CN106105518A - Bad Seedling based on Delta parallel mechanism is rejected and fills the gaps with seedlings device and method of work thereof - Google Patents
Bad Seedling based on Delta parallel mechanism is rejected and fills the gaps with seedlings device and method of work thereof Download PDFInfo
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- CN106105518A CN106105518A CN201610440248.9A CN201610440248A CN106105518A CN 106105518 A CN106105518 A CN 106105518A CN 201610440248 A CN201610440248 A CN 201610440248A CN 106105518 A CN106105518 A CN 106105518A
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- seedling
- bad
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- cylinder
- seedlings
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transplanting Machines (AREA)
Abstract
The present invention relates to a kind of bad Seedling based on Delta parallel mechanism reject and fill the gaps with seedlings device, by frame, Delta parallel mechanism, cylinder, bad Seedling rejects pawl, healthy Seedling fills the gaps with seedlings pawl, aperture disk conveyor forms, the moving platform of Delta parallel mechanism under the drive of three motors around, upper and lower three-degree-of-freedom motion；Reject pawl and pawl of filling the gaps with seedlings is arranged on the moving platform of Delta parallel mechanism by cylinder respectively and moves therewith, carry out bad Seedling rejecting and fill the gaps with seedlings.The present invention uses Delta parallel mechanism as the drive mechanism of seedling claw, has three-degree-of-freedom motion, speed is fast, cumulative errors are a little advantage.In work process, equipped with the hole tray primary feed on the conveyor belt of seedling, positioning precision is high.For the feature that bad Seedling is different with healthy Seedling packing situation, it is respectively adopted the seedling claw of different structure, individually works under the driving of cylinder, the interference to adjacent seedling of another seedling claw can be avoided, thus complete the operation that bad Seedling is rejected and healthy Seedling is filled the gaps with seedlings.
Description
Technical field
The present invention relates to greenhouse Plug seedling and transplant field, utilize Delta parallel mechanism quickly to realize particularly to one bad
Seedling is rejected and fills the gaps with seedlings device and method of work thereof.
Background technology
In recent years, along with the continuous popularization of agricultural planting machinery, greenhouse Plug seedling transplantation technique quickly grows.First by children
Seedling cultivates suitable seedling age in seedling culture hole plate, is transplanted in farmland with the means of mechanization by Plug seedling the most again, and this is all
The mode of planting can shorten the growth cycle of crops, improves plantation efficiency.But, the Plug seedling of greenhouse cultivation is likely to occur bad
Seedling, weak Seedling, after being transplanted to farmland, most of bad Seedlings, the meeting death of weak Seedling, affect the yield of crops.Accordingly, it would be desirable in advance to containing
The Plug seedling having bad Seedling carries out bad Seedling rejecting and carries out operation of filling the gaps with seedlings.
In order to reject bad Seedling, present stage most of greenhouse transplantation device is by the healthy transplantation of seedlings in seedling culture hole plate being arrived
In empty hole tray, because the quantity of healthy Seedling is much larger than the quantity of bad Seedling in hole tray, the most this mode work efficiency is relatively low, and
May damage seedling during transplanting, the probability producing new bad Seedling increases.The most traditional greenhouse transplantation device is adopted more
With door frame operating mechanism, speed is slow and vibrations are relatively big, easily produces cumulative errors, thus causes the positioning precision of Plug seedling relatively low.
Summary of the invention
For the deficiencies in the prior art, the present invention propose a kind of bad Seedling based on Delta parallel mechanism reject with
Filling the gaps with seedlings device and method of work thereof, described bad Seedling based on Delta parallel mechanism is rejected has Three Degree Of Freedom fortune with device of filling the gaps with seedlings
Advantage dynamic, that precision is high, speed is fast, cumulative errors are little；For the feature that bad Seedling is different with healthy Seedling packing situation, it is respectively adopted
The seedling claw of different structure, improves the success rate that bad Seedling is rejected and healthy Seedling is filled the gaps with seedlings；Bad Seedling rejects pawl and healthy Seedling is filled the gaps with seedlings, and pawl exists
Individually work under the driving of cylinder, it is to avoid the interference to adjacent seedling of another seedling claw, prevent the damage to adjacent seedling.
The present invention realizes above-mentioned technical purpose by techniques below means.
A kind of bad Seedling based on Delta parallel mechanism is rejected and fills the gaps with seedlings device, it is characterised in that include Delta parallel machine
Structure, the first cylinder, bad Seedling reject pawl, the second cylinder, healthy Seedling fill the gaps with seedlings pawl, aperture disk conveyor, frame, described Delta parallel machine
Structure includes that fixed platform, master arm, slave arm, moving platform, described fixed platform are fixed in frame, and one end of three master arms is with solid
The output shaft of the motor being scheduled on fixed platform is fixing to be connected, and three master arm other ends one end with a slave arm respectively is cut with scissors
Connecing, the other end of slave arm is articulated with on moving platform；Described first cylinder, the second cylinder are arranged on the dynamic of Delta parallel mechanism
On platform；Described bad Seedling is rejected pawl and is arranged on the first piston of the first cylinder, and described healthy Seedling pawl of filling the gaps with seedlings is arranged on the second vapour
On second piston of cylinder.
Further, also include that aperture disk conveyor, described aperture disk conveyor are positioned at below described Delta parallel mechanism.
Further, described first cylinder, the second cylinder are two independent cylinders.
Further, described first cylinder, the flexible amplitude of the second cylinder piston rod meet described in fill the gaps with seedlings pawl and described pick
During except pawl clamping healthy Seedling, bad Seedling, do not scratch Plug seedling.
Bad Seedling based on Delta parallel mechanism is rejected the bad Seedling with device of filling the gaps with seedlings and is rejected and fill the gaps with seedlings method, it is characterised in that
Comprise the following steps:
(1) preparatory stage: the hole tray containing bad Seedling and healthy Seedling hole tray are transported to Delta parallel mechanism by aperture disk conveyor
Work space in；Bad Seedling is installed and rejects pawl and the fill the gaps with seedlings moving platform of Delta parallel mechanism of pawl of healthy Seedling is positioned at hole tray
The origin position of top；First piston and second cylinder second piston of the first cylinder are fully retracted；
(2) bad Seedling is rejected and fills the gaps with seedlings the stage: the second piston of the second cylinder ejects completely, and healthy Seedling pawl of filling the gaps with seedlings stretches out,
The moving platform of Delta parallel mechanism drives healthy Seedling pawl of filling the gaps with seedlings to move to the surface of the first strain health Seedling a of healthy Seedling hole tray,
The healthy Seedling a of gripping, the second cylinder is fully retracted subsequently；The moving platform of Delta parallel mechanism drives bad Seedling to reject pawl and moves to the
The surface of one strain bad Seedling A, the first cylinder ejects completely, grips bad Seedling A, and the first cylinder is fully retracted subsequently；Delta parallel machine
The moving platform of structure drives the healthy Seedling accompanying healthy Seedling seedling pawl of filling the gaps with seedlings to move to the surface in hole of disallowable bad Seedling A, the
Two cylinders eject completely, and by healthy seedling replanting to the cavities of bad Seedling A, the second cylinder is fully retracted, subsequently Delta parallel machine
The moving platform of structure drives the bad Seedling bad Seedling accompanying bad Seedling A to reject the position outside pawl moves to hole tray space, is lost by bad Seedling and removes；It
After in the same fashion healthy Seedling b, c, d, e, f, g, h are transplanted in the cavities of disallowable bad Seedling B, C, D, E, F, G, H.
(3) hole tray delivery phase: when the bad Seedling in the hole tray containing bad Seedling is rejected completely and completes after healthy Seedling fills the gaps with seedlings,
The aperture disk conveyor feeding in left side, is transported to the hole tray that next dish contains bad Seedling in the work space of Delta parallel mechanism；When
When healthy Seedling in healthy Seedling hole tray is taken, the aperture disk conveyor feeding on right side, next dish health Seedling hole tray is transported to
In the work space of Delta parallel mechanism, according to this working method, cycle operation.
Compared with prior art, the invention have the benefit that
(1) use Delta parallel mechanism as the drive mechanism of seedling claw, drive compared to traditional door case type the most enough,
There is three-degree-of-freedom motion, precision is high, speed is fast, cumulative errors are little advantage.
(2) in work process, equipped with the hole tray primary feed on the conveyor belt of seedling, defeated compared to conventional progressive feeding
Sending mode, which is high to Plug seedling positioning precision, and cumulative errors are little.
(3) compare a seedling claw, healthy Seedling is set and fills the gaps with seedlings pawl and bad Seedling rejects two seedling claws of pawl, it is possible to achieve one
Individual workflow realizes the rejecting of bad Seedling and healthy Seedling is filled the gaps with seedlings, make the motion path of the moving platform of Delta parallel mechanism significantly subtract
Few, reach the saving time, improve the purpose of transplanting efficiency.
(4) bad Seedling rejects pawl and healthy Seedling pawl of filling the gaps with seedlings individually works under the driving of cylinder, and another can be avoided to take
The interference to adjacent seedling of the Seedling pawl, prevents the damage to adjacent seedling.
Accompanying drawing explanation
Fig. 1 is the overall structure signal that bad Seedling based on Delta parallel mechanism of the present invention rejects with device of filling the gaps with seedlings
Figure.
Fig. 2 is the structural representation of Delta parallel mechanism.
Fig. 3 is the top view of Delta parallel mechanism.
Fig. 4 is seedling claw scheme of installation.
Fig. 5 is that healthy Seedling captures schematic diagram.
Fig. 6 is that bad Seedling rejects schematic diagram.
Fig. 7 fills the gaps with seedlings schematic diagram for healthy Seedling.
Fig. 8 is that bad Seedling is rejected and cross-reference figure of filling the gaps with seedlings.
Description of reference numerals is as follows: 1-Delta parallel institution, 11-fixed platform, 12-master arm, 13-slave arm, and 14-moves
Platform, 151-the first motor, 152-the second motor, 153-the 3rd motor, 2-the first cylinder, 21-first piston, 3-bad Seedling is rejected
Pawl, 4-the second cylinder, 41-the second piston, 5-health Seedling fills the gaps with seedlings pawl, and 6-aperture disk conveyor, 7-contains the hole tray of bad Seedling, and 8-is healthy
Seedling hole tray, 9-frame.
Detailed description of the invention
Below in conjunction with the accompanying drawings and be embodied as example the present invention will be further described.
As it is shown in figure 1, bad Seedling based on Delta parallel mechanism is rejected mainly includes Delta parallel mechanism with device of filling the gaps with seedlings
1, the first cylinder 2, bad Seedling rejects pawl the 3, second cylinder 4, healthy Seedling fills the gaps with seedlings pawl 5, aperture disk conveyor 6, frame 9.
As shown in Figures 2 and 3, described Delta parallel mechanism 1 includes fixed platform 11, master arm 12, slave arm 13, moves and put down
Platform 14, described fixed platform 11 is fixed in frame 9, one end of three master arms 12 respectively with first be fixed on fixed platform 11
The output shaft of motor the 151, second motor the 152, the 3rd motor 153 is fixing to be connected, three master arm 12 other ends respectively with one
One end of slave arm 13 is hinged, and the other end of slave arm 13 is articulated with on moving platform 14.Three driving motors 15 drive three masters
Swing arm 12 rotates, and then drives moving platform 14 to do up and down by three groups of slave arms 13, and front and back, left and right three degree of freedom is transported
Dynamic.Described aperture disk conveyor 6 is positioned at below described Delta parallel mechanism 1.
As shown in Figure 4, described first cylinder the 2, second cylinder 4 is arranged on the moving platform 14 of Delta parallel mechanism 1；Institute
Stating bad Seedling to reject pawl 3 and be arranged on the first piston 21 of the first cylinder 2, described healthy Seedling pawl 5 of filling the gaps with seedlings is arranged on the second cylinder 4
On second piston 41.Bad Seedling rejects pawl 3 and healthy Seedling is filled the gaps with seedlings around pawl 5 does with the moving platform 14 of Delta parallel mechanism 1,
Upper and lower three-degree-of-freedom motion.
Described first cylinder the 2, second cylinder 4 is two independent cylinders.Bad Seedling rejecting pawl 3 and healthy Seedling fill the gaps with seedlings pawl 5 can
To move up and down with the first piston 21 of the first cylinder 2 and the second piston 41 of the second cylinder 4 respectively.Described first cylinder 2,
The flexible amplitude of two cylinder 4 piston rods fills the gaps with seedlings pawl 5 and time described rejecting pawl 3 clamps healthy Seedling, bad Seedling described in meeting, and does not scratch cave
Dish Seedling.
Bad Seedling based on Delta parallel mechanism is rejected when carrying out the rejecting of bad Seedling with device of filling the gaps with seedlings and fill the gaps with seedlings, according to following step
Suddenly carry out:
(1) preparatory stage: it is in parallel that the hole tray 7 containing bad Seedling and healthy Seedling hole tray 8 are transported to Delta by aperture disk conveyor 6
In the work space of mechanism 1.Bad Seedling is installed and rejects pawl 3 and healthy Seedling is filled the gaps with seedlings the moving platform 14 of Delta parallel mechanism 1 of pawl 5
It is positioned at the origin position of the top of hole tray.The first piston 21 of the first cylinder 2 and the second cylinder 4 second piston 41 are fully retracted.
(2) bad Seedling is rejected and fills the gaps with seedlings the stage: the second piston 41 of the second cylinder 4 ejects completely, and healthy Seedling pawl 5 of filling the gaps with seedlings is stretched
Going out, the moving platform 14 of Delta parallel mechanism 1 drives healthy Seedling pawl 5 of filling the gaps with seedlings to move to the first strain health Seedling a of healthy Seedling hole tray 8
Surface, the healthy Seedling a of gripping, the second cylinder 4 is fully retracted subsequently；The moving platform 14 of Delta parallel mechanism 1 drives bad Seedling to pick
Except pawl 3 moves to the surface of the first strain bad Seedling A, the first cylinder 2 ejects completely, grips bad Seedling A, and the first cylinder 2 is complete subsequently
Retract；The moving platform 14 of Delta parallel mechanism 1 drives the healthy Seedling accompanying healthy Seedling seedling pawl 5 of filling the gaps with seedlings to move to disallowable bad
The surface in the hole of Seedling A, the second cylinder 4 ejects completely, and by healthy seedling replanting to the cavities of bad Seedling A, the second cylinder 4 is complete
Full reduced time, the moving platform 14 of Delta parallel mechanism 1 drives the bad Seedling bad Seedling accompanying bad Seedling A to reject pawl 3 and moves to hole tray sky subsequently
Position outside between, loses bad Seedling and removes.The most in the same fashion health Seedling b, c, d, e, f, g, h are transplanted to disallowable bad Seedling
In the cavities of B, C, D, E, F, G, H.
(3) hole tray delivery phase: rejected completely when the bad Seedling in the hole tray 7 containing bad Seedling and complete healthy Seedling and fill the gaps with seedlings
After, aperture disk conveyor 6 feeding in left side, the work that the hole tray 7 that next dish is contained bad Seedling is transported to Delta parallel mechanism 1 is empty
In；When the healthy Seedling in healthy Seedling hole tray 8 is taken, aperture disk conveyor 6 feeding on right side, by next dish health Seedling hole tray
In 7 work spaces being transported to Delta parallel mechanism 1.Bad Seedling based on Delta parallel mechanism is rejected and fills the gaps with seedlings device according to this
Working method, cycle operation.
Delta parallel mechanism as the drive mechanism of seedling claw, have three-degree-of-freedom motion, precision is high, speed fast, accumulative
The advantage that error is little.In work process, equipped with the hole tray primary feed on the conveyor belt of seedling, compared to conventional progressive feeding
Mode of movement, which is high to Plug seedling positioning precision, and cumulative errors are little.Healthy Seedling is set and fills the gaps with seedlings pawl and bad Seedling rejects pawl two
Seedling claw, it is possible to achieve realize the rejecting of bad Seedling in a workflow and healthy Seedling is filled the gaps with seedlings, make the dynamic flat of Delta parallel mechanism
The motion path of platform greatly reduces, and reaches the saving time, improves the purpose of transplanting efficiency.Bad Seedling rejects pawl and healthy Seedling is filled the gaps with seedlings pawl
Individually work under the driving of cylinder, the interference to adjacent seedling of another seedling claw can be avoided, prevent adjacent seedling
Damage.
Described embodiment be the present invention preferred embodiment, but the present invention is not limited to above-mentioned embodiment, not
In the case of deviating from the flesh and blood of the present invention, any conspicuously improved, the replacement that those skilled in the art can make
Or modification belongs to protection scope of the present invention.
Claims (5)
1. a bad Seedling based on Delta parallel mechanism is rejected and fills the gaps with seedlings device, it is characterised in that include Delta parallel mechanism
(1), the first cylinder (2), bad Seedling reject pawl (3), the second cylinder (4), healthy Seedling fill the gaps with seedlings pawl (5), aperture disk conveyor (6), frame
(9), described Delta parallel mechanism (1) includes fixed platform (11), master arm (12), slave arm (13), moving platform (14), described
Fixed platform (11) is fixed in frame (9), and one end of three master arms (12) is defeated with the motor being fixed on fixed platform (11)
Shaft is fixing to be connected, and three master arm (12) other ends are hinged with one end of a slave arm (13) respectively, slave arm (13)
The other end is articulated with on moving platform (14)；Described first cylinder (2), the second cylinder (4) are arranged on Delta parallel mechanism (1)
On moving platform (14)；Described bad Seedling is rejected pawl (3) and is arranged on the first piston (21) of the first cylinder (2), and described healthy Seedling is mended
Seedling pawl (5) is arranged on second piston (41) of the second cylinder (4).
Bad Seedling based on Delta parallel mechanism the most according to claim 1 is rejected and fills the gaps with seedlings device, it is characterised in that also
Including aperture disk conveyor (6), described aperture disk conveyor (6) is positioned at described Delta parallel mechanism (1) lower section.
Bad Seedling based on Delta parallel mechanism the most according to claim 1 is rejected and fills the gaps with seedlings device, it is characterised in that institute
State the first cylinder (2), the second cylinder (4) is two independent cylinders.
Bad Seedling based on Delta parallel mechanism the most according to claim 1 is rejected and fills the gaps with seedlings device, it is characterised in that institute
State the first cylinder (2), the flexible amplitude of the second cylinder (4) piston rod meet described in fill the gaps with seedlings pawl (5) and described rejecting pawl (3) clamp
When healthy Seedling, bad Seedling, do not scratch Plug seedling.
5. according to according to any one of claim 1-4 bad Seedling based on Delta parallel mechanism reject and fill the gaps with seedlings device
Bad Seedling is rejected and fills the gaps with seedlings method, it is characterised in that comprise the following steps:
(1) preparatory stage: the hole tray (7) containing bad Seedling and healthy Seedling hole tray (8) are transported to Delta also by aperture disk conveyor (6)
In the work space of online structure (1)；Bad Seedling is installed and rejects pawl (3) and health Seedling is filled the gaps with seedlings the Delta parallel mechanism (1) of pawl (5)
Moving platform (14) be positioned at the origin position of top of hole tray；The first piston (2-1) of the first cylinder (2) and the second cylinder (4)
Second piston (4-1) is fully retracted；
(2) bad Seedling is rejected and fills the gaps with seedlings the stage: second piston (41) of the second cylinder (4) ejects completely, and healthy Seedling pawl (5) of filling the gaps with seedlings is stretched
Going out, the moving platform (14) of Delta parallel mechanism (1) drives healthy Seedling pawl (5) of filling the gaps with seedlings to move to the first strain of healthy Seedling hole tray (8)
The surface of healthy Seedling a, the healthy Seedling a of gripping, the second cylinder (4) is fully retracted subsequently；The moving platform of Delta parallel mechanism (1)
(14) driving bad Seedling to reject pawl (3) and move to the surface of the first strain bad Seedling A, the first cylinder (2) ejects completely, grips bad Seedling A,
First cylinder (2) is fully retracted subsequently；The moving platform (14) of Delta parallel mechanism (1) drives the health accompanying healthy Seedling seedling
Seedling pawl (5) of filling the gaps with seedlings moves to the surface in hole of disallowable bad Seedling A, and the second cylinder (4) ejects completely, by health seedling replanting
In the cavities of bad Seedling A, the second cylinder (4) is fully retracted, and the moving platform (14) of Delta parallel mechanism (1) drives and accompanies subsequently
The bad Seedling bad Seedling of bad Seedling A rejects the position outside pawl (3) moves to hole tray space, is lost by bad Seedling and removes；The most in the same fashion
Healthy Seedling b, c, d, e, f, g, h are transplanted in the cavities of disallowable bad Seedling B, C, D, E, F, G, H.
(3) hole tray delivery phase: when the bad Seedling in the hole tray (7) containing bad Seedling is rejected completely and completes after healthy Seedling fills the gaps with seedlings,
Aperture disk conveyor (6) feeding in left side, the hole tray (7) that next dish is contained bad Seedling is transported to the work of Delta parallel mechanism (1)
In space；When the healthy Seedling in healthy Seedling hole tray (8) is taken, aperture disk conveyor (6) feeding on right side, next dish is healthy
Seedling hole tray (7) is transported in the work space of Delta parallel mechanism (1), according to this working method, cycle operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610440248.9A CN106105518B (en) | 2016-06-17 | 2016-06-17 | Bad seedling based on Delta parallel mechanism is rejected and fill the gaps with seedlings device and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610440248.9A CN106105518B (en) | 2016-06-17 | 2016-06-17 | Bad seedling based on Delta parallel mechanism is rejected and fill the gaps with seedlings device and its working method |
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| Publication Number | Publication Date |
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| CN106105518A true CN106105518A (en) | 2016-11-16 |
| CN106105518B CN106105518B (en) | 2018-08-10 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371878A (en) * | 2017-09-18 | 2017-11-24 | 江苏大学 | Cultivation system and implementation method are mended in a kind of Plug seedling integrated form automatic sorting transplanting |
| CN108401628A (en) * | 2018-05-08 | 2018-08-17 | 浙江大学 | A kind of cotyledon period is filled the gaps with seedlings manipulator and its method of filling the gaps with seedlings |
| CN108858143A (en) * | 2018-07-03 | 2018-11-23 | 塞伯睿机器人技术（长沙）有限公司 | Nine axis series-parallel robots |
| CN110149860A (en) * | 2019-06-26 | 2019-08-23 | 贵州大学 | The agricultural machinery seedlings plugging device of function is remedied with bad seedling |
| CN111149466A (en) * | 2020-04-01 | 2020-05-15 | 浙江美之奥种业股份有限公司 | Water culture seedling method and device for melon seeds |
| CN112262685A (en) * | 2020-11-17 | 2021-01-26 | 西北农林科技大学 | Automatic greenhouse pot seedling transplanting system for industrial seedling raising |
| CN114793817A (en) * | 2022-05-09 | 2022-07-29 | 芜湖市丹洋现代农业科技发展有限公司 | Reseeding machine for peony cultivation and planting and reseeding process thereof |
| CN114946347A (en) * | 2022-06-30 | 2022-08-30 | 兰剑智能科技股份有限公司 | Seedling picking and supplementing device, equipment and method for plant planting plate |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371878A (en) * | 2017-09-18 | 2017-11-24 | 江苏大学 | Cultivation system and implementation method are mended in a kind of Plug seedling integrated form automatic sorting transplanting |
| CN108401628A (en) * | 2018-05-08 | 2018-08-17 | 浙江大学 | A kind of cotyledon period is filled the gaps with seedlings manipulator and its method of filling the gaps with seedlings |
| CN108401628B (en) * | 2018-05-08 | 2023-09-22 | 浙江大学 | Cotyledon period seedling supplementing manipulator and seedling supplementing method thereof |
| CN108858143A (en) * | 2018-07-03 | 2018-11-23 | 塞伯睿机器人技术（长沙）有限公司 | Nine axis series-parallel robots |
| CN110149860A (en) * | 2019-06-26 | 2019-08-23 | 贵州大学 | The agricultural machinery seedlings plugging device of function is remedied with bad seedling |
| CN111149466A (en) * | 2020-04-01 | 2020-05-15 | 浙江美之奥种业股份有限公司 | Water culture seedling method and device for melon seeds |
| CN112262685A (en) * | 2020-11-17 | 2021-01-26 | 西北农林科技大学 | Automatic greenhouse pot seedling transplanting system for industrial seedling raising |
| CN114793817A (en) * | 2022-05-09 | 2022-07-29 | 芜湖市丹洋现代农业科技发展有限公司 | Reseeding machine for peony cultivation and planting and reseeding process thereof |
| CN114793817B (en) * | 2022-05-09 | 2024-05-14 | 芜湖市丹洋现代农业科技发展有限公司 | Reseeding machine for peony cultivation and reseeding technology thereof |
| CN114946347A (en) * | 2022-06-30 | 2022-08-30 | 兰剑智能科技股份有限公司 | Seedling picking and supplementing device, equipment and method for plant planting plate |
| CN114946347B (en) * | 2022-06-30 | 2024-05-03 | 兰剑智能科技股份有限公司 | Seedling picking and supplementing device, equipment and method for plant planting plate |
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