CN110405785A - Six axis trimming machine cuts people of one kind and working method - Google Patents
Six axis trimming machine cuts people of one kind and working method Download PDFInfo
- Publication number
- CN110405785A CN110405785A CN201910694669.8A CN201910694669A CN110405785A CN 110405785 A CN110405785 A CN 110405785A CN 201910694669 A CN201910694669 A CN 201910694669A CN 110405785 A CN110405785 A CN 110405785A
- Authority
- CN
- China
- Prior art keywords
- machine cuts
- trimming machine
- chassis
- cuts people
- controller
- 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
- 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
-
- 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
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Toys (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a kind of six axis trimming machine cuts people and working methods, six axis trimming machine cuts people of one kind include: robot under(-)chassis, the controller being located on robot under(-)chassis, the walking mechanism being located on under(-)chassis, the support rotary mechanism being located on under(-)chassis, and it is mounted on the pruning mechanism of support rotary mechanism one end；It is additionally provided with photographic device and sensor device at the top of the support rotary mechanism, the photographic device and sensing equipment are electrically connected controller, are equipped with wireless transport module in the controller.Controller obtains the landform and trimming path in gardens by control host in the present invention, and control the linkage that walking mechanism and support rotary mechanism drive knife assembly to realize displacement and mechanical movement, to reach the control to trimming path and moulding, meet the trimming of multiple angles bushes.
Description
Technical field
The invention belongs to robot device field, especially a kind of six axis trimming machine cuts people and working method.
Background technique
In modern garden, bushes are essential landscapes in afforestation, and existing trimmer can only be to bushes
Top or side trimmed, can not in cut-back angles and trimming path still using based on artificial trimming.
Summary of the invention
Goal of the invention: providing a kind of six axis trimming machine cuts people and working method, to solve of the existing technology above-mentioned ask
Topic.
A kind of technical solution: six axis trimming machine cuts people characterized by comprising robot under(-)chassis is located at robot
Controller on under(-)chassis, the walking mechanism being located on under(-)chassis, the support rotary mechanism being located on under(-)chassis, and
It is mounted on the pruning mechanism of support rotary mechanism one end；
The support rotary mechanism includes the pedestal being fixedly connected on under(-)chassis, the first rotation being fixedly mounted on pedestal
Mechanism is fixedly connected with the second rotating mechanism of the first rotating mechanism, the first linking arm being sequentially connected on the second rotating mechanism, if
Third rotating mechanism on the first linking arm, and the second linking arm being hinged on third rotating mechanism.
In a further embodiment, the pruning mechanism includes: one end supporting mechanism for being connected to the second linking arm, Gu
Dingan County is mounted in the transmission motor of supporting mechanism side, and the transmission mechanism of transmission connection transmission motor is connected to transmission mechanism one end
Knife assembly.
In a further embodiment, the side of the knife assembly is fixedly connected with support machine by limiting connection rod set
Structure, the limit connection rod set includes: the support rod for being fixedly connected with knife assembly and supporting mechanism, the L being fixed on support rod
Type connecting rod, is socketed in the connection ring at L-type connecting rod both ends, first gag lever post of the external member in one group of connection ring, and hinged
The other end of the second gag lever post on the first gag lever post, second gag lever post is fixedly welded the bottom of knife assembly；Institute
The side rotation connection third gag lever post of L-type connecting rod is stated, the other end connection cutting blade assembly of the third gag lever post
It is intermediate.
In a further embodiment, the transmission mechanism includes: the shaft of connection transmission motor, is socketed in shaft
First driving wheel, the synchronous belt being socketed on the first driving wheel, the second driving wheel being socketed on the inside of synchronous belt, and fixed company
The kinematic link in the second driving wheel side is connect, the other end of the kinematic link is fixedly connected on the bottom of knife assembly.
In a further embodiment, the knife assembly includes: the seat that is connected and fixed for being located at cutter both ends, and
The tooth socket type set of blades being connected among fixing seat；The fixed connecting base of described separate support rod one end, which is equipped with, collapses plate.
In a further embodiment, it is additionally provided with photographic device and sensor device at the top of the support rotary mechanism, institute
It states photographic device and sensing equipment is electrically connected controller, be equipped with wireless transport module in the controller.
In a further embodiment, the walking mechanism includes three walkings being connected on robot under(-)chassis
Wheel, is equipped with battery in the robot under(-)chassis, and the battery is electrically connected the driving motor of traveling wheel of being sequentially connected；It is described
The side of battery is equipped with solar charging panel.
In a further embodiment, include the following steps:
S1, drawn by CAD software trimming machine cuts people closed curve walking path, and graphics path is handled, together
When calculate displacement and wheel steering angle etc. needed for trolley in figure, so that figure is converted to data command, pass through control host hair
It send to trimming machine cuts people's controller；
After S2, trimming machine cuts people's controller receive data, the revolving speed and corner of car wheel are controlled by software programming, and are pressed
Advance according to path scheduled in figure；
S3, controller trim data by radio transceiver, and photographic device images bushes, the filling to height is exceeded
The wooden Cong Jinhang trimming, makes bushes be trimmed to unified height or width；
S4, trimming machine cuts people are equipped with sensor device, and the sensor device is that ultrasonic sensor can walk and trim
Play the role of ranging avoidance in the process, while can also drive the toy in bushes.
The utility model has the advantages that the present invention is compared to the prior art, controller obtains the landform and trimming in gardens by control host
Path, and the linkage that walking mechanism and support rotary mechanism drive knife assembly to realize displacement and mechanical movement is controlled, meet
The trimming of multiple angles bushes.
Detailed description of the invention
Fig. 1 is the perspective view of trimming machine cuts people of the present invention.
Fig. 2 is the front view of support rotary mechanism of the present invention.
Fig. 3 is the front view of knife assembly of the present invention.
Fig. 4 is the partial enlarged view of A point in Fig. 3.
Fig. 5 is the side view of knife assembly in the present invention.
Appended drawing reference are as follows: robot under(-)chassis 1, walking mechanism 2, traveling wheel 20, equalizer bar 21, support rotary mechanism 3,
Pedestal 30, the first rotating mechanism 31, the second rotating mechanism 32, the first linking arm 33, third rotating mechanism 34, the second linking arm
35, first servo motor 36, the second servo motor 37, third servo motor 38, pruning mechanism 4, supporting mechanism 40, transmission motor
41, transmission mechanism 42, the first driving wheel 420, the second driving wheel 421, kinematic link 422, knife assembly 43, fixing seat 430,
Tooth socket type set of blades 431 collapses plate 432, limit connection rod set 44, support rod 440, L-type connecting rod 441, connection ring 442, first
Gag lever post 443, the second gag lever post 444, third gag lever post 445, photographic device 5, sun charging panel 6.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
Work in gardens middle trimmer can only top to bushes or side trim, but garden shrub species clump is made
Traditional artificial trimming is still used in type trimming, the present invention increases on the basis of existing technology can drive cutter realization more
The mobile support rotary mechanism in a direction can be used to trim the various dimensions direction of shrub or thick grass, reduce prune picker's work
It measures, reduces garden management maintenance cost
Six axis trimming machine cuts people of one kind as shown in Figure 1 includes: robot under(-)chassis 1, walking mechanism 2, traveling wheel 20, balance
Beam 21, support rotary mechanism 3, pedestal 30, the first rotating mechanism 31, the second rotating mechanism 32, the first linking arm 33, third rotation
Mechanism 34, the second linking arm 35, first servo motor 36, the second servo motor 37, third servo motor 38, pruning mechanism 4, branch
Support mechanism 40, transmission motor 41, transmission mechanism 42, the first driving wheel 420, the second driving wheel 421, kinematic link 422, cutter
Component 43, tooth socket type set of blades 431, collapses plate 432, limit connection rod set 44, support rod 440, L-type connecting rod at fixing seat 430
441, connection ring 442, the first gag lever post 443, the second gag lever post 444, third gag lever post 445, photographic device 5 and solar recharging
Plate 6.
Wherein, robot under(-)chassis 1 is made of steel material, is hollow structure, under(-)chassis inside under(-)chassis 1
1 both sides external is equipped with walking mechanism 2, and the inside of hollow structure is equipped with 2 driving motor of controller battery and walking mechanism,
Controller is electrically connected driving motor, and the external side of under(-)chassis 1 is fixedly installed with solar charging panel 6, the top of under(-)chassis 1
Portion is fixed with support rotary mechanism 3, and one end of support rotary mechanism 3 connects pruning mechanism 4, and support rotary mechanism 3 has three
A rotating mechanism driven by servo motor can realize more than 4 axial mechanical movements of pruning mechanism.
Support rotary mechanism 3 as shown in Figure 2 includes: the pedestal 30 being fixedly connected on under(-)chassis 1, is fixedly mounted on
The first rotating mechanism 31 on pedestal 30 is fixedly connected with the second rotating mechanism 32 of the first rotating mechanism 31, transmission connection second
The first linking arm 33 on rotating mechanism 32, the third rotating mechanism 34 being located on the first linking arm 33, and it is hinged on third
The second linking arm 35 on rotating mechanism 34；First servo motor 36, the first servo electricity are equipped in first rotating mechanism 31
Machine 36 drives the second rotating shaft mechanism to carry out 0-360 ° of angular turn, is equipped with the second servo motor 37 in the second rotating mechanism 32, into
And the first linking arm 33 is driven to carry out rotation in 0-360 ° of field angle around the second rotating mechanism 32；In third rotating mechanism 34
Equipped with third servo motor 38, third servo motor 38 drives the second linking arm 35 to surround 0-360 ° of model of third rotating mechanism in turn
Enclose rotation in angle.The model SD100-3A of the servo motor
Pruning mechanism 4 as shown in Figures 3 to 5 includes: one end supporting mechanism 40 for being connected to the second linking arm 35, is fixedly mounted
Transmission motor 41 in 40 side of supporting mechanism, the transmission mechanism 42 of transmission connection transmission motor 41, and it is connected to driver
The knife assembly 43 of 42 one end of structure；Being driven motor 41 drives transmission mechanism 42 to rotate, and then transmission mechanism 42 drives cutter
Component 43 is rotated around supporting mechanism 40.
Transmission mechanism 42 includes: the shaft of connection transmission motor 41, the first driving wheel 420 being socketed in shaft, socket
Synchronous belt on the first driving wheel 420, the second driving wheel 421 being socketed on the inside of synchronous belt, and it is fixedly connected on second
The other end of the kinematic link 422 of 421 side of driving wheel, the kinematic link 422 is fixedly connected on the bottom of knife assembly 43
Portion.The power for being driven motor 41 drives the first driving wheel 420 and the rotation of the second driving wheel 421 by shaft, and then makes fixed peace
Kinematic link 422 mounted in 421 side of the second driving wheel is moved around 421 center of circle of the second driving wheel, and kinematic link 422 is to band
Dynamic knife assembly 43 moves.Knife assembly 43 include: be located at cutter both ends be connected and fixed seat 430, and be connected to
Tooth socket type set of blades 431 among fixing seat 430；It is connected and fixed 430 pairs of tooth socket type set of blades 431 of seat to play a supporting role, institute
It states the fixed connecting base far from 440 one end of support rod and is equipped with gathering plate 432, after the completion of knife assembly 43 is trimmed, collapse plate
432 can be collected the scrappy branches and leaves of trimming under the drive of support rotary mechanism 3 and put together.It is driven the model of motor 41
GM12-N20
The side of cutter component is fixedly connected with supporting mechanism 40 by limiting connection rod set 44.Limit connection rod set 44 can control cutting
The amplitude size that knife assembly 43 moves.Limiting connection rod set 44 includes: to be fixedly connected with the branch of knife assembly 43 and supporting mechanism 40
Strut 440, the L-type connecting rod 441 being fixed on support rod 440 are socketed in the connection ring 442 at 441 both ends of L-type connecting rod, set
First gag lever post 443 of the part in one group of connection ring 442, and the second gag lever post 444 being hinged on the first gag lever post 443,
The other end of second gag lever post 444 is fixedly welded the bottom of knife assembly 43；The side of the L-type connecting rod 441 turns
Dynamic connection third gag lever post 445, the centre of the other end connection cutting blade assembly of the third gag lever post 445, kinematic link
When 422 drive cutting blade assembly movement, the third on cutting blade assembly limits the top fixed function to cutting blade, together
When be connected to and be connected and fixed second gag lever post 444 of 430 one end of seat and drive the transmission of the first gag lever post 443, the first gag lever post 443 with
Connection ring 442 between L-type connecting rod 441 is to be flexibly connected, the first gag lever post 443 can under cutting blade assembly drive into
The a certain range of rotation of row, more than connection ring 442 motion range when, L-type connecting rod 441 generates a pulling force, and the pulling force is logical
It crosses the first gag lever post 443 and drives to the second gag lever post 444 and third gag lever post 445, thus the amplitude of cutting blade assembly movement
It is limited.
In a further embodiment, the length of the third gag lever post 445 can be adjusted, to realize to limit
The adjustment of amplitude.
In a further embodiment, it is additionally provided with photographic device 5 and sensor device at the top of the support rotary mechanism 3,
The photographic device 5 and sensing equipment are electrically connected controller, and wireless transport module is equipped in the controller, passes through photographic device 5
In CCD camera export image information, and by the A/D converter in controller be converted into can convenient for robot identify number
Information, and facilitate control of the car interior control algolithm to steering and speed.Sensor device is that ultrasonic sensor can be
Play the role of ranging avoidance during walking and trimming.
Working principle is as follows: the walking path of the closed curve of trimming machine cuts people is drawn by CAD software, and to path profile
Shape is handled, while calculating displacement and wheel steering angle etc. needed for the trolley in figure, so that figure is converted to data command, is led to
It crosses control host and is sent to trimming machine cuts people's controller.After trimming machine cuts people's controller receives data, calculated by software programming
Method controls the revolving speed and corner of car wheel, and advances according to path scheduled in figure.Controller passes through radio transceiver
Data are trimmed, photographic device 5 images bushes, trims to the bushes beyond height, is trimmed to bushes
Unified height or width.Trimming machine cuts people is equipped with sensor device, and the sensor device is that ultrasonic sensor can be
Play the role of ranging avoidance during walking and trimming, while can also drive the animal in bushes.
In a further embodiment, the walking mechanism 2 includes three walkings being connected on robot under(-)chassis 1
Wheel 20, the traveling wheel 20 divide for front wheels and rear wheels group, and rear wheels are connected by connecting shaft, and connecting shaft is equipped with and driving motor transmission
The differential mechanism of connection, rear wheels rotate under the drive of driving motor, to drive rear wheels and front-wheel.Front-wheel passes through diverter
Control, diverter are electrically connected controller to reach the control in direction to robot, and the two sides of front-wheel are equipped with equalizer bar 21, play and turn
To balanced action in the process.
Controller of the present invention obtains the landform and trimming path in gardens by control host, and controls walking mechanism 2 and branch
Supportting rotating mechanism 3 drives knife assembly 43 to realize the linkage of displacement and mechanical movement, meets the trimming of multiple angles bushes,
Reduce recruitment cost and worker's amount of labour.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (8)
1. a kind of six axis trimming machine cuts people characterized by comprising robot under(-)chassis is located on robot under(-)chassis
Controller, the walking mechanism being located on under(-)chassis, the support rotary mechanism being located on under(-)chassis, and be mounted on support
The pruning mechanism of rotating mechanism one end；
The support rotary mechanism includes the pedestal being fixedly connected on under(-)chassis, the first rotation being fixedly mounted on pedestal
Mechanism is fixedly connected with the second rotating mechanism of the first rotating mechanism, the first linking arm being sequentially connected on the second rotating mechanism, if
Third rotating mechanism on the first linking arm, and the second linking arm being hinged on third rotating mechanism.
2. a kind of six axis trimming machine cuts people according to claim 1, which is characterized in that the pruning mechanism includes: connection
In one end supporting mechanism of the second linking arm, it is fixedly mounted on the transmission motor of supporting mechanism side, transmission connection transmission motor
Transmission mechanism, be connected to the knife assembly of transmission mechanism one end.
3. a kind of six axis trimming machine cuts people according to claim 2, which is characterized in that the side of the knife assembly is logical
It crosses limit connection rod set and is fixedly connected with supporting mechanism, the limit connection rod set includes: to be fixedly connected with knife assembly and supporting mechanism
Support rod, the L-type connecting rod being fixed on support rod is socketed in the connection ring at L-type connecting rod both ends, and external member is in one group of connection
The other end of the first gag lever post in ring, and the second gag lever post being hinged on the first gag lever post, second gag lever post is solid
Surely the bottom of knife assembly is welded；The side of the L-type connecting rod is rotatablely connected third gag lever post, the third gag lever post
The centre of other end connection cutting blade assembly.
4. a kind of six axis trimming machine cuts people according to claim 2, which is characterized in that the transmission mechanism includes: connection
It is driven the shaft of motor, the first driving wheel being socketed in shaft, the synchronous belt being socketed on the first driving wheel is socketed in synchronization
The second driving wheel with inside, and be fixedly connected on the kinematic link of the second driving wheel side, the kinematic link it is another
End is fixedly connected on the bottom of knife assembly.
5. a kind of six axis trimming machine cuts people according to claim 2, which is characterized in that the knife assembly includes: to set
The seat that is connected and fixed at cutter both ends, and it is connected to the tooth socket type set of blades among fixing seat；The tooth socket type set of blades
Fixed connecting base far from support rod one end, which is equipped with, collapses plate.
6. a kind of six axis trimming machine cuts people according to claim 1, which is characterized in that at the top of the support rotary mechanism also
Equipped with photographic device and sensor device, the photographic device and sensing equipment are electrically connected controller, are equipped with nothing in the controller
Line transmission module.
7. a kind of six axis trimming machine cuts people according to claim 1, which is characterized in that the walking mechanism includes being connected to
Three traveling wheels on robot under(-)chassis, are equipped with battery in the robot under(-)chassis, and the battery is electrically connected biography
The driving motor of dynamic connection traveling wheel；The side of the battery is equipped with solar charging panel.
8. a kind of six axis trimming machine cuts people's working methods, which comprises the steps of:
S1, drawn by CAD software trimming machine cuts people closed curve walking path, and graphics path is handled, together
When calculate displacement and wheel steering angle etc. needed for trolley in figure, so that figure is converted to data command, pass through control host hair
It send to trimming machine cuts people's controller；
After S2, trimming machine cuts people's controller receive data, the revolving speed and corner of car wheel are controlled by software programming, and are pressed
Advance according to path scheduled in figure；
S3, controller trim data by radio transceiver, and photographic device images bushes, the filling to height is exceeded
The wooden Cong Jinhang trimming, makes bushes be trimmed to unified height or width；
S4, trimming machine cuts people are equipped with sensor device, and the sensor device is that ultrasonic sensor can walk and trim
Play the role of ranging avoidance in the process, while can also drive the animal in bushes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910694669.8A CN110405785B (en) | 2019-07-30 | 2019-07-30 | Six-axis trimming robot and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910694669.8A CN110405785B (en) | 2019-07-30 | 2019-07-30 | Six-axis trimming robot and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110405785A true CN110405785A (en) | 2019-11-05 |
| CN110405785B CN110405785B (en) | 2020-07-03 |
Family
ID=68364213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910694669.8A Active CN110405785B (en) | 2019-07-30 | 2019-07-30 | Six-axis trimming robot and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110405785B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111972151A (en) * | 2020-08-11 | 2020-11-24 | 武汉理工大学 | Automatic obstacle-avoiding urban hedge trimmer |
| CN112586216A (en) * | 2020-11-23 | 2021-04-02 | 江苏润居建设科技发展有限公司 | Ecological environment-friendly greening device for municipal engineering and using method thereof |
| CN113907641A (en) * | 2020-07-09 | 2022-01-11 | 莱克电气绿能科技(苏州)有限公司 | Garden tool |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0066905A1 (en) * | 1981-05-15 | 1982-12-15 | C. van der Lely N.V. | Mower lifting mechanism |
| CN108673464A (en) * | 2018-04-10 | 2018-10-19 | 昆明理工大学 | A kind of automatic pruning device of rose |
| CN108738640A (en) * | 2018-05-07 | 2018-11-06 | 昆明理工大学 | A kind of self-propelled lawn trimming attachment |
| CN109247153A (en) * | 2018-08-31 | 2019-01-22 | 靖西海越农业有限公司 | A kind of fertile mandarin orange branch pruning intelligent robot based on Internet of Things |
| CN208549332U (en) * | 2018-07-09 | 2019-03-01 | 三江生态环境有限公司 | A kind of mobile GREEB HEDGE MACHINE |
| WO2019133575A1 (en) * | 2017-12-29 | 2019-07-04 | Dcentralized Systems, Llc | Autonomous mobile platform with harvesting system and pest and weed suppression systems |
| CN110014410A (en) * | 2019-05-14 | 2019-07-16 | 襄阳金美科林农业开发有限公司 | A kind of fast-growing woods quickly pruning robot and its control method |
-
2019
- 2019-07-30 CN CN201910694669.8A patent/CN110405785B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0066905A1 (en) * | 1981-05-15 | 1982-12-15 | C. van der Lely N.V. | Mower lifting mechanism |
| WO2019133575A1 (en) * | 2017-12-29 | 2019-07-04 | Dcentralized Systems, Llc | Autonomous mobile platform with harvesting system and pest and weed suppression systems |
| CN108673464A (en) * | 2018-04-10 | 2018-10-19 | 昆明理工大学 | A kind of automatic pruning device of rose |
| CN108738640A (en) * | 2018-05-07 | 2018-11-06 | 昆明理工大学 | A kind of self-propelled lawn trimming attachment |
| CN208549332U (en) * | 2018-07-09 | 2019-03-01 | 三江生态环境有限公司 | A kind of mobile GREEB HEDGE MACHINE |
| CN109247153A (en) * | 2018-08-31 | 2019-01-22 | 靖西海越农业有限公司 | A kind of fertile mandarin orange branch pruning intelligent robot based on Internet of Things |
| CN110014410A (en) * | 2019-05-14 | 2019-07-16 | 襄阳金美科林农业开发有限公司 | A kind of fast-growing woods quickly pruning robot and its control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113907641A (en) * | 2020-07-09 | 2022-01-11 | 莱克电气绿能科技(苏州)有限公司 | Garden tool |
| CN113907641B (en) * | 2020-07-09 | 2023-02-28 | 莱克电气绿能科技(苏州)有限公司 | Garden tool |
| CN111972151A (en) * | 2020-08-11 | 2020-11-24 | 武汉理工大学 | Automatic obstacle-avoiding urban hedge trimmer |
| CN112586216A (en) * | 2020-11-23 | 2021-04-02 | 江苏润居建设科技发展有限公司 | Ecological environment-friendly greening device for municipal engineering and using method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110405785B (en) | 2020-07-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102870608B (en) | Five-degree of freedom green fence pruning machine | |
| CN110405785A (en) | Six axis trimming machine cuts people of one kind and working method | |
| CN105794502B (en) | A kind of full-automatic branch pruning machine people and pruning method | |
| CN202799746U (en) | Five-freedom-degree hedgerow seedling trimmer | |
| CN108076885B (en) | Garden trimming robot | |
| CN209527208U (en) | A kind of strawberry picking machine | |
| CN209572524U (en) | A kind of intelligence branch pruning machine people | |
| CN106941944A (en) | A kind of gardening pruning flying robot | |
| CN114679963B (en) | Cross-ridge double-arm cooperation strawberry harvesting robot, control system and picking method | |
| CN207011273U (en) | A kind of orchard weeder for being easy to adjust cutter direction | |
| TW202146185A (en) | Robot for automatically harvesting crops | |
| CN210808360U (en) | Plant trimming robot | |
| CN212116313U (en) | Garden trimming robot | |
| CN213938894U (en) | All-round intelligent lawn mower | |
| CN214592966U (en) | Strawberry picking robot based on binocular vision | |
| CN211020142U (en) | Clipping machine draws in device in | |
| CN210726017U (en) | Weeding robot for weeding lawn | |
| CN210610390U (en) | Hedge trimmer is pruned to surface of revolution molding | |
| CN113728798A (en) | Multi-joint accurate positioning safflower harvesting mechanical arm and harvesting method | |
| CN112602441A (en) | All-round intelligent lawn mower | |
| CN110786172A (en) | Garden trimming robot | |
| CN212660617U (en) | Universal driving part for weeder | |
| CN110199702A (en) | A kind of gardens hedge trimming device | |
| CN211184981U (en) | Convenient intelligent weeding equipment of agricultural environmental protection | |
| CN108834611A (en) | A kind of machine for road landscape trimming |
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 |