CN111886970B - Pneumatic type small-particle-size seed intelligent plug seedling seeder - Google Patents
Pneumatic type small-particle-size seed intelligent plug seedling seeder Download PDFInfo
- Publication number
- CN111886970B CN111886970B CN202010660815.8A CN202010660815A CN111886970B CN 111886970 B CN111886970 B CN 111886970B CN 202010660815 A CN202010660815 A CN 202010660815A CN 111886970 B CN111886970 B CN 111886970B
- Authority
- CN
- China
- Prior art keywords
- roller
- seed
- reseeding
- box
- seeds
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/002—Dibble seeders
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/04—Single-grain seeders with or without suction devices
- A01C7/042—Single-grain seeders with or without suction devices using pneumatic means
- A01C7/044—Pneumatic seed wheels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
Abstract
The invention discloses a pneumatic small-particle-size seed intelligent plug seedling seeder, which comprises a seeding mechanism, a missing seeding detection mechanism, a reseeding mechanism and a control module, wherein the seeding mechanism is connected with the control module; the seeding mechanism comprises a seed box, a roller, a pressure release assembly and a rotation driving mechanism; the roller is rotationally connected to the rack, and a plurality of groups of seed sucking holes are arranged on the roller; the seed box is arranged on one side of the roller; the seed cleaning sheet is arranged on the frame and is arranged in front of the seed box; the pressure relief assembly comprises a pressure relief piece and a connecting piece; the miss-seeding detection mechanism comprises a plurality of groups of detection sensors, and the plurality of groups of detection sensors are arranged corresponding to the plurality of seed sucking holes in the same group; the reseeding mechanism is arranged behind the roller and comprises a plurality of suction pieces, a reseeding box and a reseeding and feeding driving mechanism for driving the suction pieces to move between the reseeding box and a reseeding station. The invention has high intelligent degree, effectively ensures the one-hole one-grain sowing effect of the hole tray and is beneficial to realizing precision sowing.
Description
Technical Field
The invention relates to plug seeding equipment, in particular to a pneumatic small-particle-size seed intelligent plug seedling seeder.
Background
The plug seedling adopts the plug as the seedling container, one plug is used for seeding, one plug is used for growing seedlings, the seedlings are high in quality, convenient for standardized management, suitable for remote transportation and mechanized transplanting, and the survival rate after transplanting is almost 100%. The development of plug seedling is of great significance to the mechanization and scale production of vegetables.
The plug seedling can provide high-quality seedlings for transplantation, but vegetable seeds and the like belong to small-grain-size seeds, and the average diameter is less than 3 mm. The physical characteristics of seeds with different small grain sizes, such as geometric shapes, are different, and are difficult points and key points for developing precision seed metering devices. The mechanical precision seeding apparatus researched by foreign scholars in early days is characterized in that seeds are separated from a seed box by using holes according to the size and the grain type of the seeds and are arranged in order, and then the seeds are sowed. The mechanical precision seed sowing device has a good effect on sowing seeds with large and medium particle diameters such as corn, soybean and wheat, but the mechanical seed sowing device has low sowing speed and strict requirements on seed appearance, when sowing seeds with small particle diameters, the seeds are easy to block and damage due to too small holes, and when the seeds are too large, single-seed sowing is difficult to realize. The pneumatic seed sowing device separates seeds from a seed box by using pneumatic force, and the seeds are adsorbed and arranged on a seed sowing plate and then sowed. In contrast, the pneumatic seed sowing device has low requirements on seed shape and high sowing precision, and is vigorously developed and fully applied in recent years. However, the seeding performance of the pneumatic seeding apparatus in the prior art cannot meet the requirement, and particularly in the aspect of precision seeding of small-particle-size seeds with irregular shapes and light weight, the seeding quality is unstable, so that the seeding effect of one hole per particle is difficult to ensure, the seedling quality is seriously influenced, and the popularization and the use of the hole tray precision seeding apparatus are limited. For example, the utility model entitled "a pneumatic cylinder type precision seeder for plug seedling" with CN207040188U, which sucks seeds one by one through a plurality of seed sucking holes on the cylinder, eliminates negative pressure under the action of the pressure-isolating plate when rotating to the bottom, and seeds drop into the plug under the action of gravity, thereby completing seeding; however, for small-particle-size seeds, because the volume and the mass of the seeds are small, one seed suction hole is likely to suck a plurality of seeds under the action of negative pressure, so that a plurality of seeds are sown on one plug tray, the seeds are wasted, the cost is increased, and even the normal seedling culture in the later period is influenced; in addition, in the rotation process of the roller, seeds are easy to throw off, or the seeds cannot be accurately absorbed when being sucked under negative pressure, so that the situation that some or some seed sucking holes are sucked is caused, the seeds cannot be sowed in the hole tray, and the precision sowing cannot be realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the pneumatic small-particle-size seed intelligent plug seedling seeder which is high in precision, effectively ensures that one seed is planted in one plug hole and is beneficial to realizing precision seeding.
The purpose of the invention is realized by the following technical scheme:
a pneumatic intelligent plug seedling seeder for small-particle-size seeds is characterized by comprising a seeding mechanism, a missing seeding detection mechanism, a reseeding mechanism and a control module; the control module is respectively connected with the sowing mechanism, the miss-sowing detection mechanism and the reseeding mechanism; wherein the content of the first and second substances,
the seeding mechanism comprises a seed box for loading seeds, a roller, a pressure release assembly and a rotation driving mechanism for driving the roller to rotate; the roller is rotationally connected to the rack, a plurality of groups of seed suction holes communicated with the inner cavity of the roller are arranged on the roller at equal intervals along the circumferential direction of the roller, the plurality of seed suction holes in the same group are arranged at equal intervals along the axial direction of the roller, and the inner cavity of the roller is connected with the negative pressure device; the seed box is arranged on one side of the roller, and an opening of the seed box is attached to the roller; the seed cleaning piece is arranged in front of the seed box along the rotation direction of the roller, and the distance between the seed cleaning piece and the seed suction hole on the roller is less than the distance between two seeds; the pressure relief assembly is arranged in the inner cavity of the roller and comprises a pressure relief piece and a connecting piece, the pressure relief piece is arranged in the inner cavity of the roller through the connecting piece, and a pressure relief port of the pressure relief piece is attached to the bottom of the roller and is arranged corresponding to a group of seed suction holes at the bottom of the roller;
the miss-seeding detection mechanism comprises a plurality of groups of detection sensors which are arranged at equal intervals along the axial direction of the roller, and the plurality of groups of detection sensors are arranged corresponding to the plurality of seed suction holes in the same group; the multiple groups of detection sensors are arranged in front of the cleaning sheets along the rotation direction of the roller;
along the moving direction of cave dish, the setting of reseeding mechanism is in the rear of cylinder, reseeding mechanism includes a plurality of suction members, reseeding case and drives the reseeding feeding actuating mechanism of a plurality of suction members motion between reseeding case and reseeding station, a plurality of suction members are connected with positive negative pressure auto-change over device through the trachea respectively, and a plurality of suction members correspond the setting with a plurality of seed suction holes of same group in the seeding position of reseeding station.
The working principle of the pneumatic small-particle-size seed intelligent plug seedling seeder is as follows:
firstly, putting a proper amount of seeds into a seed box, and driving a plug tray to gradually move forwards on a plug tray channel in a conveying mechanism or a manual mode; when the hole tray reaches the lower part of the roller, the rotary driving mechanism drives the roller to rotate, the negative pressure device works to enable the inner cavity of the roller to form a negative pressure environment, and the seed suction holes of the plurality of groups suck seeds when the seeds sequentially pass through the seed box; when the seed sucking holes sucking the seeds pass through the seed cleaning sheets, the seed cleaning sheets scrape off other redundant seeds in the seed sucking holes, each seed sucking hole is ensured to be provided with only one seed, and the scraped seeds drop back into the seed box along the same trend; under the drive of the rotation driving mechanism, the roller continues to rotate, and the seeds are driven to the bottom of the roller under the action of the seed sucking holes; at the moment, the pressure release port of the pressure release component corresponds to a group of seed suction holes at the bottom, and the pressure release component isolates the group of seed suction holes from the negative pressure in the inner cavity of the roller, so that the seed suction holes naturally fall into the hole of the hole tray below under the action of gravity, and seeding is completed; so continuously, the hole trays move forward, and the rollers rotate in coordination, so that seeds are sown in the hole holes of each row of the hole trays. After the seed suction holes on the roller suck seeds, when the roller rotates to pass through the plurality of groups of detection sensors, if a certain group of detection sensors detect that a certain seed suction hole is in a suction leakage state, the position information of the seed suction hole is sent to the control module; when the hole tray holes corresponding to the hole suction holes in the suction leakage state move to the reseeding station, the control module controls the reseeding mechanism to operate, the reseeding and feeding driving mechanism drives the plurality of suction pieces to move into the reseeding box, and the positive and negative pressure switching device enables the ports of the plurality of suction pieces to be in a negative pressure state so that the plurality of suction pieces correspondingly suck one seed; then the reseeding and feeding driving mechanism drives the plurality of suction pieces to return and move to the reseeding station, and the positive and negative pressure switching device controls the corresponding suction pieces to be in a positive pressure state, so that the seeds on the suction pieces fall into the designated holes (the holes corresponding to the suction holes in the leakage suction state), and reseeding of the seeds is completed; in the next reseeding process, if the seeds are sucked on other sucking parts, the seeds do not need to be moved into the reseeding box for feeding, and the seeds can be directly loosened after the corresponding holes are moved in place.
According to a preferable scheme of the invention, the connecting piece comprises a hollow shaft, two ends of the hollow shaft penetrate through the centers of two sides of the roller and then are fixedly connected with the rack, and two sides of the roller are rotatably connected with the hollow shaft; the hollow shaft is provided with a connecting rod used for being connected with the pressure release piece, one end of the connecting rod is connected with the hollow shaft, and the other end of the connecting rod extends downwards and is connected with the top of the pressure release piece.
Preferably, the pressure relief assembly further comprises a positive pressure tube and an outlet tube; one end of the positive pressure pipe is connected with a positive pressure device arranged outside the roller, and the other end of the positive pressure pipe is communicated with an inner cavity of the pressure release piece; one end of the air outlet pipe is communicated with the inner cavity of the pressure release piece, and the other end of the air outlet pipe is communicated with the external atmospheric pressure.
Preferably, the pressure release member is a rectangular shell, the bottom surface of the pressure release member is arc-shaped and matched with the inner wall of the roller, the bottom of the pressure release member is provided with a vent groove, the vent groove is arranged corresponding to the plurality of seed suction holes in the same group, and the vent groove forms the pressure release opening.
In a preferred embodiment of the present invention, the plurality of detection sensors are all photoelectric sensors; each group of photoelectric sensors comprises a signal transmitting sensor and a signal receiving sensor; the signal emission sensors of the multiple groups of photoelectric sensors are arranged in the inner cavity of the roller through an internal mounting frame, the multiple signal emission sensors are arranged at equal intervals along the axial direction and correspond to the multiple seed suction holes in the same group, and the internal mounting frame is connected to the hollow shaft; the signal receiving sensors of the multiple groups of photoelectric sensors are arranged outside the roller through an external mounting frame, the two ends of the external mounting frame are connected with the rack, and the multiple signal receiving sensors and the multiple signal transmitting sensors are arranged in a one-to-one correspondence mode.
In a preferable scheme of the invention, an inoculation box is arranged in front of the seed cleaning sheets along the rotation direction of the roller, the inoculation box is positioned below the center line of the roller, and the opening of the inoculation box faces the roller; wherein, the both ends of inoculation box are connected with the frame respectively, and this inoculation box both sides are equipped with the gyro wheel that is used for with the cylinder contact.
According to a preferable scheme of the invention, the reseeding mechanism further comprises a rotary mounting frame, the rotary mounting frame comprises a rotary rod, a mounting plate and an intermediate connecting plate, the intermediate connecting plate is arranged between the rotary rod and the mounting plate, the plurality of suction pieces are arranged on the mounting plate, and two ends of the rotary rod are rotatably connected to the rack; the reseeding and feeding driving mechanism is a rotating power mechanism for driving the rotating rod to rotate, and the rotating power mechanism is arranged on the rack on one side of the rotating rod; the seed supplementing box is arranged below the plurality of suction pieces.
Preferably, the positive and negative pressure device comprises a plurality of positive and negative pressure switching electromagnetic valves, and the positive and negative pressure switching electromagnetic valves are arranged above the roller through a fixing plate; the plurality of positive and negative pressure conversion electromagnetic valves are connected with the plurality of suction pieces in a one-to-one correspondence mode through air pipes.
According to a preferable scheme of the invention, a positioning sensor for detecting the row number of the hole trays is arranged at the corresponding position of the reseeding station, and the positioning sensor is arranged on the rack; the control module is connected with the positioning sensor.
According to a preferable scheme of the invention, a convex cap is arranged at the corresponding position of each seed suction hole on the roller, a suction hole is arranged on the convex cap, and the seed suction holes are communicated with the suction holes.
In a preferred embodiment of the present invention, the rotation driving mechanism includes a motor and a synchronous belt transmission mechanism, the synchronous belt transmission mechanism includes a driving wheel, a driven wheel and a synchronous belt circumferentially disposed between the driving wheel and the driven wheel, the driving wheel is connected to a main shaft of the motor, and the driven wheel is connected to one side of the drum.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention combines air pressure and a roller to realize continuous seeding of seeds, is beneficial to improving the efficiency of plug seeding, is carried out in full automation and saves manpower. Meanwhile, the precision sowing of small spherical seeds or abnormal seeds can be completed, and research tests show that the single-seed sowing qualification rate of spherical seeds is more than 95 percent, the single-seed sowing qualification rate of abnormal seeds is more than 93 percent, and the precision sowing effect is achieved; of course, the seeder can be used in plug seedling seeders for vegetables, flowers and other crops, and has wide application prospect.
2. After the seeds are sucked and fed, the excessive seeds can be effectively removed and separated from the roller through the arrangement of the seed cleaning sheets, the structure is simple and ingenious, and meanwhile, only one seed can be effectively reserved on each seed sucking hole, so that one hole can be realized, the raw material of the seeds is saved, and the precision seeding effect is achieved.
3. According to the invention, the miss-seeding detection and the reseeding are combined, the miss-seeding holes on the hole tray are accurately and quickly judged in advance and fed back to the control module, and after the conventional seeding of the roller is completed, the seed reseeding is timely performed on the corresponding hole holes through the reseeding mechanism under the feedback control of the control module, so that the intelligent feedback and the intelligent reseeding in the seeding process are realized, the seeds are ensured to be sown in each hole on the hole tray, the miss-seeding rate is reduced, the intelligent degree is high, the seeding quality and stability are favorably improved, and the seeding qualification rate of hundreds of percent is realized. In addition, the miss-seeding detection in the invention can also be used in a cell wheel type seeder and an air suction disc type seeder.
Drawings
Fig. 1 is a schematic perspective view of one embodiment of the pneumatic small-particle-size seed intelligent plug seedling seeder of the present invention.
Fig. 2 is a perspective view of the sowing mechanism in fig. 1.
Fig. 3 is a perspective view of the drum and the seed box of fig. 2.
FIG. 4 is a perspective view of the hollow shaft, pressure relief assembly, and a portion of the miss-seeding detection mechanism.
Fig. 5 is a cross-sectional view of a hollow shaft.
Fig. 6 is a cross-sectional view of a release.
Fig. 7 is a perspective view of the miss-seeding detection mechanism.
Fig. 8 is a perspective view of the reseeding mechanism.
Fig. 9 is a flowchart of the operation of the miss-seeding detection mechanism and the reseeding mechanism.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1-9, the pneumatic small-particle-size seed intelligent plug seedling seeder of the present embodiment includes a seeding mechanism 1, a miss-seeding detection mechanism 2, a reseeding mechanism 3, and a control module; the control module is respectively connected with the sowing mechanism 1, the miss-seeding detection mechanism 2 and the reseeding mechanism 3; wherein the content of the first and second substances,
the sowing mechanism 1 comprises a seed box 101 for loading seeds, a roller 109, a pressure release assembly and a rotary driving mechanism for driving the roller 109 to rotate; the roller 109 is rotatably connected to the frame, a plurality of groups of seed suction holes communicated with the inner cavity of the roller 109 are arranged on the roller 109 at equal intervals along the circumferential direction of the roller 109, a plurality of seed suction holes in the same group are arranged at equal intervals along the axial direction of the roller 109, and the inner cavity of the roller 109 is connected with a negative pressure device; the seed box 101 is arranged on one side of the roller 109, and an opening of the seed box 101 is attached to the roller 109; the frame is provided with a seed cleaning sheet 102 extending along the axial direction of the roller 109, the seed cleaning sheet 102 is arranged in front of the seed box 101 along the rotation direction of the roller 109, and the distance between the seed cleaning sheet 102 and the seed suction hole on the roller 109 is less than the distance between two seeds; the pressure relief assembly is arranged in an inner cavity of the roller 109 and comprises a pressure relief piece 118 and a connecting piece, the pressure relief piece 118 is arranged in the inner cavity of the roller 109 through the connecting piece, the inner cavity of the pressure relief piece 118 is communicated with external air pressure, and a pressure relief port of the pressure relief piece 118 is attached to the bottom of the roller 109 and is arranged corresponding to a group of suction holes in the bottom of the roller 109;
the miss-seeding detection mechanism 2 comprises a plurality of groups of detection sensors which are arranged at equal intervals along the axial direction of the roller 109, and the plurality of groups of detection sensors are arranged corresponding to the plurality of seed suction holes in the same group; the plurality of sets of detection sensors are disposed in front of the sheet cleaning sheets 102 in the rotational direction of the drum 109;
along the moving direction of the plug tray, the reseeding mechanism 3 is arranged behind the roller 109, the reseeding mechanism 3 comprises a plurality of suction pieces 311, a reseeding box 308 and a reseeding and feeding driving mechanism for driving the plurality of suction pieces 311 to move between the reseeding box 308 and a reseeding station, the plurality of suction pieces 311 are respectively connected with a positive and negative pressure switching device through air pipes 303, and the plurality of suction pieces 311 are arranged corresponding to the plurality of seed suction holes in the same group at the sowing positions of the reseeding station.
Referring to fig. 3, an electromagnetic vibrator 115 is disposed on an outer wall of the seed box 101, and under the action of the electromagnetic vibrator 115, seeds in the seed box 101 are boiled and jumped, so that the seed suction holes suck the seeds when the rollers 109 pass through.
Referring to fig. 1-3, a convex cap 110 is provided at a position corresponding to each seed suction hole on the drum 109, a suction hole is provided on the convex cap 110, and the seed suction hole is communicated with the suction hole; the height of the convex cap in this embodiment is 1 mm. Through the arrangement of the convex cap 110, the part for sucking the seeds is convex relative to the outer surface of the roller 109, so that the seeds can be sucked up more easily and individually when sliding through the seed box 101, the excessive contact between the outer surface of the roller 109 and the seeds in the seed box 101 is avoided, and the excessive seeds are effectively prevented from being brought up or sucked.
Referring to fig. 2-5, the connecting member includes a hollow shaft 107, two ends of the hollow shaft 107 penetrate through centers of two sides of a roller 109 and are fixedly connected with the frame, and two sides of the roller 109 are rotatably connected with the hollow shaft 107; the hollow shaft 107 is provided with a connecting rod 116 for connecting with a pressure release piece 118, one end of the connecting rod 116 is connected with the hollow shaft 107, and the other end extends downwards and is connected with the top of the pressure release piece 118.
In this embodiment, the inner cavity of the hollow shaft 107 includes a left connection cavity and a right connection cavity (the inner part of the 200mm part close to the left end is sealed); the top of the pressure release member 118 is provided with 3 quick connectors 117, wherein two quick connectors 117 at two sides are connected with an external positive pressure device through a positive pressure pipe 119, the positive pressure pipe 119 extends to the outside through a left connecting cavity, meanwhile, the quick connector 117 at the middle of the top of the pressure release member 118 is connected with an air outlet pipe 120, and the air outlet pipe 120 is arranged in the left connecting cavity and extends to the outside to be directly communicated with the atmospheric pressure; the right connecting cavity is provided with a through hole communicated with the inner cavity of the roller 109, and an external negative pressure device is communicated with the right port of the hollow shaft 107 to realize negative pressure control on the inner cavity of the roller 109. In the preferred embodiment, the hollow shaft 107 is provided to facilitate the installation and fixation of the positive pressure pipe 119 and the air outlet pipe 120, and to facilitate the negative pressure control of the negative pressure device on the inner cavity of the roller 109, thereby facilitating the sowing of seeds through the control of positive and negative pressure. When in work: the positive pressure pipe 119 is connected to an external positive pressure device (positive pressure fan) to allow the interior of the pressure release member 118 to be in a positive pressure state; when the seed suction hole on the roller 109 rotates to the bottom of the roller 109 and corresponds to the pressure release member 118, the pressure release member 118 isolates the seed suction hole at the bottom of the roller 109 from the inner cavity of the roller 109, so that the seeds on the seed suction hole get rid of the negative pressure effect, and meanwhile, under the action of the two positive pressure pipes 119 at the top and the positive pressure fan, the positive pressure gas in the pressure release member 118 generates an active downward sowing power to the seeds on the seed suction hole, so that all the seeds on the seed suction hole drop simultaneously and synchronously, and sowing is completed. Because the pressure release member 118 is communicated with the external atmosphere through the air outlet pipe 120, the redundant positive pressure gas can be discharged to the outside through the air outlet pipe 120 in the sowing process, so that the excessive positive pressure in the pressure release member 118 is avoided, and the whole sowing process is more stable; further, when the sealing portion (between two sets of seed suction holes) of the roller 109 corresponds to the pressure release member 118, the positive pressure gas in the pressure release member 118 can be discharged outwards through the gas outlet pipe 120, thereby avoiding confusion with the negative pressure gas in the inner cavity of the roller 109, avoiding affecting the stable rotation of the roller 109, and maintaining the stable operation of the whole device. Compared with the roller seeding in the prior art, the seeder of the embodiment increases positive pressure on the pressure release member 118 during seeding, so that an active seeding power is added to seeds, and all seeds can be effectively ensured to fall into the holes of the hole tray quickly, simultaneously and synchronously. And release part (pressure-isolating plate) among the prior art, only completely cut off the negative pressure in the cylinder inner chamber purely, let the seed drop naturally along with self gravity, can lead to the drop speed of the seed of different mass sizes different like this (the quality is big drops fast, the quality is little drops slowly), the cylinder carries out the pivoted at the uniform velocity simultaneously, consequently can influence the slow seed that drops and can be taken partially in the cylinder pivoted twinkling of an eye, thereby can't drop to the intermediate position in cave hole accurately, drop to other places even, can't realize precision seeding.
In this embodiment, the connecting rod 116 is further provided with a spring 122, and the spring 122 is arranged to make the pressure release member 118 flexibly contact with the inner wall of the roller 109, so as to ensure that the pressure release port of the pressure release member 118 can be fully attached to the inner wall of the roller 109, and to ensure that seeds can be sown.
Referring to fig. 6, the pressure release member 118 is a rectangular housing, the bottom surface of the pressure release member 118 is arc-shaped and matches with the inner wall of the roller 109, the bottom of the pressure release member 118 is provided with a vent groove, the vent groove is arranged corresponding to the plurality of seed suction holes in the same group, and the vent groove forms the pressure release opening. Through the arrangement of the pressure release part 118, the structure is simple, and the negative pressure of the seed suction hole at the bottom of the roller 109 can be effectively eliminated, so that the seeds can be smoothly sown.
Referring to fig. 2 and 7, the plurality of sets of detection sensors are all photosensors 202; each group of the photoelectric sensors 202 includes a signal emitting sensor and a signal receiving sensor; the signal emission sensors of the multiple groups of photoelectric sensors 202 are arranged in the inner cavity of the roller 109 through an internal mounting frame 203, the multiple signal emission sensors are arranged at equal intervals along the axial direction and correspond to the multiple seed suction holes in the same group, and the internal mounting frame 203 is connected to the hollow shaft 107; the signal receiving sensors of the multiple groups of photoelectric sensors 202 are arranged outside the roller 109 through an external mounting frame 204, two ends of the external mounting frame 204 are connected with the rack, and the multiple signal receiving sensors and the multiple signal emitting sensors are arranged in a one-to-one correspondence manner. Through setting up such multiunit detection sensor, realize the accurate detection that the seed leaked and broadcast, when the signal reception sensor among the group detection sensor received the signal, represented promptly and was in leaking the suction state with the seed suction hole that this group detection sensor corresponds, failed promptly to absorb the seed. In the present embodiment, a pocket position detection sensor 123 is further provided at the initial position of the drum 109, which sensor matches the initial position of the drum 109; when the plug moves to the detection position of the plug position detection sensor 123, the drum 109 starts to run for seeding, so as to improve the running accuracy of the seeding mechanism 1; meanwhile, the hole tray position detection sensor 123 (for determining the number of rows of the miss-seeding holes) is matched with the photoelectric sensor 202 (for determining the number of rows of the miss-seeding holes) of the miss-seeding detection mechanism 2, so that which hole of the hole tray is missed to be seeded can be more accurately judged, and the subsequent reseeding processing is facilitated. The control module of this embodiment can be formed by PLC, singlechip or embedded module, the photoelectric sensor can integrate to the control module in.
Referring to fig. 7, the internal mounting bracket 203 is connected to the hollow shaft 107 through a sliding sleeve rod 201, the sliding sleeve rod 201 includes a sliding sleeve and an engaging rod, the sliding sleeve is sleeved on the hollow shaft 107 and is fixed by a screw or other locking structure, one end of the engaging rod is connected to the sliding sleeve, and the other end of the engaging rod is connected to the internal mounting bracket 203. Through the setting of sliding sleeve rod 201, be convenient for carry out axial direction's position adjustment to a plurality of signal emission sensors of installing on inside mounting bracket 203 to ensure to correspond with the seed suction hole, thereby be favorable to improving and detect the precision.
Referring to fig. 2, an inoculation box 108 is arranged in front of the sheet cleaner 102 along the rotation direction of the roller 109, the inoculation box 108 is positioned below the center line of the roller 109, and the opening of the inoculation box 108 faces the roller 109; the two ends of the inoculation box 108 are respectively connected with the rack, the two sides of the inoculation box 108 are provided with rollers for contacting with the roller 109, and the seeds adhered to the outer surface of the roller 109 can drop into the inoculation box 108 in a proper manner when being thrown off in the rotation process of the roller 109 through the arrangement of the inoculation box 108, so that the seeds are recovered, waste is avoided, and meanwhile, after the seeds are cleaned 102, the redundant seeds can be taken away forwards, so that the seeds drop into the inoculation box 108 in a proper manner; in addition, through the arrangement of the rollers, the inoculation box 108 and the roller 109 can be arranged closer to each other so as to recover the seeds, and meanwhile, the sliding friction between the inoculation box 108 and the roller 109 is avoided, so that the normal operation of the roller 109 is prevented from being influenced.
Referring to fig. 8, the reseeding mechanism 3 further comprises a rotation mounting frame, the rotation mounting frame comprises a rotation rod 316, a mounting plate 312 and an intermediate connecting plate 313, the intermediate connecting plate 313 is arranged between the rotation rod 316 and the mounting plate 312, the plurality of suction members 311 are arranged on the mounting plate 312, and two ends of the rotation rod 316 are rotatably connected to the rack; the reseeding and feeding driving mechanism is a rotating power mechanism 304 for driving the rotating rod 316 to rotate, and the rotating power mechanism 304 is arranged on the rack on one side of the rotating rod 316; the seed replenishment tank 308 is provided below the plurality of suction pieces 311. In this embodiment, the mounting plate 312 is provided with independent negative pressure air chambers, and the suction member 311 is correspondingly connected to each negative pressure air chamber; the suction member 311 is made of abrasion resistant plastic and is screwed to the lower portion of the mounting plate 312.
Referring to fig. 8, the top of the seed replenishing box 308 is open, and both sides are inclined from bottom to top, so that the seeds in the seed replenishing box 308 are gathered toward the middle. In this embodiment, the rear portion of the seed replenishing box 308 is provided with a plurality of guiding cylinders 310, the guiding cylinders 310 and the plurality of suction pieces 311 are arranged in a one-to-one correspondence, and bottom openings of the guiding cylinders 310 correspond to the holes in the same row on the plug tray. When seeds need to be reseeded, the rotating power mechanism 304 drives the rotating mounting frame to rotate, so that the plurality of suction pieces 311 rotate forwards, and the suction pieces 311 suck the seeds under the action of the positive and negative pressure switching device; then, the rotating power mechanism 304 drives the rotating mounting frame to rotate backwards, so that the action ends of the plurality of suction members 311 are aligned with the upper end of the guide cylinder 310, and the positive and negative pressure devices release pressure (or convert negative pressure into positive pressure), so that the seeds leave the suction members 311 and fall into holes to be reseeded along the guide cylinder 310. The feeding and discharging sowing of the seeds is realized through the rotating mode of the suction piece 311, the design is reasonable, the movement stroke is short, the structure is simple, and the structure of the whole sowing device is more compact.
Referring to fig. 8, the positive and negative pressure device includes a plurality of positive and negative pressure switching solenoid valves 301, and the plurality of positive and negative pressure switching solenoid valves 301 are disposed above the drum 109 through a fixing plate 302; the positive and negative pressure switching solenoid valves 301 are connected with the suction members 311 in a one-to-one correspondence manner through air pipes 303 and quick connectors 314. Thus, the positive pressure and the negative pressure of each sucking part 311 are controlled by one positive-negative pressure switching electromagnetic valve 301, so that other sucking parts 311 can suck seeds or not suck the seeds during reseeding at each time, and the function of each sucking part 311 is more independent and flexible.
Referring to fig. 8, a positioning sensor 309 for detecting the number of rows of plug trays is arranged at a position corresponding to the reseeding station, and the positioning sensor 309 is arranged on the frame; the control module is connected to the positioning sensor 309. Through the arrangement of the positioning sensor 309, the row number of the hole trays can be accurately recorded when the hole trays pass through the reseeding station, so that the reseeding of the missed holes is more accurately realized.
Referring to fig. 2, the rotation driving mechanism includes a motor and a synchronous belt transmission mechanism, the synchronous belt transmission mechanism includes a driving wheel 104, a driven wheel and a synchronous belt arranged around the driving wheel 104 and the driven wheel, the driving wheel 104 is connected with the motor spindle, and the driven wheel is connected with one side of the drum 109. Through setting up such rotation drive mechanism, be convenient for to the rotation drive of cylinder 109 to can keep away from the seeding station with power supplies such as motor, avoid the influence to the seeding.
Referring to fig. 2, 3, 7 and 8, in the present embodiment, the mounting bracket further includes two oppositely disposed mounting plates disposed on both sides of the tray channel; each installation plate set comprises a side plate 103 and a connecting plate 106, hollow holes are formed in the side plate 103, and the connecting plate 106 is arranged on the outer side of the side plate 103 and spans the hollow holes. The hollow shaft 107 penetrates through the hollow hole, extends out of the connecting plate 106 and is fixedly locked with the connecting plate 106 through a fixing clamp 105; a plurality of supporting rods 111 are arranged between the side plates 103 of the two installation group plates, the seed box 101 and the seed supplementing box 308 are connected with the two side plates 103 through the supporting rods 111, and fixing frames 114 are arranged on two sides of the seed box 101 and connected with the two side plates 103, so that the position fixing is realized. In addition, end covers 112 are arranged on two sides of the roller 109, a bearing assembly 121 is arranged at the corresponding position of the hollow shaft 107 and the end cover 112, a bearing cover 113 of the bearing assembly 121 is provided with a sleeve extending outwards, and a driven wheel of a synchronous belt transmission mechanism is arranged on the sleeve, so that power transmission connection of the roller 109 is realized. The two sides of the external mounting frame 204 are also mounted on the two side plates 103, so that the external mounting frame is fixedly connected with the rack. In the reseeding mechanism 3, the reseeding mechanism further comprises two support frames which are also arranged on two sides of the plug channel, two sides of the reseeding box 308 are connected between the two support frames through a mounting connection plate 307, two ends of the rotating rod 316 are rotatably connected onto the support frames through a bearing with a seat 315, and the rotating rod 316 is driven to rotate and is arranged on the outer side surface of each support frame through a cylinder fixing frame 305.
Referring to fig. 1 to 9, the working principle of the pneumatic small-particle-size seed intelligent plug seedling seeder of the present embodiment is as follows:
firstly, putting a proper amount of seeds into a seed box 101, and driving a plug tray to gradually move forwards on a plug tray channel in a conveying mechanism or a manual mode; when the plug reaches the lower part of the roller 109, the rotary driving mechanism drives the roller 109 to rotate, the negative pressure device works to enable the inner cavity of the roller 109 to form a negative pressure environment, and the seed is sucked up when a plurality of groups of seed sucking holes sequentially pass through the seed box 101; when the seed suction hole with the seeds passes through the seed cleaning piece 102, the seed cleaning piece 102 scrapes off other redundant seeds in the seed suction hole, so that only one seed is arranged on each seed suction hole, and the scraped seeds drop back to the seed box 101 along the same trend; under the drive of the rotation driving mechanism, the roller 109 continues to rotate, and the seeds are driven to the bottom of the roller 109 under the action of the seed sucking holes; at the moment, the pressure release port of the pressure release component 118 corresponds to a group of seed suction holes at the bottom, the negative pressure of the group of seed suction holes is eliminated through the positive pressure in the pressure release component 118, and all seeds of the group of seed suction holes synchronously drop into the hole tray holes below under the action of the positive pressure, so that the seeding is completed; so continuously, the trays are moved forward and the rollers 109 are rotated in unison to allow seeds to be planted in each row of tray holes. After the seed suction holes on the roller 109 suck the seeds, when the roller rotates to pass through the plurality of groups of detection sensors, if a certain group of detection sensors detect that a certain seed suction hole is in a suction leakage state, the position information of the seed suction hole is sent to the control module; when the plug hole corresponding to the suction hole in the suction leakage state moves to the reseeding station, the control module controls the reseeding mechanism 3 to operate, the reseeding and feeding driving mechanism drives the plurality of suction pieces 311 to move into the reseeding box 308, and the positive and negative pressure switching device enables the ports of the plurality of suction pieces 311 to be in a negative pressure state, so that the plurality of suction pieces 311 correspondingly suck one seed; then, the reseeding and feeding driving mechanism drives the plurality of suction pieces 311 to return and move to the reseeding station, and the positive and negative pressure switching device controls the corresponding suction pieces 311 to be in a positive pressure state, so that the seeds on the suction pieces 311 fall into the designated hole (the hole corresponding to the suction hole in the leakage suction state), and the reseeding of the seeds is completed; in the next reseeding process, if the other sucking pieces 311 suck seeds, the seeds do not need to be moved into the reseeding box 308 for feeding, and the seeds are directly loosened after the corresponding holes are moved in place.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (9)
1. A pneumatic intelligent plug seedling seeder for small-particle-size seeds is characterized by comprising a seeding mechanism, a missing seeding detection mechanism, a reseeding mechanism and a control module; the control module is respectively connected with the sowing mechanism, the miss-sowing detection mechanism and the reseeding mechanism; wherein the content of the first and second substances,
the seeding mechanism comprises a seed box for loading seeds, a roller, a pressure release assembly and a rotation driving mechanism for driving the roller to rotate; the roller is rotationally connected to the rack, a plurality of groups of seed suction holes communicated with the inner cavity of the roller are arranged on the roller at equal intervals along the circumferential direction of the roller, the plurality of seed suction holes in the same group are arranged at equal intervals along the axial direction of the roller, and the inner cavity of the roller is connected with the negative pressure device; the seed box is arranged on one side of the roller, and an opening of the seed box is attached to the roller; the seed cleaning sheet is arranged in front of the seed box along the rotation direction of the roller, a plurality of seed cleaning parts are arranged at the bottom of the seed cleaning sheet, the plurality of seed cleaning parts are arranged corresponding to a plurality of seed suction holes in the same group, and the distance between the seed cleaning parts and the seed suction holes on the roller is less than the distance between two seeds; the pressure relief assembly is arranged in the inner cavity of the roller and comprises a pressure relief piece and a connecting piece, the pressure relief piece is arranged in the inner cavity of the roller through the connecting piece, and a pressure relief port of the pressure relief piece is attached to the bottom of the roller and is arranged corresponding to a group of seed suction holes at the bottom of the roller;
the miss-seeding detection mechanism comprises a plurality of groups of detection sensors which are arranged at equal intervals along the axial direction of the roller, and the plurality of groups of detection sensors are arranged corresponding to the plurality of seed suction holes in the same group; the multiple groups of detection sensors are arranged in front of the cleaning sheets along the rotation direction of the roller;
the reseeding mechanism is arranged behind the roller and adjacent to the roller along the moving direction of the plug tray; the reseeding mechanism comprises a plurality of suction pieces, a reseeding box and a reseeding and feeding driving mechanism for driving the suction pieces to move between the reseeding box and a reseeding station, the suction pieces are respectively connected with the positive and negative pressure switching device through air pipes, and the suction pieces are arranged at the sowing positions of the reseeding station corresponding to the plurality of seed suction holes in the same group;
the reseeding mechanism further comprises a rotary mounting frame, the rotary mounting frame comprises a rotary rod, a mounting plate and an intermediate connecting plate, the intermediate connecting plate is arranged between the rotary rod and the mounting plate, the plurality of suction pieces are arranged on the mounting plate, and two ends of the rotary rod are rotatably connected to the rack; the reseeding and feeding driving mechanism is a rotating power mechanism for driving the rotating rod to rotate, and the rotating power mechanism is arranged on the rack on one side of the rotating rod; the seed supplementing box is arranged below the plurality of suction pieces and extends along the axial direction of the roller.
2. The pneumatic intelligent plug seedling seeder for small-particle-size seeds according to claim 1, wherein the connecting member comprises a hollow shaft, both ends of the hollow shaft penetrate through the centers of both sides of the roller and are fixedly connected with the frame, and both sides of the roller are rotatably connected with the hollow shaft; the hollow shaft is provided with a connecting rod used for being connected with the pressure release piece, one end of the connecting rod is connected with the hollow shaft, and the other end of the connecting rod extends downwards and is connected with the top of the pressure release piece.
3. The pneumatic small-particle-size seed intelligent plug seedling seeder according to claim 1 or 2, wherein the pressure release assembly further comprises a positive pressure pipe and an air outlet pipe; one end of the positive pressure pipe is connected with a positive pressure device arranged outside the roller, and the other end of the positive pressure pipe is communicated with an inner cavity of the pressure release piece; one end of the air outlet pipe is communicated with the inner cavity of the pressure release piece, and the other end of the air outlet pipe is communicated with the external atmospheric pressure.
4. The pneumatic intelligent plug seedling disseminator for small-particle-size seeds as claimed in claim 3, wherein the pressure release member is a rectangular housing, the bottom surface of the pressure release member is arc-shaped and matched with the inner wall of the roller, the bottom of the pressure release member is provided with a vent groove, the vent groove is arranged corresponding to a plurality of seed suction holes in the same group, and the vent groove forms the pressure release port.
5. The pneumatic small-particle-size seed intelligent plug seedling seeder according to claim 2, wherein the plurality of sets of detection sensors are all photoelectric sensors; each group of photoelectric sensors comprises a signal transmitting sensor and a signal receiving sensor; the signal emission sensors of the multiple groups of photoelectric sensors are arranged in the inner cavity of the roller through an internal mounting frame, the multiple signal emission sensors are arranged at equal intervals along the axial direction and correspond to the multiple seed suction holes in the same group, and the internal mounting frame is connected to the hollow shaft; the signal receiving sensors of the multiple groups of photoelectric sensors are arranged outside the roller through an external mounting frame, the two ends of the external mounting frame are connected with the rack, and the multiple signal receiving sensors and the multiple signal transmitting sensors are arranged in a one-to-one correspondence mode.
6. The intelligent pneumatic plug seedling seeder for small-particle-size seeds as claimed in claim 1, wherein an inoculation box is arranged in front of the seed cleaning sheet along the rotation direction of the roller, the inoculation box is positioned below the center line of the roller, and the opening of the inoculation box faces the roller; wherein, the both ends of inoculation box are connected with the frame respectively, and this inoculation box both sides are equipped with the gyro wheel that is used for with the cylinder contact.
7. The pneumatic intelligent plug seedling disseminator for small-particle-size seeds as claimed in claim 6, wherein the positive and negative pressure device comprises a plurality of positive and negative pressure switching solenoid valves, and the positive and negative pressure switching solenoid valves are arranged above the roller through a fixing plate; the plurality of positive and negative pressure conversion electromagnetic valves are connected with the plurality of suction pieces in a one-to-one correspondence mode through air pipes.
8. The pneumatic intelligent plug seedling seeder for small-particle-size seeds according to claim 1, wherein a positioning sensor for detecting the number of rows of plugs is arranged at a position corresponding to the reseeding station, and the positioning sensor is arranged on the frame; the control module is connected with the positioning sensor.
9. The pneumatic small-particle-size seed intelligent plug seedling disseminator as claimed in claim 1, wherein the rotary driving mechanism comprises a motor and a synchronous belt transmission mechanism, the synchronous belt transmission mechanism comprises a driving wheel, a driven wheel and a synchronous belt arranged between the driving wheel and the driven wheel in a surrounding manner, the driving wheel is connected with a main shaft of the motor, and the driven wheel is connected with one side of the roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010660815.8A CN111886970B (en) | 2020-07-10 | 2020-07-10 | Pneumatic type small-particle-size seed intelligent plug seedling seeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010660815.8A CN111886970B (en) | 2020-07-10 | 2020-07-10 | Pneumatic type small-particle-size seed intelligent plug seedling seeder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111886970A CN111886970A (en) | 2020-11-06 |
| CN111886970B true CN111886970B (en) | 2021-09-24 |
Family
ID=73192402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010660815.8A Active CN111886970B (en) | 2020-07-10 | 2020-07-10 | Pneumatic type small-particle-size seed intelligent plug seedling seeder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111886970B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114651638B (en) * | 2020-12-23 | 2024-01-26 | 南京农业大学 | Pinhole air suction type seeding roller precise control mode for vegetable seedling production line |
| CN113196915B (en) * | 2021-05-08 | 2022-07-22 | 中国农业机械化科学研究院 | Small-sized seed dynamic tracking reseeding method and device |
| CN113994802B (en) * | 2021-11-17 | 2024-01-12 | 甘肃赫博陇药科技有限责任公司 | Seedling throwing device and seedling throwing method |
| CN113853889B (en) * | 2021-11-22 | 2023-04-28 | 温州大学 | Seed sucking device |
| CN113950895A (en) * | 2021-11-22 | 2022-01-21 | 温州大学 | Cave pressing device |
| CN114375662A (en) * | 2022-01-19 | 2022-04-22 | 中国农业科学院郑州果树研究所 | Fertilizer injection unit for watermelon planting |
| CN114342607A (en) * | 2022-01-21 | 2022-04-15 | 王少平 | Wisdom agricultural seeding machinery |
| CN114793567B (en) * | 2022-06-07 | 2023-07-14 | 山东农业大学 | Plug seedling machine miss-seeding detection and reseeding device and method based on machine vision |
| CN117063676B (en) * | 2023-10-05 | 2024-03-01 | 成武县林业发展服务中心 | Forest seeder |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201403299Y (en) * | 2009-05-05 | 2010-02-17 | 通宇控股集团股份有限公司 | Optically controlled air-sucking and air-blowing type seeding system |
| CN102106211B (en) * | 2011-01-10 | 2012-02-01 | 淮海工学院 | Precise seeds sowing device for growing seedlings of aperture disk |
| KR101666986B1 (en) * | 2014-08-19 | 2016-10-17 | 길복환 | Seperator and Seeder for ginseng seed |
| US9661805B1 (en) * | 2015-12-29 | 2017-05-30 | Ball Horticultural Company | Seed sowing system and method of use |
| CN206533724U (en) * | 2017-03-09 | 2017-10-03 | 石河子大学 | Air-blowing suspends for the pneumatic drum type granule seed feed seed-sowing device planted |
| CN107896588B (en) * | 2017-12-29 | 2023-07-21 | 山东农业大学 | Seed gas suction essence dense discharging device with seed leakage detection function and working method thereof |
| CN108419490B (en) * | 2018-03-09 | 2023-09-26 | 青岛农业大学 | Seeder with miss-seeding detection and reseeding functions |
| CN110313277A (en) * | 2019-07-01 | 2019-10-11 | 华南农业大学 | A kind of intelligence is double to fill kind of type hole roller rice precision seed metering device and a type of seeding |
| CN110972626A (en) * | 2020-01-12 | 2020-04-10 | 西北农林科技大学 | Reseeding device based on miss-seeding detection and hole tray seeding device |
-
2020
- 2020-07-10 CN CN202010660815.8A patent/CN111886970B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111886970A (en) | 2020-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111886970B (en) | Pneumatic type small-particle-size seed intelligent plug seedling seeder | |
| CN111887070A (en) | Automatic plug seedling intelligent seeding production line for small-particle-size seeds | |
| CN102668784B (en) | Roller type tray seedling planter capable of supplying seeds based on airflow suspension | |
| CN108293372B (en) | Air-suction type single-seed sowing device | |
| CN202857276U (en) | Precise seed metering device of pneumatic seeder | |
| CN103329666A (en) | Push rod-mixing disc combination type bidirectional pneumatic precise seed sowing device for rice bud seed direct sowing | |
| CN107371486B (en) | Corn seed directional sowing device and sowing method thereof | |
| CN201378936Y (en) | Combined precision seeder | |
| CN201081892Y (en) | Gas intaking seeding device of seeding machine | |
| CN200997764Y (en) | Wheat assembled sucking-hole gas-sucking type seeding apparatus | |
| CN211322000U (en) | Air-suction type seeding planter | |
| CN201846595U (en) | Automatic seeder for plant breeding | |
| CN209234212U (en) | A kind of air-suction type accurate sower for small particle seed | |
| CN219459735U (en) | Drill seeding machine | |
| CN112042325A (en) | Detection method for missing seeding of three-plug seedling culture of green Chinese onions and reseeding device | |
| CN112400420A (en) | Electric control type cotton seeding device with spiral hole seed discharging and supplementing functions | |
| CN216820643U (en) | Air-suction type integrated seeder for corn and soybean | |
| CN106233894A (en) | Elastic suction nozzle Pneumatic precision feed mechanism for seed | |
| CN108684262B (en) | Seed metering ware of accurate seeding in rice breeding district | |
| CN109691268B (en) | Double-motor real-time reseeding and adjusting seeding device and method | |
| CN201430766Y (en) | Air-aspiration type precision combined peanut seeder | |
| CN212812697U (en) | Air-aspiration type precision positioning seeding device | |
| CN110915386A (en) | Capsule seeding device | |
| CN217509392U (en) | Full-electric-drive air-suction seed sowing device | |
| CN219068884U (en) | Air suction type seeder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |