CN110946005A - Hilly and mountain orchard harvesting platform - Google Patents
Hilly and mountain orchard harvesting platform Download PDFInfo
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- CN110946005A CN110946005A CN201911388843.2A CN201911388843A CN110946005A CN 110946005 A CN110946005 A CN 110946005A CN 201911388843 A CN201911388843 A CN 201911388843A CN 110946005 A CN110946005 A CN 110946005A
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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
Abstract
The invention discloses a hilly and mountainous orchard harvesting platform which comprises a crawler chassis assembly, a leveling mechanism, a lifting mechanism, a working platform and an operating platform, wherein the leveling mechanism is fixed above the crawler chassis assembly; the leveling mechanism comprises a front leveling frame, a rear leveling frame, a left leveling frame and a right leveling frame, and a front loading mechanism and a rear loading mechanism are respectively arranged on the front side and the rear side of the leveling mechanism. The hilly and mountain orchard harvesting platform provided by the invention is provided with the crawler-type chassis capable of controlling multidirectional walking, the leveling mechanism capable of being adjusted randomly along the X-axis direction and the Y-axis direction, and the lifting mechanism capable of adjusting the height, so that the operation platform and the loading mechanism for harvesting fruits are convenient, the labor intensity is greatly reduced, and the harvesting efficiency is improved.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a hilly and mountainous orchard harvesting platform.
Background
China is the first major fruit producing and consuming countries in the world. The fruit planting area in the whole country in 2018 is approximately 1187.5 million hectares, wherein the planting area of the oranges and the apples accounts for 30% of the total area of the fruit planting. The fruit harvesting operation is mainly completed manually, and the labor intensity is high and the time is long. With the transformation of modern orchards and the popularization of agricultural mechanization, the application of the semi-automatic self-propelled hydraulic lifting picking operation platform greatly reduces the labor intensity and improves the picking efficiency. However, the breadth of our country is vast, and a large part of fruit planting is located in hilly and mountain areas. Because the orchard geomorphology is complicated, the topography is uneven, the orchard operation machinery without the leveling function is difficult to be applied to hilly and mountain areas, and the danger such as unstability, tumbling and the like easily occur when the machine is used on a steep slope, thereby causing great potential safety hazard to personnel. CN107810715A discloses a hilly mountain orchard platform of gathering's omnidirectional posture guiding mechanism can realize gathering the leveling function of platform, but its horizontal guiding mechanism hydro-cylinder links to each other with the main frame, and the space can't effectively be used in the middle part of the frame, and the engine can only be arranged in the platform outside, even arrange the platform inboard in and also can cause the initial height of platform to rise, is not convenient for use.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a hilly and mountainous orchard harvesting platform aiming at the defects of the prior art, so that the labor intensity is greatly reduced, the harvesting efficiency is improved, and the safety of personnel is ensured.
The technical scheme is as follows: the hilly and mountain orchard harvesting platform comprises a crawler chassis assembly, a leveling mechanism, a lifting mechanism, a working platform and an operating platform, wherein the leveling mechanism is fixed above the crawler chassis assembly; the crawler chassis assembly comprises a chassis frame, an engine, a first plunger pump, a second plunger pump, a first hydraulic motor, a second hydraulic motor and crawler wheels symmetrically arranged on two sides of the chassis frame, wherein the engine is arranged in the middle of the chassis frame, a flywheel shaft of the engine is directly connected with the first plunger pump and the second plunger pump, the first plunger pump and the second plunger pump are respectively connected with the first hydraulic motor and the second hydraulic motor, and the first hydraulic motor and the second hydraulic motor respectively drive the crawler wheels on two sides to walk; the leveling mechanism comprises a front leveling frame, a rear leveling frame and a left leveling frame and a right leveling frame, the left side and the right side of the front leveling frame and the right side of the rear leveling frame are respectively hinged with the middle part of the chassis frame through X-axis main pins, front leveling cylinders and rear leveling cylinders are respectively arranged at the corresponding positions of the X-axis main pins at the two sides, the front leveling cylinders and the rear leveling frames are driven by synchronous motion of the front leveling cylinders and the rear leveling cylinders to move around a hinge point, an oil cylinder support and a spring buffer support are respectively arranged at the front side and the rear side in the left leveling frame and the right leveling frame, the oil cylinder support and the spring buffer support are respectively hinged with the front end and the rear end of the front; the front side and the rear side of the leveling mechanism are respectively provided with a front loading mechanism and a rear loading mechanism, the front loading mechanism and the rear loading mechanism respectively comprise a loading support, a lifting base, a lifting oil cylinder, a slide way and a limiting wheel, the loading support is fixedly connected with the left leveling frame and the right leveling frame, the lifting base is hinged with a loading support through the lifting oil cylinder, the slide way is arranged on the lifting base, the limiting wheel is arranged on the outermost side of the slide way, and the lifting oil cylinder drives the lifting base to move up and down to enable the slide way to be aligned with the edge of the operation platform.
Furthermore, the lifting mechanism comprises an outer support, an inner support and a lifting oil cylinder, wherein the outer support and the inner support are hinged to form a scissor fork structure; the bottom support of the lifting oil cylinder is hinged to a cross beam of the outer support, the top support of the lifting oil cylinder is hinged to a cross beam of the inner support, the bottom end of the outer support is hinged to the left and right leveling frames, the top end of the outer support is connected with a groove at the bottom of the operation platform in a sliding mode, the bottom end of the inner support is connected with a groove at the top of the left and right leveling frames in a sliding mode, and the top end of the inner support is.
Furthermore, the operation platform comprises a bottom platform, peripheral guardrails and double slide rails, wherein the peripheral guardrails comprise long guardrails on two sides, front and rear short guardrails and extension guardrails which are connected with the ends of the long guardrails and extend towards the direction of the short guardrails; two ends of the main platform are provided with U-shaped grooves, the middle part of the main platform is distributed with two C-shaped steels arranged back to back at intervals, and two sides of each U-shaped groove are provided with two pairs of guide wheels which are centrosymmetric; c-shaped steel is arranged at the positions, corresponding to the U-shaped grooves of the main platform, of the first extension platform and the second extension platform, and two parallel square tubes are arranged at the positions, corresponding to the back-to-back C-shaped steel of the main platform; the first extension platform and the second extension platform are respectively connected with a first extension oil cylinder and a second extension oil cylinder, C-shaped steel of the first extension platform and the second extension platform are abutted back to back and then inserted into a U-shaped groove of the main platform and driven by the first extension oil cylinder and the second extension oil cylinder to slide along guide wheels on one side, and square pipes of the first extension platform and the second extension platform slide along the back-to-back C-shaped steel of the main platform.
Furthermore, the operation platform is also provided with an anti-collision head mechanism which is a rectangular frame and is hung upside down around the bottom of the operation platform, and travel switches corresponding to the anti-collision head mechanism are respectively arranged at the front and the back of the bottom of the operation platform.
Further, the operation panel includes that the platform is controlled including operation panel, controller, biax handle, and operation panel, biax handle all link to each other with the controller through the CAN bus, and the controller is equipped with 4 way current analog output and links to each other with forward interface, the reverse interface of first plunger pump, the forward interface of second plunger pump, reverse interface respectively.
Furthermore, a sensor is arranged at the bottom of the operation platform and used for acquiring an X-axis inclination angle and a Y-axis inclination angle of the operation platform relative to a horizontal plane and transmitting the X-axis inclination angle and the Y-axis inclination angle to a controller, the controller respectively generates a front PID signal, a rear PID signal and a left PID signal according to the X-axis inclination angle and the Y-axis inclination angle, the front PID signal controls the front leveling oil cylinder and the rear leveling oil cylinder to move through a front proportional valve and realize the adjustment of the front direction and the rear direction of the operation platform, and the left PID signal controls the left leveling oil.
Furthermore, the engine is connected with a gear pump, the gear pump is connected with a switch valve, the front and rear proportional valves and the left and right proportional valves, the switch valve is connected with a five-way valve, and the five-way valve is respectively connected with the lifting oil cylinder, the front lifting oil cylinder, the rear lifting oil cylinder, the first expansion oil cylinder and the second expansion oil cylinder; the key module is used for inputting an oil cylinder control signal, and the oil cylinder control signal is processed by the controller to generate a driving signal to control the on-off of the switch valve and the five-way valve so as to realize the action of the corresponding oil cylinder.
Has the advantages that: compared with the prior art, the invention has the advantages that: the hilly and mountain orchard harvesting platform provided by the invention is provided with a crawler-type chassis capable of controlling multidirectional walking, a leveling mechanism capable of being adjusted randomly along the X-axis direction and the Y-axis direction, and a lifting mechanism capable of adjusting the height, so that the operation platform and a loading mechanism for harvesting fruits are convenient, the labor intensity is greatly reduced, the harvesting efficiency is improved, and the safety of personnel is ensured. The angle sensor is used for collecting the angle of the operation platform, the controller is used for automatically controlling the leveling mechanism, when the harvesting platform is located on a ramp to work, the relative horizontal state of the upper platform can be realized, the personal safety of personnel on the platform is ensured, and meanwhile, the harvesting platform can also realize the functions of ascending/descending of the platform, ascending/descending of front and back loading and the like. The crawler-type chassis is controlled to advance through the double-shaft handle, so that the forward and backward and steering at various angles can be realized by an operator with one hand conveniently, and the operation is safe and reliable.
The sliding ways of the front and rear loading mechanisms and the double sliding rails on the operation platform form a fruit box moving channel, so that when a vehicle walks between fruit trees, the fruit boxes can conveniently enter the operation platform from the front loading mechanism, and after the operation is finished, the fruit boxes are unloaded to the ground from the rear loading mechanism. The front loading mechanism slide way has a certain inclination angle with the ground when descending to the ground, after the empty fruit box is loaded, the empty fruit box is limited by the limiting wheels to slide out of the slide way, when the front loading mechanism slide way ascends to be butted with the double slide rails on the operation platform, the front loading mechanism slide way is inclined reversely to the ground, the empty fruit box slowly slides to the slide rails on the operation platform along with the gravity, after the operation is finished, the full fruit box is pushed to the rear loading mechanism slide way, when the rear loading mechanism slide way descends to be in contact with the ground, the limitation of the limiting wheels is automatically removed, and the full fruit box slowly falls to the ground along with the gravity.
According to the fruit picking platform, the platform is only 1.2 meters away from the ground through ingenious layout, the platform operation range is freely adjusted within 1.2-2.7 meters, and the picking requirements of different fruit platforms are met.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a forward tilting structure of a track chassis assembly and a leveling mechanism according to the present invention;
FIG. 3 is a schematic diagram of a backward inclined structure of the track chassis assembly and the leveling mechanism of the present invention;
FIG. 4 is a schematic structural view of a leveling mechanism according to the present invention;
FIG. 5 is a schematic view of the fore-aft adjustment of the present invention;
FIG. 6 is a schematic view of the left and right adjustment of the present invention;
FIG. 7 is a schematic structural diagram of a main platform according to the present invention;
FIG. 8 is a schematic structural diagram of an expansion platform according to the present invention;
FIG. 9 is a schematic view of the expanded platform in a contracted state;
fig. 10 is a schematic view of the expanded platform in a deployed state.
In the figure: 1. the device comprises a crawler chassis assembly, 2, a leveling mechanism, 3, a lifting mechanism, 4, a working platform, 5, a control platform, 6, an X-axis main pin, 7, a Y-axis main pin, 11, a chassis frame, 12, a leveling bracket base, 21, a front leveling frame, a rear leveling frame, 22, a left leveling frame, a right leveling frame, 23, an oil cylinder bracket, 24, a spring buffer bracket, 41, a U-shaped groove, 42, back-to-back C-shaped steel, 43, a short guardrail, 44, an inlet and outlet stop lever, 45, an expansion guardrail, 46, a long guardrail, 47, C-shaped steel, 48 and a square tube.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1: the hilly and mountainous orchard harvesting platform shown in fig. 1 to 10 comprises a crawler chassis assembly 1, a leveling mechanism 2, a lifting mechanism 3, a working platform 4 and a control platform 5;
the crawler chassis assembly 1 comprises a chassis frame 11, an engine, a first plunger pump, a second plunger pump, a first hydraulic motor, a second hydraulic motor and crawler wheels on two sides; the first plunger pump and the second plunger pump are arranged along the axis direction of the engine flywheel, the first plunger pump is connected with the first hydraulic motor, the second plunger pump is connected with the second hydraulic motor, and the first hydraulic motor and the second hydraulic motor respectively drive the crawler wheels on two sides to walk.
The leveling mechanism comprises a front and rear leveling frame 21 and a left and right leveling frame 22, the left and right sides of the front and rear leveling frame 21 are hinged to the middle of a chassis frame 11 through an X-axis main pin 6 and a leveling support base 12, front and rear leveling cylinders are arranged at the corresponding positions of the X-axis main pins 6 at the two sides, the front and rear leveling cylinders synchronously move to drive the front and rear leveling frame 21 to move around a hinge point, an oil cylinder support and a spring buffer support are arranged at the front and rear sides in the left and right leveling frames 22 respectively, the oil cylinder support and the spring buffer support are hinged to the front and rear ends of the front and rear leveling frames through a Y-axis main pin 7 respectively, the oil cylinder support is provided with left and right leveling cylinders at the two. The front and rear leveling frames 21 and the chassis frame 11 are driven by front and rear leveling cylinders, the number of the front and rear leveling cylinders is 2, the front and rear leveling cylinders are distributed on the same side of the X-axis hinge point, and the front and rear leveling cylinders synchronously move; the left and right leveling frames 22 and the front and rear leveling frames 21 are driven by left and right leveling cylinders, the number of the left and right leveling cylinders is 2, the left and right leveling cylinders are symmetrically distributed on two sides of the Y-axis hinge point, and the left and right leveling cylinders asynchronously move.
The lifting mechanism 3 is formed by hinging an outer support and an inner support to form a scissor fork structure, a bottom support of the lifting oil cylinder is hinged with a beam of the outer support, and a top support is hinged with a beam of the inner support. The bottom end of the outer support is hinged with the left and right leveling frames, the top end of the outer support is connected with a groove at the bottom of the operation platform in a sliding manner, the bottom end of the inner support is connected with the left and right leveling frames in a sliding manner, and the top end of the inner support is hinged with the operation platform.
The front and the back of the leveling mechanism 2 are respectively connected with a front loading mechanism and a back loading mechanism, the front loading mechanism and the back loading mechanism respectively comprise a loading support, a lifting base, a lifting oil cylinder, a slide way and a limiting wheel, the loading support is fixedly connected with the left and the right leveling frames, the lifting base is hinged with a loading support through the lifting oil cylinder, the slide way is arranged on the lifting base, and the lifting oil cylinder drives the lifting base to move up and down to enable the slide way to be aligned with the edge of the operation platform. The limiting wheels are located on the outermost side of the slide way and used for limiting the fruit box when the limiting wheels are suspended, the limiting wheels are automatically pushed open after contacting the ground and are horizontal to the slide way, and the fruit box slides to the ground along the slide way by means of self gravity. The sliding ways of the front and rear loading mechanisms and the double sliding rails on the operation platform form a fruit box moving channel, so that when a vehicle walks between fruit trees, the fruit boxes can conveniently enter the operation platform from the front loading mechanism, and after the operation is finished, the fruit boxes are unloaded to the ground from the rear loading mechanism. The front loading mechanism slide way has a certain inclination angle with the ground when descending to the ground, after the empty fruit box is loaded, the empty fruit box is limited by the limiting wheels to slide out of the slide way, when the front loading mechanism slide way ascends to be butted with the double slide rails on the operation platform, the front loading mechanism slide way is inclined reversely to the ground, the empty fruit box slowly slides to the slide rails on the operation platform along with the gravity, after the operation is finished, the full fruit box is pushed to the rear loading mechanism slide way, when the rear loading mechanism slide way descends to be in contact with the ground, the limitation of the limiting wheels is automatically removed, and the full fruit box slowly falls to the ground along with the gravity.
The bottom of the operation platform 4 is provided with a sensor, the sensor is used for collecting an X-axis inclination angle and a Y-axis inclination angle of the operation platform relative to a horizontal plane and transmitting the X-axis inclination angle and the Y-axis inclination angle to a controller, the controller respectively generates a front-back PID signal and a left-right PID signal according to the X-axis inclination angle and the Y-axis inclination angle, the front-back PID signal controls the front-back leveling oil cylinder to move through a front-back proportional valve to realize the adjustment of the front-back direction of the operation platform, and the left-right PID signal.
The engine is connected with a gear pump, the gear pump is connected with a switch valve, a front proportional valve, a rear proportional valve, a left proportional valve and a right proportional valve, the switch valve is connected with a five-way valve, and the five-way valve is respectively connected with the lifting oil cylinder, the front lifting oil cylinder, the rear lifting oil cylinder, the first expansion oil cylinder and the second expansion oil cylinder; the key module is used for inputting an oil cylinder control signal, and the oil cylinder control signal is processed by the controller to generate a driving signal to control the on-off of the switch valve and the five-way valve so as to realize the action of the corresponding oil cylinder.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a hills mountain orchard platform of gathering which characterized in that: the automatic leveling device comprises a crawler chassis assembly, a leveling mechanism, a lifting mechanism, a working platform and an operating platform, wherein the leveling mechanism is fixed above the crawler chassis assembly, the working platform is connected with the leveling mechanism through the lifting mechanism, and the operating platform is arranged on the side edge of the front part of the working platform; the crawler chassis assembly comprises a chassis frame, an engine, a first plunger pump, a second plunger pump, a first hydraulic motor, a second hydraulic motor and crawler wheels symmetrically arranged on two sides of the chassis frame, wherein the engine is arranged in the middle of the chassis frame, a flywheel shaft of the engine is directly connected with the first plunger pump and the second plunger pump, the first plunger pump and the second plunger pump are respectively connected with the first hydraulic motor and the second hydraulic motor, and the first hydraulic motor and the second hydraulic motor respectively drive the crawler wheels on two sides to walk; the leveling mechanism comprises a front leveling frame, a rear leveling frame and a left leveling frame and a right leveling frame, the left side and the right side of the front leveling frame and the right side of the rear leveling frame are respectively hinged with the middle part of the chassis frame through X-axis main pins, front leveling cylinders and rear leveling cylinders are respectively arranged at the corresponding positions of the X-axis main pins at the two sides, the front leveling cylinders and the rear leveling frames are driven by synchronous motion of the front leveling cylinders and the rear leveling cylinders to move around a hinge point, an oil cylinder support and a spring buffer support are respectively arranged at the front side and the rear side in the left leveling frame and the right leveling frame, the oil cylinder support and the spring buffer support are respectively hinged with the front end and the rear end of the front; the front side and the rear side of the leveling mechanism are respectively provided with a front loading mechanism and a rear loading mechanism, the front loading mechanism and the rear loading mechanism respectively comprise a loading support, a lifting base, a lifting oil cylinder, a slide way and a limiting wheel, the loading support is fixedly connected with the left leveling frame and the right leveling frame, the lifting base is hinged with a loading support through the lifting oil cylinder, the slide way is arranged on the lifting base, the limiting wheel is arranged on the outermost side of the slide way, and the lifting oil cylinder drives the lifting base to move up and down to enable the slide way to be aligned with the edge of the operation platform.
2. The hilly mountain orchard harvesting platform of claim 1, wherein: the lifting mechanism comprises an outer support, an inner support and a lifting oil cylinder, and the outer support and the inner support are hinged to form a scissor fork structure; the bottom support of the lifting oil cylinder is hinged to a cross beam of the outer support, the top support of the lifting oil cylinder is hinged to a cross beam of the inner support, the bottom end of the outer support is hinged to the left and right leveling frames, the top end of the outer support is connected with a groove at the bottom of the operation platform in a sliding mode, the bottom end of the inner support is connected with a groove at the top of the left and right leveling frames in a sliding mode, and the top end of the inner support is.
3. The hilly mountain orchard harvesting platform of claim 1, wherein: the operation platform comprises a bottom platform, peripheral guardrails and double slide rails, wherein the peripheral guardrails comprise long guardrails on two sides, front and rear short guardrails and extension guardrails which are connected with the ends of the long guardrails and extend towards the direction of the short guardrails; two ends of the main platform are provided with U-shaped grooves, the middle part of the main platform is distributed with two C-shaped steels arranged back to back at intervals, and two sides of each U-shaped groove are provided with two pairs of guide wheels which are centrosymmetric; c-shaped steel is arranged at the positions, corresponding to the U-shaped grooves of the main platform, of the first extension platform and the second extension platform, and two parallel square tubes are arranged at the positions, corresponding to the back-to-back C-shaped steel of the main platform; the first extension platform and the second extension platform are respectively connected with a first extension oil cylinder and a second extension oil cylinder, C-shaped steel of the first extension platform and the second extension platform are abutted back to back and then inserted into a U-shaped groove of the main platform and driven by the first extension oil cylinder and the second extension oil cylinder to slide along guide wheels on one side, and square pipes of the first extension platform and the second extension platform slide along the back-to-back C-shaped steel of the main platform.
4. The hilly mountain orchard harvesting platform of claim 3, wherein: the operation platform is also provided with an anti-collision head mechanism which is a rectangular frame and hung around the bottom of the operation platform in an inverted mode, and travel switches corresponding to the anti-collision head mechanism are arranged on the front portion and the rear portion of the bottom of the operation platform respectively.
5. The hilly mountain orchard harvesting platform of claim 1, wherein: the operation panel includes that control the platform and include operating panel, controller, biax handle, and operating panel, biax handle all link to each other with the controller through the CAN bus, and the controller is equipped with 4 way current analog output and links to each other with forward interface, the reverse interface of first plunger pump, the forward interface of second plunger pump, reverse interface respectively.
6. The hilly mountain orchard harvesting platform of claim 5, wherein: the bottom of the operation platform is provided with a sensor, the sensor is used for acquiring an X-axis inclination angle and a Y-axis inclination angle of the operation platform relative to a horizontal plane and transmitting the X-axis inclination angle and the Y-axis inclination angle to a controller, the controller respectively generates a front PID signal and a rear PID signal and a left PID signal and a right PID signal, the front PID signal controls the front leveling oil cylinder and the rear leveling oil cylinder to move through a front proportional valve and a rear proportional valve to realize the adjustment of the front direction and the rear direction of the operation platform, and the left PID signal and the right PID signal.
7. The hilly mountain orchard harvesting platform of claim 6, wherein: the engine is connected with a gear pump, the gear pump is connected with a switch valve, the front proportional valve, the rear proportional valve, the left proportional valve and the right proportional valve, the switch valve is connected with a five-way valve, and the five-way valve is respectively connected with the lifting oil cylinder, the front lifting oil cylinder, the rear lifting oil cylinder, the first expansion oil cylinder and the second expansion oil cylinder; the key module is used for inputting an oil cylinder control signal, and the oil cylinder control signal is processed by the controller to generate a driving signal to control the on-off of the switch valve and the five-way valve so as to realize the action of the corresponding oil cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911388843.2A CN110946005A (en) | 2019-12-30 | 2019-12-30 | Hilly and mountain orchard harvesting platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911388843.2A CN110946005A (en) | 2019-12-30 | 2019-12-30 | Hilly and mountain orchard harvesting platform |
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| CN110946005A true CN110946005A (en) | 2020-04-03 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891994A (en) * | 2020-07-16 | 2020-11-06 | 河北农业大学 | Electric control leveling system of orchard operation platform |
| CN112520654A (en) * | 2020-11-18 | 2021-03-19 | 北京林业大学 | Leveling hilly and mountainous area orchard mechanized operation platform |
| CN113292022A (en) * | 2021-06-29 | 2021-08-24 | 河北中农博远农业装备有限公司 | Orchard intelligent leveling high-level operation platform |
| WO2021245434A1 (en) | 2020-06-04 | 2021-12-09 | Pek Automotive D.O.O | Vehicle platform rotary support |
| CN113928429A (en) * | 2021-10-08 | 2022-01-14 | 广东省现代农业装备研究所 | Automatic leveling mechanism |
| CN114348131A (en) * | 2022-01-07 | 2022-04-15 | 中国葛洲坝集团勘测设计有限公司 | Modular crawler-type transfer machine and self-assembly method thereof |
-
2019
- 2019-12-30 CN CN201911388843.2A patent/CN110946005A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021245434A1 (en) | 2020-06-04 | 2021-12-09 | Pek Automotive D.O.O | Vehicle platform rotary support |
| CN111891994A (en) * | 2020-07-16 | 2020-11-06 | 河北农业大学 | Electric control leveling system of orchard operation platform |
| CN112520654A (en) * | 2020-11-18 | 2021-03-19 | 北京林业大学 | Leveling hilly and mountainous area orchard mechanized operation platform |
| CN113292022A (en) * | 2021-06-29 | 2021-08-24 | 河北中农博远农业装备有限公司 | Orchard intelligent leveling high-level operation platform |
| CN113928429A (en) * | 2021-10-08 | 2022-01-14 | 广东省现代农业装备研究所 | Automatic leveling mechanism |
| CN114348131A (en) * | 2022-01-07 | 2022-04-15 | 中国葛洲坝集团勘测设计有限公司 | Modular crawler-type transfer machine and self-assembly method thereof |
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