CN109479468A - Mobile leaf vegetables seedling transplanting device - Google Patents
Mobile leaf vegetables seedling transplanting device Download PDFInfo
- Publication number
- CN109479468A CN109479468A CN201910007256.8A CN201910007256A CN109479468A CN 109479468 A CN109479468 A CN 109479468A CN 201910007256 A CN201910007256 A CN 201910007256A CN 109479468 A CN109479468 A CN 109479468A
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- CN
- China
- Prior art keywords
- hole tray
- pneumatic clamper
- water planting
- seedling transplanting
- rack
- 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.)
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Classifications
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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
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- 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
- A01G31/00—Soilless cultivation, e.g. hydroponics
- A01G31/02—Special apparatus therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The present invention relates to a kind of vegetable transplants devices.Purpose is to provide a kind of leaf vegetables water planting seedling transplanting device；The device is able to achieve in leaf vegetables seedling the reciprocating working between seedling taking area and area of planting seedlings, and improves the working efficiency in leaf vegetables seedling transplanting stage and the survival rate of seedling, is advantageously implemented leaf vegetables large-scale production.Technical solution is: mobile leaf vegetables seedling transplanting device, it is characterised in that: the device includes motion parts and fixed part；The fixed part is the water planting canal table for being equipped with several water planting pipes；The motion parts include rack and are mounted on the rack to convey the hole tray workbench of hole tray, seedling transplanting mechanism, hole tray positioning mechanism, hole tray feed mechanism, hole tray collecting box and several power mechanisms；The hole tray workbench and water planting canal table are horizontal and be arranged parallel；The length direction of the two lateral edge water planting canal table of rack is equipped with guide rail respectively；The seedling transplanting mechanism is arranged between hole tray positioning mechanism and hole tray feed mechanism.
Description
Technical field
The present invention relates to a kind of vegetable transplants device, specifically a kind of movable type leaf vegetables seedling transplanting device.
Background technique
China is the maximum country of vegetables output in the world, but leaf vegetables seedling is trained by culture medium to water planting environment
This operation process is supported at present also in manual, manual operation process is very complicated, reduces the production efficiency of leaf vegetables, simultaneously
The work cost for greatly exacerbating leaf vegetables, causes leaf vegetables large-scale production to be obstructed.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of above-mentioned background technique, a kind of leaf vegetables water planting seedling transplanting device is provided；It should
Device is able to achieve in leaf vegetables seedling the reciprocating working between seedling taking area and area of planting seedlings, and improves the work effect in leaf vegetables seedling transplanting stage
The survival rate of rate and seedling is advantageously implemented leaf vegetables large-scale production.
Present invention provide the technical scheme that
Mobile leaf vegetables seedling transplanting device, it is characterised in that: the device includes motion parts and fixed part；It is described solid
Fixed part is the water planting canal table for being equipped with several water planting pipes；The motion parts include rack and be mounted on the rack with
Convey the hole tray workbench of hole tray, seedling transplanting mechanism, hole tray positioning mechanism, hole tray feed mechanism, hole tray collecting box and several
Power mechanism；The hole tray workbench and water planting canal table are horizontal and be arranged parallel；The two lateral edge water planting pipe of rack
The length direction of workbench is equipped with guide rail respectively；The seedling transplanting mechanism is laterally across in hole tray workbench and water planting plumber
Make between platform and move back and forth, so that seedling is transplanted to water planting canal table by hole tray workbench；The seedling transplanting machine
Structure is arranged between hole tray positioning mechanism and hole tray feed mechanism；The hole tray positioning mechanism is movably positioned in hole tray work
The top of platform is to drive the hole tray on hole tray workbench to move and position toward seedling transplanting mechanism direction, to cooperate seedling transplanting machine
Structure operation；The hole tray feed mechanism is arranged in above the hole tray outlet of hole tray workbench and the liftoff intermittent movement hole tray of spacing
To cooperate the operation of seedling transplanting mechanism；The hole tray collecting box is arranged on the outside of the hole tray outlet of hole tray workbench to collect hole
Disk；The power mechanism is arranged in bottom of the frame and is movably located on guide rail, to drive motion parts and water planting plumber
Make platform coordinating operation；The bottom of the frame is additionally provided with several universal wheels conducive to motion parts movement；
The hole tray positioning mechanism includes the Y sliding being slidably located in above hole tray workbench by horizontal guide rail pair
Plate, drive Y sliding panel move belt wheel transfer assembly and can be located in vertical motion on Y sliding panel to push hole tray
Push plate；
The hole tray feed mechanism includes positioning the 2nd Y sliding panel on the rack horizontally slidablely, by being fixed on
The driving of the first Y-direction cylinder and horizontally slidable the first Y sliding panel positioned on the rack on two Y sliding panels are erected respectively
The the first Z-direction cylinder and the second Z-direction cylinder, the piston for being fixed on the first Z-direction cylinder being directly fixed on the first Y sliding panel
Bar end is to drive several hole tray cavities profiling blocks of hole tray movement and be fixed on the piston-rod end of the second Z-direction cylinder simultaneously
Cooperate with push plate to position the baffle of hole tray.
The pulley assemblies include the belt wheel stepper motor being vertically installed on Y sliding panel, are fixed on the rack and along cave
Disk conveying direction level tensioning synchronous belt and driven from belt wheel stepper motor and with synchronous belt with transmission synchromesh gear.
The hole tray workbench includes several transfer rollers and the edge that can be rotated and arrange in parallel to each other on the rack
The rack at transfer roller both ends sequentially arrange the limiting stand to realize hole tray motion guide；Between the limiting stand at transfer roller both ends
The width of distance and hole tray matches.
The seedling transplanting mechanism includes laterally across hole tray workbench and water planting canal table and both ends pass through respectively
Guideway can position to vertical sliding Z sliding rack on the rack, be mounted on the both ends of Z sliding rack to keep Z sliding rack both ends
The synchronizer that moves synchronously, is mounted on Z sliding rack at the X sliding panel being located on Z sliding rack horizontally slidablely by slide rail pair
The pneumatic clamper component that upper and its piston rod connects and the first X-direction cylinder of X sliding panel, one end is driven to be fixedly connected with X sliding panel
And it is fixed on X sliding panel and its piston rod forces in the second X-direction cylinder of the pneumatic clamper component other end.
The pneumatic clamper component includes several vertical arrangements to grab the pneumatic clamper of seedling, horizontally slidable be located in Z sliding
On frame and supports several pneumatic clamper fixed plates of pneumatic clamper one by one and be connected between adjacent pneumatic clamper fixed plate to guarantee adjacent pneumatic clamper
Fixed plate has the strap for determining extension distance；Each pneumatic clamper include the pneumatic clamper cylinder being fixed in pneumatic clamper fixed plate vertically,
Vertical motion is driven by pneumatic clamper cylinder to grab several pneumatic clamper claws of seedling and be fixed in pneumatic clamper fixed plate and be set on
In favor of the pneumatic clamper pawl set of pneumatic clamper claw guiding outside pneumatic clamper claw.
The power mechanism includes the third Z-direction cylinder for being fixed on bottom of the frame vertically, the work with third Z-direction cylinder
Servo motor that stopper rod end is fixedly connected drives the swivel plate to turn an angle by servo motor, is mounted on swivel plate bottom
Face simultaneously cooperatively forms the idler wheel of rolling pair, the retarder motor for driving idler wheel to roll and is arranged and be used in idler wheel two sides with guide rail
Two position-limited wheels of limited roller；The idler wheel and retarder are both positioned at swivel plate bottom surface, so as to swivel plate unitary rotation.
The water planting canal table is spliced by several steel pipes；It is laterally uniform on water planting canal table to have several limits
Position disk, the distance of adjacent position-arresting disk and the width of water planting pipe are matched to limit water planting pipe transverse shifting；Water planting canal table
End face is horizontally arranged with the limit plate for limiting the longitudinal movement of water planting pipe.
The hole tray collecting box is the cabinet that is open as made of steel plate envelope；The size and hole tray of the hole tray collecting box
It is adapted.
The hole tray workbench, seedling transplanting mechanism, hole tray positioning mechanism, hole tray feed mechanism and power mechanism difference
It is electrically connected with the controller, to guarantee the work cooperation of each mechanism.
The beneficial effects of the present invention are:
Movable type leaf vegetables seedling transplanting device provided by the invention, passes through hole tray positioning mechanism, seedling transplanting mechanism and cave
Disk feed mechanism is efficiently directed at seedling taking and precisely plants seedlings during can realizing leaf vegetables seedling transplanting, and mitigation seedling is damaged, improves kind
Seedling survival rate；It can realize that motion parts in the displacement in space, are always ensured that seedling transplanting mechanism and water by power mechanism
Blank pipe hole on management workbench is corresponding, so that the continuous and automatic of realization device works, improves seedling transplanting efficiency, realizes
The large-scale production of leaf vegetables seedling water planting migration process.
Detailed description of the invention
Fig. 1 is one of schematic perspective view of the invention.
Fig. 2 be schematic perspective view of the invention two (it is clear for drawing, hide water planting pipe and water planting canal table and
Portion chassis).
Fig. 3 is schematic perspective view of the present invention in X-direction movement.
Fig. 4 is the schematic perspective view of hole tray positioning mechanism in the present invention.
Fig. 5 is the schematic perspective view of hole tray feed mechanism in the present invention.
Fig. 6 is one of the schematic perspective view of power mechanism in the present invention.
Fig. 7 is that one of schematic perspective view of power mechanism (hides motor support cover and roller supporting in the present invention
Cover).
Fig. 8 is the schematic perspective view of seedling transplanting mechanism in the present invention.
Fig. 9 is the schematic perspective view of pneumatic clamper component in the present invention.
Figure 10 is the schematic view of the front view of pneumatic clamper in the present invention.
Figure 11 is the schematic perspective view of the hole tray in the present invention.
Figure 12 is the schematic perspective view of the water planting pipe in the present invention.
Figure 13 is the schematic perspective view of the water planting canal table in the present invention.
Appended drawing reference:
01-hole tray workbench, 0101-universal wheel, 0102-live-roller, 0103-limiting stand, 02-hole tray, 03-cave
Disk-positioning mechanism, 0302-synchronous belt, 0303-Y sliding rail, 0304-Y sliding block, 0305-Z-direction cylinder, 0306-belt wheel step
Into motor, 0307-Y sliding panel, 0308-guide rod, 0309-push plate, 04-rack, 05-hole tray feed mechanism, 0501-cave
Disk cavities profiling block, 0502-baffle, 0503-guide rod, the 0504-the two Y sliding panel, the 0505-the first Z-direction cylinder,
0506-the second Z-direction cylinder, the 0507-the one Y sliding panel, 0508-profiling block connecting plate, the 0509-the one Y sliding rail,
0510-the second Y-direction cylinder, the 0511-the first Y-direction cylinder, the 0512-the one Y sliding block, the 0513-the two Y sliding rail,
0514-the two Y sliding block, 06-hole tray collecting box, 07-water planting pipe, 08-water planting canal table, 0801-limit plate,
0802-steel pipe, 0803-position-arresting disk, 09-power mechanism, 0901-third Z-direction cylinder, 0903-guide cylinder, 0904-
Motor support cover, 0905-swivel plate, 0906-roller supporting cover, 0907-retarder motor, the 0908-the first rolling bearing units,
0909-servo motor, the 0910-the second rolling bearing units, 0911-idler wheel, 0912-transmission shaft, 0913-position-limited wheel, 10-kinds
Seeding transplant machine structure, 1001-pneumatic clamper sliding blocks, 1002-pneumatic clampers, 100201-pneumatic clamper cylinders, 100202-pneumatic clamper claws,
100203-pneumatic clamper pawl sets, 1003-pneumatic clamper fixed plates, 1004-pneumatic clamper sliding rails, the 1005-the four Z-direction cylinder, 1007-Z
Sliding rack, 1008-transplanting sliding rails, the 1009-the first X-direction cylinder, 1010-pneumatic clamper sliding panels, 1011-transplanting sliding blocks,
1012-X sliding panels, the 1013-the second X-direction cylinder, 1014-synchronizing shafts, 1015-gears, 1016-rack gears, 1017-cloth
Band compresses piece, 1018-straps, 11-guide rails.
Specific embodiment
It is further illustrated below in conjunction with embodiment shown in the drawings.
For sake of convenience, X, Y, Z coordinate system are used herein, and (wherein Y direction is in Fig. 1 for X-axis and Y-axis composition horizontal plane
Left and right directions), Z axis be horizontal plane vertical direction.
Conventional leaf vegetables seedling water planting implantation technique, is that the cave seedling in hole tray 02 (shown in Figure 11) is transplanted to water one by one
Management 07 (shown in Figure 12, the water planting pipe that the present invention applies is empty strip water planting pipe, the pore equidistantly distributed on water planting pipe)
Pore in；Since artificial frequent operation large labor intensity, production efficiency are low, the present invention has developed mobile leaf vegetables seedling
Transplantation device.
Movable type leaf vegetables seedling transplanting device provided by the invention, including motion parts and fixed part；Wherein fixed part
It is divided into the water planting canal table 08 for being equipped with several water planting pipes 07, water planting canal table is fixed；Motion parts include rack
04 and the hole tray workbench 01 on installation frame, hole tray positioning mechanism 03, hole tray feed mechanism 05, seedling transplanting mechanism 10,
Hole tray collecting box 06 and several (being four in figure) power mechanisms 09.The hole tray workbench and water planting canal table are parallel to each other
Arrangement (Y direction is arranged as shown in figure 1, and wherein Y-axis positive direction is hole tray import, and Y-axis negative direction is hole tray outlet), and be located at
Same level.The hole tray positioning mechanism, seedling transplanting mechanism and hole tray feed mechanism successively along the conveying direction of hole tray (i.e.
Y-axis negative direction) top of hole tray workbench is set.The hole tray collecting box is located at the hole tray outlet port of hole tray workbench.
The length direction (Y direction in figure) of the two lateral edge water planting canal table of rack is equipped with guide rail 11 respectively, guide rail and dynamic
Force mechanisms match, in order to which power mechanism drives the intermittent movement of motion parts set a distance.
As shown in figure 13, the water planting canal table 08 puts water planting pipe for fixation, is spliced by several steel pipes；Water
Laterally uniform on management workbench to have several position-arresting disks 0803, the distance of adjacent position-arresting disk is mutually fitted with the width of water planting pipe
It closes, to make water planting pipe clamp between position-arresting disk to limit water planting pipe transverse shifting；The end face of water planting canal table is also lateral
Limit plate 0801 is provided with to limit the longitudinal movement of water planting pipe, so that water planting pipe is fixed on water planting canal table.
The hole tray workbench 01 is put for hole tray, hole tray positioning and hole tray are fed.Hole tray workbench is mounted on machine
On frame 04.The hole tray workbench includes several transfer rollers 0102 and several limiting stands 0103；Wherein several transfer rollers 0102 are logical
Cross bearing rotationally it is horizontally disposed on the rack, it is then arranged in parallel between transfer roller；Spacing between adjacent transfer roller
Less than the half of hole tray length, so that hole tray is successively transported between transfer roller.Several limiting stands 0103 are along transmission
The rack at roller both ends sequentially arranges that the distance between the limiting stand at transfer roller both ends and the width of hole tray match, to form benefit
In the guide frame of hole tray movement.The hole tray workbench of the design once can at most put 4 hole trays.
As shown in figure 4, the hole tray positioning mechanism 03 is used to drive the hole tray on hole tray workbench toward seedling transplanting machine
The movement of 10 direction of structure, while being matched with hole tray feed mechanism 05 and hole tray is positioned, in order to the operation of seedling transplanting mechanism.
The hole tray positioning mechanism 03 includes Y sliding panel 0307, Y sliding rail 0303,0305, two Y sliding block 0304, Z-direction cylinder guide rod
0308, push plate 0309 and belt wheel transfer assembly.The Y sliding panel 0307 is by horizontal guide rail pair (by Y sliding block 0304 and Y sliding rail
0303 composition) it is slidably located in the rack above hole tray workbench.It is sliding that the Z-direction cylinder 0305 is fixed on Y vertically
On movable plate 0307 and the piston rod of its bottom end is fixedly connected with push plate 0309, in order to which push plate pushes hole tray on hole tray workbench
It is mobile.Two guide rods 0308 are mounted on Y sliding panel 0307 with being vertically movable, and bottom end is fixedly connected with push plate 0309, with
Assist push plate stable motion in the Y direction.The belt wheel transfer assembly is used to that Y sliding panel 0307 to be driven to move in the Y direction, including same
Walk band 0302, belt wheel stepper motor 0306 and synchromesh gear (not shown)；The synchronous belt 0302 is along the conveying side of hole tray
It is horizontally fixed in rack to (i.e. Y direction)；The belt wheel stepper motor 0306 is fixedly mounted on Y sliding panel 0307 vertically
On；The synchromesh gear is fixed on the motor shaft of belt wheel stepper motor, and is intermeshed with synchronous belt.When work, belt wheel step
It is rotated into motor 0306, is intermeshed synchromesh gear with synchronous belt 0302 and is driven, due to belt wheel stepper motor 0306 and Y
Sliding panel 0307 is fixedly connected, and therefore, Y sliding panel moves along the Y direction, and then push plate 0309 is driven to push hole tray.
As shown in figure 5, the hole tray feed mechanism 05 is used for the liftoff intermittent movement hole tray of spacing, to cooperate seedling transplanting machine
10 operation of structure.Hole tray feed mechanism includes the first Y sliding panel 0507, the first Y-direction cylinder 0511, the first Y sliding block 0512, first
Y sliding rail 0509, the 2nd Y sliding panel 0504, the second Y-direction cylinder 0510, the 2nd Y sliding block 0514, the 2nd Y sliding rail 0513, the first Z
Direction cylinder 0505, the second Z-direction cylinder 0506, profiling block connecting plate 0508, hole tray cavities profiling block 0501,0502 and of baffle
Four guide rods 0503.
The first Y-direction cylinder 0511 is horizontally mounted on the rack, and piston rod and the first Y sliding panel 0507 connect
It connects, the first Y sliding panel 0507 of control moves reciprocatingly in the Y direction.The second Y-direction cylinder 0510 is horizontally arranged at first
On Y sliding panel 0507, piston rod is connect with the 2nd Y sliding panel 0504, and the 2nd Y sliding panel 0504 of control is done back and forth in the Y direction
Movement.First Y sliding panel 0507 is slidably located on the first Y sliding rail 0509 by the first affixed Y sliding block 0512, the
One Y sliding rail 0509 then it is horizontally disposed on the rack；2nd Y sliding panel 0504 passes through the 2nd affixed Y sliding block 0514 slidably
Ground is located on the 2nd Y sliding rail 0513, the 2nd Y sliding rail 0513 then it is horizontally disposed on the rack.First Z-direction cylinder 0505 is vertical
It is mounted on the 2nd Y sliding panel 0504, the piston rod of bottom end passes through profiling block connecting plate 0508 and two hole tray cavities profilings
Block 0501 (hole tray cavities profiling is block-shaped to match with hole tray cavities, can be inserted into hole tray cavities) is connected, to control hole tray cave
Profiling block in hole moves reciprocatingly in Z-direction.Second Z-direction cylinder 0506 is also vertically installed on the 2nd Y sliding panel 0504, bottom
The piston rod at end is connected with baffle 0502, and control baffle moves reciprocatingly in Z-direction, to cooperate pushing away in hole tray positioning mechanism
Plate positions hole tray.Four guide rods 0503 are mounted on the 2nd Y sliding panel 0504 with being vertically movable, wherein two
The bottom end of guide rod is connected with profiling block connecting plate 0508, and in addition the bottom end of two guide rods is connected with baffle 0502, with
Hole tray cavities profiling block and baffle are oriented to respectively, assist hole tray cavities profiling block and baffle stable motion.
As shown in figure 8, the seedling transplanting mechanism 10 is laterally across in hole tray workbench 01 and water planting canal table 08
Between and move back and forth, so that seedling is transplanted to water planting canal table by hole tray workbench, function is crawl leaf vegetables kind
Seedling, transfer leaf vegetables seedling and plantation leaf vegetables seedling.The seedling transplanting mechanism includes pneumatic clamper sliding block 1001, pneumatic clamper component, pneumatic clamper cunning
Rail 1004, the 4th Z-direction cylinder 1005, Z sliding rack 1007, transplanting sliding rail 1008, the first X-direction cylinder 1009, pneumatic clamper sliding
Plate 1010, transplanting sliding block 1011, X sliding panel 1012, the second X-direction cylinder 1013, synchronizing shaft 1014, gear 1015 and rack gear
1016。
As shown in figure 9, the pneumatic clamper component 1002 is for grabbing leaf vegetables seedling, including pneumatic clamper 1002, pneumatic clamper fixed plate
1003, strap 1018 and strap compress piece 1017.The pneumatic clamper fixed plate 1003 is six, respectively correspondingly sliding with six pneumatic clampers
Block 1001 is fixedly connected with that (pneumatic clamper fixed plate 1003 is slidably located in pneumatic clamper sliding rail 1004 by pneumatic clamper sliding block 1001 one by one
On).Adjacent pneumatic clamper fixed plate 1003 strap 1018 is sequentially connected in series together that (strap compresses piece 1017 for fastening
Strap 1018)；Cloth strip length between adjacent pneumatic clamper fixed plate 1003 is equal to the two neighboring cavities spacing of one row of hole tray.The device
Most mountable six pneumatic clampers；Each pneumatic clamper 1002 (conventional components) includes 100201, four pneumatic clamper claws of pneumatic clamper cylinder
100202 and four pneumatic clamper pawls cover 100203 (as shown in Figure 10).The pneumatic clamper cylinder is fixed on pneumatic clamper fixed plate 1003 vertically
On；Four pneumatic clamper claws are fixed on the piston rod bottom end of pneumatic clamper cylinder, control pneumatic clamper claw 100202 by pneumatic clamper cylinder 100201
Moving reciprocatingly in Z-direction, (four pneumatic clamper claws are parallel to each other and spaced apart, and horizontal plane projected outline is rectangle；Away from
It is determined from as needed)；Four pneumatic clamper pawl sets 100203 are fixed on the bottom of pneumatic clamper fixed plate and are set on four pneumatic clampers one by one
Outside claw, with the motion guide for pneumatic clamper claw.The starting of pneumatic clamper cylinder is in elongation state.
The Z sliding rack 1007 laterally (i.e. in X direction) crosses over hole tray workbench 01 and water planting canal table 08.Described
Pneumatic clamper sliding rail 1004 and transplanting sliding rail 1008 are mounted on Z sliding rack 1007 (pneumatic clamper sliding rail 1004, transplanting sliding rail in X direction
1008 are arranged parallel with 1007 length direction of Z sliding rack)；The both ends of Z sliding rack 1007 pass through guideway respectively, and (Tu Zhong is saved
It can slightly) position on the rack to vertical sliding；A the 4th Z-direction gas is respectively set at the both ends of Z sliding rack 1007 in the present invention
Cylinder 1005 is to drive Z sliding rack vertical motion.Arrangement, piston rod are fixed on rack to the 4th Z-direction cylinder 1005 vertically
On, pedestal is fixedly connected with Z sliding rack 1007, is moved reciprocatingly with controlling Z sliding rack in Z-direction.
First X-direction cylinder 1009 (cylinder-bore axis is parallel with Z sliding rack length direction) is fixedly mounted on Z sliding rack 1007
On, piston rod be connected with X sliding panel 1012 (X sliding panel 1012 and close to hole tray workbench one end pneumatic clamper fixed plate it is affixed,
Pneumatic clamper fixed plate 1003 is slidably matched by pneumatic clamper sliding block 1001 and pneumatic clamper sliding rail 1004), X sliding panel 1012 is controlled in X-direction
It moves reciprocatingly.The second X-direction cylinder 1013 (cylinder-bore axis is parallel with Z sliding rack length direction) is mounted on X sliding
On plate 1012, piston rod is connected (pneumatic clamper sliding panel 1010 and close to water planting canal table one end with pneumatic clamper sliding panel 1010
Pneumatic clamper fixed plate is affixed), control pneumatic clamper sliding panel 1010 moves reciprocatingly in X-direction.Wherein, pneumatic clamper sliding panel 1010 and X are sliding
Movable plate 1012 is slidably located on transplanting sliding rail 1008 by a transplanting sliding block 1011 respectively.Not the case where not considering strap
Under, six pneumatic clamper fixed plates can be pushed when X sliding panel 1012 is mobile toward X positive direction (i.e. close to the side of water planting canal table)
Movement；A pneumatic clamper being connected with X sliding panel can only be driven solid when mobile toward X negative direction (i.e. close to the side of hole tray workbench)
Fixed board is mobile；In the case where not considering strap, when pneumatic clamper sliding panel 1010 toward X positive direction (i.e. close to the one of water planting canal table
Side) it is mobile when a pneumatic clamper fixed plate being connected with pneumatic clamper sliding panel can only be driven to move；Toward X negative direction (i.e. close to hole tray work
Make the side of platform) it is mobile when can push six pneumatic clamper fixed plates movements.The gear 1015 and rack gear 1016 form one together
Device is walked, mechanism installs a synchronizer at the both ends of Z sliding rack 1007 respectively, and synchronizing shaft 1014 is rotatably positioned sliding in Z
In moving frame, a gear 1015 is fixed at the both ends of synchronizing shaft respectively, rack gear 1016 then it is vertically-mounted on the rack and and gear
1015 engagements, to keep synchronizing at left and right sides of realizing Z sliding rack 1007 in Z-direction movement.
The hole tray collecting box 06 is arranged on the outside of the hole tray outlet of hole tray workbench to collect hole disk；Hole tray collecting box
For the cabinet that is open as made of steel plate envelope, the size and hole tray of hole tray collecting box are adapted.
As shown in Figure 6 and Figure 7, the power mechanism 09 is for driving motion parts along guide rail set a distance intermittent movement, with
Guarantee the blank pipe hole coordinating operation of seedling transplanting mechanism and water planting canal table, the continuous and automatic work of realization device.This is dynamic
Force mechanisms 09 include third Z-direction cylinder 0901, guide cylinder 0903, motor support cover 0904, swivel plate 0905, roller supporting cover
0906, retarder motor 0907, the first rolling bearing units 0908, servo motor 0909, the second rolling bearing units 0910, idler wheel 0911,
Transmission shaft 0912 and position-limited wheel 0913.
The third Z-direction cylinder 0901 is vertically installed on the stabilizer blade of rack, piston rod and 0909 phase of servo motor
Even, to drive servo motor 0909 to move in Z-direction；It is coated with guide cylinder 0903 outside the piston rod of third Z-direction cylinder, one
Aspect is moved for auxiliary piston rod, on the other hand for protecting piston rod.The servo motor 0909 is arranged vertically and by electricity
0904 support of machine support cover, motor shaft passes through the second rolling bearing units 0910, and (the second rolling bearing units are fixed on motor support cover
0904 bottom) it is fixedly connected with swivel plate, to drive the certain angle of rotation in horizontal plane (i.e. X-Y plane) of swivel plate 0905
Degree.The swivel plate bottom is connected with roller supporting cover 0906 vertically, distinguishes fixed idler wheel inside and outside roller supporting cover
0911 and first rolling bearing units 0908.The idler wheel 0911 cooperatively forms rolling pair with guide rail；Idler wheel two sides are respectively arranged with one
A position-limited wheel 0913 so as to by idler wheel limit on guide rail.The retarder motor 0907 is also fixedly mounted on 0905 bottom of swivel plate
Portion, wherein the transmission shaft 0912 of retarder motor drives idler wheel to roll along guide rail by the first rolling bearing units 0908, and then drives
Motion parts move (move distance is consistent with adjacent two pores spacing before and after water planting pipe) along guide rail direction, so as to next evacuated tube
Hole participates in work；The universal wheel that the bottom of rack is equipped with conducive to movement.In the course of work, when the direction of guide rail changes
When, third Z-direction cylinder is shunk, and is detached from idler wheel and guide rail, then rotates swivel plate to certain angle by control servo motor
(angle and guide rail direction are adapted) is spent to change the direction of idler wheel, and extending third Z-direction cylinder again later makes idler wheel and lead
Rail cooperation, can be realized device in the directed movement in space.
In the present invention, the operating position signal of each mechanism and component is defeated by several sensors (including close switch) respectively
To controller (preferably PLC；Omitted in figure), then by controller to the order of work of each mechanism and component and actuating length respectively into
Row control；These are conventional control technology, are no longer carefully stated one by one herein.
The present invention, which is also configured with, is connected to gas source (the preferably air compressor that each Pneumatic component (such as cylinder) uses；Tu Zhong is saved
Slightly).
Operational process of the invention, includes the following steps:
Step 1: resetting hole tray positioning mechanism, power mechanism, seedling transplanting mechanism and hole tray feed mechanism, Shi Ge mechanism
In initial position；
Step 2: orderly placing 4 hole trays for filling leaf vegetables seedling on hole tray workbench, put on water planting canal table
Full empty water planting pipe；
Step 3: the second Z-direction cylinder 0506 of hole tray feed mechanism extends, baffle 0502 is pushed to decline certain altitude,
Falling head can stop hole tray.The Z-direction cylinder 0305 of hole tray positioning mechanism extends, and push plate 0309 is pushed to decline certain height
Degree, falling head can push hole tray；
Step 4: the belt wheel stepper motor 0306 of hole tray positioning mechanism rotates forward, drive Y sliding panel 0307 along synchronous belt
Movement.The Y sliding panel 0307 of hole tray positioning mechanism drives push plate 0309 mobile to Y negative direction, to push hole tray to Y negative direction
It is moved to operating position, the i.e. contact position of hole tray and baffle 0502；
Step 5: the second Z-direction cylinder 0506 of hole tray feed mechanism is shunk, baffle 0502 is driven to rise to starting high
Degree；
Step 6: the 4th Z-direction cylinder 1005 of seedling transplanting mechanism is shunk, drive Z sliding rack 1007 at the uniform velocity to Z losing side
To movement, while pneumatic clamper 1002 being driven to drop to the optimum position for grabbing leaf vegetables seedling；
Step 7: pneumatic clamper cylinder 100201 is shunk, pneumatic clamper claw 100202 is driven to move down, grabbed in hole tray cavities
Leaf vegetables seedling, pneumatic clamper cylinder extends later, extracts leaf vegetables seedling；
Step 8: the 4th Z-direction cylinder 1005 of seedling transplanting mechanism extends, drive Z sliding rack 1007 at the uniform velocity to Z pros
To movement, pneumatic clamper is driven to rise to starting altitude；
Step 9: the first X-direction cylinder 1009 of seedling transplanting mechanism is shunk, X sliding panel 1012 is driven to move to X positive direction
It is dynamic, to drive pneumatic clamper to be moved to area of planting seedlings to X positive direction, i.e., above water planting canal table；
Step 10: the second X-direction cylinder 1013 of seedling transplanting mechanism extends, drive pneumatic clamper sliding panel 1010 to X pros
To movement, under the action of strap, pneumatic clamper sliding block 1001 is driven to move along pneumatic clamper sliding rail 1004 to X positive direction, thus by several
Pneumatic clamper 1002 separates, and spacing of the compartment away from two pore adjacent with one row of water planting pipe is consistent；
Step 11: the 4th Z-direction cylinder 1005 of seedling transplanting mechanism is shunk, drive Z sliding rack 1007 at the uniform velocity negative to Z
Direction is mobile, and pneumatic clamper is driven to drop to optimum position of planting seedlings；
Step 12: pneumatic clamper cylinder 100201 is shunk, leaf vegetables seedling is placed into corresponding water planting by pneumatic clamper claw 100202
In pipe pore；
Step 13: pneumatic clamper cylinder 100201 extends, it is back to starting altitude；
Step 14: the 4th Z-direction cylinder 1005 of seedling transplanting mechanism extends, drive Z sliding rack 1007 at the uniform velocity to Z just
Direction is mobile, and pneumatic clamper is driven to rise to starting altitude, and the second X-direction cylinder 1013 is shunk, and drives pneumatic clamper sliding panel 1010 negative to X
Direction movement drives pneumatic clamper sliding block 1001 to move along pneumatic clamper sliding rail 1004 to X negative direction, thus by several under strap effect
Pneumatic clamper contact closure；
Step 15: the first X-direction cylinder 1009 of seedling transplanting mechanism extends, drive X sliding panel 1012 to X negative direction
It is mobile, to drive pneumatic clamper to be moved to seedling taking area to X negative direction, i.e., above hole tray workbench；
Step 16: the first Y-direction cylinder 0510 of hole tray feed mechanism extends, drive the first Y sliding panel 0504 to Y just
Direction is mobile, to drive hole tray cavities profiling block 0501 mobile to Y positive direction, above operation to next row hole tray Hole.
Step 17: the first Z-direction cylinder 0505 of hole tray feed mechanism extends, drive hole tray cavities profiling block 0501 to
Z negative direction is mobile, is inserted into Hole.First Y-direction cylinder 0510 of hole tray feed mechanism is shunk, and drives hole tray to Y losing side
To mobile a distance, moving distance is consistent with the spacing of two cavities adjacent before and after hole tray, i.e., next row cavities participates in work；
Step 18: the first Z-direction cylinder 0505 of hole tray feed mechanism is shunk, drive hole tray cavities profiling block 0501 to
Z positive direction is moved to starting altitude, and hole tray feed mechanism is just in reset position at this time.
Step 19: the retarder motor 0907 of 4 power mechanisms rotates forward on transplantation device, idler wheel 0911 is driven to exist
It is moved on guide rail, to drive motion parts to the mobile a distance of Y negative direction, adjacent two pipe of moving distance and water planting pipe front and back
Pitch of holes is consistent, i.e., next evacuated tube hole participates in work；
Step 20: repeating step 6 to nine process of step 10, step 2 ten is run when a hole tray seedling is taken
One, step 2 13 is run when hole tray seedling is taken on hole tray workbench, when water planting pipe is now fully implanted leaf vegetables seedling
Operating procedure 25；
Step 2 11, when a hole tray seedling is taken, the first Y-direction cylinder 0510 of hole tray feed mechanism and
Two Y-direction cylinders 0511 extend simultaneously, push and push the first Y sliding panel 0504 and the 2nd Y sliding panel 0507 to move to Y pros respectively
It is dynamic, to drive hole tray cavities profiling block 0501 mobile to Y positive direction, it is moved to above last emptying cavities of hole disk.Cave
First Z-direction cylinder 0505 of disk feed mechanism extends, and drives hole tray cavities profiling block 0501 mobile to Z negative direction, insertion is empty
In cavities.First Y-direction cylinder 0510 of hole tray feed mechanism and the second Y-direction cylinder 0511 shrink push away hole disk simultaneously
Hole tray workbench.With time integral, empty hole tray can enter hole tray collecting box；
The first Z-direction cylinder 0505 contraction of step 2 12, hole tray feed mechanism, drives hole tray cavities profiling block 0501
It is mobile to Z positive direction, it is moved to starting altitude, hole tray feed mechanism is just in reset position operation at this time.Hole tray feed mechanism
The elongation of the second Z-direction cylinder 0506, push baffle 0502 to decline certain altitude, falling head can stop hole tray.Hole tray
The belt wheel stepper motor 0306 of positioning mechanism rotates forward, and Y sliding panel 0307 is driven to move along synchronous belt.Hole tray positioning mechanism
Y sliding panel 0307 drives push plate 0309 mobile to Y negative direction, so that hole tray be pushed to be moved to operating position, i.e. cave to Y negative direction
The contact position of disk and baffle 0502；Second Z-direction cylinder 0506 of hole tray feed mechanism is shunk, and baffle 0502 is driven to rise one
Fixed height, rises to initial position, and next fully loaded hole tray participates in work.Operating procedure six；
Step 2 13, when hole tray seedling is taken on hole tray workbench, the Z-direction cylinder 0305 of hole tray positioning mechanism
It shrinks, push plate 0309 is driven to rise to starting altitude, belt wheel stepper motor 0306 rotates backward, and drives Y sliding panel 0307 along same
It is mobile to Y positive direction to walk band 0302, and push plate 0309 is driven to be moved to initial position to Y positive direction；The of hole tray feed mechanism
Two Y-direction cylinders 0511 stretch, and push the 2nd Y sliding panel 0507 mobile to Y pros, to drive baffle 0502 to Y positive direction
Mobile, being moved to hole tray terminates upper side.Second Z-direction cylinder 0506 of hole tray feed mechanism extends, and baffle is driven to drop to
Hole tray terminates side.Second Y-direction cylinder 0511 of hole tray feed mechanism, which is shunk, pushes away hole tray workbench to hole tray collection for hole tray
In case 06；
The second Z-direction cylinder 0506 contraction of step 2 14, hole tray feed mechanism, drives baffle 0502 to Z positive direction
It is mobile, rise starting altitude, hole tray feed mechanism is just in reset position at this time.Operating procedure two；
The retarder motor 0907 of 4 power mechanisms 09 rotates forward in step 2 15, transplantation device, and idler wheel is driven to exist
It is moved on guide rail 11, returns to initial position, operating procedure one.
The present invention, which designs hole tray workbench, once can at most put 4 hole trays, but hole tray is to participate in work one by one, ginseng
Allow size no more than hole tray workbench with the hole tray size of work, and the hole tray cavities number that laterally each row is arranged cannot
More than pneumatic clamper number.
The hole tray of job applications of the present invention is to fill the hole tray of seedling, hole tray front two rows cavities equidistantly distributed, hole tray
Laterally each row is provided with 6 cavities (as shown in figure 11).
The water planting canal table that the present invention designs can once be up to 6 water planting pipes and participate in work, participate in water planting pipe
Laterally the cavities of each row is consistent with hole tray for quantity.
The water planting pipe of job applications of the present invention is the strip water planting pipe of thin wall hollow, pore equidistantly distributed before and after water planting pipe
(as shown in figure 12).
The rail guide rail that the present invention applies is 80 × 40mm steel square tube, can be moved according to mobile leaf vegetables seedling transplanting device
Corresponding guide rail (as shown in Figure 3) is arranged in X-direction or Y-direction or other directions in direction.
Claims (9)
1. mobile leaf vegetables seedling transplanting device, it is characterised in that: the device includes motion parts and fixed part；The fixation
Part is the water planting canal table (08) for being equipped with several water planting pipes (07)；The motion parts include rack (04) and installation
On the rack to convey the hole tray workbench (01) of hole tray, seedling transplanting mechanism (10), hole tray positioning mechanism (03), hole tray feeding
Mechanism (05), hole tray collecting box (06) and several power mechanisms (09)；The hole tray workbench and water planting canal table it is horizontal and
It is arranged parallel；The length direction of the two lateral edge water planting canal table of rack is equipped with guide rail (11) respectively；The seedling
Transplanting mechanism laterally across between hole tray workbench and water planting canal table and moving back and forth, so as to by seedling by hole tray work
Water planting canal table is transplanted to as platform；The seedling transplanting mechanism is arranged between hole tray positioning mechanism and hole tray feed mechanism；
The hole tray positioning mechanism is movably positioned in the top of hole tray workbench to drive the hole tray on hole tray workbench toward seedling
Transplanting mechanism direction moves and positions, to cooperate the operation of seedling transplanting mechanism；The hole tray feed mechanism setting works in hole tray
Above the hole tray outlet of platform and the liftoff intermittent movement hole tray of spacing is to cooperate the operation of seedling transplanting mechanism；The hole tray collecting box
It is arranged on the outside of the hole tray outlet of hole tray workbench to collect hole disk；Power mechanism setting is in bottom of the frame and movable
Ground is located on guide rail, to drive motion parts and water planting canal table coordinating operation；The bottom of the frame is additionally provided with several
Conducive to the universal wheel (0101) of motion parts movement；
The hole tray positioning mechanism includes the Y sliding panel being slidably located in above hole tray workbench by horizontal guide rail pair
(0307), it drives the belt wheel transfer assembly of Y sliding panel movement and can be located in vertical motion on Y sliding panel to push cave
The push plate (0309) of disk；
The hole tray feed mechanism includes positioning the 2nd Y sliding panel (0507) on the rack horizontally slidablely, by being fixed on
The driving of the first Y-direction cylinder (0510) and horizontally slidable the first Y sliding panel positioned on the rack on 2nd Y sliding panel
The the first Z-direction cylinder (0505) and the second Z-direction cylinder (0506) that (0504), are fixed on vertically respectively on the first Y sliding panel,
The piston-rod end of the first Z-direction cylinder is fixed on to drive several hole tray cavities profiling blocks (0501) of hole tray movement and consolidate
It is scheduled on the piston-rod end of the second Z-direction cylinder and cooperates with push plate to position the baffle (0502) of hole tray.
2. movable type leaf vegetables seedling transplanting device according to claim 1, it is characterised in that: the pulley assemblies include perpendicular
The straight belt wheel stepper motor (0306) being mounted on Y sliding panel is fixed on the rack and along the tensioning of hole tray conveying direction level
Synchronous belt (0302) and driven from belt wheel stepper motor and with synchronous belt be driven synchromesh gear.
3. movable type leaf vegetables seedling transplanting device according to claim 2, it is characterised in that: the hole tray workbench includes
Can be rotated and arrange in parallel to each other several transfer rollers (0102) on the rack and along transfer roller both ends rack according to
Sequence arranges the limiting stand (0103) to realize hole tray motion guide；The width of the distance between the limiting stand at transfer roller both ends and hole tray
Degree matches.
4. movable type leaf vegetables seedling transplanting device according to claim 3, it is characterised in that: the seedling transplanting mechanism
Including laterally across hole tray workbench and water planting canal table and both ends pass through guideway respectively to be located in machine to vertical sliding
Z sliding rack (1007) on frame, be mounted on the both ends of Z sliding rack with keep Z sliding rack both ends to move synchronously synchronizer, pass through
X sliding panel (1012) that slide rail pair is located in horizontally slidablely on Z sliding rack is mounted on Z sliding rack and its piston rod connects
It connects and the pneumatic clamper component for driving the first X-direction cylinder (1009) of X sliding panel, one end to be fixedly connected with X sliding panel and fixation
On X sliding panel and its piston rod forces in the second X-direction cylinder (1013) of the pneumatic clamper component other end.
5. movable type leaf vegetables seedling transplanting device according to claim 4, it is characterised in that: if the pneumatic clamper component includes
Dry vertical arrangement is to grab the pneumatic clamper (1002) of seedling, horizontally slidable be located on Z sliding rack and support pneumatic clamper one by one
Several pneumatic clamper fixed plates (1003) and be connected between adjacent pneumatic clamper fixed plate with guarantee adjacent pneumatic clamper fixed plate have determine
The strap (1018) of extension distance；Each pneumatic clamper include the pneumatic clamper cylinder (100201) being fixed in pneumatic clamper fixed plate vertically,
Vertical motion is driven by pneumatic clamper cylinder to grab several pneumatic clamper claws (100202) of seedling and be fixed in pneumatic clamper fixed plate
And it is set on outside pneumatic clamper claw in favor of the pneumatic clamper pawl set (100203) of pneumatic clamper claw guiding.
6. movable type leaf vegetables seedling transplanting device according to claim 5, it is characterised in that: the power mechanism includes perpendicular
Directly it is fixed on the third Z-direction cylinder (0901) of bottom of the frame, is watched with what the piston-rod end of third Z-direction cylinder was fixedly connected
Motor (0909) is taken, the swivel plate (0905) to turn an angle is driven by servo motor, cooperatively forms rolling pair with guide rail
Idler wheel (0911), the retarder motor (0907) for driving idler wheel to roll and idler wheel two sides are set for two of limited roller
Position-limited wheel (0913)；The idler wheel and retarder are both positioned at swivel plate bottom surface, so as to swivel plate unitary rotation.
7. movable type leaf vegetables seedling transplanting device according to claim 6, it is characterised in that: the water planting canal table by
Several steel pipes (0802) are spliced；It is laterally uniform on water planting canal table to have several position-arresting disks (0803), adjacent limit
The distance of disk and the width of water planting pipe are matched to limit water planting pipe transverse shifting；The end face of water planting canal table is horizontally arranged with
For limiting the limit plate (0801) of water planting pipe longitudinal movement.
8. movable type leaf vegetables seedling transplanting device according to claim 7, it is characterised in that: the hole tray collecting box is
Be open cabinet as made of steel plate envelope；The size and hole tray of the hole tray collecting box are adapted.
9. movable type leaf vegetables seedling transplanting device according to claim 8, it is characterised in that: the hole tray workbench, kind
Seeding transplant machine structure, hole tray positioning mechanism, hole tray feed mechanism and power mechanism are electrically connected with the controller respectively, to guarantee each machine
The work of structure cooperates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007256.8A CN109479468A (en) | 2019-01-04 | 2019-01-04 | Mobile leaf vegetables seedling transplanting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007256.8A CN109479468A (en) | 2019-01-04 | 2019-01-04 | Mobile leaf vegetables seedling transplanting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109479468A true CN109479468A (en) | 2019-03-19 |
Family
ID=65713936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910007256.8A Pending CN109479468A (en) | 2019-01-04 | 2019-01-04 | Mobile leaf vegetables seedling transplanting device |
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| Country | Link |
|---|---|
| CN (1) | CN109479468A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937761A (en) * | 2019-01-11 | 2019-06-28 | 浙江理工大学 | The mobile inspection of greenhouse seedbed is filled the gaps with seedlings robot |
| CN113148580A (en) * | 2021-04-15 | 2021-07-23 | 生态环境部南京环境科学研究所 | Ecological environment wetland protection device |
| WO2021184662A1 (en) * | 2020-03-15 | 2021-09-23 | 南京根田科技有限公司 | Automatic transfer system for transparent root system cultivation containers |
| CN115474541A (en) * | 2022-09-26 | 2022-12-16 | 北京中农富通园艺有限公司 | Operation method of automatic water culture system |
| CN116458308A (en) * | 2023-04-21 | 2023-07-21 | 浙江大学 | Automatic equipment for separately planting and field planting of sponge seedlings in plant factory |
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| CN108811636A (en) * | 2018-07-02 | 2018-11-16 | 浙江理工大学 | Leaf vegetables water planting transplantation device |
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| JPS63317013A (en) * | 1987-06-19 | 1988-12-26 | Kubota Noki Seisakusho:Kk | Seedling reformer |
| CN104108067A (en) * | 2014-06-25 | 2014-10-22 | 安徽省银锐玻璃机械有限公司 | Driving device of glass grinding wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109937761A (en) * | 2019-01-11 | 2019-06-28 | 浙江理工大学 | The mobile inspection of greenhouse seedbed is filled the gaps with seedlings robot |
| CN109937761B (en) * | 2019-01-11 | 2021-12-14 | 浙江理工大学 | Greenhouse seedbed moving, inspection and seedling supplementing robot |
| WO2021184662A1 (en) * | 2020-03-15 | 2021-09-23 | 南京根田科技有限公司 | Automatic transfer system for transparent root system cultivation containers |
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| CN115474541A (en) * | 2022-09-26 | 2022-12-16 | 北京中农富通园艺有限公司 | Operation method of automatic water culture system |
| CN115474541B (en) * | 2022-09-26 | 2023-08-15 | 北京中农富通园艺有限公司 | Operation method of water planting automation system |
| CN116458308A (en) * | 2023-04-21 | 2023-07-21 | 浙江大学 | Automatic equipment for separately planting and field planting of sponge seedlings in plant factory |
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