CN106576538A - Transplanting manipulator - Google Patents
Transplanting manipulator Download PDFInfo
- Publication number
- CN106576538A CN106576538A CN201611176050.0A CN201611176050A CN106576538A CN 106576538 A CN106576538 A CN 106576538A CN 201611176050 A CN201611176050 A CN 201611176050A CN 106576538 A CN106576538 A CN 106576538A
- Authority
- CN
- China
- Prior art keywords
- axis
- transplanting machine
- machine handss
- synchronous pulley
- plate
- 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.)
- Pending
Links
- 230000003287 optical effect Effects 0.000 claims abstract description 29
- 210000004247 hand Anatomy 0.000 claims description 63
- 230000001360 synchronised effect Effects 0.000 claims description 31
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 18
- 229910052782 aluminium Inorganic materials 0.000 claims description 18
- 239000004411 aluminium Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 9
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 230000008093 supporting effect Effects 0.000 claims description 3
- 235000013311 vegetables Nutrition 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 4
- 239000002689 soil Substances 0.000 description 11
- 238000000926 separation method Methods 0.000 description 5
- 238000007373 indentation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a transplanting manipulator. The transplanting manipulator comprises a conveyor, wherein a transplanting manipulator three-direction movement device is arranged on the conveyor, and the transplanting manipulator three-direction movement device is connected with a transplanting manipulator tail-end device; the transplanting manipulator tail-end device comprises two side plates, two optical shafts are arranged between the two side plates through an optical shaft horizontal-type support seat, multiple sliding blocks are arranged on the two optical shafts, short connecting rods are hinged to the sliding blocks on two sides respectively, long connecting rods are hinged to the other sliding blocks, the long connecting rods and the short connecting rods are in hinged connection, every two adjacent long connecting rods are in hinged connection, and the hinged part is connected with a tail-end cylinder fixed through a cylinder mounting foot stand; the side part of each sliding block is provided with a pneumatic finger through a pneumatic finger pad, and clip clamping piece is arranged on each pneumatic finger. The transplanting manipulator has the characteristics of steady clamping and high efficiency, and can meet requirements for separating seedlings of green vegetables.
Description
Technical field
The present invention relates to a kind of transplanting machine handss, particularly a kind of transplanting machine handss for seedling seedling separation.
Background technology
At present, the mechanization of proportion of crop planting mode, automatic technology research becomes state key research field.
Transplant can by being accomplished manually, but gradually decreasing with labouring population, artificial relatively costly, and the labor transplanted
Fatigue resistance is big, affects the efficiency transplanted, it is serious cause to delay work mistake, miss the optimal transplanting cycle of crop, it is difficult to guarantee the quality
Amount.Therefore, research and develop a kind of transplanting machine handss tool to be of great significance.
The content of the invention
It is an object of the present invention to provide a kind of transplanting machine handss.The present invention has the characteristics of gripping steady and efficiency high,
The seedling separation that green vegetable seedling can also be met is required.
Technical scheme：Transplanting machine handss, it is characterised in that：Including conveyer, conveyer is provided with transplanter
The direction mobile device of tool handss three, the direction mobile device of transplanting machine handss three is connected with transplanting machine handss end equipment；Transplanting machine
Handss end equipment includes two blocks of side plates, and Jing optical axises Horizontal supporting seat is provided with two optical axises between two blocks of side plates, sets on two optical axises
There are multiple slide blocks, on the slide block of both sides short connecting rod has been respectively articulated with, long connecting rod, long connecting rod and short connecting rod are hinged with remaining slide block
It is articulated and connected, is articulated and connected between adjacent long connecting rod, hinged place is connected with Jing cylinders and installs the end cylinder that foot rest is fixed；Institute
State every piece of slide block sidepiece Jing pneumatic-finger cushion block and be provided with pneumatic-finger, pneumatic-finger is provided with tong intermediate plate.
In aforesaid transplanting machine handss, two blocks of side plates are provided with end top board, and end top board is provided with end connection
Mounting blocks；The end cylinder Jing spherical plain bearing rod ends are connected with hinged place.
In aforesaid transplanting machine handss, the direction mobile device of the transplanting machine handss three includes four and rectangular is arranged on aluminum
Bearing block on section bar support, between the bearing block of left and right two power transmission shaft is respectively equipped with, and every power transmission shaft is respectively arranged at two ends with together
Step belt wheel, between homonymy synchronous pulley Timing Belt is provided with；The power transmission shaft of rear side is connected with big synchronous pulley, shaft coupling by shaft coupling
Device Jing short axles are arranged on support base, and support base Jing vertical support seat cushions block is arranged on mounting base b, and big synchronous pulley Jing is same
Step band is connected with small synchronous pulley, and small synchronous pulley is connected with motor, and motor Jing vertical supports seat is arranged on vertical
On support base mounting blocks, vertical support seat mounting blocks are arranged on mounting base a by bolt and nut, and mounting base a is provided with
Threaded block；Aluminium section bar support is provided with two band aluminum support optical axis guide rails, and the Timing Belt between homonymy synchronous pulley is respectively by same
Step band briquetting is connected with Y-axis plate, and the Y-axis plate of both sides is respectively equipped with the linear slider coordinated with aluminum support optical axis guide rail with both sides,
The linear slider in left side is provided with three openings, and the linear slider on right side is provided with two openings；Every block of Y-axis plate is provided with two axle housings
Seat installs board spacer and two optical axis vertical support seats, and between the optical axis vertical support seat of the both sides of left and right X-direction optical axis is provided with,
Two axle housing seats of homonymy to be installed and be provided with axle housing seat installing plate on board spacer, and axle housing seat installing plate is provided with two inside and is equipped with
The axle housing seat of bearing, is provided with a short axle between two axle housing seats, two synchronous pulley a, the short axle in left side are provided with short axle
Motor a is connected by shaft coupling；The synchronized band a connections of left and right sides synchronous pulley a, Timing Belt a passes through Timing Belt briquetting
Z axis plate is connected with, four box linear bearings are installed on four angles of Z axis plate, four box linear bearings pass through two X-directions
Optical axis, the Z axis plate central authorities are provided with a twin shaft cylinder by connector, and twin shaft cylinder head is connected with axis of guide upper mounting plate
Connection, axis of guide upper mounting plate is connected with axis of guide lower installation board by two axis of guides, and two axis of guides are each passed through Z axis
Plate.
In aforesaid transplanting machine handss, mode connects for screw between the axis of guide lower installation board and end connection mounting blocks.
In aforesaid transplanting machine handss, aluminium section bar is passed through between the conveyer and the direction mobile device of transplanting machine handss three
A, aluminium section bar b location and installations.
Compared with prior art, the present invention connects mounting blocks installed in shifting by transplanting machine handss end equipment by end
Plant in the direction mobile device of mechanical hand three, conveyer is arranged on the direction mobile device lower section of transplanting machine handss three, so as to can be by cave
Disk first passes through conveyer and is delivered to the direction mobile device lower section specified location of transplanting machine handss three, then by transplanting machine handss end
Device is gripped, and finally by the direction mobile device of transplanting machine handss three to specified location, gripping is steady and the characteristics of efficiency high, and also
The seedling separation that green vegetable seedling can be met is required；Human cost is reduced, and reduces labor intensity, hence it is evident that improved transplanting efficiency, save
Shi Shengli, can guarantee that the optimal transplanting cycle of crop, guarantee both quality and quantity.
Volume of the present invention is moderate, efficiency high, and the finger of each pneumatic-finger installs a piece of tong by pneumatic-finger cushion block
Intermediate plate can smoothly grip seedling soil block, be additionally provided with the degree of freedom in tri- directions of XYZ, can meet green vegetable cultivation automatic
The seedling separation of green vegetable seedling is required in change system.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of transplanting machine handss end equipment；
Fig. 3 is the mounting structure schematic diagram of transplanting machine handss end equipment；
Fig. 4 is the structural representation of the direction mobile device of transplanting machine handss three
Fig. 5 is the partial enlarged drawing of Fig. 4；
Fig. 6 is the partial enlarged drawing of Fig. 4.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is further illustrated, but be not intended as to the present invention limit according to
According to.
Embodiment.Transplanting machine handss, are constituted as shown in figures 1 to 6, including conveyer III, and conveyer III is provided with transplanting machine
The direction mobile device II of handss three, the direction mobile device II of transplanting machine handss three is connected with transplanting machine handss end equipment I；Transplanter
Tool handss end equipment I includes two blocks of side plates 1, and Jing optical axis Horizontal supportings seat 9 is provided with two optical axises 8, two light between two blocks of side plates 1
Axle 8 is provided with multiple slide blocks 2, and on the slide block 2 of both sides short connecting rod 3 has been respectively articulated with, and long connecting rod 4 is hinged with remaining slide block 2, long
Connecting rod 4 is articulated and connected with short connecting rod 3, is articulated and connected between adjacent long connecting rod 4, and hinged place is connected with Jing cylinders and installs foot rest 5
Fixed end cylinder 6；The sidepiece Jing pneumatic-fingers cushion block 10 of every piece of slide block 2 is provided with pneumatic-finger 7, sets on pneumatic-finger 7
There is tong intermediate plate 11.
Two blocks of side plates 1 are provided with end top board 12, and end top board 12 is provided with end connection mounting blocks 13；The end
The end Jing spherical plain bearing rod ends 14 of cylinder 6 are connected with hinged place.
The direction mobile device II of the transplanting machine handss three includes four rectangular axles being arranged on aluminium section bar support 15
Bearing 16, is respectively equipped with power transmission shaft 18 between the bearing block 16 of left and right two, every power transmission shaft 18 is respectively arranged at two ends with synchronous pulley
47, it is provided with Timing Belt between homonymy synchronous pulley 47；The power transmission shaft 18 of rear side is connected with big synchronous pulley 26 by shaft coupling 25,
The Jing short axles of shaft coupling 25 are arranged on support base, and support base Jing vertical support seat cushions block 27 is arranged on mounting base b28, Datong District
The step synchronized band of belt wheel 26 is connected with small synchronous pulley 24, and small synchronous pulley 24 is connected with motor 20, the Jing of motor 20
Vertical support seat 23 is arranged on vertical support seat mounting blocks 21, and vertical support seat mounting blocks 21 are arranged on peace by bolt and nut
On dress base plate a19, mounting base a19 is provided with threaded block 22；Aluminium section bar support 15 is provided with two band aluminum support optical axis guide rails 17,
Timing Belt between homonymy synchronous pulley 47 is connected with Y-axis plate 32 by Timing Belt briquetting 35 respectively, and the Y-axis plate 32 of both sides is distinguished
The linear slider 34 coordinated with aluminum support optical axis guide rail 17 with both sides is provided with, the linear slider 34 in left side is provided with three openings, right
The linear slider 34 of side is provided with two openings；Every block of Y-axis plate 32 is provided with two axle housing seats and installs board spacer 33 and two optical axises
Vertical support seat 48, is provided with X-direction optical axis 49, two axle housing seats of homonymy between the optical axis vertical support seat 48 of the both sides of left and right
Install and axle housing seat installing plate 31 is installed on board spacer 33, axle housing seat installing plate 31 is provided with axle housing of two inside equipped with bearing
Seat 30, is provided with a short axle 50 between two axle housing seats 30, two synchronous pulley a51, the short axle in left side are provided with short axle 50
50 connect motor a29 by shaft coupling；The synchronized band a connections of left and right sides synchronous pulley a51, Timing Belt a is by synchronous
Band briquetting 42 is connected with Z axis plate 52, and four box linear bearings 41, four box linear axis are provided with 52 4 angles of Z axis plate
41 are held through two X-direction optical axises 49, the central authorities of Z axis plate 52 are provided with a twin shaft cylinder 39, twin shaft cylinder by connector
39 tops are connected with axis of guide upper mounting plate 38 and connect, and axis of guide upper mounting plate 38 is connected with the axis of guide by two axis of guides 37
Lower installation board 40, two axis of guides 37 are each passed through Z axis plate 52.
The conveyer III can adopt commercially available prod.
Mode connects for screw between the axis of guide lower installation board 40 and end connection mounting blocks 13.
It is fixed by aluminium section bar a45, aluminium section bar b46 between the conveyer III and the direction mobile device II of transplanting machine handss three
Install position.
As shown in figure 1, transplanting machine handss end I connects mounting blocks 13 by end moving installed in the direction of transplanting machine handss three
On dynamic device II, conveyer III is arranged on the lower section of three direction mobile device of transplanting machine handss II.12 hole disks 43 first pass through conveying
Machine III is delivered to the lower section specified location of three direction mobile device of transplanting machine handss II, and 72 hole disks 44 also reach specified location.
As shown in Figure 2 and Figure 3, the cylinder 6 first on transplanting machine handss end I stretches out, and makes the four of transplanting machine handss end I
Individual tong and together, the centre distance between tong is just the distance between seedling soil block.
As shown in Fig. 4, Fig. 5, Fig. 6, then two motors in the direction mobile device II of transplanting machine handss three are distinguished
Motion, because Z axis plate 52, Y-axis plate 32 are fixed with corresponding Timing Belt, two motors can respectively drive transplanting machine handss end
Movement of the end I on X and Y-direction.When transplanting machine handss end I is moved to above seedling soil block on X and Y-direction, Z-direction
On the indentation of twin shaft cylinder 39, make transplanting machine handss end I decline a certain distance, allow the tong of transplanting machine handss end I to press from both sides
Between two pieces of seedling soil blocks, then pneumatic-finger 7 is acted on piece 11, clamps seedling soil block.
Then the twin shaft cylinder 39 in Z-direction stretches out, and makes transplanting machine handss end I return to original height, it is therefore an objective to be
Seedling soil block taken out from seedling hole tray, and is not collided with other things in moving process.Then transplanting machine
Two motors in the direction mobile device II of handss three move to change the position in the horizontal direction of transplanting machine handss end I respectively
Put, at the same time the indentation of cylinder 6 on transplanting machine handss end I, four tongs for making transplanting machine handss end I equidistantly synchronously divide
Open, the distance between tong is just the distance between adjacent two cavities of 12 hole disk 43 after separating, when transplanting machine handss end I
On seedling soil block when X in Y-direction to moving to above corresponding cavities, the indentation of twin shaft cylinder 39 in Z-direction makes transplanter
Tool handss end I declines a certain distance, while 4 seedling soil blocks are put into into hole tray, then pneumatic-finger 7 is acted on, and discharges seedling
Soil block.
Twin shaft cylinder 39 in last Z-direction stretches out, and makes transplanting machine handss end I return to original height, continues above-mentioned
Step.
Transplanting machine handss can once grip 4 seedling soil blocks, and after three cycles, 1 12 hole disk 43 is piled, and is passed through
The 12 hole disks 43 for piling seedling soil block are delivered to the next position by conveyer III, at the same time next 12 empty hole disks 43
The lower section specified location of three direction mobile device of transplanting machine handss II is transported to, above-mentioned seedling separation process is then proceeded to.
Claims (5)
1. transplanting machine handss, it is characterised in that：Including conveyer（Ⅲ）, conveyer（Ⅲ）It is provided with the shifting of the direction of transplanting machine handss three
Dynamic device（Ⅱ）, the direction mobile device of transplanting machine handss three（Ⅱ）It is connected with transplanting machine handss end equipment（Ⅰ）；Transplanting machine handss
End equipment（Ⅰ）Including two blocks of side plates（1）, two blocks of side plates（1）Between Jing optical axis Horizontal supporting seats（9）It is provided with two optical axises（8）,
Two optical axises（8）It is provided with multiple slide blocks（2）, the slide block of both sides（2）On be respectively articulated with short connecting rod（3）, remaining slide block（2）On
It is hinged with long connecting rod（4）, long connecting rod（4）With short connecting rod（3）It is articulated and connected, adjacent long connecting rod（4）Between be articulated and connected, be hinged
Place is connected with Jing cylinders and installs foot rest（5）Fixed end cylinder（6）；Every piece of slide block（2）Sidepiece Jing pneumatic-finger cushion blocks
（10）It is provided with pneumatic-finger（7）, pneumatic-finger（7）It is provided with tong intermediate plate（11）.
2. transplanting machine handss according to claim 1, it is characterised in that：Two blocks of side plates（1）It is provided with end top board
（12）, end top board（12）It is provided with end connection mounting blocks（13）；The end cylinder（6）Jing spherical plain bearing rod ends（14）With
Hinged place connects.
3. transplanting machine handss according to claim 2, it is characterised in that：The direction mobile device of the transplanting machine handss three
（Ⅱ）Rectangular aluminium section bar support is arranged on including four（15）On bearing block（16）, the bearing block of left and right two（16）Between point
Power transmission shaft is not provided with it（18）, every power transmission shaft（18）It is respectively arranged at two ends with synchronous pulley（47）, homonymy synchronous pulley（47）Between
It is provided with Timing Belt；The power transmission shaft of rear side（18）By shaft coupling（25）It is connected with big synchronous pulley（26）, shaft coupling（25）Jing is short
Axle is arranged on support base, support base Jing vertical support seat cushion blocks（27）Installed in mounting base b（28）On, big synchronous pulley
（26）Synchronized band is connected with small synchronous pulley（24）, small synchronous pulley（24）It is connected with motor（20）, motor
（20）Jing vertical support seats（23）Installed in vertical support seat mounting blocks（21）On, vertical support seat mounting blocks（21）By bolt
Nut is arranged on mounting base a（19）On, mounting base a（19）It is provided with threaded block（22）；Aluminium section bar support（15）It is provided with
Two band aluminum support optical axis guide rails（17）, homonymy synchronous pulley（47）Between Timing Belt respectively pass through Timing Belt briquetting（35）Connection
There is Y-axis plate（32）, the Y-axis plate of both sides（32）It is respectively equipped with the band aluminum support optical axis guide rail with both sides（17）The linear slider of cooperation
（34）, the linear slider in left side（34）It is provided with three openings, the linear slider on right side（34）It is provided with two openings；Every block of Y-axis plate
（32）It is provided with two axle housing seats and board spacer is installed（33）With two optical axis vertical support seats（48）, the optical axis of the both sides of left and right stands
Formula support base（48）Between be provided with X-direction optical axis（49）, two axle housing seats installation board spacer of homonymy（33）On axle housing is installed
Seat installing plate（31）, axle housing seat installing plate（31）It is provided with axle housing seat of two inside equipped with bearing（30）, two axle housing seats
（30）Between be provided with a short axle（50）, short axle（50）On two synchronous pulley a are installed（51）, the short axle in left side（50）Pass through
Shaft coupling connects motor a（29）；Left and right sides synchronous pulley a（51）Synchronized band a connections, Timing Belt a passes through Timing Belt
Briquetting（42）It is connected with Z axis plate（52）, Z axis plate（52）Four box linear bearings are installed on four angles（41）, four box
Linear bearing（41）Through two X-direction optical axises（49）, the Z axis plate（52）Central authorities are provided with a twin shaft cylinder by connector
（39）, twin shaft cylinder（39）Top is connected with axis of guide upper mounting plate（38）Connection, axis of guide upper mounting plate（38）By two
The axis of guide（37）It is connected with axis of guide lower installation board（40）, two axis of guides（37）It is each passed through Z axis plate（52）.
4. transplanting machine handss according to claim 3, it is characterised in that：The axis of guide lower installation board（40）Connect with end
Connect mounting blocks（13）Between mode connects for screw.
5. transplanting machine handss according to claim 1, it is characterised in that：The conveyer（Ⅲ）With transplanting machine handss tripartite
To mobile device（Ⅱ）Between pass through aluminium section bar a（45）, aluminium section bar b（46）Location and installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611176050.0A CN106576538A (en) | 2016-12-19 | 2016-12-19 | Transplanting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611176050.0A CN106576538A (en) | 2016-12-19 | 2016-12-19 | Transplanting manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106576538A true CN106576538A (en) | 2017-04-26 |
Family
ID=58601320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611176050.0A Pending CN106576538A (en) | 2016-12-19 | 2016-12-19 | Transplanting manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106576538A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527485A (en) * | 2018-05-22 | 2018-09-14 | 河北机电职业技术学院 | Vegetables root cutter |
| CN109005811A (en) * | 2018-07-11 | 2018-12-18 | 江苏大学 | A kind of automatic transplanter for plug seedling and its control method |
| CN110326412A (en) * | 2019-08-14 | 2019-10-15 | 上海绿立方农业发展有限公司 | A kind of potted tray seedling transplanter and its application method and production line |
| CN111149487A (en) * | 2020-02-20 | 2020-05-15 | 高猛 | Pneumatic seedling taking device of full-automatic plug seedling transplanter |
| WO2021022730A1 (en) * | 2019-08-06 | 2021-02-11 | 福建省中科生物股份有限公司 | Transplanting equal-distribution mechanism |
| CN114938738A (en) * | 2022-06-29 | 2022-08-26 | 兰剑智能科技股份有限公司 | Water planting plant harvesting apparatus |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104798513A (en) * | 2015-04-27 | 2015-07-29 | 北京农业智能装备技术研究中心 | Plug tray seedling sorting and transplanting machine |
| CN105265077A (en) * | 2014-06-03 | 2016-01-27 | 中国计量学院 | Plug seedling tranplanter seedling transplanting apparatus |
-
2016
- 2016-12-19 CN CN201611176050.0A patent/CN106576538A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105265077A (en) * | 2014-06-03 | 2016-01-27 | 中国计量学院 | Plug seedling tranplanter seedling transplanting apparatus |
| CN104798513A (en) * | 2015-04-27 | 2015-07-29 | 北京农业智能装备技术研究中心 | Plug tray seedling sorting and transplanting machine |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527485A (en) * | 2018-05-22 | 2018-09-14 | 河北机电职业技术学院 | Vegetables root cutter |
| CN109005811A (en) * | 2018-07-11 | 2018-12-18 | 江苏大学 | A kind of automatic transplanter for plug seedling and its control method |
| WO2021022730A1 (en) * | 2019-08-06 | 2021-02-11 | 福建省中科生物股份有限公司 | Transplanting equal-distribution mechanism |
| JP2022532551A (en) * | 2019-08-06 | 2022-07-15 | 福建省中科生物股▲ふん▼有限公司 | Equal distribution cultivation mechanism |
| JP7297933B2 (en) | 2019-08-06 | 2023-06-26 | 福建省中科生物股▲ふん▼有限公司 | Equal distribution cultivation mechanism |
| CN110326412A (en) * | 2019-08-14 | 2019-10-15 | 上海绿立方农业发展有限公司 | A kind of potted tray seedling transplanter and its application method and production line |
| CN111149487A (en) * | 2020-02-20 | 2020-05-15 | 高猛 | Pneumatic seedling taking device of full-automatic plug seedling transplanter |
| CN114938738A (en) * | 2022-06-29 | 2022-08-26 | 兰剑智能科技股份有限公司 | Water planting plant harvesting apparatus |
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Application publication date: 20170426 |