CN203633110U - Device for automatically identifying seedling tray and pot seedlings as well as picking seedlings - Google Patents
Device for automatically identifying seedling tray and pot seedlings as well as picking seedlings Download PDFInfo
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- CN203633110U CN203633110U CN201320687007.6U CN201320687007U CN203633110U CN 203633110 U CN203633110 U CN 203633110U CN 201320687007 U CN201320687007 U CN 201320687007U CN 203633110 U CN203633110 U CN 203633110U
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- 238000001514 detection method Methods 0.000 claims abstract description 31
- 230000035945 sensitivity Effects 0.000 claims description 4
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- 238000010586 diagram Methods 0.000 description 1
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Abstract
The utility model discloses a device for automatically identifying a seedling tray and pot seedlings as well as picking seedlings. The device comprises a frame, an automatic seedling picking device, a drive unit, a sensor unit and a PLC (Programmable Logic Controller) system, wherein the automatic seedling picking device is arranged on the frame and also comprises a seedling tray, a horizontal seedling tray conveying mechanism, a longitudinal seedling tray conveying mechanism and a seedling picker, wherein the seedling picker is mounted on the frame; the seedling tray is arranged on the longitudinal seedling tray conveying mechanism; the longitudinal seedling tray conveying mechanism is arranged on the horizontal seedling tray conveying mechanism; the seedling tray is used for sending pot seedlings to a seedling picking position through the motion of the horizontal seedling tray conveying mechanism and the longitudinal seedling tray conveying mechanism; the drive unit comprises a horizontal drive device and a longitudinal drive device connected with the horizontal seedling tray conveying mechanism and the longitudinal seedling tray conveying mechanism; the sensor unit comprises a horizontal detection sensor unit and a longitudinal detection sensor unit; the horizontal detection sensor unit is arranged on the frame; the longitudinal detection sensor unit is arranged on the horizontal seedling tray conveying mechanism; the PLC system is arranged on the frame, is connected with the automatic seedling picking device, the drive unit and the sensor unit and used for controlling the automatic seedling picking device, the drive unit and the sensor unit. The device disclosed by the utility model can be used for automatically identifying whether pot seedling lattices are lack of the seedlings during horizontal movement or longitudinal movement of the seedling tray and solving the problem that transplanting is missed because pot seedling trays are lack of the seedlings.
Description
Technical field
The utility model relates to a kind of pot seedling disk automatic seedling taking device of pot seedling transplanter, and particularly a kind of have whether a be short of seedling automatic seedling taking device of function of automatic identification pot seedling disk.
Background technology
Existing full-automatic pot seedling transplanter, the especially automatic seedling taking device of the full-automatic pot seedling transplanter of land for growing field crops operation, be generally made up of seedling disk carrying mechanism and seedling picking mechanism.Each seedling dish pot seedling lattice are sequentially delivered on request seedling picking mechanism position by seedling disk carrying mechanism, by seedling picking mechanism, single or multiple pot seedlings taken out from seedling dish, and transfer in planting apparatus and plant, and all do not have or not pot seedling to do identification automatically to each pot seedling lattice of seedling dish.If occur being short of seedling in pot seedling lattice, directly cause transplanter to occur leaking and plant, affect the work quality of transplanter.
Usually, utilize Vision Builder for Automated Inspection to be difficult for head it off.First, pot seedling hat branches and leaves are interlaced, are not easily distinguishable; In addition, Vision Builder for Automated Inspection is expensive, and environment for use requirement is high, to machine vibration, dust sensitivity, is not suitable for being applied to land for growing field crops operation.
Utility model content
Technical problem to be solved in the utility model is to provide a seedling disk pot seedling and automatically identifies and get seedling device, by automatic identification unit is set, can do in lateral or longitudinal movement process at seedling dish, automatically in identification pot seedling lattice, whether be short of seedling, leak the problem of planting thereby solve because of the pot seedling disk transplanter causing of being short of seedling.
To achieve these goals, the utility model provides a seedling disk pot seedling automatically identify and get seedling device, and it comprises:
Frame;
Automatic seedling taking device, be arranged in described frame, comprise: seedling dish, seedling dish transverse conveying mechanism, seedling dish longitudinal translating device associated, get seedling device, the described seedling device of getting is fixedly mounted in described frame, the described seedling utensil of getting is got seedling position and a non-seedling position of getting, described seedling dish arranges multiple pot seedling lattice with arrayed, and be arranged in described seedling dish longitudinal translating device associated, described seedling dish longitudinal translating device associated is arranged on again on described seedling dish transverse conveying mechanism, described seedling dish is by the motion of described seedling dish longitudinal translating device associated and described seedling dish transverse conveying mechanism, described in being delivered to, pot seedling gets seedling position,
Driver element, comprises the lateral driver device that connects described seedling dish transverse conveying mechanism and the longitudinal driving device that connects described seedling dish longitudinal translating device associated;
Sensor unit, comprise horizontal detection sensor unit, longitudinal detection sensor unit and approach switch, described horizontal detection sensor unit is arranged in described frame, described longitudinal detection sensor unit is arranged on described seedling dish transverse conveying mechanism, and described approach switch is arranged in described frame;
PLC control system, is arranged in described frame, connects and controls described automatic seedling taking device, described driver element, described sensor unit.
Seedling device is identified and got to above-mentioned seedling dish pot seedling automatically, wherein, in described horizontal detection sensor unit, longitudinal detection sensor unit, is respectively arranged with arrangement for adjusting height and transducer sensitivity adjusting device.
Seedling device is identified and got to above-mentioned seedling dish pot seedling automatically, and wherein, described horizontal detection sensor unit comprises two horizontal detecting sensors, the both sides of getting seedling device described in being separately positioned on.
Seedling device is identified and got to above-mentioned seedling dish pot seedling automatically, and wherein, described longitudinal detection sensor unit comprises two longitudinal detecting sensors, and correspondence is arranged on the described seedling dish transverse conveying mechanism of described seedling dish both sides.
Seedling device is identified and got to above-mentioned seedling dish pot seedling automatically, and wherein, described horizontal detecting sensor, longitudinal detecting sensor are photoelectric sensor.
Seedling device is identified and got to above-mentioned seedling dish pot seedling automatically, and wherein, described approach switch is relatively described non-ly to be got seedling position and is arranged in described frame.
Seedling device is identified and got to above-mentioned seedling dish pot seedling automatically, wherein, described PLC control system comprises: for the control module that gathers the signal acquisition module of described sensor unit signal and drive described seedling dish to move according to seedling dish longitudinal translating device associated described in described sensor unit signal controlling and seedling dish transverse conveying mechanism.
Technique effect of the present utility model is: seedling device is identified and got to the seedling dish pot seedling that the utility model discloses automatically, by PLC controller control seedling disk carrying mechanism, the each pot seedling lattice of seedling dish are sequentially delivered on request and get seedling position, by getting seedling device, single pot seedling is taken out from seedling dish; In course of conveying, whether the each pot seedling lattice of seedling dish are short of seedling and are automatically identified, for the pot seedling lattice of being short of seedling, conveying mechanism will not stop, directly skip this pot seedling lattice, and next pot seedling lattice is transferred to and gets seedling position, leak the problem of planting thereby solve because of the be short of seedling transplanter that causes of pot seedling disk.
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail, but not as to restriction of the present utility model.
Brief description of the drawings
Fig. 1 is that seedling structure drawing of device is identified and got to the utility model seedling dish pot seedling automatically;
Fig. 2 a, Fig. 2 b are the relative position figure of sensor unit of the present utility model, approach switch and pot seedling disk;
Fig. 3 is the control block diagram of PLC control system of the present utility model.
Wherein, Reference numeral:
10-driver element
The longitudinal Driving Stepping Motor of 101-
The horizontal Driving Stepping Motor of 102-
20-PLC control system
30-sensor unit
301-photoelectric sensor 1
302-photoelectric sensor 2
303-photoelectric sensor 3
304-photoelectric sensor 4
305-approach switch
40-automatic seedling taking device
401-seedling dish longitudinal translating device associated
The longitudinal chain of 4011-
4012-kelly
4013-seedling dish
402-seedling dish transverse conveying mechanism
4021-transverse shifting leading screw
403-gets seedling device
50-frame
Embodiment
Below in conjunction with accompanying drawing, structural principle of the present utility model and operation principle are described in detail:
Because existing seedling picking mechanism is in getting seedling process, do not have or not pot seedling to do identification automatically to each pot seedling lattice of seedling dish, therefore, if occur being short of seedling in pot seedling lattice, directly cause transplanter to occur leaking and plant phenomenon.
In the embodiment shown in Fig. 1, the utility model is for the problem of above-mentioned prior art and disclose a seedling disk pot seedling and automatically identify and get seedling device, comprise: automatic seedling taking device, driver element, sensor unit, PLC control system, described sensor unit also comprises horizontal detection sensor unit, longitudinal detection sensor unit, respectively at getting in seedling process, automatically detect in each pot seedling lattice of identifying seedling dish and have or not pot seedling, thereby can overcome in prior art, if occur being short of seedling in pot seedling lattice, directly cause transplanter to occur leaking and plant phenomenon.
Further, disclose the utility model specific embodiment referring to Fig. 1, Fig. 2, Fig. 3.
Automatically identify and get seedling structure drawing of device referring to Fig. 1 the utility model seedling dish pot seedling, as shown in the figure, the seedling dish pot seedling that the utility model discloses is automatically identified and is got seedling device and comprises: frame 50, automatic seedling taking device 40, sensor unit 30, PLC control system 20, driver element 10.
Described automatic seedling taking device 40, be arranged in described frame 50, comprise: seedling dish 4013, seedling dish transverse conveying mechanism 402, seedling dish longitudinal translating device associated 401, get seedling device 403, the described seedling device 403 of getting is fixedly mounted in described frame 50, on described seedling dish 4013, with arrayed, multiple pot seedling lattice are set, and be arranged in described seedling dish longitudinal translating device associated 401, described seedling dish longitudinal translating device associated 401 is arranged on again on described seedling dish transverse conveying mechanism 402, described seedling dish 4013 is by the motion of described seedling dish longitudinal translating device associated 401 and described seedling dish transverse conveying mechanism 402, pot seedling is delivered to and got seedling position, as shown in Figure 1, described seedling dish 4013 has an angle of inclination.
Described seedling dish transverse conveying mechanism 402 can be selected mobile screw mechanism, or also can select rack-and-pinion travel mechanism, can also select oil cylinder or air cylinder driven mechanism, does not do concrete restriction.The present embodiment is the mobile screw mechanism of selecting as shown in Figure 1.
Described seedling dish longitudinal translating device associated 401 can be selected sprocket wheel chain conveying mechanism, or rack-and-pinion conveying mechanism, also can select oil cylinder or air cylinder driven mechanism, does not do concrete restriction.The present embodiment is the sprocket wheel chain conveying mechanism of selecting as shown in Figure 1.
Described driver element 10, comprises the lateral driver device that connects described seedling dish transverse conveying mechanism 402 and the longitudinal driving device that connects described seedling dish longitudinal translating device associated 401.
The present embodiment, described lateral driver device and described longitudinal driving device are respectively longitudinal Driving Stepping Motor 101 and horizontal Driving Stepping Motor 102.
Described sensor unit 30, comprise horizontal detection sensor unit, longitudinal detection sensor unit, approach switch, described horizontal detection sensor unit is arranged in described frame 50, and described longitudinal detection sensor unit is arranged on described seedling dish transverse conveying mechanism 402; Laterally detection sensor unit comprises again two horizontal detecting sensors 301,302 No. 1, No. 2, and longitudinally detection sensor unit comprises again two longitudinal detecting sensors 303,304 No. 3, No. 4.
1, No. 2,3, No. 4 sensors 301,302,303,304 of the utility model all adopt photoelectric sensor.
For the motion of moving and getting seedling device 403 of effectively avoiding seedling dish 4013 does not interfere, the utility model is also provided with approach switch 305, as shown in Figure 2 b, described approach switch 305 is to arrange in described frame 50, its further position is, get after seedling in getting seedling position with respect to the described seedling device 403 of getting, return to non-position of getting seedling.
Described PLC control system 20, is arranged in described frame 50, connects and controls described automatic seedling taking device 40, described driver element 10, described sensor unit 30.
As shown in Figure 3, described PLC control system 20 gathers the signal of described sensor unit 30, control the drive motors 101,102 of described longitudinal seedling disk carrying mechanism 401 and horizontal seedling disk carrying mechanism 402, in order each pot seedling lattice of seedling dish 4013 are transferred to and get seedling position, by the described seedling device 403 of getting, pot seedling is taken out one by one from seedling dish.The described seedling device 403 of getting can arrange separately control system, also can directly be controlled by described PLC control system 20.
Specifically, getting seedling device 403 is fixed in frame 50; 301, No. 2 photoelectric sensors 302 of No. 1 photoelectric sensor are all fixed in frame 50, and are distributed in the left and right sides of getting seedling device 403, and while moving laterally for detection of seedling dish 4013, whether next pot seedling lattice has seedling; And No. 1 photoelectric sensor 301 works in the time that seedling dish moves to right, No. 2 photoelectric sensors 302 are faced left while moving and are worked at seedling.303, No. 4 photoelectric sensors 304 of No. 3 photoelectric sensors are all fixed on seedling dish transverse moving mechanism 402, and while vertically moving for detection of seedling dish 4013, whether next pot seedling lattice has seedling; And No. 3 photoelectric sensors 303 work in the time that seedling dish moves to right vertically moving to rightmost, No. 4 photoelectric sensors 304 are faced left while moving to vertically moving after Far Left and are worked at seedling.The relative position of photoelectric sensor 301,302,303,304 and seedling dish 4013 is as shown in Fig. 2 a, Fig. 2 b.
On photoelectric sensor 301,302,303,304, be also respectively arranged with arrangement for adjusting height, like this, regulate by the height on photoelectric sensing, it is detected the seedling bar below pot seedling blade, thereby avoided the impact of pot seedling branches and leaves on photoelectric sensor.
Photoelectric sensor only detects the pot seedling as last row.In order effectively to avoid the impact of the rear row's pot seedling of seedling dish 4013 seedling pole pair photoelectric sensor, by adjusting the sensitivity of described photoelectric sensor, it is detected, to improve Detection accuracy to the pot seedling seedling bar as last row.
Further, PLC control system 20 comprises: signal acquisition module, control module, described signal acquisition module gathers the signal of described sensor unit 30, described control module is according to described sensor unit signal, control the driver part of described seedling dish longitudinal translating device associated 401 and seedling dish transverse conveying mechanism 402, in order each seedling dish pot seedling lattice are transferred to and get seedling position, by the described seedling device 403 of getting, pot seedling is taken out one by one from seedling dish, in seedling dish moving process, whether sensor unit 30 detects the next pot seedling lattice of getting seedling position that enter and is short of seedling, for the pot seedling lattice of being short of seedling, the control module of described PLC control system does not stop corresponding control driver part, directly skip this pot seedling lattice, and next pot seedling lattice is transferred to and gets seedling position.
The utility model specific works step is as follows:
By manually seedling dish 4013 being stuck on kelly 4012, then:
(1) drive seedling dish 4013 to leftmost position by horizontal Driving Stepping Motor 102.Laterally Driving Stepping Motor 102 stops.
(2) drive seedling dish 4013 that " 1 " in seedling dish 4013 number pot seedling lattice are moved to and get seedling position by longitudinal Driving Stepping Motor 101, longitudinally Driving Stepping Motor 101 is out of service; If in the process of advancing, No. 4 photoelectric sensors 304 detect that in seedling dish 4013, " 1 " number pot seedling lattice have seedling, wait for and get seedling device 403 and get seedling, enter step (3) after taking seedling; If No. 4 photoelectric sensors 304 do not detect that in seedling dish 4013, " 1 " number pot seedling lattice have seedling, enter immediately step (3).
(3) laterally Driving Stepping Motor 102 drives seedling dish 4013 lattice that move to right, and " 2 " in seedling dish 4013 number pot seedling lattice are moved to and get seedling position, waits for that getting seedling device 403 gets seedling, takes the Miao Houzai lattice that move to right; In the process of moving to right, if No. 1 photoelectric sensor 301 does not detect in next pot seedling lattice have seedling, laterally Driving Stepping Motor 102 drives seedling dish 4013 lattice that move to right again immediately, and next pot seedling lattice is moved to and gets seedling position.
(4) repeating step (3), until the seedling in " 8 " number pot seedling lattice is removed in seedling dish 4013.
(5) longitudinally Driving Stepping Motor 101 drives seedling dish 4013 lattice that readvance, and " 9 " in seedling dish 4013 number pot seedling lattice are moved to and get seedling position, and " longitudinally stepper motor " stops; If in the process of advancing, No. 3 photoelectric sensors 303 detect that in seedling dish 4013, " 9 " number pot seedling lattice have seedling, wait for and get seedling device 403 and get seedling, enter step (6) after taking seedling; If No. 3 photoelectric sensors 303 do not detect that in seedling dish 4013, " 9 " number pot seedling lattice have seedling, enter immediately step (6).
(6) laterally Driving Stepping Motor 102 drives seedling dish 4013 lattice that move to left, and " 10 " in seedling dish 4013 number pot seedling lattice are moved to and get seedling position, waits for that getting seedling device 403 gets seedling, takes the Miao Houzai lattice that move to left; In the process of moving to left, if No. 2 photoelectric sensors 302 do not detect in next pot seedling lattice have seedling, laterally Driving Stepping Motor 102 drives seedling dish 4013 lattice that move to left again immediately, and next pot seedling lattice is moved to and gets seedling position.
(7) repeating step (6), until the seedling in " 16 " number pot seedling lattice is removed.
(8) longitudinally Driving Stepping Motor 101 drives pot seedling disk 4013 lattice that readvance, and " 17 " in seedling dish 4013 number pot seedling lattice are moved to and get seedling position, and then repeating step 3～7, until the pot seedling in seedling dish 4013 all takes;
In order to improve the seedling speed of getting, two or more can also be set in automatic seedling taking device and get seedling device and corresponding photoelectric sensor.
In sum, seedling device is identified and got to the seedling dish pot seedling that the utility model discloses automatically, by PLC controller control seedling disk carrying mechanism, the each pot seedling lattice of seedling dish sequentially delivered on request and got seedling position, by getting seedling device, single pot seedling taken out from seedling dish; In course of conveying, whether the each pot seedling lattice of seedling dish are short of seedling and are automatically identified, for the pot seedling lattice of being short of seedling, conveying mechanism will not stop, directly skip this pot seedling lattice, and next pot seedling lattice is transferred to and gets seedling position, leak the problem of planting thereby solve because of the be short of seedling transplanter that causes of pot seedling disk.
Certainly; the utility model also can have other various embodiments; in the situation that not deviating from the utility model spirit and essence thereof; those of ordinary skill in the art are when making various corresponding changes and distortion according to the utility model, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the utility model.
Claims (7)
1. a seedling disk pot seedling is automatically identified and is got seedling device, it is characterized in that, comprising:
Frame;
Automatic seedling taking device, be arranged in described frame, comprise: seedling dish, seedling dish transverse conveying mechanism, seedling dish longitudinal translating device associated, get seedling device, the described seedling device of getting is fixedly mounted in described frame, the described seedling utensil of getting is got seedling position and a non-seedling position of getting, described seedling dish arranges multiple pot seedling lattice with arrayed, and be arranged in described seedling dish longitudinal translating device associated, described seedling dish longitudinal translating device associated is arranged on again on described seedling dish transverse conveying mechanism, described seedling dish is by the motion of described seedling dish longitudinal translating device associated and described seedling dish transverse conveying mechanism, described in being delivered to, pot seedling gets seedling position,
Driver element, comprises the lateral driver device that connects described seedling dish transverse conveying mechanism and the longitudinal driving device that connects described seedling dish longitudinal translating device associated;
Sensor unit, comprise horizontal detection sensor unit, longitudinal detection sensor unit and approach switch, described horizontal detection sensor unit is arranged in described frame, described longitudinal detection sensor unit is arranged on described seedling dish transverse conveying mechanism, and described approach switch is arranged in described frame;
PLC control system, is arranged in described frame, connects and controls described automatic seedling taking device, described driver element, described sensor unit.
2. seedling dish pot seedling according to claim 1 is automatically identified and gets seedling device, it is characterized in that, in described horizontal detection sensor unit, longitudinal detection sensor unit, is respectively arranged with arrangement for adjusting height and transducer sensitivity adjusting device.
3. seedling dish pot seedling according to claim 1 is automatically identified and gets seedling device, it is characterized in that, described horizontal detection sensor unit comprises two horizontal detecting sensors, the both sides of getting seedling device described in being separately positioned on.
4. seedling dish pot seedling according to claim 1 is automatically identified and gets seedling device, it is characterized in that, described longitudinal detection sensor unit comprises two longitudinal detecting sensors, and correspondence is arranged on the described seedling dish transverse conveying mechanism of described seedling dish both sides.
5. seedling dish pot seedling according to claim 1 is automatically identified and gets seedling device, it is characterized in that, described horizontal detecting sensor, longitudinal detecting sensor are photoelectric sensor.
6. seedling dish pot seedling according to claim 1 is automatically identified and gets seedling device, it is characterized in that, described approach switch is relatively described non-ly to be got seedling position and is arranged in described frame.
7. seedling device is identified and got to seedling dish pot seedling according to claim 1 automatically, it is characterized in that, described PLC control system comprises: for the control module that gathers the signal acquisition module of described sensor unit signal and drive described seedling dish to move according to seedling dish longitudinal translating device associated described in described sensor unit signal controlling and seedling dish transverse conveying mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320687007.6U CN203633110U (en) | 2013-11-01 | 2013-11-01 | Device for automatically identifying seedling tray and pot seedlings as well as picking seedlings |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320687007.6U CN203633110U (en) | 2013-11-01 | 2013-11-01 | Device for automatically identifying seedling tray and pot seedlings as well as picking seedlings |
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| Publication Number | Publication Date |
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| CN203633110U true CN203633110U (en) | 2014-06-11 |
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| CN201320687007.6U Expired - Lifetime CN203633110U (en) | 2013-11-01 | 2013-11-01 | Device for automatically identifying seedling tray and pot seedlings as well as picking seedlings |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104584743A (en) * | 2013-11-01 | 2015-05-06 | 中国农业机械化科学研究院 | Seedling tray pot seedling automatic identification and seedling fetching apparatus |
| CN104808573A (en) * | 2015-04-21 | 2015-07-29 | 西北农林科技大学 | Control system of transplanting machine |
| CN105123054A (en) * | 2015-08-31 | 2015-12-09 | 江苏大学 | Plug conveying device for pot seedling transplanter |
| CN105210520A (en) * | 2014-06-27 | 2016-01-06 | 井关农机株式会社 | Tree-remover |
| CN107117444A (en) * | 2017-07-12 | 2017-09-01 | 河南科技大学 | A kind of transplanter seed plate automatic conveying device |
| CN110891411A (en) * | 2017-03-03 | 2020-03-17 | 威廉姆斯有限公司 | Improvements in automated selective transplanters |
| CN113079774A (en) * | 2021-04-27 | 2021-07-09 | 江苏大学 | Seedling tray conveying and positioning device for automatic transplanter and conveying and seedling throwing method |
-
2013
- 2013-11-01 CN CN201320687007.6U patent/CN203633110U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104584743A (en) * | 2013-11-01 | 2015-05-06 | 中国农业机械化科学研究院 | Seedling tray pot seedling automatic identification and seedling fetching apparatus |
| CN105210520A (en) * | 2014-06-27 | 2016-01-06 | 井关农机株式会社 | Tree-remover |
| CN104808573A (en) * | 2015-04-21 | 2015-07-29 | 西北农林科技大学 | Control system of transplanting machine |
| CN104808573B (en) * | 2015-04-21 | 2018-03-16 | 西北农林科技大学 | A kind of transplanter control system |
| CN105123054A (en) * | 2015-08-31 | 2015-12-09 | 江苏大学 | Plug conveying device for pot seedling transplanter |
| CN110891411A (en) * | 2017-03-03 | 2020-03-17 | 威廉姆斯有限公司 | Improvements in automated selective transplanters |
| CN110891411B (en) * | 2017-03-03 | 2022-07-29 | 威廉姆斯有限公司 | Improvements in automated selective transplanters |
| CN107117444A (en) * | 2017-07-12 | 2017-09-01 | 河南科技大学 | A kind of transplanter seed plate automatic conveying device |
| CN107117444B (en) * | 2017-07-12 | 2023-07-04 | 河南科技大学 | Automatic seedling tray conveying device of transplanting machine |
| CN113079774A (en) * | 2021-04-27 | 2021-07-09 | 江苏大学 | Seedling tray conveying and positioning device for automatic transplanter and conveying and seedling throwing method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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Granted publication date: 20140611 |