CN111108940A - High-maneuverability cotton topping device and working method - Google Patents
High-maneuverability cotton topping device and working method Download PDFInfo
- Publication number
- CN111108940A CN111108940A CN202010081843.4A CN202010081843A CN111108940A CN 111108940 A CN111108940 A CN 111108940A CN 202010081843 A CN202010081843 A CN 202010081843A CN 111108940 A CN111108940 A CN 111108940A
- Authority
- CN
- China
- Prior art keywords
- scara
- topping
- rod
- driven rod
- cotton
- 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.)
- Pending
Links
- 229920000742 Cotton Polymers 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 241000219146 Gossypium Species 0.000 claims description 41
- 240000002024 Gossypium herbaceum Species 0.000 claims description 12
- 235000004341 Gossypium herbaceum Nutrition 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
Images
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
- A01G3/08—Other tools for pruning, branching or 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
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
Abstract
The invention relates to a high-maneuverability cotton topping device and a working method thereof. The high-mobility parallel mechanism is combined with the SCARA parallel mechanism and the double-parallelogram mechanism, so that the height and the width in the topping operation process can be quickly adjusted, the bottom connecting rod can always keep the posture operation parallel to the rack, and the high-efficiency and high-performance operation is completed; the topping mechanism carries out cotton topping operation, and the topping motor transmits power to the rotary blade through the power flexible shaft, so that the power transmission is not influenced by the motion of the high-power parallel mechanism. The cotton topping device realizes the rapid adjustment of the width and the height of a topping area, has wide operation area, simple and convenient device structure, light weight, low cost and strong practicability, and realizes the high maneuverability and the automatic operation of cotton topping.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and relates to a high-maneuverability cotton topping device and a working method thereof, which realize high maneuverability and automation operation in the cotton topping operation process.
Technical Field
The cotton has the habit of unlimited growth, the apical dominance can be eliminated by topping, and the yield is increased. The manual topping is labor-consuming and time-consuming, the labor efficiency is low, and the cotton production is restricted. The mechanical topping can improve topping efficiency, save cotton planting cost and meet the requirement of the whole-process mechanized production of cotton. At present, cotton topping is large in dependence degree on personnel, insufficient in mechanical maneuverability, large in machine type and insufficient in automation degree, and the research on a cotton topping device with a light machine type, high-efficiency operation and adjustable operation range is of great significance.
Through the search of the prior art documents, the Chinese invention patent 'an intelligent cotton topping mechanism', application number 201811377360.8, realizes the up-and-down lifting operation vertical to the ground, and does not adjust the width of the cotton topping operation; the Chinese patent of invention, cotton topping device, application number 201310493610.5, adjusts the height of a single topping cutter from the ground by changing the connection position of different bolt holes between a shaft and a connecting sleeve, and does not adjust the width of cotton topping operation.
Therefore, aiming at the problems of insufficient maneuverability, no adjusting function in the operation width range, insufficient automation degree and the like of the existing machinery, the invention provides a high-maneuverability cotton topping device and a working method thereof, so as to improve the maneuverability and the automation degree of machines and implements high-efficiency and high-quality operation of cotton topping.
Disclosure of Invention
Aiming at the problems of insufficient maneuverability, no adjusting function in the operation width range, insufficient automation degree and the like of the existing machinery, the invention provides the high-maneuverability cotton topping device and the working method thereof, so as to improve the maneuverability and the automation degree of machines and implements the efficient and high-quality operation of cotton topping.
The invention relates to a high-maneuverability cotton topping device and a working method thereof, wherein the technical scheme is as follows: comprises a high-mobility parallel mechanism and a topping mechanism. The high-mobility parallel mechanism is combined with the SCARA parallel mechanism and the double-parallelogram mechanism, so that the height and the width in the topping operation process can be quickly adjusted, the bottom connecting rod can always keep the posture operation parallel to the rack, and the high-efficiency and high-performance operation is completed; the topping mechanism carries out cotton topping operation, and the topping motor transmits power to the rotary blade through the power flexible shaft, so that the power transmission is not influenced by the motion of the high-power parallel mechanism.
The high-mobility parallel mechanism comprises a rack, a motion motor, a SCARA right driving rod, a SCARA right driven rod, a driven rod I, a driven rod II, a bottom connecting rod, a SCARA left driven rod, a middle connecting rod and a SCARA left driving rod; the mode that the rack is fixed on other moving platforms determines two field operation schemes, wherein in the first scheme, the rack is fixed on the moving platform in a direction perpendicular to a cotton row direction, a topping device performs operation adjustment in the Y-axis and Z-axis directions, in the second scheme, the rack is fixed on the moving platform in a direction parallel to the cotton row direction, a grain lifting device collects cotton plants, the topping device performs operation adjustment in the X-axis and Z-axis directions, and the rack is used for fixing the whole topping device and identifying a binocular positioning system of a topping center space coordinate; the two motion motors provide rotary power for the left and right driving rods of the SCARA, the response is fast, the precision is high, and the motion mobility and the accuracy of the topping mechanism are greatly improved; the SCARA right driving rod is hinged with the rack and the SCARA right driven rod and rotates under the driving of the motion motor; the SCARA right driven rod is hinged with the SCARA right driving rod, the bottom connecting rod and the driven rod II and forms a right part of the SCARA parallel mechanism together with the SCARA right driving rod; the first driven rod is hinged with the middle connecting rod, the rack and the second driven rod, and forms a first parallelogram mechanism with the left driving rod of the SCARA, the middle connecting rod and the rack; the second driven rod is hinged with the middle connecting rod, the bottom connecting rod, the SCARA right side driven rod and the first driven rod; the bottom connecting rod is hinged with the second driven rod, the SCARA left driven rod and the SCARA right driven rod, and forms a second parallelogram mechanism with the second driven rod, the SCARA left driven rod and the middle connecting rod; the SCARA left driven rod is hinged with the middle connecting rod, the bottom connecting rod and the SCARA left driving rod and forms a left part of the SCARA parallel mechanism together with the SCARA left driving rod; the middle connecting rod is hinged with the SCARA left driving rod, the SCARA left driven rod, the driven rod I and the driven rod II and is a shared rod of the two parallelogram mechanisms; and the SCARA left driving rod is hinged with the middle connecting rod, the rack and the SCARA left driven rod and rotates under the driving of the motion motor.
The topping mechanism comprises a topping motor, a blade rotating shaft, a rotating blade, a blade cover, a tool rest, a power flexible shaft and a universal joint; the topping motor is fixed on the frame, and transmits power to the power flexible shaft through the universal joint; the blade rotating shaft is fixed on the tool rest and transmits power to the rotary blade; the rotary blade is fixed on the blade rotating shaft, so that cotton plants can be topped, and other types of blades can be replaced; the knife cover is fixed on the knife rest, plays a role in protecting the blade and is convenient to align to the top center of the cotton plant; the knife rest is fixed on the bottom connecting rod, and the rotating shaft and the knife cover are fixed with the knife; the power flexible shaft is respectively connected with the two universal joints, so that the power connection of different shaft parts in the motion process of the double-parallelogram mechanism is realized; the number of the universal joints is two, and the topping motor and the blade rotating shaft are connected through the power flexible shaft.
The invention relates to a high-maneuverability cotton topping device and a working method thereof, comprising the following working steps:
1) a field operation scheme is adopted to install the topping device on a mobile platform, the mobile platform drives the cotton topping device to move along the positive direction of an X axis, and a rotary blade is started.
2) The topping device is positioned above the cotton plant, and the binocular positioning technology is adopted to identify the space coordinates of the cotton core.
3) The moving motors of the high-mobility parallel mechanism act in a coordinated manner to drive the rotary blade to the target top center to complete the topping operation and reset rapidly.
4) And the topping device carries out topping operation of the next topping center, and the rotating blade stops rotating after topping is finished.
The invention has the beneficial effects that:
1. the high-maneuverability cotton topping device and the working method are designed, the device is simple and convenient in structure, the connecting rods are light in material, the weight is concentrated on the rack, and the high maneuverability in the cotton topping process can be realized.
2. The width and the height of a topping area can be quickly adjusted, the operation area is wide, and the blade can be operated in a posture parallel to the ground or in other angles.
Drawings
FIG. 1 is an isometric view of a cotton topping device;
FIG. 2 is a front view of the cotton topping device;
FIG. 3 is a right side view of the cotton topping device;
FIG. 4 is a schematic view of a field operation scheme;
FIG. 5 is a schematic view of a second field operation scheme;
in the figure: 1. the automatic cutter comprises a rack 2, a topping motor 3, a motion motor 4, a SCARA right driving rod 5, a SCARA right driven rod 6, a driven rod I7, a driven rod II 8, a bottom connecting rod 9, a blade rotating shaft 10, a rotary blade 11, a cutter cover 12, a cutter rest 13, a SCARA left driven rod 14, a power flexible shaft 15, a universal joint 16, a middle connecting rod 17 and a SCARA left driving rod
Detailed Description
The invention is further described below with reference to the accompanying drawings. The invention provides a high-maneuverability cotton topping device and a working method thereof, and as shown in figures 1, 2, 3, 4 and 5, the high-maneuverability parallel mechanism comprises a rack (1), a movement motor (3), a SCARA right side driving rod (4), a SCARA right side driven rod (5), a driven rod I (6), a driven rod II (7), a bottom connecting rod (8), a SCARA left side driven rod (13), a middle connecting rod (16) and a SCARA left side driving rod (17); the mode that the rack (1) is fixed on other mobile platforms determines two field operation schemes, wherein the first scheme is that the rack (1) is fixed on the mobile platform in a direction perpendicular to a cotton row direction, the topping device performs operation adjustment in the Y-axis and Z-axis directions, the second scheme is that the rack (1) is fixed on the mobile platform in a direction parallel to the cotton row direction, the grain lifting device collects cotton plants, the topping device performs operation adjustment in the X-axis and Z-axis directions, and the rack (1) is used for fixing the whole topping device and a binocular positioning system for recognizing a topping center space coordinate; the two motion motors (3) provide rotary power for the left and right driving rods of the SCARA, the response is fast, the precision is high, and the motion mobility and the accuracy of the topping mechanism are greatly improved; the SCARA right driving rod (4) is hinged with the rack (1) and the SCARA right driven rod (5) and rotates under the driving of the motion motor (3); the SCARA right driven rod (5) is hinged with the SCARA right driving rod (4), the bottom connecting rod (8) and the driven rod II (7), and forms the right part of the SCARA parallel mechanism together with the SCARA right driving rod (4); the driven rod I (6) is hinged with the middle connecting rod, the rack (1) and the driven rod II (7) and forms a first parallelogram mechanism with the SCARA left driving rod (17), the middle connecting rod (16) and the rack (1); the second driven rod (7) is hinged with the middle connecting rod (16), the bottom connecting rod (8), the SCARA right side driven rod (5) and the first driven rod (6); the bottom connecting rod (8) is hinged with the second driven rod (7), the SCARA left driven rod (13) and the SCARA right driven rod (5), and forms a second parallelogram mechanism with the second driven rod (7), the SCARA left driven rod (13) and the middle connecting rod (16); the SCARA left driven rod (13) is hinged with the middle connecting rod (16), the bottom connecting rod (8) and the SCARA left driving rod (17), and the SCARA left driving rod (17) forms the left part of the SCARA parallel mechanism; the middle connecting rod (16) is hinged with the SCARA left driving rod (17), the SCARA left driven rod (13), the driven rod I (6) and the driven rod II (7) and is a shared rod of the two parallelogram mechanisms; and the SCARA left driving rod (17) is hinged with the middle connecting rod (16), the rack (1) and the SCARA left driven rod (13) and rotates under the driving of the motion motor (3).
As shown in fig. 1, 2 and 3, the topping mechanism comprises a topping motor (2), a blade rotating shaft (9), a rotary blade (10), a blade cover (11), a blade holder (12), a power flexible shaft (14) and a universal joint (15); the topping motor (2) is fixed on the frame (1), and transmits power to the power flexible shaft (14) through the universal joint (15); the blade rotating shaft (9) is fixed on the tool rest (12) and transmits power to the rotary blade (10); the rotary blade (10) is fixed on the blade rotating shaft (9) to top cotton plants, and other types of blades can be replaced; the knife cover (11) is fixed on the knife rest (12) to protect the blade and facilitate aligning with the top center of a cotton plant; the knife rest (12) is fixed on the bottom connecting rod (8) and fixes the blade rotating shaft (9) and the knife cover (11); the power flexible shaft (14) is respectively connected with the two universal joints (15) to realize the power connection of different shaft parts in the motion process of the double-parallelogram mechanism; the two universal joints (15) are used for connecting the topping motor (2) and the blade rotating shaft (9) through a power flexible shaft (14).
The invention relates to a high-maneuverability cotton topping device and a working method thereof, comprising the following working steps:
1) a field operation scheme is adopted to install the topping device on a mobile platform, the mobile platform drives the cotton topping device to move along the positive direction of an X axis, and a rotary blade (10) is started.
2) The topping device is positioned above the cotton plant, and the binocular positioning technology is adopted to identify the space coordinates of the cotton core.
3) The moving motor (3) of the high-power parallel mechanism moves in coordination to drive the rotary blade (10) to the target center of top to finish the top-cutting operation and reset rapidly.
4) The topping device carries out topping operation of the next topping center, and after topping is finished, the rotating blade (10) stops rotating.
Claims (2)
1. The utility model provides a high mobility cotton topping device which characterized in that: comprises a high-mobility parallel mechanism and a topping mechanism;
the high-mobility parallel mechanism comprises a rack, a motion motor, a SCARA right driving rod, a SCARA right driven rod, a driven rod I, a driven rod II, a bottom connecting rod, a SCARA left driven rod, a middle connecting rod and a SCARA left driving rod; the mode that the rack is fixed on other moving platforms determines two field operation schemes, wherein in the first scheme, the rack is fixed on the moving platform in a direction perpendicular to a cotton row direction, a topping device performs operation adjustment in the Y-axis and Z-axis directions, in the second scheme, the rack is fixed on the moving platform in a direction parallel to the cotton row direction, a grain lifting device collects cotton plants, the topping device performs operation adjustment in the X-axis and Z-axis directions, and the rack is used for fixing the whole topping device and identifying a binocular positioning system of a topping center space coordinate; the two motion motors provide rotary power for the left and right driving rods of the SCARA, the response is fast, the precision is high, and the motion mobility and the accuracy of the topping mechanism are greatly improved; the SCARA right driving rod is hinged with the rack and the SCARA right driven rod and rotates under the driving of the motion motor; the SCARA right driven rod is hinged with the SCARA right driving rod, the bottom connecting rod and the driven rod II and forms a right part of the SCARA parallel mechanism together with the SCARA right driving rod; the first driven rod is hinged with the middle connecting rod, the rack and the second driven rod, and forms a first parallelogram mechanism with the left driving rod of the SCARA, the middle connecting rod and the rack; the second driven rod is hinged with the middle connecting rod, the bottom connecting rod, the SCARA right side driven rod and the first driven rod; the bottom connecting rod is hinged with the second driven rod, the SCARA left driven rod and the SCARA right driven rod, and forms a second parallelogram mechanism with the second driven rod, the SCARA left driven rod and the middle connecting rod; the SCARA left driven rod is hinged with the middle connecting rod, the bottom connecting rod and the SCARA left driving rod and forms a left part of the SCARA parallel mechanism together with the SCARA left driving rod; the middle connecting rod is hinged with the SCARA left driving rod, the SCARA left driven rod, the driven rod I and the driven rod II and is a shared rod of the two parallelogram mechanisms; the SCARA left driving rod is hinged with the middle connecting rod, the rack and the SCARA left driven rod and rotates under the driving of the motion motor;
the topping mechanism comprises a topping motor, a blade rotating shaft, a rotating blade, a blade cover, a tool rest, a power flexible shaft and a universal joint; the topping motor is fixed on the frame, and transmits power to the power flexible shaft through the universal joint; the blade rotating shaft is fixed on the tool rest and transmits power to the rotary blade; the rotary blade is fixed on the blade rotating shaft, so that cotton plants can be topped, and other types of blades can be replaced; the knife cover is fixed on the knife rest, plays a role in protecting the blade and is convenient to align to the top center of the cotton plant; the knife rest is fixed on the bottom connecting rod, and the rotating shaft and the knife cover are fixed with the knife; the power flexible shaft is respectively connected with the two universal joints, so that the power connection of different shaft parts in the motion process of the double-parallelogram mechanism is realized; the number of the universal joints is two, and the topping motor and the blade rotating shaft are connected through the power flexible shaft.
2. The method of claim 1 for operating a highly maneuverable cotton topping device, wherein: the method comprises the following working steps:
1) installing the topping device on a moving platform by adopting a field operation scheme, driving the cotton topping device to move along the positive direction of an X axis by the moving platform, and starting a rotary blade;
2) the topping device is positioned above the cotton plants, and the binocular positioning technology is adopted to identify the space coordinates of the cotton cores;
3) the movement motors of the high-mobility parallel mechanism act in a coordinated manner to drive the rotary blade to a target top center to finish topping operation and reset quickly;
4) and the topping device carries out topping operation of the next topping center, and the rotating blade stops rotating after topping is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010081843.4A CN111108940A (en) | 2020-02-06 | 2020-02-06 | High-maneuverability cotton topping device and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010081843.4A CN111108940A (en) | 2020-02-06 | 2020-02-06 | High-maneuverability cotton topping device and working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111108940A true CN111108940A (en) | 2020-05-08 |
Family
ID=70491881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010081843.4A Pending CN111108940A (en) | 2020-02-06 | 2020-02-06 | High-maneuverability cotton topping device and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111108940A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114303680A (en) * | 2021-12-30 | 2022-04-12 | 广州极飞科技股份有限公司 | Topping control method and device, topping device, electronic device and medium |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2053022U (en) * | 1989-07-04 | 1990-02-21 | 山东省果树研究所 | Stripper for thinning flower |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN201011787Y (en) * | 2006-10-09 | 2008-01-30 | 石河子大学 | Forward mounting type hydraulic pressure cotton topping machine |
| CN103112000A (en) * | 2013-03-18 | 2013-05-22 | 万新光学集团有限公司 | Two-degree-of-freedom translation parallel robot mechanism for high-speed transport operation |
| CN203313742U (en) * | 2013-05-23 | 2013-12-04 | 李鹏 | Portable cotton top-cutting machine |
| CN103493692A (en) * | 2013-10-17 | 2014-01-08 | 山东农业大学 | Cotton topping device |
| CN105409610A (en) * | 2015-12-17 | 2016-03-23 | 石河子大学 | Binocular recognition type cotton top-cutting machine |
| CN205336970U (en) * | 2015-07-31 | 2016-06-29 | 黄健 | Portable electric cotton topping machine |
| CN108188804A (en) * | 2018-03-29 | 2018-06-22 | 天津城建大学 | Self-centering electro spindle clamping device |
| CN208370358U (en) * | 2018-05-07 | 2019-01-15 | 台州久泰园林机械有限公司 | Hand electric cotton top-cutting machine |
| CN109287310A (en) * | 2018-11-19 | 2019-02-01 | 长安大学 | One cotton intelligent topping machine structure |
| CN109526441A (en) * | 2019-01-24 | 2019-03-29 | 王泓鑫 | A kind of topping machine |
| CN209299779U (en) * | 2018-09-27 | 2019-08-27 | 新疆工程学院 | A kind of automation cotton top-cutting machine |
| CN110301247A (en) * | 2019-07-29 | 2019-10-08 | 黄健 | The electric working machine of cotton topping |
| CN212970824U (en) * | 2020-02-06 | 2021-04-16 | 山东农业大学 | High-maneuverability cotton topping device |
-
2020
- 2020-02-06 CN CN202010081843.4A patent/CN111108940A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2053022U (en) * | 1989-07-04 | 1990-02-21 | 山东省果树研究所 | Stripper for thinning flower |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN201011787Y (en) * | 2006-10-09 | 2008-01-30 | 石河子大学 | Forward mounting type hydraulic pressure cotton topping machine |
| CN103112000A (en) * | 2013-03-18 | 2013-05-22 | 万新光学集团有限公司 | Two-degree-of-freedom translation parallel robot mechanism for high-speed transport operation |
| CN203313742U (en) * | 2013-05-23 | 2013-12-04 | 李鹏 | Portable cotton top-cutting machine |
| CN103493692A (en) * | 2013-10-17 | 2014-01-08 | 山东农业大学 | Cotton topping device |
| CN205336970U (en) * | 2015-07-31 | 2016-06-29 | 黄健 | Portable electric cotton topping machine |
| CN105409610A (en) * | 2015-12-17 | 2016-03-23 | 石河子大学 | Binocular recognition type cotton top-cutting machine |
| CN108188804A (en) * | 2018-03-29 | 2018-06-22 | 天津城建大学 | Self-centering electro spindle clamping device |
| CN208370358U (en) * | 2018-05-07 | 2019-01-15 | 台州久泰园林机械有限公司 | Hand electric cotton top-cutting machine |
| CN209299779U (en) * | 2018-09-27 | 2019-08-27 | 新疆工程学院 | A kind of automation cotton top-cutting machine |
| CN109287310A (en) * | 2018-11-19 | 2019-02-01 | 长安大学 | One cotton intelligent topping machine structure |
| CN109526441A (en) * | 2019-01-24 | 2019-03-29 | 王泓鑫 | A kind of topping machine |
| CN110301247A (en) * | 2019-07-29 | 2019-10-08 | 黄健 | The electric working machine of cotton topping |
| CN212970824U (en) * | 2020-02-06 | 2021-04-16 | 山东农业大学 | High-maneuverability cotton topping device |
Non-Patent Citations (1)
| Title |
|---|
| 中国农业科学院棉花研究所主编: "《中国棉花栽培学》", 上海科学技术出版社, pages: 1104 - 1105 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114303680A (en) * | 2021-12-30 | 2022-04-12 | 广州极飞科技股份有限公司 | Topping control method and device, topping device, electronic device and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107567822B (en) | Tea-leaf picker | |
| US11758856B2 (en) | Fully automatic intelligent rubber tapping robot | |
| CN108738640B (en) | Self-propelled lawn trimming device | |
| CN107996179B (en) | Whole-row and cut-type fruit tree pruning machine | |
| CN209527208U (en) | A kind of strawberry picking machine | |
| CN111201899A (en) | Weeding obstacle avoidance mechanism and weeding obstacle avoidance robot | |
| CN104359698A (en) | Pennisetum hydridum stalk cutting test bed | |
| CN112715163A (en) | Fruit picking robot | |
| CN202890093U (en) | Grape bagging robot system based on machine vision | |
| CN111108940A (en) | High-maneuverability cotton topping device and working method | |
| CN115024093B (en) | Rail suspension type orchard mechanical device and method for picking fruits on high branches thereof | |
| CN110405785B (en) | Six-axis trimming robot and working method | |
| CN212970824U (en) | High-maneuverability cotton topping device | |
| CN219437620U (en) | Device is picked to greenhouse cluster tomato intelligence | |
| CN114431004B (en) | Banana picking device and method based on 3-PRS parallel mechanism | |
| CN116897717A (en) | Tomato threshing robot end effector and threshing method | |
| CN108323325B (en) | Strawberry picking machine simulating human hands and picking method | |
| CN208079863U (en) | A kind of strawberry picking machine imitating human hand type | |
| CN210746102U (en) | Sisal hemp harvesting machine with multiple mechanical arms | |
| CN214708804U (en) | Lawn mower is used in ecological environment maintenance in gardens | |
| CN213718767U (en) | Sisal hemp blade reaps system | |
| CN113928444A (en) | A moving platform that is used for greenhouse seedbed to patrol and examine operation | |
| CN220369058U (en) | Urban greening trimming equipment | |
| CN113728798A (en) | Multi-joint accurate positioning safflower harvesting mechanical arm and harvesting method | |
| CN219593061U (en) | Municipal garden weeder |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200508 |
|
| WD01 | Invention patent application deemed withdrawn after publication |