CN106069226B - A kind of automatic cutting machine device people of jasmine cuttage stem - Google Patents
A kind of automatic cutting machine device people of jasmine cuttage stem Download PDFInfo
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- CN106069226B CN106069226B CN201610629579.7A CN201610629579A CN106069226B CN 106069226 B CN106069226 B CN 106069226B CN 201610629579 A CN201610629579 A CN 201610629579A CN 106069226 B CN106069226 B CN 106069226B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
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- Processing Of Stones Or Stones Resemblance Materials (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
本发明涉及农业机械领域，具体的说是一种茉莉扦插茎自动剪断机器人，包括机身、行走装置、剪茎装置和摄像头；所述的行走装置位于机身下部，所述的剪茎装置位于机身上端左侧。所述的机身包括顶板、竖直固连在顶板下端面左右两侧的一对侧支板以及分别固连在两个侧支板下端的一对轮架；所述的行走装置包括主动轮、从动轮、履带、减速器和行走电机；所述的剪茎装置包括移动主体、移动电机、移动螺杆、移动带轮、移动皮带、剪茎滑板、定茎机构和剪切机构；所述的顶板下端面前端与剪切机构的旋转盘上均安装有摄像头。本发明能够实现对茉莉扦插枝条的远距离自动剪切，自动化程度高，工作效率高，实用性强。
The invention relates to the field of agricultural machinery, in particular to a jasmine cutting stem automatic cutting robot, comprising a body, a walking device, a stem cutting device and a camera; the walking device is located at the lower part of the body, and the stem cutting device is located at the lower part of the body. The upper left side of the fuselage. The fuselage includes a top plate, a pair of side support plates vertically fixed on the left and right sides of the lower end surface of the top plate, and a pair of wheel frames respectively fixed on the lower ends of the two side support plates; the walking device includes a driving wheel , driven wheel, crawler, speed reducer and traveling motor; the stem cutting device includes a moving main body, a moving motor, a moving screw, a moving pulley, a moving belt, a stem-cutting slide plate, a stem-fixing mechanism and a shearing mechanism; the A camera is installed on the front end of the lower end face of the top plate and the rotating disk of the shearing mechanism. The invention can realize long-distance automatic cutting of jasmine cuttings, has high automation degree, high work efficiency and strong practicability.
Description
Technical field
The present invention relates to agricultural mechanical field, specifically a kind of automatic cutting machine device people of jasmine cuttage stem.
Background technique
Jasmine has nearly bimillennium history, institute from the India in source area introduces Subtropic of China, Temperate Region in China is planted
The environmental condition at place is very different with source area, gynoecium, staminody, ateliosis, causes to be difficult to set seeds.Therefore,
In China, Jasmine is not bred with seed.But jasmine power of regeneration is strong, and the method that vegetative propagation is all made of in breeding is come
Breeding, main method have cutting propagation, small part mound layering, division propagation etc..
Wherein, cuttage technique main points are as follows:
1. cuttings selects
Cuttings quality is the key that guarantee jasmine cuttage root-taking, improve survival rate.First is that select to grow vigorous no disease pest
Harmful excellent variety maternal plant；Second is that wanting the nutrition foundation of branch good, therefore cuttings will select branch sturdy, that vitality is strong,
Ask diameter in the annual shoot of 5~8mm, the preferably branch after the opening of current year poppyhead.1 year or more old branch, cortex it is wooden
Change degree is higher, takes root more difficult.Cuttings has been cut into 3~5 bud about 8~12cm long, and cardinal extremity is tiltedly cut away from following 2cm or so is saved,
Top is in the above straight snips of nodal bud.2~3 pairs of leaves are stayed on cutting top, and contract and cut partial leaflet, and radical leaves are then all cut.
2. root is urged to handle
It is dipped cuttings base portion 3~5 minutes and is handled with ABT root-inducing powder and carbendazim before cuttage, stimulated cell division, promote to be cured
Injured tissue is formed, and eliminates germ, is reached fast root of hair, multiple, is improved the survival rate of cuttage.
3. cuttage
Accomplish as far as possible with beta pruning, with processing, with cuttage.Skin zone must not be injured when cuttage, generally first use small wood
Or insert a duck eye on slotting machine with finger, then cuttings is put into hole.Cuttage depth is the 1/2 to 2/3 of cutting length.It inserts
It is compacted afterwards with hand offices and men, pours primary permeable, cuttings is made to combine closely with soil.Make sure to keep in mind not insert by cuttings.
4. being managed after inserting
1. arching canopy, lid sunshade net.The temperature and humidity of soil and air is adjusted in plastic greenhouse, and sunshade net can prevent sunlight
Direct projection reduces temperature.The light transmittance of sunshade net is advisable with 20% to 30%.It, will also be in addition to covering sunshade net on seedbed is pushed up
The east in seedbed, west side curtain shading, to reduce the sunlight irradiation of morning and evening, in addition to covering sunshade net, can also water cooling and ventilation
Cooling.
2. watering.Cuttage early period, cuttings not yet sprout blade, supply water unsuitable too many, pour within general 7 to 10 days primary.
After one month, fringe bar starts the tip of taking root, take out, and water consumption is gradually increased, and answers and pours within 3 to 5 days once.Irrigation amount should according to soil moisture and
Air humidity is determined, and accomplishes soil dry-wet appropriateness.
3. fertilising.Cutting fertilizer requirement is little, and base manure has been applied in site preparation, therefore no longer needs to soil before at transplantation of seedlings and apply
Fertilizer, but to carry out foliage dressing.I.e. after cuttage one month, per two weeks uses the phosphoric acid of 0.3% urea liquid fertilizer and 0.2% in turn
Potassium dihydrogen liquid fertilizer carries out a foliage dressing, with hestening rooting.
4. weeding.The weeds in slotting machine are pulled out in time, but not move seedling.
5. hardening.Nursery stock took root after half a year, its ventilation and light application time is appropriately extended, and adapted to external rings to improve nursery stock
The ability in border.
It in the prior art, is still by manually operating, when needs are to high-volume for the cutting of jasmine cuttage branch
When jasmine carries out cuttage, then there is the defects of inefficiency, increase labor intensity of workers, increase cost of labor, so, now it is badly in need of
A kind of equipment for being able to carry out jasmine cuttage branch and being cut automatically.
Summary of the invention
In order to make up for the deficiencies of the prior art, the heretofore described automatic cutting machine device people of a kind of jasmine cuttage stem,
Jasmine cuttage branch can be cut automatically, high degree of automation.
The technical solution adopted by the present invention to solve the technical problems is: a kind of automatic cutting machine device people of jasmine cuttage stem,
Including fuselage, running gear, cut stem device and camera；The running gear is located at underbelly, and described cuts stem device
On the right side of fuselage upper end.
The fuselage includes top plate, the collateral plate of a pair being connected at left and right sides of top plate lower end surface vertically and consolidates respectively
It is connected in a pair of of wheel carrier of two collateral plate lower ends；
The running gear includes driving wheel, driven wheel, crawler belt, retarder and movable motor；The driving wheel peace
Mounted in wheel carrier front, the driven wheel is mounted on wheel carrier rear portion, is connected with crawler belt between the driving wheel and driven wheel, institute
The retarder stated is mounted on wheel carrier front, and the movable motor is mounted on retarder upper end, described retarder one end and row
It walks motor to be connected, the retarder other end is connected with driving wheel；When work, movable motor work drives retarder work, into
And driving wheel is driven to move, driving wheel moves and then drives crawler travel, to drive mass motion of the present invention.
The stem device of cutting includes mobile main body, and the mobile main body includes sliding panel, conveyor belt and conveying electricity
Machine, the conveyor belt are mounted on sliding panel by roller, and conveyor belt is arranged vertically at from top to bottom along sliding panel
On the inside of sliding panel, the feeder motor is connected with the roller on conveyor belt top；
The stem device of cutting further includes mobile motor, mobile screw, mobile belt wheel, mobile belt, cuts stem slide plate, determines stem
Mechanism and cutting mechanism；Each mobile motor is mounted on the top plate upper surface of fuselage, the mobile screw along fuselage from
It being horizontally arranged on the right side of top plate lower end surface from left to right, the mobile motor and mobile screw one end are mounted on mobile belt wheel,
It is connected between the mobile belt wheel by mobile belt, the sliding panel is vertically installed on mobile screw, described
Stem slide plate is cut to be mounted in conveyor belt；When work, mobile motor work moves belt wheel rotation to drive by mobile belt, into
And mobile screw is driven to rotate, mobile screw rotation drives sliding panel or so translation, meanwhile, feeder motor work drives conveying skin
Band moves up and down, and feeder motor main shaft can carry out positive and negative rotation.
The Ding Jing mechanism includes determining stem push rod, determining stem inflator, determine stem connecting rod, determining stem gas storehouse and a pair of of folder stem air bag；
Described to determine stem push rod and be horizontally arranged to cut stem slide plate top, the stem push rod front end insertion of determining is determined in stem inflator, described
Determine stem connecting rod one end and be fixedly connected with stem inflator is determined, determine the stem connecting rod other end and be fixedly connected with stem slide plate is cut, the stem gas storehouse of determining is
Cube cavity, the stem gas storehouse of determining are connected with stem inflator is determined, and a pair of of folder stem air bag is connected with stem gas storehouse is determined,
The folder stem air bag is rubber material；When work, conveyor belt, which moves up and down to drive, cuts the up and down motion of stem slide plate, leads mobile
It under the work of body, cuts stem device integrally and can move up and down and side-to-side movement, move to the jasmine for needing to shear when cutting stem device
When at plant, under original state, folder stem air bag is in negative pressure contraction state, firstly, Ding Jing mechanism works, it is whole by cutting stem device
The movement of body then, determine the stretching of stem push rod to compress and determines stem gas so that the branch sheared is needed to be located between a pair of of folder stem air bag
Cylinder with determine the air in stem gas storehouse so that folder stem air bag is in positive pressure and heaves state, cut to press from both sides stem air bag clamping needs
The branch upper end cut.
The cutting mechanism is located at below Ding Jing mechanism, and cutting mechanism includes that fixed board, movable plate, bottom are taken offence cylinder, shearing electricity
Machine, rotating disk, clamping plate, cut, upper slitter and shearing cylinder；The fixed board, which is connected in, cuts stem slide plate lower part, the movable plate position
On the left of the fixed board, it is three that number of cylinders is moved at the bottom, and cylinder one end is taken offence with fixed board ball-joint in three bottoms, and three bottoms are taken offence cylinder
For the other end with movable plate ball-joint, fixed board, movable plate and bottom cylinder of taking offence constitutes closed loop parallel institution, and the shear motor is mounted on
Movable plate right side, the rotating disk are located on the left of movable plate, and rotating disk is connected with shear motor main shaft, and the clamping plate is horizontal
It is connected in the middle part of rotating disk, described cutting is fixedly connected with clamping plate, and the upper slitter is hinged with cutting, the shearing cylinder
It is positioned horizontally in below clamping plate, and shears cylinder one end and be fixedly connected with rotating disk, the shearing cylinder other end is hinged with upper slitter lower part；
When work, the jasmine plant upper end sheared will be needed to clamp by Ding Jing mechanism, then cutting mechanism works, and three bottoms are taken offence cylinder
Flexible drive movable plate arbitrary motion, meanwhile, shear motor work drives rotating disk rotation, to pass through the fortune of movable plate and rotating disk
It is dynamic, so that between jasmine branch its shearing point for needing to shear is located at upper slitter and cuts, then, shearing cylinder contraction, so that on
Swivel is dynamic, and then is sheared with the shear action cut to jasmine branch by upper slitter；Then the above process is repeated to incite somebody to action
The jasmine branch for meeting Cutting conditions on whole jasmine plant is shear off.The effect for cutting stem device is for by jasmine
The branch for meeting Cutting conditions in whole strain is shear off.
It is mounted on camera in the rotating disk of the top plate lower end surface front end and cutting mechanism, thus operator's energy
Far distance control is enough carried out to the present invention by the image information of the real-time typing of camera, realizes cutting at a distance to jasmine branch
It cuts, and is not easy to be rolled jasmine during present invention walking.
Preferably, the stem push rod of determining is pen type electric pushrod, and pen type electric pushrod, which is conducive to reduce, cuts stem device
Volume.
The utility model has the advantages that
(1) the automatic cutting machine device people of a kind of jasmine cuttage stem of the invention, cutting stem device can be realized to jasmine branch
Automatic shearing, and determine the design of stem device so that the present invention is not easy to shake with external force in jasmine branch shear history, make
The more accurate and of the invention cutting mechanism of clipped position is designed using the structure of parallel-connection structure so that upper slitter and cutting energy
Flexible motion accurately shear at node to jasmine branch, and the shearing to blade, and high degree of automation is real
It is strong with property.
(2) the automatic cutting machine device people of a kind of jasmine cuttage stem of the invention, cuts to be mounted on stem device and fuselage and take the photograph
Picture head, thus the movement that staff can be whole come the far distance control present invention by the image of camera real-time Transmission, with
And the accurate shearing of stem device is cut, so that operator can in the cool carry out large area jasmine in hot weather
Cuttage operation, it is very humanized.
(3) the automatic cutting machine device people of a kind of jasmine cuttage stem of the invention, Ding Jing mechanism can be pushed away by the way that pen type is electronic
The stretching motion of bar realizes clamping and disengaging to cuttage branch, and flexibly and easily, structure is simple.
Detailed description of the invention
The present invention is further described with embodiment with reference to the accompanying drawing.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is the schematic diagram of fuselage and running gear of the present invention；
Fig. 4 is the A-A sectional view of Fig. 2；
Fig. 5 is the overall schematic that the present invention cuts stem device；
Fig. 6 is the cutting mechanism structural schematic diagram that the present invention cuts stem device；
In figure: fuselage 1, top plate 11, collateral plate 12, wheel carrier 13, running gear 2, driving wheel 21, driven wheel 22,
Crawler belt 23, retarder 24, movable motor 25, cut stem device 3, mobile motor 31, mobile screw 32, mobile belt wheel 33,
Mobile belt 34 cuts stem slide plate 35, Ding Jing mechanism 36, determines stem push rod 361, determine stem inflator 362, determine stem connecting rod 363, is fixed
Stem gas storehouse 364, folder stem air bag 365, cutting mechanism 37, fixed board 371, movable plate 372, bottom are taken offence cylinder 373, shear motor
374, rotating disk 375, clamping plate 376, cut 377, upper slitter 378, shearing cylinder 379, camera 4, mobile main body 10,
Sliding panel 101, conveyor belt 102, feeder motor 103.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Embodiment is closed, the present invention is further explained.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of automatic cutting machine device of jasmine cuttage stem of the present invention
People, including fuselage 1, running gear 2, cut stem device 3 and camera 4；The running gear 2 is located at 1 lower part of fuselage, described
Stem device 3 is cut to be located on the right side of 1 upper end of fuselage.
The fuselage 1 include top plate 11, the collateral plate 12 of a pair being connected at left and right sides of 11 lower end surface of top plate vertically with
And a pair of of wheel carrier 13 two collateral 12 lower ends of plate is respectively fixedly connected；
The running gear 2 includes driving wheel 21, driven wheel 22, crawler belt 23, retarder 24 and movable motor 25；It is described
Driving wheel 21 be mounted on 13 front of wheel carrier, the driven wheel 22 is mounted on 13 rear portion of wheel carrier, the driving wheel 21 with from
Crawler belt 23 is connected between driving wheel 22, the retarder 24 is mounted on 13 front of wheel carrier, and the movable motor 25 is mounted on
24 upper end of retarder, described 24 one end of retarder are connected with movable motor 25,24 other end of retarder and 21 phase of driving wheel
Connection；When work, the work of movable motor 25 drives retarder 24 to work, and then driving wheel 21 is driven to move, and driving wheel 21 moves
And then crawler belt 23 is driven to walk, to drive mass motion of the present invention.
The stem device 3 of cutting includes mobile main body 10, and the mobile main body 10 includes sliding panel 101, conveyor belt
102 and feeder motor 103, the conveyor belt 102 be mounted on sliding panel 101 by roller, and conveyor belt 102 is along cunning
Movable plate 101 is arranged vertically at 101 inside of sliding panel, the rolling of the feeder motor 103 and 102 top of conveyor belt from top to bottom
Cylinder is connected；
The stem device 3 of cutting further includes mobile motor 31, mobile screw 32, mobile belt wheel 33, mobile belt 34, cuts stem
Slide plate 35, Ding Jing mechanism 36 and cutting mechanism 37；Each mobile motor 31 is mounted on 11 upper surface of top plate of fuselage 1, institute
The mobile screw 32 stated is horizontally arranged on the right side of 11 lower end surface of top plate from left to right along fuselage 1, the mobile motor 31 and shifting
Dynamic 32 one end of screw rod is mounted on mobile belt wheel 33, is connected between the mobile belt wheel 33 by mobile belt 34, described
Sliding panel 101 be vertically installed on mobile screw 32, the stem slide plate 35 of cutting is mounted in conveyor belt 102；When work,
The work of mobile motor 31 drives mobile screw 32 to rotate to drive mobile belt wheel 33 to rotate by mobile belt 34, mobile
The rotation of screw rod 32 drives sliding panel 101 or so to be translatable, meanwhile, the work of feeder motor 103 drives conveyor belt 102 to move up and down,
103 main shaft of feeder motor can carry out positive and negative rotation.
The Ding Jing mechanism 36 includes determining stem push rod 361, determining stem inflator 362, determine stem connecting rod 363, determine 364 and of stem gas storehouse
A pair of folder stem air bag 365；It is described to determine stem push rod 361 and be horizontally arranged to cut 35 top of stem slide plate, it is described determine stem push rod 361 before
End insertion is determined in stem inflator 362, and described 363 one end of stem connecting rod of determining is fixedly connected with stem inflator 362 is determined, and it is another to determine stem connecting rod 363
It holds and cuts stem slide plate 35 to be fixedly connected with, described to determine stem gas storehouse 364 be cube cavity, described to determine stem gas storehouse 364 and determine stem gas
Cylinder 362 is connected, and a pair of of folder stem air bag 365 is connected with stem gas storehouse 364 is determined, and the folder stem air bag 365 is rubber
Material；When work, conveyor belt 102, which moves up and down to drive, cuts the up and down motion of stem slide plate 35, under the work of mobile main body 10, cuts
Stem device 3 is whole can to move up and down and side-to-side movement, when cutting stem device 3 and moving at the jasmine plant for needing to shear, just
Under beginning state, folder stem air bag 365 is in negative pressure contraction state, firstly, Ding Jing mechanism 36 works, by cutting 3 entirety of stem device
Movement then, determine the stretching of stem push rod 361 to compress and determines stem so that the branch sheared is needed to be located between a pair of of folder stem air bag 365
Inflator 362 and determine the air in stem gas storehouse 364, state heaved so that pressing from both sides stem air bag 365 and being in positive pressure, to press from both sides stem air bag
365 clamp the branch upper end for needing to shear.
The cutting mechanism 37 is located at 36 lower section of Ding Jing mechanism, and cutting mechanism 37 is dynamic including fixed board 371, movable plate 372, bottom
Cylinder 373, rotating disk 375, clamping plate 376, cuts 377, upper slitter 378 and shearing cylinder 379 at shear motor 374；The fixed board
371 are connected in and cut 35 lower part of stem slide plate, and the movable plate 372 is located at 371 left side of fixed board, and the bottom 373 quantity of cylinder of taking offence is
Three, three bottoms take offence 373 one end of cylinder with 371 ball-joint of fixed board, three bottoms take offence 373 other end of cylinder with 372 flexural pivot of movable plate
It connects, fixed board 371, movable plate 372 and bottom cylinder 373 of taking offence constitute closed loop parallel institution, and the shear motor 374 is mounted on movable plate
372 right sides, the rotating disk 375 are located at 372 left side of movable plate, and rotating disk 375 is connected with 374 main shaft of shear motor, institute
376 level of clamping plate stated is connected in the middle part of rotating disk 375, described to cut 377 and be fixedly connected with clamping plate 376, the upper slitter 378
It is hinged with cutting 377, the shearing cylinder 379 is positioned horizontally in 376 lower section of clamping plate, and shears 379 one end of cylinder and rotation
Disk 375 is fixedly connected with, and shearing 379 other end of cylinder is hinged with 378 lower part of upper slitter；When work, it will be needed by Ding Jing mechanism 36
The jasmine plant upper end of shearing clamps, and then cutting mechanism 37 works, and three bottoms are taken offence, and cylinder 373 is flexible to drive movable plate 372 any
Movement, meanwhile, the work of shear motor 374 drives rotating disk 375 to rotate, thus pass through the movement of movable plate 372 and rotating disk 375,
So that jasmine branch its shearing point sheared is needed to be located at upper slitter 378 and cut between 377, and then, the shearing contraction of cylinder 379,
So that upper slitter 378 rotates, and then jasmine branch is sheared with the shear action for cutting 377 by upper slitter 378；Then it weighs again
The multiple above process is to shear off the jasmine branch for meeting Cutting conditions on whole jasmine plant.The stem device 3 cut
Effect is for shear offing the branch for meeting Cutting conditions in the whole strain of jasmine.
It is mounted on camera 4 in the rotating disk 375 of the 11 lower end surface front end of top plate and cutting mechanism 37, to grasp
Far distance control can be carried out to the present invention by the image information of the real-time typing of camera 4 by making personnel, be realized to jasmine branch
Remote shearing, and be not easy to make jasmine to be rolled during present invention walking.
Preferably, the stem push rod 361 of determining is pen type electric pushrod, and pen type electric pushrod, which is conducive to reduce, cuts stem device
3 volume.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and only illustrating for the description in above embodiments and description is of the invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (4)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610629579.7A CN106069226B (en) | 2016-08-03 | 2016-08-03 | A kind of automatic cutting machine device people of jasmine cuttage stem |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610629579.7A CN106069226B (en) | 2016-08-03 | 2016-08-03 | A kind of automatic cutting machine device people of jasmine cuttage stem |
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| CN106069226B true CN106069226B (en) | 2019-04-05 |
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| CN110192473B (en) * | 2019-07-17 | 2024-10-22 | 广西财经学院 | Automatic cutting equipment for nursery stock |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0200805A1 (en) * | 1985-05-08 | 1986-11-12 | KAAZ MACHINERY Company, Limited | Elevating device for automatic branch cut-off machines |
| JPH08154485A (en) * | 1994-12-05 | 1996-06-18 | Mitsubishi Heavy Ind Ltd | Leaf-treating device in grafting device |
| CN201252748Y (en) * | 2008-09-17 | 2009-06-10 | 程军 | Movable pruning vehicle |
| CN104221732A (en) * | 2014-09-29 | 2014-12-24 | 华南理工大学 | Robot and method for pruning and crushing twigs |
| CN104823731A (en) * | 2015-05-27 | 2015-08-12 | 武汉大学 | Branch pruning robot for overhead high-voltage transmission line live working |
| CN105210689A (en) * | 2014-06-20 | 2016-01-06 | 南京农业大学 | A kind of branch pruning mechanical arm |
-
2016
- 2016-08-03 CN CN201610629579.7A patent/CN106069226B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0200805A1 (en) * | 1985-05-08 | 1986-11-12 | KAAZ MACHINERY Company, Limited | Elevating device for automatic branch cut-off machines |
| JPH08154485A (en) * | 1994-12-05 | 1996-06-18 | Mitsubishi Heavy Ind Ltd | Leaf-treating device in grafting device |
| CN201252748Y (en) * | 2008-09-17 | 2009-06-10 | 程军 | Movable pruning vehicle |
| CN105210689A (en) * | 2014-06-20 | 2016-01-06 | 南京农业大学 | A kind of branch pruning mechanical arm |
| CN104221732A (en) * | 2014-09-29 | 2014-12-24 | 华南理工大学 | Robot and method for pruning and crushing twigs |
| CN104823731A (en) * | 2015-05-27 | 2015-08-12 | 武汉大学 | Branch pruning robot for overhead high-voltage transmission line live working |
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| CN106069226A (en) | 2016-11-09 |
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