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WO2016038421A1 - Dispositif de cueillette de fruits - Google Patents

Dispositif de cueillette de fruits Download PDF

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Publication number
WO2016038421A1
WO2016038421A1 PCT/IB2014/064354 IB2014064354W WO2016038421A1 WO 2016038421 A1 WO2016038421 A1 WO 2016038421A1 IB 2014064354 W IB2014064354 W IB 2014064354W WO 2016038421 A1 WO2016038421 A1 WO 2016038421A1
Authority
WO
WIPO (PCT)
Prior art keywords
air
rotating element
rotor
pulse
rotating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2014/064354
Other languages
English (en)
Spanish (es)
Inventor
Adolfo Roberto Schechlmann
Norberto Marcelo Nigro
Mario Alberto Storti
Luciano GARELLI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Consejo Nacional de Investigaciones Cientificas y Tecnicas CONICET
Universidad Nacional del Litoral
Inis Biotech LLC
Original Assignee
Consejo Nacional de Investigaciones Cientificas y Tecnicas CONICET
Universidad Nacional del Litoral
Inis Biotech LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Consejo Nacional de Investigaciones Cientificas y Tecnicas CONICET, Universidad Nacional del Litoral, Inis Biotech LLC filed Critical Consejo Nacional de Investigaciones Cientificas y Tecnicas CONICET
Priority to PCT/IB2014/064354 priority Critical patent/WO2016038421A1/fr
Publication of WO2016038421A1 publication Critical patent/WO2016038421A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • A01D46/005—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs picking or shaking pneumatically

Definitions

  • the present invention relates to an air pulse generating device specially developed to harvest fruits of different types of plants, replacing manual harvesting which, for intensive production modes is very inefficient, and even replacing other mechanical action machines that They cause damage to the plant.
  • Patent ES428532 from Guibeaud, 1976 uses the concept of air pulse and resonance with the grape and peduncle, but it is not understood how the pulse is generated and how intense it is. It has a very low aerodynamic efficiency.
  • Pool document US3455502 presents a long tube with a telescopic segment circular that changes the direction. It also has some deflector curtains that vary angularly and thus the pulse is generated. It has a very low aerodynamic efficiency.
  • Billings US3943688 uses clappers to oscillate the air flow, generating a pulse. It is not aerodynamically efficient. It deflects, but it does it in an alternative way. It has a complex mechanical system.
  • Scheffler US4175368 patent presents fans and a disc that rotates by means of a motor with ducts in different directions.
  • the aerodynamic efficiency is poor since it has a long and restricted air path by the tubes or the fins attached to the rotating disc, it is of complex design, it has many moving parts and requires an engine to move the mobile disk.
  • Patents that are relevant for the analysis of the state of the art of the present invention are WO 2007/021271 which uses hydrogen combustion to generate pulses for the collection of fruits, US6594982 and FR2862483 which uses rotating means to generate a pulse of air.
  • Another indicator to consider is the spatial distribution of the intensity or range of the pulse (see figure 2).
  • a given configuration of the device can have a high intensity near the mouth, but this can decay strongly when moving away from it (curve b in the figure). We say in this case that the pulse range is low.
  • another configuration may have less intensity in the mouth, but not decline so strongly with distance (curve a).
  • the pulse range is not as important, but it is for large plants such as the olive.
  • the harvest is not carried out in a single pass, but up to 8 passes are made per season, therefore in each of them it is desirable that the device harvest only the fruit that is at the point optimum ripening, leaving the green fruit for the following passes.
  • the selectivity is closely related to the exposure time, that is, the time at which the air pulse action is applied to the plant. The longer the exposure time, the greater the harvest efficiency but also the selectivity is reduced, and vice versa, the shorter the exposure time, the greater the selectivity but the lower the harvest efficiency. To have a shorter exposure time, maintaining efficiency can increase the intensity of the pulse, of course within the limits where the plant is not damaged.
  • the device of the present invention provides a fruit harvester that solves the problem detected in the state of the art, since it achieves an operative equipment, which allows controlling all the variables involved and considerably reduces energy consumption, due to the aerodynamic design achieved.
  • the present invention allows to increase the maximum intensity of the pulse that the device can generate, but at the same time allowing it to be easily adjustable by the operator, both in frequency and in direction.
  • FIGURES Figure 1 Pulse intensity produced by the device at a point in space A defined as the difference between the maximum and minimum values of the total pressure at that point.
  • Figure 2 Decay of the pulse intensity with the distance to the mouth of the generator.
  • Curve b has a high pulse intensity near the mouth, but decays sharply.
  • the curve a has less intensity in the mouth but this is maintained for a longer distance (greater pulse range).
  • Figure 3 Left: cylindrical housing. Right: trunk-conical housing.
  • Figure 4 Flow pattern in the generator input zone without (left) and with (right) input lip.
  • the lip eliminates the effect of vein-contract by improving the entry of air into the device.
  • Figure 5 Vectors speed and magnitude of speed. Left below: without the input lip. Right down: with entrance lip. Above detail of the result without lip in the separation zone. Note the large separation zone (compared to the result with lip) and the narrowing in the flow (contracted vein).
  • Figure 6 Speed along a longitudinal line.
  • Figure 9 Removable supplements. Fixing scheme for opening 30%.
  • Figure 10 Removable supplements. Perspective views of the rotor with the three openings of 50%, 40%, and 30%.
  • Figure 11 Removable supplements. Speeds obtained at the start with the openings of 50%, 40%, and 30%.
  • Figure 12 Device for continuous regulation of angular opening.
  • Figure 13 Removable supplements to regulate the radial opening of the rotor. Front view.
  • Figure 14 Removable supplements to regulate the radial opening of the rotor. Perspective view.
  • Figure 15 Frequency and pulse amplitude control system.
  • Figure 16 Frequency sweep with triangular wave.
  • Figure 17 Movement of displacement and orientation of the generator.
  • Figure 18 Use of the wink to focus two devices on the same floor.
  • Figure 19 System to control the advance, pitch, and wink of the device. BRIEF DESCRIPTION OF THE INVENTION
  • the fruit harvesting device is one of those that generate air pulses and cause the detachment of said fruits by breaking their stems, and is made up of at least two rotating elements, preferably coaxial: a first rotating element (preferably driven by a motor) generator of an air current and a second rotating element generating said air pulses (preferably driven by the air current generated by said first rotating element and whose rotation speed is controlled by a brake or alternatively it is driven by another motor), contained in a housing, which is preferably integral to a central axis on which said rotating elements rotate, where said housing comprises an air intake sector, where said first rotating element is located, which is frustoconical with a conicity angle between 10 ° and 25 °; and a frequency control system of said air pulses.
  • said second rotating element, orienting said air stream is a rotor that comprises at least 1 opening in its plane perpendicular to the axis of rotation, through which the air stream generated by the first rotating element passes.
  • said rotor also comprises curved fins oriented towards the first rotating element, which generate the torque that rotates this rotor, thanks to the air driven by the first rotating element.
  • said rotating elements rotate at different speeds generating a pulse of air in the space located at the exit of the housing, after the rotor.
  • the amplitude of said pulse of air is regulated by the speed of said first rotating element and the frequency of said air pulse is regulated by the speed of said rotor, the size and number of said openings.
  • these fruits are selected from the set comprised of olives, grapes, pears, apples, nuts, peaches, blueberries, fine fruits, and fruits that are supported by a peduncle.
  • said rotor comprises between 2 and 6 openings of variable size in its plane perpendicular to the axis of rotation, through which the air current generated by the first rotating element passes.
  • Alternatives of said variable size openings comprise an angular opening regulation device, and / or a continuous angular opening regulation device, and / or a radial opening regulation device.
  • control system comprises a sensor that counts the turns of said rotor and therefore directly measures the frequency of said air pulse; a second sensor that measures the speed of the first rotating element and therefore, indirectly, the air flow and pulse width; a board that receives the values of said speeds in RPM for rotor and first rotating element and an LCD display showing said speed values in RPM; a controlling potentiometer sends a PWM (Pulse-Width Modulation) signal to control said rotor speed and another potentiometer that sends a PWM signal to a proportional hydraulic valve that controls the hydraulic motor that moves said first rotating element and thus regulates its speed.
  • PWM Pulse-Width Modulation
  • a preferred alternative of the present invention also comprises a suction lip that decreases the effect of vein-contracta.
  • the present invention provides a support of said housing that rotates freely on a horizontal axis, generating a pitching movement, and a hydraulic cylinder that controls said movement. It also provides a support of said housing that rotates freely on a vertical axis generating a yaw movement, and a hydraulic cylinder that controls said movement. It also provides a support of said housing that is mounted on a carriage with wheels that move on guides, which allow forward and reverse movement, mounted on a platform that is integral to the vehicle that carries the device.
  • a fruit harvesting device of those that generate air pulses and cause the detachment of said fruits by breaking their stems comprising a housing with at least two rotating elements: a first rotating element generating an air stream and a second rotating element generating said air pulses; and a frequency control system of said air pulses; a housing with a coaxial axis to said rotating elements, with a conical air intake sector with a conicity angle of between 10 ° and 25 °, which has a suction lip that decreases the effect of vein-contract; and which also includes pivoting means that give the device movement with respect to a vertical axis and with respect to a horizontal axis.
  • Another object of the present invention is a process for harvesting fruits comprising the following steps:
  • step d) said device is rotated with respect to a vertical axis, to achieve a yaw movement; said device is rotated with respect to a horizontal axis, to achieve a pitching movement; and it moves to the device along its axial axis, managing to bring the fruit harvesting device closer or further away from the plant to which it is being harvested.
  • the pulse intensity can be increased simply by increasing the fan power, or by improving the aerodynamic efficiency of the device.
  • This patent presents three aerodynamic improvements that allow improving efficiency. With these improvements, higher pulse intensities can be obtained for the same power, or reciprocally, the same pulse intensity can be obtained with a lower power, resulting in a lower consumption and weight of the machine.
  • the improvements consist of:
  • Variable size openings Removable supplements are defined, which act as opening regulating devices, which allow regulating the opening of the outlets, thus regulating the pulse range.
  • This new technical characteristic, characteristic of the invention consists in introducing a certain conicity to the first section AB (see figure 3) of the generator, between 5 and 50 Sexagesimals, preferably between 10 and 25 ° sexagesimals, more preferably between 12 and 18 ° sexagesimal.
  • the power consumed is reduced, maintaining the range of the pulse since this is mainly given by the section of the outlets and by their separation, that is to say by the output section, which as we said is maintained constant.
  • the taper is very pronounced it could happen that the air flow produced by the fan does not reach correctly to the outlets, reducing the efficiency of the generator.
  • the diameter of the output section is 900mm, while the diameter of the input section is 600mm in the conical version, against 900mm in the cylindrical housing.
  • the pulse range is maintained by reducing the power consumed by the generator from 40HP to 17HP.
  • Another additional benefit of this reduction in consumption is that the hydraulic circuit works at a much lower pressure, about 110 kg / cm2 for the conical housing, against 170 kg / cm2 for the cylindrical housing.
  • Figure 5 shows the velocity field in two simulations with (right) and without (left) the input lip. It is observed that without the lip there is a large area of separation, making the effect of contracted vein evident. In the case with lip there is a separation zone, but much smaller. In the case without lip it is observed that this flow strangulation causes the velocities in the vein area to be higher, but the main flow passes through a region closer to the axis. Finally at the exit higher speeds are obtained with the lip, therefore higher dynamic pressures and higher pulse intensity
  • FIG. 6 shows how the speed varies along a line parallel to the axis of the generator, at a distance from the axis such that it is in the middle of the outlet, that is, where the speeds are maximum in the radial direction . It is observed that the velocities increase near the mouth from 108 (point A) to 130 [km / h] (point B), ie an increase of 20%. But what is even more important is that the speeds at greater distances increase in an even greater proportion; at 2.5 m the speed goes from 30 (point O to 57 [km / h] (point D), ie an increase of 90%.
  • the rotors of the present invention have openings or mouths in the form of circular crown sectors, as shown in Figure 7. These mouths are characterized by an angular opening ⁇ and a radial opening AR. It is desirable to be able to control these parameters in the most dynamic way possible.
  • the angular and radial supplements of the present invention allow modifying the basic geometry of a rotor. In this way, in a series of pre-harvest experiences, the optimal geometry can be determined. Preferred examples of geometries are shown in the following sections, of course the use of this methodology can be applied to a wide range of angular and radial apertures.
  • the figure shows the geometry of a 50% angular aperture rotor and the supplements to have 40% and 30% angular apertures. But the concept can be applied to rotors with an arbitrary initial angular opening (for example 90%) and obtain a reduction in angular opening with supplements of different sizes, for example 80%, 70%, 60%, 50%, 40% , 30%, 20%, and 10%.
  • the gray triangle Dark ABC represents the blade in the maximum opening configuration.
  • the blade is not symmetrical with respect to the vertical, in order to have a greater pressure on the intrados BC with respect to the extracted BA and in this way produce a torque on the rotor that drives it to the left (i.e. clockwise direction, if we refer to the front view shown in figure 7).
  • the asymmetry between the angle in the extrados and the intrados is adjusted so as to obtain enough torque to drive the rotor, but not too important to require too much power to control.
  • Figure 10 shows the views of the rotors with supplement for each of the indicated openings.
  • Figure 10 shows perspective views of the rotor for the three openings considered.
  • Figure 11 shows the speed curves on a straight line parallel to the axis of the device, passing through the center of the mouth, for the three openings considered. It is observed that the speed is increased from 129 [km / h] for a 50% opening up to 160 [km / h] for 30% opening, that is an increase of 24%. But far from the mouth (2.5 m) the speed falls from 57 [km / h] to 34 [km / h], that is, a reduction of 60%. Therefore, the supplement is useful for plants of less than 1 [m] of half-width (for example, blueberry) allowing to increase the intensity of the pulse throughout its entire length.
  • half-width for example, blueberry
  • FIG. 12 An alternative of the present invention is a device like the one shown in Figure 12, which allows the angular opening to be regulated continuously.
  • Figure 12.a a frontal view of the rotor is observed in its maximum opening configuration, which in this example is 50%, that is, the angle ⁇ is 90 °.
  • the blade is hollow, and is composed of articulated rigid panels that, when moving, change the geometry of the blade.
  • ⁇ AOE ' 120 °.
  • FIG.c On the right (figure 12.c) we see a projection of the blade on the outer cylinder. At its point of maximum opening the blade cut on the outer cylinder is an ACE triangle.
  • both the DEKJH mobile panel and its counterpart can be mounted on the opposite blade rigidly on a piece that rotates on the O axis. In this way both panels move in solidarity and the operator must only regulate the rotation of this set by means of a screw or toothed crown.
  • This device can easily adapt to a configuration with three or more mouths.
  • the rotor and the panels that make up the blades are constructed in GRP (Fiberglass Reinforced Plastic).
  • the two panels of the base AL and ME are made of aluminum. Both the ABFN panel and the first part of the AL base are fixed to the cone.
  • the DEKJH mobile panel is fixed to the cone in the desired position with screws on the JK edge.
  • the cone has circumferential grooves so that the rotor opening can be defined by fixing the screws in some position of these grooves.
  • the lower panel ME is fixed to the DEKJH panel and is fixed to the cone with screws that move through a slot.
  • the BCGF and CDHG panels are articulated with each other and with the other adjacent panels by hinges on the edges BF, CG, and DH. These hinges can be of continuous aluminum hinges type.
  • the present invention provides a device for regulating said radial openings.
  • the interest in having adjustable radial aperture is to be able to compensate for a variation in the angular aperture while maintaining the output area, to maintain the velocity in the jet.
  • Figure 14 shows in perspective the radial supplement. On the left there is a cut of the cone and the supplement (ACB, external surface) while on the right the complete ACB supplement is observed, with a fixing edge to fix it with screws to the rotor blades.
  • ACB external surface
  • radial openings can be regulated with these supplements from very high openings such as 50% of the outer radius even very small, like 5% or less.
  • the radial and angular supplements interfere with each other in the connection lines of the blade with the AB and AC cone (see figure 14). Due to this, the radial supplements must be specific for each angular supplement, that is, if an angular supplement of 40% aperture is used, and a radial supplement of 50 [mm] thick, then for a 30% angular supplement of opening the radial supplement 50 [mm] thick must be different.
  • the mouth of the device be as close as possible to it, since the intensity of the pulse is greater there and decreases as the branches get in flag and they move away from the mouth. In this way, better harvest efficiencies are obtained for the same power or, reciprocally, the power for the same harvest efficiency can be reduced.
  • the operator Normally the operator must locate the vehicle that transports the device so that the mouth of the device is as close as possible to the plant line. You should also be able to regulate the height at which the device is so that the area of action of the device coincides with the height of the plant where the highest fruit density is.
  • the present invention provides a system that allows the position and orientation of the device to be regulated by hydraulic cylinders, in particular three of the six possible degrees of freedom thereof, which, following the nomenclature used for the movement of ships and airplanes, we will call (see figure 17):
  • Wink corresponds to rotate the device on a vertical axis through the center of it. This movement allows the operator to focus the action of two devices located on the same side of the line on the same floor, in order to superimpose the area of action of both (see figure 18).
  • the system shown in Figure 19 allows the operator to perform the three movements indicated using hydraulic cylinders.
  • the housing containing the device (1) is mounted on a fork-type support (2) that allows the device to be rotated on the axis (O), that is to say the pitching movement. This movement is controlled by the hydraulic cylinder (3).
  • This entire system is mounted on a frame (4) that provides rigidity to the assembly and is mounted on a rotating ring (frequently used for trailers) (5) that turns on a bollard (6).
  • This ring which allows the yaw movement on the vertical axis (0 ') and is actuated by a second hydraulic cylinder (7).
  • the bollard rests on a trolley with wheels (8) which allows the forward and reverse movement that is controlled with the hydraulic cylinder (9).
  • the wheels of the carriage move on guides mounted on a platform (10) that is integral with the vehicle that carries the device.
  • the optimal frequency of extraction varies by species, and other factors such as degree of vegetative development of the plantation and the degree of maturation. For example, it has been determined that 3 [Hz] is the optimum frequency for blueberries with an intermediate ripening level, while for olive trees with a low ripening degree, the optimum frequency is between 1 and 2 [Hz]. Therefore, although values indicative of the optimum harvest frequency can be determined a priori, it is necessary that the operator can adjust it in real time.
  • the frequency of the pulse is given by the speed of rotation of the rotor and the most basic and important mechanism to control it is regulating the intensity applied to the electric brake.
  • the first effect is greater, that is, a change in the speed of rotation of the fan has a sensitive effect on the pulse frequency, but a change in the intensity of the electric brake has a minor effect on the pulse intensity, so that the operator usually sets the desired fan rotation speed first and then the pulse frequency through the electrobrake control.
  • a control system was implemented (see figure 15), which consists of a board ⁇ "Operator Side” in the figure) and a series of components that are added to the generator ⁇ "Turbine Side” in the figure) to sense and control these variables. It consists of a sensor that counts the turns of the electric brake, which is integral with the rotor and therefore directly measures the pulse frequency. Another sensor measures the fan speed and therefore (indirectly) the air flow and pulse width. The RPM values for rotor and turbine are transmitted to the dashboard and shown to the operator on an LCD display. On the other hand, the controller sends a PWM (Pulse-Width Modulation) signal to control the electric brake and another PWM signal to a proportional hydraulic valve that controls the hydraulic motor that drives the fan.
  • PWM Pulse-Width Modulation
  • both PWM signals are controlled from the panel with potentiometers.
  • the operator can see in real time the frequency and intensity of the pulse and regulate them through the potentiometers mentioned in open loop mode. Normally, the operator first adjusts the turbine potentiometer until it reaches the desired pulse intensity (RPM of the fan), and then adjusts the electrobrake potentiometer until it reaches the desired frequency. If in this mode some disturbance to the system occurs, for example some obstruction to the rotor, the pulse frequency will go down and the electronic system will not take any action to return to the desired frequency.
  • RPM pulse intensity
  • the microcontroller performs a simple logic on the controlled variables (proportional valve and electrobrake PWM) to maintain the operating parameters that are sensed (fan speed and pulse frequency).
  • the outer shell is constructed in fiberglass with a thickness of 10 mm. It is divided into 3 sections: the conical section where the fan is moored, the central cylindrical section, and the cylindrical outlet section, where the rotor is moored. This division into sections allows you to easily exchange different types of fans according to their power and rotor supports.
  • the fan is composed of a Gatti S.A. propeller. of 8 polyamide blades, 40 degrees maximum angle, 700mm diameter. This propeller can reach speeds of 2500 RPM.
  • the rotor which is the most important part of the device and whose construction depends on its aerodynamic efficiency, is constructed in GRP (Fiberglass Reinforced Plastic). For this, different designs are proposed in CAD (Computer Aided Design), which are tested in-silico using CFD tools (Computational Fluid Dynamics).
  • CAD Computer Aided Design
  • CFD Computer Fluid Dynamics
  • the fan is driven by a hydraulic motor (MH) that converts the hydraulic pressure developed by the pump into torque on the fan shaft.
  • MH hydraulic motor
  • the hydraulic motor operates up to 160 kgf / cm2 of pressure, developing up to 2500 RPM on the fan. Under these conditions the hydraulic motor consumes 25HP of power.
  • the hydraulic circuit consists of a pump (BH), which is driven by an electric motor (ME).
  • a proportional hydraulic valve (VHP) allows to control from the command board the power delivered to the fan and therefore the speed of rotation of the same.
  • the controlling device consists of a console and display (CD), which allows the PWM signal sent to the proportional valve mentioned for the control of the fan speed and the PWM for the electric brake and therefore the rotor speed to be controlled by potentiometers.
  • the controller consists of two parts, one contained in the control console ⁇ "operator side" in Figure 15) used by the operator, and the other near the equipment ⁇ "turbine side” in the figure). Both potentiometers in the console generate an amplitude that is interpreted by the microcontroller (MC) that sends them to a CAN transceiver (CT) to be sent to the turbine side. On the turbine side, another CAN transceiver decodes it and sends it in the form of a PWM to the proportional valve (VHP) or to the electric brake.
  • MC microcontroller
  • CT CAN transceiver
  • VHP proportional valve
  • both the electric brake and the fan have lap counting sensors (SCV), which send back the number of turns (speed of rotation) to the control console. This data is reported on the LCD screen and is also used for the closed loop control strategy.
  • SCV lap counting sensors
  • VHP Sun Hydraulics proportional valve (USA).
  • the model is FPCC-MCN, with 24 volt 770-224 coil and ECB inline body.
  • CT CAN Transceiver ATMEL ATA6660-TAPY19 • CD: Console and LCD display WINSTAR WH1602L-YYB-ST
  • both the fork (2) and the frame (4) are constructed in a 40mmx40mmx4mm structural spout.
  • the rotating ring is 400mm in standard diameter.
  • the hydraulic cylinders are 2 inches with 400m stroke, double acting. In this way, the device has a travel in advance of 400mm and an amplitude in pitch and wink of 30 ° in both directions.

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Abstract

L'invention concerne un dispositif de cueillette de fruits, du type de ceux qui génèrent des impulsions d'air et provoquent le détachement desdits fruits par rupture de leur tige, formé d'au moins deux éléments rotatifs: un premier élément rotatif générateur d'un courant d'air et un second élément rotatif générateur desdites impulsions d'air, contenus dans un corps, ledit corps comprenant un secteur d'entrée d'air, dans lequel se trouve ledit premier élément rotatif, qui est tronco-conique avec un angle de conicité compris entre 10° et 25°; et un système de commande de la fréquence desdites impulsions d'air. Dans des versions préférées, ledit second élément rotatif présente des ouverture de taille variable; en outre ledit corps comprend une lèvre d'aspiration qui diminue l'effet de vena contracta; et des moyens pivotants qui confèrent au dispositif un mouvement par rapport à un axe vertical et par rapport à un axe horizontal.
PCT/IB2014/064354 2014-09-09 2014-09-09 Dispositif de cueillette de fruits Ceased WO2016038421A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200120886A1 (en) * 2017-05-04 2020-04-23 Arugga A.I Farming Ltd Plant treatment systems and methods

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US3310231A (en) 1964-04-08 1967-03-21 Fmc Corp Fruit harvesting machine
US3455502A (en) 1965-08-13 1969-07-15 Int Harvester Co Fruit picker
US3553949A (en) 1968-01-29 1971-01-12 Fmc Corp Apparatus for gathering crops from trees
US3757504A (en) 1969-03-03 1973-09-11 G Rauth Harvesting apparatus
US3871040A (en) 1973-05-16 1975-03-18 Ernesto Lendaro Apparatus for harvesting fruit from trees
US3943688A (en) 1974-10-04 1976-03-16 Billings Thomas A Harvesting machine
ES428532A1 (es) 1973-07-23 1976-12-01 Guibeaud Maquina perfeccionada para la recoleccion automatica de frutos.
US4175368A (en) 1977-08-15 1979-11-27 Ag Superior, Inc. Harvesting apparatus and process
DE2931564A1 (de) * 1979-08-03 1981-02-19 Karl Blank Blattschneidegeraet
US5622036A (en) 1995-06-06 1997-04-22 Orchard-Rite Ltd., Inc. Oscillating blower for removing tree fruit and nuts
US6594982B1 (en) 1999-06-24 2003-07-22 Etablissements Collard Sa, Societe Anonyme A Directoire Et Conseil De Surveillance Mechanical leaf stripper operating on compressed gas
US6609359B1 (en) 1998-08-17 2003-08-26 Teixeira Da Costa Miguel Pelagio Wind machine for harvesting and gathering olives
FR2862483A1 (fr) 2003-11-24 2005-05-27 Henri Sabourain Dispositif d'effeuillage de plants, notamment de vignes, par buses alimentees en air comprime
WO2007021271A1 (fr) 2005-08-12 2007-02-22 Andina Food Llc Machine de récolte de fruits pour arbres, arbustes, etc.
US20070157590A1 (en) * 2006-01-10 2007-07-12 Joel Arthur Touchless harvester
WO2009013722A2 (fr) * 2007-07-26 2009-01-29 Consejo Nacional De Investigaciones Cientificas Y Tecnicas (Conicet) Dispositif générateur de pulsations d'air pour récolter des fruits

Patent Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3310231A (en) 1964-04-08 1967-03-21 Fmc Corp Fruit harvesting machine
US3455502A (en) 1965-08-13 1969-07-15 Int Harvester Co Fruit picker
US3553949A (en) 1968-01-29 1971-01-12 Fmc Corp Apparatus for gathering crops from trees
US3757504A (en) 1969-03-03 1973-09-11 G Rauth Harvesting apparatus
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