CN110050566A - A kind of pulling mechanism of radish harvesting robot - Google Patents
A kind of pulling mechanism of radish harvesting robot Download PDFInfo
- Publication number
- CN110050566A CN110050566A CN201910326563.2A CN201910326563A CN110050566A CN 110050566 A CN110050566 A CN 110050566A CN 201910326563 A CN201910326563 A CN 201910326563A CN 110050566 A CN110050566 A CN 110050566A
- Authority
- CN
- China
- Prior art keywords
- choosing
- forearm
- execution
- large arm
- actuator
- 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
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D25/00—Lifters for beet or like crops
- A01D25/02—Machines with rigid tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D25/00—Lifters for beet or like crops
- A01D25/04—Machines with moving or rotating tools
- A01D25/042—Machines with moving or rotating tools with driven tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Root Crops (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of radish harvesting robot, including robot body and pulling mechanism, in robot body lower end, the pulling mechanism includes two arms of choosing, actuator of choosing corresponding with arm of choosing, and fixed frame of choosing for the pulling mechanism setting；The arm of choosing includes large arm and forearm, large arm is set in outside forearm, large arm is equipped with the forearm driving motor for driving forearm to move up and down, and the actuator of choosing is connect with forearm lower end of choosing, and the opposite side of two arms of choosing is separately connected driven wheel of choosing by ball screw of choosing.The movement that will choose carries out independent design, and the movement on both horizontally and vertically may be implemented, and controls more flexible accurate, choose dynamics and position not only can be dynamically adjusted during choosing, a variety of modes of choosing can also be converted, so that breakage rate and leakage yield are lower, effect of choosing is more preferable.
Description
Technical field
The present invention relates to Agricultural Machinery Equipment fields, and in particular to a kind of radish harvesting robot.
Background technique
Radish harvesting robot is rarer at home, and existing radish harvest machinery mostly uses excavation mode to carry out radish
Harvest, the mode of excavation need that equipment acting is more, energy consumption is higher, and complete machine is heavier, has destruction to soil texture, if positioning
Inaccurate or excavating depth is inadequate, can usually dig disconnected radish and cause defect ware, form the wasting of resources, on the other hand, if excavated
Depth down, can further increased power dissipation and main screw lift, moreover, existing harvest machinery is due to using excavation mode, substantially all
It will choose and combine together with transmission mechanism, to be difficult respectively to choosing and transmission movement carries out independent control, and then significantly
The flexibility and adaptive capacity to environment to equipment control are reduced, harvest effect is bad.
Summary of the invention
In order to solve the problems in technical background, the invention discloses a kind of radish harvesting robots, using the side chosen
Formula harvests radish, and main screw lift is light, does not influence soil texture, and flexibly, precisely, mode of choosing is flexible and changeable for control, breaks
Loss rate is low with leakage yield, strong environmental adaptability, and effect of choosing is good.
For this purpose, the invention discloses a kind of radish harvesting robot, including robot body and pulling mechanism, it is described to choose
Mechanism setting is in robot body lower end, and the pulling mechanism includes two arms of choosing, actuator of choosing corresponding with arm of choosing,
And fixed frame of choosing；The arm of choosing includes large arm and forearm, and large arm is set in outside forearm, and large arm is equipped with small for driving
The forearm driving motor that arm moves up and down, the actuator of choosing are connect with forearm lower end of choosing, and the large arm is slidably arranged
Among the fixed frame of choosing, the fixed frame both ends of choosing are respectively equipped with driving motor of choosing, the driving motor of choosing
Axle sleeve be equipped with and choose driving wheel, the driving motor lower end of choosing is equipped with driven wheel of choosing, and described choose and is chosen at driving wheel
Transmission belt of choosing is arranged on driven wheel, and the opposite side of two arms of choosing is separately connected by ball screw of choosing and is chosen
Driven wheel.
In the present invention, operation of choosing is carried out to radish by choosing actuator, execution can also be passed through while choosing
The positive and negative rotation of transmission belt and transmission belt of choosing can realize that radish is clamped the front and back at position and moves left and right, specifically respectively
, the rotation for transmission belt of choosing drives the rotation for driven wheel of choosing, since driven wheel internal sleeve of choosing is equipped with ball wire of choosing
Bar, so, when ball screw left-right position of choosing is fixed and rotated, moving left and right for screw rod can be realized, to drive big
Arm moves left and right.Further, in the present invention, by the rotation for transmission belt of choosing, the effect control for ball screw of choosing is driven
The relative motion for making two large arm can realize clamping and release since two large arm are using independent driving mechanism
Movement and two large arm to the left or move right simultaneously, execute the positive and negative rotation of transmission belt, can directly be pressed from both sides radish
It holds position to be moved forward and backward, then since forearm driving motor is to drive moving up and down for forearm, and large arm is set in forearm
Outside, so, forearm can shrink or stretch down upwards relative to large arm.
The actuator of choosing includes actuator bracket, performer motor and execution transmission clamping device, the actuator
Pedestal upper end is connect with forearm, and lower end is connect with transmission clamping device is executed, and the actuator bracket lower end is equipped with actuating motor,
The axis connection of the actuating motor has turbine and worm, and turbine and worm is fixed on front side of actuator bracket；The execution transmission clamping
Device includes executing driving wheel and executing driven wheel, and the execution driving wheel is respectively equipped with execution with driven wheel upper and lower ends are executed
It is arranged with execution transmission belt on upper backup pad and execution lower supporting plate, the execution driving wheel and execution driven wheel, it is described to hold
Inner side is additionally provided with rotatable top pillar between row driving wheel and execution driven wheel, and the execution transmission belt is arranged in top pillar
Outside, the lower end of turbine and worm are connect with driving wheel is executed.
Actuator of choosing is specific executable unit when choosing radish, by between two actuators of choosing to radish leaf into
Row clamping, since actuator of choosing has certain tilt angle, it is low early and high after to execute transmission belt, is rotated from front to back at it
While, it can produce movement rearwardly and upwardly, to transmit after realizing the promotion vertically upward and horizontal direction of radish, in turn
Radish is extracted and is transmitted to the front end of transmission mechanism.In addition, the actuator that can will choose clamps for tighter soil
Radish meat body, while rocking back and forth to loosen soil, to easily extract.
Furthermore the design of top pillar is to execute transmission belt in order to prevent to loosen and retaining part stress is reduced, and is increased
Top pillar can guarantee transmission belt during rotation, with the contact site of radish can keep tense situation.
The fixed frame of choosing is equipped with the sliding rail of choosing for being layed in large arm front and rear sides respectively, sets on the sliding rail of choosing
It chooses sliding block, fixed block of choosing is fixed on the sliding block of choosing, the fixed block of choosing is fixed with large arm.
In turn, in order to enable large arm and being mounted on the structure of large arm lower end and can flexibly be moved on fixed frame choosing, if
Choose sliding rail and sliding block of choosing, fixed fixed block of choosing on sliding block of choosing are set, fixed block of choosing is fixed with large arm, can be driven
Large arm is slided along slide direction.
The large arm is surrounded by several bearings.
Since large arm is set in outside forearm, radish meat body or leaf are clamped energetically in the execution transmission belt of actuator
When, forearm can squeeze large arm energetically, thus, when forearm will be slided up and down with respect to large arm, frictional force can be increased, therefore,
Several bearings are devised to reduce the frictional force between large arm and forearm, are more advantageous to the stretching motion up and down of forearm.
The actuator bracket is low early and high after structure so that actuator front end of choosing is low from the ground and rear end from the ground
It is high.
Low early and high after structure is set by actuator bracket, the front and back for executing transmission belt transmission can be allowed to be decomposed into water
Flat movement backward and vertically upward, so that being lifted up and transmitting backward for radish is realized simultaneously, it is also possible that after choosing
Radish and transmission mechanism between realize smooth connection.
The beneficial effects of the present invention are: radish harvesting robot disclosed in this invention, the movement that will choose carries out independent real
It is existing, the movement on both horizontally and vertically may be implemented, control is more flexible precisely, not only can dynamically adjust during choosing
Whole choose dynamics and position, can also convert a variety of modes of choosing, and adaptive capacity to environment is stronger, and breakage rate and leakage yield are lower,
Effect of choosing is more preferable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of pulling mechanism of the invention；
Fig. 2 is the structural schematic diagram of another angle of pulling mechanism of the invention；
Fig. 3 is the structural schematic diagram of radish harvesting robot of the invention；
Wherein, large arm 1, forearm 2, actuator upper backup pad 3, execution driven wheel 4, execution lower supporting plate 5, actuating motor 6, execution
Device bracket 7 executes driving wheel 8, turbine and worm 9, fixed block 10 of choosing, sliding block 11 of choosing, sliding rail 12 of choosing, fixed frame of choosing
13, it chooses driving wheel 14, driving motor 15 of choosing, transmission belt 16 of choosing, driven wheel 17 of choosing, ball screw 18 of choosing, small
Arm driving motor 19, top pillar 20.
Specific embodiment
In conjunction with Fig. 1, Fig. 2 and Fig. 3, a kind of radish harvesting robot that the present invention is announced, including robot body and pull out
Mechanism is taken, the pulling mechanism setting is in robot body lower end, and the pulling mechanism includes two arms of choosing, with arm pair of choosing
The actuator of choosing answered, and fixed frame 13 of choosing；The arm of choosing includes large arm 1 and forearm 2, and large arm 1 is set in forearm 2
Outside, large arm 1 is equipped with 2 driving motor of forearm for driving forearm 2 to move up and down, actuator and the forearm 2 of choosing of choosing
Lower end connection, the large arm 1 are slidably arranged among the fixed frame 13 of choosing, and 13 both ends of fixed frame of choosing are set respectively
It chooses driving motor 15, the axle sleeve of the driving motor 15 of choosing is equipped with driving wheel 14 of choosing, the driving motor 15 of choosing
Lower end is equipped with driven wheel 17 of choosing, and is arranged with transmission belt 16 of choosing on choose driving wheel 14 and the driven wheel 17 of choosing, and
The opposite side of two arms of choosing is separately connected driven wheel 17 of choosing by ball screw 18 of choosing.
In the present invention, operation of choosing is carried out to radish by choosing actuator, execution can also be passed through while choosing
The positive and negative rotation of transmission belt and transmission belt 16 of choosing can realize that radish is clamped the front and back at position and moves left and right respectively, have
Body, the rotation for transmission belt 16 of choosing drives the rotation for driven wheel 17 of choosing, and pulls out since 17 internal sleeve of driven wheel of choosing is equipped with
Ball screw 18 is taken, so, when 18 left-right position of ball screw of choosing is fixed and rotated, the left and right that screw rod can be realized is moved
It is dynamic, to drive moving left and right for large arm 1.The effect for shaking radish can be played, in turn, in the present invention, passes through transmission of choosing
The rotation of belt 16 drives the relative motion of effect two large arm 1 of control for ball screw 18 of choosing, since two large arm 1 are adopted
It is independent driving mechanism, therefore can realizes clamping and release movement and two large arm 1 while transport to the left or to the right
It is dynamic, the positive and negative rotation of transmission belt is executed, radish directly can be clamped position and be moved forward and backward, then since forearm 2 drives
Motor is to drive moving up and down for forearm 2, and large arm 1 is set in outside forearm 2, so, forearm 2 can be upward relative to large arm 1
It shrinks or stretches down.
The actuator of choosing includes actuator bracket 7, performer motor 6 and execution transmission clamping device, the execution
7 upper end of device bracket is connect with forearm 2, and lower end is connect with transmission clamping device is executed, and 7 lower end of actuator bracket is equipped with and executes
Motor 6, the axis connection of the actuating motor 6 have turbine and worm 9, and turbine and worm 9 is fixed on 7 front side of actuator bracket；It is described to hold
Row transmission clamping device is including executing driving wheel 8 and executing driven wheel 4, the execution driving wheel 8 and execution driven wheel about 4 two
It holds to be respectively equipped with and executes upper backup pad 3 and execute lower supporting plate 5, be arranged with and hold on the execution driving wheel 8 and execution driven wheel 4
Row transmission belt, inner side is additionally provided with rotatable top pillar 20 between the execution driving wheel 8 and execution driven wheel 4, described
Transmission belt setting is executed in 20 outside of top pillar, the lower end of turbine and worm 9 is connect with driving wheel 8 is executed.
Actuator of choosing is specific executable unit when choosing radish, by between two actuators of choosing to radish leaf into
Row clamping, since actuator of choosing has certain tilt angle, it is low early and high after to execute transmission belt, is rotated from front to back at it
While, it can produce movement rearwardly and upwardly, to transmit after realizing the promotion vertically upward and horizontal direction of radish, in turn
Radish is extracted and is transmitted to the front end of transmission mechanism.In addition, the actuator that can will choose clamps for tighter soil
Radish meat body, while rocking back and forth to loosen soil, to easily extract.
Furthermore the design of top pillar 20 is to execute transmission belt in order to prevent to loosen and retaining part stress is reduced, and is increased
Add top pillar 20 that can guarantee transmission belt during rotation, tense situation can be kept with the contact site of radish.
The fixed frame 13 of choosing is equipped with the sliding rail 12 of choosing for being layed in 1 front and rear sides of large arm respectively, the cunning of choosing
Rail 12 is equipped with and chooses sliding block 11, is fixed with fixed block 10 of choosing on the sliding block 11 of choosing, the fixed block 10 and big of choosing
Arm 1 is fixed.
In turn, in order to enable large arm 1 and being mounted on the structure of 1 lower end of large arm and can flexibly be moved on fixed frame 13 choosing
It is dynamic, provided with sliding rail 12 and the sliding block 11 of choosing of choosing, fixed fixed block 10 of choosing on sliding block 11 of choosing, the fixed block 10 and big of choosing
Arm 1 is fixed, and large arm 1 can be driven to slide along slide direction.
The large arm 1 is surrounded by several bearings.
Since large arm 1 is set in outside forearm 2, radish meat body or leaf are clamped energetically in the execution transmission belt of actuator
The period of the day from 11 p.m. to 1 a.m, forearm 2 is understood squeezes large arm 1 energetically, thus, when forearm 2 will be slided up and down with respect to large arm 1, frictional force can be increased,
Therefore, several bearings are devised to reduce the frictional force between large arm 1 and forearm 2, are more advantageous to the upper and lower flexible fortune of forearm 2
It is dynamic.
The actuator bracket 7 is low early and high after structure, so that choosing that actuator front end is low from the ground and rear end is liftoff
Face is high.
Set low early and high after structure for actuator bracket 7, can allow choose transmission belt 16 front and back transmission decompose
For movement after horizontal direction and vertically upward, so that being lifted up and transmitting backward for radish is realized simultaneously, it is also possible that pulling out
Smooth connection is realized between radish and transmission mechanism after taking.
The advantages of basic principles and main features and this case of this case have been shown and described above.The technical staff of the industry
It should be appreciated that this case is not restricted to the described embodiments, the above embodiments and description only describe the originals of this case
Reason, under the premise of not departing from this case spirit and scope, this case be will also have various changes and improvements, these changes and improvements are all fallen
Enter within the scope of claimed this case.This case is claimed range and is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of radish harvesting robot, including robot body and pulling mechanism, which is characterized in that the pulling mechanism setting
In robot body lower end, the pulling mechanism includes two arms of choosing, actuator of choosing corresponding with arm of choosing, and chooses
Fixed frame；The arm of choosing includes large arm and forearm, and large arm is set in outside forearm, and large arm is equipped with for driving forearm movement
Forearm driving motor, the actuator of choosing are connect with forearm lower end of choosing, and described choose admittedly is slidably arranged in the large arm
Determine among frame, the fixed frame both ends of choosing are respectively equipped with driving motor of choosing, and the axle sleeve of the driving motor of choosing, which is equipped with, to be pulled out
Driving wheel is taken, the driving motor lower end of choosing is equipped with driven wheel of choosing, is arranged on choose driving wheel and the driven wheel of choosing
It chooses transmission belt, and the opposite side of two arms of choosing is separately connected driven wheel of choosing by ball screw of choosing.
2. a kind of radish harvesting robot according to claim 1, which is characterized in that the actuator of choosing includes executing
Device bracket, performer motor and execute transmission clamping device, the actuator bracket upper end connect with forearm, lower end with execute biography
Defeated clamping device connection, the actuator bracket lower end are equipped with actuating motor, and the axis connection of the actuating motor has turbine and worm,
Turbine and worm is fixed on front side of actuator bracket；The execution transmission clamping device includes executing driving wheel and execution driven wheel,
The execution driving wheel and execution driven wheel upper and lower ends, which are respectively equipped with, executes upper backup pad and execution lower supporting plate, the execution
Execution transmission belt, inner side between the execution driving wheel and execution driven wheel are arranged on driving wheel and execution driven wheel
It is additionally provided with rotatable top pillar, the execution transmission belt is arranged on the outside of top pillar, the lower end of turbine and worm and execution driving wheel
Connection.
3. a kind of radish harvesting robot according to claim 2, which is characterized in that the fixed frame of choosing, which is equipped with, to be divided
It is not layed in the sliding rail of choosing of large arm front and rear sides, the sliding rail of choosing is equipped with sliding block of choosing, fixes on the sliding block of choosing
It chooses fixed block, the fixed block of choosing is fixed with large arm.
4. a kind of radish harvesting robot according to claim 1 to 3, which is characterized in that the large arm is surrounded by
If dry bearing.
5. according to a kind of any radish harvesting robot of claim 2-3, which is characterized in that the actuator bracket is
Low early and high after structure, so that choosing that actuator front end is low from the ground and rear end is high from the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326563.2A CN110050566B (en) | 2019-04-23 | 2019-04-23 | Pulling mechanism of radish harvesting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326563.2A CN110050566B (en) | 2019-04-23 | 2019-04-23 | Pulling mechanism of radish harvesting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110050566A true CN110050566A (en) | 2019-07-26 |
| CN110050566B CN110050566B (en) | 2022-01-18 |
Family
ID=67320204
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910326563.2A Active CN110050566B (en) | 2019-04-23 | 2019-04-23 | Pulling mechanism of radish harvesting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110050566B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111771509A (en) * | 2020-06-22 | 2020-10-16 | 邓司鹏 | Auxiliary pulling-up device for garlic |
| US20200400518A1 (en) * | 2019-06-17 | 2020-12-24 | Colorado State University Research Foundation | Device for automated crop root sampling |
| CN112136539A (en) * | 2020-08-24 | 2020-12-29 | 北京农业智能装备技术研究中心 | Fruit and vegetable pruning and leaf beating actuator and pruning robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB900029A (en) * | 1960-07-08 | 1962-07-04 | James Milne Bruce | Improvements in root-crop harvesters |
| CN203086983U (en) * | 2013-02-05 | 2013-07-31 | 朱洪雷 | Garlic combined harvester |
| CN103931335A (en) * | 2014-04-10 | 2014-07-23 | 山东理工大学 | Carrot clamping, digging, soil patting and leaf cutting harvester |
| CN205196308U (en) * | 2015-10-21 | 2016-05-04 | 鲁东明 | Machine for harvesting big ginger |
| CN106426120A (en) * | 2016-11-22 | 2017-02-22 | 大连交通大学 | Heavy loading gantry type robot |
| CN108925200A (en) * | 2018-06-28 | 2018-12-04 | 合肥静美图文科技有限公司 | A kind of crops automatic collection collecting device |
| CN109601104A (en) * | 2018-10-26 | 2019-04-12 | 蔡亲军 | A kind of agricultural carrot stripper unit |
-
2019
- 2019-04-23 CN CN201910326563.2A patent/CN110050566B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB900029A (en) * | 1960-07-08 | 1962-07-04 | James Milne Bruce | Improvements in root-crop harvesters |
| CN203086983U (en) * | 2013-02-05 | 2013-07-31 | 朱洪雷 | Garlic combined harvester |
| CN103931335A (en) * | 2014-04-10 | 2014-07-23 | 山东理工大学 | Carrot clamping, digging, soil patting and leaf cutting harvester |
| CN205196308U (en) * | 2015-10-21 | 2016-05-04 | 鲁东明 | Machine for harvesting big ginger |
| CN106426120A (en) * | 2016-11-22 | 2017-02-22 | 大连交通大学 | Heavy loading gantry type robot |
| CN108925200A (en) * | 2018-06-28 | 2018-12-04 | 合肥静美图文科技有限公司 | A kind of crops automatic collection collecting device |
| CN109601104A (en) * | 2018-10-26 | 2019-04-12 | 蔡亲军 | A kind of agricultural carrot stripper unit |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200400518A1 (en) * | 2019-06-17 | 2020-12-24 | Colorado State University Research Foundation | Device for automated crop root sampling |
| US11703404B2 (en) * | 2019-06-17 | 2023-07-18 | Colorado State University Research Foundation | Device for automated crop root sampling |
| CN111771509A (en) * | 2020-06-22 | 2020-10-16 | 邓司鹏 | Auxiliary pulling-up device for garlic |
| CN111771509B (en) * | 2020-06-22 | 2022-08-09 | 邓司鹏 | Auxiliary pulling-up device for garlic |
| CN112136539A (en) * | 2020-08-24 | 2020-12-29 | 北京农业智能装备技术研究中心 | Fruit and vegetable pruning and leaf beating actuator and pruning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110050566B (en) | 2022-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110050566A (en) | A kind of pulling mechanism of radish harvesting robot | |
| CN201467711U (en) | Vibrating type fruit tree harvester | |
| CN103039199B (en) | Portable walnut picker | |
| WO2017118344A1 (en) | High-speed transplanting mechanism having laterally openable/closable duckbill | |
| CN208258456U (en) | A kind of apple picking | |
| CN111656943B (en) | Arm type pulling actuator for radish harvesting robot | |
| CN208191392U (en) | A kind of apple-picking machinery hand is flexible and luffing mechanism | |
| CN102282943B (en) | Turnover pneumatic seedling taking device | |
| CN107751124B (en) | Robot for excavating and picking conch | |
| CN207836108U (en) | Four-bar linkage of electric agricultural operation machine | |
| CN103416161A (en) | Actuating mechanism for tea-oil camellia fruit picking robot | |
| CN116021544A (en) | Bionic crab robot | |
| CN112840862B (en) | Picking robot suitable for picking various fruits and picking method thereof | |
| CN209017494U (en) | A kind of electronic plant lifter of sweet cherry dwarfing stock seedling | |
| CN103409955A (en) | Computerized embroidery machine automatic baseline replacing apparatus | |
| CN110959384B (en) | Double-vibration picking machine and double-vibration picking method | |
| CN107877491A (en) | Mechanical exoskeleton | |
| CN208317478U (en) | A kind of small intelligent fruit picking machine | |
| CN102668806A (en) | Manual-automatic integrated hydraulic stepless speed regulation actuating mechanism of combine harvester | |
| CN104170549B (en) | Garden supervisor power control unit | |
| CN203984901U (en) | Garden supervisor power control unit | |
| CN214708859U (en) | Potato picking mechanical arm | |
| CN107306594B (en) | Three/four-degree-of-freedom variable singular position hybrid driving sugarcane collecting device | |
| CN202603215U (en) | Manual-automatic combined type hydraulic stepless speed regulating actuating mechanism of combine harvester | |
| CN221228258U (en) | Deviation correcting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |