CN206791067U - Branch equipment is received in the full-automatic beta pruning of tomato - Google Patents
Branch equipment is received in the full-automatic beta pruning of tomato Download PDFInfo
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- CN206791067U CN206791067U CN201720720332.6U CN201720720332U CN206791067U CN 206791067 U CN206791067 U CN 206791067U CN 201720720332 U CN201720720332 U CN 201720720332U CN 206791067 U CN206791067 U CN 206791067U
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- beta pruning
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Abstract
The utility model belongs to agricultural machinery technological field, to solve the technical problem that tomato beta pruning receives branch and is unable to whole-course automation, provide a kind of full-automatic beta pruning of tomato and receive branch equipment, including frame and rack-mounted support bar, a point frame apparatus is installed on support bar, mechanical arm, mechanical arm and push rod, the side of frame upper support bar sets small basket, frame apparatus is divided to be located at the surface of small basket, the front end of mechanical arm is provided with beta pruning mechanism, image sensor, cut sensor and range sensor, the front end of mechanical arm is provided with mechanical gripper, image sensor, range sensor and finger folder sensor, the bottom that push rod is arranged on support bar is used to small basket pushing frame.The whole-course automation of tomato beta pruning receipts branch is realized using the utility model, whole beta pruning does not need manual operation and guard during receiving branch, reduces the labor intensity of personnel, improves beta pruning receipts branch efficiency, is produced suitable for large-scale plantation.
Description
Technical field
The utility model belongs to agricultural machinery technological field, and in particular to branch equipment is received in a kind of full-automatic beta pruning of tomato.
Background technology
During tomato planting, in order to increase leaf area, the photosynthesis of tomato is improved, it is necessary to carry out beta pruning to tomato,
Branch is presently mainly received using the artificial beta pruning for carrying out tomato by hand, personnel labor intensity is big, productivity ratio is low, human input and life
It is high to produce cost, is unfavorable for the large-scale plant development of tissue.Therefore, beta pruning is produced and reduced for supporting large-scale plantation receive branch people
The labor intensity of member, beta pruning receipts branch efficiency is improved, the whole-course automation device that branch is received in a kind of tomato beta pruning need to be researched and developed.
The content of the invention
The utility model is unable to the technical problem of whole-course automation for solution tomato beta pruning receipts branch, there is provided a kind of tomato is complete
Branch equipment is received in automatic beta pruning.
The technical solution adopted in the utility model is as follows：
Branch equipment is received in a kind of full-automatic beta pruning of tomato, including frame, the support wheel under frame, electronic-controlled power steering wheel and
Rack-mounted support bar, lithium battery, gearbox, motor, single-chip microcomputer and switch, the wheel shaft of the electronic-controlled power steering wheel
Upper installation speed measuring module, electronic-controlled power steering wheel are connected with gearbox, and gearbox is connected with motor, and motor and switch pass through respectively
Wire is connected with lithium battery, and the support bar is mounted vertically in frame, and a point frame apparatus, machinery are provided with the support bar
Arm, mechanical arm and push rod, the side of frame upper support bar set small basket, the surface for dividing frame apparatus to be located at small basket, institute
State mechanical arm and mechanical arm is vertically arranged with support bar respectively, mechanical arm and mechanical arm be rotatable, flexible and along branch
Strut moves up and down, and the mechanical arm is arranged on the lower section of mechanical arm, and the front end of mechanical arm is provided with beta pruning mechanism, image biography
Sensor, cutting sensor and range sensor, the front end of mechanical arm are provided with mechanical gripper, image sensor, Distance-sensing
Device and finger folder sensor, the push rod is arranged on the bottom of support bar, and between support bar and small basket, is set on the push rod
There is push rod sensor, the image sensor, range sensor, cut sensor, refer to folder sensor, push rod sensor, speed change
Case and speed measuring module are connected with single-chip microcomputer respectively.
The support bar includes outer fix bar, inner bracing piece, moves up and down motor and screw rotor I, the interior branch
Strut is arranged in outer fix bar, and the inner bracing piece uses leading screw, and the screw rotor I is arranged on the side of inner bracing piece simultaneously
It is connected with inner bracing piece screw mandrel, the inner surface for moving up and down motor and being fixed on outer fix bar, moves up and down driving electricity
The output shaft of machine is connected with screw rotor I, through hole is provided with the side wall of the outer fix bar, the mechanical arm connecting rod is outside
Through hole in fix bar side wall is connected with inner bracing piece.
The mechanical arm includes mechanical arm mobile jib, mechanical arm connecting rod, Telescopic flexible pipe, rotary drive motor, flexible drive
Dynamic motor, contract arm and screw rotor II, the mechanical arm connecting rod are used to be connected with support bar, and Telescopic flexible pipe is set
Between mechanical arm connecting rod and mechanical arm mobile jib, the contract arm is arranged on the forward end of mechanical arm mobile jib, described
Screw rotor II is arranged on the front end upper surface of mechanical arm mobile jib, and the screw rotor II is connected with contract arm leading screw, institute
State screw rotor II to be arranged on the output shaft of telescopic drive motor, after the rotary drive motor is arranged on mechanical arm mobile jib
End upper surface is used to drive mechanical arm mobile jib left rotation and right rotation.
The beta pruning mechanism includes rotating folding motor, fixed snip and movable snip, the rotating folding motor installation
In mechanical arm forward end, the movable snip is arranged on the output shaft of rotating folding motor, and the fixed snip passes through two
Individual connecting rod is fixed on mechanical arm front end, and the movable snip and fixed snip are arranged in a crossed manner.
The mechanical gripper include chassis, rotation driving gear, rotary drive gear, clamping folding motor, left clip and
Right clip, the rotation driving gear and rotary drive gear are separately positioned on chassis, rotate driving gear and rotary drive
Gear is intermeshed, and the left clip is oppositely arranged with right clip, and left clip is arranged under rotation driving gear, and right clip is set
Under rotary drive gear, the output shaft of the clamping folding motor is connected with rotation driving gear.
Set respectively at left and right sides of the front upper of the frame and be integrated with avoidance infrared tube and avoidance apart from adjustable resistance
IR evading obstacle sensors.
The rear end of the frame is domatic provided with being easy to small basket to slide.
The beneficial effects of the utility model：The whole-course automation of tomato beta pruning receipts branch is realized using the utility model, is made
Whole beta pruning does not need manual operation and guard during receiving branch, reduces the labor intensity of personnel, improves beta pruning receipts branch effect
Rate, produced suitable for the large-scale plantation of tomato.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of support bar；
Fig. 3 is the structural representation of mechanical arm；
Fig. 4 is the structural representation of beta pruning mechanism；
Fig. 5 is the structural representation of mechanical gripper；
In figure：1- frames, 2- support wheels, 3- electronic-controlled power steering wheels, 4- support bars, 5- divide frame apparatus, 6- mechanical arms, 7- machineries
Arm, 8- beta prunings mechanism, 9- mechanical grippers, 10- push rods, 11- range sensors, 12- small baskets, 13- is domatic, 14- image sensings
Device, 15- cutting sensors, 16- refer to folder sensor, and fix bar, 42- inner bracing pieces, 43- move up and down motor to 41- outside,
44- screw rotors I, 61- mechanical arm mobile jib, 62- mechanical arm connecting rods, 63- Telescopic flexible pipes, 64- rotary drive motors, 65-
Telescopic drive motor, 66- contract arms, 67- screw rotors II, 81- rotating folding motor, 82- fix snip, 83- activities
Snip, 84- connecting rods, 91- chassis, 92- rotation driving gears, 93- rotary drive gears, 94- clamping folding motors, the left folders of 95-
Son, the right clips of 96-.
Embodiment
As shown in figure 1, branch equipment is received in a kind of full-automatic beta pruning of tomato, including lithium battery, gearbox, motor, single-chip microcomputer,
Switch, frame 1, electronic-controlled power steering wheel 3, speed measuring module, support wheel 2, image sensor 14, cutting sensor 15, range sensor
11st, refer to folder sensor 16, mechanical arm 6, mechanical arm 7, divide basket device 5, support bar 4, push rod 10 and push rod sensor, the branch
Support wheel 2, electronic-controlled power steering wheel 3 are arranged on the lower section of frame 1, and the speed measuring module is arranged on the wheel shaft of electronic-controlled power steering wheel 3, power
Deflecting roller 3 is connected with gearbox, and gearbox is connected with motor, and the motor and switch pass through wire and lithium battery phase respectively
Even, the support bar 4 is mounted vertically in frame 1, and point frame apparatus 5, mechanical arm 6, mechanical arm are provided with the support bar 4
7 and push rod 10, the side of the upper support bar 4 of frame 1 sets small basket 12,12 times setting weight sensors of small basket in the frame 1, institute
The surface that point frame apparatus 5 is located at small basket 12 is stated, the mechanical arm 6 and mechanical arm 7 are vertically arranged with support bar 4 respectively, machine
Tool arm 6 and mechanical arm 7 be rotatable, flexible and moved up and down along support bar 4, and the mechanical arm 7 is arranged on mechanical arm 6
Lower section, the front end of mechanical arm 6 is provided with beta pruning mechanism 8, image sensor 14, cutting sensor 15 and range sensor 11,
The front end of mechanical arm 7 is provided with mechanical gripper 9, image sensor 14, range sensor 11 and refers to folder sensor 16, described to push away
Bar 10 is arranged on the bottom of support bar 4, and between support bar 4 and small basket 12, the push rod 10 is provided with push rod sensor,
The image sensor 14, range sensor 11, cut sensor 15, refer to folder sensor 16, weight sensor, push rod sensing
Device, gearbox and speed measuring module are connected with single-chip microcomputer respectively.
As shown in Fig. 2 the support bar 4 includes outer fix bar 41, inner bracing piece 42, moves up and down motor 43 and spiral shell
Line rotor I44, the inner bracing piece 42 are arranged in outer fix bar 41, and the inner bracing piece 42 uses leading screw, and the screw thread turns
Sub- I44 is arranged on the side of inner bracing piece 42 and is connected with the screw mandrel of inner bracing piece 42, and the motor 43 that moves up and down is fixed
In the inner surface of outer fix bar 41, the output shaft for moving up and down motor 43 is connected with screw rotor I44, the outer fix bar
Through hole is provided with 41 side wall, the connecting rod of mechanical arm 6 passes through through hole and the phase of inner bracing piece 42 in the outer side wall of fix bar 41
Even.
As shown in figure 3, the mechanical arm 6 is identical with the structure of mechanical arm 7, including mechanical arm mobile jib 61, mechanical arm
Connecting rod 62, Telescopic flexible pipe 63, rotary drive motor 64, telescopic drive motor 65, contract arm 66, screw rotor
II67, the mechanical arm connecting rod 62 are used to be connected with support bar 4, and Telescopic flexible pipe 63 is arranged on mechanical arm connecting rod 62 and machine
Between tool arm mobile jib 61, the contract arm 66 is arranged on the forward end of mechanical arm mobile jib 61, the screw rotor II67
The front end upper surface of mechanical arm mobile jib 61 is arranged on, the screw rotor II67 is connected with the leading screw of contract arm 66, the spiral shell
Line rotor II67 is arranged on the output shaft of telescopic drive motor 65, and the rotary drive motor 64 is arranged on mechanical arm mobile jib 61
Rear end upper surface be used for drive the left rotation and right rotation of mechanical arm mobile jib 61.
As shown in figure 4, the beta pruning mechanism 8 includes rotating folding motor 81, fixed snip 82 and movable snip 83, it is described
Rotating folding motor 81 is arranged on mechanical arm forward end, and the movable snip 83 is arranged on the output shaft of rotating folding motor 81
On, the fixed snip 82 is fixed on mechanical arm front end by two connecting rods 84, and the movable snip 83 is handed over fixed snip 82
Fork is set.
As shown in figure 5, the mechanical gripper 9 includes chassis 91, rotation driving gear 92, rotary drive gear 93, clamping
Folding motor 94, left clip 95 and right clip 96, the rotation driving gear 92 and rotary drive gear 93 are separately positioned on bottom
On disk 91, rotation driving gear 92 is intermeshed with rotary drive gear 93, and the left clip 95 is oppositely arranged with right clip 96,
Left clip 95 is arranged under rotation driving gear 92, and right clip 96 is arranged under rotary drive gear 93, the clamping folding electricity
The output shaft of machine 94 is connected with rotation driving gear 92.
Set respectively at left and right sides of the front upper of the frame 1 and be integrated with avoidance infrared tube and avoidance apart from adjustable resistance
IR evading obstacle sensors.Avoidance infrared tube is horizontally set at left and right sides of the front upper of frame 1 respectively, avoidance infrared tube
Mouth of pipe direction is vertically arranged outwardly and with frame 1.
In order to ensure the traffic safety during whole beta pruning receipts branch, image capture module, institute are set in the front end of frame 1
Image capture module is stated to be connected with single-chip microcomputer by wire.When image capture module monitors the barriers such as front someone, machine
Device automatic pause.
Need small basket 12 pushing frame 1 after small basket 12 fills the tomato branch cut, for the ease of tomato will be filled
The small basket 12 of branch pushes frame 1, and the rear end of the frame 1 is provided be easy to small basket 12 to slide domatic 13.
In order to can be carried out beta pruning to the tomato plant of both sides and pick up the tomato branch cut to be put into frame
On small basket 12 in, two mechanical arms 6 and mechanical arm 7 are set respectively on the support bar 4, and two mechanical arms 6 and two machineries
Arm 7 is symmetrically arranged at the both sides of support bar 4.
The course of work of the present utility model：By the full-automatic beta pruning of tomato of the present utility model receive branch equipment be positioned over need into
The beta pruning of row tomato is received among two row crops of branch, opens switch, and lithium battery driving electric machine rotates, and motor passes through gearbox band
Dynamic electronic-controlled power steering wheel 3 is rotated, and linear rows are carried out among two row crops so as to drive the full-automatic beta pruning of whole tomato to receive branch equipment
Walk, after image sensor 14 detects the tomato branch that needs are trimmed, the full-automatic beta pruning of tomato receives branch equipment and stops walking, simultaneously
Single-chip microcomputer is transmitted a signal to, single-chip microcomputer sends instruction to range sensor 11, and range sensor 11, which starts to detect and calculated, to be needed
Then the branch of trimming transmits a signal to single-chip microcomputer, single-chip microcomputer issues instructions to cutting sensing apart from the distance of beta pruning mechanism 8
Device 15, cutting sensor 15 instigate beta pruning mechanism 8 to trim tomato branch, and beta pruning mechanism 8 returns after the completion of trimming, machinery
Image sensor 14 on arm 7 is detected after having tomato branch on the ground, transmits a signal to single-chip microcomputer, and single-chip microcomputer passes to distance
Sensor 11 sends instruction, and range sensor 11 starts to detect and calculates distance of the branch apart from mechanical gripper 9, then passes signal
Single-chip microcomputer is given, single-chip microcomputer issues instructions to finger folder sensor 16, refers to after folder sensor 16 receives signal and instigates mechanical gripper 9
The tomato branch of ground is picked up and is then delivered in small basket 12, when the weight sensor under small basket 12 is sensed in small basket 12
Tomato branch transmits a signal to single-chip microcomputer after reaching the weight of setting, and single-chip microcomputer is sent after receiving signal to push rod sensor
Instruction, push rod sensor instigate push rod 10 that small basket 12 is pushed into frame 1, and small basket 12 divides frame apparatus 5 to divide automatically after being pushed down frame 1
Next small basket 12 is in frame 1；The full-automatic beta pruning of tomato is received in branch equipment walking process, and speed measuring module is real-time by what is monitored
Rate signal sends single-chip microcomputer to, and then single-chip microcomputer sends instruction to gearbox, and the speed of electronic-controlled power steering wheel 3 is controlled by gearbox
Degree；Simultaneously in branch equipment walking process is received in the full-automatic beta pruning of tomato, the avoidance infrared tube point at left and right sides of the front upper of frame 1
Do not launch infrared light to the crop of both sides, while will reflect back into the infrared light come and be changed into electric signal biography through IR evading obstacle sensors
Single-chip microcomputer is given, then single-chip microcomputer sends instruction to gearbox, and steering and the rotating speed of electronic-controlled power steering wheel 3 are controlled by gearbox, from
And control the full-automatic beta pruning of tomato to receive the direction of travel of branch equipment, ensure that the full-automatic beta pruning receipts of tomato during branch are received in whole beta pruning
Branch equipment is walked along the middle straight line of two row crops all the time；The full-automatic beta pruning of tomato receives branch equipment in the process of walking, works as front
During the barriers such as someone, the image capture module of the front end of frame 1 will collect the image information of barrier, and the figure that will be collected
Single-chip microcomputer is sent to as information is converted to electric signal, and then single-chip microcomputer sends instruction, gearbox control electronic-controlled power steering to gearbox
3 stop motions are taken turns, ensure that the traffic safety during branch is received in whole beta pruning；Single-chip microcomputer is also set away from how many centimetres in front of side simultaneously
During clear, single-chip microcomputer sends instruction to electronic-controlled power steering wheel 3, make electronic-controlled power steering wheel 3 to the left/turn right how many centimetres after, then to
Left/right turns, so as to realize that the automatic line feed operation of branch equipment is received in the full-automatic beta pruning of tomato.
Claims (7)
1. branch equipment, including frame are received in a kind of full-automatic beta pruning of tomato（1）, installed in frame（1）Under support wheel（2）And power
Deflecting roller（3）And installed in frame（1）On support bar（4）, lithium battery, gearbox, motor, single-chip microcomputer and switch, institute
State electronic-controlled power steering wheel（3）Wheel shaft on speed measuring module, electronic-controlled power steering wheel are installed（3）It is connected with gearbox, gearbox and motor
It is connected, motor and switch are connected by wire with lithium battery respectively, it is characterised in that：The support bar（4）It is mounted vertically in
Frame（1）On, the support bar（4）On a point frame apparatus is installed（5）, mechanical arm（6）, mechanical arm（7）And push rod（10）, machine
Frame（1）Upper support bar（4）Side set small basket（12）, it is described to divide frame apparatus（5）Positioned at small basket（12）Surface, the machine
Tool arm（6）And mechanical arm（7）Respectively with support bar（4）It is vertically arranged, mechanical arm（6）With mechanical arm（7）It is rotatable, stretch
Contracting and along support bar（4）Move up and down, the mechanical arm（7）It is arranged on mechanical arm（6）Lower section, mechanical arm（6）Before
End is provided with beta pruning mechanism（8）, image sensor（14）, cutting sensor（15）And range sensor（11）, mechanical arm（7）
Front end mechanical gripper is installed（9）, image sensor（14）, range sensor（11）Sensor is pressed from both sides with referring to（16）, it is described to push away
Bar（10）It is arranged on support bar（4）Bottom, and be located at support bar（4）With small basket（12）Between, the push rod（10）It is provided with
Push rod sensor, the image sensor（14）, range sensor（11）, cutting sensor（15）, refer to folder sensor（16）, push away
Bar sensor, gearbox and speed measuring module are connected with single-chip microcomputer respectively.
2. branch equipment is received in the full-automatic beta pruning of a kind of tomato according to claim 1, it is characterised in that：The support bar（4）
Including outer fix bar（41）, inner bracing piece（42）, move up and down motor（43）With screw rotor I（44）, the inner support
Bar（42）It is arranged on outer fix bar（41）It is interior, the inner bracing piece（42）Using leading screw, the screw rotor I（44）In being arranged on
Support bar（42）Side and and inner bracing piece（42）Screw mandrel connects, described to move up and down motor（43）It is fixed on outer fixation
Bar（41）Inner surface, move up and down motor（43）Output shaft and screw rotor I（44）It is connected, the outer fix bar
（41）Side wall on be provided with through hole, the mechanical arm（6）Connecting rod passes through outer fix bar（41）Through hole and inner support in side wall
Bar（42）It is connected.
3. branch equipment is received in the full-automatic beta pruning of a kind of tomato according to claim 1 or 2, it is characterised in that：The mechanical arm
（6）Including mechanical arm mobile jib（61）, mechanical arm connecting rod（62）, Telescopic flexible pipe（63）, rotary drive motor（64）, flexible drive
Dynamic motor（65）, contract arm（66）, screw rotor II（67）, the mechanical arm connecting rod（62）For with support bar（4）
It is connected, Telescopic flexible pipe（63）It is arranged on mechanical arm connecting rod（62）With mechanical arm mobile jib（61）Between, the contract arm
（66）It is arranged on mechanical arm mobile jib（61）Forward end, the screw rotor II（67）It is arranged on mechanical arm mobile jib（61）Before
Hold upper surface, the screw rotor II（67）With contract arm（66）Leading screw connects, the screw rotor II（67）It is arranged on
Telescopic drive motor（65）Output shaft on, the rotary drive motor（64）It is arranged on mechanical arm mobile jib（61）Rear end upper table
Face is used to drive mechanical arm mobile jib（61）Left rotation and right rotation.
4. branch equipment is received in the full-automatic beta pruning of a kind of tomato according to claim 1 or 2, it is characterised in that：The pruning machine
Structure（8）Including rotating folding motor（81）, fixed snip（82）With movable snip（83）, the rotating folding motor（81）Installation
In mechanical arm forward end, the movable snip（83）Installed in rotating folding motor（81）Output shaft on, the fixation is cut
Piece（82）Pass through two connecting rods（84）It is fixed on mechanical arm front end, the movable snip（83）With fixed snip（82）Intersection is set
Put.
5. branch equipment is received in the full-automatic beta pruning of a kind of tomato according to claim 1 or 2, it is characterised in that：The mechanical gripping
Hand（9）Including chassis（91）, rotation driving gear（92）, rotary drive gear（93）, clamping folding motor（94）, left clip
（95）With right clip（96）, the rotation driving gear（92）With rotary drive gear（93）It is separately positioned on chassis（91）On,
Rotate driving gear（92）With rotary drive gear（93）Intermeshing, the left clip（95）With right clip（96）It is relative to set
Put, left clip（95）It is arranged on rotation driving gear（92）Under, right clip（96）It is arranged on rotary drive gear（93）Under, it is described
Clamp folding motor（94）Output shaft with rotation driving gear（92）It is connected.
6. branch equipment is received in the full-automatic beta pruning of a kind of tomato according to claim 5, it is characterised in that：The frame（1）'s
Set respectively at left and right sides of front upper and be integrated with the IR evading obstacle sensors of avoidance infrared tube and avoidance apart from adjustable resistance.
7. branch equipment is received in the full-automatic beta pruning of a kind of tomato according to claim 1 or 6, it is characterised in that：The frame（1）
Rear end be provided be easy to small basket（12）That slides is domatic（13）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720720332.6U CN206791067U (en) | 2017-06-20 | 2017-06-20 | Branch equipment is received in the full-automatic beta pruning of tomato |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720720332.6U CN206791067U (en) | 2017-06-20 | 2017-06-20 | Branch equipment is received in the full-automatic beta pruning of tomato |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206791067U true CN206791067U (en) | 2017-12-26 |
Family
ID=60749224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720720332.6U Active CN206791067U (en) | 2017-06-20 | 2017-06-20 | Branch equipment is received in the full-automatic beta pruning of tomato |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206791067U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107047086A (en) * | 2017-06-20 | 2017-08-18 | 山西省农业科学院旱地农业研究中心 | Branch equipment is received in the full-automatic beta pruning of tomato |
| CN108207377A (en) * | 2018-01-22 | 2018-06-29 | 张伟 | Trimming machine cuts people and trimming machine cuts people control method and device |
| CN108934522A (en) * | 2018-05-08 | 2018-12-07 | 华南农业大学 | Semi-automatic any of several broadleaf plants bud cutting machine, any of several broadleaf plants bud root system destroy machine and method |
| CN116267278A (en) * | 2023-04-25 | 2023-06-23 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
-
2017
- 2017-06-20 CN CN201720720332.6U patent/CN206791067U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107047086A (en) * | 2017-06-20 | 2017-08-18 | 山西省农业科学院旱地农业研究中心 | Branch equipment is received in the full-automatic beta pruning of tomato |
| CN108207377A (en) * | 2018-01-22 | 2018-06-29 | 张伟 | Trimming machine cuts people and trimming machine cuts people control method and device |
| CN108934522A (en) * | 2018-05-08 | 2018-12-07 | 华南农业大学 | Semi-automatic any of several broadleaf plants bud cutting machine, any of several broadleaf plants bud root system destroy machine and method |
| CN116267278A (en) * | 2023-04-25 | 2023-06-23 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
| CN116267278B (en) * | 2023-04-25 | 2024-05-24 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
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