CN110683302A - Intelligent rail type rice seedling transportation system - Google Patents
Intelligent rail type rice seedling transportation system Download PDFInfo
- Publication number
- CN110683302A CN110683302A CN201911062539.9A CN201911062539A CN110683302A CN 110683302 A CN110683302 A CN 110683302A CN 201911062539 A CN201911062539 A CN 201911062539A CN 110683302 A CN110683302 A CN 110683302A
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- rail
- fixed
- rice
- straight rail
- ridge
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 64
- 235000009566 rice Nutrition 0.000 title claims abstract description 64
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 63
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses an intelligent rail type rice seedling transportation system, which relates to the field of transplanting and conveying devices and consists of a rail and a conveying vehicle, wherein the rail is arranged on a rice ridge in an auxiliary mode, the rail comprises a fixed straight rail, a movable straight rail and a curved guide rail, the fixed straight rail and the movable straight rail are sequentially and alternately connected with the rice ridge in a linkage mode and are transversely arranged in the rice ridge in an auxiliary mode, the two ends of the rail, which are adjacently arranged in parallel and transversely arranged in the rice ridge, and the joint of the fixed straight rail and the movable straight rail are longitudinally provided with the curved guide rail, and the conveying vehicle matched with the rail is arranged on the rail consisting of the fixed straight rail, the movable straight rail and the curved guide rail. The intelligent rail type rice seedling transportation system can realize rapid rail change and manual transportation, reduces the labor intensity of workers, ensures that the transportation vehicle on the rail is matched with the rail and can transport along the rail, and can move to and fro on different rails by the intelligent rail change of the rail, supplies seedlings to a rice transplanter or workers in time, and improves the transplanting efficiency.
Description
Technical Field
The invention relates to the field of transplanting conveying devices, in particular to an intelligent rail type rice seedling conveying system.
Background
China is the biggest rice producing country in the world, the rice planting industry is labor-intensive agriculture, the labor intensity is high, a large amount of labor needs to be invested for fine cultivation, various mechanized tools are applied to rice planting, but the transportation process between a rice seedling storage land and a rice transplanter is carried by manpower, the mechanized operation requirement is not realized, the labor intensity of workers is high, and the rice planting cost is high; in order to solve the problems of high labor intensity, higher operation cost and low efficiency during the rice seedling supplementing process and ensure the working efficiency during the rice seedling transplanting, a rice seedling transport vehicle using a diesel engine as power is designed, and the problem lies in that a travelling wheel device is adopted to damage paddy ridges or paddy fields which are just finished during the travelling process; and the appearance of intelligence transport vechicle can compensate above-mentioned problem, can reduce the artifical intensity of labour when rice planting and replanting, can not destroy the paddy field simultaneously, and then the work efficiency when improving transplanting rice seedlings or replanting. But current delivery track all is that the double track moves, and delivery wagon structural design is unreasonable, causes the construction cost height, for this reason, this application provides an intelligent track formula rice seedling conveying system.
The efficiency is high.
Disclosure of Invention
The invention aims to overcome the problems and provides an intelligent rail type rice seedling transportation system.
The invention discloses an intelligent rail type rice seedling transportation system, which consists of a rail and a delivery wagon, wherein the rail is arranged on a rice ridge in an auxiliary mode, the rail comprises a fixed straight rail, a movable straight rail and a curved guide rail, the fixed straight rail and the movable straight rail are sequentially and alternately connected with the rice ridge in an auxiliary mode, the two ends of the rail which are arranged on the rice ridge in an adjacent, parallel and transverse auxiliary mode and the joint of the fixed straight rail and the movable straight rail are longitudinally provided with the curved guide rail, and the delivery wagon matched with the fixed straight rail, the movable straight rail and the curved guide rail is arranged on the rail.
The bottom surface of the fixed straight rail is fixed on a rice ridge through a fixed support, the head end of the movable straight rail is fixed with the middle part of a hydraulic lifting frame I fixed on the rice ridge, two ends of the hydraulic lifting frame I are respectively fixed with right bent guide rails I on two adjacent sides, the bottom of the tail end of the movable straight rail is fixed with the top of a hydraulic lifting bearing bracket fixed on the rice ridge, and the tail end of the movable straight rail is connected with a right bent guide rail II fixed on a hydraulic lifting frame II on the rice ridge to form a track.
As a further improvement of the invention, the transport vehicle is arranged on the track and comprises a slide block I, a slide block II, a bearing bracket, a motor, a gear and a driving wheel; bearing bracket seat is on slider I, and has fixed slider II in the one end of bearing bracket, and slider I and slider II straddle on the track, and be equipped with the drive wheel and place in the track inslot in slider I and II bottom bilateral symmetry of slider, the motor cabinet on slider II, its output shaft pass II tops of slider and place in slider II middle part, and be fixed with the gear at the end of output shaft, the gear cooperatees with the rack of fixing on the track.
As a further improvement of the invention, the fixed straight rail, the movable straight rail and the bent guide rail are all parallel to the ground.
As a further improvement of the hydraulic lifting frame, the hydraulic lifting frame I, the hydraulic lifting bearing bracket and the hydraulic lifting frame II are provided with hydraulic cylinders and driving motors at the bottoms.
As a further improvement of the invention, visual controllers are arranged at the front end and the rear end of the transport vehicle.
The intelligent rail type rice seedling transportation system has the advantages of reasonable structure, simplicity and convenience in operation, capability of quickly changing rails, high cost performance, no need of manual carrying, and capability of reducing the labor intensity of workers.
Drawings
FIGS. 1-3 are schematic structural views of the present invention;
FIG. 4 is a schematic view of the present invention showing the structure of the transportation cart;
FIG. 5 is a front view of a transporter of the present invention;
FIG. 6 is a side view of the transporter of the present invention;
fig. 7 is a top view of the transport cart of the present invention.
Detailed Description
The intelligent rail-mounted rice seedling transportation system of the embodiment is further described with reference to the accompanying drawings:
the invention discloses an intelligent rail type rice seedling transportation system, which consists of a rail and a delivery wagon, wherein the rail is arranged on a rice ridge in an auxiliary mode, the rail comprises a fixed straight rail 1, a movable straight rail 2 and a bent guide rail, and the fixed straight rail 1, the movable straight rail 2 and the bent guide rail are all made of square steel and are parallel to the ground.
As shown in figures 1-3, the track is formed by a fixed straight track 1 and a movable straight track 2 which can be lifted up and down, which are sequentially and alternately connected on a rice ridge and are horizontally arranged in an auxiliary way, two ends of the track which are adjacently arranged on the rice ridge in parallel and are horizontally arranged in an auxiliary way and the joint of the fixed straight track 1 and the movable straight track 2 are longitudinally provided with a curved guide rail. The fixed straight rails 1 and the movable straight rails 2 are the same in length as the corresponding ridge ridges, so that the fixed straight rails 1 and the movable straight rails 2 are alternately arranged on the ridge ridges, namely the fixed straight rails 1 are arranged on two sides of one ridge field, the movable straight rails 2 are arranged on two sides of the adjacent ridge fields, and the fixed straight rails 1 and the movable straight rails 2 are sequentially and alternately connected to form the straight rails. Specifically, the bottom surface of a fixed straight rail 1 is fixed on a rice ridge through more than two uniformly distributed fixed supports 5 and is kept immovable, the head end of a movable straight rail 2 is fixed with the middle part of a hydraulic lifting frame I6 fixed on the rice ridge, and the two ends of the hydraulic lifting frame I6 are respectively fixed with right bent guide rails I3 at two adjacent sides; the bottom of the tail end of the movable straight rail 2 is fixed with the top of a hydraulic lifting support bracket 7 fixed on the rice ridge, the tail end of the movable straight rail is connected with a right bent guide rail II 10 fixed at one end of a hydraulic lifting frame II 9 on the rice ridge to form a closed rail, and the other end of the hydraulic lifting frame II 9 is fixed with the adjacent right bent guide rail II 10. That is, the hydraulic lifting frame I6 drives a movable straight rail 1 and two right bent guide rails I3, namely the movable straight rail 2 is fixed in the middle part, one end of the right bent guide rails I3 at two sides is respectively fixed at the upper end and the lower end, and the other end of the right bent guide rail I3 is fixed with one end of the adjacent hydraulic lifting frame I6; and the hydraulic lifting frame II 9 only drives two right-bent guide rails I10.
A left-bent guide rail 8 is arranged between the fixed straight rails 1 at the head ends of the adjacent rails, the left-bent guide rail 8 is fixed with one end of a hydraulic lifting frame III 16 fixed on the ridge, and the other end of the hydraulic lifting frame III 16 is fixed with one end of the adjacent left-bent guide rail 8. The lifting of the left bent guide rail 8 is driven by the hydraulic lifting frame III 16 to enable the two adjacent fixed straight rails of the requirement to be communicated, the lifting of the hydraulic lifting frame I6 and the hydraulic lifting support bracket 7 is enabled to enable the movable straight rail 2 to be separated from the fixed straight rail 1 of the previous section, the right bent guide rail I3 is connected with the movable straight rail I3 to form a closed rail, or the movable straight rail 2 is connected with the fixed straight rail 1 of the previous section, the right bent guide rail I3 is separated from the movable straight rail I3 to form a straight rail, and similarly, the lifting of the hydraulic lifting frame II 9 enables the right bent guide rail II 10 to be connected with the tail end of the movable straight rail 2 to form a closed rail, or the movable straight rail 2 and the fixed straight rail 1 of the next section to form a straight rail in. Meanwhile, the fixed support 5 of the fixed straight rail 1 has a certain height, so that the fixed straight rail 1 is away from the ridge of the furrow, and the height is set to enable the hydraulic lifting frame I6, the hydraulic lifting frame II 9, the hydraulic lifting frame III 16 and the hydraulic lifting support bracket 7 to drive the right bent guide rail I, the right bent guide rail I10, the movable straight rail 2 and the left bent guide rail 8 which are correspondingly fixed in the space to move up and down so as to be positioned at the same height and connected with the fixed straight rail 1. As shown in the figure, assuming that fig. 1 is an initial state, the left curved guide rail 8 in fig. 1 is lifted up to be connected with the fixed straight rail 1, the right curved guide rail ii 10 moves downwards to be connected with the movable straight rail 2 to form the track running diagram shown in fig. 2, and then the right curved guide rail i 3 moves downwards to form the running diagram shown in fig. 3.
The hydraulic lifting support bracket 7 is the same as the hydraulic lifting frame I6 in structure, and meanwhile, a hydraulic cylinder and a driving motor are arranged at the bottoms of the hydraulic lifting frame I6, the hydraulic lifting support bracket 7 and the hydraulic lifting frame II 9, and a wireless sending and receiving module is installed on the driving motor. The hydraulic cylinder adopts SMC thin hydraulic cylinder, JIS standard, CHKGB63-15, and mainly functions in lifting the rail.
A conveying vehicle 4 matched with the fixed straight rail 1, the movable straight rail 2 which can lift up and down and the curved guide rail is arranged on the track. The transport vehicle 4 is arranged on a track, and the transport vehicle 4 comprises a sliding block I11, a sliding block II 12, a bearing bracket 13, a motor 14, a gear 15 and a driving wheel 16; the bearing bracket 13 is seated on the sliding block I11, one end of the bearing bracket 13 is fixed with a sliding block II 12, the sliding block I11 and the sliding block II 12 straddle on a track, driving wheels 16 are symmetrically arranged on two sides of the bottoms of the sliding block I11 and the sliding block II 12 and are arranged in a track groove, the bearing bracket is more than one layer and is provided with double rows of multi-layer rice bowl discs, the motor 14 is seated on the sliding block II 12, an output shaft of the motor penetrates through the top of the sliding block II 12 and is arranged in the middle of the sliding block II 12, a gear 15 is fixed at the end of the output shaft, and the gear 15 is matched with a rack fixed. The visual controller 17 is arranged on the top of the sliding block II 12 at the rear end of the transport vehicle 4, and the visual controller 17 is also arranged on the supporting bracket 13 at the front end. The vision controller adopts an Oppet SCI-Q2 vision controller, and can identify sundries on the track. The motor 14 is a direct current servo motor produced by Demark, has the size of 42mm, the power of 100W, the voltage of 24V and the rotating speed of 0-8000 r, and mainly drives the transport vehicle to operate.
Lay rack type chain on the track promptly the gear way as transmission device, transport vechicle 4 utilizes three-phase asynchronous machine 14 as power source, regard as power transmission with the gear engagement form, realize positive and negative reciprocating motion, it selects to become the rail according to the track is prejudged, the track utilizes hydraulic pressure crane I6, hydraulic pressure lift support bracket 7, hydraulic pressure crane II 9 realizes the track becomes the rail, visual controller is all installed to transport vechicle 4's front and back end, realize that the transport vechicle 4 keeps away barrier and emergency braking when moving on the track, the staff in time handles, guarantee the job schedule.
A controller is installed on the sliding block II 12, a single chip microcomputer, a memory, a wireless transmitting and receiving module and the like are arranged in the controller, a power supply is arranged on the transport vehicle 4, and the vision controller and the motor 14 are respectively connected with the power supply.
The controller is electrically connected with the motor 14 and the vision controller, and the controller is wirelessly connected with the driving motors of the hydraulic lifting frame I6, the hydraulic lifting support bracket 7 and the hydraulic lifting frame II 9. The transport vehicle 4 is equipped with a hand-held remote controller, and an operator controls the controller through the remote controller to control the working state of the transport vehicle 4.
The singlechip in the controller can select a singlechip data line and an instruction line with a CISC structure for time division multiplexing, namely a von Neumann structure, has rich instructions and strong functions, but can not perform instruction fetching and data fetching simultaneously, has limited speed and high price. The AVR singlechip of ATMEL company can be selected as the singlechip of enhanced RISC carrying Flash, and the Flash memory on the chip is attached to the product of the user, can be programmed and reprogrammed at any time, so that the product of the user is easy to design and convenient to update. The AVR singlechip adopts an enhanced RISC structure, so that the AVR singlechip has high-speed processing capability, can execute complex instructions in one clock cycle, and can realize the processing capability of 1MIPS per MHz. The working voltage of the AVR singlechip is 2.7-6.0V, and the optimization of power consumption can be realized. The single chip microcomputer of the AVR is widely applied to various fields of computer external equipment, industrial real-time control, instruments and meters, communication equipment, household appliances, aerospace equipment and the like.
Before formal work and operation, tracks are erected around a specified paddy field ridge, and an empty transport vehicle can be manually controlled to navigate along each track, so that the purpose is to carry out road memory on the operation track and store the operation line to a control end. And a vision control system is arranged at the front end and the rear end of the transport vehicle to avoid obstacles. The control end controls the motor, and the motor drives the transport vehicle to move forward and backward. When foreign matters exist on the track, the visual controller transmits signals to the controller, and the controller controls the motor to realize emergency stop.
When the rice seedling transplanter is used, a track is laid according to the terrain of rice, the fixed straight track 1 is kept still on a ridge by using the fixed support 5, the other guide rails move up and down under the action of the lifting frame, the transport vehicle 4 matched with the guide rails is located on the guide rails, when the rice seedlings are needed in a certain land, a transplanter driver sends an electronic signal, the track rice seedling transport vehicle firstly returns to a rice seedling storage position according to a signal source, after the rice seedlings are manually placed on the track rice seedling transport vehicle, the received signal is used for automatically selecting an optimal path to transport the rice seedlings, unmanned driving and automatic return navigation are realized, and the ridge of the paddy field or the paddy field just completed is not damaged completely; the device reduces intensity of labour, time and cost, realizes the remote control of the seedling transportation of transport vechicle 4, can reduce intensity of labour, does not need the manpower transport to transport control and command transmission through the cell-phone, simultaneously, realize the intelligence of transport vechicle become the rail, come and go, realize the unmanned control and the drive of rice seedling transportation.
Taking fig. 1 as an example, the railcar assembly includes 6 individual linear rails, 6 curved rails, with the intermediate rail as a reference, the straight rail a formed by the fixed straight rail 1 and the moving straight rail 2 is the right side, and the straight rail b formed by the fixed straight rail 1 and the moving straight rail 2 is the left side. All the fixed straight rails 1 are fixed on the ridge by a support and are kept immovable, and the movable straight rail 2, the right bent guide rail I3, the right bent guide rail II 10 and the left bent guide rail 8 can move up and down by the support. When the transport vehicle forwards in the direction of the vehicle head on the middle straight rail, the transport vehicle turns right, and the left turning guide rail 8 moves downwards through hydraulic control to enable the left turning guide rail 8 on the right side to be connected with the fixed straight rail 1 on the right side; when the transport vehicle runs on the left-hand bent guide rail 8, the fixed straight rail 1 runs again, if the transport vehicle is required to turn on the right-hand bent guide rail I3, the right-hand bent guide rail I3 completely moves downwards, the movable straight rail 2 is driven to also completely move downwards, and the transport vehicle runs to the starting point. If the straight rail a formed by the fixed straight rail 1 and the movable straight rail 2 runs and the right bent guide rail II 10 bends to turn, all the right bent guide rails II 10 move downwards, enter the middle movable straight rail 2 to do linear motion and return to the starting point. The rest of the movement is the same.
Claims (6)
1. Intelligent rail mounted rice seedling transportation system comprises track and delivery wagon of assisting on the rice field ridge, its characterized in that the track include fixed straight rail (1), removal straight rail (2) and curved guide rail, fixed straight rail (1) and removal straight rail (2) in proper order in turn link up and transversely assist on the rice field ridge and establish, adjacent horizontal track both ends of assisting establishing side by side on the rice field ridge and the linking department of fixed straight rail (1) and removal straight rail (2) vertically are equipped with curved guide rail, are equipped with delivery wagon (4) rather than the cooperation use on the track of compriseing fixed straight rail (1), removal straight rail (2) and curved guide rail.
2. The intelligent rail-mounted rice seedling transportation system as claimed in claim 1, wherein the bottom surface of the fixed straight rail (1) is fixed on a rice ridge through a fixed support (5), the head end of the movable straight rail (2) is fixed with the middle part of a hydraulic lifting frame I (6) fixed on the rice ridge, the two ends of the hydraulic lifting frame I (6) are respectively fixed with right bent guide rails I (3) on two adjacent sides, the bottom of the tail end of the movable straight rail (2) is fixed with the top of a hydraulic lifting support bracket (7) fixed on the rice ridge, and the tail end of the movable straight rail is connected with a right bent guide rail II (10) fixed at one end of a hydraulic lifting frame II (9) on the rice ridge to form a rail.
3. The intelligent rail-mounted rice seedling transportation system as claimed in claim 2, wherein the hydraulic lifting frame I (6), the hydraulic lifting support bracket (7) and the hydraulic lifting frame II (9) are provided with hydraulic cylinders and driving motors at the bottoms thereof.
4. The intelligent rail-type rice seedling transportation system as claimed in claim 1, wherein the transportation vehicle (4) is arranged on the rail, and the transportation vehicle (4) comprises a sliding block I (11), a sliding block II (12), a bearing bracket (13), a motor (14), a gear (15) and a driving wheel (16); support bracket (13) seat on slider I (11), and fixed slider II (12) in the one end of supporting bracket (13), slider I (11) and slider II (12) straddle on the track, and be equipped with drive wheel (16) and place in the track inslot in slider I (11) and slider II (12) bottom bilateral symmetry, motor (14) seat is on slider II (12), its output shaft passes slider II (12) top and places middle part in slider II (12), and is fixed with gear (15) at the end of output shaft, gear (15) cooperate with the rack of fixing on the track.
5. The intelligent rail-mounted rice seedling transportation system as claimed in claim 4, wherein visual controllers are provided at both the front and rear ends of the transportation vehicle (4).
6. The intelligent rail-mounted rice seedling transportation system as claimed in claim 1, wherein the fixed straight rail (1), the movable straight rail (2) and the curved guide rail are all parallel to the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911062539.9A CN110683302A (en) | 2019-11-03 | 2019-11-03 | Intelligent rail type rice seedling transportation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911062539.9A CN110683302A (en) | 2019-11-03 | 2019-11-03 | Intelligent rail type rice seedling transportation system |
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| Publication Number | Publication Date |
|---|---|
| CN110683302A true CN110683302A (en) | 2020-01-14 |
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ID=69115368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911062539.9A Pending CN110683302A (en) | 2019-11-03 | 2019-11-03 | Intelligent rail type rice seedling transportation system |
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| CN108330751A (en) * | 2018-02-24 | 2018-07-27 | 北京林业大学 | A kind of pin ladder type forestry mountainous region gyrocar track |
| CN109340528A (en) * | 2018-10-31 | 2019-02-15 | 安徽江淮汽车集团股份有限公司 | A kind of remote viewing device |
| KR20190084374A (en) * | 2018-01-08 | 2019-07-17 | 이홍선 | Seedling culture box stacking device |
| CN210709327U (en) * | 2019-11-03 | 2020-06-09 | 黑龙江八一农垦大学 | Special track for rice seedling transport vehicle |
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2019
- 2019-11-03 CN CN201911062539.9A patent/CN110683302A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1334981A (en) * | 1971-01-09 | 1973-10-24 | Kottgen Cie Gmbh | Transportation system with a rail-guided vehicle |
| JP2006313461A (en) * | 2005-05-09 | 2006-11-16 | Murata Mach Ltd | Carriage system |
| CN106455591A (en) * | 2014-04-25 | 2017-02-22 | 韦伯机械制造有限公司布雷登巴赫 | Autonomously electromagnetic transport carrier of food portions |
| US20160159585A1 (en) * | 2014-12-08 | 2016-06-09 | Rockwell Automation Technologies, Inc. | Linear drive transport system and method |
| CN204917704U (en) * | 2015-09-16 | 2015-12-30 | 安徽理工大学 | Intelligent production facility of agricultural based on rail transport |
| WO2017110116A1 (en) * | 2015-12-25 | 2017-06-29 | 株式会社クボタ | Work vehicle |
| CN107176429A (en) * | 2016-03-10 | 2017-09-19 | 山东科技大学 | Mechanical system of serving is allocated with aerial suspension automatically in a kind of fast food restaurant |
| CN105706891A (en) * | 2016-04-01 | 2016-06-29 | 张柱 | Automatic hydroponic vegetable cultivation device |
| CN106586439A (en) * | 2017-01-23 | 2017-04-26 | 厦门积硕科技股份有限公司 | Intelligent aerial rail loading car transmission system |
| KR20190084374A (en) * | 2018-01-08 | 2019-07-17 | 이홍선 | Seedling culture box stacking device |
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