CN203801257U - Plug seedling transplanting mechanical arm - Google Patents

Plug seedling transplanting mechanical arm Download PDF

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Publication number
CN203801257U
CN203801257U CN201420186115.XU CN201420186115U CN203801257U CN 203801257 U CN203801257 U CN 203801257U CN 201420186115 U CN201420186115 U CN 201420186115U CN 203801257 U CN203801257 U CN 203801257U
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CN
China
Prior art keywords
plug
manipulator
seedling
seedlings
transplanting
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Expired - Lifetime
Application number
CN201420186115.XU
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Chinese (zh)
Inventor
王艳莉
于泓
孔德志
钟兴
徐阳
苗实
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Jiangsu Polytechnic College of Agriculture and Forestry
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Jiangsu Polytechnic College of Agriculture and Forestry
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Priority to CN201420186115.XU priority Critical patent/CN203801257U/en
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Publication of CN203801257U publication Critical patent/CN203801257U/en
Anticipated expiration legal-status Critical
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Abstract

The utility model discloses a plug seedling transplanting mechanical arm. The plug seedling transplanting mechanical arm comprises a mechanical arm, a vertical lifting mechanism, a rotation mechanism, a telescoping mechanism and a PLC (Programmable Logic Controller), wherein the lifting mechanism and the rotation mechanism are connected to the top end of the telescoping mechanism; the mechanical arm is mounted at the bottom end of the telescoping mechanism; the lifting mechanism, the rotation mechanism and the telescoping mechanism are in signal connection with the PLC; an included angle is reserved between the telescoping mechanism and the rotation mechanism. The plug seedling transplanting mechanical arm is capable of taking 80-100 seedlings per minute; the efficiency is 6-8 times that of manually transplanting seedlings; a transplanting machine is relatively small in size, simple in structure, low in cost, capable of capturing the plug seedlings by simulating actions of fingers, flexible and reliable in movement track, suitable for capturing vegetable pot seedlings with different root system structures, capable of meeting the requirements of the spacing between different plug structures and plug grids, seedling taking efficiency and parallel seedling taking, high in reliability and flexibility and less in possibility of causing damage to the seedlings.

Description

Plug seedling transplanting manipulator
Technical Field
The utility model relates to an automatic technical field that transplants of agricultural machine, an cave dish seedling transplanting manipulator and utilize the automatic transplanting device that this manipulator made specifically says so.
Background
In order to ensure the proper growing environment of the crops, the seedlings need to be transplanted. The manual transplanting of the seedlings is simple, but the production efficiency is not high, and the workload is very huge. In recent years, with the rapid development of facility agriculture in China, the transplanting amount of seedlings is increased day by day, the contradiction between labor shortage and labor cost improvement is increasingly prominent, the average speed of manually transplanting the seedlings is generally 10-15 seedlings/min, people can be tired due to continuous work, and high efficiency is difficult to maintain for a long time.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide a plug seedling transplanting manipulator which has simple structure, reliable seedling taking quality and economic applicability.
Another object of the utility model is to provide an utilize automatic mobile device that above-mentioned plug seedling transplanting manipulator was made, through design and implementation control manipulator, plug positioning, realize transplanting the automation of greenhouse plug seedling.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: a plug seedling transplanting manipulator comprises a manipulator, a vertical lifting mechanism, a rotating mechanism, a telescopic mechanism and a PLC (programmable logic controller); the lifting mechanism is connected with the rotating mechanism and the top end of the telescopic mechanism, and the manipulator is installed at the bottom end of the telescopic mechanism; the lifting mechanism, the rotating mechanism and the telescopic mechanism are in signal connection with the PLC; an included angle is formed between the telescopic mechanism and the rotating mechanism.
Furthermore, the vertical lifting mechanism comprises a vertical lifting cylinder, an upright post and a connecting plate, the vertical lifting cylinder is connected with the bottom end of the upright post, and the connecting plate is arranged at the top end of the upright post; the connecting plate is connected with the rotating mechanism. By adopting the structure, the rotation of the rotating steel can be well prevented, and the stability and the moving rigidity of the manipulator in the moving process are ensured.
Further, rotary mechanism includes revolving cylinder, boss, the boss with vertical lift mechanism is connected, revolving cylinder establishes on the boss and rotates at the boss.
Furthermore, the manipulator comprises a seedling taking needle and an outer shell, one end of the seedling taking needle is connected with the telescopic mechanism, and the other end of the seedling taking needle extends out of or retracts into the outer shell along the axial direction of the outer shell; the top of the outer shell is connected with the telescopic mechanism.
Further, an included angle of 30-60 degrees is formed between the central axis of the telescopic mechanism and the central axis of the rotating mechanism. Thus being beneficial to the seedling taking needle to be inserted into the plug tray to take the seedlings.
In order to solve the other purpose, the utility model adopts the technical scheme that: the automatic transplanting device manufactured by utilizing the plug seedling transplanting manipulator comprises the plug seedling transplanting manipulator and a plug positioning platform, wherein the plug positioning platform comprises a movable platform body, and a plug is arranged on the platform body; when the seedlings are taken, the manipulator in the plug seedling transplanting manipulator is inserted into the plug.
Furthermore, the movable platform body comprises a driving device, a transmission chain, a transverse support, a longitudinal support and a bracket, wherein a transverse slide rail is arranged on the transverse support along the axial direction of the transverse support, the longitudinal support is provided with a first slide block, and the longitudinal support is arranged on the transverse slide rail through the first slide block; the longitudinal support is provided with a longitudinal slide rail axially arranged along the longitudinal support, the bracket is provided with a second slide block, and the bracket is arranged on the longitudinal slide rail through the second slide block; the first sliding block and the second sliding block are connected with a driving device through transmission chains.
The utility model discloses automatic transplanting device's theory of operation: firstly, the manipulator moves in a feeding way, namely, the manipulator moves from an initial point to a seedling taking point, the movement process comprises lifting movement and horizontal movement, and the distances of the lifting movement and the horizontal movement are controlled according to the size of the plug seedlings. And then two needles of the manipulator extend out under the pushing of the telescopic mechanism and are inserted into the plug tray in a direction of 30-60 degrees to take the seedlings, then the manipulator rotates 90 degrees, namely the manipulator moves from the seedling taking point to the seedling throwing point, the seedling taking needle returns at the seedling throwing point, the pot seedlings are separated from the seedling taking needle by a baffle structure of a manipulator shell and enter a seedling guide pipe under the gravity action of the plug tray seedlings, and one seedling taking cycle is completed. When the manipulator moves to the seedling taking point again, the plug seedlings move forward by an acupuncture point under the control of the two-dimensional positioning platform, and the manipulator finishes taking the seedlings again and returns to the starting point. The manipulator and the plug positioning platform are matched to finish the seedling taking and throwing actions of the whole plug in sequence. Considering the structure of the plug tray, the space between adjacent plug trays and the difference of plug seedling sizes, the needle-pricked seedling taking needle can be adjusted and replaced in time according to the size of the pot seedling, the seedling taking is stable, and the root is not easy to be injured.
Has the advantages that: compared with the prior art, the utility model has the advantages of: the plug seedling transplanting manipulator of the utility model has simple and reasonable structure and stable and reliable seedling taking; the manufacturing cost is low, the seedling taking rate can reach 80-100 seedlings per minute, and the efficiency is improved by 6-8 times compared with the manual seedling taking, so that the production efficiency can be improved, and the labor cost can be reduced; is suitable for severe working environment of agricultural production. In addition, the plug seedling transplanting manipulator is small in size, can simulate the action of fingers when grabbing plug seedlings, is flexible and reliable in movement track, and can adapt to grabbing of vegetable pot seedlings with different root systems.
The utility model discloses automatic transplanting device has utilized getting seedling reliable and stable of plug seedling transplanting manipulator simultaneously to and plug positioning platform's reliable positioning, with plug seedling transplanting manipulator and plug positioning platform use of forming a complete set each other, can satisfy the interval of different plug structures, cave check, get seedling efficiency and get the requirement of seedling side by side, reliability and flexibility are higher, and the small-size peasant household of centering all is suitable for.
Drawings
Fig. 1 is a schematic structural view of the plug seedling transplanting manipulator of the present invention.
Fig. 2 is a schematic structural view of the automatic transplanting device of the present invention.
Fig. 3 is a schematic structural view of the middle disc positioning platform of the present invention.
Fig. 4 is the wiring diagram of the PLC control circuit of the present invention.
Detailed Description
To better illustrate the objects and advantages of the present invention, the following description is provided in conjunction with the accompanying drawings and the embodiments.
As shown in fig. 1 to 4, a plug seedling transplanting manipulator includes a manipulator, a vertical lifting mechanism, a rotating mechanism, a telescopic mechanism, and a PLC controller; the lifting mechanism is connected with the rotating mechanism and the top end of the telescopic mechanism, and the manipulator is installed at the bottom end of the telescopic mechanism; the lifting mechanism, the rotating mechanism and the telescopic mechanism are in signal connection with the PLC; an included angle is formed between the telescopic mechanism and the rotating mechanism. Wherein,
the vertical lifting mechanism comprises a vertical lifting cylinder 1, an upright post 2 and a connecting plate, wherein the vertical lifting cylinder 1 is connected with the bottom end of the upright post 2, and the connecting plate is arranged at the top end of the upright post 2; the connecting plate is connected with the rotating mechanism. Therefore, the upright post 2 can move up and down along with the lifting cylinder 1 and simultaneously drive the connecting plate to move up and down, so that the rotating mechanism above the connecting plate is driven to move up and down; the structure of the upright column 2 and the connecting plate is adopted, so that the stability and the movement rigidity of the manipulator in the movement process can be ensured.
The rotating mechanism comprises a rotating cylinder 3 and a boss, the boss is arranged on the upper surface of the connecting plate, and the rotating cylinder 3 is arranged on the boss and can rotate on the boss during working. A connecting element 7 is arranged on the upper surface of the rotary cylinder 3, and the telescopic cylinder 4 is connected with the rotary cylinder 3 through the connecting element 7.
The telescopic mechanism is a telescopic cylinder 4.
The telescopic cylinder 4 is responsible for the telescopic propulsion action of the seedling taking needle 5 to complete the grabbing of the pot seedlings in the plug tray; the lifting mechanism completes the lifting action of the manipulator in the vertical direction under the pushing of the lifting cylinder 1; the rotating mechanism completes the rotating and positioning actions from the seedling taking point to the seedling throwing point under the action of the rotating cylinder 3, and the rotating angle is 90 degrees.
The manipulator includes two and gets seedling needles 5 and shell body 6, and shell body 6 is the rectangle casing that is formed by four aluminum alloy plate connections, mainly plays fixed seedling needle of getting, moves back the seedling and throws the seedling effect. The rectangular hole at the bottom of the outer shell 6 can ensure that the pot seedlings can smoothly fall down to complete the seedling throwing action. One end of the seedling taking needle 5 is connected with the telescopic cylinder 4, and the other end of the seedling taking needle 5 extends out of or retracts into the outer shell 6 along the axial direction of the outer shell 6. In order to adjust the angle of the seedling taking needle, a seedling taking needle adjuster is arranged inside the outer shell 6.
An included angle of 30-60 degrees is formed between the central axis of the telescopic cylinder 4 and the central axis of the rotating mechanism. Two seedling-taking needles 5 stretch out under the promotion of cylinder and insert the seedling alms bowl such angle with the direction of 30~60 and can guarantee that the alms bowl seedling does not slide with alms bowl seedling centre gripping, such design simple structure is compact, has improved the adaptability that the manipulator snatched, snatchs efficiently to different alms bowl seedlings, does not hinder the seedling.
An automatic transplanting device comprises the plug seedling transplanting manipulator and a plug positioning platform, wherein the plug positioning platform comprises a movable platform body 14.
The movable platform body 14 is a two-dimensional positioning platform and comprises a driving device, a transmission chain, a transverse support 8, a longitudinal support 9 and a bracket 12, wherein the bracket 12 is provided with a plug 13; when the seedlings are taken, the manipulator in the plug seedling transplanting manipulator is inserted into the plug 13.
A transverse sliding rail 10 arranged along the axial direction of the transverse bracket 8 is arranged on the transverse bracket 8, a first sliding block is arranged on the longitudinal bracket 9, and the longitudinal bracket 9 is arranged on the transverse sliding rail 10 through the first sliding block; a longitudinal sliding rail 11 arranged along the axial direction of the longitudinal support 9 is arranged on the longitudinal support 9, a second sliding block is arranged on the bracket 12, and the bracket 12 is arranged on the longitudinal sliding rail through the second sliding block; the first sliding block and the second sliding block are connected with a driving device through a transmission chain. The driving device is small in size, light in weight and provided with a servo motor. Two transmission chains are provided and are both ball screws; each ball screw is provided with a nut; it is a moving mechanism which converts the power of a servo motor into a slide block.
The working principle of the movable platform body is as follows: the output of the motor is reduced by the planetary gear and then drives the ball screw to rotate, and the rotary motion is changed into the linear motion of the nut on the ball screw. The first sliding block and the second sliding block correspond to one ball screw respectively, and the first sliding block and the second sliding block are fixedly connected with corresponding nuts respectively, so that the sliding blocks on the two sliding rails are driven to move. The transverse slide rail 10 and the longitudinal slide rail 11 form a cross guide rail, and the guide device is used for realizing the linear motion track of a given slide block and has higher transmission precision and reliability.
The working process of the plug seedling transplanting manipulator is as follows: firstly, the manipulator moves in a feeding way, namely, the manipulator moves from an initial point to a seedling taking point, the movement process comprises lifting movement and horizontal movement, and the distances of the lifting movement and the horizontal movement are controlled according to the size of the plug seedlings. The manipulator moves to a seedling taking point and keeps a proper seedling taking posture, then two seedling taking needles 5 of the manipulator extend out of the outer shell 6 under the pushing of the telescopic cylinder 4 and are inserted into the plug tray in a 30-60-degree direction to take pot seedlings, then the manipulator rises to a certain height under the action of the lifting cylinder 1 to enable the pot seedlings to be separated from the plug tray, then the manipulator rotates 90 degrees clockwise under the action of the rotary cylinder 3, namely the manipulator moves from the seedling taking point to the seedling throwing point, two mechanical fingers of the manipulator return at the seedling throwing point, the pot seedlings are separated from the mechanical fingers after being blocked by the outer shell 6 and enter the seedling guide pipe under the action of the gravity of the plug seedlings, and one-time seedling taking cycle is completed. When the manipulator moves to the seedling taking point again, the manipulator rotates 90 degrees anticlockwise under the action of the rotary cylinder 3, the plug seedlings move forward one plug seedling under the action of the two-dimensional positioning platform, and the manipulator finishes taking the seedling again and returns to the starting point. The manipulator and the plug positioning platform are matched to finish the seedling taking and throwing actions of the whole plug in sequence. Considering the structure of the plug tray, the space between adjacent plug trays and the difference of plug seedling sizes, the finger part of the needle-prick seedling-taking mechanical can be adjusted and replaced in time according to the size of the pot seedling, the seedling taking is stable, and the root is not easy to be injured.
The lifting mechanism, the rotating mechanism and the telescopic mechanism in the utility model all work by corresponding cylinders, and the pneumatic transmission has the advantages that higher movement speed can be obtained without an acceleration mechanism, which is just one of the main performances of a simple manipulator; the air source is convenient, and air leakage is harmless, so that the requirement on the pipeline is low, and the device is suitable for severe environments such as explosive environment, inflammable environment and the like; the structure is simple, and the maintenance cost is low; the horizontal cylinder and the lifting cylinder 1 can be made into a part of the arm, and the structure is simple and the rigidity is good.
In the utility model, the PLC controller sends out corresponding motion signals to the corresponding lifting mechanism, the rotating mechanism and the telescopic mechanism; the method specifically comprises the following steps:
the PLC is adopted to control the pneumatic actuating mechanism to complete the action, and simultaneously, the PLC sends an instruction to the actuating mechanism according to the information of a control system of the PLC, and the positioning of the manipulator is realized through the travel switch. The automatic control device ensures that the seedling taking needle 5 can be accurately thrown into the seed hole of the hole tray, and ensures the accurate clamping of the seedling.
All actions of the manipulator are completed pneumatically, and the lifting cylinder 1 and the rotating cylinder 3 are controlled to move respectively by adopting a three-position five-way electromagnetic valve to ascend, descend, turn left and turn right. The seedling taking and throwing of the manipulator are completed by controlling the horizontal cylinder to move by the electromagnetic valve. The conversion of each action of the manipulator is controlled by a limit switch, and the limit switch limits the actions of descending, ascending, turning right, turning left and the like of the manipulator and gives a signal of the in-place action. The conversion of the seedling taking and throwing actions of the mechanical finger part is controlled by a time relay.
The working requirements are as follows:
1. the action sequence is as follows: turning left by 90 degrees, descending, taking seedlings, ascending, turning right by 90 degrees and throwing the seedlings; the left turning and the right turning are completed by a 90-degree rotating cylinder 3, the ascending and descending are completed by a lifting cylinder 1, and the seedling taking and throwing are completed by a telescopic cylinder 4;
2. time interval: the time interval is a bit longer, and is shortened after debugging;
3. the conversion of each action of the manipulator is controlled by a limit switch;
4. stop and reset a stop: infinite loop after program start, and b, emergency stop after program continues to finish a loop: after the emergency stop, the system stops immediately and then completes the cycle according to the reset.
When the rotary switch is switched to a manual state, the corresponding relay is controlled through the switch SA so as to control the corresponding air cylinder to achieve the required action. SA1 is a switch for controlling the vertical lift cylinder 1, SA2 is a switch for controlling the revolving cylinder 3, and SA3 is a switch for controlling the telescopic cylinder 4. The switch SA1 is pressed, the vertical lifting cylinder 1 descends, the switch SA2 is pressed, the rotary cylinder 3 rotates leftwards by 90 degrees, the switch SA3 is pressed, and the telescopic cylinder 4 extends out.
When the rotary switch is turned to an automatic state, a starting button SB1 is pressed, and the PLC controller controls the relay to act; pressing a stop button SB2 to stop the manipulator at the current working state; the reset button SB3 is pressed and the robot returns to the set initial operating position.

Claims (8)

1. The utility model provides a plug seedling transplanting manipulator which characterized in that: the manipulator, the vertical lifting mechanism, the rotating mechanism, the telescopic mechanism and the PLC are included; the lifting mechanism is connected with the rotating mechanism and the top end of the telescopic mechanism, and the manipulator is installed at the bottom end of the telescopic mechanism; the lifting mechanism, the rotating mechanism and the telescopic mechanism are in signal connection with the PLC; an included angle is formed between the telescopic mechanism and the rotating mechanism.
2. The plug seedling transplanting manipulator as claimed in claim 1, wherein: the vertical lifting mechanism comprises a vertical lifting cylinder, an upright post and a connecting plate, the vertical lifting cylinder is connected with the bottom end of the upright post, and the connecting plate is arranged at the top end of the upright post; the connecting plate is connected with the rotating mechanism.
3. The plug seedling transplanting manipulator as claimed in claim 1, wherein: the rotary mechanism comprises a rotary cylinder and a boss, the boss is connected with the vertical lifting mechanism, and the rotary cylinder is arranged on the boss and rotates on the boss.
4. The plug seedling transplanting manipulator as claimed in claim 1, wherein: the manipulator comprises a seedling taking needle and an outer shell, one end of the seedling taking needle is connected with the telescopic mechanism, and the other end of the seedling taking needle extends out of or retracts into the outer shell along the axial direction of the outer shell; the top of the outer shell is connected with the telescopic mechanism.
5. The plug seedling transplanting manipulator as claimed in claim 1, wherein: an included angle of 30-60 degrees is formed between the central axis of the telescopic mechanism and the central axis of the rotating mechanism.
6. An automatic transplanting apparatus made by using the mechanical hand for plug seedling transplanting of any one of claims 1 to 5, wherein: the plug seedling transplanting manipulator and the plug positioning platform are included, the plug positioning platform comprises a movable platform body, and a plug is arranged on the platform body; when the seedlings are taken, the manipulator in the plug seedling transplanting manipulator is inserted into the plug.
7. The automated transplanting apparatus of claim 6, wherein: the movable platform body comprises a driving device, a transmission chain, a transverse support, a longitudinal support and a bracket, wherein a transverse sliding rail is arranged on the transverse support along the axial direction of the transverse support, the longitudinal support is provided with a first sliding block, and the longitudinal support is arranged on the transverse sliding rail through the first sliding block; the longitudinal support is provided with a longitudinal slide rail axially arranged along the longitudinal support, the bracket is provided with a second slide block, and the bracket is arranged on the longitudinal slide rail through the second slide block; the first sliding block and the second sliding block are connected with a driving device through transmission chains.
8. The automated transplanting apparatus of claim 7, wherein: the driving device is a servo motor.
CN201420186115.XU 2014-04-16 2014-04-16 Plug seedling transplanting mechanical arm Expired - Lifetime CN203801257U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103975676A (en) * 2014-04-16 2014-08-13 江苏农林职业技术学院 Plug seedling transplantation mechanical hand
CN104808573A (en) * 2015-04-21 2015-07-29 西北农林科技大学 Control system of transplanting machine
CN106182022A (en) * 2016-07-06 2016-12-07 徐子桐 A kind of vegetable rotary-cut is gathered robot
CN107259715A (en) * 2017-06-22 2017-10-20 泉州佰桀智能制鞋设备研究院有限公司 It is a kind of to be used to orient the manipulator and its working method of placing sole
CN110421555A (en) * 2019-07-31 2019-11-08 太原理工大学 A kind of four-degree-of-freedom crawl robot based on Electrical hydrostatic actuator driving unit
CN112262685A (en) * 2020-11-17 2021-01-26 西北农林科技大学 Automatic greenhouse pot seedling transplanting system for industrial seedling raising
CN113728773A (en) * 2021-09-07 2021-12-03 中国农业科学院蔬菜花卉研究所 Handheld seedling taking device with adjustable finger spacing

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103975676A (en) * 2014-04-16 2014-08-13 江苏农林职业技术学院 Plug seedling transplantation mechanical hand
CN103975676B (en) * 2014-04-16 2016-08-24 江苏农林职业技术学院 Plug seedling transplanting mechanical arm
CN104808573A (en) * 2015-04-21 2015-07-29 西北农林科技大学 Control system of transplanting machine
CN104808573B (en) * 2015-04-21 2018-03-16 西北农林科技大学 A kind of transplanter control system
CN106182022A (en) * 2016-07-06 2016-12-07 徐子桐 A kind of vegetable rotary-cut is gathered robot
CN106182022B (en) * 2016-07-06 2018-08-14 蒙城县京徽蒙农业科技发展有限公司 A kind of vegetables rotary-cut harvesting robot
CN107259715A (en) * 2017-06-22 2017-10-20 泉州佰桀智能制鞋设备研究院有限公司 It is a kind of to be used to orient the manipulator and its working method of placing sole
CN110421555A (en) * 2019-07-31 2019-11-08 太原理工大学 A kind of four-degree-of-freedom crawl robot based on Electrical hydrostatic actuator driving unit
CN110421555B (en) * 2019-07-31 2022-04-01 太原理工大学 Four-degree-of-freedom grabbing robot based on driving unit of electro-hydrostatic actuator
CN112262685A (en) * 2020-11-17 2021-01-26 西北农林科技大学 Automatic greenhouse pot seedling transplanting system for industrial seedling raising
CN113728773A (en) * 2021-09-07 2021-12-03 中国农业科学院蔬菜花卉研究所 Handheld seedling taking device with adjustable finger spacing

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Granted publication date: 20140903

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