CN202781177U - Vibratory seedling feed effector capable of adjusting direction of grafted seedling cotyledon - Google Patents
Vibratory seedling feed effector capable of adjusting direction of grafted seedling cotyledon Download PDFInfo
- Publication number
- CN202781177U CN202781177U CN 201220450714 CN201220450714U CN202781177U CN 202781177 U CN202781177 U CN 202781177U CN 201220450714 CN201220450714 CN 201220450714 CN 201220450714 U CN201220450714 U CN 201220450714U CN 202781177 U CN202781177 U CN 202781177U
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- interlock
- grafting
- mount pad
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- seedling
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Abstract
The utility model relates to a vibratory seedling feed effector capable of adjusting a direction of a grafted seedling cotyledon, and aims at providing the seedling feed effector capable of adjusting the direction of the grafted seedling cotyledon. The effector adopts the technical scheme that the vibratory seedling feed effector capable of adjusting the direction of the grafted seedling cotyledon comprises a pneumatic gripper device, a double-rod air cylinder and a guide device; the guide device comprises a guider; and two half-arc guide sheets of the guider are positioned on two linkage fingers on the upper side of the pneumatic gripper device respectively. The effector is characterized in that bottom plates of the half-arc guide sheets are fixedly provided with vibration exciters; at least two through holes are formed in the bottom plates; at least two oscillating guide rods are fixed on each linkage fingers; the oscillating guide rods are sleeved with springs; the upper ends of the two oscillating guide rods pass through the through holes of the half-arc guide sheets; an elastic block sheet is arranged above the bottom plates of the half-arc guide sheets; and the two ends of the elastic block sheet are respectively fixed at the upper ends of the two oscillating guide rods for limiting the half-arc guide sheets.
Description
Technical field
The utility model relates to vegetables and fruits graft technology field, specifically be used for to shear and adjust seedling actuator on the oscillatory type of grafting cotyledon direction on the vegetables and fruits grafting machine.
Background technology
Grafting is a kind of method of artificial nutrition breeding plant, namely a Plants the branch or the bud grafting on the stem or root of another kind of plant, make two parts grow up to a complete plant.And in these two parts, usually wooden fringe the seedling of yielding positive results, bundle is absorbed the seedling of moisture nutrition on stock in soil.The seedling of vegetables and fruits is very very thin, the diameter of fringe wood generally only has 1 millimeter, the diameter of stock also only has the 3-4 millimeter, and the in good time phase of vegetable grafting is shorter, generally only have several days time, so the operator need to have than the high-tech level, with two quickly and accurately graftings of seedling to together, to improve the survival rate of grafting, all the more so when carrying out large-scale grafting operation.
The grafting robot technology is a kind of new and high technology that integrates machinery, automatic control and facilities horticulture technology that in recent years occurs in the world.Grafting robot can be at the utmost point in the short time; the otch grafting of stock and fringe wood is integrated; not only avoided the loss of liquid in the long oxidation of otch and the seedling; can greatly improve graft survival rate; also greatly improved simultaneously operating efficiency, for the large-scale production that promotes vegetable melon and fruit important meaning has been arranged.At present in the world grafting mechanization research and development to certain phase, gradually by semi-automatic grafting to full-automatic future development.Wherein, how realizing melon section and the automatic grafting of cucurbitaceous plant in the cave dish, upper seedling and its cotyledon direction is accurately adjusted, is the key of the full-automatic grafting of melon section cave dish seedling, also is the advanced technology field of international research.
In the conventional vegetables and fruits grafting machine, the mechanical paw of upper seedling actuator finish get seedling, cut seedling operation after, utilize the gravity of grafting self, make grafting in having the guider of certain radian, adjust the cotyledon direction, because the shape of grafting self restriction and frictional force impact, grafting has in the angle adjustment process and turns to the problems such as slow, that angle is undesirable, waits to solve.
The utility model content
The purpose of this utility model is the deficiency that overcomes in the above-mentioned background technology, a kind of novel adjustable upper seedling actuator of cotyledon direction is provided, should carry out on the function basis of automatic seedling taking by upper seedling actuator grafting in possessing the cave dish, also should possess the function of adjusting the grafting cotyledon direction of getting, and have that the adjustment of cotyledon direction is quick, angle characteristics accurately.
The technical solution adopted in the utility model is:
Seedling actuator on the oscillatory type that a kind of grafting cotyledon direction is adjustable comprises the gas jaw arrangement of operation, two bar cylinders that driving gas jaw arrangement seesaws are sheared and fetched to grafting, and the guider that is used for regulating grafting cotyledon direction; Described guider comprises a guider, and two and half arcuate guide sheets of this guider are positioned at respectively on two interlock fingers of gas jaw arrangement upside; It is characterized in that: be fixed with respectively a vibrator on the base plate of each half arcuate guide sheet, also offer at least two through holes on the base plate, respectively be fixed with at least two vibration guide posts of vertically arranging up on described two interlock fingers, be arranged with spring on the vibration guide post between half arcuate guide sheet and the interlock finger, the through hole of described half arcuate guide sheet was passed through in the upper end of two vibration guide posts, the base plate top of half arcuate guide sheet is provided with an elastic block piece in addition, and the two ends of this elastic block piece are separately fixed at the upper end of two vibration guide posts with spacing to described half arcuate guide sheet.
Described each half arcuate guide sheet is the sheet semi-cylindrical that vertically up stretches, is shaped with a semicircle orifice in the middle of the bottom, the center of cylinder towards upper process and both sides toward having a down dip.
Described gas jaw arrangement comprises an interlock gas pawl, and a splayed configuration gas pawl that is fixed on described interlock gas pawl below and grafting is sheared; Described interlock gas pawl forms by the interlock gas pawl cylinder that is fixed on described pair of bar cylinder piston rod front end and by the movable claw of this air cylinder driven folder; During described movable claw pressed from both sides: extended forward in parallel to each other on the up and down both sides of interlock paw mount pad, and the end two extensions is shaped with up and down both sides of riser connection, formation I-shape construction; The centre of described riser has an aperture; But described interlock paw mount pad is the described interlock finger of the hinged a pair of folding of extension difference on both sides up and down, and the resistance arm of described interlock finger stretches out for the clamping grafting toward the place ahead respectively; Other has a king's font link that is positioned between the extension, up and down both sides of described interlock paw mount pad, an end of each articulated two connecting rod on the both sides support of this link, the other end of each connecting rod are hinged with the power arm of an aforesaid interlock finger respectively again; The piston rod of described interlock gas pawl cylinder passes the through hole at interlock paw mount pad middle part; The middle part of described king's font link is provided with a hole, be connected with the piston rod of described interlock gas pawl cylinder after having a horizontally-guided bar to pass successively the hole of aperture on the described riser, king's font link, the front end of described horizontally-guided bar is shaped with the shaft shoulder, the diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide, the hole formation of horizontally-guided bar and king's font link is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than the diameter of this hole; Described king's font link and the junction of interlock paw mount pad also have respectively two corresponding and in establish the installing hole of back-moving spring.
Described guider also comprises two arc blend stops, two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside, two arc blend stops are corresponding up and down, one end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside, this interlock is pointed corresponding up and down with the interlock finger of aforementioned fixed upper arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.
Described splayed configuration gas pawl comprises pneumatic machinery folder and is fixed on knife-containing block on two jig arm of this pneumatic machinery folder that described knife-containing block disposes cutting knife.
Described pair of bar cylinder fixed by the installing plate at top and the outside installation shaft of a vertical direction.
Operation principle of the present utility model is: the upper seedling actuator that the cotyledon direction that the utility model provides is adjustable, realize that by location and crawl, the splayed configuration gas pawl of movable claw folder realization grafting the stem of grafting separates and the adjustment of guider realization grafting cotyledon direction; During work, interlock gas pawl and splayed gas pawl open, and two bar cylinders stretch out, and promote interlock gas pawl and splayed gas pawl, arrive and get the seedling position, and then link gas pawl and splayed gas pawl are closed; Because the knife-containing block on the splayed gas pawl is equipped with blade, blade cuts off the grafting bottom in closure, then splayed gas pawl opens, outside installation shaft rises, grafting is freely fallen on the half arcuate guide sheet by Action of Gravity Field, and half arcuate guide sheet antithetical phrase leaf direction carries out preliminary directed the adjustment.Since about half arcuate guide sheet exist two summits and half arcuate guide sheet and grafting to have frictional force, consist of the guiding dead point, so make the vibration of half arcuate guide sheet by driver, cotyledon is rotated smoothly to desirable position, overcome the steering angle deficiency, realize the adjustment of accurate cotyledon direction.
The beneficial effects of the utility model are: this guide structure is simple and result of use is obvious, can accurately adjust the direction of cotyledon, also can be to the tender grafting injury of children; The utility model is finished the cotyledon direction adjustment of grafting by the mode of vibration, simple in structure but also successful not only, and for follow-up grafting is provided to stock platform and fringe wood platform got ready, so the utility model produces a desired effect fully.
Description of drawings
Fig. 1 is perspective view of the present utility model.
Fig. 2 is the perspective view of gas jaw arrangement in the utility model.
Fig. 3 is the perspective view of interlock paw mount pad in the utility model.
Fig. 4 is the perspective view of interlock finger in the utility model.
Fig. 5 is the plan structure schematic diagram of the utility model arc blend stop.
Fig. 6 is the perspective view (articulated connecting rod) of king's font link in the utility model.
Fig. 7 is the sectional structure schematic diagram of king's font link in the utility model.
Fig. 8 is the perspective view of half arcuate guide sheet in the utility model.
Fig. 9 is the main TV structure schematic diagram of half arcuate guide sheet in the utility model.
Figure 10 is the cross-sectional schematic of half arcuate guide sheet in the utility model.
Figure 11 is the plan structure schematic diagram of the utility model Elastic catch.
Figure 12 is the structure principle chart of interlock gas pawl in the utility model.
Figure 13 is the structural representation of horizontally-guided bar in the utility model.
Figure 14 is the sectional structure schematic diagram of movable claw folder in the utility model.
Figure 15 is one of the utility model working state schematic representation.
Figure 16 is two of the utility model working state schematic representation.
Figure 17 is three of the utility model working state schematic representation.
Figure 18 is four of the utility model working state schematic representation.
The specific embodiment
As shown in the figure, seedling actuator on the oscillatory type that a kind of grafting cotyledon direction is adjustable comprises gas jaw arrangement, propulsion plant and guider.
Propulsion plant is a pair of bar cylinder 3, can drive the gas jaw arrangement and seesaw.The top of two bar cylinders is fixed with the first installing plate 2, and the outside installation shaft 1 of a vertical direction is installed on this first installing plate.The utility model can be installed on the mechanical arm of the various automatically upper seedlings supporting with it by this outside installation shaft, thereby realizes full automatic upper seedling grafting.
Operation is mainly sheared and fetch to the gas jaw arrangement to grafting; This gas jaw arrangement comprises interlock gas pawl and splayed configuration gas pawl; This interlock gas pawl is fixed on the piston rod front end of two bar cylinders by the second installing plate 4; This splayed configuration gas pawl is fixed on the below of interlock gas pawl by the 3rd installing plate 5.Interlock gas pawl mainly positions and fetches operation to grafting, comprise by described the second installing plate being fixed on the interlock gas pawl cylinder 7-1 of two bar cylinder piston rod front ends and by the movable claw folder of this air cylinder driven.
This movable claw folder comprises that mainly king's font link 7-7, two pairs of linked hands refer to 7-3 and four connecting rod 7-8; Certain-length (for example 5-10cm determines as required) is extended forward on the up and down both sides of described interlock paw mount pad in parallel to each other, and the end two extensions is shaped with up and down both sides of riser 7-9 connection, formation I-shape construction (as shown in Figure 3).But the interlock finger of the hinged a pair of folding of difference on up and down two extensions of described interlock paw mount pad, the resistance arm 7-3-1 of this interlock finger stretches out for the clamping grafting toward the place ahead respectively.Described king's font link is between the upper and lower extension of described interlock paw mount pad, an end (as shown in Figure 6) of each articulated two connecting rod on the both sides support of this link, the other end of each connecting rod are hinged with the power arm 7-3-2 of an aforesaid interlock finger respectively again; The piston rod of described interlock gas pawl cylinder passed through the through hole 7-2-1 at interlock paw mount pad middle part.
Have an aperture 7-4 in the middle of the riser on the described interlock paw mount pad, the middle part of described king's font link also is provided with hole 7-7-2, is connected with the piston rod of described interlock gas pawl cylinder after having a horizontally-guided bar 7-6 to pass successively the hole of aperture on the described riser, king's font link.As shown in figure 14, the front end of described horizontally-guided bar is shaped with the diameter at shaft shoulder 7-6-1(shaft shoulder position greater than other positions), the diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide (this horizontally-guided pole pair king font link guiding), the hole formation of horizontally-guided bar and king's font link is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than hole diameter, therefore when the piston rod of interlock paw cylinder drives the horizontally-guided bar towards after-contraction, king's font link is backward together motion under the effect of the shaft shoulder, refers to open by two pairs of linked hands of connecting rod pulling.Such as Fig. 3, Fig. 6, shown in Figure 14, described king's font link and the junction of interlock paw mount pad also have respectively two corresponding and in establish the installing hole 7-7-1 of back-moving spring 7-10, described back-moving spring connects king's font link and interlock paw mount pad, and king's font link is bestowed the closed power that resets; When the piston rod of interlock gas pawl cylinder stretched out forward, the shaft shoulder no longer applied backward pressure to king's font link, and back-moving spring promotes king's font link and resets forward, thereby makes the interlock finger closed.
Splayed configuration gas pawl can be sheared grafting, and this splayed gas pawl comprises pneumatic machinery folder 6-1(outsourcing), and the knife-containing block 6-3(that is fixed on two jig arm of this pneumatic machinery folder by cutting knife installing plate 6-2 respectively is furnished with cutting knife); Article two, jig arm is splayed and arranges to drive cutting knife and carry out folding.The driving tracheae of pneumatic machinery folder is communicated with extraneous magnetic valve, unifies control.
In the utility model, described guider comprises a guider, two and half arcuate guide sheet 8-1 of this guider are a bottom surface to be semi-annular shape and vertically up to stretch, is shaped with in the middle of the bottom sheet semi-cylindrical of a semicircle orifice, and the umbo of this plates upper surface and both sides are toward having a down dip; The guider that this double arcuate guide sheet forms is the torus that a upper surface has two projections, this torus upper surface also forms two downward depressions simultaneously, the line direction of these two depressions is the direction after the grafting cotyledon is adjusted, and this direction is identical with the flexible direction of two bar cylinders usually; When this referred to closure to linked hand, this double arcuate guide sheet just can lead to grafting.
The upper seedling actuator of said structure and existing vegetables and fruits grafting machine is similar, and its operation principle does not describe in detail, and the equal buyable of all cylinders obtains.
Described guider also comprises two arc blend stop 7-5, two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside, two arc blend stops are corresponding up and down, one end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside, this interlock is pointed corresponding up and down with the interlock finger of aforementioned fixed upper arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.Described two camber baffle plates can keep the linearity of grafting vertical direction.Crawl is during grafting, and interlock finger and the acting in conjunction of semicircular arc-shaped baffle plate make grafting that preferably linearity be arranged, and for the guiding of cotyledon provides good rotating condition, more is conducive to the cotyledon direction and adjusts smoothly.
Since about half arcuate guide sheet exist two summits and half arcuate guide sheet and grafting to have frictional force, consist of the guiding dead point, for further accurate adjustment cotyledon direction, being fixed with a vibrator 8-3(outsourcing by vibrator fixed head 8-2 on the base plate of each half arcuate guide sheet obtains), also offer at least two through holes on the base plate, respectively be fixed with at least two vibration guide post 7-3-3 that vertically arrange up on described two interlock fingers, be arranged with spring 8-5 on the vibration guide post between half arcuate guide sheet and the interlock gas pawl, the base plate top of half arcuate guide sheet is provided with an elastic block piece 8-4 in addition, and the two ends of this elastic block piece are separately fixed at the upper end of two vibration guide posts with spacing to described half arcuate guide sheet.Vibrator work is so that half arcuate guide sheet is offset spring force, thereby along the up and down adjustment of vibration guide post cotyledon direction.
Claims (6)
1. seedling actuator on the adjustable oscillatory type of a grafting cotyledon direction, comprise to grafting shear and fetch operation the gas jaw arrangement, drive two bar cylinders (3) that the gas jaw arrangement seesaws, and the guider that is used for adjusting grafting cotyledon direction; Described guider comprises a guider, and two and half arcuate guide sheets (8-1) of this guider are positioned at respectively on two interlock fingers (7-3) of gas jaw arrangement upside; It is characterized in that: be fixed with respectively a vibrator (8-3) on the base plate of each half arcuate guide sheet, also offer at least two through holes on the base plate, respectively be fixed with at least two vibration guide posts (7-3-3) of vertically arranging up on described two interlock fingers, be arranged with spring (8-5) on the vibration guide post between half arcuate guide sheet and the interlock finger, the through hole of described half arcuate guide sheet was passed through in the upper end of two vibration guide posts, the base plate top of half arcuate guide sheet is provided with an elastic block piece (8-4) in addition, and the two ends of this elastic block piece are separately fixed at the upper end of two vibration guide posts with spacing to described half arcuate guide sheet.
2. seedling actuator on the adjustable oscillatory type of a kind of grafting cotyledon direction according to claim 1, it is characterized in that: described each half arcuate guide sheet is the sheet semi-cylindrical that vertically up stretches, is shaped with a semicircle orifice in the middle of the bottom, the center of cylinder towards upper process and both sides toward having a down dip.
3. seedling actuator on the adjustable oscillatory type of a kind of grafting cotyledon direction according to claim 1 and 2, it is characterized in that: described gas jaw arrangement comprises an interlock gas pawl, and a splayed configuration gas pawl that is fixed on described interlock gas pawl below and grafting is sheared; Described interlock gas pawl forms by the interlock gas pawl cylinder (7-1) that is fixed on described pair of bar cylinder piston rod front end and by the movable claw of this air cylinder driven folder; During described movable claw pressed from both sides: extended forward in parallel to each other on the up and down both sides of interlock paw mount pad (7-2), and the end two extensions is shaped with up and down both sides of a riser (7-9) connection, formation I-shape construction; The centre of described riser has an aperture (7-4); But described interlock paw mount pad is the described interlock finger of the hinged a pair of folding of extension difference on both sides up and down, and the resistance arm (7-3-1) of described interlock finger stretches out for the clamping grafting toward the place ahead respectively; Other has a king's font link (7-7) that is positioned between the extension, up and down both sides of described interlock paw mount pad, an end of each articulated two connecting rod (7-8) on the both sides support of this link, the other end of each connecting rod are hinged with the power arm (7-3-2) of an aforesaid interlock finger respectively again; The piston rod of described interlock gas pawl cylinder passed through the through hole (7-2-1) at interlock paw mount pad middle part; The middle part of described king's font link is provided with a hole (7-7-2), be connected with the piston rod of described interlock gas pawl cylinder after having a horizontally-guided bar (7-6) to pass successively the hole (7-7-2) of aperture (7-4) on the described riser, king's font link, the front end of described horizontally-guided bar is shaped with the shaft shoulder (7-6-1), the diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide, the hole formation of horizontally-guided bar and king's font link is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than the diameter of this hole; Described king's font link and the junction of interlock paw mount pad also have respectively two corresponding and in establish the installing hole (7-7-1) of back-moving spring (7-10).
4. seedling actuator on the adjustable oscillatory type of a kind of grafting cotyledon direction according to claim 3, it is characterized in that: described guider also comprises two arc blend stops (7-5), two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside, two arc blend stops are corresponding up and down, one end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside, this interlock is pointed corresponding up and down with the interlock finger of aforementioned fixed upper arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.
5. seedling actuator on the adjustable oscillatory type of a kind of grafting cotyledon direction according to claim 4, it is characterized in that: described splayed configuration gas pawl comprises pneumatic machinery folder (6-1) and is fixed on knife-containing block (6-3) on two jig arm of this pneumatic machinery folder that described knife-containing block disposes cutting knife.
6. seedling actuator on the adjustable oscillatory type of a kind of grafting cotyledon direction according to claim 5, it is characterized in that: described pair of bar cylinder fixed with the outside installation shaft (1) of a vertical direction by the installing plate at top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220450714 CN202781177U (en) | 2012-09-05 | 2012-09-05 | Vibratory seedling feed effector capable of adjusting direction of grafted seedling cotyledon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220450714 CN202781177U (en) | 2012-09-05 | 2012-09-05 | Vibratory seedling feed effector capable of adjusting direction of grafted seedling cotyledon |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202781177U true CN202781177U (en) | 2013-03-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220450714 Withdrawn - After Issue CN202781177U (en) | 2012-09-05 | 2012-09-05 | Vibratory seedling feed effector capable of adjusting direction of grafted seedling cotyledon |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202781177U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837319A (en) * | 2012-09-05 | 2012-12-26 | 浙江理工大学 | Vibration-type seedling feeding actuator capable of adjusting direction of cotyledon of grafted seedling |
| CN103461010A (en) * | 2013-09-18 | 2013-12-25 | 浙江理工大学 | Grated seedling locating and clamping device |
| CN103496586A (en) * | 2013-09-18 | 2014-01-08 | 浙江理工大学 | Grafting seedling sequencing mechanism |
-
2012
- 2012-09-05 CN CN 201220450714 patent/CN202781177U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837319A (en) * | 2012-09-05 | 2012-12-26 | 浙江理工大学 | Vibration-type seedling feeding actuator capable of adjusting direction of cotyledon of grafted seedling |
| CN102837319B (en) * | 2012-09-05 | 2015-03-04 | 浙江理工大学 | Vibration-type seedling feeding actuator capable of adjusting direction of cotyledon of grafted seedling |
| CN103461010A (en) * | 2013-09-18 | 2013-12-25 | 浙江理工大学 | Grated seedling locating and clamping device |
| CN103496586A (en) * | 2013-09-18 | 2014-01-08 | 浙江理工大学 | Grafting seedling sequencing mechanism |
| CN103461010B (en) * | 2013-09-18 | 2014-11-12 | 浙江理工大学 | Grated seedling locating and clamping device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130313 Effective date of abandoning: 20150304 |
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| RGAV | Abandon patent right to avoid regrant |