252results about How to "Realize mechanized work" patented technology

The invention discloses an integrative drill carriage, which comprises a traveling chassis (10), a hydraulic rock drilling mechanism, an electric control box (7), a hydraulic power mechanism and an operation table (6), wherein, the hydraulic rock drilling mechanism is arranged above the front end of the traveling chassis and comprises a rock drill (5) and a drill arm (4), the rock drill (5) is arranged on the drill arm (4) through a hydraulic propeller (2), the drill arm (4) is hinged with a drill arm seat (10) arranged on the traveling chassis, and a loading and transporting mechanism used for loading material is disposed on the traveling chassis and is composed of a loading part and a scraper delivering machine; and the material is raked into a sliding groove of the scraper delivering machine through the loading part and is transmitted onto a carrier arranged at the rear part of the drill carriage. By adopting the invention, the integrative functions of drilling, transportation and loading can be realized, the mechanized operation of rock drivage can be realized, and the driving speed can be greatly enhanced.

A drilling type boring machine is most suitable for digging a rock laneway of which the hardness f>8. The drilling type boring machine comprises a drilling mechanism and a boring machine. The drilling mechanism is fixed to a boring machine cantilever, and swings up and down and left and right along the boring machine cantilever. The drilling mechanism comprises a drilling mechanism main propulsion mechanism and a drilling mechanism attitude adjusting mechanism connected with the drilling mechanism main propulsion mechanism. For the rock drilling mechanisms of the same drilling type boring machine, three-degrees-of-freedom movement can be realized, the need for punching at all angles, in all positions and at all attitudes is satisfied, the two rock drilling mechanisms can work simultaneously, and the drilling efficiency is improved greatly. By reasonably integrating two rock drilling mechanisms on the boring machine, the boring machine has the functions of two rock drilling machines and one boring machine, and the drilling type boring machine greatly helps to save the roadway development cost. When an ordinary boring machine cannot conduct boring normally, a drilling work part drills a hole in the section of a roadway first to increase the free face of the rock so as to reduce the damage strength of the rock, and then, a boring machine cutting part develops the roadway.

The invention relates to an underground sump coal slurry excavation device for cleaning the silted coal slurry in the underground sump, which can be used in excavation, transportation and cleaning, mainly comprising an excavation screw, a transportation scraper, a swing device, a walking pallet, a transportation screw and a concentrated material pump, wherein, the excavation screw is arranged in front of the whole device and the screw is shaft less. One end of the transportation scraper is connected with middle section of the excavation screw as a whole and the other end is arranged above a feed inlet of the transportation screw. One end of the transportation screw is arranged at the lower side of the discharge end of the transportation scraper and the other end is connected with the feed inlet of the concentrated material pump. The concentrated material pump is arranged above the walking pallet and at the back side of the whole device. One end of the swing device is connected with the excavation screw and the other end is hinged with the walking pallet. One end of a hauling oil cylinder is connected with the walking pallet and the other end is hinged with the swing device. The invention has the advantages of reducing labor intensity for workers largely, and improving productivity of cleaning the sump.

The present invention discloses a urushiol organic silicon resin and a preparing method thereof. The urushiol organic silicon resin is prepared from the following raw materials of the percentages by weight: 20 to 30% of urushiol, 4 to 6% of aldehyde compound, 3 to 30% of organic silicon prepolymer, 0.5 to 1.5% of catalyst and 40 to 55% of diluent, based on the total weight of the raw materials. As an alternative, 5 to 20% of epoxy resin is added. The urushiol organic silicon resin has excellent properties on resisting heat, water, oxidation, cold, radiation, etc. The urushiol organic silicon resin can be broadly used in the fields of military affairs, aerospace, electronics, machinery, construction, chemical engineering, etc.

The invention relates to the technical field of ink bag type filling automatic production lines and discloses an ink automatic bagging mechanism. The ink automatic bagging mechanism comprises a bag feeding guide seat, a bag clamping assembly, a bag opening assembly, a bag sealing assembly and an ink filling and charging device which are sequentially arranged from the bottom to top; a guide grooveis formed in the bag feeding guide seat and is formed in an erecting manner; the bag clamping assembly comprises a pair of movable bases and a pair of bag clamping air cylinders; the pair of movable bases is driven by a pair of bag opening folding and tightening air cylinders; the pair of bag clamping air cylinders is correspondingly connected with the pair of movable bases; the bag opening assembly comprises a pair of bag sucking air cylinders correspondingly placed on the two sides of the outer surface of a bag; the front ends of the bag sucking air cylinders are connected with bag opening sucking discs; and the bag sealing assembly comprises heat-sealing devices which are driven by a pair of bag sealing air cylinders. Bag type automatic filling of ink can be achieved, so that residues after the ink is used are reduced, and the purposes that waste of an ink resource is reduced and the environmental pollution is reduced are achieved.

The invention discloses a wall surface spraying machine and operation equipment. The wall surface spraying machine comprises a moveable platform, an arm frame, a spraying head, a first driving mechanism and a control system, wherein the arm frame is moveably arranged on the moveable platform; the spraying head is arranged on the end part of the arm frame; the control system is used for controlling the first driving mechanism to drive the arm frame to move. Compared with the prior art, the wall surface spraying machine has the advantages that mechanical operation for plastering a wall body surface can be realized, the manual labor intensity is reduced, and the operation efficiency is improved.

The invention discloses a float coal pressing device of a stamping coke oven coal side-charging car. The float coal pressing device of a stamping coke oven coal side-charging car comprises 1, a support, wherein the bottom of the support is provided with a reciprocating motion device and the top of the support is provided with a cantilever stretched out toward a coal groove, and 2, a vibration seat, wherein the vibration seat is slidingly installed at a lower part of the cantilever through a plumbing arm; a lower part of the vibration seat is provided with a roller; scraper plates are respectively installed at two sides of the roller along rolling directions; and a vibration mechanism is installed on the vibration seat. The float coal pressing device of a stamping coke oven coal side-charging car has the advantages that 1, the vibration mechanism can produce regular mechanical vibration; the roller can compact float coal in the coal groove; the support can be driven by the reciprocating motion device to carry out reciprocating motion, and thus the roller is driven to carry out reciprocating motion in the coal groove and the scraper plates can slick the float coal in the reciprocating motion; 2, a structure is simple; 3, operation processes are convenient and fast; 4, operation effects are good; 5, mechanical operation is realized; 6, safety and high efficiency are obtained; and 7, the float coal pressing device of a stamping coke oven coal side-charging car has good application prospects.

The invention discloses a processing method for cold bending pipes by medium frequency heating, comprising the following steps: firstly, heating the part, which is required to be bent, of a pipeline to certain temperature by adopting the medium frequency heating mode, and then bending the pipeline. The method has the advantages that the design is reasonable, the heating effect is good, the work efficiency is high, the pipeline bending quality is good and the labor intensity of workers is reduced, and the method can provide good productivity benefits for the enterprises.

The invention discloses an adjustable hanger system, which comprises a framework connected with a steel platform system and a steel jump plate fixed on the framework. The framework has a three-dimensional pane structure consisting of an inner hanger sheet, an outer hanger sheet and an inner and outer sheet connecting rod connected between the inner hanger sheet and the outer hanger sheet; both the inner hanger sheet and the outer hanger sheet comprise a suspender, a horizontal cross rod and a shaped joint tube at a node, which are arranged at intervals; and screw holes are uniformly distributed on the shaped joint tube, and the shaped joint tube is welded by a transverse tube joint, a longitudinal tube joint and a vertical tube joint, wherein the vertical tube joint is detachably connected with the inner and outer sheets through bolts, the transverse tube joint is detachably connected with the horizontal cross rod through bolts, and the longitudinal tube joint is detachably connected with the inner and outer sheet connecting rod through bolts. The hanger system can be widely applied to mounting construction of a high-rise concrete core tube structure of formwork creeping or lifting system construction, a steel structure and the like. The hanger system can meet the requirements of different buildings, realizes integral standardized operation, liberates a large amount of labor force, reduces the cost, and improves the safety of a hanger.

The invention discloses a codonopsis dangshen greenhouse floating quick seedling growing and planting method. The method sequentially includes: seed selection of codonopsis dangshen, seedling growing facility building, codonopsis dangshen matrix dishing and sowing, seedbed management, field planting, field management, field management in the next year of transplanting and prevention and control of plant disease, insect pest, weed damage and rat damage of codonopsis dangshen. By the method, yield and quality of codonopsis dangshen are improved, mechanized operation is realized, production of unit area is improved greatly, and income of local farmers and efficiency of enterprises are improved. The method has high economic benefit and social benefit.

The invention provides a water-cooling inflatable type fireproofing oil containment boom, which is capable of resolving the problems that traditional fireproofing oil containment booms are large in storage and transportation volume, inconvenient in installation and recovery and the like. The water-cooling inflatable type fireproofing oil containment boom comprises an oil containment boom main body, an oil containment boom connector, a water percolation fireproofing protective layer, a balance weight, a water filling system and a tensile force assembly. The oil containment boom main body is made of high polymer materials, provides buoyancy force and a main body structure of the oil containment boom, and plays a role in containing oil spilling on water. The oil containment boom connector adopts an internationally used paired hook connector, thereby ensuring effective connection among oil containment booms and between the oil containment boom and other devices. The water percolation fireproofing protective layer is made fo high water permeability materials and wraps around an air chamber, thereby protecting the air chamber from being affected by high temperature. The balance weight adopts a chain, thereby being not only even in balance weight, but also increasing strength of the oil containment boom. The water filling system mainly provides a water source for the water percolation fireproofing protective layer continuously and enables the water percolation fireproofing protective layer to be cooled continuously to resist high temperature. The tensile force assembly mainly improves tensile strength of the oil containment boom. The oil containment boom has functions of a traditional fireproofing oil containment boom and simultaneously has advantages of fast installation and inflatable type oil containment booms and the like, thereby greatly reducing transportation and storage size and improving installation and recovery efficiency of the oil containment boom.

The invention discloses a sulfur crushing / grading production line, belonging to the technical field of solid powder crushing / grading equipment. The sulfur crushing / grading production line mainly comprises a crushing / grading machine, a cyclone collector, a bag-type dust remover and a draught fan which are sequentially connected, wherein a cooling device for reducing the temperatures of a crushing cavity and a grading cavity is arranged in the crushing / grading machine; the crushing / grading machine, the cyclone collector, the bag-type dust remover and the draught fan are respectively provided with an electrostatic grounding device; and the crushing / grading machine, the cyclone collector and the bag-type dust remover are respectively provided with a bursting-port outlet tube (communicated with the outdoor space) at highest micro-sulfur-powder circulation points, and a bursting disc is arranged in each bursting-port outlet tube. According to the invention, the mechanization action of crushing / grading of flammable and explosive substances is realized, and the production efficiency is improved; and the sulfur crushing / grading production line is widely applied to the crushing / grading of flammable and explosive solid particles.

The invention relates to a mountain land ditch excavator. The mountain land ditch excavator comprises a triangular frame, wherein a steering drive wheel is arranged at the bottom of the front end of the frame; two balance wheels capable of being lifted up and down are respectively arranged at the bottoms of the two sides of the rear end of the frame; a power device is mounted in the middle of the frame; a cab is arranged above the power device; a rotary ditching shovel device is mounted in the middle rear part of the frame; a rotary excavating drill device is mounted in the tail part of the frame; tires of the wheels are semicircular solid rubber tires, and toothed groove patterns are formed on the tire surfaces. The maintain land ditch excavator disclosed by the invention realizes ditching and excavation of abrupt slopes of a mountain land by adopting high-efficiency mechanical operations, high efficiency is realized in the work, the pressure of the shortage of labor force is relieved, one machine has a plurality of purposes, and the maintain land ditch excavator is simple in structure, low in cost, simple to operate and convenient to use.

The present invention relates to apparatus and method of eliminating protecting film comprising the inner paint layer and the outer plastic layer from metal plate material. The apparatus includes a film cutting device, a film winding device, a polishing device and a cleaning device arranged successively on the frame. The method includes the following steps: unwinding the plate material, cutting the outer plastic layer in the edge of the film to be eliminated with the film cutting device, winding the plastic film with the film winding device, eliminating the paint layer with the polishing device and eliminating residual powder with the cleaning device. The present invention has high production efficiency and stable product quality.

The invention discloses pit digging equipment for planting of municipal road greening plants. The pit digging equipment comprises two bases which are symmetric front and back, a cross table is fixedlyconnected between the two bases, a lifting device for lifting is arranged on the cross table, an earth pushing device for earth filling is arranged on the base on the back side and driven by the lifting device, a power box located on the upper side of the earth pushing device is arranged in the lifting device, a power cavity with a downward opening is formed in the power box, an earth digging device is arranged in the power cavity, and an earth ramming device located outside the end surface of the power cavity is arranged on a screw rod. The pit digging equipment adopts rotary vibration pit digging to improve pit digging efficiency, meanwhile, dug earth can be pushed back to pits again by the earth pushing device and then vibrated and rammed by the earth ramming mechanism, so that the pitdigging equipment can realize mechanical operation of pit digging, earth filling and earth ramming, effectively reduce labor intensity of workers and improve planting efficiency.

The invention relates to a hollow sample making device, comprising a pressure head mechanism, two transmission mechanisms and a controller, wherein the pressure head mechanism is composed of an upper die head, a lower die head and an outer die; the transmission shafts of the two transmission mechanisms are connected with a screw rod in a symmetrical manner; the screw rod is connected with nut pieces which respectively fasten the lower die head and the upper die head by bolts; the nut piece is provided with a position sensor; and the transmission mechanism and the position sensor are connected with the controller via cables. In the invention, a bidirectional compaction structure in which the upper and lower die heads simultaneously apply pressure on the outer die is adopted in the sample making process; and a die adopts an embedded die cavity structure, and the size and model of the die can be changed according to the samples. The sample making device in the invention has scientific design, simple structure, convenient operation and use and high cost performance, and fundamentally solves the difficult problems of scale material feeding and automatic demoulding in the preparation process of making samples, thus realizing mechanical operation and batch production and having the advantages of rapidness, efficiency, low cost, good sample repeatability and strong comparability; and in addition, the sample making device can make samples in the geotechnical detection field, and popularizes preparation for various test samples similar to ground.

The invention discloses a variable-cross-section structure for a deep sewer of a roadbed and a construction method thereof. The variable-cross-section structure consists of a lower small cross-section excavation region (2) and an upper big cross-section excavation region (1) arranged above the lower small cross-section excavation region (2). The operation of an excavator for the deep sewer is achieved by adopting a variable-cross-section sewer structure, and the fast construction of the sewer in a water-rich loose rock and soil body is achieved by the construction method which comprises the steps of prepressing, rock filling and back-excavating and staging and segmenting, so that the damages arising from the local mud drifting or the soil-flowing type collapse of the water-bearing loose rock and soil body and the serious construction safety problems of the damages, possibly caused by excavation disturbance are avoided.

The invention discloses a floating anchor chain expandable settling particle catching device, which comprises a floating system, an offshore warning and positioning system, an anchor chain system anda counterweight system. At least one expansion unit is connected with that anchor chain system, and the expansion unit comprises an expansion pipe arm and an expansion device. The expansion pipe arm comprises a bracket, a support ring and an annular buckle, wherein the expansion pipe arm comprises a bracket, a support ring and an annular buckle. The support comprises a hollow upright post and a support arm, wherein the upright post jacket is provided with at least one support ring, the support ring and the upright post are connected with each other through the support arm, a plurality of ringbuckles are arranged on the support ring, and the ring buckles are symmetrically arranged around the outer wall of the support ring; The expansion device is arranged on an annular buckle, and comprises a sediment capture device, an image acquisition device and a culture device, and is mainly used for sedimentation particle collection, in-situ cultivation, data acquisition and measurement, etc., and is of great significance in the research of the global marine carbon cycle and the biological pump.

The invention discloses an automatic laying device and method based on a greening sand barrier. The device comprises a traction device, a bearing device, a moving device, a sand taking device and a sand containing device. A bucket fixing frame of the sand taking device is rotationally arranged on a first driving device through a rotating shaft, the first driving device can drive the bucket fixingframe to rotate, a sand baffle and the bucket fixing frame are matched so as to seal the bottom of a sand taking bucket, the top of the sand baffle is provided with sand leakage holes, the sand inletend of an inclined chute is located below the sand leakage holes of the sand baffle, a hopper of the sand containing device is arranged below the sand outlet end of the inclined chute, the bottom endof the hopper is provided with a funnel, and the traction device is provided with a power system. According to the automatic laying device, operation of sand taking and sand bag filling can be automatically completed on a sand barrier laying site, outdoor laying time of laying staff can be shortened, and working efficiency is improved.

The invention provides a preparation method of Chinese smoked sausage. The preparation method specially comprises the following steps: 1) selecting and pretreating raw materials of sausage; 2) pickling; 3) cleaning; 4) airing and after-pickling; 5) smoking and roasting; and 6) cleaning, drying, cooling, reshaping and packaging. The preparation method adopts a manure saturated saline solution vacuum thawing, vacuum intermittent pickling, low-temperature roasting and fast drying technology, the sausage can be prevented from deterioration during processing through smoking, and the flavor of the Chinese sausage can be increased.

The invention discloses a vertical three-dimensional pruning machine for tea gardens. The vertical three-dimensional pruning machine comprises pruning knives, shaft distance adjusting mechanisms, pruning shafts, sprocket chain mechanisms, lateral frames, protective covers, lateral shaft gears, a base, a vertical shaft gear, a vertical frame, a bearing cap, a bevel gear and a spindle. The bevel gear is mounted on the spindle which is mounted on the base, the lateral frames are connected with the base, the lateral shaft gears are mounted in the lateral frames, the sprocket chain mechanisms are connected to the lateral shaft gears and the pruning shafts, the pruning shafts are fixed to the lateral frames respectively, and each pruning knife is connected to one end of the corresponding shaft distance adjusting mechanism. The vertical frame is fixed above the base, the vertical shaft gear is fixed in the vertical frame, and one of the sprocket chain mechanisms is arranged on the vertical shaft gear and connected with the corresponding pruning shaft which is fixed to the vertical frame. The vertical three-dimensional pruning machine has the advantages of adjustable pruning parameters, high production efficiency, simplicity in operation and simultaneity in pruning of two lateral sides and the top of ridges of the tea gardens.

The invention provides a full-film dual-ridge integral-straw-returning corn furrow sowing method. The full-film dual-ridge integral-straw-returning corn furrow sowing method achieves straw returning and completes turnover, ridging and mulching after harvesting in the prior art, and accordingly biological organic matter in whole quantity can be returned to soil, zero bareness of the land can be achieved, and further, soil organic matter content is increased effectively, evaporation of moisture in the soil is blocked off completely, rainfall is retained in the soil completely, and soil organic matter content increase and rainfall utilization efficiency improvement are achieved synchronously. Processes such as returning of integral straws into the fields, turnover, ridging and mulching are completed at a time, a process that straw returning after straw smashing in the prior art is omitted, and accordingly labor force is reduced, and production cost is lowered. In a word, the straw returning and full-film dual-ridge furrow sowing technology is adopted in dry farming corn planting areas in Gansu province, and the method provides a direction for guaranteeing steady production increase of corns in Gansu province and promoting sustainable development of the full-film dual-ridge corn furrow sowing technology.

The invention discloses a strawberry picking manipulator device. The device comprises a mounting plate, a fixed column, support plates and clamping arms; the fixed column is fixedly connected to the lower surface of the mounting plate, a fixed block is fixedly connected to the lower end of the fixed column, the support plates are fixedly connected to the left side and the right side of the fixed block respectively, the middle of the fixed column is sleeved with a sleeve, a driving bevel gear sleeves the sleeve, lead screws are arranged on the left side and the right side of the fixed block, driven bevel gears sleeve the upper ends of the lead screws, the driven bevel gears are meshed with the driving bevel gear, the middle of each lead screw is sleeved with a sliding block, a connecting rod is hinged to the top of each sliding block, one clamping arm is hinged to the other end of each connecting rod, and a motor is fixedly connected to the lower surface of the mounting plate. When thedevice is used for picking strawberries, by driving the lead screws to rotate positively and negatively, then opening and closing of the clamping arms can be controlled conveniently to perform strawberry picking operation, mechanized operation of strawberry picking is achieved, the picking efficiency is greatly improved, and time of workers is shortened.

The invention discloses a metal piece casting post-processing efficient grinding apparatus. The apparatus comprises a column, a bed, a working bench, a spindle box, grinding heads, frequency conversion main motors and clamps. One side of the column is connected to the spindle box. The multiple frequency conversion main motors are arranged at the top portion of the spindle box. Multiple couplings corresponding to the frequency conversion main motors are disposed inside the spindle box. A spindle is arranged between each coupling and the corresponding frequency conversion main motor. The multiple grinding heads are arranged at the bottom portions of the spindles. The working bench is arranged below the grinding heads. The multiple clamps are arranged between the working bench and the grinding heads. According to the invention, a wet processing manner is carried out with a stable feeding speed, the mechanized operation for casting post-processing grinding is achieved, the labor intensity of workers is greatly reduced, the production efficiency is improved, manpower and cost are reduced, and environment pollution and potential safety risks such as fire hazards and dust explosion all caused by dust can be avoided.

The invention discloses a coal mine underground grooving machine, which comprises a carriage, wherein the carriage is provided with a traveling mechanism, a hydraulic oil tank, a cab assembly, a hydraulic system, an electrical system, a pneumatic system, a dust removal system, a power device and a grooving device; the grooving device is arranged on the rear end of the carriage. According to the coal mine underground grooving machine disclosed by the invention, the problem that an existing coal mine underground tunnel is difficult in grooving operation is thoroughly solved, mechanical operationis realized, a driving working condition and a grooving operation working condition can be simultaneously met, the coal mine underground grooving machine has the characteristics of high driving speed, high operation efficiency, convenience, flexibility, convenience in operation, safety and reliability and the like, the efficiency of the type of operation is improved, an underground construction mechanization rate is improved, and labor cost is lowered.

The invention relates to a full-automatic zinc slag removing machine. The machine comprises a frame, a lifting mechanism, a slag removing mechanism and an unloading mechanism; the lifting mechanism is arranged at the top of the frame; the slag removing mechanism is arranged on the lifting mechanism; the unloading mechanism is arranged on one side of the frame; the lifting mechanism includes a mechanical frame, a vertical guide rail, a lifting base, a motor, a lead screw, a screw nut, a steering motor, a main shaft and a main shaft bearing base; the slag removing mechanism includes a substrate, a front scraper, a front cylinder, a front slide base, a back scraper, a back cylinder, a back slide base and front and back guide rails; and the unloading mechanism includes an unloading frame, a receiving plate, a slide block, left and right guide rails, a rack, a gear, a gear base, a receiving motor, a pushing plate, a guide base, a guide rod, a pushing cylinder and a guide plate. The full-automatic zinc slag removing machine can prevent the operation danger of operators, and is high in working efficiency.

The invention relates to a self-propelled Chinese cabbage harvester having variety adaptability. The self-propelled Chinese cabbage harvester comprises a crossbeam frame, a hydraulic device, a guiding device, a cutting device, an inclined conveying device and a horizontal conveying device. A bearing crossbeam is a bearing frame and used for supporting and fixing other devices. A clamping device is used for clamping and fixing Chinese cabbages and preventing position deviation of the Chinese cabbages. The cutting device is used for cutting the roots of the Chinese cabbages. The guiding device is used for overall guiding and leaf vegetable drawing. The inclined conveying device is used for conveying the Chinese cabbages of which the roots are cut. The horizontal conveying device is used for conveying the harvested Chinese cabbages to a basket. Complete mechanical work of the processes of clamping, cutting, conveying and casing of the Chinese cabbages can be realized, harvesting work of different varieties and sizes of Chinese cabbages can be performed, and the breakage rate of the Chinese cabbages in the harvesting process can be greatly reduced and the labor productivity can be enhanced.

The invention discloses a method for mechanically planting and harvesting cassava. The method is characterized by comprising the following steps: A, performing ditching and performing ridging: performing rotary tillage soil crushing and levelling on cultivated land by utilizing a rotary tillage ridging machine, performing ditching and ridging by utilizing a rotary tillage ridging machine, and after a ridge is formed, forming furrows used for walking of tractor wheels on two sides of the ridge; B, performing planting: planting two rows of cassava plants in the ridge surface along a longitudinaldirection by utilizing a real-time cutting-type double-row cassava planting machine pulled by a tractor; C, performing field management; D, smashing stalks; and E, performing harvesting: after the cassava stalks are treated, performing harvesting by utilizing a cassava excavation harvester pulled by a tractor. The method provided by the invention completes cassava planting through the manners oflarge-ridge forming, double-row planting on the ridge, different widths of line spacing of the cassava on the ridges and among the ridges, management in the whole process can realize mechanized operation, the production efficiency of the cassava is greatly improved, input of manpower is greatly reduced, a loss rate and a cassava damage rate can be reduced, and high-efficiency low-cost harvesting is realized.