support body and lower support body, it is articulated mutually with the tip that lower support body is located the guide slot notch to go up the support body, it deviates from between the tip of guide slot notch to go up support body and lower support body to be equipped with buffer spring. The guide frame includes support body and lower support body, and upper and lower support body one end is articulated, one end is equipped with buffer spring, helps reducing the pineapple and is getting into the pressure of guide slot in-process guide frame to the pineapple, helps protecting the pineapple.
Furthermore, the mounting frame is provided with a collecting basket on one side of the guide groove departing from the thrust mechanism. The collection basket is arranged on the mounting frame, so that the picked pineapples can be collected conveniently.
Furthermore, a baffle capable of rotating towards the guide groove is arranged on a notch of the guide groove, a shifting piece is arranged in the guide groove in the rotation stroke of the baffle, and the shifting piece is used for controlling the action of the thrust mechanism so that the action of the thrust mechanism can infer the pineapple when the pineapple tree enters the guide groove.
Drawings
FIG. 1 is a schematic diagram of the inferred pineapple picking device of the present invention;
FIG. 2 is a rear view of the inferred pineapple picking apparatus of the present invention;
FIG. 3 is a schematic view of the inferred pineapple picking apparatus of the present invention with the mounting frame removed;
FIG. 4 is a rear view of the inferred pineapple picking apparatus of the present invention with the mounting bracket removed;
FIG. 5 is a top view of the pushing mechanism of the inferred pineapple picking device of the present invention;
FIG. 6 is a schematic diagram of a partial explosion of the thrust mechanism in the inferred pineapple picking device of the present invention;
in the figure: 1-a mounting frame; 101-pushing hands; 102-a guide bar; 2-a guide frame; 201-mounting frame slide block; 202-mounting the frame body; 203-lower frame body; 204-a buffer spring; 205-a guide slot; 3-walking wheels; 4-a collection basket; 5-a double-output shaft motor; 6-a coupler; 7-a first bevel gear; 8-a second bevel gear; 9-a screw rod; 10-a horizontal bearing seat; 11-a screw rod slide block; 12-motor fixing base; 13-a drive motor; 14-motor gear; 15-a lead screw gear; 16-a lead screw nut; 17-a thrust bearing; 18-bolt; 19-a nut; 20-a bearing seat; 21-a lead screw; 22-a push plate; 23-a baffle plate; 24-switch.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The first embodiment of the inferred pineapple picking device of the present invention, as shown in fig. 1 and 2, includes a mounting frame 1, and a guide frame, a lifting mechanism and a pushing mechanism are mounted on the mounting frame 1. The lifting mechanism is used for driving the guide frame to lift so as to adjust the guide frame to be as high as the bottom of the pineapple. The guide frame is provided with a guide groove 205 for the pineapple to enter, and a thrust mechanism is arranged at one side of the guide frame 205 and is used for deducing the pineapple on the pineapple stem entering the guide groove 205. The lower side of the mounting frame 1 is provided with a walking wheel 3 and a speed reducing motor for driving the walking wheel 3. When the pineapple picking device is used, the pineapple picking device moves forwards along the ridged pineapples, the pineapples enter the guide groove 205 in the forward moving process, the pushing mechanism deduces the pineapples on the pineapple stems entering the guide groove 205, and the pineapple picking purpose is achieved.
Specifically, as shown in fig. 3 and 4, the lifting mechanism includes a dual-output-shaft motor 5 and a transmission assembly respectively connected to output shafts at two ends of the dual-output-shaft motor 5, and the dual-output-shaft motor 5 is fixed on the mounting frame 1 through a mounting plate. The two sets of transmission assemblies have the same structure, and the structure of the transmission assembly is described by taking a set of transmission assembly as an example, the transmission assembly comprises a first bevel gear 7 connected with one output shaft of the double-output-shaft motor 5 through a coupler 6, a second bevel gear 8 meshed with the first bevel gear 7, a screw rod 9 connected to the second bevel gear 8 and a screw rod slide block 11 arranged on the screw rod 9, two ends of the screw rod 9 are fixed on the mounting frame 1 through horizontal bearing seats 10, and the screw rod slide block 11 is fixedly connected with the guide frame. When the double-output-shaft motor 5 rotates, the first bevel gear 7 is driven to rotate, the first bevel gear 7 drives the second bevel gear 8 to rotate, the screw rod 9 rotates along with the second bevel gear 8, the screw rod 9 rotates to drive the screw rod sliding block 11 to move axially, and therefore lifting of the guide frame is achieved.
The guide frame comprises an upper frame body 202 and a lower frame body 203, wherein one ends of the upper frame body 202 and the lower frame body 203, which are positioned in the notches of the guide grooves 205, are hinged, the upper frame body 202 and the lower frame body 203 are hinged through hinges, the number of the hinges is three, and the rotation axis of the upper frame body 202 on the lower frame body 203 is perpendicular to the extension line of the guide grooves 205. Buffer springs 204 are arranged between the ends of the notches of the upper frame body 202 and the lower frame body 203, which deviate from the guide grooves 205, the number of the buffer springs 204 is three, two of the three buffer springs 204 are respectively positioned at two sides of the guide grooves 205, and the buffer springs 204 are used for reducing the acting force of the guide frame on the pineapples in the process of entering the guide grooves 205, so that the pineapple is protected. The lower frame body 203 is provided with two mounting frame sliding blocks 201 on one side departing from the lead screw sliding block, a guide rod 102 arranged in parallel with the lead screw 9 is arranged on the mounting frame 1, and the mounting frame sliding blocks 201 are sleeved on the guide rod 102. When the lifting mechanism drives the guide frame to move up and down, the mounting frame sliding block 201 slides up and down along the guide rod 102, so that the stability of the guide frame in the process of moving up is enhanced.
Referring to fig. 5 and 6, the thrust mechanism includes a driving motor 13, a lead screw assembly and a push plate 22, and the driving motor 13 and the lead screw assembly are fixed on the upper frame 202 through a motor fixing base 12. The screw assembly comprises a screw rod screw 21, a screw nut 16 and a screw rod gear 15 sleeved on the screw rod screw 21, the screw rod gear 15 and the screw nut 16 are fixedly connected through a bolt 18 and a nut 19, a motor gear 14 is arranged on the output end of the driving motor 13, and the motor gear 14 is meshed with the screw rod gear 15. The driving motor 13 rotates to drive the lead screw nut 16 to rotate so as to drive the lead screw 21 to move axially, and the push plate 22 is connected with the lead screw 21. Both sides of the screw gear 15 are provided with thrust bearings 17 for axially limiting the screw nut 16, and the thrust bearings 17 are fixed on the motor fixing seat 12 through a bearing seat 20. The module of the motor gear 14 is larger than that of the lead screw gear 15, so that the acceleration movement is realized, and the rapid axial movement of the lead screw 21 is facilitated to infer the pineapple. In this embodiment, the screw assemblies have two sets, the two sets of screw assemblies are respectively located at two sides of the driving motor 13, the screw gears 15 in the two sets of screw assemblies are both engaged with the motor gear 14, and the screw screws 21 in the two sets of screw assemblies are both fixedly connected with the push plate 22, so that the thrust of the push plate 22 is enhanced.
A baffle plate 23 which can rotate towards the guide groove 205 is arranged at the notch of the guide groove 205, and a torsion spring is arranged between the guide frame 2 and the baffle plate 23 and used for resetting the baffle plate. A shifting piece is arranged on the wall of the guide groove 205 in the rotation stroke of the baffle 23 and is used for shifting the switch 24 and controlling the action of the thrust mechanism to deduce the pineapples on the pineapple stems.
In this embodiment, mounting bracket 1 is provided with collection basket 4 in the one side that guiding groove 205 deviates from thrust mechanism, and collection basket 4 is used for collecting the pineapple that is inferred by thrust mechanism, sets up collection basket 4 on mounting bracket 1 and has improved pineapple picking efficiency. The mounting bracket 1 is provided with a push handle 101 at one end of the notch departing from the guide groove 205, and the push handle is used for controlling the walking direction of the mounting bracket 1.
The inferred pineapple picking device provided by the invention has the working principle that: the lifting mechanism adjusts the notch of the guide groove 205 to be at the same height position as the bottom of the pineapple, the speed reducing motor rotates the driving device to move forward, when the pineapple enters the guide groove 205, the baffle 23 is pushed to rotate, the baffle 23 rotates to drive the plectrum, the plectrum opens the thrust mechanism, the driving motor 13 in the thrust mechanism works to drive the screw rod 21 to extend rapidly, the rapidly-extending push plate 22 deduces the pineapple on the pineapple stem, and the deduced pineapple falls into the collecting basket 4. The push plate 22 is reset, then the motor in the thrust mechanism rotates reversely to drive the screw rod to retreat, the next pineapple extends out again after entering the guide groove 205 to deduce the pineapple on the pineapple stem, and the operation is circulated to finish the picking work of all the pineapples.
The second embodiment of the inferred pineapple picking device of the present invention is different from the first embodiment of the inferred pineapple picking device in that a traveling crawler and a reduction motor for driving the traveling crawler are installed on the lower side of the mounting frame in the present embodiment. The rest is the same as the first embodiment, and is not described again.
The third embodiment of the inferred pineapple picking device of the invention is different from the first embodiment of the inferred pineapple picking device in that the lifting mechanism in the embodiment comprises a telescopic cylinder, and the telescopic end of the telescopic cylinder is connected with the guide frame. The rest is the same as the first embodiment, and is not described again.
The fourth specific embodiment of the inferred pineapple picking device of the present invention is different from the first specific embodiment of the inferred pineapple picking device in that the thrust mechanism in this embodiment includes a telescopic cylinder and a push plate connected to a telescopic end of the telescopic cylinder, and of course, in other embodiments, the telescopic cylinder may also be a push rod motor, and the others are the same as the first embodiment and are not described again.
The fifth embodiment of the inferred pineapple picking device of the present invention is different from the first embodiment of the inferred pineapple picking device in that the lifting mechanism of the present embodiment has a set of transmission assemblies, and of course, the motor of the lifting mechanism has only one output end. The rest is the same as the first embodiment, and is not described again.
The difference between the sixth embodiment of the inferred pineapple picking device and the first embodiment of the inferred pineapple picking device is that the screw assembly in the thrust mechanism in the present embodiment is only provided with one set, and the rest is the same as the first embodiment, and is not described again.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (8)
1. An inference type pineapple picking device is characterized in that: the pineapple peeling machine comprises an installation frame (1), wherein walking wheels (3) or walking tracks are arranged on the lower side of the installation frame (1), a guide frame (2) is installed on the installation frame (1), a guide groove (205) for pineapple trees to enter is formed in the guide frame (2), a thrust mechanism is arranged on one side of the guide groove of the guide frame (2), the thrust mechanism is used for pushing pineapples in the guide groove to enable the pineapples to be broken off from the pineapple trees, a lifting mechanism is further installed on the installation frame (1), and the lifting mechanism is used for driving the guide frame (2) to move up and down so as to adjust the guide groove (205) to be at the same height with the bottoms of the pineapples;
a baffle (23) capable of rotating towards the guide groove is arranged on the notch of the guide groove (205), a shifting piece is arranged on the wall of the guide groove (205) in the rotation stroke of the baffle, and is used for shifting a switch (24) to control the action of the thrust mechanism, so that the action of the thrust mechanism can infer pineapples when pineapple trees enter the guide groove; a torsion spring is arranged between the guide frame (2) and the baffle plate (23) and is used for resetting the baffle plate;
the guide frame (2) comprises an upper frame body (202) and a lower frame body (203), the upper frame body (202) and the lower frame body (203) are hinged at the end part of the notch of the guide groove (205), and a buffer spring (204) is arranged between the end parts of the upper frame body (202) and the lower frame body (203) deviating from the notch of the guide groove (205); the thrust mechanism is fixed on the upper frame body (202); the baffle (23) and the switch (24) are both arranged on the upper frame body (202).
2. The inferential pineapple picking device of claim 1, wherein: thrust mechanism includes driving motor (13), lead screw assembly and push pedal (22), the lead screw assembly includes lead screw (21), screw nut (16) and suit lead screw gear (15) on lead screw (21), lead screw gear (15) and screw nut (16) fixed connection, lead screw gear (15) and driving motor (13) pass through gear drive, drive lead screw nut (16) rotate in order to promote axial displacement is made in lead screw (21), push pedal (22) with lead screw (21) are connected.
3. The inferential pineapple picking device of claim 2, wherein: the screw rod assemblies are provided with two sets, and the two sets of screw rod assemblies are respectively arranged on two sides of the driving motor (13).
4. The inferential pineapple picking device of claim 2, wherein: the two sides of the screw rod gear (15) are respectively provided with a thrust bearing (17) and a bearing seat (20) matched with the thrust bearing, and the thrust bearing (17) is used for axially limiting the screw rod nut (16).
5. The inferential pineapple picking device of claim 2, wherein: the transmission between the screw rod gear (15) and the driving motor (13) is accelerated transmission.
6. The inferential pineapple picking device according to any one of claims 1 to 5, wherein: the lifting mechanism comprises a double-output-shaft motor (5) and transmission assemblies respectively connected to output shafts at two ends of the double-output-shaft motor (5), each transmission assembly comprises a first bevel gear (7) connected with an output shaft of the double-output-shaft motor (5) through a coupler (6), a second bevel gear (8) meshed with the first bevel gear (7), a screw rod (9) connected to the second bevel gear (8) and a screw rod sliding block (11) arranged on the screw rod (9), and the screw rod sliding block (11) is fixedly connected with the guide frame (2).
7. The inferential pineapple picking device of claim 6, wherein: the guide frame is characterized in that a guide rod (102) parallel to the screw rod (9) is arranged on the mounting frame (1), a mounting frame sliding block (201) is arranged at one end, away from the screw rod sliding block (11), of the guide frame (2), and the mounting frame sliding block (201) is sleeved on the guide rod (102).
8. The inferential pineapple picking device according to any one of claims 1 to 5, wherein: and a collecting basket (4) is arranged on one side of the mounting rack (1) deviating from the thrust mechanism in the guide groove.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910184236.8A CN110073804B (en) | 2019-03-11 | 2019-03-11 | Deduction type pineapple picking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910184236.8A CN110073804B (en) | 2019-03-11 | 2019-03-11 | Deduction type pineapple picking device |
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| CN110073804A CN110073804A (en) | 2019-08-02 |
| CN110073804B true CN110073804B (en) | 2021-11-19 |
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| CN201910184236.8A Active CN110073804B (en) | 2019-03-11 | 2019-03-11 | Deduction type pineapple picking device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110561669A (en) * | 2019-10-14 | 2019-12-13 | 南京思脉德医疗科技有限公司 | Torsion tube solidification protection integral type frock |
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| US2584361A (en) * | 1948-05-24 | 1952-02-05 | California Packing Corp | Harvesting machine |
| CN201094198Y (en) * | 2007-10-22 | 2008-08-06 | 徐波 | Bean harvester |
| CN102907213A (en) * | 2012-11-01 | 2013-02-06 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| CN108184417A (en) * | 2018-03-27 | 2018-06-22 | 吉林大学 | A kind of semi-automatic pineapple picker of omnidirectional type |
| CN108271510A (en) * | 2018-02-11 | 2018-07-13 | 广西科技大学 | A kind of pineapple picker |
| CN108307782A (en) * | 2018-03-26 | 2018-07-24 | 武汉理工大学 | Cart type semi-automation pineapple picking machine |
| CN108617240A (en) * | 2018-05-11 | 2018-10-09 | 重庆交通大学 | It can the integrated pineapple picker of expansion type acquisition |
| CN208242244U (en) * | 2018-05-21 | 2018-12-18 | 广州大学 | A kind of pineapple picker |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109121690A (en) * | 2018-10-16 | 2019-01-04 | 天津职业技术师范大学 | A kind of agricultural automation pineapple picking machine |
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2019
- 2019-03-11 CN CN201910184236.8A patent/CN110073804B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2584361A (en) * | 1948-05-24 | 1952-02-05 | California Packing Corp | Harvesting machine |
| CN201094198Y (en) * | 2007-10-22 | 2008-08-06 | 徐波 | Bean harvester |
| CN102907213A (en) * | 2012-11-01 | 2013-02-06 | 华南农业大学 | Picking actuating mechanism used at tail end of pineapple picking mechanical arm |
| CN108271510A (en) * | 2018-02-11 | 2018-07-13 | 广西科技大学 | A kind of pineapple picker |
| CN108307782A (en) * | 2018-03-26 | 2018-07-24 | 武汉理工大学 | Cart type semi-automation pineapple picking machine |
| CN108184417A (en) * | 2018-03-27 | 2018-06-22 | 吉林大学 | A kind of semi-automatic pineapple picker of omnidirectional type |
| CN108617240A (en) * | 2018-05-11 | 2018-10-09 | 重庆交通大学 | It can the integrated pineapple picker of expansion type acquisition |
| CN208242244U (en) * | 2018-05-21 | 2018-12-18 | 广州大学 | A kind of pineapple picker |
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