CN109197492A - A kind of automatic Machine for planting tree people - Google Patents
A kind of automatic Machine for planting tree people Download PDFInfo
- Publication number
- CN109197492A CN109197492A CN201811133018.3A CN201811133018A CN109197492A CN 109197492 A CN109197492 A CN 109197492A CN 201811133018 A CN201811133018 A CN 201811133018A CN 109197492 A CN109197492 A CN 109197492A
- Authority
- CN
- China
- Prior art keywords
- electric cylinders
- soil
- fixedly mounted
- covering device
- drilling machine
- 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.)
- Granted
Links
- 238000005553 drilling Methods 0.000 claims abstract description 55
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000003319 supportive effect Effects 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 229910052571 earthenware Inorganic materials 0.000 claims 1
- 239000002689 soil Substances 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 1
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/40—Afforestation or reforestation
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Earth Drilling (AREA)
Abstract
The present invention provides a kind of automatic kind of robot, including drilling machine, soil-covering device, transmission device, mechanical gripper, fixed frame etc., it is characterized by: the automatic kind of tree vehicle can voluntarily carry sapling, and it is orderly transported by transmission device, tree well righting is put by mechanical gripper crawl sapling after drilling machine is digged pit, soil pressure reality is buried by soil-covering device, catch basin is extruded by soil-shifting block structure feature, is then watered.This kind of tree vehicle may replace manpower to a certain extent and carry out a wide range of property tree planting, convenient, fast, efficient, can satisfy the demand of modern afforestation.
Description
Technical field
The present invention relates to tree planting technical field, in particular to a kind of automatic Machine for planting tree people.
Background technique
As the development people of society increasingly pay attention to the importance of ecological environmental protection, country starts the encouragement of implementation policy
Peasant's afforestation.Extensive plant trees needs a large amount of human and material resources, this not only causes a large amount of waste of human resource, but also efficiency
It is very low.This just needs to design a kind of special kind of tree device, mitigates peasant's labor intensity, improves kind of a tree efficiency.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of automatic Machine for planting tree people, the present invention can voluntarily carry sapling, dig
Soil, compacting, are buried at kind tree in hole, replace manpower to a certain extent, mitigate peasant's labor intensity, and improve kind of a tree efficiency.
Technical solution used in the present invention is: a kind of automatic Machine for planting tree people, including drilling machine, soil-covering device, transmission dress
It sets, mechanical gripper, fixed frame, wheel, the first electric cylinders of drilling machine, the second electric cylinders of drilling machine, drilling machine driving motor, installation
Platform, drill bit, connecting plate, the first electric cylinders of soil-covering device, the second electric cylinders of soil-covering device, first support, connection lifting lug, soil-covering device third electricity
Cylinder, second support, connecting rod, soil-shifting block, supportive body frame, column, shaft, saddle, support frame, motor, clamping jaw, pallet, chain,
Sprocket wheel, turntable, the first electric cylinders of mechanical grip, the second electric cylinders of mechanical grip, connector, the first clamping jaw, the second clamping jaw, clamping jaw driving
Electric cylinders, the drilling machine is by the first electric cylinders of drilling machine, the second electric cylinders of drilling machine, drilling machine driving motor, erecting bed, drill bit five
Part forms；The first electric cylinders of drilling machine are fixedly mounted on fixed frame；The second electric cylinders of drilling machine are fixedly mounted on drilling machine
At the top of one electric cylinders telescopic rod；An erecting bed is fixedly mounted at the top of the second electric cylinders of drilling machine telescopic rod；Drilling machine driving motor is solid
Dingan County fills inside erecting bed；Drill bit is fixedly connected with drilling machine driving motor output shaft；The soil-covering device is by connecting plate, soil-covering device
First electric cylinders, the second electric cylinders of soil-covering device, first support, connection lifting lug, soil-covering device third electric cylinders, second support, connecting rod, soil-shifting block
It constitutes；The first electric cylinders of soil-covering device are fixedly mounted on connecting plate, are fixedly mounted at the top of the telescopic rod of the first electric cylinders of soil-covering device and are buried soil
The second electric cylinders of device, first support are fixedly mounted at the top of the telescopic rod of the second electric cylinders of soil-covering device；First support two sides are fixed respectively
One connection lifting lug is installed, position is fixedly connected with second support among first support；Second support two sides are provided with corresponding recesses,
Groove is connect by shaft with link rotatable；Soil-covering device third electric cylinders both ends respectively with connect lifting lug and link rotatable and connect；
A soil-shifting block is fixedly mounted in second support and interlinking lever end respectively；Soil-covering device is fixedly mounted on and supports entirely through connecting plate
On the connected baffle of main frame；Mechanical gripper by turntable, the first electric cylinders of mechanical grip, the second electric cylinders of mechanical grip, connector,
First clamping jaw, the second clamping jaw, clamping jaw driving electric cylinders composition, the first electric cylinders of mechanical grip are fixedly mounted on turntable, mechanical grip
Second electric cylinders are fixedly mounted at the top of the telescopic rod of the first electric cylinders of mechanical grip, and one is fixedly mounted at the top of the telescopic rod of the second electric cylinders
A connector；The first clamping jaw is fixedly mounted on the left of connector, clamping jaw is fixedly mounted on the right side of connector and drives electric cylinders；Clamping jaw driving electricity
The second clamping jaw is fixedly mounted at the top of the telescopic rod of cylinder；Mechanical gripper is fixedly mounted on supportive body frame entirely through turntable；Four
Root post is fixedly mounted on supportive body frame, is rotatablely connected with top of supply line by connector and shaft among column；Shaft
Bottom end and supportive body frame convex platform are rotatablely connected；Every shaft upper and lower ends install a sprocket wheel, every layer of four sprocket wheel respectively
One chain of upper installation is uniformly equipped with clamping jaw on the chain of upper layer, is uniformly equipped with clamping jaw and pallet on lower layer's chain.
Further, a water tank is also fixedly mounted in installation soil-covering device symmetrical side.
The invention has the advantages that:
1. the present invention uses vehicle of the chassis as automatic kind of tree vehicle, certain amount sapling can be carried, sapling is facilitated to transport.
2. manpower can be replaced to dig tree well with machine by adding drilling machine.
3. can automatically grab sapling by addition mechanical grip and be put into tree well.
4. soil pressure reality can be buried automatically by the way that soil-covering device is arranged, and reserves and pour puddle.
Detailed description of the invention
Fig. 1, Fig. 2 are overall structure diagram of the invention.
Fig. 3 is drilling machine structure schematic diagram of the invention.
Fig. 4 is soil-covering device structural schematic diagram of the invention.
Fig. 5 is that transport device structure of the invention is intended to.
Fig. 6 is that mechanical grip structure of the invention is intended to.
Drawing reference numeral: 1- drilling machine；2- soil-covering device；3- transmission device；4- mechanical gripper；5- fixed frame；6- wheel；7-
The first electric cylinders of drilling machine；The second electric cylinders of 8- drilling machine；9- drilling machine driving motor；10- erecting bed；11- drill bit；12- connecting plate；
The first electric cylinders of 13- soil-covering device；The second electric cylinders of 14- soil-covering device；15- first support；16- connection lifting lug；17- soil-covering device third electricity
Cylinder；18- second support；19- connecting rod；20- soil-shifting block；21- supportive body frame；22- column；23- shaft；24- saddle；25- branch
Support；26- motor；27- clamping jaw；28- pallet；29- chain；30- sprocket wheel；31- turntable；The first electric cylinders of 32- mechanical grip；33-
The second electric cylinders of mechanical grip；34- connector；The first clamping jaw of 35-；The second clamping jaw of 36-；37- clamping jaw drives electric cylinders.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of automatic Machine for planting tree people, including drilling machine 1, soil-covering device 2, transmission
Device 3, mechanical gripper 4, fixed frame 5, wheel 6, the first electric cylinders of drilling machine 7, the second electric cylinders of drilling machine 8, drilling machine driving electricity
Machine 9, drill bit 11, connecting plate 12, the first electric cylinders of soil-covering device 13, the second electric cylinders of soil-covering device 14, first support 15, connects erecting bed 10
Connect lifting lug 16, soil-covering device third electric cylinders 17, second support 18, connecting rod 19, soil-shifting block 20, supportive body frame 21, column 22, shaft
23, saddle 24, support frame 25, motor 26, clamping jaw 27, pallet 28, chain 29, sprocket wheel 30, turntable 31, the first electric cylinders of mechanical grip
32, the second electric cylinders of mechanical grip 33, connector 34, the first clamping jaw 35, the second clamping jaw 36, clamping jaw drive electric cylinders 37, the brill
Hole machine 1 is by the first electric cylinders of drilling machine 7, the second electric cylinders of drilling machine 8, drilling machine driving motor 9, erecting bed 10,11 5 part of drill bit
Composition；The first electric cylinders of drilling machine 7 are fixedly mounted on fixed frame 5；The second electric cylinders of drilling machine 8 are fixedly mounted on drilling machine first
At the top of 7 telescopic rod of electric cylinders；An erecting bed 10 is fixedly mounted at the top of 8 telescopic rod of the second electric cylinders of drilling machine；Drilling machine driving motor 9
It is fixedly mounted inside erecting bed 10；Drill bit 11 is fixedly connected with 9 output shaft of drilling machine driving motor；The soil-covering device 2 is by connecting
Plate 12, the first electric cylinders of soil-covering device 13, the second electric cylinders of soil-covering device 14, first support 15, connection lifting lug 16, soil-covering device third electric cylinders
17, second support 18, connecting rod 19, soil-shifting block 20 are constituted；The first electric cylinders of soil-covering device 13 are fixedly mounted on connecting plate 12, soil-covering device
The second electric cylinders of soil-covering device 14 are fixedly mounted at the top of the telescopic rod of first electric cylinders 13, first support 15 is fixedly mounted on soil-covering device second
At the top of the telescopic rod of electric cylinders 14；A connection lifting lug 16,15 middle part of first support is fixedly mounted in 15 two sides of first support respectively
Position is fixedly connected with second support 18；18 two sides of second support are provided with corresponding recesses, and groove is rotated by shaft and connecting rod 19
Connection；17 both ends of soil-covering device third electric cylinders respectively with connect lifting lug 16 and connecting rod 19 and be rotatablely connected；Second support 18 and connecting rod 19
A soil-shifting block 20 is fixedly mounted in end respectively；Soil-covering device 2 is fixedly mounted on and supportive body frame 21 entirely through connecting plate 12
On connected baffle；Mechanical gripper 4 is by turntable 31, the first electric cylinders of mechanical grip 32, the second electric cylinders of mechanical grip 33, connector
34, the first clamping jaw 35, the second clamping jaw 36, clamping jaw driving electric cylinders 37 form, and the first electric cylinders of mechanical grip 32 are fixedly mounted on turntable
On 31, the second electric cylinders of mechanical grip 33 are fixedly mounted at the top of the telescopic rod of the first electric cylinders of mechanical grip 32, the second electric cylinders 33
A connector 34 is fixedly mounted at the top of telescopic rod；The first clamping jaw 35 is fixedly mounted on the left of connector 34, consolidates on the right side of connector 34
Dingan County's clamping pawl drives electric cylinders 37；Clamping jaw, which drives, is fixedly mounted the second clamping jaw 36 at the top of the telescopic rod of electric cylinders 37；Mechanical gripper 4 is whole
Body is fixedly mounted on supportive body frame 21 by turntable 31；Four columns 22 are fixedly mounted on supportive body frame 21, column
It is rotatablely connected with top of supply line by connector and shaft 23 among 22；23 bottom end of shaft and 21 convex platform of supportive body frame rotate
Connection；Every 23 upper and lower ends of shaft install a sprocket wheel 30 respectively, install a chain 29, upper layer on every layer of four sprocket wheel 30
Clamping jaw 27 is uniformly installed on chain 29, clamping jaw 27 and pallet 28 are uniformly installed on lower layer's chain 29.
Further, a water tank is also fixedly mounted in installation 2 symmetrical side of soil-covering device.
Working principle of the present invention: the present invention realizes whole movement by wheel 6, reaches drilling machine first behind designated place
Electric cylinders 7 send drill bit to boring sites in curing, and the second electric cylinders of drilling machine 8, the work of drilling machine driving motor 9 start to drill, complete
It being withdrawn in drilling machine 1 by the first electric cylinders of drilling machine 7, the second electric cylinders of drilling machine 8 afterwards, motor 26 drives shaft 23 to rotate, thus
The rotation of 23 upper sprocket wheel 30 of drive shaft, sprocket wheel 30 drive chain 29 mobile, send so that sapling on clamping jaw will be placed on to designated position,
Turntable 31, the first electric cylinders of mechanical grip 32, the second electric cylinders of mechanical grip 33, which cooperate, is transferred to suitable position for mechanical gripper 4,
Clamping jaw drives electric cylinders 37 that the second clamping jaw 36 is driven to clamp sapling, by turntable 31, the first electric cylinders of mechanical grip 32, mechanical grip the
The collaborative work of two electric cylinders 33 send sapling to the tree well dug, and soil-covering device 2 is transferred in the work of the first electric cylinders of soil-covering device 13, buries soil
The first electric cylinders of device 13, the second electric cylinders of soil-covering device 14, soil-covering device third electric cylinders 17, which cooperate, drives soil-shifting block 20 to work, and is buried
Soil pressure is real, in the plantation for carrying out watering completion sapling.
Claims (2)
1. a kind of automatic Machine for planting tree people, including drilling machine (1), soil-covering device (2), transmission device (3), mechanical gripper (4), fixation
Frame (5), wheel (6), the first electric cylinders of drilling machine (7), the second electric cylinders of drilling machine (8), drilling machine driving motor (9), erecting bed
(10), drill bit (11), connecting plate (12), the first electric cylinders of soil-covering device (13), the second electric cylinders of soil-covering device (14), first support (15),
Connect lifting lug (16), soil-covering device third electric cylinders (17), second support (18), connecting rod (19), soil-shifting block (20), supportive body frame
(21), column (22), shaft (23), saddle (24), support frame (25), motor (26), clamping jaw (27), pallet (28), chain
(29), sprocket wheel (30), turntable (31), the first electric cylinders of mechanical grip (32), the second electric cylinders of mechanical grip (33), connector (34),
First clamping jaw (35), the second clamping jaw (36), clamping jaw driving electric cylinders (37), it is characterised in that: the drilling machine (1) is by drilling machine
First electric cylinders (7), the second electric cylinders of drilling machine (8), drilling machine driving motor (9), erecting bed (10), (11) five part group of drill bit
At；The first electric cylinders of drilling machine (7) are fixedly mounted on fixed frame (5)；The second electric cylinders of drilling machine (8) are fixedly mounted on drilling machine
At the top of first electric cylinders (7) telescopic rod；An erecting bed (10) is fixedly mounted at the top of the second electric cylinders of drilling machine (8) telescopic rod；Drilling
It is internal that erecting bed (10) are fixedly mounted in machine driving motor (9)；Drill bit (11) and the fixed company of drilling machine driving motor (9) output shaft
It connects；The soil-covering device (2) is by connecting plate (12), the first electric cylinders of soil-covering device (13), the second electric cylinders of soil-covering device (14), first support
(15), lifting lug (16), soil-covering device third electric cylinders (17), second support (18), connecting rod (19), soil-shifting block (20) composition are connected；It buries
The first electric cylinders of earthenware (13) are fixedly mounted on connecting plate (12), are fixedly mounted at the top of the telescopic rod of the first electric cylinders of soil-covering device (13)
The second electric cylinders of soil-covering device (14), first support (15) are fixedly mounted at the top of the telescopic rod of the second electric cylinders of soil-covering device (14)；First
A connection lifting lug (16) is fixedly mounted in bracket (15) two sides respectively, and the intermediate position of first support (15) and second support (18) are solid
Fixed connection；Second support (18) two sides are provided with corresponding recesses, and groove is rotatablely connected by shaft and connecting rod (19)；Soil-covering device
Three electric cylinders (17) both ends respectively with connect lifting lug (16) and connecting rod (19) and be rotatablely connected；Second support (18) and connecting rod (19) end
A soil-shifting block (20) is fixedly mounted respectively；Soil-covering device (2) is fixedly mounted on and supportive body frame entirely through connecting plate (12)
(21) on connected baffle；Mechanical gripper (4) is by turntable (31), the first electric cylinders of mechanical grip (32), the second electric cylinders of mechanical grip
(33), connector (34), the first clamping jaw (35), the second clamping jaw (36), clamping jaw driving electric cylinders (37) composition, the first electricity of mechanical grip
Cylinder (32) is fixedly mounted on turntable (31), and the second electric cylinders of mechanical grip (33) are fixedly mounted on the first electric cylinders of mechanical grip (32)
Telescopic rod at the top of, a connector (34) is fixedly mounted at the top of the telescopic rods of the second electric cylinders (33)；It is solid on the left of connector (34)
Dingan County fills the first clamping jaw (35), and clamping jaw driving electric cylinders (37) is fixedly mounted on the right side of connector (34)；Clamping jaw drives electric cylinders (37)
The second clamping jaw (36) are fixedly mounted at the top of telescopic rod；Mechanical gripper (4) is fixedly mounted on supportive body entirely through turntable (31)
On frame (21)；Four columns (22) are fixedly mounted on supportive body frame (21), and column (22) is intermediate and top of supply line passes through company
Junctor and shaft (23) are rotatablely connected；Shaft (23) bottom end and supportive body frame (21) convex platform are rotatablely connected；Every shaft
((23) upper and lower ends install a sprocket wheel (30) respectively, install a chain (29), upper layer chain on every layer of four sprocket wheel (30)
(29) it is uniformly equipped on clamping jaw (27), clamping jaw (27) and pallet (28) is uniformly installed on lower layer's chain (29).
2. a kind of automatic Machine for planting tree people according to claim 1, it is characterised in that: in installation soil-covering device (2) symmetrical side
A water tank is also fixedly mounted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811133018.3A CN109197492B (en) | 2018-09-27 | 2018-09-27 | Automatic tree planting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811133018.3A CN109197492B (en) | 2018-09-27 | 2018-09-27 | Automatic tree planting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109197492A true CN109197492A (en) | 2019-01-15 |
| CN109197492B CN109197492B (en) | 2021-12-28 |
Family
ID=64981919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811133018.3A Active CN109197492B (en) | 2018-09-27 | 2018-09-27 | Automatic tree planting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109197492B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112056171A (en) * | 2020-09-21 | 2020-12-11 | 刘昶 | Garden seedling planting method |
| CN112243655A (en) * | 2020-10-21 | 2021-01-22 | 高淑兰 | Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof |
| CZ308903B6 (en) * | 2020-01-14 | 2021-08-18 | Veronika Staňková | Growing processor for afforestation |
| CN113940249A (en) * | 2021-10-18 | 2022-01-18 | 南华大学 | Tree planting robot |
| CN113940250A (en) * | 2021-10-18 | 2022-01-18 | 南华大学 | Full-process automatic tree planting method |
| CN114946580A (en) * | 2022-06-22 | 2022-08-30 | 索章桥 | Wisdom agricultural fruit tree planter |
| CN115024183A (en) * | 2022-07-19 | 2022-09-09 | 淮南师范学院 | Desert tree planting robot |
| CN115152570A (en) * | 2022-06-01 | 2022-10-11 | 四川大学 | Detachable and foldable multifunctional integrated tree planting device |
| CN116508606A (en) * | 2023-06-30 | 2023-08-01 | 易森智能装备(北京)有限公司 | End effector of intelligent tree planting robot |
| CN116569810A (en) * | 2023-06-30 | 2023-08-11 | 易森智能装备(北京)有限公司 | Intelligent tree planting robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112243655A (en) * | 2020-10-21 | 2021-01-22 | 高淑兰 | Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof |
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| CN113940250A (en) * | 2021-10-18 | 2022-01-18 | 南华大学 | Full-process automatic tree planting method |
| CN115152570A (en) * | 2022-06-01 | 2022-10-11 | 四川大学 | Detachable and foldable multifunctional integrated tree planting device |
| CN115152570B (en) * | 2022-06-01 | 2023-05-12 | 四川大学 | Detachable and foldable multifunctional integrated tree planting device |
| CN114946580B (en) * | 2022-06-22 | 2024-05-31 | 临武县卧龙谷生态农业发展有限公司 | Wisdom agricultural fruit tree planter |
| CN114946580A (en) * | 2022-06-22 | 2022-08-30 | 索章桥 | Wisdom agricultural fruit tree planter |
| CN115024183A (en) * | 2022-07-19 | 2022-09-09 | 淮南师范学院 | Desert tree planting robot |
| CN116569810A (en) * | 2023-06-30 | 2023-08-11 | 易森智能装备(北京)有限公司 | Intelligent tree planting robot |
| CN116508606B (en) * | 2023-06-30 | 2023-09-19 | 易森智能装备(北京)有限公司 | End effector of intelligent tree planting robot |
| CN116569810B (en) * | 2023-06-30 | 2023-12-12 | 易森智能装备(北京)有限公司 | Intelligent tree planting robot |
| CN116508606A (en) * | 2023-06-30 | 2023-08-01 | 易森智能装备(北京)有限公司 | End effector of intelligent tree planting robot |
Also Published As
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| CN109197492B (en) | 2021-12-28 |
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