CN109197492B - Automatic tree planting robot - Google Patents
Automatic tree planting robot Download PDFInfo
- Publication number
- CN109197492B CN109197492B CN201811133018.3A CN201811133018A CN109197492B CN 109197492 B CN109197492 B CN 109197492B CN 201811133018 A CN201811133018 A CN 201811133018A CN 109197492 B CN109197492 B CN 109197492B
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- electric cylinder
- clamping jaw
- soil
- drilling machine
- fixedly arranged
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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
- 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
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- 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
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- 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
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- 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
Abstract
The invention provides an automatic tree planting robot, which comprises a drilling machine, a soil burying device, a conveying device, a mechanical gripper, a fixed frame and the like, and is characterized in that: the automatic tree planting vehicle can carry saplings by oneself, convey the saplings orderly through the conveying device, grab the saplings by a mechanical gripper after a drilling machine digs a pit, put the saplings into the tree pit to be righted, bury soil compaction by a soil burying device, extrude a water storage tank through the structural characteristics of a soil-shifting block, and then water. The tree planting vehicle can replace manpower to plant trees in a large range to a certain extent, is convenient, quick and efficient, and can meet the requirements of modern afforestation.
Description
Technical Field
The invention relates to the technical field of tree planting, in particular to an automatic tree planting robot.
Background
With the development of society, people pay more and more attention to the importance of ecological environment protection, and the state is starting to implement policies to encourage farmers to plant trees. The large-scale tree planting requires a large amount of manpower and material resources, which not only causes a large amount of manpower resource waste, but also has very low efficiency. Therefore, a special tree planting device needs to be designed, the labor intensity of farmers is reduced, and the tree planting efficiency is improved.
Disclosure of Invention
Aiming at the problems, the invention provides an automatic tree planting robot which can carry saplings, dig pits, plant trees, bury soil and compact, replaces manpower to a certain extent, lightens the labor intensity of farmers and improves the tree planting efficiency.
The technical scheme adopted by the invention is as follows: an automatic tree planting robot comprises a drilling machine, a soil burying device, a conveying device, a mechanical gripper, a fixed frame, wheels, a first electric cylinder of the drilling machine, a second electric cylinder of the drilling machine, a driving motor of the drilling machine, an installation platform, a drill bit, a connecting plate, the first electric cylinder of the soil burying device, the second electric cylinder of the soil burying device, a first support, a connecting lug, a third electric cylinder of the soil burying device, a second support, a connecting rod, a soil pushing block, a supporting main body frame, a stand column, a rotating shaft, a supporting platform, a supporting frame, a motor, a clamping jaw, a tray, a chain wheel, a rotating platform, the first electric cylinder of the mechanical clamping jaw, the second electric cylinder of the mechanical clamping jaw, a connecting body, a first clamping jaw, a second clamping jaw and a clamping jaw driving electric cylinder, wherein the drilling machine consists of the first electric cylinder of the drilling machine, the second electric cylinder of the drilling machine, the driving motor of the drilling machine, the installation platform and the drill bit; the first electric cylinder of the drilling machine is fixedly arranged on the fixed frame; the second electric cylinder of the drilling machine is fixedly arranged at the top of the telescopic rod of the first electric cylinder of the drilling machine; a mounting table is fixedly mounted at the top of a telescopic rod of a second electric cylinder of the drilling machine; a driving motor of the drilling machine is fixedly arranged in the mounting table; the drill bit is fixedly connected with an output shaft of a driving motor of the drilling machine; the soil burying device consists of a connecting plate, a first electric cylinder of the soil burying device, a second electric cylinder of the soil burying device, a first support, a connecting lifting lug, a third electric cylinder of the soil burying device, a second support, a connecting rod and a bulldozing block; the first electric cylinder of the soil burying device is fixedly arranged on the connecting plate, the second electric cylinder of the soil burying device is fixedly arranged at the top of the telescopic rod of the first electric cylinder of the soil burying device, and the first support is fixedly arranged at the top of the telescopic rod of the second electric cylinder of the soil burying device; two sides of the first bracket are respectively and fixedly provided with a connecting lifting lug, and the middle part of the first bracket is fixedly connected with the second bracket; corresponding grooves are formed in the two sides of the second support, and the grooves are rotatably connected with the connecting rod through rotating shafts; two ends of a third electric cylinder of the soil burying device are respectively and rotatably connected with the connecting lifting lug and the connecting rod; the second bracket and the end part of the connecting rod are respectively and fixedly provided with a soil pushing block; the soil burying device is integrally and fixedly arranged on a baffle connected with the support main body frame through a connecting plate; the mechanical gripper consists of a rotary table, a first mechanical clamping jaw electric cylinder, a second mechanical clamping jaw electric cylinder, a connecting body, a first clamping jaw, a second clamping jaw and a clamping jaw driving electric cylinder, wherein the first mechanical clamping jaw electric cylinder is fixedly arranged on the rotary table, the second mechanical clamping jaw electric cylinder is fixedly arranged at the top of a telescopic rod of the first mechanical clamping jaw electric cylinder, and the top of a telescopic rod of the second mechanical clamping jaw electric cylinder is fixedly provided with the connecting body; a first clamping jaw is fixedly installed on the left side of the connecting body, and a clamping jaw driving electric cylinder is fixedly installed on the right side of the connecting body; the top of a telescopic rod of the clamping jaw driving electric cylinder is fixedly provided with a second clamping jaw; the whole mechanical gripper is fixedly arranged on the support main body frame through the rotary table; the four upright posts are fixedly arranged on the support main body frame, and the middle parts and the top parts of the upright posts are rotationally connected with the rotating shaft through a connecting body; the bottom end of the rotating shaft is rotatably connected with a boss on the support main body frame; chain wheels are respectively installed at the upper end and the lower end of each rotating shaft, a chain is installed on each layer of four chain wheels, clamping jaws are evenly installed on the upper layer of chains, and clamping jaws and trays are evenly installed on the lower layer of chains.
Furthermore, a water tank is fixedly arranged on the symmetrical side of the soil burying device.
The invention has the beneficial effects that:
1. the invention adopts the frame vehicle as the carrier of the automatic tree planting vehicle, can carry a certain number of saplings and is convenient for transporting the saplings.
2. Through addding the drilling machine, can replace the manpower with the machine and dig the tree pit.
3. By additionally arranging the mechanical clamping jaws, the saplings can be automatically grabbed and placed in the tree pits.
4. The soil burying device can automatically bury soil and compact the soil, and a watering pit is reserved.
Drawings
Fig. 1 and 2 are schematic overall structural diagrams of the present invention.
Fig. 3 is a schematic view of the structure of the drilling machine of the present invention.
Fig. 4 is a schematic structural view of the soil burying device of the present invention.
Fig. 5 is a structural view of the transportation device of the present invention.
Figure 6 is a schematic view of the mechanical jaw structure of the present invention.
Reference numerals: 1-drilling machine; 2-burying soil; 3-a conveying device; 4, mechanical gripping; 5-fixing the frame; 6-vehicle wheels; 7-a first electric cylinder of the drilling machine; 8-a second electric cylinder of the drilling machine; 9-drilling machine driving motor; 10-mounting a platform; 11-a drill bit; 12-a connecting plate; 13-a first electric cylinder of the soil burying device; 14-a second electric cylinder of the soil burying device; 15-a first scaffold; 16-connecting the lifting lug; 17-a third electric cylinder of the soil burying device; 18-a second scaffold; 19-a connecting rod; 20-pushing the soil blocks; 21-supporting the body frame; 22-upright post; 23-a rotating shaft; 24-a pallet; 25-a support frame; 26-a motor; 27-a clamping jaw; 28-a tray; 29-a chain; 30-a sprocket; 31-a turntable; 32-mechanical jaw first electric cylinder; 33-mechanical gripper second electric cylinder; 34-a linker; 35-a first jaw; 36-a second jaw; 37-gripper actuating electric cylinder.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Examples
As shown in figures 1, 2, 3, 4, 5 and 6, the automatic tree planting robot comprises a drilling machine 1, an earth burying device 2, a conveying device 3, a mechanical gripper 4, a fixed frame 5, wheels 6, a first electric cylinder 7 of the drilling machine, a second electric cylinder 8 of the drilling machine, a driving motor 9 of the drilling machine, a mounting table 10, a drill bit 11, a connecting plate 12, a first electric cylinder 13 of the earth burying device, a second electric cylinder 14 of the earth burying device, a first support 15, a connecting lug 16, a third electric cylinder 17 of the earth burying device, a second support 18, a connecting rod 19, a bulldozing block 20, a support body frame 21, a stand column 22, a rotating shaft 23, a support table 24, a support frame 25, a motor 26, a clamping jaw 27, a tray 28, a chain 29, a chain wheel 30, a rotary table 31, a first electric cylinder 32 of a mechanical clamping jaw, a second electric cylinder 33 of the mechanical clamping jaw, a connecting body 34, a first clamping jaw 35, a second clamping jaw 36 and a driving electric cylinder 37, wherein the clamping jaw 1 of the drilling machine is formed by the first electric cylinder 7 of the drilling machine, The drilling machine comprises a second electric cylinder 8 of the drilling machine, a driving motor 9 of the drilling machine, a mounting table 10 and a drill bit 11; the first electric cylinder 7 of the drilling machine is fixedly arranged on the fixed frame 5; the second electric cylinder 8 of the drilling machine is fixedly arranged at the top of the telescopic rod of the first electric cylinder 7 of the drilling machine; a mounting table 10 is fixedly mounted at the top of an expansion rod of a second electric cylinder 8 of the drilling machine; a drilling machine driving motor 9 is fixedly arranged inside the mounting table 10; the drill bit 11 is fixedly connected with an output shaft of the drilling machine driving motor 9; the soil embedding device 2 consists of a connecting plate 12, a first soil embedding device electric cylinder 13, a second soil embedding device electric cylinder 14, a first bracket 15, a connecting lifting lug 16, a third soil embedding device electric cylinder 17, a second bracket 18, a connecting rod 19 and a soil pushing block 20; the first electric cylinder 13 of the soil embedding device is fixedly arranged on the connecting plate 12, the second electric cylinder 14 of the soil embedding device is fixedly arranged at the top of the telescopic rod of the first electric cylinder 13 of the soil embedding device, and the first support 15 is fixedly arranged at the top of the telescopic rod of the second electric cylinder 14 of the soil embedding device; two sides of the first bracket 15 are respectively and fixedly provided with a connecting lifting lug 16, and the middle part of the first bracket 15 is fixedly connected with a second bracket 18; corresponding grooves are formed in two sides of the second support 18, and the grooves are rotatably connected with the connecting rods 19 through rotating shafts; two ends of a third electric cylinder 17 of the soil burying device are respectively and rotatably connected with a connecting lifting lug 16 and a connecting rod 19; the end parts of the second bracket 18 and the connecting rod 19 are respectively fixedly provided with a soil pushing block 20; the whole soil burying device 2 is fixedly arranged on a baffle connected with the support main body frame 21 through a connecting plate 12; the mechanical gripper 4 consists of a rotary table 31, a first mechanical clamping jaw electric cylinder 32, a second mechanical clamping jaw electric cylinder 33, a connecting body 34, a first clamping jaw 35, a second clamping jaw 36 and a clamping jaw driving electric cylinder 37, wherein the first mechanical clamping jaw electric cylinder 32 is fixedly arranged on the rotary table 31, the second mechanical clamping jaw electric cylinder 33 is fixedly arranged at the top of an expansion rod of the first mechanical clamping jaw electric cylinder 32, and the connecting body 34 is fixedly arranged at the top of the expansion rod of the second electric cylinder 33; a first clamping jaw 35 is fixedly arranged on the left side of the connecting body 34, and a clamping jaw driving electric cylinder 37 is fixedly arranged on the right side of the connecting body 34; the top of the telescopic rod of the clamping jaw driving electric cylinder 37 is fixedly provided with a second clamping jaw 36; the whole mechanical gripper 4 is fixedly arranged on the support main body frame 21 through the rotary table 31; four upright posts 22 are fixedly arranged on the supporting main body frame 21, and the middle and top end parts of the upright posts 22 are rotationally connected with the rotating shaft 23 through connecting bodies; the bottom end of the rotating shaft 23 is rotatably connected with a boss on the support main body frame 21; the upper end and the lower end of each rotating shaft 23 are respectively provided with a chain wheel 30, each layer of four chain wheels 30 is provided with a chain 29, the upper layer of chain 29 is uniformly provided with a clamping jaw 27, and the lower layer of chain 29 is uniformly provided with a clamping jaw 27 and a tray 28.
Furthermore, a water tank is fixedly arranged on the symmetrical side of the soil burying device 2.
The working principle of the invention is as follows: the invention realizes the integral movement through the wheel 6, after the tree seedling burying machine arrives at a designated place, the first electric cylinder 7 of the drilling machine sends a drill bit to a drilling part, the second electric cylinder 8 of the drilling machine and the driving motor 9 of the drilling machine start to drill, after the drilling is finished, the first electric cylinder 7 of the drilling machine and the second electric cylinder 8 of the drilling machine are retracted into the drilling machine 1, the motor 26 drives the rotating shaft 23 to rotate, so as to drive the chain wheel 30 on the rotating shaft 23 to rotate, the chain wheel 30 drives the chain 29 to move, so as to send the tree seedling placed on the clamping jaw to the designated position, the rotary table 31, the first electric cylinder 32 of the mechanical clamping jaw and the second electric cylinder 33 of the mechanical clamping jaw cooperate to adjust the mechanical gripper 4 to the proper position, the electric cylinder 37 of the clamping jaw drives the second clamping jaw 36 to grip the tree seedling, the tree seedling is sent to the dug tree pit by the cooperation of the rotary table 31, the first electric cylinder 32 of the mechanical clamping jaw and the second electric cylinder 33 of the mechanical clamping jaw, the first electric cylinder 13 of the soil burying device works to lower the soil burying device 2, the first electric cylinder 13, the second electric cylinder 14 and the third electric cylinder 17 of the soil burying device work cooperatively to drive the soil pushing block 20 to work, soil burying and compacting are carried out, and watering is carried out to complete the planting of the saplings.
Claims (2)
1. An automatic tree planting robot comprises a drilling machine (1), a soil burying device (2), a conveying device (3), a mechanical gripper (4), a fixed frame (5), wheels (6), a first electric cylinder (7) of the drilling machine, a second electric cylinder (8) of the drilling machine, a driving motor (9) of the drilling machine, a mounting table (10), a drill bit (11), a connecting plate (12), a first electric cylinder (13) of the soil burying device, a second electric cylinder (14) of the soil burying device, a first support (15), a connecting lifting lug (16), a third electric cylinder (17) of the soil burying device, a second support (18), a connecting rod (19), a soil shifting block (20), a support body frame (21), a stand column (22), a rotating shaft (23), a supporting table (24), a supporting frame (25), a motor (26), a clamping jaw (27), a tray (28), a chain (29), a chain wheel (30), a rotating table (31), a first electric cylinder (32) of a mechanical clamping jaw, Machinery clamping jaw second electric cylinder (33), connecting body (34), first clamping jaw (35), second clamping jaw (36), clamping jaw drive electric cylinder (37), its characterized in that: the drilling machine (1) consists of a first electric cylinder (7) of the drilling machine, a second electric cylinder (8) of the drilling machine, a driving motor (9) of the drilling machine, a mounting table (10) and a drill bit (11); a first electric cylinder (7) of the drilling machine is fixedly arranged on the fixed frame (5); the second electric cylinder (8) of the drilling machine is fixedly arranged at the top of the telescopic rod of the first electric cylinder (7) of the drilling machine; a mounting table (10) is fixedly mounted at the top of a telescopic rod of a second electric cylinder (8) of the drilling machine; a drilling machine driving motor (9) is fixedly arranged inside the mounting table (10); the drill bit (11) is fixedly connected with an output shaft of a driving motor (9) of the drilling machine; the soil embedding device (2) is composed of a connecting plate (12), a first soil embedding device electric cylinder (13), a second soil embedding device electric cylinder (14), a first support (15), a connecting lifting lug (16), a third soil embedding device electric cylinder (17), a second support (18), a connecting rod (19) and a soil pushing block (20); the first electric cylinder (13) of the soil embedding device is fixedly arranged on the connecting plate (12), the second electric cylinder (14) of the soil embedding device is fixedly arranged at the top of the telescopic rod of the first electric cylinder (13) of the soil embedding device, and the first support (15) is fixedly arranged at the top of the telescopic rod of the second electric cylinder (14) of the soil embedding device; two sides of the first bracket (15) are respectively and fixedly provided with a connecting lifting lug (16), and the middle part of the first bracket (15) is fixedly connected with the second bracket (18); corresponding grooves are formed in the two sides of the second support (18), and the grooves are rotatably connected with the connecting rod (19) through rotating shafts; two ends of a third electric cylinder (17) of the soil burying device are respectively and rotatably connected with a connecting lifting lug (16) and a connecting rod (19); the end parts of the second bracket (18) and the connecting rod (19) are respectively and fixedly provided with a soil pushing block (20), and the three soil pushing blocks (20) form a disc with a gap in the middle; the soil burying device (2) is integrally and fixedly arranged on a baffle plate connected with a support main body frame (21) through a connecting plate (12); the mechanical gripper (4) consists of a rotary table (31), a first mechanical clamping jaw electric cylinder (32), a second mechanical clamping jaw electric cylinder (33), a connecting body (34), a first clamping jaw (35), a second clamping jaw (36) and a clamping jaw driving electric cylinder (37), wherein the first mechanical clamping jaw electric cylinder (32) is fixedly installed on the rotary table (31), the second mechanical clamping jaw electric cylinder (33) is fixedly installed at the top of an expansion rod of the first mechanical clamping jaw electric cylinder (32), and the connecting body (34) is fixedly installed at the top of the expansion rod of the second electric cylinder (33); a first clamping jaw (35) is fixedly installed on the left side of the connecting body (34), and a clamping jaw driving electric cylinder (37) is fixedly installed on the right side of the connecting body (34); the top of the telescopic rod of the clamping jaw driving electric cylinder (37) is fixedly provided with a second clamping jaw (36); the mechanical gripper (4) is integrally and fixedly arranged on the support main body frame (21) through the rotary table (31); four upright posts (22) are fixedly arranged on the support main body frame (21), and the middle and top parts of the upright posts (22) are rotationally connected with the rotating shaft (23) through a connecting body; the bottom end of the rotating shaft (23) is rotatably connected with a boss on the support main body frame (21); the upper end and the lower end of each rotating shaft (23) are respectively provided with a chain wheel (30), each layer of four chain wheels (30) is provided with a chain (29), the upper layer of chain (29) is uniformly provided with a clamping jaw (27), and the lower layer of chain (29) is uniformly provided with a clamping jaw (27) and a tray (28);
the integral movement is realized through the wheels (6), after the tree seedling clamping device arrives at a specified place, a drill bit is conveyed to a drilling part through the first electric cylinder (7) of the drilling machine, the second electric cylinder (8) of the drilling machine and a driving motor (9) of the drilling machine start to drill, after the tree seedling clamping device finishes the drilling, the first electric cylinder (7) of the drilling machine and the second electric cylinder (8) of the drilling machine are retracted into the drilling machine (1), the motor (26) drives the rotating shaft (23) to rotate, the chain wheel (30) on the rotating shaft (23) is driven to rotate, the chain wheel (30) drives the chain (29) to move, the tree seedling placed on the clamping jaw is conveyed to a specified position, the rotary table (31), the first electric cylinder (32) of the mechanical clamping jaw and the second electric cylinder (33) of the mechanical clamping jaw cooperate to adjust the mechanical gripper (4) to a proper position, the electric cylinder (37) drives the second clamping jaw (36) to clamp the tree seedling, and the tree seedling is clamped by the rotary table (31), the first electric cylinder (32) of the mechanical clamping jaw gripper and the mechanical gripper, The mechanical clamping jaw second electric cylinder (33) works in a cooperative mode to convey the saplings to the dug tree pits, the soil burying device first electric cylinder (13) works to lower the soil burying device (2), the soil burying device first electric cylinder (13), the soil burying device second electric cylinder (14) and the soil burying device third electric cylinder (17) work in a cooperative mode to drive the soil pushing block (20) to work, soil burying compaction is carried out, watering is carried out, and the saplings are planted.
2. The automatic tree planting robot of claim 1, wherein: a water tank is fixedly arranged on the symmetrical side of the soil burying device (2).
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 |
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| CN109197492A CN109197492A (en) | 2019-01-15 |
| CN109197492B true CN109197492B (en) | 2021-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811133018.3A Active CN109197492B (en) | 2018-09-27 | 2018-09-27 | Automatic tree planting robot |
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| CN (1) | CN109197492B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CZ202021A3 (en) * | 2020-01-14 | 2021-08-18 | Veronika Staňková | Growing processor for afforestation |
| CN112056171B (en) * | 2020-09-21 | 2021-12-07 | 淮北悯农生物科技有限公司 | Garden seedling planting method |
| CN112243655B (en) * | 2020-10-21 | 2022-02-18 | 高淑兰 | Unmanned automatic transplanting equipment for ecological restoration slope greening and transplanting method thereof |
| CN113940249B (en) * | 2021-10-18 | 2022-10-04 | 南华大学 | Tree planting robot |
| CN113940250B (en) * | 2021-10-18 | 2022-08-16 | 南华大学 | Full-process automatic tree planting method |
| CN115152570B (en) * | 2022-06-01 | 2023-05-12 | 四川大学 | Detachable and foldable multifunctional integrated tree planting device |
| CN114946580A (en) * | 2022-06-22 | 2022-08-30 | 索章桥 | Wisdom agricultural fruit tree planter |
| 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 |
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| CN104396694A (en) * | 2014-11-27 | 2015-03-11 | 重庆渝西园林集团有限公司 | Tree transplanting device |
| CN204518715U (en) * | 2015-04-10 | 2015-08-05 | 长江大学 | Native integrated device is closed in a kind of ornamental trees and shrubs plantation system hole |
| CN205105862U (en) * | 2015-11-16 | 2016-03-30 | 宋俊山 | Be used for extensive automatic planting machine of artificial forest |
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| Publication number | Publication date |
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| CN109197492A (en) | 2019-01-15 |
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