CN105766174B - Greenhouse potted tray seedling transplanter - Google Patents
Greenhouse potted tray seedling transplanter Download PDFInfo
- Publication number
- CN105766174B CN105766174B CN201610269369.1A CN201610269369A CN105766174B CN 105766174 B CN105766174 B CN 105766174B CN 201610269369 A CN201610269369 A CN 201610269369A CN 105766174 B CN105766174 B CN 105766174B
- Authority
- CN
- China
- Prior art keywords
- seedling
- framework
- hole tray
- tray
- fixed
- 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.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
Abstract
The present invention relates to greenhouse potted tray seedling transplanter.A variety of Plug seedlings in small hole tray accurately and rapidly should be able to be transplanted in the big hole tray in transport mechanism by the device that purpose is to provide, no seedling injury and with it is compact-sized the advantages of.Technical scheme is：Greenhouse potted tray seedling transplanter, including can be in the framework of ground moving with wheel；It is characterized in that：It is disposed with framework for placing the seedling taking area of small hole tray, the transplanting machine hand on framework and the Fang Miao areas for being used to place big hole tray positioned at seedling taking area lower section；The seedling taking area includes being horizontally fixed in framework and for the supporting plate of holding；The Fang Miao areas include passing through the motor that hole tray conveyer belt and driving belt roller of the belt roller horizontal location on framework rotate.
Description
Technical field
The present invention relates to agricultural machinery technological field, specifically a kind of greenhouse potted tray seedling transplanter can be by a variety of hole trays
Seedling is transplanted in big hole tray from small hole tray.
Background technology
In recent years, the Chinese traditional agriculture mode of production constantly makes the transition to industrialized agriculture, and greenhouse hole plate seedling growth has also obtained huge
Big popularization and development.Many novel agricultural plant equipment are arisen at the historic moment, and potted tray seedling transplanter is also one kind therein, and it can be incited somebody to action
A variety of caves in small hole tray (wherein the seedling-raising cup with Plug seedling is arranged in 6x12 queue, and the spacing of adjacent seedling-raising cup is smaller)
Disk transplantation of seedlings is to big hole tray (wherein the seedling-raising cup with Plug seedling is arranged in 3x4 queue, and the spacing of adjacent seedling-raising cup is larger)
In.However, this greenhouse potted tray seedling transplanter for having been enter into market at present also be there are problems that：Flexible and poor reliability,
Easily hinder seedling；Positioning precision is not high, and control performance is unstable；Intelligence degree is low, and recruitment is more and transplanting is of low quality.
The content of the invention
The technical problems to be solved by the invention are to overcome some shortcomings of above-mentioned background technology, there is provided one kind is applied to temperature
The new transplanter of indoor hole tray transplantation of seedlings；A variety of Plug seedlings in small hole tray accurately and rapidly should be able to be transplanted to by the device
In big hole tray in transport mechanism, no seedling injury and with it is compact-sized the advantages of.
The technical solution adopted by the present invention is as follows：
Greenhouse potted tray seedling transplanter, including can be in the framework of ground moving with wheel；It is characterized in that：Arranged in framework
Have for placing the seedling taking area of small hole tray, the transplanting machine hand on framework and being used to place greatly below seedling taking area
The Fang Miao areas of hole tray；
The seedling taking area includes being horizontally fixed in framework and for the supporting plate of holding；
The Fang Miao areas include passing through what hole tray conveyer belt and driving belt roller of the belt roller horizontal location on framework rotated
Motor.
The transplanting machine hand includes gripping the gripping body of the seedling-raising cup with Plug seedling in small hole tray, drives catching device
The travel mechanism and drive travel mechanism and gripping of structure vertical motion and transverse movement (i.e. the motion of transplanter width)
Mechanism travels longitudinally the walking mechanism of (i.e. the motion of transplanter length direction)；Function is transplanted with cooperative achievement.
The walking mechanism includes the branch that can be positioned to lengthwise movement by a pair of horizontally disposed guideways in frame
The stepper motor of fagging and the driving supporting plate of the pulley assemblies by being positioned in frame.
The travel mechanism includes that transverse movement supporting plate can be positioned at by a pair of horizontally disposed short distance guideways
On slide unit, transverse movement to slide unit applies the cylinder of power, gripping body is realized the vertical of vertical motion on slide unit
Guideway and the vertically movable vertical cylinder that power is provided for gripping body.
Clamping jaw frame that the gripping body includes being connected with slide unit by a double-rod cylinder arranged vertically, led by transverse direction
Rail pair can laterally slidably be positioned at two sliding block connecting plates of fixed link plate both sides, drive the two thin of two sliding block connecting plates one by one
Wall cylinder and three clamping jaws for being fixed on sliding block connecting plate bottom and fixed link plate bottom one by one respectively.
The secondary small slide block for including small-sized optical axis and coordinating with small-sized optical axis of the cross slide way.
The fixed link plate is fixed on the middle part of two small-sized optical axises by fixed block.
The surface of the conveyer belt is provided with the rubber strip being used for big hole tray cross spacing.
The present invention operation principle be：Workflow first stage, transplanting machine hand are moved forward to using walking mechanism
Seedling taking area, it (is typically three of odd numbers ranks in seedling taking area that each clamping jaw just clamps a seedling-raising cup with Plug seedling respectively
Seedling-raising cup), then the gripping body that carry seedling-raising cup is first lifted a height by travel mechanism, is then moved by walking mechanism
To the specified location in Fang Miao areas, while the distance between clamping jaw expands so that the amplification of the distance between seedling-raising cup is (positioned at both sides
Clamping jaw is moved to limited post defined location to both sides respectively), then be smoothly placed in the big hole tray in Fang Miao areas and (passed by conveyer belt
Big hole tray is sent, synchronous matching transplanting machine hand, realizes the steady placement of the seedling-raising cup with Plug seedling).Then, in the order described above
Start-up operation flow second stage, to complete the operation to three seedling-raising cups with Plug seedling of even numbers ranks in seedling taking area；One
Individual working cycles terminate.
Above-mentioned circulation repeatedly, transplanting operation are carried out continuously.
The beneficial effects of the invention are as follows：The machine provided can ensure that Plug seedling in seedling-raising cup and gripping part be not direct
Contact, seedling-damaging ratio are extremely low；Global reliability is stronger, adapts to a variety of hole tray transplantation of seedlings；There is stepper motor and multiple in its travel mechanism
Cylinder, and by plc centralized Controls, transplanting speed is fast, and positional precision is higher；The development also for modern transplanter provides one simultaneously
The new thinking of kind.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 is the dimensional structure diagram in Zhong Fangmiao areas of the present invention.
Fig. 3 is the dimensional structure diagram of transplanting machine hand in the present invention.
Fig. 4 is the exploded perspective view of walking mechanism members and moving mechanism section component in transplanting machine hand.
Fig. 5 is the decomposition texture schematic diagram of transplanting machine Shou Zhong travel mechanisms the latter half component.
Fig. 6 is the dimensional structure diagram of gripping body.
Fig. 7 is the dimensional structure diagram of clamping jaw in gripping body.
Fig. 8-Figure 13 is the working condition conversion process schematic diagram of the present invention.
Embodiment
With reference to the embodiment shown in Figure of description, the invention will be further described, but the present invention does not limit to
In following examples.
Greenhouse potted tray seedling transplanter shown in the drawings, including the seedling taking area 2 of small hole tray is placed in the framework 1, is located at
The Fang Miao areas 3 of the small hole tray of placement below seedling taking area and the transplanting machine hand 4 on framework (are separately carried out whole by plc
Body controls).
The seedling taking area is fixed on the position of certain altitude in framework, including platform framework 2-1, is erected on platform framework
Supporting plate 2-2 (preferably acrylic board), the fixed platen plate 2-3 of both lateral sides bolt of supporting plate；Treated for placement in Fang Miao areas
The small hole tray of transplanting, wherein pallet size are slightly larger than small hole tray.
The Fang Miao areas are fixed on below seedling taking area (referring to Fig. 2), including two belt roller 3-2 being arranged parallel to, by
Two belt roller tensionings and hole tray conveyer belt 3-1 of the horizontal location on framework, (recommend to be provided for horizontal limit in belt surface
The rubber strip 3-11 of position) and the motor that rotates of driving belt roller (motor shaft drives belt roller by gear pair, is omitted in figure).
Also shown in figure：The both sides of hole tray conveyer belt also set up the guardrail board 3-5 being fixed on framework.The hole tray conveyer belt in Fang Miao areas
For transmitting big hole tray, and synchronous matching is realized with transplanting machine hand after speed governing.In addition, a tension assembly is can also configure, with
It is convenient to set up hole tray belt tension；The tension assembly includes the horizontal regulating tank being opened on framework, with being fixed with roll end
And top pressure tensioning can be distinguished along the tensioning block 3-3 that regulating tank moves, the tensioning fixed block 3-4 being fixed on framework and both ends
Block and tensioning fixed block adjusting screw rod component (including screw rod and be arranged on tensioning block and be tensioned fixed block on nut or spiral shell
Line structure).Obviously, tension assembly is conventional structure.
The transplanting machine hand is arranged on frame roof crossbeam, from top to bottom including walking mechanism 5, travel mechanism 6 with
And gripping body 7.Whole transplanting machine hand can grip the seedling-raising cup with Plug seedling, and realize the movement on Spatial Dimension, with
Realize the purpose of transplanting Plug seedling.
(referring to Fig. 3) in the walking mechanism, supporting plate 5-10 can longitudinally-moving by a pair of horizontally disposed guideways
Ground is positioned in frame, and the stepper motor 5-1 and pulley assemblies being fixed in frame drive supporting plate.
The guideway include being parallel to each other and be horizontally fixed on two beam guideway 5-8 of frame top below the crossbeam with
And the sliding block 5-9 four big coordinated two-by-two with two beam guideways；Supporting plate 5-10, which then passes through four fixed sliding blocks, to be slided
It is positioned at dynamicly on framework.The stepper motor 5-1, is fixed on framework by installing plate 5-3；The pulley assemblies include one
Synchronous pulley 5-5 to being fixed on framework relevant position by locating shaft 5-4, timing belt 5-6 are tightly placed in this to timing belt
To synchronous pulley horizontal location on wheel and by this.In addition, fixed fixed block 5-7 on the supporting plate is also connected with timing belt.
Therefore, stepper motor, which rotates, to drive supporting plate to be moved.
The travel mechanism includes passing through a pair horizontally disposed short distance guideways (slide rail 6-5 and the small cunnings being engaged
Block 6-6) can position to transverse movement slide unit 6-9 on the supporting plate, the transverse movement to slide unit apply power cylinder 6-3,
Gripping body is set to realize that the vertical guide of vertical motion is secondary and provides power for the vertical motion of gripping body on slide unit
Vertical cylinder 6-13.
Fig. 4 is shown：The travel mechanism 6 is arranged on below walking mechanism；Wherein, two slide rail 6-5 being parallel to each other consolidate
The lower surface of supporting plate is scheduled on, the four small slide block 6-6 coordinated two-by-two with two slide rails are separately fixed at again is connected to slide unit 6-9
Slide unit installing plate 6-7 on；Cylinder 6-3 is fixed on the lower surface of supporting plate, the piston rod top of cylinder by cylinder mounting seat 6-2
Then it is connected with the piston rod connecting seat 6-4 on slide unit installing plate；In addition, supporting plate lower surface is also spacing with the fixed cylinder of bolt
Block 6-1, for the stroke limit to piston rod.
As seen from Figure 5：Slide unit 6-9 is connected to the lower surface of slide unit installing plate；Arranged on slide unit can be vertically movable it is perpendicular
Direction guiding rail pair (being made up of optical axis 6-8 and sliding block 6-11) and the vertically movable vertical cylinder 6- that power is provided for gripping body
13.It is visible in figure：Optical axis 6-8 is fixed on slide unit by dormant bolt and connecting plate 6-10, two sliding block 6- coordinated with optical axis
11 are slideably set on two optical axises one by one, and are fixed with gripping gripping installing plate 6-15；Vertical cylinder 6-13 passes through company
Fishplate bar is fixed on slide unit, and the piston rod of vertical cylinder is fixed further through vertical connector 6-14 and gripping installing plate；Gripping peace
Loading board is used for the gripping body that is connected.
Clamping jaw frame 7-1 that the gripping body includes being connected with slide unit by a double-rod cylinder 6-16 arranged vertically, lead to
Cross several cunnings that cross slide way secondary (including small-sized optical axis 7-4 and small slide block 7-9) can be laterally slidably positioned on clamping jaw frame
Block connecting plate 7-11, some thin cylinder 7-7 of sliding block connecting plate are driven respectively and are fixed on several sliding block connecting plate bottoms one by one
Several clamping jaws 7-12.
As shown in Figure 6：The gripping body is arranged on below travel mechanism；Wherein：Clamping jaw frame 7-1 passes through connector 6-17
It is fixed on double-rod cylinder 6-16 piston rod (double-rod cylinder starts, and gripping body is just vertical to move up and down).Two mounting brackets
7-2 is respectively bolted to the left and right sides of clamping jaw frame, about two small-sized optical axises spaced apart and horizontally disposed
7-4 is connected on mounting bracket by erection support 7-3；The middle fixed block 7-10 fixed respectively of two small-sized optical axises, two
Individual fixed block is also separately fixed at the upper and lower part at the fixed link plate 7-15 back sides；On two small-sized optical axises also respectively slidably
Wear two small slide block 7-9 (two small slide blocks on each small-sized optical axis are located at the right and left of fixed block respectively)；Wherein,
The small slide block (two small slide blocks) on the fixed block left side on two small-sized optical axises is separately fixed at a sliding block connecting plate 7-11 back sides again
Upper and lower part (the sliding block connecting plate can be slided by small slide block in the left side of two small-sized optical axises), on two small-sized optical axises
Fixed block on the right of small slide block (two small slide blocks) be also separately fixed at the upper and lower part (cunning at another sliding block connecting plate back side
Block connecting plate can be slided by small slide block in the right side of two small-sized optical axises).
Two thin cylinder 7-7 are horizontally disposed, and are fixed on the installation of framework left and right ends by fixing axle 7-6 respectively
On frame, the piston rod of two thin cylinders is then connected by L-type bearing 7-8 and sliding block connecting plate respectively；Wherein it is fixed on a framework left side
The thin cylinder piston rod on mounting bracket is held, is connected by L-type bearing with the sliding block connecting plate on the right of the fixed block and is responsible for band
Move the sliding block connecting plate；The thin cylinder piston rod being fixed on framework right-hand member mounting bracket, it is left with being located at fixed block by L-type bearing
The sliding block connecting plate on side is connected and is responsible for driving the sliding block connecting plate.Obviously, when two thin cylinders start, the sliding block connecting plate of left and right two
Then it is forced to make slide in opposition (centrally located fixed link plate then remains stationary state)；The left and right of two small-sized optical axises
Both ends also wear a limited post 7-5 and (totally four limited posts, are respectively provided with for limited post to be fixed on into small-sized optical axis respectively
Fixing screws), for limit sliding block connecting plate slip extreme position.
It is visible in figure：A clamping jaw 7-12 for being used for clamping band seedling seedling-raising cup is also fixed in the bottom of three sliding block connecting plates respectively
(conventional components, buyable)；A pair of pawls to be exerted a force by spring that the clamping jaw includes wrist lock 7-12-2 and is positioned in wrist lock
Refer to 7-12-1.
This machinery can precisely transplant for a variety of Plug seedlings, carry out detailed workflow explanation below.
See Fig. 8, the original state of this machine operation, whole transplanting machine hand is located at the ad-hoc location of some starting, and it is moved
The piston rod of cylinder 6-15 in motivation structure is stretched out, and the piston rod of other cylinders is all retracted.
First stage (see Fig. 9), PLC send instruction, and stepper motor work transmits power to belt pulley, and belt just drives
Whole transplanting machine hand makes 3 with spring clamping jaws be inserted into 1,3,5 odd numbers ranks of gripping in hole tray to the horizontal movement of seedling taking area
Seedling-raising cup (band Plug seedling), then stepper motor shut down；
Second stage (see Figure 10), PLC control electromagnetism Vavle switching double-rod cylinders, makes whole gripping body rise to one vertically
Fixed height；
Phase III (see Figure 11), PLC control stepper motor reversions, the recession of transplanting machine hand refer to away from seedling taking area, arrival
Positioning postpones stepper motor motor and shut down again；
Fourth stage (see Figure 12), PLC control cylinder solenoid valves, the work of vertical cylinder and double-rod cylinder in travel mechanism
Stopper rod down stretches out, while two in gripping body thin cylinder also starts, and gripping body declines, and clamping jaw is to two end motions
(increasing the distance between seedling-raising cup)；Now big hole tray is sent to below travel mechanism by Fang Miao areas conveyer belt, until educating
Seedling cup is put into big hole tray (synchronous matching for realizing big hole tray and clamping jaw).Then seedling-raising cup is transported forward together with big hole tray
Dynamic, clamping jaw is with separating.
The piston rod of 5th stage (see Fig. 8), PLC control cylinder solenoid valve switchings, vertical cylinder and two thin cylinders
Counter motion, gripping body rise, and revert to initial position.
6th stage (see Figure 13), PLC control cylinder solenoid valves, the cylinder 6-3 in travel mechanism start piston rod outward
Stretching out, transplanting machine hand is moved horizontally to the right defined position (move distance is equal to the distance between two seedling-raising cup centers),
Stepper motor work simultaneously, drive transplanting machine hand to be moved to seedling taking plateau levels, 3 clamping jaws insert gripping 2 in small hole trays, 4,
The seedling-raising cup (band Plug seedling) of 6 even numbers ranks, then stepper motor is shut down；
7th stage (see Fig. 9), double-rod cylinder 5-9 are closed, and gripping body rises vertically, and at the same time cylinder 6-3 is reverse
Piston rod retraction is acted, whole mechanism returns to the extreme position of left end；
In 8th stage (see Figure 11,12,8), the heavy-handed multiple above-mentioned work of transplanting machine, realize one circulation of hole tray transplantation of seedlings.
Above-mentioned circulation repeatedly, transplanting operation are carried out continuously.
Claims (5)
1. greenhouse potted tray seedling transplanter, including can be in the framework (1) of ground moving with wheel；It is characterized in that：Cloth in framework
It is equipped with for placing the seedling taking area (2) of small hole tray, the transplanting machine hand (4) on framework and being used below seedling taking area
In the Fang Miao areas (3) for placing big hole tray；
The seedling taking area includes being horizontally fixed in framework and for the supporting plate (2-2) of holding；
The Fang Miao areas include the hole tray conveyer belt (3-1) and driving belt roller on framework by belt roller (3-2) horizontal location
The motor of rotation；
The transplanting machine hand includes gripping the gripping body (7) of the seedling-raising cup with Plug seedling in small hole tray, drives catching device
The vertically movable vehicle with walking machine to be travelled longitudinally with the travel mechanism (6) of transverse movement and drive travel mechanism and gripping body of structure
Structure (5)；Function is transplanted with cooperative achievement；
The walking mechanism includes the supporting plate that can be positioned to lengthwise movement by a pair of horizontally disposed guideways in frame
(5-10) and the pulley assemblies by being positioned in frame drive the stepper motor (5-1) of supporting plate；
The travel mechanism includes to position on the supporting plate to transverse movement by a pair of horizontally disposed short distance guideways
Slide unit (6-9), the transverse movement to slide unit apply the cylinder (6-3) of power, gripping body is realized vertical motion on slide unit
Vertical guide is secondary and the vertically movable vertical cylinder (6-13) for providing power for gripping body.
2. greenhouse potted tray seedling transplanter according to claim 1, it is characterised in that：The gripping body includes perpendicular by one
Clamping jaw frame (7-1) that the double-rod cylinder (6-16) directly arranged is connected with slide unit, can laterally slidably it be positioned by cross slide way pair
Two sliding block connecting plates (7-11) in fixed link plate (7-15) both sides, two thin cylinders for driving two sliding block connecting plates one by one
(7-6) and three clamping jaws (7-12) for being fixed on sliding block connecting plate bottom and fixed link plate bottom one by one respectively.
3. greenhouse potted tray seedling transplanter according to claim 2, it is characterised in that：The cross slide way is secondary to include small light
Axle (7-4) and the small slide block (7-9) coordinated with small-sized optical axis.
4. greenhouse potted tray seedling transplanter according to claim 3, it is characterised in that：The fixed link plate passes through fixed block
(7-10) is fixed on the middle part of two small-sized optical axises.
5. greenhouse potted tray seedling transplanter according to claim 4, it is characterised in that：The surface of the conveyer belt, which is provided with, to be used for
To the rubber strip (3-11) of big hole tray cross spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610269369.1A CN105766174B (en) | 2016-04-26 | 2016-04-26 | Greenhouse potted tray seedling transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610269369.1A CN105766174B (en) | 2016-04-26 | 2016-04-26 | Greenhouse potted tray seedling transplanter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105766174A CN105766174A (en) | 2016-07-20 |
| CN105766174B true CN105766174B (en) | 2018-03-09 |
Family
ID=56398771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610269369.1A Active CN105766174B (en) | 2016-04-26 | 2016-04-26 | Greenhouse potted tray seedling transplanter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105766174B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106717375B (en) * | 2016-12-07 | 2018-10-09 | 北京工业大学 | A kind of more specification hole tray seedling transplanting devices of laminated type |
| CN106586519B (en) * | 2016-12-19 | 2022-08-30 | 温州大学 | Seedling culture hole tray conveying line |
| CN107079740B (en) * | 2017-06-02 | 2020-06-30 | 北京华农农业工程技术有限公司 | Distance two-way device that jumps cultivated in a pot |
| CN107820801B (en) * | 2017-11-09 | 2020-10-02 | 同济大学 | Automatic planting device capable of adjusting multi-row transplanting interval |
| CN108770600A (en) * | 2018-05-22 | 2018-11-09 | 河北机电职业技术学院 | Needle mushroom picker |
| CN109168489B (en) * | 2018-09-04 | 2020-06-02 | 万神草生物科技(普洱)有限公司 | Yunnan paris polyphylla is planted with device of transplanting seedlings |
| CN110301202B (en) * | 2019-08-14 | 2020-09-04 | 上海绿立方农业发展有限公司 | Plug seedling transplanting transfer table and use method and production line thereof |
| CN110337873B (en) * | 2019-08-14 | 2020-07-31 | 上海绿立方农业发展有限公司 | Tray warehouse for plug seedling transplanting and using method and production line thereof |
| CN110419307B (en) * | 2019-08-29 | 2020-11-10 | 马鞍山市安工大智能装备技术研究院有限公司 | Automatic seedling transplanting machine for plug seedlings |
| CN112237073B (en) * | 2020-10-21 | 2022-02-18 | 高淑兰 | Unmanned automatic transplanter is used in ecological remediation side slope afforestation |
| CN114532023B (en) * | 2022-03-07 | 2022-12-13 | 温州大学 | Leaf vegetable seedling and transplanting method and transplanter thereof |
| CN115215083B (en) * | 2022-06-29 | 2024-03-26 | 兰剑智能科技股份有限公司 | Hydroponic plant transplanting device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI270362B (en) * | 2004-12-28 | 2007-01-11 | Ind Tech Res Inst | Cell subcloning device |
| CN202269169U (en) * | 2011-10-10 | 2012-06-13 | 广州实凯机电科技有限公司 | Greenhouse seedling transplanter |
| CN204180519U (en) * | 2014-10-20 | 2015-03-04 | 浙江理工大学 | Double-deck swing-arm type displacement Yi Bo robot |
| CN104798513B (en) * | 2015-04-27 | 2016-12-07 | 北京农业智能装备技术研究中心 | Plug seedling sorting transplanter |
| CN204634348U (en) * | 2015-05-08 | 2015-09-16 | 江苏大学 | A kind of Plug seedling greenhouse transplanting machine many end effector mechanisms elevator |
| CN205694222U (en) * | 2016-04-26 | 2016-11-23 | 浙江理工大学 | Greenhouse potted tray seedling transplanter |
-
2016
- 2016-04-26 CN CN201610269369.1A patent/CN105766174B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105766174A (en) | 2016-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105766174B (en) | Greenhouse potted tray seedling transplanter | |
| CN102717382B (en) | Synchronous clawing mechanism with multiple manipulators | |
| CN103787051B (en) | The conveying and positioning device of a kind of hole tray pot seedling automatic transplanting and method | |
| CN201682783U (en) | Automated in-hole seedling transplanting machine for greenhouse | |
| CN103385056B (en) | Pneumatic buffering transplanting and positioning mechanism for flower seedlings | |
| CN203143453U (en) | Stereoscopic warehouse mechanism | |
| CN101843200A (en) | Automated potted-seedling transplanting machine for greenhouse | |
| CN205694222U (en) | Greenhouse potted tray seedling transplanter | |
| CN203540811U (en) | Automatic gluing machine | |
| CN109729795A (en) | A kind of hole tray conveying of pot flowers Plug seedling Automatic Transplanter and transplanting mechanism | |
| CN201437109U (en) | Automatic dispensing machine | |
| CN111805219A (en) | Automatic tube penetrating method for heat exchanger tube bundle | |
| CN106717375A (en) | A kind of many specification hole tray seedling transplanting devices of laminated type | |
| CN105460502A (en) | Integrating and conveying mechanism with tracing function | |
| CN208215559U (en) | Furniture batten cutting fluting production line | |
| CN113748807B (en) | Movable three-dimensional seedling supplementing platform | |
| CN214800719U (en) | Tide type seedbed entering and exiting machine | |
| CN109466922A (en) | A kind of tablet transportation system of novel forming machine | |
| CN201543940U (en) | Wave soldering machine and mechanical claw thereof | |
| CN203497708U (en) | Brick separating device | |
| CN111774841A (en) | Intelligent automatic pipe penetrating machine for heat exchanger pipe bundle | |
| CN104904385B (en) | A kind of vegetable transplanting machine Seedling dish mobile device | |
| CN109275630B (en) | Silkworm tray conveying mechanism with triaxial movement | |
| CN208790708U (en) | A kind of electromagnetism Material moving device for voice coil | |
| CN203540842U (en) | Feeding mechanism of gluing machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |