CN110506493B - Sisal hemp harvesting machine with multiple mechanical arms - Google Patents
Sisal hemp harvesting machine with multiple mechanical arms Download PDFInfo
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- CN110506493B CN110506493B CN201910962857.4A CN201910962857A CN110506493B CN 110506493 B CN110506493 B CN 110506493B CN 201910962857 A CN201910962857 A CN 201910962857A CN 110506493 B CN110506493 B CN 110506493B
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- cover plate
- steering engine
- fixedly connected
- lower cover
- upper cover
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- 244000198134 Agave sisalana Species 0.000 title claims abstract description 50
- 235000011624 Agave sisalana Nutrition 0.000 title claims abstract description 45
- 238000003306 harvesting Methods 0.000 title claims abstract description 15
- 238000005520 cutting process Methods 0.000 claims abstract description 12
- 230000003028 elevating effect Effects 0.000 claims 1
- 239000000835 fiber Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 239000003513 alkali Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000012209 synthetic fiber Substances 0.000 description 1
- 229920002994 synthetic fiber Polymers 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/06—Harvesting of standing crops of flax or similar fibrous plants
- A01D45/065—Harvesting of standing crops of flax or similar fibrous plants of fibrous plants other than flax, e.g. ramie, sisal, hemp, jute, Spanish grass, raffia
Abstract
The invention discloses a sisal hemp harvesting and cutting machine with multiple mechanical arms, which comprises a crawler, a lifting platform, a connecting rod, an upper cover plate, a lower cover plate and a plurality of working heads, wherein the crawler is provided with a plurality of lifting platforms; the lifting platform is arranged at the center of the top surface of the crawler and moves up and down along the top surface of the crawler, the side surface of the lifting platform is fixedly connected with a connecting rod, the other end of the connecting rod is fixedly connected with the side surface of the upper cover plate, and the bottom of the upper cover plate is fixedly connected with the lower cover plate; the working heads are fixedly connected with the bottom surface of the lower cover plate and are uniformly arranged along the circumferential direction of the bottom surface of the lower cover plate; one side of the top surface of the lifting platform is also provided with an alignment sensor, a plurality of controllers and a control power supply, the signal output end of the alignment sensor is connected with the signal receiving ends of the controllers, the controllers are in one-to-one correspondence with the working heads, and the signal output end of each controller is connected with the signal receiving end of the corresponding working head. The invention realizes mechanized cutting of sisal hemp, reduces damage to the leaves of the sisal hemp plant to be cut, greatly reduces labor cost and improves working efficiency.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanical equipment, and particularly relates to a sisal hemp harvesting machine with multiple mechanical arms.
Background
Sisal hemp is a perennial tropical hard leaf fiber crop, and is the most widely used hard fiber in the world today. The sisal fiber has the characteristics of tough texture, wear resistance, saline alkali resistance, corrosion resistance and the like, is irreplaceable by synthetic fibers, has the advantages of no environmental pollution, difficult static electricity generation and the like, is widely applied to various industries such as transportation, fishery, petroleum, metallurgy and the like, and has important economic value. In the actual cutting process, the large-scale artificial cutting speed is low due to the large volume of sisal hemp, and a large amount of manpower and material resources are consumed. Therefore, there is a need to design a device that facilitates sisal harvesting.
Disclosure of Invention
The invention aims to solve the problem of slower speed in actual sisal hemp cutting, and provides a sisal hemp cutting machine with multiple mechanical arms, so as to realize mechanized sisal hemp cutting.
The invention is realized by the following technical scheme:
a sisal hemp harvesting machine with multiple mechanical arms comprises a crawler, a lifting platform, a connecting rod, an upper cover plate, a lower cover plate and a plurality of working heads; the lifting platform is arranged at the center of the top surface of the crawler and moves up and down along the top surface of the crawler, a connecting rod is fixedly connected to the side surface of the lifting platform, the other end of the connecting rod is fixedly connected with the side surface of the upper cover plate, a lower cover plate is fixedly connected to the bottom of the upper cover plate, and the upper cover plate and the lower cover plate are driven to move in the vertical direction through the connecting rod when the lifting platform moves up and down; the working heads are fixedly connected with the bottom surface of the lower cover plate and are uniformly arranged along the circumferential direction of the bottom surface of the lower cover plate; the device comprises a lifting platform, a plurality of controllers and a control power supply, wherein one side of the top surface of the lifting platform is also provided with an alignment sensor, a plurality of controllers and the control power supply, the signal output end of the alignment sensor is connected with the signal receiving ends of the controllers, the controllers are in one-to-one correspondence with the working heads, the signal output end of each controller is connected with the signal receiving end of the corresponding working head, and the control power supply is positioned in the crawler and is used for supplying power for the controllers; the working head sequentially comprises an annular rotor, a steering engine A, a first U-shaped frame, a second U-shaped frame, a steering engine B, a third U-shaped frame and a telescopic tool bit from top to bottom; the annular rotor is fixedly arranged in the lower cover plate, the bottom of the annular rotor is fixedly connected with one end of the steering engine A, the other end of the steering engine A is fixedly connected with the first U-shaped frame, the bottom of the first U-shaped frame is fixedly connected with the second U-shaped frame, the bottom of the second U-shaped frame is fixedly connected with one end of the steering engine B, the other end of the steering engine B is fixedly connected with the third U-shaped frame, and the bottom of the third U-shaped frame is fixedly connected with a telescopic cutter head.
The technical problem to be further solved by the invention is that the upper cover plate and the lower cover plate are annular cover plates, the upper cover plate and the lower cover plate are fixed in an up-down attaching way, and the radius of the inner rings of the upper cover plate and the lower cover plate is larger than the maximum leaf spreading radius of the sisal hemp blades.
The technical problem to be further solved by the invention is that an annular groove is arranged on the joint surface of the lower cover plate and the upper cover plate, the annular rotors are uniformly embedded in the annular groove in the circumferential direction, gaps are reserved between the annular rotors, and the annular rotors rotate in the annular groove and drive the telescopic cutter head at the bottom of the working head to rotate along the root of sisal hemp.
The telescopic cutter head further solves the technical problem that the telescopic cutter head comprises a cutter handle and a cutter blade, wherein the bottom of the cutter handle is provided with a chute, the cutter blade is clamped in the chute and can move along the chute, and the included angle between the plane where the cutter blade is positioned and the ground is 45 degrees.
The invention further solves the technical problem that two symmetrical bulges are arranged on the side edge of the upper cover plate, three connecting rods are arranged, wherein the end parts of the two connecting rods are fixedly connected with the bulges, the third connecting rod is positioned in the middle of the two connecting rods, the end parts of the third connecting rod are fixedly connected with the side edge of the upper cover plate, and the other ends of the three connecting rods are fixedly connected with the side edge of the lifting table.
The invention further solves the technical problem that the controller comprises a control main board with the model STM 32; the STM32 controls the Vcc pin of the main board to be connected with a control power supply, and the GND pin of the main board is grounded; the positive electrode of the steering engine A is connected with a Vcc pin of the STM32 control main board, the negative electrode of the steering engine A is grounded, and the signal input end of the steering engine A is connected with a PA0 pin of the STM32 control main board; the positive electrode of the steering engine B is connected with a Vcc pin of the STM32 control main board, the negative electrode of the steering engine B is grounded, and the signal input end of the steering engine B is connected with a PA2 pin of the STM32 control main board; the positive pole of flexible tool bit is connected with the Vcc pin of STM32 control mainboard, the negative pole ground connection of flexible tool bit, the signal input part of flexible tool bit is connected with the PA4 pin of STM32 control mainboard.
The invention further solves the technical problem that the type of the alignment sensor adopts LiDAR C0602, the positive electrode of the alignment sensor is connected with the Vcc pin of the STM32 control main board, the negative electrode of the alignment sensor is grounded, and the signal input end of the alignment sensor is connected with the PA6 pin of the STM32 control main board.
The steering engine A and the steering engine B are respectively of SRE-02T, and the rotation angle of the steering engine A and the steering engine B is 0-180 degrees.
Compared with the prior art, the invention has the following advantages:
according to the multi-mechanical-arm sisal hemp harvesting machine, the crawler, the lifting table, the connecting rod, the upper cover plate, the lower cover plate, the working heads and the like are arranged, so that the tool bits, the steering engine and the like on the working heads are mutually matched, automatic alignment is realized, mature sisal hemp blades can be automatically cut, the mechanical harvesting of sisal hemp is realized, the damage to the leaves of the sisal hemp plants to be harvested is reduced, the labor cost is greatly reduced, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of the working head according to the present invention.
Fig. 3 is a side view of fig. 2.
Fig. 4 is a schematic view of the installation of the annular rotor according to the present invention.
Fig. 5 is a schematic view of the working tool bit according to the present invention.
Fig. 6 is a drawing of the working head contracted posture.
Fig. 7 is a drawing of the working head expansion posture.
FIG. 8 is a schematic view of the sisal hemp harvesting operation of the present invention.
FIG. 9 is a schematic diagram of a controller connection according to the present invention.
In the figure, the serial numbers are 1-tracked vehicle, 2-elevating platform, 3-connecting rod, 4-upper cover plate, 5-lower cover plate, 6-working head, 7-alignment sensor, 8-controller, 41-bulge, 51-annular groove, 61-annular rotor, 62-steering engine A, 63-first U-shaped frame, 64-second U-shaped frame, 65-steering engine B, 66-third U-shaped frame, 67-telescopic tool bit, 671-tool handle, 672-blade and 673-chute.
Detailed Description
The invention is further described below with reference to the drawings and examples.
1-3, the multi-mechanical arm sisal hemp harvester comprises a crawler 1, a lifting platform 2, a connecting rod 3, an upper cover plate 4, a lower cover plate 5 and a plurality of working heads 6; the crawler 1 can better adapt to the complex topography environment in the field, the lifting platform 2 is arranged at the center of the top surface of the crawler 1 and moves up and down along the top surface of the crawler 1, the side surface of the lifting platform 2 is fixedly connected with a connecting rod 3, the other end of the connecting rod 3 is fixedly connected with the side surface of the upper cover plate 4, the bottom of the upper cover plate 4 is fixedly connected with a lower cover plate 5, and when the lifting platform 1 moves up and down, the upper cover plate 4 and the lower cover plate 5 are driven to move in the vertical direction through the connecting rod 3; the working heads 6 are fixedly connected with the bottom surface of the lower cover plate 5 and are uniformly arranged along the circumferential direction of the bottom surface of the lower cover plate 5; an alignment sensor 7, a plurality of controllers 8 and a control power supply are further arranged on one side of the top surface of the lifting platform 2, the signal output ends of the alignment sensor 7 are connected with the signal receiving ends of the controllers 8, the controllers 8 are in one-to-one correspondence with the working heads 6, the signal output end of each controller 8 is connected with the signal receiving end of the corresponding working head 6, and preferably, 5 groups of working heads and the corresponding controllers are arranged in the device; the control power supply is positioned in the crawler 1 and is used for supplying power to the controller 8; the working head 6 sequentially comprises an annular rotor 61, a steering engine A62, a first U-shaped frame 63, a second U-shaped frame 64, a steering engine B65, a third U-shaped frame 66 and a telescopic cutter head 67 from top to bottom; the annular rotor 61 is fixedly arranged in the lower cover plate 5, the bottom of the annular rotor 61 is fixedly connected with one end of the steering engine A62, the other end of the steering engine A62 is fixedly connected with the first U-shaped frame 63, the bottom of the first U-shaped frame 63 is fixedly connected with the second U-shaped frame 64, the bottom of the second U-shaped frame 64 is fixedly connected with one end of the steering engine B65, the other end of the steering engine B65 is fixedly connected with the third U-shaped frame 66, and the bottom of the third U-shaped frame 66 is fixedly connected with the telescopic cutter head 67.
In this embodiment, the upper cover plate 4 and the lower cover plate 5 are annular cover plates, the upper cover plate 4 and the lower cover plate 5 are fixed in an up-down fitting manner, and the radius of the inner rings of the upper cover plate 4 and the lower cover plate 5 is larger than the maximum leaf spreading radius of the sisal hemp blades, so that the working head can have sufficient space for downward cutting operation and does not damage the sisal hemp blades.
Referring to fig. 4, in this embodiment, the surface of the lower cover plate 5, which is attached to the upper cover plate 4, is provided with an annular groove 51, the annular rotors 61 are circumferentially and uniformly embedded in the annular groove 51, a gap is left between each annular rotor 61, and the annular rotors 61 rotate in the annular groove 51 and drive the telescopic cutter head 67 at the bottom of the working head 6 to rotate along the sisal hemp root. Each annular rotor 61 is capable of independent movement through a range of motion to drive the retractable bit 67 at the bottom of the working head to cut a range of mature sisal leaves. Simultaneously, five independent annular rotors 61 can be matched together to do circular motion in the annular groove of the lower cover plate 5 so as to achieve the aim of quickly cutting mature sisal hemp blades.
Referring to fig. 5, in this embodiment, the telescopic cutter head 67 includes a cutter handle 671 and a blade 672, a chute 673 is provided at the bottom of the cutter handle 671, the blade 672 is clamped in the chute 673 and can move along the chute 673, the angle between the plane of the blade 672 and the ground is 45 °, because the angle between the mature sisal hemp blade and the ground is greater than or equal to 45 °, so that the cutting of the blade 672 can be facilitated by controlling the angle; meanwhile, the blades 672 in the telescopic cutter head 67 can be freely telescopic, when the telescopic cutter head 67 stretches into the root of the mature sisal hemp blade, the blades 672 effectively stretch into the telescopic cutter head, and the blades 672 are prevented from damaging the sisal hemp blade.
In this embodiment, two symmetrical protrusions 41 are disposed on the side of the upper cover plate 4, three connecting rods 3 are disposed, wherein two ends of the connecting rods are fixedly connected with the protrusions 41, a third connecting rod is disposed in the middle of the two connecting rods, the ends of the third connecting rod are fixedly connected with the side of the upper cover plate 4, and the other ends of the third connecting rod are fixedly connected with the side of the lifting platform 2.
Referring to fig. 9, in this embodiment, the controller 8 includes a control motherboard of STM 32; the STM32 controls the Vcc pin of the main board to be connected with a control power supply, and the GND pin of the main board is grounded; the positive electrode of the steering engine A62 is connected with a Vcc pin of the STM32 control main board, the negative electrode of the steering engine A62 is grounded, and the signal input end of the steering engine A62 is connected with a PA0 pin of the STM32 control main board; the positive electrode of the steering engine B65 is connected with a Vcc pin of the STM32 control main board, the negative electrode of the steering engine B65 is grounded, and the signal input end of the steering engine B65 is connected with a PA2 pin of the STM32 control main board; the positive pole of flexible tool bit 67 is connected with the Vcc pin of STM32 control mainboard, the negative pole ground connection of flexible tool bit 67, the signal input part of flexible tool bit 67 is connected with the PA4 pin of STM32 control mainboard.
In this embodiment, the type of the alignment sensor 7 is LiDAR C0602, the positive electrode of the alignment sensor 7 is connected with the Vcc pin of the STM32 control main board, the negative electrode of the alignment sensor 7 is grounded, and the signal input end of the alignment sensor 7 is connected with the PA6 pin of the STM32 control main board.
In the embodiment, the model of each of the steering engine A62 and the steering engine B65 adopts SRE-02T, and the rotation angle of each of the steering engine A62 and the steering engine B65 is 0-180 degrees, so that the working head can achieve the contraction or expansion gesture.
The specific working process of the invention comprises the following steps:
referring to fig. 8, when crawler 1 moves to the mature sisal hemp closest to the mature sisal hemp, positioning sensor 7 senses the mature sisal hemp leaves, and positioning sensor 7 transmits signals to the control main board of controller 8, and the control main board transmits adjustment signals to steering engine a62, steering engine B65 and telescopic cutter head 67, steering engine a62 and steering engine B65 make corresponding adjustment to control the inward contraction of working heads, as shown in fig. 6; simultaneously, the angle of the telescopic cutter head 67 with the ground is always kept at 45 degrees, the telescopic cutter head 67 stretches into the root of the mature sisal hemp blade under the cooperation of the steering engine A62 and the steering engine B65, the blades 672 in the telescopic cutter head 67 always keep a contracted state in the stretching process, and when the telescopic cutter head 67 stretches into the root of the mature sisal hemp blade, the blades 672 stretch out to cut the mature sisal hemp blade. When mature sisal hemp blades in the transition area are cut, the five annular rotors 61 are matched together to drive the independent sub-working heads to do circular motion, meanwhile, the steering engine A62 and the steering engine B65 rotate outwards by a certain angle, as shown in fig. 7, the working radius of the working heads is enlarged, the working heads are adjusted to a proper working range, the sub-working heads can be effectively prevented from contacting the sisal hemp blades, damage to the sisal hemp blades is reduced, and the lifting platform 2 descends downwards when the annular rotors 61 do circular motion, so that the purpose of rapidly cutting the mature sisal hemp blades downwards is achieved.
The cooperation motion of the working head, the steering engine A, the steering engine B and the telescopic tool bit can be regarded as a cooperative motion idea, and the cooperative motion of the working head, the steering engine A, the steering engine B and the telescopic tool bit can be changed into other mechanical arms with cooperative motion. Any modification made on the basis of the technical scheme falls within the protection scope of the invention in all technical adjustments made according to the cooperative motion and the thought of the invention. Meanwhile, the sisal hemp harvester not only can be used for harvesting mature sisal hemp leaves, but also can be used for harvesting leaves of economic crops similar to sisal hemp.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and improvements could be made by those skilled in the art without departing from the inventive concept, which falls within the scope of the present invention.
Claims (5)
1. The utility model provides a multi-mechanical arm sisal hemp adopts cutting machine which characterized in that: comprises a crawler (1), a lifting platform (2), a connecting rod (3), an upper cover plate (4), a lower cover plate (5) and a plurality of working heads (6); the lifting platform (2) is arranged at the center of the top surface of the tracked vehicle (1), moves up and down along the top surface of the tracked vehicle (1), a connecting rod (3) is fixedly connected to the side surface of the lifting platform (2), the other end of the connecting rod (3) is fixedly connected with the side surface of the upper cover plate (4), a lower cover plate (5) is fixedly connected to the bottom of the upper cover plate (4), and the upper cover plate (4) and the lower cover plate (5) are driven to move in the vertical direction through the connecting rod (3) when the lifting platform (2) moves up and down; the working heads (6) are fixedly connected with the bottom surface of the lower cover plate (5), and are uniformly arranged along the circumferential direction of the bottom surface of the lower cover plate (5); one side of the top surface of the lifting platform (2) is also provided with an alignment sensor (7), a plurality of controllers (8) and a control power supply, the signal output end of the alignment sensor (7) is connected with the signal receiving end of the controllers (8), the controllers (8) are in one-to-one correspondence with the working heads (6), the signal output end of each controller (8) is connected with the signal receiving end of the corresponding working head (6), and the control power supply is positioned in the crawler (1) and is used for supplying power for the controllers (8); the working head (6) comprises an annular rotor (61), a steering engine A (62), a first U-shaped frame (63), a second U-shaped frame (64), a steering engine B (65), a third U-shaped frame (66) and a telescopic cutter head (67) from top to bottom in sequence; the novel steering gear is characterized in that the annular rotor (61) is fixedly arranged in the lower cover plate (5), the bottom of the annular rotor (61) is fixedly connected with one end of the steering gear A (62), the other end of the steering gear A (62) is fixedly connected with the first U-shaped frame (63), the bottom of the first U-shaped frame (63) is fixedly connected with the second U-shaped frame (64), the bottom of the second U-shaped frame (64) is fixedly connected with one end of the steering gear B (65), the other end of the steering gear B (65) is fixedly connected with the third U-shaped frame (66), and the bottom of the third U-shaped frame (66) is fixedly connected with the telescopic cutter head (67); the upper cover plate (4) and the lower cover plate (5) are annular cover plates, the upper cover plate (4) and the lower cover plate (5) are fixedly attached up and down, and the radius of the inner rings of the upper cover plate (4) and the lower cover plate (5) is larger than the maximum leaf expanding radius of the sisal hemp blades; an annular groove (51) is formed in the surface, which is attached to the upper cover plate (4), of the lower cover plate (5), the annular rotors (61) are uniformly embedded in the annular groove (51) in the circumferential direction, gaps are reserved between the annular rotors (61), and the annular rotors (61) rotate in the annular groove (51) and drive a telescopic cutter head (67) at the bottom of the working head (6) to rotate along the root of sisal hemp; the side of upper cover plate (4) be equipped with two symmetrical protruding (41), connecting rod (3) be equipped with three, wherein have the tip and protruding (41) fixed connection of two connecting rods, the third connecting rod is located the centre of two above-mentioned connecting rods and tip and upper cover plate (4) side fixed connection, the other end and elevating platform (2) side fixed connection of three connecting rod.
2. The multi-arm sisal hemp harvesting machine as claimed in claim 1, wherein: the telescopic cutter head (67) comprises a cutter handle (671) and a cutter blade (672), wherein a chute (673) is formed in the bottom of the cutter handle (671), the cutter blade (672) is clamped in the chute (673) and can move along the chute (673), and the included angle between the plane of the cutter blade (672) and the ground is 45 degrees.
3. The multi-arm sisal hemp harvesting machine as claimed in claim 1, wherein: the controller (8) comprises a control main board with the model STM 32; the STM32 controls the Vcc pin of the main board to be connected with a control power supply, and the GND pin of the main board is grounded; the positive electrode of the steering engine A (62) is connected with a Vcc pin of the STM32 control main board, the negative electrode of the steering engine A (62) is grounded, and the signal input end of the steering engine A (62) is connected with a PA0 pin of the STM32 control main board; the positive electrode of the steering engine B (65) is connected with a Vcc pin of the STM32 control main board, the negative electrode of the steering engine B (65) is grounded, and the signal input end of the steering engine B (65) is connected with a PA2 pin of the STM32 control main board; the positive pole of flexible tool bit (67) is connected with the Vcc pin of STM32 control mainboard, the negative pole ground connection of flexible tool bit (67), the signal input part of flexible tool bit (67) is connected with the PA4 pin of STM32 control mainboard.
4. A multiple-arm sisal hemp harvesting machine as claimed in claim 3, wherein: the model of counterpoint sensor (7) adopt LiDAR C0602, the positive pole of counterpoint sensor (7) is connected with STM32 control mainboard's Vcc pin, and the negative pole ground connection of counterpoint sensor (7), the signal input part of counterpoint sensor (7) is connected with STM32 control mainboard's PA6 pin.
5. A multiple-arm sisal hemp harvesting machine as claimed in claim 3, wherein: the steering engine A (62) and the steering engine B (65) are respectively provided with an SRE-02T, and the rotation angles of the steering engine A (62) and the steering engine B (65) are 0-180 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910962857.4A CN110506493B (en) | 2019-10-11 | 2019-10-11 | Sisal hemp harvesting machine with multiple mechanical arms |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910962857.4A CN110506493B (en) | 2019-10-11 | 2019-10-11 | Sisal hemp harvesting machine with multiple mechanical arms |
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| CN110506493A CN110506493A (en) | 2019-11-29 |
| CN110506493B true CN110506493B (en) | 2024-03-29 |
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| CN201910962857.4A Active CN110506493B (en) | 2019-10-11 | 2019-10-11 | Sisal hemp harvesting machine with multiple mechanical arms |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113841510B (en) * | 2020-10-23 | 2024-02-06 | 西华大学 | Sisal hemp leaf harvester |
| CN112690090B (en) * | 2020-12-29 | 2022-02-18 | 华南农业大学 | Bidirectional sisal hemp harvester |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1043910A (en) * | 1951-10-16 | 1953-11-12 | Sisal leaf cutting machine | |
| GB1040116A (en) * | 1964-06-15 | 1966-08-24 | Rotary Hoes Ltd | Machine for disposing of sisal boles and like growths |
| CN107926278A (en) * | 2017-11-13 | 2018-04-20 | 江苏华峰自然纤维制品有限公司 | The harvester of sisal leaves |
| CN208462395U (en) * | 2018-05-05 | 2019-02-05 | 桐乡市思源纺织有限公司 | A kind of intelligence flax-harvester device people |
| CN210746102U (en) * | 2019-10-11 | 2020-06-16 | 南京林业大学 | Sisal hemp harvesting machine with multiple mechanical arms |
-
2019
- 2019-10-11 CN CN201910962857.4A patent/CN110506493B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1043910A (en) * | 1951-10-16 | 1953-11-12 | Sisal leaf cutting machine | |
| GB1040116A (en) * | 1964-06-15 | 1966-08-24 | Rotary Hoes Ltd | Machine for disposing of sisal boles and like growths |
| CN107926278A (en) * | 2017-11-13 | 2018-04-20 | 江苏华峰自然纤维制品有限公司 | The harvester of sisal leaves |
| CN208462395U (en) * | 2018-05-05 | 2019-02-05 | 桐乡市思源纺织有限公司 | A kind of intelligence flax-harvester device people |
| CN210746102U (en) * | 2019-10-11 | 2020-06-16 | 南京林业大学 | Sisal hemp harvesting machine with multiple mechanical arms |
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| CN110506493A (en) | 2019-11-29 |
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