CN107889620B - Auxiliary strawberry picking device - Google Patents
Auxiliary strawberry picking device Download PDFInfo
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- CN107889620B CN107889620B CN201711205495.1A CN201711205495A CN107889620B CN 107889620 B CN107889620 B CN 107889620B CN 201711205495 A CN201711205495 A CN 201711205495A CN 107889620 B CN107889620 B CN 107889620B
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- fixed
- picking
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- strawberry
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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
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Abstract
The invention relates to the technical field of agricultural machinery application, in particular to an auxiliary strawberry picking device which comprises a picking vehicle, wherein a running mechanism is arranged at the bottom of the picking vehicle, carding mechanisms are arranged at the two sides of the picking vehicle, a shearing mechanism is arranged at the top of the picking vehicle, the carding mechanism and the shearing mechanism are driven by a stepping motor, a hand push rod is arranged at the tail of the picking vehicle, an opening and closing switch for controlling the stepping motor is arranged on the hand push rod, and a strawberry collecting box is arranged on the body of the picking vehicle. The invention adopts the structure, and the driving and steering of the picking vehicle can be facilitated through the driving mechanism; the sorting of the strawberries can be realized through the carding mechanism; the cutting of the strawberries can be realized through the cutting mechanism; collect the box through the strawberry and collect the strawberry of shearing to effectively improved the work efficiency that the strawberry was picked, simultaneously, the picking personnel need not bow just can pick the strawberry on the ridge slope in a large number.
Description
Technical Field
The invention relates to the technical field of agricultural machinery application, in particular to an auxiliary strawberry picking device.
Background
The strawberry planting area of China is large, the strawberry plants live in the world first, the strawberries are used as short fruit plants, the strawberries need to be stood down or squat between two ridges for picking during manual picking, the strawberries are different from other fruits in one season or two seasons, the strawberries planted in the strawberry ridges of the greenhouse need to be picked every day, and meanwhile, the harvesting period of the strawberries is long. By combining the factors, the strawberry picking in China has the characteristics of large workload and high labor intensity.
Therefore, in order to develop an efficient strawberry picking apparatus, the following objectives need to be achieved:
1. the composition equipment cannot be too expensive, and in order to realize the popularization purpose, the product cost is controlled within the range acceptable by common strawberry cultivators;
2. labor is saved, the waist needs to be bent during manual picking, the picking workload is large, and the waist does not need to be bent during the picking process in order to save labor;
3. the existing sorting function is mostly finished automatically by manually and selectively picking or identifying colors by a machine, the former has high labor intensity and high damage to workers, and the latter has low image identification efficiency and high cost, and cannot be put into actual production in a large scale at present;
4. because the soft meat of the strawberries is tender and easy to damage, the strawberries are rotten and deteriorated, and the skin of the strawberries cannot be damaged during picking;
5. the volume can not be too large, otherwise the characteristics of planting among strawberry ridges can not be adapted.
Disclosure of Invention
Aiming at the problems, the invention provides an auxiliary strawberry picking device, which can make up the defects of the prior art, can solve the problems of complex structure, difficult manufacturing and processing, expensive processing and the like of the conventional strawberry picking device, has simple structure and easy realization, and can pick a large amount of strawberries on ridge slopes without stooping down by picking personnel.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a device is picked in strawberry is supplementary, is equipped with travel mechanism including picking the car, picks car bottom position, picks car both sides position and is equipped with carding mechanism, picks car top position and is equipped with and shears the mechanism, carding mechanism and shearing mechanism all through step motor drive, and the handspike is installed to picking car bottom position, is equipped with control step motor's on the handspike and opens and close the switch, is equipped with the strawberry collection box on the car body of picking.
Further, the carding mechanism comprises a second stepping motor, a second motor support, a fixed gear rack, a second gear set, a second crank, a bearing seat, a guide rod, a sliding block, a first crank, a plate spring, a comb plate, an optical axis and a rack, wherein the second stepping motor is fixed on the second motor support, the second motor support is fixed on a vehicle bottom plate of the picking vehicle, an output shaft of the second stepping motor is connected to the second gear set, the second gear set is fixed on the fixed gear rack, the fixed gear rack is fixed on a vehicle top plate of the picking vehicle, a transmission shaft of the second gear set is in interference fit with a through hole at one end of the first crank, the other end of the first crank is hinged with the sliding block and one end of the optical axis, the other end of the optical axis is hinged with the second crank, the second crank is hinged on the rack, the rack is fixed on, the smooth shaft passes in the spout to can follow the spout motion, slider and broach board fixed connection, the leaf spring is located between slider and the broach board, and the slider both ends are equipped with the fixed block respectively, and the fixed block is fixed in on the slider through the fixed axle.
Furthermore, a plurality of comb teeth with adjustable intervals are arranged on the comb plate, and the top ends of the comb teeth are provided with round angle structures.
Further, the shearing mechanism comprises a gear set I, a connecting rod I, a crank III, a stepping motor I, a rack I, a sliding block I, an optical axis I, a rack II, a connecting rod II, a motor support I, a blade, an optical axis II, a sliding block II, an optical axis III and a rack III, wherein the stepping motor I is fixed on the motor support I, the motor support I is fixed on a vehicle top plate of the picking vehicle, an output shaft of the stepping motor I is connected with the gear set I, an output shaft of the gear set I is connected with the crank III, the crank III is connected with the connecting rod I, the sliding block is sleeved on the optical axis I, one end of the sliding block I is connected with the connecting rod I, the other end of the sliding block I is connected with the connecting rod II, the connecting rod II is connected with the optical axis II, one end of the optical axis I is fixed on the rack I, the other, the second sliding block is connected to the third rack through the third optical axis, the third rack is fixed on the body of the picking vehicle, and the blade is fixed on the second sliding block.
Furthermore, the running mechanism comprises two front wheels arranged at the front end of the picking vehicle and a rear wheel arranged at the rear end of the picking vehicle, the two front wheels are connected with the bearing through a shaft, the shaft is fixed on the bottom plate through a fixed wheel support, the rear wheel is fixed on a rear wheel plate, and the rear wheel is a universal wheel.
Furthermore, a positioning mechanism is arranged on the rear wheel of the vehicle and comprises a connecting block, a pin, a connecting shaft, a bottom plate, a bearing and a bolt assembly, the connecting block is connected with the connecting shaft, the connecting shaft is connected with the rear wheel plate through the bearing, the rear wheel of the vehicle is fixed on the rear wheel plate through the bolt assembly, and the pin is correspondingly inserted into the connecting block.
Further, on the box was collected to the strawberry located the vehicle bottom plate of picking the car through telescopic machanism, the last collection box spout that is equipped with of telescopic machanism, the box cooperation is collected to the strawberry is located in collecting the box spout.
The invention has the beneficial effects that:
1. the travelling mechanism can facilitate the travelling and steering of the picking vehicle;
2. the carding mechanism can realize sorting of strawberries, and the top ends of the comb teeth are designed to be of a round angle structure, so that damage to the skins of the strawberries is effectively avoided;
3. the shearing mechanism can shear strawberries, and effectively improves the working efficiency of picking;
4. the strawberry collecting box is arranged on the bottom plate of the picking vehicle through the telescopic mechanism and is convenient to extend out, and meanwhile, the collecting box sliding groove is formed in the telescopic mechanism, so that the strawberry collecting box is convenient to replace.
Drawings
FIG. 1 is a schematic view of strawberry growth between ridges;
FIG. 2 is a schematic view of the overall structure of the picking vehicle of the present invention;
FIG. 3 is a schematic view of a carding machine;
FIG. 4 is a schematic diagram of the operation of the carding machine;
FIG. 5 is a schematic view of a shearing mechanism;
FIG. 6 is a schematic diagram of the operation of the shearing mechanism;
FIG. 7 is a schematic view of a strawberry collection box;
FIG. 8 is a schematic structural view of a rear wheel alignment mechanism of the vehicle;
fig. 9 is a working state diagram of the carding mechanism for screening strawberry sizes.
1. A first gear set; 2. a roof panel; 3. a first connecting rod; 4. a third crank; 5. a first stepping motor; 6. a first machine frame; 7. a first sliding block; 8. an optical axis I; 9. a second frame; 10. a second connecting rod; 11. a first motor support; 12. a blade; 13. a second optical axis; 14. a second sliding block; 15. an optical axis three; 16. a third frame; 17. a front wheel of the vehicle; 18. fixing the wheel bracket; 19. a vehicle bottom plate; 20. a second stepping motor; 21. a motor support II; 22. fixing a gear rack; 23. a second gear set; 24. a crank II; 25. a bearing seat; 26. a guide bar; 27. a slider; 28. a first crank; 29. a plate spring; 30. a comb plate; 31. an optical axis; 32. turning a rear wheel; 33. a rear wheel plate; 34. a handspike; 35. a drive shaft; 36. a fixed block; 37. a fixed shaft; 38. a frame; 39. a collection box; 40. ridging strawberries; 50. strawberry; 61. connecting blocks; 62. a pin; 63. a connecting shaft; 64. a base plate; 65. a bearing; 66. a wheel frame; 67. a bolt assembly; 100. a carding mechanism; 200. and a shearing mechanism.
Detailed Description
The technical solution of the present invention is described below with reference to the accompanying drawings and examples.
As shown in fig. 1 to 7, the strawberry auxiliary picking device comprises a picking vehicle, a traveling mechanism is arranged at the bottom of the picking vehicle, carding mechanisms 100 are arranged at the two sides of the picking vehicle, a shearing mechanism 200 is arranged at the top of the picking vehicle, the carding mechanisms 100 and the shearing mechanism 200 are driven by a stepping motor, a hand push rod 34 is arranged at the tail of the picking vehicle, an on-off switch for controlling the stepping motor is arranged on the hand push rod 34, and a strawberry collecting box is arranged on the body of the picking vehicle. The above constitutes the basic structural arrangement of the present invention.
The invention adopts the structure, and the driving and steering of the picking vehicle can be facilitated through the driving mechanism; sorting of strawberries can be realized through the carding mechanism 100; the cutting of the strawberries can be realized through the cutting mechanism 200; collect the box through the strawberry and collect the strawberry of shearing to effectively improved the work efficiency that the strawberry was picked, simultaneously, the picking personnel need not bow just can pick the strawberry on the ridge slope in a large number. Preferably, the on-off switch of the stepping motor is pressed to be started, and loosened to be closed.
More specifically, the carding mechanism comprises a second stepping motor 20, a second motor support 21, a fixed gear rack 22, a second gear set 23, a second crank 24, a bearing seat 25, a guide rod 26, a sliding block 27, a first crank 28, a leaf spring 29, a carding plate 30, an optical axis 31 and a rack 38, wherein the second stepping motor 20 is fixed on the second motor support 21, the second motor support 21 is fixed on a vehicle bottom plate 19 of the picking vehicle, an output shaft of the second stepping motor 20 is connected to the second gear set 23, the second gear set 23 is fixed on the fixed gear rack 22, the fixed gear rack 22 is fixed on a vehicle top plate 2 of the picking vehicle, a transmission shaft 35 of the second gear set 23 is in interference fit with a through hole at one end of the first crank 28, the other end of the first crank 28 is hinged to the sliding block 27 and the optical axis 31, the other end of the optical axis 31 is hinged to the second crank 24, the guide rod 26 is hinged to the bearing seat 25, the bearing seat 25 is fixed to a vehicle bottom plate 19 of the picking vehicle, a sliding groove is formed in the guide rod 26, the optical axis 31 penetrates through the sliding groove and can move along the sliding groove, the sliding block 27 is fixedly connected with the comb plate 30, the plate spring 29 is arranged between the sliding block 27 and the comb plate 30, fixing blocks 36 are arranged at two ends of the sliding block 27 respectively, and the fixing blocks 36 are fixed to the sliding block 27 through fixing shafts 37. By adopting the structure, the working principle is as follows: drive two 23 work of gear train through two step motor 20, two 23 work of gear train drive one crank 28, and one 28 work of crank drives slider 27 and optical axis 31 work again, and slider 27 drives the work of fishback 30 again to play through the broach interval on the fishback 30 and comb the strawberry and select separately, wherein, the effect of leaf spring 29 lies in making fishback 30 can hug closely the ridge wall.
More specifically, be equipped with the broach of a plurality of adjustable intervals on the broach plate 30, there is fillet structure setting at the broach top. By adopting the structure, the damage to the skins of the strawberries caused by the comb teeth during combing is effectively avoided, and preferably, the comb teeth of the comb plate 30 are designed into the structure with adjustable space, so that strawberries with different sizes and specifications can be combed conveniently. For example: as shown in fig. 9, the maturity of the strawberries is distinguished according to the size, the larger strawberries are combed by the comb plate 30 and can be cut by the cutting mechanism to fall into the strawberry collecting box, and the smaller strawberries are regarded as immature and cannot be combed by the comb plate 30.
More specifically, the shearing mechanism comprises a gear set I1, a connecting rod I3, a crank III 4, a stepping motor I5, a rack I6, a slide block I7, an optical axis I8, a rack II 9, a connecting rod II 10, a motor support I11, a blade 12, an optical axis II 13, a slide block II 14, an optical axis III 15 and a rack III 16, wherein the stepping motor I5 is fixed on the motor support I11, the motor support I11 is fixed on a top plate 2 of the picking vehicle, an output shaft of the stepping motor I5 is connected with the gear set I1, an output shaft of the gear set I1 is connected with the crank III 4, the crank III 4 is connected with the connecting rod I3, the slide block I7 is sleeved on the optical axis I8, one end of the slide block I7 is connected with the connecting rod I3, the other end of the slide block I7 is connected with the connecting rod II 10, the connecting rod II 10 is connected with the, the first frame 6 and the second frame 9 are respectively fixed on a vehicle top plate 2 of the picking vehicle, two ends of the optical axis II 13 are respectively connected to the second sliding block 14, the second sliding block 14 is connected to the third frame 16 through the optical axis III 15, the third frame 16 is fixed on a vehicle body of the picking vehicle, and the blade 12 is fixed on the second sliding block 14. By adopting the structure, the working principle is as follows: drive gear train 1 work through step motor 5, gear train 1 drives crank three 4 work, crank three 4 drive connecting rod 3 work, connecting rod 3 drive slider 7 can be reciprocating sliding on optical axis 8, gliding while, slider 7 drives two 10 works of connecting rod, two 10 drives two 13 works of optical axis of connecting rod, two 13 works of optical axis drive slider, two 14 drive blades of slider are cuted the strawberry stem of combing, cut the strawberry to the strawberry collection box and collect.
More specifically, the running mechanism comprises two front wheels 17 arranged at the front end of the picking vehicle and a rear wheel 32 arranged at the rear end of the picking vehicle, the two front wheels 17 are connected with a bearing through a shaft, the shaft is fixed on the bottom plate 19 through a fixed wheel support 18, the rear wheel 32 is fixed on a rear wheel plate 33, and the rear wheel 32 is a universal wheel. According to the invention, the picking vehicle is designed into a trolley shape, so that the picking vehicle is convenient to drive and steer, and the manpower is effectively saved.
As shown in fig. 8, a positioning mechanism is arranged on the rear wheel 32, the positioning mechanism includes a connecting block 61, a pin 62, a connecting shaft 63, a bottom plate 64, a bearing 65 and a bolt assembly 67, the connecting block 61 is connected with the connecting shaft 63, the connecting shaft 63 is connected with the rear wheel plate 33 through the bearing 65, the rear wheel 32 is fixed on the rear wheel plate 33 through the bolt assembly 67, and the pin 62 is correspondingly inserted into the connecting block 61. By adopting the structure, as shown in fig. 8, after the operator pulls the pin 62 off, the rear wheel 32 of the vehicle can rotate as a universal wheel, and when the pin 62 is not pulled off, the advancing direction of the rear wheel 32 of the vehicle remains unchanged, so that the operator can turn the strawberry vehicle at the end of a strawberry ridge and then directionally move, and the picking vehicle only needs to go straight between the ridges.
More specifically, on the box was collected to strawberry located the vehicle bottom plate 19 of picking the car through telescopic machanism, the last collection box spout that is equipped with of telescopic machanism, the box cooperation is collected to strawberry is located in collecting the box spout. Adopt such structure setting, the strawberry of being convenient for is collected stretching out of box, is equipped with the collection box spout simultaneously on telescopic machanism, and the strawberry of being convenient for is collected the change of box.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and those skilled in the art can make various modifications without departing from the spirit and scope of the present invention.
Claims (4)
1. The utility model provides a device is picked in strawberry is supplementary, includes picks car, its characterized in that: the strawberry picking vehicle is characterized in that a running mechanism is arranged at the bottom of the picking vehicle, carding mechanisms (100) are arranged at the two sides of the picking vehicle, a shearing mechanism (200) is arranged at the top of the picking vehicle, the carding mechanisms (100) and the shearing mechanisms (200) are driven by a stepping motor, a hand push rod (34) is arranged at the tail of the picking vehicle, an opening and closing switch for controlling the stepping motor is arranged on the hand push rod (34), and a strawberry collecting box is arranged on the body of the picking vehicle;
the carding mechanism (100) comprises a second stepping motor (20), a second motor support (21), a fixed gear rack (22), a second gear set (23), a second crank (24), a bearing seat (25), a guide rod (26), a sliding block (27), a first crank (28), a plate spring (29), a comb plate (30), an optical axis (31) and a rack (38), wherein the second stepping motor (20) is fixed on the second motor support (21), the second motor support (21) is fixed on a vehicle bottom plate (19) of the picking vehicle, an output shaft of the second stepping motor (20) is connected to the second gear set (23), the second gear set (23) is fixed on the fixed gear rack (22), the fixed gear rack (22) is fixed on a vehicle top plate (2) of the picking vehicle, a transmission shaft (35) of the second gear set (23) is in interference fit with a through hole at one end of the first crank (28), the other end of the first crank (28) is hinged to a sliding block (27) and one end of an optical axis (31), the other end of the optical axis (31) is hinged to a second crank (24), the second crank (24) is hinged to a rack (38), the rack (38) is fixed to a vehicle bottom plate (19) of the picking vehicle, a guide rod (26) is hinged to a bearing seat (25), the bearing seat (25) is fixed to the vehicle bottom plate (19) of the picking vehicle, a sliding groove is formed in the guide rod (26), the optical axis (31) penetrates through the sliding groove and can move along the sliding groove, the sliding block (27) is fixedly connected with a comb plate (30), the plate spring (29) is arranged between the sliding block (27) and the comb plate (30), fixing blocks (36) are arranged at two ends of the sliding block (27), and the fixing blocks (36) are fixed to the sliding block (27) through fixing shafts (37);
a plurality of comb teeth with adjustable intervals are arranged on the comb plate (30), and the top ends of the comb teeth are provided with a round angle structure;
the shearing mechanism (200) comprises a gear set I (1), a connecting rod I (3), a crank III (4), a stepping motor I (5), a rack I (6), a sliding block I (7), an optical axis I (8), a rack II (9), a connecting rod II (10), a motor support I (11), a blade (12), an optical axis II (13), a sliding block II (14), an optical axis III (15) and a rack III (16), wherein the stepping motor I (5) is fixed on the motor support I (11), the motor support I (11) is fixed on a vehicle roof plate (2) of the picking vehicle, an output shaft of the stepping motor I (5) is connected with the gear set I (1), an output shaft of the gear set I (1) is connected with the crank III (4), the crank III (4) is connected with the connecting rod I (3), the sliding block I (7) is sleeved on the optical axis I (8), one end of the sliding block I (7) is connected with the connecting rod I (3, the utility model discloses a picking machine, including slider one (7), connecting rod two (10) are connected in optical axis two (13), optical axis one (8) one end is fixed in on frame one (6), optical axis one (8) other end is fixed in on frame two (9), frame one (6) are fixed in respectively with frame two (9) on roof board (2) of picking the car, optical axis two (13) both ends are connected respectively in slider two (14), slider two (14) are connected in frame three (16) through optical axis three (15), frame three (16) are fixed in on the automobile body of picking the car, blade (12) are fixed in on slider two (14).
2. The strawberry assisted picking device of claim 1, wherein: the running gear is including locating two plantago wheels (17) of picking the plantago end and locating the rear wheel (32) of picking the rear end of the car, be connected with the bearing through the axle between two plantago wheels (17), the axle is fixed in on bottom plate (19) through fixed wheel support (18), rear wheel (32) are fixed in on rear wheel board (33), rear wheel (32) are the universal wheel.
3. The strawberry assisted picking device of claim 2, wherein: be equipped with positioning mechanism on car rear wheel (32), positioning mechanism includes connecting block (61), pin (62), connecting axle (63), bottom plate (64), bearing (65) and bolt assembly (67), connecting block (61) link to each other with connecting axle (63), connecting axle (63) link to each other with rear wheel board (33) through bearing (65), car rear wheel (32) are fixed on rear wheel board (33) through bolt assembly (67), pin (62) are pegged graft on connecting block (61) correspondingly.
4. The strawberry assisted picking device of claim 1, wherein: the strawberry collection box is arranged on a vehicle bottom plate (19) of the picking vehicle through a telescopic mechanism, a collection box sliding groove is formed in the telescopic mechanism, and the strawberry collection box is arranged in the collection box sliding groove in a matched mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711205495.1A CN107889620B (en) | 2017-11-27 | 2017-11-27 | Auxiliary strawberry picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711205495.1A CN107889620B (en) | 2017-11-27 | 2017-11-27 | Auxiliary strawberry picking device |
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| Publication Number | Publication Date |
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| CN107889620A CN107889620A (en) | 2018-04-10 |
| CN107889620B true CN107889620B (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711205495.1A Expired - Fee Related CN107889620B (en) | 2017-11-27 | 2017-11-27 | Auxiliary strawberry picking device |
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| CN (1) | CN107889620B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909778B (en) * | 2018-04-16 | 2020-12-01 | 徐州云创餐饮有限公司 | Construction is with double round material transport vechicle |
| CN108353630B (en) * | 2018-04-18 | 2023-04-14 | 辽宁工业大学 | Strawberry picking and collecting integrated machine |
| CN108401683A (en) * | 2018-04-20 | 2018-08-17 | 南昌大学 | A kind of auxiliary strawberry picking mechanical |
| CN108377731B (en) * | 2018-04-26 | 2023-10-31 | 南昌大学 | Continuous carding unit of three-dimensional frame strawberry |
| CN108377750B (en) * | 2018-04-26 | 2024-02-09 | 南昌大学 | Auxiliary machinery is picked to three-dimensional frame strawberry |
| CN108391511B (en) * | 2018-04-30 | 2024-01-30 | 浙江工业大学 | Soil ridge type strawberry auxiliary picking machine |
| CN108391534B (en) * | 2018-04-30 | 2023-07-14 | 浙江工业大学 | Soil ridge formula strawberry plant stem strip carding mechanism |
| CN108377732B (en) * | 2018-05-07 | 2024-01-26 | 天津工业大学 | Collecting device is picked to ridge culture strawberry |
| CN108401657B (en) * | 2018-05-12 | 2024-01-30 | 湖南农业大学 | Hand-push type multifunctional strawberry picking vehicle |
| CN108617265B (en) * | 2018-05-12 | 2019-11-15 | 湖南农业大学 | Hand propelled strawberry picks control method |
| CN108353637B (en) * | 2018-05-15 | 2023-06-30 | 衢州学院 | Novel handheld strawberry picking and sorting integrated machine and method thereof |
| CN108966827B (en) * | 2018-08-13 | 2024-04-16 | 杭州电子科技大学 | Strawberry picking device |
| CN110946004A (en) * | 2018-09-27 | 2020-04-03 | 北京印刷学院 | Walking type mechanical arm auxiliary manual strawberry picking machine |
| CN109220209B (en) * | 2018-11-08 | 2024-01-12 | 天津科技大学 | Automatic strawberry picking machine |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3596456A (en) * | 1968-08-19 | 1971-08-03 | Graeme R Quick | Strawberry-harvesting device |
| JP5119392B2 (en) * | 2007-02-26 | 2013-01-16 | 井関農機株式会社 | Fruit harvesting robot and strawberry cultivation facility |
| CN103766073B (en) * | 2014-02-14 | 2015-08-05 | 江苏大学 | A kind of booth ridge culture formula strawberry picker and method |
| JP6738570B2 (en) * | 2015-11-17 | 2020-08-12 | 国立大学法人宇都宮大学 | Distributed collaborative processing system |
| CN206031445U (en) * | 2016-08-24 | 2017-03-22 | 吴茂盛 | Control structure that turns to of bassinet direction |
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2017
- 2017-11-27 CN CN201711205495.1A patent/CN107889620B/en not_active Expired - Fee Related
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