CN112470692A - Intelligent hybrid rice male parent crushing robot - Google Patents
Intelligent hybrid rice male parent crushing robot Download PDFInfo
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- CN112470692A CN112470692A CN202011510673.3A CN202011510673A CN112470692A CN 112470692 A CN112470692 A CN 112470692A CN 202011510673 A CN202011510673 A CN 202011510673A CN 112470692 A CN112470692 A CN 112470692A
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 48
- 235000009566 rice Nutrition 0.000 title claims abstract description 48
- 240000007594 Oryza sativa Species 0.000 title 1
- 230000007246 mechanism Effects 0.000 claims abstract description 97
- 241000209094 Oryza Species 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000000712 assembly Effects 0.000 claims abstract description 9
- 238000000429 assembly Methods 0.000 claims abstract description 9
- 230000035939 shock Effects 0.000 claims description 4
- 239000006096 absorbing agent Substances 0.000 claims 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000001012 protector Effects 0.000 description 6
- 238000013016 damping Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000010152 pollination Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/04—Harvesting of standing crops of rice
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/08—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Crushing And Pulverization Processes (AREA)
Abstract
一种智能杂交水稻父本粉碎机器人，包括移动机构、旋转切割机构；所述移动机构包括车座，车座下端设有车轮组件，每个车轮组件上端通过齿轮传送机构、步进电机传动驱动；所述旋转切割机构包括槽体，槽体内安装有步进电机，步进电机通过齿轮传送机构驱动回转支撑顶板转动，支撑顶板与支架连接；支架上固定有滑块，第二滑座上端铰接在滑块上；第四步进电机输出端通过连杆传送机构与第二滑座下端铰接；在第二滑座上固定有侧板，侧板上安装有链传送机构，链传送机构带动多个驱动轴转动；每个驱动轴驱动曲柄滑块机构往复运动，曲柄滑块机构的端头设有刀片，刀片与护刀器配合实现多段切割粉碎。本发明提供的一种智能杂交水稻父本粉碎机器人，可调适应不同制种田父本水稻粉碎，减轻劳动强度。
An intelligent hybrid rice male parent crushing robot, comprising a moving mechanism and a rotary cutting mechanism; the moving mechanism includes a seat, the lower end of the seat is provided with wheel assemblies, and the upper end of each wheel assembly is driven by a gear transmission mechanism and a stepping motor; The rotary cutting mechanism includes a groove body, a stepper motor is installed in the groove body, and the stepper motor drives the rotary support top plate to rotate through the gear transmission mechanism, and the support top plate is connected with the bracket; the bracket is fixed with a sliding block, and the upper end of the second sliding seat is hinged on the on the sliding block; the output end of the fourth stepping motor is hinged with the lower end of the second sliding seat through the connecting rod transmission mechanism; a side plate is fixed on the second sliding seat, and a chain transmission mechanism is installed on the side plate, and the chain transmission mechanism drives a plurality of The drive shaft rotates; each drive shaft drives the crank-slider mechanism to reciprocate, the end of the crank-slider mechanism is provided with a blade, and the blade cooperates with the knife guard to realize multi-section cutting and crushing. The invention provides an intelligent hybrid rice male parent crushing robot, which can be adjusted and adapted to the male parent rice crushing in different seed production fields, thereby reducing labor intensity.
Description
Technical Field
The invention relates to agricultural machinery, in particular to an intelligent hybrid rice male parent crushing robot.
Background
The rice is one of the main grain crops in China. In rice planting, hybrid rice is mainly used for planting rice in China. The hybrid rice seed production is a relatively complex and special seed production process. Research shows that the male parent is cut off after the seed production and pollination, the damage degree of the female parent diseases and insect pests can be effectively reduced, the thousand seed weight, the purity and the color degree of the seeds are improved, and the method is a simple and feasible mode for improving the production efficiency and the economic efficiency of a seed production field. But the problems of season tightness, large labor consumption, long working time, high labor intensity, labor shortage and the like need to be overcome when the fertilizer is removed and taken out of the field safely in due time. At present, the male parent for hybrid rice seed production in China is manually cut off, which wastes time and labor, has low efficiency and high labor intensity and seriously influences the harvesting progress of seeds. Along with the development of rural economy, a great amount of rural labor is transferred to cities, the population engaged in agricultural labor is gradually reduced, and the demand on agricultural machinery adopting mechanical rice male parent crushing is more and more urgent.
The male parent transplanting amount of the hybrid rice seed production is small, only a few rows are provided, each row is about 0.5m wide, the rows are arranged at intervals, crushing and removing are needed in the later period, the female parent rice is guaranteed to mature and seed, and the female parent rice cannot be damaged.
The harvester that commonly uses in the existing market is too big, can not adapt to the operation demand. Various small-sized mowers exist in the market, but most of the small-sized mowers are dry land mowers, while hybrid rice seed production is carried out in paddy fields, and the dry land mowers are not suitable for use. In addition, because the planting width of the male parent rice between adjacent rows varies due to regional differences, a self-adaptive wide-distance pulverizer is required. In recent years, although there have been few developments of small machines for crushing male parents in breeding fields, the machines are fixed-distance machines.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent hybrid rice male parent crushing robot which can crush male parent rice in a paddy field, can automatically adjust cutting width distance and is convenient for man-machine operation in a seed production field.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an intelligent hybrid rice male parent crushing robot comprises a moving mechanism and a rotary cutting mechanism;
the moving mechanism comprises a saddle, a plurality of wheel assemblies are arranged at the lower end of the saddle, the upper end of each wheel assembly is eccentrically connected with a stepped shaft, each stepped shaft is rotatably arranged on the saddle and is connected with a first driven gear, and a plurality of first driven gears are sequentially meshed and then driven through a first driving gear and a first stepping motor;
the rotary cutting mechanism comprises a rotary mechanism, a lifting mechanism and a cutting mechanism;
the rotating mechanism comprises a groove body, a fifth stepping motor is installed in the groove body, the output end of the fifth stepping motor drives a rotary supporting top plate to rotate through a fifth gear conveying mechanism, and the supporting top plate is connected with the support;
the lifting mechanism comprises a fourth stepping motor, the output end of the fourth stepping motor is hinged with the second sliding seat through a connecting rod conveying mechanism, the upper end of the second sliding seat is hinged on the sliding block, and the sliding block is fixed at the end head of the bracket;
the cutting mechanism comprises a side plate, the side plate is fixed on the second sliding seat, and a chain transmission mechanism is mounted on the side plate and drives the plurality of driving shafts to rotate; each driving shaft drives the slider-crank mechanism to reciprocate, the end of the slider-crank mechanism is provided with a blade, and the blades are matched with the knife protectors to realize multi-section cutting and crushing.
The number of the wheel assemblies is four, and the four wheel assemblies are arranged in a pairwise parallel array mode.
The wheel assembly comprises a second base, the upper end of the second base is connected with a hollow pipe, the hollow pipe is connected with a stepped shaft, a second stepping motor is installed in the second base, the lower end of the second stepping motor is connected with a damping fork through a coupler, and a wheel is installed at the lower end of the damping fork.
And the fifth gear transmission mechanism comprises a fifth driving gear connected with a fifth stepping motor, the fifth driving gear is meshed with a fifth driven gear, and the fifth driven gear is welded on the rotary support top plate.
The connecting rod conveying mechanism comprises a first connecting rod, one end of the first connecting rod is fixedly connected with the output end of the fourth stepping motor, the other end of the first connecting rod is hinged with a second connecting rod, and the other end of the second connecting rod is hinged with a second sliding seat.
The chain transmission mechanism comprises transmission chain wheels arranged on three driving shafts, wherein a double chain wheel is arranged on the middle driving shaft, and single chain wheels are arranged on the other two driving shafts. Roller chains are wound on the upper and lower transmission chain wheels, a third driven gear is coaxially arranged on the driving shaft at the upper end, and the third driven gear is meshed with a third driving gear.
The crank sliding block mechanism comprises a crank fixed at the end of each driving shaft, the other end of the crank is hinged with a rocker, the other end of the rocker is hinged with a sliding seat, and a blade is fixed on the sliding seat.
The left and right cutting mechanisms are respectively arranged in two groups.
The invention discloses an intelligent hybrid rice male parent crushing robot, which has the following technical effects:
1) the lower end of each gear is eccentrically connected with the wheel assembly by adopting a mode of mutually meshing four gears, so that the wheel track can be adjusted only by driving one motor; a second stepping motor is used for driving the wheel assembly to rotate, and a wheel hub motor is arranged in the wheel; therefore, the moving mechanism has the advantages of adjustable row spacing, adjustable direction, four-wheel steering and driveability, and the flexibility of the device is improved, so that the device is suitable for crushing rice with male parent rice planting width of about 0.5 m.
2) And through the combination of the chain conveying mechanism and the slider-crank mechanism, a plurality of cutting layers can be designed, and then the crushing treatment of the male parent rice is completed.
3) And by adopting the rotating mechanism and the lifting mechanism, the damage to the surrounding female parent rice can be avoided when the next ridge of male parent rice is crushed.
4) The first sliding seat is arranged at the end of the bracket, and the two groups of sliding blocks are slidably arranged on the first sliding seat and locked through bolts, so that the width of the left and right cutting mechanisms can be adjusted; and articulated second slide on the slider, the curb plate slides and sets up on the second slide and through bolt locking, the height of adjustable curb plate like this, and installs cutting mechanism on the curb plate, and then adjustment cutting mechanism's height makes cutting mechanism and father's rice height correspond. Because every cutting mechanism corresponds a line of father rice, when two adjacent lines of rice width change, the accessible two sets of sliders are close to or keep away from and adjust, and is simple and convenient.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a left side view of the present invention.
Fig. 3 is a schematic structural view of the moving mechanism of the present invention.
Fig. 4 is a plan view of the moving mechanism of the present invention.
Fig. 5 is a front view of the wheel assembly 2.1 according to the invention.
Fig. 6 is a schematic structural view of the rotary cutting mechanism of the present invention.
Figure 7 is a front view of the lifting mechanism of the present invention.
Fig. 8 is a schematic structural view of the cutting mechanism of the present invention.
FIG. 9 is a partial schematic view of the rotary cutting mechanism of the present invention.
Fig. 10 is a top view of the present invention.
Fig. 11 is a schematic diagram of alternate arrangement of male parent and female parent.
In the figure: the vibration-damping fork 1, the wheel 2, the wheel assembly 2.1, the coupler 3, the second stepping motor 4, the encoder 5, the knife protector 6, the blade 7, the roller chain 8, the third stepping motor 9, the third driving gear 10, the connecting rod 11, the side plate 12, the hollow tube 13, the moving mechanism 14, the saddle 14.1, the cross beam 15, the bracket 16, the rotary supporting top plate 17, the turntable bottom plate 18, the groove body 19, the vehicle body upper plate 20, the vehicle body lower plate 21, the rotary cutting mechanism 22, the first driven gear 23, the stepped shaft 24, the electric cabinet 25, the bearing assembly 26, the first driving gear 27, the first stepping motor 28, the second base 29, the connecting rod 30, the steering wheel 31, the fourth stepping motor 32, the stud bolt 33, the fifth stepping motor 34, the fifth driven gear 35, the fifth driven gear 36, the male parent 37 and the female parent driving gear 38.
Detailed Description
As shown in fig. 1-2, an intelligent hybrid rice male parent crushing robot mainly comprises a moving mechanism 14 and a rotary cutting mechanism 22. The moving mechanism 14 is used for adjusting the wheel track, adjusting the traveling direction of a single wheel and driving the rotary cutting mechanism 22 to travel; the rotary cutting mechanism 22 is used to rotate, lift and cut rice.
As shown in fig. 3-4, the moving mechanism 14 includes a seat 14.1, a first stepping motor 28 is installed in the seat 14.1, and an output shaft of the first stepping motor 28 is connected to a first driving gear 27 by a flat key. The first driving gear 27 is engaged with one first driven gear 23, and the first driven gear 23 is engaged with the other three first driven gears 23. When the first stepping motor 28 rotates to rotate the first driving gear 27, the four first driven gears 23 rotate accordingly. Each first driven gear 23 is fixedly connected to a stepped shaft 24 through a flat key, the stepped shaft 24 is mounted on the saddle 14.1 through a bearing assembly 26, and the tail end of the stepped shaft 24 is welded with the hollow pipe 13. Each hollow tube 13 is in turn mounted integrally with a respective wheel assembly 2.1.
When different regions and different parent-parent combinations are combined, the width distances of the male parents are different, and when the male parents face a seed production field to be crushed, the width of the robot is adjusted according to the width of the rice of the male parents. Namely, the first stepping motor 28 is started, the four stepped shafts 24 rotate, and the four wheel assemblies are relatively close to or far away from each other in pairs, namely, the wheel track is changed, so that the function of adjusting the wheel track is realized.
As shown in fig. 5, the wheel assembly 2.1 includes a second base 29, the upper end of the second base 29 is welded with the hollow tube 13, and the second stepping motor 4 is fixed in the second base 29 by screws. An output shaft of the second stepping motor 4 is connected with the damping fork 1 through the coupler 3, a wheel 2 is installed at the lower end of the damping fork 1, a hub motor is arranged in the wheel 2, and the hub motor drives the wheel 2 to rotate, so that the walking purpose is achieved. When walking in the paddy field, shock attenuation fork 1 carries out the shock attenuation to abominable walking environment.
After the width distance of the vehicle body is determined, the angle control is needed to be carried out on the wheels 2, the second stepping motor 4 rotates, the coupler 3 and the wheels 2 at the lower end of the coupler can rotate, when the four wheels rotate clockwise by the same angle, the advancing direction of the vehicle body can be changed, and the side walking (the side walking) can be realized if the angle is 90 degrees; when the directions of the four wheels are the same as the tangential direction taking the center of the vehicle as a circle, the autorotation of the vehicle body can be realized, and the second stepping motor 4 can be directly started when the vehicle body can advance towards any direction or autorotate. An encoder 5 is installed at the upper end of the second stepping motor 4, and the encoder 5 determines the output angle of the second stepping motor 4 by detecting the number of pulse signals to realize accurate control of the wheel angle.
The rotary cutting mechanism 22 includes a rotating mechanism, a lifting mechanism, and a cutting mechanism.
As shown in fig. 6, the swivel mechanism comprises a slot 19, the slot 19 being fixed above the saddle 14.1. A fifth stepping motor 34 is installed in the groove body 19, the fifth stepping motor 34 is connected with a fifth driving gear 36 through a flat key, the fifth driving gear 36 is meshed with a fifth driven gear 35, the fifth driven gear 35 is welded on the rotary supporting top plate 17, and the rotary supporting top plate 17 is fixedly connected with the support 16 through bolts.
When the fifth stepping motor 34 rotates, the gear transmission mechanism can drive the rotary supporting top plate 17 and the bracket 16 to rotate, so that the rotary cutting mechanism 22 rotates.
As shown in fig. 6 to 7, the lifting mechanism includes a first sliding base 16.1 with a sliding slot fixed at an end of the bracket 16, two sets of sliding blocks 16.2 are slidably disposed on the first sliding base 16.1, and each set of sliding blocks 16.2 is locked on the first sliding base 16.1 through a bolt. A second sliding seat 16.3 is hinged and vertically arranged on one side of each first sliding seat 16.1, and the side plate 12 is arranged on the second sliding seat 16.3 in a sliding mode and locked through bolts.
A fourth stepping motor 32 is fixed on the outer side of the corresponding bracket 16, and an output shaft of the fourth stepping motor 32 is coaxially matched and connected with the rudder disc 31. A first connecting rod 30 is fixed at the center of the rudder disk 31, the first connecting rod 30 is hinged with a second connecting rod 30.1, the other end of the second connecting rod 30.1 is hinged with a second sliding seat 16.3, and the upper end of the second sliding seat 16.3 is hinged on a sliding block 16.2 through a stud 33.
When the fourth stepping motor 32 rotates, the first link 30 and the second link 30.1 rotate by a certain angle, and the connecting frame 30.2 rotates, so that the function of the rotary cutting mechanism 22 is realized.
As shown in fig. 8, the cutting mechanism includes a third stepping motor 9 fixed on the side plate 12, the third stepping motor 9 is coaxially connected with a third driving gear 10, in addition, an upper, a middle and a lower groups of driving shafts 12.1 are also installed on the side plate 12 through bearing assemblies, a transmission chain wheel 12.2 is installed on each group of driving shafts 12.1, wherein a double chain wheel is arranged on the middle driving shaft 12.1, and a single chain wheel is arranged on the other two driving shafts 12.1. The upper and lower transmission chain wheels 12.2 are wound with roller chains 8, a driving shaft 12.1 at the upper end is coaxially provided with a third driven gear 10.1, and the third driven gear 10.1 is meshed with a third driving gear 10. When the third stepping motor 9 rotates, the three groups of driving shafts 12.1 can be driven to synchronously rotate in the same direction.
A crank 11.1 is fixed at the end of each driving shaft 12.1, the other end of the crank 11.1 is hinged with a rocker 11.2, and the other end of the rocker 11.2 is hinged with a sliding seat 11.3. The crank 11.1, the rocker 11.2 and the slide 11.3 form a slider-crank mechanism 11, and the output end of the slider-crank mechanism 11 is horizontally fixed with a blade 7. The blades 7 are arranged in the blade protector 6 in a sliding mode, and the blade protector 6 is fixed on the side plate 12 at intervals in multiple groups. The blade protector 6 is extended or protruded during the left and right sliding of the blade 7.
After the wheel track and the wheel angle are adjusted, the male parent rice can be pulverized forwards. That is, the third step motor 9 rotates to drive the third driving gear 10 matched with the third driving gear to rotate, the gear is rotated and output to the driving shaft 12.1 of the three-layer header through transmission of the chain transmission mechanism, the driving shaft 12.1 drives the blade 7 on the slider-crank mechanism 11 to do reciprocating periodic motion, and then the blade 7 of each layer of header is driven to do reciprocating motion, and the blade 7 is matched with the blade protector 6 to realize the multi-section cutting effect of the three-layer header on the male parent rice, so that the male parent crushing function is completed.
After cutting of one male parent rice, when the next male parent rice is to be cut, the rotary cutting mechanism 22 is required to rotate and laterally move, wherein the lateral movement is realized by adjusting the moving mechanism 14. However, directly rotating the rotary cutting mechanism 22 will damage the surrounding mother rice, requiring the rotary cutting mechanism 22 to be lifted first. The concrete implementation is as follows: the fourth stepping motor 32 is started, and the fourth stepping motor 32 enables the connecting rod 30 and the second connecting rod 30.1 to rotate for a certain angle, so that the side plate 12 rotates anticlockwise around the stud bolt 33, and the lifting function is achieved.
After the lifting header action is completed, the action of the rotary header needs to be carried out, and the following is specifically realized: and starting the fifth stepping motor 34, wherein the fifth stepping motor 34 drives the rotary supporting top plate 17 to rotate through the fifth driven gear 35 and the fifth driving gear 36, so that the support 16 and the related structures thereon rotate.
In the device, an electric cabinet 25 is arranged in a vehicle seat 14.1, and the electric cabinet 25 mainly comprises a box body and electric components. The cabinet is internally provided with a PLC, an alternating current contactor, a circuit breaker, a thermal relay, an intermediate relay, a fuse, a terminal bar and a rechargeable lithium battery, and the surface of the cabinet body is provided with a display panel, a knob switch, an indicator light and the like. In the device, energy of all the rotating motors comes from the battery, and all the control signals come from the remote controller and are transmitted into the electric control box through the wireless module, and then the electric control box 25 is used for controlling and operating all the motors.
In addition, a wireless communication module is also arranged in the electric control box 25, and the electric control box 25 is wirelessly connected with a remote controller through the wireless communication module; the operation of each driving device is operated by a remote controller.
The working principle and the process are as follows: adjusting the width of the vehicle body according to the width of the male parent rice in the seed production field, sending a command signal by using a remote controller, and controlling the first stepping motor 28 to rotate so as to rotate the stepped shaft 24 and further adjust the distance between the wheels 2; the second stepping motor 4 is controlled to rotate so as to adjust the wheel angle. After the adjustment, the third stepping motor 9 of the hub motor and the cutting mechanism in the wheel 2 is controlled to move to further advance and cut the male parent rice, after a ridge is cut, the fourth stepping motor 32 is controlled to lift the cutting mechanism, and then the fifth stepping motor 34 is controlled to rotate to enable the cutting mechanism to rotate; the angle of the wheels is changed, and the vehicle body side is cut into a next ridge.
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011510673.3A CN112470692B (en) | 2020-12-18 | 2020-12-18 | An intelligent hybrid rice male parent crushing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011510673.3A CN112470692B (en) | 2020-12-18 | 2020-12-18 | An intelligent hybrid rice male parent crushing robot |
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| CN112470692A true CN112470692A (en) | 2021-03-12 |
| CN112470692B CN112470692B (en) | 2024-11-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115191245A (en) * | 2022-07-20 | 2022-10-18 | 农业农村部南京农业机械化研究所 | A kind of rapeseed male parent crusher |
| CN116138029A (en) * | 2023-01-16 | 2023-05-23 | 成都宇亨智能科技有限公司 | Seed mechanism is cut to ligusticum wallichii |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115191245A (en) * | 2022-07-20 | 2022-10-18 | 农业农村部南京农业机械化研究所 | A kind of rapeseed male parent crusher |
| CN115191245B (en) * | 2022-07-20 | 2024-02-09 | 农业农村部南京农业机械化研究所 | Seed production rape male parent rubbing crusher |
| CN116138029A (en) * | 2023-01-16 | 2023-05-23 | 成都宇亨智能科技有限公司 | Seed mechanism is cut to ligusticum wallichii |
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| CN112470692B (en) | 2024-11-22 |
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