CN109618703B - Clamping device and using method thereof - Google Patents
Clamping device and using method thereof Download PDFInfo
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- CN109618703B CN109618703B CN201811641253.1A CN201811641253A CN109618703B CN 109618703 B CN109618703 B CN 109618703B CN 201811641253 A CN201811641253 A CN 201811641253A CN 109618703 B CN109618703 B CN 109618703B
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- clamp
- clamping
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- grafting
- pushing
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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
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/38—Holding; Ligating
Abstract
The invention relates to the technical field of automatic grafting equipment, and provides a clamping device and a using method thereof, wherein the clamping device comprises: the device comprises a clamp arranging mechanism, a clamp loading mechanism, a clamp pushing mechanism and a base; the arranging and clamping mechanism is obliquely arranged on the base and is provided with a first channel for placing the grafting clamps and a control unit for controlling the movement of the grafting clamps, and the control unit is used for controlling the single output of the grafting clamps; the upper clamping mechanism is provided with a second channel which can change the width and is used for placing a grafting clamp, and a grafting clamp detection unit which is used for detecting the position of the grafting clamp, wherein the grafting clamp detection unit is used for controlling the width of the second channel and the start and stop of the pushing and clamping mechanism; the discharge end of the first channel is communicated with the feed end of the second channel; the action end of the pushing and clamping mechanism moves along the length direction of the second channel. The upper clamping device can solve the problem of clamping caused by bad clamping and bad clamping, so that the success rate of the existing grafting device is improved, and grafted seedlings in a grafting state are not wasted.
Description
Technical Field
The invention relates to the technical field of automatic grafting equipment, in particular to a clamping device and a using method thereof.
Background
Grafting is a technique in which a branch or bud of one plant is grafted onto the stem or root of another plant, and the two parts that are joined together are grown into a complete plant. The grafting method of plants is mainly divided into grafting and bud grafting, wherein the grafting is widely applied due to the simple operation. When grafting, two wound surfaces of the grafted part and the part to be grafted are required to be close and fastened together, cells at the joint are proliferated and form a microtubule tissue, so that the grafted part and the part to be grafted form a whole, and the grafting is finished.
In order to improve grafting efficiency, grafting is generally completed by a grafting machine at present. However, when the clamping problem occurs in the clamping device of the existing grafting machine, the machine needs to be stopped, and a bad clamp or a bad clamp which is clamped needs to be taken out manually, a strain of grafted seedlings is wasted, and the operation efficiency and the success rate are seriously influenced.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide a clamping device and a using method thereof, and aims to solve at least one technical problem in the prior art or the related art.
(II) technical scheme
In order to solve the above-mentioned technical problem, according to a first aspect, the present invention provides a clip applying apparatus, including: the device comprises a clamp arranging mechanism, a clamp loading mechanism, a clamp pushing mechanism and a base; the row clamping mechanism is obliquely arranged on the base and is provided with a first channel for placing the grafting clamps and a control unit for controlling the movement of the grafting clamps, and the control unit is used for controlling the single output of the grafting clamps; the upper clamping mechanism is provided with a second channel which can change the width and is used for placing a grafting clamp, and a grafting clamp detection unit which is used for detecting the position of the grafting clamp, wherein the grafting clamp detection unit is used for controlling the width of the second channel and the start and stop of the pushing and clamping mechanism; the discharge end of the first channel is communicated with the feed end of the second channel; and the action end of the pushing and clamping mechanism moves along the length direction of the second channel.
The push-clamp mechanism comprises a push-clamp rod and a push-clamp cylinder; the push-clamp air cylinder is arranged on the base; one end of the push-clamp rod is connected with the action end of the push-clamp air cylinder, and the other end of the push-clamp rod moves along the length direction of the second channel.
The bottom of the push-clamping rod is connected with the sliding rail; the base is provided with a sliding block matched with the sliding rail, and the sliding rail is connected with the sliding block in a sliding mode.
The upper clamping mechanism comprises an upper clamping block and an upper clamping cylinder;
the second channel is arranged in the upper clamping block; the upper clamping cylinder is connected with the upper clamping block and used for driving the upper clamping block to move so as to change the width of the second channel.
The grafting clip detection unit comprises an optical fiber sensor and a controller; the optical fiber sensor is arranged on the upper clamping block and used for detecting the position information of the grafting clamp in the second channel; the controller receives the position information sent by the optical fiber sensor and controls the start and stop of the upper clamping cylinder and the pushing clamping cylinder.
The row clamping mechanism comprises a row clamping block, and the control unit comprises a plurality of row clamping cylinders;
the row of clamping blocks are obliquely arranged on the base; the first channel is arranged along the length direction of the row of clamping blocks; the row clamp cylinder is used for controlling the movement of the grafting clamp.
The row clamping mechanism further comprises a supporting block provided with a through hole, the supporting block is installed on the base, and one end of the row clamping block is installed on the supporting block.
The device comprises a plurality of clamp cylinders, a clamp cylinder group and a clamp cylinder group, wherein the clamp cylinder group comprises a first clamp cylinder group and a second clamp cylinder group; the first row of clamping cylinders and the second row of clamping cylinders are arranged at intervals along the length direction of the first channel.
In a second aspect, the present invention provides a method for using the clip loading device, including: the first channel discharges a single grafting clamp into the second channel at each time through the control of the control unit, the optical fiber sensor sends the detected position information of the grafting clamp positioned in the second channel to the controller, so that the controller controls the pushing and clamping cylinder to work, the pushing and clamping rod is driven to move along the length direction of the second channel, the grafting clamp is pushed into the second channel, the upper clamping cylinder works at the moment, the width of the second channel is widened, and the grafting clamp clamps clamp a grafting seedling cut.
When the extension time of the pushing and clamping rod exceeds the set time, the controller judges that the clamping is carried out, the controller controls the pushing and clamping cylinder to drive the pushing and clamping rod to retract, the upper clamping cylinder drives the second channel to open, and then the pushing and clamping rod extends out again to remove the grafting clamps clamped in the second channel; and one grafting clamp is discharged from the first channel again, and the controller drives the pushing clamp cylinder and the upper clamp cylinder to cooperatively act so as to realize the secondary upper clamp of the grafted seedlings.
(III) advantageous effects
Compared with the prior art, the invention has the following advantages:
according to the clamping device, the control unit controls the first channel to discharge a single grafting clamp into the second channel each time, the grafting clamp detection unit controls the pushing and clamping mechanism to work, and the action end of the pushing and clamping mechanism is driven to move along the length direction of the second channel; after the grafting clamp detection unit detects that a clamping condition occurs, the action end of the pushing and clamping mechanism retracts, the grafting clamp detection unit controls the upper clamping mechanism to work so as to enable the width of the second channel to be widened, the action end of the pushing and clamping mechanism moves along the length direction of the second channel again to clear the grafting clamp clamped in the second channel, the first channel discharges a grafting clamp again, meanwhile, the grafting clamp detection unit controls the action end of the pushing and clamping mechanism to be driven again to move along the length direction of the second channel, the upper clamping mechanism works at the moment so as to enable the width of the second channel to be widened, and the grafting clamp clamps a grafted seedling cut to complete the upper clamping action. The upper clamping device can solve the clamping problem caused by bad clamping and bad clamping, so that the success rate of the conventional grafting device is improved, and grafted seedlings in a grafting state are not wasted;
the application method of the upper clamping device provided by the invention can solve the clamping problem caused by bad clamping and bad clamping, so that the success rate of the conventional grafting device is improved, and grafted seedlings in a grafting state are not wasted.
Drawings
FIG. 1 is a schematic structural diagram of a clip loading device according to an embodiment of the present invention;
FIG. 2 is a top view of a clamping device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a first operating state of a clamping device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a second operating state of the upper clamping device according to the embodiment of the present invention;
FIG. 5 is a schematic view of a clip handling operation of a clip loading apparatus according to an embodiment of the present invention;
description of reference numerals:
1-mounting a clamping block; 2, fixing blocks; 3-arranging clamping blocks; 4-pushing and clamping the cylinder; 5-a base; 6-a supporting block; 7-pushing the clamping rod; 8-a fiber optic sensor; 9-clamping the cylinder; 10-a telescopic support bar; 11-a first clamping cylinder; 12-a second clamping cylinder; 13-a slide block; 14-grafting clip.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a schematic structural diagram of an upper clamping device according to an embodiment of the present invention, and fig. 2 is a top view of an upper clamping device according to an embodiment of the present invention, as shown in fig. 1 and fig. 2, the upper clamping device arranging and clamping mechanism, the upper clamping mechanism, the pushing and clamping mechanism, and the base 5 according to an embodiment of the present invention are provided; the arranging and clamping mechanism is obliquely arranged on the base and is provided with a first channel for placing the grafting clamps and a control unit for controlling the movement of the grafting clamps 14, and the control unit is used for controlling the single output of the grafting clamps; the upper clamping mechanism is provided with a second channel which can change the width and is used for placing a grafting clamp, and a grafting clamp detection unit which is used for detecting the position of the grafting clamp, wherein the grafting clamp detection unit is used for controlling the width of the second channel and the start and stop of the pushing and clamping mechanism; the discharge end of the first channel is communicated with the feed end of the second channel; and the action end of the pushing and clamping mechanism moves along the length direction of the second channel.
In the embodiment of the invention, the control unit controls the first channel to discharge a single grafting clip into the second channel at each time, and the grafting clip detection unit controls the pushing and clamping mechanism to work and drives the action end of the pushing and clamping mechanism to move along the length direction of the second channel; after the grafting clamp detection unit detects that a clamping condition occurs, the action end of the pushing and clamping mechanism retracts, the grafting clamp detection unit controls the upper clamping mechanism to work so as to enable the width of the second channel to be widened, the action end of the pushing and clamping mechanism moves along the length direction of the second channel again to clear the grafting clamp clamped in the second channel, the first channel discharges a grafting clamp again, meanwhile, the grafting clamp detection unit controls the action end of the pushing and clamping mechanism to be driven again to move along the length direction of the second channel, the upper clamping mechanism works at the moment so as to enable the width of the second channel to be widened, and the grafting clamp clamps a grafted seedling cut to complete the upper clamping action. The upper clamping device can solve the problem of clamping caused by bad clamping and bad clamping, so that the success rate of the existing grafting device is improved, and grafted seedlings in a grafting state are not wasted.
In one embodiment, the pinch mechanism comprises a pinch rod 7 and a pinch cylinder 4; the push-clamping cylinder 4 is arranged on the base 5; one end of the push-clamp rod 7 is connected with the action end of the push-clamp cylinder 4, and the other end of the push-clamp rod 7 moves along the length direction of the second channel.
In one embodiment, the bottom of the push-clamping rod is connected with the sliding rail; the base is provided with a sliding block 13 matched with the sliding rail, and the sliding rail is connected with the sliding block 13 in a sliding manner.
In one embodiment, the upper clamping mechanism comprises an upper clamping block 1 and an upper clamping cylinder 9; a second channel is arranged in the upper clamping block 1; the upper clamping cylinder 9 is connected with the upper clamping block 1 and used for driving the upper clamping block 1 to move so as to change the width of the second channel.
In the embodiment of the invention, the shape of the second channel is matched with that of the grafting clamp, and the width of the second channel can be increased or reduced by the action of the clamping cylinder.
In a specific embodiment, the grafting clip detecting unit includes an optical fiber sensor 8 and a controller; the optical fiber sensor is arranged on the upper clamping block and used for detecting the position information of the grafting clamp in the second channel; the controller receives the position information sent by the optical fiber sensor and controls the start and stop of the upper clamping cylinder and the pushing and clamping cylinder.
In the embodiment of the invention, two optical fiber sensors 8 are arranged on two sides of the second channel, and the optical fiber sensors 8 transmit the detected position information of the grafting clips in the second channel to the controller. The controller performs corresponding operation according to the position information, when the optical fiber sensor 8 detects that the grafting clip is arranged in the second channel, the controller controls the clip pushing cylinder 4 to work, and the clip pushing rod 7 moves along the length direction of the second channel; when the optical fiber sensor 8 does not detect that the grafting clip is arranged in the second channel, the clamping pushing rod 7 cannot move along the length direction of the second channel; when the optical fiber sensor 8 detects that a clamped grafting clamp exists in the second channel, when the extending time of the pushing and clamping rod exceeds the set time, the controller controls the pushing and clamping cylinder to drive the pushing and clamping rod to retract, the controller controls the upper clamping cylinder 9 to work, the width of the second channel is increased, the controller controls the pushing and clamping cylinder to work simultaneously, the pushing and clamping rod stretches out again to remove the clamped grafting clamp in the second channel, the first channel discharges a grafting clamp again, the pushing and clamping cylinder works to drive the pushing and clamping rod to move along the length direction of the second channel, the upper clamping cylinder works at the moment, the width of the second channel is increased, and the grafting clamp clamps clamp the incision of the grafted seedling to complete the upper clamping action.
In one embodiment, the gang clamp mechanism comprises a gang clamp block 3 and the control unit comprises a plurality of gang clamp cylinders; the row clamping blocks are obliquely arranged on the base 5; a first channel is arranged along the length direction of the row clamping blocks 3; the row clamping cylinder is used for controlling the movement of the grafting clamp.
In the embodiment of the invention, the shape of the first channel is matched with that of the grafting clips, and only one grafting clip enters the second channel from the first channel at a time through the action of the clamp arranging air cylinder.
In one embodiment, the clip mechanism further comprises a supporting block 6 provided with a through hole, the supporting block 6 is mounted on the base 5, and one end of the clip block is mounted on the supporting block 6.
In the embodiment of the present invention, a rectangular slider 13 connected to the other end of the clip pushing rod can enter the second channel from the through hole of the supporting block 6 to push the clip to move along the length direction of the second channel. One end of the row clamping block is arranged on the supporting block 6, so that the height of the discharge end of the first channel can be increased.
In one embodiment, the clip mechanism further comprises a retractable support rod 10, and the other end of the clip block 3 is mounted on the base 5 through the retractable support rod 10.
In the embodiment of the invention, two sides of the other end of the row clamping block 3 are respectively arranged on the base 5 through a telescopic supporting rod 10, and the height of the feeding end of the first channel can be adjusted by adjusting the height of the telescopic supporting rod 10.
In one embodiment, the number of the clamp cylinders is two, and the clamp cylinders comprise a first clamp cylinder 11 and a second clamp cylinder 12; the first row of air cylinder 11 and the second row of air cylinder 12 are installed on the row of clamping blocks 3 through the fixing blocks 2, and the first row of air cylinder 11 and the second row of air cylinder 12 are arranged at intervals along the length direction of the first channel.
In the embodiment of the present invention, as shown in fig. 3 and 4, the distance between the first clamping cylinder 11 and the second clamping cylinder 12 is required to satisfy the following requirements: the piston rod of the first row of clamping cylinders just blocks the first grafting clamp in the first channel, and the piston rod of the second cylinder just can enter the steel ring of the second grafting clamp. The first row of clamping cylinders and the second row of clamping cylinders alternately act to discharge one grafting clamp into the second channel at a time in the first channel.
The embodiment of the invention also provides a using method of the clamping device, which comprises the following steps:
the first channel discharges a single grafting clamp into the second channel at each time through the control of the control unit, the optical fiber sensor sends the detected position information of the grafting clamp positioned in the second channel to the controller, so that the controller controls the pushing and clamping cylinder to work, the pushing and clamping rod is driven to move along the length direction of the second channel, the grafting clamp is pushed into the second channel, the upper clamping cylinder works at the moment, the width of the second channel is widened, and the grafting clamp clamps clamp a grafting seedling cut.
In the embodiment of the invention, the grafting clips are discharged into the second channel each time by the alternate action of the first row of clamping cylinders and the second row of clamping cylinders, and after the grafting clips enter the second channel, the optical fiber sensor sends the detected position information of the grafting clips in the second channel to the controller, so that the controller controls the pushing and clamping cylinders to drive the pushing and clamping rods to move along the length direction of the second channel;
as shown in fig. 5, during the clamping, when the extending time of the pushing and clamping rod exceeds the set time, the controller judges that the clamping is performed, the controller controls the pushing and clamping cylinder to drive the pushing and clamping rod to retract, the upper clamping cylinder drives the second channel to open, and then the pushing and clamping rod extends out again to remove the grafting clamp clamped in the second channel; and one grafting clamp is discharged from the first channel again, and the controller drives the pushing clamp cylinder and the upper clamp cylinder to cooperatively act so as to realize the secondary upper clamp of the grafted seedlings.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A clip application device, comprising: the device comprises a clamp arranging mechanism, a clamp loading mechanism, a clamp pushing mechanism and a base; the row clamping mechanism is obliquely arranged on the base and is provided with a first channel for placing the grafting clamps and a control unit for controlling the movement of the grafting clamps, and the control unit is used for controlling the single output of the grafting clamps; the upper clamping mechanism is provided with a second channel which can change the width and is used for placing a grafting clamp, and a grafting clamp detection unit which is used for detecting the position of the grafting clamp, wherein the grafting clamp detection unit is used for controlling the width of the second channel and the start and stop of the pushing and clamping mechanism; the discharge end of the first channel is communicated with the feed end of the second channel; the action end of the pushing and clamping mechanism moves along the length direction of the second channel;
the push-clamp mechanism comprises a push-clamp rod and a push-clamp cylinder; the push-clamp air cylinder is arranged on the base; one end of the push-clamp rod is connected with the action end of the push-clamp cylinder, and the other end of the push-clamp rod moves along the length direction of the second channel;
the upper clamping mechanism comprises an upper clamping block and an upper clamping cylinder; the second channel is arranged in the upper clamping block; the upper clamping cylinder is connected with the upper clamping block and used for driving the upper clamping block to move so as to change the width of the second channel;
the grafting clip detection unit comprises an optical fiber sensor and a controller; the optical fiber sensor is arranged on the upper clamping block and used for detecting the position information of the grafting clamp in the second channel; the controller receives the position information sent by the optical fiber sensor and controls the start and stop of the upper clamping cylinder and the pushing clamping cylinder.
2. The overclamping device of claim 1, wherein the bottom of the push-clamping rod is connected with a slide rail; the base is provided with a sliding block matched with the sliding rail, and the sliding rail is connected with the sliding block in a sliding mode.
3. The clipping-on device of claim 1, wherein the clipping-on mechanism includes a clipping-on block, the control unit includes a plurality of clipping-on cylinders;
the row of clamping blocks are obliquely arranged on the base; the first channel is arranged along the length direction of the row of clamping blocks; the row clamp cylinder is used for controlling the movement of the grafting clamp.
4. The clipping apparatus of claim 3, wherein the clipping mechanism further comprises a support block provided with a through hole, the support block being mounted to the base, and one end of the clipping block being mounted to the support block.
5. The clamping device of claim 3, wherein the number of the clamping cylinders is two, and the clamping cylinders comprise a first clamping cylinder and a second clamping cylinder; the first row of clamping cylinders and the second row of clamping cylinders are arranged at intervals along the length direction of the first channel.
6. A method of using a clip loading apparatus as claimed in any one of claims 1 to 5, comprising: the first channel discharges a single grafting clamp into the second channel at each time through the control of the control unit, the optical fiber sensor sends the detected position information of the grafting clamp positioned in the second channel to the controller, so that the controller controls the pushing and clamping cylinder to work, the pushing and clamping rod is driven to move along the length direction of the second channel, the grafting clamp is pushed into the second channel, the upper clamping cylinder works at the moment, the width of the second channel is widened, and the grafting clamp clamps clamp a grafting seedling cut.
7. The method for using the clamping device as claimed in claim 6, wherein when the extension time of the pushing and clamping rod exceeds the set time, the controller judges that the clamping is performed, the controller controls the pushing and clamping cylinder to drive the pushing and clamping rod to retract, the upper clamping cylinder drives the second channel to open, and then the pushing and clamping rod extends again to clear the clamped grafting clamp in the second channel; and one grafting clamp is discharged from the first channel again, and the controller drives the pushing clamp cylinder and the upper clamp cylinder to cooperatively act so as to realize the secondary upper clamp of the grafted seedlings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811641253.1A CN109618703B (en) | 2018-12-29 | 2018-12-29 | Clamping device and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811641253.1A CN109618703B (en) | 2018-12-29 | 2018-12-29 | Clamping device and using method thereof |
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| CN109618703A CN109618703A (en) | 2019-04-16 |
| CN109618703B true CN109618703B (en) | 2021-04-06 |
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| CN201811641253.1A Active CN109618703B (en) | 2018-12-29 | 2018-12-29 | Clamping device and using method thereof |
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| CN114916329A (en) * | 2022-05-07 | 2022-08-19 | 中国农业大学 | Man-machine cooperative program-controlled vegetable grafting and clamping mechanism and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2433813Y (en) * | 2000-08-22 | 2001-06-13 | 中国农业大学 | Continuous conveying and clamping device of stepping motor |
| CN1631080A (en) * | 2005-01-14 | 2005-06-29 | 中国农业大学 | Autometic grafting device for nutrition pot sprout |
| WO2005089532A1 (en) * | 2004-03-24 | 2005-09-29 | Republic Of Korea(Management: Rural Development Administration) | Splice grafting robot for fruit and vegetable plants |
| CN102165896A (en) * | 2010-12-06 | 2011-08-31 | 北京农业智能装备技术研究中心 | Automatic sorting clip supplier and clip feeder |
| CN207427886U (en) * | 2017-11-15 | 2018-06-01 | 张铁中 | A kind of automatic grafting device |
-
2018
- 2018-12-29 CN CN201811641253.1A patent/CN109618703B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2433813Y (en) * | 2000-08-22 | 2001-06-13 | 中国农业大学 | Continuous conveying and clamping device of stepping motor |
| WO2005089532A1 (en) * | 2004-03-24 | 2005-09-29 | Republic Of Korea(Management: Rural Development Administration) | Splice grafting robot for fruit and vegetable plants |
| CN1631080A (en) * | 2005-01-14 | 2005-06-29 | 中国农业大学 | Autometic grafting device for nutrition pot sprout |
| CN102165896A (en) * | 2010-12-06 | 2011-08-31 | 北京农业智能装备技术研究中心 | Automatic sorting clip supplier and clip feeder |
| CN207427886U (en) * | 2017-11-15 | 2018-06-01 | 张铁中 | A kind of automatic grafting device |
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