CN104180856A - Pot seedling clamping parameter measuring device - Google Patents
Pot seedling clamping parameter measuring device Download PDFInfo
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- CN104180856A CN104180856A CN201410459832.XA CN201410459832A CN104180856A CN 104180856 A CN104180856 A CN 104180856A CN 201410459832 A CN201410459832 A CN 201410459832A CN 104180856 A CN104180856 A CN 104180856A
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- gripping
- adjustable
- pot seedling
- pawl
- clamping
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- Transplanting Machines (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The invention relates to a pot seedling clamping parameter measuring device. A motor is fixed on the rear side of the top of a rack, a bearing pedestal fixed to the rack is arranged in front of the motor, a hinge-joint bearing is arranged on an adjustable clamping claw and assembled on the bearing pedestal, the adjustable clamping claw can swing up and down with the hinge-joint bearing as the fulcrum under driving of the motor, two sets of clamping stroke adjusting tracks are arranged on the rack, one set of adjusting tracks is used for limiting up stroke limitation of the adjustable clamping claw, and the other set of adjusting tracks is used for limiting lower stroke limitation of the adjustable clamping claw. The pot seedling clamping parameter measuring device can adjust clamping force and clamping strokes conveniently and fast, carry out tests different in clamping force and clamping stroke on pot seedlings in a certain specific state and fast obtain the requirement for the clamping force and the clamping strokes of the pot seedlings in the certain specific state, so that the testing efficiency of the adaptability tests of the clamping mechanism is greatly improved, and the development efficiency of a transplanting machine and the clamping mechanism of the transplanting machine are improved.
Description
Technical field
The present invention relates to clamping type and automatically transplant technical field, is a kind of pot seedling gripping parametric measurement device specifically.Measure for the parameter such as gripping power, gripping stroke that the pot seedling under the conditions such as different substrates, different structure alms bowl dish, different water cut is adapted to.
Background technology
Vegetables are one of requisite important foodstuffs in mankind's daily life.The production of vegetables more and more relies on transplanting, and therefore Times ' Demand is complied with in the research and development of all automatic vegetables transplanter (referred to as transplanter).The core component of all automatic vegetables transplanter is seedling picking mechanism, and the main flow direction of seedling picking mechanism has clamping type, ejecting type and gripping to eject three kinds of convolutions at present.
In the process of research and development all automatic vegetables transplanter, because matrix species is various, gripping power, the gripping stroke of gripping body etc. of water percentage, matrix components, transplanted seedling kind, gripping body (being clamping type seedling picking mechanism) all can affect gets seedling effect, and then affects the transplanting effect of transplanter.Thereby in the R&D process of gripping body, usually can test the parameter such as gripping power and gripping stroke of gripping body, determine the final argument of gripping body according to test findings.
In prior art, be not specifically designed to the device of the parametric measurement such as gripping power and gripping stroke of gripping body, affect the efficiency of research and development of transplanter and gripping body thereof.
Summary of the invention
For the defect existing in prior art, the object of the present invention is to provide a kind of pot seedling gripping parametric measurement device, for the pot seedling of certain particular state, the adaptability of specially it being carried out to gripping power and gripping stroke is measured, thereby draws the optimal gripping power of pot seedling and the gripping stroke of this particular state.
For reaching above object, the technical scheme that the present invention takes is:
A kind of pot seedling gripping parametric measurement device, comprises frame 1, it is characterized in that:
Motor 2 is fixed on the top rear of frame 1,
The front side of motor 2 is provided with bearing seat 21, and bearing seat 21 is fixed in frame 1,
Adjustable gripping pawl 3 is provided with anchor bearing 8, and anchor bearing 8 is assemblied on bearing seat 21,
The tail end 23 of adjustable gripping pawl 3 is positioned at the top of motor 2,
The front end 24 of adjustable gripping pawl 3 is through the front side that stretches out in frame 1 after frame 1,
The level height of front end 24 is lower than the level height of tail end 23,
Adjustable gripping pawl 3 can swing up and down taking anchor bearing 8 as fulcrum under the drive of motor 2,
In frame 1, be provided with 6, one groups of gripping stroke adjustment tracks 6 of two groups of gripping stroke adjustment tracks spacing for the up stroke limit to adjustable gripping pawl 3, another group gripping stroke adjustment track 6 is spacing for the down stroke limit to adjustable gripping pawl 3,
In every group of gripping stroke adjustment track 6, include two gripping stroke adjustment sheets that are symmetrical set.
On the basis of technique scheme, gripping stroke adjustment sheet entirety is L-shaped, formed by horizontal segment and bending section,
Horizontal segment is for being connected with frame 1, bending section and adjustable gripping pawl 3 against time it is played to position-limiting action.
On the basis of technique scheme, the output shaft along continuous straight runs of motor 2 arranges, and perpendicular to adjustable gripping pawl 3,
The output shaft of motor 2 is connected with one end of crank 5,
One end of the other end of crank 5 and connecting rod 4 is hinged,
The tail end 23 of the other end of connecting rod 4 and adjustable gripping pawl 3 is hinged.
On the basis of technique scheme, the tail end 23 of adjustable gripping pawl 3 is provided with some hinge holes 22, and the other end of connecting rod 4 and one of them hinge hole are hinged.
On the basis of technique scheme, the tail end 23 of adjustable gripping pawl 3 is provided with at least three hinge holes 22.
On the basis of technique scheme, described adjustable gripping pawl 3 comprises:
Horizontally disposed gripping pawl base 7, the part that gripping pawl base 7 stretches out frame 1 is those widened sections, the width of those widened sections is greater than the width of remainder,
At the end face of those widened sections, what left and right was relative along its length is provided with movable calvus 10,
Two movable calvus 10 are rotationally connected by bearing pin 12 and the end face of those widened sections respectively,
Bearing pin 12 is positioned at the inner side of movable calvus 10, and bearing pin 12 is provided with elastic body,
The rear end of movable calvus 10 is provided with roller 9,
The front portion of movable calvus 10 is the clamping part of gripping pot seedling, is provided with pressure sensor module 11 at clamping part.
On the basis of technique scheme, the rear end of gripping pawl base 7 is connected with the tail end 23 that is provided with hinge hole 22 by linkage section 52,
Gripping pawl base 7 and tail end 23 are orthogonal.
On the basis of technique scheme, anchor bearing 8 is located on gripping pawl base 7, and closes on linkage section 52 and arrange.
On the basis of technique scheme, in described pressure sensor module 11, be provided with thin-film pressure sensor.
On the basis of technique scheme, described elastic body comprises:
Bolt 16 with nut 15, is located between two movable calvus 10 between two parties, and is positioned at bearing pin 12 front sides,
Torsionspring 14, is set with on bearing pin 12,
One end of torsionspring 14 is connected with movable calvus 10 and is fixing by split pin 13, and the other end is connected with bolt 16.
Pot seedling gripping parametric measurement device of the present invention, can adjust quickly and easily gripping power and gripping stroke, can carry out to the pot seedling of certain particular state the test of different gripping power and gripping stroke, the requirement of the pot seedling that draws fast this particular state to gripping power and gripping stroke, greatly improve the test efficiency of gripping body compatibility test, improved the efficiency of research and development of transplanter and gripping body thereof.
Pot seedling gripping parametric measurement device of the present invention, gripping dynamics is adjustable, gripping stroke is adjustable, and simulate gripping body completely by getting the whole motion of seedling to the seedling that falls, the working condition of authentic and valid reaction gripping body, adaptability that can the pot seedling of fast verification gripping parameter to certain particular state, and carry out the parameter optimization of gripping body by the test effect comparison under different gripping power and gripping travel parameters in many groups of tests.
Pot seedling gripping parametric measurement device of the present invention, simple in structure, cheap, convenient operation, conveniently transplanter clamping type seedling picking mechanism is carried out to parameter optimization and improvement, this device can be used for the gripping power required to the pot seedling under certain certain species and particular state and the isoparametric mensuration of gripping stroke.For the selected foundation reliably that provides directly of gripping body parameter of certain species pot seedling.
Brief description of the drawings
The present invention has following accompanying drawing:
Fig. 1 perspective view of the present invention,
Fig. 2 no frame perspective view of the present invention,
Fig. 3 structural representation (no frame) of facing of the present invention,
The structural representation of the adjustable gripping pawl of Fig. 4,
The structural representation of Fig. 5 bolt and torsionspring,
Fig. 6 gets seedling view,
Fig. 7 seedling view that falls.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Fig. 1～7, pot seedling gripping parametric measurement device of the present invention, comprising: frame 1, motor 2, adjustable gripping pawl 3, connecting rod 4, crank 5 and gripping stroke adjustment track 6;
Described adjustable gripping pawl 3 comprises: gripping pawl base 7, anchor bearing 8, roller 9, movable calvus 10, pressure sensor module 11, bearing pin 12, split pin 13, torsionspring 14, nut 15, bolt 16.
As shown in Fig. 1～7, concrete structure is as follows:
Motor 2 is fixed on the top rear of frame 1,
The front side of motor 2 is provided with bearing seat 21, and bearing seat 21 is fixed in frame 1, and for example bearing seat 21 is fixed on the crown center position of frame 1,
Adjustable gripping pawl 3 is provided with anchor bearing 8, and anchor bearing 8 is assemblied on bearing seat 21, realizes being rotationally connected of adjustable gripping pawl 3 and frame 1 by anchor bearing 8, bearing seat 21,
The tail end 23 of adjustable gripping pawl 3 is positioned at the top (oblique upper or directly over) of motor 2,
The front end 24 of adjustable gripping pawl 3 is through the front side that stretches out in frame 1 after frame 1,
The level height of front end 24 is lower than the level height of tail end 23,
Adjustable gripping pawl 3 can swing up and down taking anchor bearing 8 as fulcrum under the drive of motor 2,
In frame 1, be provided with 6, one groups of gripping stroke adjustment tracks 6 of two groups of gripping stroke adjustment tracks spacing for the up stroke limit to adjustable gripping pawl 3, another group gripping stroke adjustment track 6 is spacing for the down stroke limit to adjustable gripping pawl 3,
In every group of gripping stroke adjustment track 6, include two gripping stroke adjustment sheets that are symmetrical set.
On the basis of technique scheme, gripping stroke adjustment sheet entirety is L-shaped, formed by horizontal segment and bending section,
Horizontal segment is for being connected with frame 1, bending section and adjustable gripping pawl 3 against time it is played to position-limiting action.
Spacing between the bending section of the gripping stroke adjustment sheet being symmetrical set diminishes gradually, in the time that adjustable gripping pawl 3 moves from large spacing to little spacing place, bending section increases gradually to the clamping dynamics of adjustable gripping pawl 3, both realized spacing to adjustable gripping pawl 3, also by the gripping power of this kind of adjustable gripping pawl 3 of mode control.
On the basis of technique scheme, the output shaft along continuous straight runs of motor 2 arranges, and perpendicular to adjustable gripping pawl 3,
The output shaft of motor 2 is connected with one end of crank 5,
One end of the other end of crank 5 and connecting rod 4 is hinged,
The tail end 23 of the other end of connecting rod 4 and adjustable gripping pawl 3 is hinged.
By this kind of connected mode, adjustable gripping pawl 3 can be swung up and down under the drive of motor 2 taking anchor bearing 8 as fulcrum.
Connecting rod 4 can by the parts such as bearing pin directly and tail end 23 hinged, also can be hinged by changeover mechanism and tail end 23, specifically mode can be selected according to actual needs.
On the basis of technique scheme, the tail end 23 of adjustable gripping pawl 3 is provided with some hinge holes 22, and the other end of connecting rod 4 and one of them hinge hole are hinged.
Connecting rod 4 and the different hinged adjusting realizing adjustable gripping pawl oscillating stroke of hinge hole.
On the basis of technique scheme, the tail end 23 of adjustable gripping pawl 3 is provided with at least three hinge holes 22.Three, four, five or more hinge hole for example can be set.In embodiment illustrated in fig. 2, be provided with four hinge holes, connecting rod 4 is directly hinged with a hinge hole 22 by parts such as bearing pins.
On the basis of technique scheme, as shown in Fig. 1～5, described adjustable gripping pawl 3 comprises:
Gripping pawl base 7, is a strip flat board, is horizontally disposed with, and the part that gripping pawl base 7 stretches out frame 1 is those widened sections, and the width of those widened sections is greater than the width of remainder,
At the end face of those widened sections, what left and right was relative along its length is provided with movable calvus 10,
Two movable calvus 10 are rotationally connected by bearing pin 12 and the end face of those widened sections respectively,
Bearing pin 12 is positioned at the inner side of movable calvus 10, and bearing pin 12 is provided with elastic body,
The rear end (towards one end of anchor bearing 8) of movable calvus 10 is provided with roller 9,
The front portion of movable calvus 10 is the clamping part of gripping pot seedling, is provided with pressure sensor module 11 at clamping part.
Roller 9 contacts with the bending section of gripping stroke adjustment sheet in the time that movable calvus 10 enters gripping stroke adjustment track 6, to reduce friction and noise.
On the basis of technique scheme, as shown in Figure 5, a side of gripping pawl base 7 bottom surfaces is provided with bending edges 51 along its length.Bending edges 51 can be strengthened the bending strength of gripping pawl base 7, extends the serviceable life of adjustable gripping pawl 3.
On the basis of technique scheme, the rear end of gripping pawl base 7 is connected with the tail end 23 that is provided with hinge hole 22 by linkage section 52,
Gripping pawl base 7 and tail end 23 are orthogonal.
As shown in Figure 5, staggered 90 degree in rear and front end of linkage section 52, make gripping pawl base 7 and tail end 23 orthogonal, as previously mentioned, gripping pawl base 7 is horizontally disposed with (along continuous straight runs setting), tail end 23 vertically arranges (vertically arranging), so that the connection of tail end 23 and connecting rod 4.Obviously, when the rear and front end of linkage section 52 staggered 90 is spent, gripping pawl base 7, tail end 23 are and are horizontally disposed with, and also can be used as one of selectable embodiment, and now, tail end 23 can be implemented by prior art with the concrete connected mode of connecting rod 4.
Gripping pawl base 7, linkage section 52 and tail end 23 can be integrated integrative-structures, also can be Split type structure (be for example threaded, the mode such as clamping, grafting connect).
On the basis of technique scheme, anchor bearing 8 is located on gripping pawl base 7, and closes on linkage section 52 and arrange.
On the basis of technique scheme, the bending laterally of the upper end of movable calvus 10 forms flanging (bending structure).Bending structure can increase activity calvus 10 bending strength.
On the basis of technique scheme, in described pressure sensor module 11, be provided with thin-film pressure sensor.Pressure sensor module 11 can be by transmission real-time gripping force data suffered pot seedling in process of the test out.
On the basis of technique scheme, described elastic body comprises:
Bolt 16 with nut 15, is located between two movable calvus 10 between two parties, and is positioned at bearing pin 12 front sides,
Torsionspring 14, is set with on bearing pin 12,
One end of torsionspring 14 is connected with movable calvus 10 and is fixing by split pin 13, and the other end is connected with bolt 16.
One end of torsionspring 14 acts on the bolt 16 being fixed on gripping pawl base 7, the other end acts on movable calvus 10, the elastic force of torsionspring 14 make movable calvus 10 in the time not entering gripping stroke adjustment track 6 in closure state, if 10 of movable calvus exist pot seedling, this torsionspring 14 provides gripping power for movable calvus 10.
As shown in Figure 6,7, the pot seedling gripping parametric measurement device course of work of the present invention is as follows:
First, select the torsionspring 14 of suitable elastic force according to testing requirements, torsionspring is mounted on bearing pin 12, fix with movable calvus 10.
Then, the setting of the gripping stroke to adjustable gripping pawl 3 according to pot seedling size and test, adjust the position of gripping stroke adjustment track 6, make it in appropriate location and keep proper width (this width refers to: the spacing between the bending section of the gripping stroke adjustment sheet being symmetrical set), in order to control the gripping stroke of adjustable gripping pawl.
Starter motor 2, adjustable gripping pawl 3 does reciprocally swinging (swinging up and down taking anchor bearing 8 as fulcrum) under the driving of motor 2, crank 5, connecting rod 4.
In the time that the roller 9 on movable calvus 10 touches the spacing gripping stroke adjustment track 6 of the up stroke limit, roller 9 is subject to the compressing of gripping stroke adjustment track 6 and draws close mutually, spacing between movable calvus 10 rear ends narrows gradually, clamping part (front portion of movable calvus 10) overcomes the elastic force of torsionspring 14 and opened with certain angle, now pot seedling is placed in clamping part, as shown in Figure 6.
Under the driving of motor 2, the clamping part of adjustable gripping pawl 3 starts to move downward from peak, roller 9 on movable calvus 10 departs from contacting of the gripping stroke adjustment track 6 spacing with the up stroke limit gradually, the elastic force of torsionspring 14 resets movable calvus 10, clamping part closes up gradually until clamp pot seedling extremely to a certain degree, now, pressure sensor module 11 output pressure variable signals.
Adjustable gripping pawl 3 continues to move downward under the driving of motor 2, in the time that the roller 9 on movable calvus 10 touches the spacing gripping stroke adjustment track 6 of the down stroke limit, roller 9 is subject to the compressing of gripping stroke adjustment track 6 and again draws close mutually, spacing between movable calvus 10 rear ends narrows again gradually, clamping part (front portion of movable calvus 10) overcomes the elastic force of torsionspring 14 and opened with certain angle again, complete the release to pot seedling, as shown in Figure 7.
The data determination of exporting by pressure sensor module 11 is the gripping power size of test this time, and adjusts gripping power by changing torsionspring 14, adjusts the gripping stroke of adjustable gripping pawl 3, again test by adjusting the position of gripping stroke adjustment track 6.
By the test of many times under different gripping power and gripping travel parameters, in the degree of impairment of observation pot seedling and process of the test, pot seedling departs from the situation of adjustable gripping pawl 3, can draw the optimum gripping power of pot seedling and the gripping travel parameters of this particular state, complete the mensuration of gripping parameter.
The content not being described in detail in this instructions belongs to the known prior art of professional and technical personnel in the field.
Claims (10)
1. a pot seedling gripping parametric measurement device, comprises frame (1), it is characterized in that:
Motor (2) is fixed on the top rear of frame (1),
The front side of motor (2) is provided with bearing seat (21), and it is upper that bearing seat (21) is fixed on frame (1),
Adjustable gripping pawl (3) is provided with anchor bearing (8), and it is upper that anchor bearing (8) is assemblied in bearing seat (21),
The tail end (23) of adjustable gripping pawl (3) is positioned at the top of motor (2),
The front end (24) of adjustable gripping pawl (3) is through the front side that stretches out in frame (1) after frame (1),
The level height of front end (24) is lower than the level height of tail end (23),
Adjustable gripping pawl (3) can swing up and down taking anchor bearing (8) as fulcrum under the drive of motor (2),
In frame (1), be provided with two groups of gripping stroke adjustment tracks (6), one group of gripping stroke adjustment track (6) is for spacing to the up stroke limit of adjustable gripping pawl (3), another group gripping stroke adjustment track (6) is for spacing to the down stroke limit of adjustable gripping pawl (3)
In every group of gripping stroke adjustment track (6), include two gripping stroke adjustment sheets that are symmetrical set.
2. pot seedling gripping parametric measurement device as claimed in claim 1, is characterized in that: gripping stroke adjustment sheet entirety is L-shaped, formed by horizontal segment and bending section,
Horizontal segment is for being connected with frame (1), bending section and adjustable gripping pawl (3) against time it is played to position-limiting action.
3. pot seedling gripping parametric measurement device as claimed in claim 1, is characterized in that: the output shaft along continuous straight runs of motor (2) arranges, and perpendicular to adjustable gripping pawl (3),
The output shaft of motor (2) is connected with one end of crank (5),
One end of the other end of crank (5) and connecting rod (4) is hinged,
The tail end (23) of the other end of connecting rod (4) and adjustable gripping pawl (3) is hinged.
4. pot seedling gripping parametric measurement device as claimed in claim 3, it is characterized in that: the tail end (23) of adjustable gripping pawl (3) is provided with some hinge holes (22), the other end and one of them hinge hole of connecting rod (4) are hinged.
5. pot seedling gripping parametric measurement device as claimed in claim 4, is characterized in that: the tail end (23) of adjustable gripping pawl (3) is provided with at least three hinge holes (22).
6. pot seedling gripping parametric measurement device as claimed in claim 1, is characterized in that, described adjustable gripping pawl (3) comprising:
Horizontally disposed gripping pawl base (7), the part that gripping pawl base (7) stretches out frame (1) is those widened sections, the width of those widened sections is greater than the width of remainder,
At the end face of those widened sections, what left and right was relative along its length is provided with movable calvus (10),
Two movable calvus (10) are rotationally connected by bearing pin (12) and the end face of those widened sections respectively,
Bearing pin (12) is positioned at the inner side of movable calvus (10), and bearing pin (12) is provided with elastic body,
The rear end of movable calvus (10) is provided with roller (9),
The front portion of movable calvus (10) is the clamping part of gripping pot seedling, is provided with pressure sensor module (11) at clamping part.
7. pot seedling gripping parametric measurement device as claimed in claim 6, is characterized in that: the rear end of gripping pawl base (7) is connected with the tail end (23) that is provided with hinge hole (22) by linkage section (52),
Gripping pawl base (7) and tail end (23) are orthogonal.
8. pot seedling gripping parametric measurement device as claimed in claim 7, is characterized in that: it is upper that anchor bearing (8) is located at gripping pawl base (7), and closes on linkage section (52) setting.
9. pot seedling gripping parametric measurement device as claimed in claim 6, is characterized in that: described pressure sensor module is provided with thin-film pressure sensor in (11).
10. pot seedling gripping parametric measurement device as claimed in claim 6, is characterized in that, described elastic body comprises:
The bolt (16) of band nut (15), is located between two parties between two movable calvus (10), and is positioned at bearing pin (12) front side,
Torsionspring (14), is set with in bearing pin (12) above,
One end of torsionspring (14) is connected with movable calvus (10) and is fixing by split pin (13), and the other end is connected with bolt (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459832.XA CN104180856B (en) | 2014-09-11 | 2014-09-11 | A kind of pot seedling gripping parametric measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410459832.XA CN104180856B (en) | 2014-09-11 | 2014-09-11 | A kind of pot seedling gripping parametric measurement device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104180856A true CN104180856A (en) | 2014-12-03 |
| CN104180856B CN104180856B (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410459832.XA Expired - Fee Related CN104180856B (en) | 2014-09-11 | 2014-09-11 | A kind of pot seedling gripping parametric measurement device |
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| JPH04341104A (en) * | 1991-05-17 | 1992-11-27 | Toshiba Corp | Dividing and transplanting device of seedling |
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| CN101990802A (en) * | 2009-08-28 | 2011-03-30 | 湖南农业大学 | Automatic seedling-taking mechanism for transplantation of pot seedlings |
| CN102239804A (en) * | 2011-05-03 | 2011-11-16 | 中国农业大学 | Automatic seedling picking paw mechanism and seedling picking method thereof |
| CN102523803A (en) * | 2011-11-15 | 2012-07-04 | 江苏大学 | Automatic transplanting machine for pot tray seedlings |
| CN103270838A (en) * | 2013-05-04 | 2013-09-04 | 曹伟鹏 | Hole seedling transplanting paw adaptive to hole trays with different models |
-
2014
- 2014-09-11 CN CN201410459832.XA patent/CN104180856B/en not_active Expired - Fee Related
Patent Citations (6)
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|---|---|---|---|---|
| JPH04341104A (en) * | 1991-05-17 | 1992-11-27 | Toshiba Corp | Dividing and transplanting device of seedling |
| WO2004043134A1 (en) * | 2002-11-14 | 2004-05-27 | Ferrari Costruzioni Meccaniche S.N.C. | A seedling transplanting unit with rotary distributor for planting seedlings arranged in two rows |
| CN101990802A (en) * | 2009-08-28 | 2011-03-30 | 湖南农业大学 | Automatic seedling-taking mechanism for transplantation of pot seedlings |
| CN102239804A (en) * | 2011-05-03 | 2011-11-16 | 中国农业大学 | Automatic seedling picking paw mechanism and seedling picking method thereof |
| CN102523803A (en) * | 2011-11-15 | 2012-07-04 | 江苏大学 | Automatic transplanting machine for pot tray seedlings |
| CN103270838A (en) * | 2013-05-04 | 2013-09-04 | 曹伟鹏 | Hole seedling transplanting paw adaptive to hole trays with different models |
Non-Patent Citations (2)
| Title |
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| 崔巍: "齿轮_五杆取苗装置机构优化与试验验证", 《农业机械学报》, vol. 44, no. 8, 31 August 2013 (2013-08-31) * |
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| CN104180856B (en) | 2016-06-08 |
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Granted publication date: 20160608 Termination date: 20170911 |