CN112930854A - Full-automatic harvesting machine for tubular hydroponic vegetables - Google Patents
Full-automatic harvesting machine for tubular hydroponic vegetables Download PDFInfo
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- CN112930854A CN112930854A CN202110328496.5A CN202110328496A CN112930854A CN 112930854 A CN112930854 A CN 112930854A CN 202110328496 A CN202110328496 A CN 202110328496A CN 112930854 A CN112930854 A CN 112930854A
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- 235000013311 vegetables Nutrition 0.000 title claims abstract description 76
- 238000003306 harvesting Methods 0.000 title abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 101
- 238000012546 transfer Methods 0.000 claims abstract description 30
- 238000005520 cutting process Methods 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
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- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
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- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Hydroponics (AREA)
Abstract
The invention provides a full-automatic harvesting machine for tubular hydroponic vegetables, which comprises a moving mechanism, a harvesting mechanism and a harvesting mechanism, wherein the moving mechanism is horizontally arranged along the length direction of a cultivation tube; the transfer mechanism is connected to the moving mechanism in a sliding mode, reciprocates along the moving mechanism and is used for transferring the harvested vegetables to the conveying device; the cutting mechanism is arranged above the transferring mechanism, synchronously moves with the transferring mechanism and is used for cutting vegetables on the cultivation pipe; and the limiting detection mechanism is respectively installed on the moving mechanism and the transfer mechanism in a matching way and is used for detecting and limiting the initial position and the final position of the transfer mechanism on the moving mechanism. According to the vegetable harvesting machine, the moving mechanism drives the transfer mechanism to move along the planting direction of the planting pipe, the cutting mechanism is synchronously driven to harvest all vegetables planted on the planting pipe in a certain gap, and the picking efficiency is high; meanwhile, automatic reversing and stopping can be realized, and the automation degree of the harvester is further improved.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a full-automatic harvesting machine for tubular hydroponic vegetables.
Background
Along with the improvement of living standard, the dependence of people on green food is gradually increased.
Hydroponic vegetables, namely vegetables with most root systems growing in a nutrient solution layer by layer and providing water, nutrients and oxygen for the vegetables only through the nutrient solution are different from those cultivated in the traditional soil cultivation mode. The hydroponic vegetable has short growth period and is rich in various vitamins and minerals essential to human body. And thus are enjoyed by more and more consumers.
At present, the tubular hydroponic vegetables need manual operation to pick after being ripe, and it picks efficiently, and personnel are with high costs. It is therefore desirable to provide an automated harvesting apparatus that matches the industrial, automated, and intelligent development of facility agriculture.
Disclosure of Invention
The invention provides a full-automatic harvesting machine for tubular hydroponic vegetables, which is used for solving the defect of low harvesting efficiency of hydroponic vegetables in the prior art and realizing an automatic harvesting machine with compact structure, high automation degree, high harvesting efficiency and wide applicability.
The invention provides a full-automatic harvesting machine for tubular hydroponic vegetables, which comprises:
a moving mechanism horizontally arranged along the length direction of the cultivation tube;
the transfer mechanism is connected to the moving mechanism in a sliding mode, reciprocates along the moving mechanism and is used for transferring the harvested vegetables to the conveying device;
the cutting mechanism is arranged above the transferring mechanism, synchronously moves with the transferring mechanism and is used for cutting vegetables on the cultivation pipe;
and the limiting detection mechanism is respectively installed on the moving mechanism and the transfer mechanism in a matching way and is used for detecting and limiting the initial position and the final position of the transfer mechanism on the moving mechanism.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the moving mechanism further comprises a conveying mechanism, and the conveying mechanism comprises a conveying belt and a transmission bracket for supporting the conveying belt.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the moving mechanism comprises a guide rail, a gear, a rack and a motor, wherein the guide rail is positioned on one side of the conveyor belt and is fixedly arranged on the transmission bracket;
the rack is fixed on the guide rail and meshed with the gear, and the gear is driven by the motor to move on the rack along the guide rail.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the transfer mechanism comprises a machine shell and a baffle plate;
the baffle is fixedly arranged at one end of the machine shell opposite to the advancing direction of the machine shell.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the cross section of the shell is in a right trapezoid shape and comprises a bottom plate, a top plate, side plates, an end cover and inclined plates which are connected with one another, wherein the inclined plates are conveying plates.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the height of the baffle is higher than the horizontal plane of the top plate, the length of the baffle corresponds to that of the end cover, and the part of the baffle higher than the top plate extends outwards and is suspended in the air to form a semicircular arc shape.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the transfer mechanism further comprises a guide structure, the guide structure comprises a guide column and a guide wheel which are fixedly connected, and the guide column is fixedly connected below the machine shell.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the cutting mechanism comprises a cutter support, a cutter and a rotary electromagnet, the cutter support is located on the machine shell, one end of the cutter is fixed with the cutter support, and the other end of the cutter is fixed with the rotary electromagnet.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the shape of the cutter is matched with that of the baffle, and the end part of the cutter is arc-shaped.
According to the full-automatic harvesting machine for the tubular hydroponic vegetables, the limit detection mechanism comprises a first limit stop block, a stop travel switch, a second limit stop block and a reversing travel switch;
the first limit stop and the second limit stop are both limit blocks, and the stop travel switch and the reversing travel switch are both limit sensors.
According to the pipe-type full-automatic harvester for hydroponic vegetables, the moving mechanism drives the transfer mechanism to move along the planting direction of the cultivation pipe, the cutting mechanism is synchronously driven to harvest all vegetables planted on the cultivation pipe in a certain gap, and the picking efficiency is high. Meanwhile, the walking range of the transfer mechanism on the moving mechanism is controlled by the limit detection mechanism, the transfer mechanism is ensured to move according to a specified track, automatic reversing and stopping are realized, and the automation degree of the harvester is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a partial schematic structural view of a tubular automatic harvester for hydroponic vegetables provided by the invention;
FIG. 2 is a second schematic view of a partial structure of the automatic tubular hydroponic vegetable harvester according to the present invention;
FIG. 3 is a third schematic view of a partial structure of the full-automatic tubular hydroponic vegetable harvester provided by the present invention;
FIG. 4 is a fourth schematic view of the partial structure of the full-automatic tubular hydroponic vegetable harvester provided by the present invention;
FIG. 5 is a schematic view of the use state of the pipe type full-automatic harvester for hydroponic vegetables provided by the invention;
FIG. 6 is an enlarged view taken at A of FIG. 5 in accordance with the present invention;
reference numerals:
1: a moving mechanism; 11: a guide rail; 12: a gear;
13: a rack; 14: a motor; 2: a transfer mechanism;
21: a housing; 211: a base plate; 212: a top plate;
213: a side plate; 214: an end cap; 215: a sloping plate;
216: a start-stop button; 217: an indicator light;
22: a baffle plate; 221: a support plate; 23: positioning a travel switch;
3: a cutting mechanism; 31: a cutter holder; 32: a cutter;
33: rotating the electromagnet; 4: a limit detection mechanism; 41: a first limit stop;
42: a stop travel switch; 43: a second limit stop; 44: a reversing travel switch;
5: a transport mechanism; 51: a conveyor belt; 52: a transmission bracket;
6: a guide structure; 61: a guide post; 62: a guide wheel;
7: cultivating a tube; 8: and (4) vegetables.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments of the present invention will be described below with reference to fig. 1 to 6. It should be understood that the following description is only exemplary embodiments of the present invention and is not intended to limit the present invention in any way.
As shown in fig. 1 to 5, the present invention provides, as an embodiment of the present invention, a tubular full-automatic harvester for hydroponic vegetables, comprising:
a moving mechanism 1 horizontally provided along the longitudinal direction of the cultivation tube 7;
the transfer mechanism 2 is connected to the moving mechanism 1 in a sliding mode, moves back and forth along the moving mechanism 1 and is used for transferring the harvested vegetables 8 to the conveying mechanism 5;
the cutting mechanism 3 is arranged above the transfer mechanism 2, synchronously moves along with the transfer mechanism 2 and is used for cutting vegetables 8 on the cultivation pipe 7;
and the limiting detection mechanism 4 is respectively installed on the moving mechanism 1 and the transfer mechanism 2 in a matching way and is used for detecting and limiting the initial position and the final position of the transfer mechanism 2 on the moving mechanism 1.
The full-automatic harvester is developed to solve the problem of low picking efficiency in the existing water culture vegetable harvesting process, the transfer mechanism 2 is driven by the moving mechanism 1 to move along the planting direction of the planting pipe 7, the cutting mechanism 3 is synchronously driven to harvest all vegetables 8 planted on the planting pipe 7 in certain intervals, and the picking efficiency is high. Meanwhile, the walking range of the transfer mechanism 2 on the moving mechanism 1 is controlled by the limit detection mechanism 4, the transfer mechanism 2 is ensured to move according to a specified track, automatic reversing and stopping are realized, and the automation degree of the harvester is further improved.
In the present embodiment, as shown in fig. 5, the moving mechanism 1 further includes a conveying mechanism 5, and the conveying mechanism 5 includes a conveyor belt 51 and a transmission bracket 52 supporting the conveyor belt 51. The conveyor belt 51 is a flat belt, and the bottom of the transmission bracket 52 is generally provided with universal wheels to rapidly move the conveying mechanism 5 to a target position as required.
Specifically, as shown in fig. 1 and 2, the moving mechanism 1 includes a guide rail 11, a gear 12, a rack 13, and a motor 14, wherein the guide rail 11 is located on one side of the conveyor belt 51 and is fixedly mounted on the transmission bracket 52.
The guide rail 11 is made of aluminum profiles, and the rack 13 can be arranged on the upper surface of the guide rail 11 through a countersunk hole and forms a rack-and-pinion pair with the gear 12; the gear 12 is driven by a motor 14 to reciprocate on a rack 13 along the guide rail 11 to provide drive for the automatic harvester.
The guide rail 11 is parallel and same-directional with the cultivation tube 7 on the cultivation bed, and each vegetable 8 on the cultivation tube 7 can be cut.
For convenience of manufacture and installation, the gear 12 is a straight gear 12, and the corresponding rack 13 is also a straight rack 13. The motor 14 is a stepping motor. The motor 14 is mounted in the housing 21 of the transfer mechanism 2 by means of a motor bracket (not numbered in the figures) and the output of the motor 14 is keyed to the gear 12.
In order to avoid contact wear of the gear 12 and the guide rail 11, the distance between the lowest point of the gear 12 and the upper surface of the guide rail 11 is always kept between 1 and 2 mm.
Specifically, the transfer mechanism 2 includes a housing 21 and a baffle 22, and the baffle 22 is fixedly mounted on an end of the housing 21 opposite to the advancing direction of the housing 21.
The cross-sectional shape of the casing 21 is a right trapezoid including a bottom plate 211, a top plate 212, side plates 213, end caps 214, and a slant plate 215 connected to each other, and the slant plate 215 is also a transport plate.
The baffle plate 22 is fixed on the end cover 214 through screws or bolts, the height of the baffle plate 22 is higher than the horizontal plane of the top plate 212, and the height of the baffle plate is about the height of the half-plant vegetables 8; the length of the baffle 22 corresponds to that of the end cap 214, and only the part of the baffle higher than the top plate 212 extends outwards and is suspended, and the extending part is in a semi-circular arc shape.
Because in the automatic harvesting process, actions such as clamping and drawing are avoided being carried out on the vegetables 8, the damage to the vegetables 8 when the vegetables 8 are harvested by the automatic harvesting machine is small, and the completeness of the vegetables 8 is kept.
In this embodiment, the casing 21 may be integrally disposed or separately disposed, for example, the inclined plate 215, i.e., the conveying plate, is an integral sheet metal part, the inside of the casing is hollow, and the bottom of the casing is connected to the bottom plate 211 through bolts; the side plate 213 is coupled to the inclined plate 215 by bolts, and the inclined plate 215, the bottom plate 211 and the side plate 213 form a closed case.
In the present embodiment, the transfer mechanism 2 further includes a positioning stroke switch 23, and the positioning stroke switch 23 is a contact sensor. A supporting plate 221 perpendicular to the baffle plate 22 is arranged on the lower edge of the baffle plate 22 in an outward extending mode, the positioning travel switch 23 is fixed on the supporting plate 221 through bolts, and when the positioning travel switch 23 detects or touches the root of the vegetable 8, the control motor 14 is triggered to stop rotating, and the transfer mechanism 2 stops moving forwards.
In this embodiment, the transferring mechanism 2 further comprises a guiding structure 6, the guiding structure 6 comprises a guiding column 61 and a guiding wheel 62, the guiding wheel 62 is fixedly connected to the guiding column 61, and the guiding column 61 is fixedly connected below the casing 21.
Wherein, the leading wheel 62 is made of nylon, and has better wear resistance and corrosion resistance. And the guide wheel 62 is screwed with the guide post 61, and the guide post 61 is screwed below the housing 21. The height of the guide column 61 just enables the guide wheel 62 to be clamped in the T-shaped groove of the guide rail 11, so that the guide wheel 62 slides along the T-shaped groove of the guide rail 11, and the limiting and guiding effects are achieved.
Specifically, as shown in fig. 1 and 2, the cutting mechanism 3 includes a cutter support 31, a cutter 32 and a rotary electromagnet 33, the cutter support 31 is fixedly located on the housing 21, one end of the cutter 32 is fixed to the cutter support 31, and the other end of the cutter is fixed to the rotary electromagnet 33. The shape of the cutter 32 is adapted to the shape of the baffle 22, and is circular arc. The cutter 32 can completely wrap the vegetables 8 in the cutting process, so that the cutting force is uniform, and the vegetables 8 are completely cut.
More specifically, one end of the cutter holder 31 is fixedly connected to the cutter 32, and the other end is fixedly connected to an output shaft of the rotary electromagnet 33, and the rotary electromagnet 33 is installed in the housing 21 through an electromagnet holder (not numbered in the figure). The output shaft of the rotary electromagnet 33 can drive the cutter 32 to rotate within 180 degrees, so that the root and stem parts of the vegetables 8 are cut and separated, and the vegetables 8 are cut from the cultivation pipe 7 of the cultivation bed and are conveyed to the surface of the conveying plate.
In addition, the supporting plate 221 is located above the cutting knife 32, and after the cutting knife 32 cuts and separates the vegetables 8, the vegetables 8 are pulled into the arc of the baffle 22, so that the vegetables 8 can be automatically collected through a simple structure.
Specifically, as shown in fig. 4 and 6, the limit detection mechanism 4 includes a first limit stopper 41, a stop limit switch 42, a second limit stopper 43, and a reverse limit switch 44.
Wherein, stop travel switch 42 and switching-over travel switch 44 are limit sensors, and first limit stop 41 and second limit stop 43 are the limit stop of fixed mounting on guide rail 11, and travel switch mutually supports with limit stop, makes automatic harvester along specific track removal, realizes automatic switching-over and stops to improve the degree of automation of structure.
In addition, the installation height of the first limit stopper 41 and the second limit stopper 43 is smaller than the distance between the bottom surface of the housing 21 and the upper surface of the guide rail 11, thereby ensuring that the housing 21 can smoothly slide on the guide rail 11 and preventing interference. When the automatic harvester finishes cutting the vegetables 8, the automatic harvester moves to the end part of the guide rail 11, the reversing travel switch 44 touches the second limit stop 43, the trigger motor 14 rotates reversely, and the automatic harvester returns along the original path; when the stop travel switch 42 touches the first limit stop 41, the automatic harvester stops moving, and the vegetables 8 on one cultivation tube 7 are harvested to wait for the next harvest. The harvesting bed control system will then move the cultivation tube 7 from the current harvesting position and move the next cultivation tube 7 to the current position for harvesting.
In the present embodiment, the housing 21 is provided with a start/stop button 216 and an indicator lamp 217. Pressing the start-stop button 216 controls the start and stop of the automatic harvester of the present invention, and the indicator light 217 is used to indicate the operating status of the automatic harvester.
As an alternative embodiment of the invention, the automatic harvester of the invention can be used not only for harvesting in a water culture planting mode, but also for fog culture or other culture modes.
When the invention harvests vegetables 8, the start-stop button 216 is pressed, the indicator light 217 is on, the motor 14 starts to provide power for the meshing of the gear and the rack, and the automatic harvester moves along the guide rail 11 due to the existence of the guide structure 6.
When the positioning travel switch 23 touches the vegetables 8, the trigger motor 14 stops, the rotary electromagnet 33 is electrified to work, the cutter 32 is driven to rotate to cut the vegetables 8, and due to the action of the baffle 22 and the cutting force, the vegetables 8 fall to the conveying plate and slide to the conveying belt 51 along the surface of the conveying plate under the action of gravity.
The rotary electromagnet 33 carries the cutter 32 to return to the original position, the motor 14 is started to continue to operate, and the harvester continues to move along the guide rail 11. When the harvester cuts all the vegetables 8 on the complete root cultivation pipe 7 and moves to the end of the guide rail 11, the reversing travel switch 44 touches the second limit stop 43, the trigger motor 14 reverses, the automatic harvester reversely retreats, and when the stop travel switch 42 touches the first limit stop 41, the trigger motor 14 stops, and the automatic harvester stops.
Finally, the control system of the cultivation bed will move the cultivation tube 7 from the current harvesting position away and move the next cultivation tube 7 to the current position to await harvesting, and repeated pressing of the start-stop button 216 will start the next cycle of harvesting operation.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a full-automatic harvester is used to tubular water planting vegetables which characterized in that includes:
a moving mechanism horizontally arranged along the length direction of the cultivation tube;
the transfer mechanism is connected to the moving mechanism in a sliding mode, reciprocates along the moving mechanism and is used for transferring the harvested vegetables to the conveying device;
the cutting mechanism is arranged above the transferring mechanism, synchronously moves with the transferring mechanism and is used for cutting vegetables on the cultivation pipe;
and the limiting detection mechanism is respectively installed on the moving mechanism and the transfer mechanism in a matching way and is used for detecting and limiting the initial position and the final position of the transfer mechanism on the moving mechanism.
2. The tubular full-automatic harvester for hydroponic vegetables according to claim 1, wherein said moving mechanism further comprises a conveying mechanism, said conveying mechanism comprising a conveyor belt and a transmission bracket supporting said conveyor belt.
3. The tubular full-automatic harvester for hydroponic vegetables according to claim 2, wherein the moving mechanism comprises a guide rail, a gear, a rack and a motor, the guide rail is positioned on one side of the conveyor belt and is fixedly installed on the transmission bracket;
the rack is fixed on the guide rail and meshed with the gear, and the gear is driven by the motor to move on the rack along the guide rail.
4. The tubular full-automatic harvester for hydroponic vegetables according to claim 1, wherein said transfer mechanism comprises a housing and a baffle;
the baffle is fixedly arranged at one end of the machine shell opposite to the advancing direction of the machine shell.
5. The tubular full-automatic harvester for hydroponic vegetables according to claim 4, wherein the cross-sectional shape of the housing is a right trapezoid, and the housing comprises a bottom plate, a top plate, side plates, an end cover and an inclined plate which are connected with each other, and the inclined plate is also called a conveying plate.
6. The tubular full-automatic harvester for hydroponic vegetables as claimed in claim 5, wherein the height of the baffle is higher than the horizontal plane of the top plate, the length of the baffle corresponds to the end cover, and the part of the baffle higher than the top plate extends outwards and is suspended in a semi-circular arc shape.
7. The tubular full-automatic harvester for hydroponic vegetables according to claim 4, wherein said transfer mechanism further comprises a guide structure, said guide structure comprises a guide post and a guide wheel which are fixedly connected, and said guide post is fixedly connected below said housing.
8. The tubular full-automatic harvester for hydroponic vegetables according to claim 4, wherein said cutting mechanism comprises a cutter holder, a cutter and a rotary electromagnet, said cutter holder is located on said housing, one end of said cutter is fixed to said cutter holder, and the other end of said cutter is fixed to said rotary electromagnet.
9. The tubular full-automatic harvester for hydroponic vegetables according to claim 8, wherein the shape of the cutter is adapted to the shape of the baffle, and the end of the cutter is arc-shaped.
10. The tubular full-automatic harvester for hydroponic vegetables according to claim 1, wherein the limit detection mechanism comprises a first limit stop, a stop travel switch, a second limit stop and a reversing travel switch;
the first limit stop and the second limit stop are both limit blocks, and the stop travel switch and the reversing travel switch are both limit sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110328496.5A CN112930854A (en) | 2021-03-26 | 2021-03-26 | Full-automatic harvesting machine for tubular hydroponic vegetables |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110328496.5A CN112930854A (en) | 2021-03-26 | 2021-03-26 | Full-automatic harvesting machine for tubular hydroponic vegetables |
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| Publication Number | Publication Date |
|---|---|
| CN112930854A true CN112930854A (en) | 2021-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110328496.5A Pending CN112930854A (en) | 2021-03-26 | 2021-03-26 | Full-automatic harvesting machine for tubular hydroponic vegetables |
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| CN (1) | CN112930854A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114402812A (en) * | 2021-12-31 | 2022-04-29 | 广州极飞科技股份有限公司 | Touchdown intermittent static operation mechanism, equipment and method |
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| JPH08205659A (en) * | 1995-11-14 | 1996-08-13 | Kawasaki Kiko Co Ltd | Breadth-controlling mechanism of running wheel interval in rail-running type tea field control truck |
| EP1029438A1 (en) * | 1999-02-17 | 2000-08-23 | Stichting Robolof | Method and apparatus for harvesting chicory |
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| CN111802048A (en) * | 2020-07-28 | 2020-10-23 | 胡伟峰 | Water-saving irrigation system for spraying pesticide at plant fixed-ratio concentration and irrigation method thereof |
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|---|---|---|---|---|
| JPH06121610A (en) * | 1992-10-14 | 1994-05-06 | Iseki & Co Ltd | Vegetable harvester |
| JPH08205659A (en) * | 1995-11-14 | 1996-08-13 | Kawasaki Kiko Co Ltd | Breadth-controlling mechanism of running wheel interval in rail-running type tea field control truck |
| EP1029438A1 (en) * | 1999-02-17 | 2000-08-23 | Stichting Robolof | Method and apparatus for harvesting chicory |
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| CN114402812B (en) * | 2021-12-31 | 2023-09-01 | 广州极飞科技股份有限公司 | Ground contact intermittent rest operation mechanism, equipment and method |
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Application publication date: 20210611 |