CN106941791A - A kind of remote-controllable formula Multi-functional tillage pipe device - Google Patents
A kind of remote-controllable formula Multi-functional tillage pipe device Download PDFInfo
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- CN106941791A CN106941791A CN201710295571.6A CN201710295571A CN106941791A CN 106941791 A CN106941791 A CN 106941791A CN 201710295571 A CN201710295571 A CN 201710295571A CN 106941791 A CN106941791 A CN 106941791A
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- remote
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- axis
- tool heads
- pipe device
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/02—Combined machines with two or more soil-working tools of different kind
- A01B49/022—Combined machines with two or more soil-working tools of different kind at least one tool being actively driven
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
- A01C7/081—Seeders depositing seeds in rows using pneumatic means
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0035—Pressure sprayers mounted on a frame and guided by hand; Spray barrow
- A01M7/0039—Pressure sprayers mounted on a frame and guided by hand; Spray barrow motor-driven
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Water Supply & Treatment (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Soil Working Implements (AREA)
Abstract
A kind of remote-controllable formula Multi-functional tillage pipe device, is arranged on casing, including driver element, sensing unit and control unit;The casing is arranged below base rail, it is installed above have seed pan is installed on tool box, tool box and replaceable tool heads；Z-axis mechanism of the driver element including zigzag tread patterns, the gantry mechanism and laterally driven cross slides that vertically drive；Gantry mechanism, cross slides and Z-axis mechanism Collaboration, drive tool heads to realize fixed point movement in different directions；The sensing unit includes horizontal detection sensor unit, vertical detection sensor unit, longitudinal detection sensor unit；Described control unit includes control panel, control module and performing module.The present invention do not need manpower can complete a variety of farm works, meet the operation demand on farm.
Description
Technical field
The present invention relates to agricultural machinery technological field, specifically a kind of remote-controllable formula Multi-functional tillage pipe device.
Background technology
With expanding economy, the living standard of people is generally improved, and green non-pollution fruits and vegetables quietly sell well in market, more
Joined in come more vegetable growers among the plantation of green fruit-vegetable, harvesting industry of going sightseeing also is arisen at the historic moment, and its economic benefit and society imitate
Benefit is considerable, therefore related auxiliary facility market demand is also very big.
But the auxiliary facility on this farm is on the market without integrated production, Facilities serialized, product development, management
Also fall behind relatively in terms of technology, the related adequate and systematic service system in farm is not yet established and improve.For farm Planting Crops
During occur pest and disease damage and do not have the problem of in terms of cultivation technique, way to manage any mechanism, tissue vegetable grower is entered
Row training is instructed so that vegetable grower leans on experience mostly during the Planting Crops of farm, causes to be extremely difficult to be expected
Effect.Accomplish plantation harvesting on sightseeing farm, beautiful and clean one then needs to spend more human and material resources, financial resources, meanwhile,
For open and semi open model farm, flowers, the influence of fruits and vegetables climate are larger, not manageability, and maintenance cost is higher.
The content of the invention
The present invention seeks to the deficiency for solution above-mentioned technical problem, there is provided a kind of remote-controllable formula Multi-functional tillage pipe dress
Put, it is not necessary to which manpower can complete a variety of farm works, meet the operation demand on farm.
The present invention is for the technical scheme that is used of solution above-mentioned technical problem：
A kind of remote-controllable formula Multi-functional tillage pipe device, is arranged on casing, including driver element, and sensing unit and control are single
Member, the casing is arranged below base rail, it is installed above have seed pan is installed on tool box, tool box and replaceable work
Has head；Z-axis mechanism of the driver element including zigzag tread patterns, the gantry mechanism and laterally driven crosshead shoe that vertically drive
Mechanism；Gantry mechanism, cross slides and Z-axis mechanism Collaboration, drive tool heads to realize that fixed point is moved in different directions
It is dynamic；The Z-axis mechanism includes Z axis motor, Z axis section bar, tool heads and leading screw, and leading screw is fixed on crosshead shoe through screw slider
On, the left bank wheel and right skate that Z axis section bar is made up of pulley are loaded on crosshead shoe, are flexibly connected between Z axis motor and leading screw,
Z-axis mechanism can drive leading screw to realize and vertically move separately through Z axis motor；The gantry mechanism is by column, gantry beam, cunning
Wheel, gantry wheel plate and gantry gusset composition, the upper skate and lower skate being made up of pulley are loaded on base rail, Ke Yidan
Solely belt is driven to drive by column motor；The cross slides include crosshead shoe, crosshead shoe motor, pulley,
Screw slider, belt；The upper skate and lower skate that cross slides are made up of pulley are loaded on gantry beam, are slided by cross
Block motor drives belt to realize transverse shifting；
The sensing unit includes horizontal detection sensor unit, vertical detection sensor unit, longitudinal detection sensor unit,
The horizontal detection sensor unit is arranged on the gantry beam, and the vertical detection sensor unit is arranged on the base
On guide rail, longitudinal detection sensor unit is arranged on Z axis section bar；
Described control unit includes control panel, the signal acquisition module for gathering the sensor unit signal, for recognizing
The identification module of functional head, the wireless module for receiving remote instructions, for realize three-degree-of-freedom motion control module and
Performing module for performing remote instructions.
Further, the tool heads are arranged on Z axis section bar bottom, and the autonomous replacing of tool heads is driven by Z axis motor
Leading screw is realized；Z axis motor is fixed on Z axis section bar top, and leading screw passes through the screw slider and Z axis motor being fixed on crosshead shoe
Flexible connection, drives whole Z axis to vertically move by Z axis motor driving leading screw.
Further, the tool heads are Weeding tool head, measurement soil moisture tool heads, seeder implement head, pour water conservancy project
Have head or tool heads of plowing.
Further, the tool heads（8）It is connected with water pump, air pump or/and the camera controlled using relay module.
Further, provided with the functional head used cooperatively with tool heads in the tool box.
Further, described crosshead shoe is arranged on gantry beam, by the stepper motor band on crosshead shoe
Dynamic belt movement.
Further, the gantry mechanism is arranged on base rail, is driven by the stepper motor on column
Belt movement.
Further, the Z axis motor, column motor and crosshead shoe motor are stepper motor.
Further, the control panel is arranged on gantry beam, gathers the signal of the sensor unit, control Z axis electricity
Machine, column motor and crosshead shoe motor, Collaboration, control plough pipe device and smoothly complete remote instructions.
Further, the sensor is position sensor.
Beneficial effect is：
1st, the present invention, which can not only be realized, the basic operation such as sows, waters in farm, can also complete weeding, measurement soil moisture, spray
The complicated field work such as spill nutrient solution, plow, its moving frame is by base rail, gantry mechanism, cross slides and Z axis
Mechanism is constituted, motor, the precise motion of belt and leading screw Collaboration assurance mechanism and accurate fixed point.Its function is realized by difference
Tool heads complete, only need independently to change corresponding work head when performing different operating instruction, just can complete different works
Make, meet the operation demand on farm.The present invention is simple and practical, can effectively improve the economic benefit on farm, reduces the work of people
Intensity, and improve farm production.
2nd, the present invention controls three inter-agency cooperative motions by control system, makes cultivated pipe device smooth by remote instructions
Realize that the selection of functional head is changed and reaches that the fixed point in space is moved in ground；In execute instruction, to corresponding to each instruction
Action is corrected, and each intermodule works independently and do not interfere with each other, so as to realize arable land, is sowed, is watered, the function such as weeding.
Brief description of the drawings
Fig. 1 is the structural front view of remote-controllable formula Multi-functional tillage pipe device of the present invention；
Fig. 2 is the head structure front view of remote-controllable formula Multi-functional tillage pipe device of the present invention；
Fig. 3 is the crosshead shoe structural front view of remote-controllable formula Multi-functional tillage pipe device of the present invention；
Fig. 4 is the gantry mechanism structural front view of remote-controllable formula Multi-functional tillage pipe device of the present invention；
Fig. 5 is the control system figure of remote-controllable formula Multi-functional tillage pipe device of the present invention；
Mark is in figure：1st, Z axis motor, 2, Z axis section bar, 3, column motor, 4, column, 5, tool box, 6, base rail,
7th, casing, 8, tool heads, 9, seed pan, 10, crosshead shoe, 11, crosshead shoe motor, 12, gantry beam, 13, pulley, 14, silk
Thick stick, 15, screw slider, 16, belt, 17, gantry wheel plate, 18, gantry gusset.
Embodiment
As illustrated, a kind of remote-controllable formula Multi-functional tillage pipe device, is arranged on casing 7, including driver element, sensing
Unit and control unit；The casing 7 is arranged below base rail 6, it is installed above have kind is installed on tool box 5, tool box 5
Sub-disk 9 and replaceable tool heads 8；The driver element includes longitudinal direction（Z-direction）It is the Z-axis mechanism of driving, vertical（Y-direction）Drive
Dynamic gantry mechanism and transverse direction（X-direction）The cross slides of driving；Gantry mechanism, cross slides and Z-axis mechanism association
With running, tool heads 8 are driven to realize fixed point movement in different directions；The Z-axis mechanism include Z axis motor 1, Z axis section bar 2,
Tool heads 8 and leading screw 14, leading screw 14 are fixed on crosshead shoe 10 through screw slider 15, and Z axis section bar 2 is made up of pulley 13
Left bank wheel and right skate are loaded on crosshead shoe 10, are flexibly connected between Z axis motor 1 and leading screw 14, Z-axis mechanism can be independent
Drive leading screw 14 to realize by Z axis motor 1 to vertically move；The gantry mechanism is by column 4, gantry beam 12, pulley 13, gantry
Wheel plate 17 and gantry gusset 18 are constituted, and the upper skate and lower skate being made up of pulley 13 are loaded on base rail 6, Ke Yidan
Solely belt 15 is driven to drive by column motor 3；The cross slides include crosshead shoe 10, crosshead shoe motor
11st, pulley 13, screw slider 15, belt 16；The upper skate and lower skate that cross slides are made up of pulley 13 are loaded on
On gantry beam 12, belt 16 is driven to realize transverse shifting by crosshead shoe motor 11；
Further, the sensing unit includes horizontal detection sensor unit, vertical detection sensor unit, longitudinal direction detection biography
Sensor cell, the horizontal detection sensor unit is arranged on the gantry beam 12, and the vertical detection sensor unit is set
Put on the base rail 6, longitudinal detection sensor unit is arranged on Z axis section bar 2；
Further, described control unit is including control panel, the signal acquisition module for gathering the sensor unit signal,
For the identification module of identification function head, the wireless module for receiving remote instructions, the control for realizing three-degree-of-freedom motion
Molding block and the performing module for performing remote instructions.
Further, the tool heads 8 are arranged on the bottom of Z axis section bar 2, and the autonomous replacing of tool heads 8 passes through Z axis motor 1
Leading screw 14 is driven to realize；Z axis motor 1 is fixed on the top of Z axis section bar 2, and leading screw 14 passes through the leading screw being fixed on crosshead shoe 10
Sliding block 16 is flexibly connected with Z axis motor 1, drives leading screw 14 to drive whole Z axis to vertically move by Z axis motor 1.Its speed can root
Arbitrarily changed by the rotating speed of controlled motor, torque according to different functional requirements, reach the effect of a tractor serves several purposes.
Further, the tool heads 8 are Weeding tool head, measurement soil moisture tool heads, seeder implement head, pour water conservancy project
Have head or tool heads of plowing.It can change different tool heads under different functional requirements, complete the course of work, but not just for
This is several, and the tool heads designed according to other functions are also within the scope of the claims.
Further, the tool heads（8）It is connected with water pump, air pump or/and the camera controlled using relay module.
Further, provided with the functional head used cooperatively with tool heads 8 in the tool box 5.
Further, described crosshead shoe is arranged on gantry beam 12, by the stepping electricity on crosshead shoe 11
Machine drives belt movement.
Further, the gantry mechanism is arranged on base rail, is driven by the stepper motor on column
Belt movement.Its kind of drive drives not just for belt, or sprocket wheel chain drive, gear-rack drive, oil cylinder or gas
The type of drive such as cylinder driving.
Further, the Z axis motor 1, column motor 3 and crosshead shoe motor 11 are stepper motor.But it drives
Mode drives not just for motor, or sprocket wheel chain drive, gear-rack drive, the driving side such as oil cylinder or air cylinder driven
Formula.
Further, the control panel is arranged on gantry beam 12, gathers the signal of the sensor unit, controls Z axis
Motor 1, column motor 3 and crosshead shoe motor 11, Collaboration, control plough pipe device and smoothly complete remote instructions.
Further, the sensor is position sensor.
The inter-agency cooperation when performing its part action of the cultivated pipe device of the present invention is as follows：
During sowing, gantry mechanism drives cross slides and Z-axis mechanism to be moved to the top of tool box 5, is started building by Z-axis mechanism band
Tool head vertically moves the selection of implementation tool head, and the top absorbed seed of seed pan 9 is moved to after choosing seeding head, then by three machines
Structure, which coordinates, is moved to required sowing position, completes sowing work.Supporting air pump can be after taking kind and taking kind in this operation
Air-breathing in whole motion process, is blown during sowing, it is ensured that sowing can be smoothly completed.
When watering, gantry mechanism drives cross slides and Z-axis mechanism to be moved to the top of tool box 5, by Z-axis mechanism band
Power driven tools head vertically moves the selection of implementation tool head, chooses and watered needed for being moved to after gondola water faucet directly over position, supporting water
Pump determines opening duration according to irrigation amount, completes work of watering.
During weeding, first mark is identified to the crop in plane in the Machine Vision Recognition, after being handled by control system,
The gantry mechanism drives cross slides and Z-axis mechanism to be moved to the top of tool box 5, drives tool heads to indulge by Z-axis mechanism
To the selection of mobile implementation tool head, choose and be moved to after shower nozzle directly over label, realize that site-directed quantitative sprays.
The present invention, which can not only be realized, the basic operation such as sows, waters in farm, can also complete weeding, measurement soil moisture,
Sprinkling nutrient solution, the complicated field work such as plow, and its moving frame is by base rail, gantry mechanism, cross slides and Z
Axis mechanism is constituted, motor, the precise motion of belt and leading screw Collaboration assurance mechanism and accurate fixed point.Its function is realized by not
Same tool heads are completed, and are only needed independently to change the corresponding head that works when performing different operating instruction, just can be completed different
Work.
In summary, the remote-controllable formula Multi-functional tillage pipe device that the present invention is disclosed, controls to plough pipe dress by control system
Put, independent modules Collaboration is got up, it is ensured that the degree of accuracy of implementation procedure and reliability；By motor job platform and
Remote control platform combines, and realizes remote-controllable, reduces the labor intensity of people, improves operating efficiency, from
And fill up the blank of such agricultural machinery and implement of in the market.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (10)
1. a kind of remote-controllable formula Multi-functional tillage pipe device, is arranged on casing（7）On, including driver element, sensing unit and control
Unit processed, it is characterised in that：The casing（7）Base rail is arranged below（6）, it is installed above to have tool box（5）, tool box
（5）On seed pan is installed（9）With replaceable tool heads（8）；The driver element includes the Z-axis mechanism of zigzag tread patterns, erected
To the gantry mechanism and laterally driven cross slides of driving；Gantry mechanism, cross slides and Z-axis mechanism collaboration fortune
Make, drive tool heads（8）Fixed point movement is realized in different directions；The Z-axis mechanism includes Z axis motor（1）, Z axis section bar
（2）, tool heads（8）And leading screw（14）, leading screw（14）Through screw slider（15）It is fixed on crosshead shoe（10）On, Z axis section bar
（2）By pulley（13）The left bank wheel and right skate of composition are loaded on crosshead shoe（10）On, Z axis motor（1）And leading screw（14）Between
Flexible connection, Z-axis mechanism can be separately through Z axis motor（1）Drive leading screw（14）Realization is vertically moved；The gantry mechanism
By column（4）, gantry beam（12）, pulley（13）, gantry wheel plate（17）With gantry gusset（18）Composition, passes through pulley（13）Group
Into upper skate and lower skate be loaded on base rail（6）On, can be separately through column motor（3）Drive belt（15）Drive
It is dynamic；The cross slides include crosshead shoe（10）, crosshead shoe motor（11）, pulley（13）, screw slider（15）, skin
Band（16）；Cross slides pass through pulley（13）The upper skate and lower skate of composition are loaded on gantry beam（12）On, by cross
Slide motor（11）Drive belt（16）Realize transverse shifting；
The sensing unit includes horizontal detection sensor unit, vertical detection sensor unit, longitudinal detection sensor unit,
The horizontal detection sensor unit is arranged on the gantry beam（12）On, the vertical detection sensor unit is arranged on described
Base rail（6）On, longitudinal detection sensor unit is arranged on Z axis section bar（2）On；
Described control unit includes control panel, the signal acquisition module for gathering the sensor unit signal, for recognizing
The identification module of functional head, the wireless module for receiving remote instructions, for realize three-degree-of-freedom motion control module and
Performing module for performing remote instructions.
2. remote-controllable formula Multi-functional tillage pipe device as claimed in claim 1, it is characterised in that：The tool heads（8）Installed in Z
Spindle-type material（2）Bottom, tool heads（8）Autonomous replacing pass through Z axis motor（1）Drive leading screw（14）Realize；Z axis motor（1）Gu
It is scheduled on Z axis section bar（2）Top, leading screw（14）Through being fixed on crosshead shoe（10）On screw slider（16）With Z axis motor（1）
Flexible connection, by Z axis motor（1）Drive leading screw（14）Whole Z axis is driven to vertically move.
3. remote-controllable formula Multi-functional tillage pipe device as claimed in claim 1, it is characterised in that：The tool heads（8）For weeding
Tool heads, measurement soil moisture tool heads, seeder implement head, tool heads of watering or tool heads of plowing.
4. remote-controllable formula small-size multifunction as claimed in claim 3 ploughs pipe device, it is characterised in that：The tool heads（8）Even
It is connected to water pump, air pump or/and the camera controlled using relay module.
5. remote-controllable formula small-size multifunction as claimed in claim 1 ploughs pipe device, it is characterised in that：The tool box（5）It is interior
It is provided with and tool heads（8）The functional head used cooperatively.
6. remote-controllable formula Multi-functional tillage pipe device as claimed in claim 1, it is characterised in that：Described crosshead shoe is arranged on
Gantry beam（12）On, by installed in crosshead shoe（11）On stepper motor drive belt movement.
7. remote-controllable formula Multi-functional tillage pipe device as claimed in claim 1, it is characterised in that：The gantry mechanism is arranged on bottom
On seat guide rail, belt movement is driven by the stepper motor on column.
8. such as claim 1 remote-controllable formula Multi-functional tillage pipe device, it is characterised in that：The Z axis motor（1）, column electricity
Machine（3）With crosshead shoe motor（11）For stepper motor.
9. such as claim 1 remote-controllable formula Multi-functional tillage pipe device, it is characterised in that：The control panel is arranged on gantry beam
（12）On, the signal of the sensor unit is gathered, Z axis motor is controlled（1）, column motor（3）With crosshead shoe motor
（11）, Collaboration, control plough pipe device smoothly complete remote instructions.
10. such as claim 1 remote-controllable formula Multi-functional tillage pipe device, it is characterised in that：The sensor is position sensing
Device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710295571.6A CN106941791A (en) | 2017-04-28 | 2017-04-28 | A kind of remote-controllable formula Multi-functional tillage pipe device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710295571.6A CN106941791A (en) | 2017-04-28 | 2017-04-28 | A kind of remote-controllable formula Multi-functional tillage pipe device |
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| CN201710295571.6A Pending CN106941791A (en) | 2017-04-28 | 2017-04-28 | A kind of remote-controllable formula Multi-functional tillage pipe device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371479A (en) * | 2017-08-24 | 2017-11-24 | 江西农业大学 | A kind of live thickness of earth covering measure platform of paddy machinery |
| CN107371502A (en) * | 2017-09-06 | 2017-11-24 | 天津农学院 | A kind of planting machines people and its application method |
| CN108124546A (en) * | 2017-12-26 | 2018-06-08 | 河南科技大学 | A kind of unattended seeding row spacing intelligent accurate bunch planting system |
| CN108684255A (en) * | 2018-05-02 | 2018-10-23 | 顾长青 | A kind of accurate numerical control is agricultural to make industry machine |
| CN109430012A (en) * | 2018-10-30 | 2019-03-08 | 南京交通职业技术学院 | A kind of network-based Intelligent irrigation system and implantation methods |
| CN109819828A (en) * | 2019-03-27 | 2019-05-31 | 安徽理工大学 | A kind of comprehensive plant nurse equipment of blocking |
| CN111656911A (en) * | 2020-06-26 | 2020-09-15 | 王涛 | Digging device for planting ecological nursery stocks and operation method |
| CN111887114A (en) * | 2020-07-30 | 2020-11-06 | 高森俊毅 | Rice seed production robot |
| CN112385524A (en) * | 2020-11-17 | 2021-02-23 | 温州职业技术学院 | Networking communication agricultural management system |
| CN115380666A (en) * | 2022-05-23 | 2022-11-25 | 江南大学 | Seed spray-seeding vehicle |
| CN116138022A (en) * | 2023-04-21 | 2023-05-23 | 安徽朗坤物联网有限公司 | Water and fertilizer integrated device capable of switching water and fertilizer application modes |
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