CN204681997U - Plug seedling transplanting and separating machine - Google Patents
Plug seedling transplanting and separating machine Download PDFInfo
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- CN204681997U CN204681997U CN201520127574.5U CN201520127574U CN204681997U CN 204681997 U CN204681997 U CN 204681997U CN 201520127574 U CN201520127574 U CN 201520127574U CN 204681997 U CN204681997 U CN 204681997U
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- slide unit
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- transplanting
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Abstract
The utility model provides a kind of Plug seedling transplanting and separating machine.Mainly comprise transplanting and separating machine structure (2) and end effector (3) two parts, transplanting and separating machine structure is primarily of M (in figure: M=2) individual ball screw slide unit, tooth bar slide rail (2-4), the compositions such as cylinder shape cylinder (2-14) and L-type dead lever (2-3).The spacing of end effector (3) is adjusted by adjustment roll ballscrew slide unit top shoe and The Cloud Terrace position, the different stroke of cylinder and the position of the upper slide unit of tooth bar slide rail (2-4), when arriving assigned address, piston on cylinder shape cylinder (2-14) stretches out, and end effector (3) starts to capture seedling.The angle that the crawl of end effector (3) and relieving are rotated by cam (3-5) determines, the different strokes of cam (3-5) make end effector (3) crawl different with the degree decontroled, spring (3-6) carries out tight constraint to end effector (3), and transplanting and separating machine moves the adjustment simultaneously can carrying out longitudinal direction and horizontal spacing in point process.
Description
Technical field
The utility model relates to a kind of Plug seedling transplanting and separating machine, is specifically related to one and can realizes getting seedling from the dish of different size cave, and coiled to low-density cave dish or the potted plant Plug seedling transplanting and separating machine carrying out shifting by high density cave by seedling.
Background technology
At present, the technology that developed countries relies on and fund advantage develop a lot of high-precision potted tray seedling transplanter, and domestic transplanting operation remains intensive operation, and not yet find to carry out simultaneously horizontal clump to so that transplanting and separating machine to whole plug transplantation.The transplanter that developed countries has been developed, dish automatic transplanter in cave when Pic-O-Mat PC-21 type as dutch company is civilian, the UT-2 type transplanter that France produces, the Ultramar transplanter that Italy produces, CKH-6A and the CKB-4A circle KTI-dish clip grafting device of former Soviet Union's development, the Dzchc-Dip transplanter of Japanese A-500 Kubo field transplanter, I-70 Northeast transplanter, the large discipline transplanter of V-500 and TP-1 beans tiger transplanter and the U.S..Along with rural laborer's shortage and the labour cost that increases day by day, domestic plantation family particularly factory farming to seedling replanting machineryization, automation to such an extent as to unmanned serious hope is more and more obvious.
Within 2014, China's arable area is 13538.5 ten thousand hectares, and wherein vegetables account for 60%, and flower planting area is about 1,120,000 hectares, and the main planting patterns of the two is artificial transplanting, and not only labour intensity is large, and operation quality is difficult to ensure.In recent years, along with the progress of modern science and technology and the development of modern agriculture with high efficiency, agricultural production develops towards high efficiency and high-precision mechanization, automation direction.Due to the reason of the aspects such as history, idea and technology, there are very large gap in China's traditional farming and developed country, and from the external transplanter introduced, it is expensive, the reasons such as maintenance, maintenance inconvenience become a key factor of restriction China agricultural machinery development.At present, what transplanter employed both at home and abroad adopted is that single single mode of transplanting carries out Plug seedling transplanting, this transplanting method can not adjust line-spacing and the spacing in the rows of seedling while transplanting, and therefore needs the Plug seedling transplanting and separating machine designing a kind of simple efficient, dependable performance, with low cost adjustable seedling spacing.
Utility model content
For solving problems such as adjusting between seedling line-spacing and spacing in the rows, the purpose of this utility model is to provide that a kind of structure is simple, the Plug seedling transplanting and separating machine of dependable performance is for the adjustment of the spacing between seedling.
The utility model is achieved through the following technical solutions: transplanting and separating machine forms primarily of transplanting and separating machine structure 2 and end effector 3.Transplanting and separating machine structure: the two ends of ball screw slide unit 2-1 are fixed on support 1, screw mandrel one end of ball screw slide unit 2-1 is coaxially fixedly connected with a stepper motor, ball screw slide unit 2-1 there are two moveable The Cloud Terrace 2-2, screw mandrel threaded engagement on The Cloud Terrace 2-2 and ball screw slide unit 2-1, The Cloud Terrace 2-2 can move horizontally along with the rotation of screw mandrel, and in the process of movement, keep same distance between two The Cloud Terrace 2-2, two identical back sides, L-type dead lever 2-3 upper end are fixedly connected with the side of two The Cloud Terrace 2-2 respectively, the lower end of two L-type dead lever 2-3 is fixedly connected with the upper surface of tooth bar slide rail 2-4, the side of tooth bar slide rail 2-4 has a spur gear, on tooth bar slide rail 2-4, cover has M (in figure: the M=2) slide unit that individual structure is identical, the upper end of the electric motor protecting case 2-5 that this M slide unit lower surface is identical with M is respectively fixedly connected with, the rear end thin-walled central authorities of each electric motor protecting case 2-5 are provided with a manhole, there is M stepper motor 2-6, wherein the motor shaft of each motor is each passed through the manhole on an electric motor protecting case 2-5 and coaxially fixes with gear 2-17, wherein M gear 2-17 engages each other with tooth bar simultaneously.The lower end of M electric motor protecting case 2-5 is fixedly connected with M ball screw slide unit (in figure: ball screw slide unit 2-7 with 2-11) upper center respectively; ball screw slide unit 2-7 is coaxially fixedly connected with a stepper motor respectively with screw mandrel one end of ball screw slide unit 2-11, ball screw slide unit 2-7 and ball screw slide unit 2-11 is socketed with respectively N-1 (in figure: N=3) individual slide block (in figure: slide block 2-7, slide block 2-16 on the slide block 2-8 on ball screw slide unit 2-7, slide block 2-15 and ball screw slide unit 2-11).Wherein, slide block 2-16 and slide block 2-8 engages each other with the screw mandrel on ball screw slide unit 2-11 and ball screw slide unit 2-7 respectively, other be non-meshing blocks (in figure: slide block 2-12 and slide block 2-15).One end of connector (2-9) is circular configuration, and the other end is square structure.End, the slide block 2-8 of ball screw slide unit 2-7 are fixedly connected with N number of connector 2-9 rounded end surfaces respectively with the lower surface of slide block 2-15, end, the slide block 2-12 of ball screw slide unit 2-11 are fixedly connected with N number of connector 2-9 square end surface respectively with the lower surface of slide block 2-16, rhombus constraint chunk 2-10 is socketed on connector 2-9 central cylindrical, and near square end chain connection, the lower end of 2N connector 2-9 is fixedly connected with the upper surface of 2N cylinder fixture 2-13 respectively.Wherein, there is a groove lower end of cylinder fixture 2-13, and there is a manhole side, and the cylinder head portions of 2N cylinder shape cylinder 2-14 extend into respectively in the groove of 2N cylinder fixture 2-13 and is also fixedly connected with bolt and nut from the side.The upper end of motor fixed case 3-1 offers a manhole, and the pistons end of cylinder shape cylinder 2-14 is fixedly connected with motor fixed case 3-1 upper end.End effector: the lower surface of motor fixed case 3-1 is fixedly connected with the upper surface of well word platform 3-3, the lower surface central authorities of motor fixed case 3-1 are provided with a manhole, the central authorities of well word platform 3-3 are provided with the manhole of a same diameter, stepper motor 3-2 is fixed in motor fixed case 3-1, wherein stepper motor 3-2 motor shaft through motor fixed case 3-1 and well word platform 3-3 manhole and be coaxially fixedly connected with power transmission shaft 3-7, and power transmission shaft 3-7 and motor shaft can not be relatively rotated, the lower end of power transmission shaft 3-7 is fixedly connected with the upper surface of cam 3-5, the each direction of four direction of well word platform 3-3 to be respectively provided with manhole and a pair lug of certain interval is left in centre, between the gap that the upper end of four mechanical finger 3-4 is positioned over two lugs in a direction respectively and chain connection, there is a groove at the middle part of mechanical finger 3-4, spring 3-6 is fixing between the grooves, groove upper end is fixed with miniature bearing, and form higher pair with cam (3-5) and contact.Wherein, M, N are arbitrarily positive integer.
According to (i.e. M=2 shown in figure, N=3) structure sets forth transplanting and separating machine original state: the The Cloud Terrace on ball screw slide unit and slide block all shift to one end of ball screw slide unit, slide unit on tooth bar slide rail 2-4 concentrates on one end, cylinder shape cylinder 2-14 is in contraction state, and cam 3-5 is in the most weakness of stroke stroke.Now, the spacing between the end effector 3 of transplanting and separating machine is minimum, and end effector 3 is in seized condition.When getting seedling from cave dish, the piston of cylinder shape cylinder 2-14 starts to stretch out, and cam 3-5 turns over 90 °, end effector 3 opens, and when end effector 3 extend in the dish of cave after certain distance, cam 3-5 turns over 90 °, end effector 3 grabs seedling, and cylinder shape cylinder 2-14 starts to shrink.Now, two The Cloud Terrace 2-2 on ball screw slide unit 2-1 start to move to the other end, tooth bar slide rail 2-4 starts the horizontal spacing adjusting end effector 3, ball screw slide unit 2-7 and ball screw slide unit 2-11 starts to adjust the longitudinal pitch between end effector 3, when the slide unit on the slide block on 3 ball screw slide units and The Cloud Terrace and tooth bar slide rail 2-4 arrives assigned address, cylinder shape cylinder 2-14 starts to decline, seedling is put in different potted plant of spacing, cam 3-5 turns over 90 °, end effector 3 unclamps, seedling put into potted plant in, cylinder shape cylinder 2-14 rises, repeat this action, what can complete transplanting and separating machine moves a point job.
The beneficial effects of the utility model are: structure is simple, are easy to operation, dependable performance, the cave dish of different size and transplanter can be coordinated to use according to actual conditions.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is the utility model transplanting and separating machine structure and end effector structures schematic diagram.
Fig. 3 is the utility model transplanting and separating machine structure structural representation.
Fig. 4 is the utility model end effector structures schematic diagram.
Fig. 5 is the utility model connector and rhombus constraint chunk hinge engaging structure schematic diagram.
Fig. 6 is the utility model tooth bar slide rail, electric motor protecting case and gear integrated structure schematic diagram.
Fig. 7 is utility model works flow chart.
In figure: support 1; transplanting and separating machine structure 2: ball screw slide unit 2-1, The Cloud Terrace 2-2, L-type dead lever 2-3, tooth bar slide rail 2-4, electric motor protecting case 2-5, stepper motor 2-6, ball screw slide unit 2-7, slide block 2-8, connector 2-9, rhombus constraint chunk 2-10, ball screw slide unit 2-11, slide block 2-12, cylinder fixture 2-13, cylinder shape cylinder 2-14, slide block 2-15, slide block 2-16, gear 2-17; end effector: motor fixed case 3-1; stepper motor 3-2; well word platform 3-3; mechanical finger 3-4; cam 3-5; spring 3-6, power transmission shaft 3-7.
Specific embodiments
See Fig. 1, transplanting and separating machine forms primarily of two parts: support 1, transplanting and separating machine structure 2 and end effector 3.
See Fig. 1, transplanting and separating machine chief component is: support 1, transplanting and separating machine structure 2 and end effector 3.Transplanting and separating machine structure: the two ends of ball screw slide unit 2-1 are fixed on support 1, one end of ball screw slide unit 2-1 upper screw rod is coaxially fixedly connected with a stepper motor, ball screw slide unit 2-1 is socketed with two removable The Cloud Terrace 2-2, The Cloud Terrace 2-2 engages with the mutual spiral of screw mandrel, and the spacing of two The Cloud Terrace 2-2 is consistent in moving process.The back side, upper end of two L-type dead lever 2-3 is fixedly connected with two The Cloud Terrace 2-2 respectively, the lower end of two L-type dead lever 2-3 is fixedly connected with the upper surface of tooth bar slide rail 2-4, tooth bar slide rail 2-4 is socketed with the individual identical slide unit of M (in figure M=2), the lower surface of M slide unit is fixedly connected with M ball screw slide unit (in figure: ball screw slide unit 2-7 and ball screw slide unit 2-11) upper surface middle part respectively.The end of ball screw slide unit 2-7 and N-1 slide block are (in figure: N--3, i.e. slide block 2-8 and slide block 2-15) lower surface be fixedly connected with N connector 2-9 rounded end surfaces respectively, the end of ball screw slide unit 2-11 is fixedly connected with N number of connector 2-9 square end surface respectively with the lower surface of N-1 slide block (in figure: slide block 2-12 and slide block 2-16), rhombus constraint chunk 2-10 is socketed on the central cylindrical of connector 2-9, and near square end chain connection, the other end of 2N connector 2-9 is fixedly connected with the upper end of 2N cylinder fixture 2-13 respectively, wherein the side opening of cylinder fixture 2-13 is provided with a manhole, cylinder fixture 2-13 lower end is provided with groove, the cylinder ends of cylindrical cylinder 2-14 is provided with a manhole, this end with manhole to be inserted in the groove of cylinder fixture 2-13 and to be fixed with the manhole of screw rod through its side.The upper surface of motor fixed case 3-1 is provided with a manhole, and the pistons end of cylinder shape cylinder 2-14 to extend in the manhole of motor fixed case 3-1 upper surface and fixes with nut.End effector 3 is driven by stepper motor 3-2, the lower end central authorities of motor fixed case 3-1 are provided with a manhole, well word platform 3-3 central authorities are provided with the identical manhole of a diameter, the lower surface of motor fixed case 3-1 is fixedly connected with the upper surface of well word platform 3-3, stepper motor 3-2 is fixed within motor fixed case 3-1, and can ensure through the manhole on motor fixed case 3-1 and well word platform 3-3, motor shaft on stepper motor 3-2 can ensure that stepper motor 3-2 can not stall, motor shaft is coaxially fixedly connected with power transmission shaft 3-7, must ensure that power transmission shaft 3-7 and motor shaft can not relatively rotate, the lower end of power transmission shaft 3-7 is fixedly connected with the upper surface of cam 3-5, the each direction of four direction on well word platform 3-3 is provided with two a pair lugs with manhole, certain gap is left between two lugs on each direction, the upper end of mechanical finger 3-4 is provided with a manhole, by the upper ends of mechanical finger 3-4 between two lugs and by screw rod and nut chain connection, the middle part of mechanical finger 3-4 is provided with a groove, spring 3-6 is positioned in groove also fixing, groove upper end is fixed with miniature bearing, and form higher pair with cam (3-5) and contact.(by M=2 in figure during work, N=3 mode carries out moving point), transplanting and separating machine structure is in initial end: the slide block on ball screw slide unit and The Cloud Terrace are all in one end of ball screw slide unit, slide unit on tooth bar slide rail 2-4 concentrates on one end, piston on cylinder shape cylinder 2-14 is in shortest route place, end effector 3 spacing now on transplanting and separating machine is consistent with Plug seedling spacing, when capturing seedling, piston on cylinder shape cylinder 2-14 stretches out, end effector 3 reaches the work capturing and decontrol seedling by cam 3-5 half-twist, spring 3-6 constrains four mechanical finger 3-4 always and is in tight state, when dropping to certain altitude, end effector 3 closes, capture seedling, piston retraction on cylinder shape cylinder 2-14 is to shortest route place, then the slide block on ball screw slide unit and The Cloud Terrace start mobile simultaneously, the spacing of end effector 3 is changed, when reaching required cave dish of transplanting or potted plant line-spacing and spacing in the rows, the piston of cylinder shape cylinder 2-14 starts to stretch out, end effector 3 starts to decline, seedling is decontroled when reaching certain position, complete transplanting task.
Claims (2)
1. a Plug seedling transplanting and separating machine, comprise frame (1), transplanting and separating machine structure (2), end effector (3), transplanting and separating machine structure (2) is arranged in frame (1), end effector (3) is arranged on transplanting and separating machine structure (2) lower end, it is characterized in that:
In transplanting and separating machine structure (2), the side of ball screw slide unit (2-1) is fixed on frame (1) upper surface crossbeam, the screw mandrel right-hand member of ball screw slide unit (2-1) is coaxially fixedly connected with stepper motor, ball screw slide unit (2-1) is socketed with the removable The Cloud Terrace (2-2) of two identical maintenance certain distances, The Cloud Terrace (2-2) forms spiral with the screw mandrel of ball screw slide unit (2-1) and is connected, the back side, upper end of two L-type fixed bars (2-3) is fixedly connected with two The Cloud Terraces (2-2) side respectively, the lower end of two L-type fixed bars (2-3) is fixedly connected with the upper surface of tooth bar slide rail (2-4), the lower surface of upper 2 slide units of tooth bar slide rail (2-4) is fixedly connected with the upper surface of identical 2 electric motor protecting casees (2-5) respectively, the rear surface thin-walled central authorities of 2 electric motor protecting casees (2-5) are all provided with a manhole, the motor shaft of two identical stepper motors (2-6) is each passed through one of them electric motor protecting case (2-5) rear surface manhole and is coaxially fixedly connected with gear (2-17), 2 identical gears (2-17) engage each other with the tooth bar on tooth bar slide rail (2-4) simultaneously, the lower surface of 2 electric motor protecting casees (2-5) is fixedly connected with the upper surface of (2-11) with ball screw slide unit (2-7) respectively, wherein ball screw slide unit (2-7) is coaxially fixedly connected with a stepper motor respectively with the screw mandrel one end on ball screw slide unit (2-11), one end of connector (2-9) is circular configuration, the other end is square structure, ball screw slide unit (2-7) is away from motor side lower surface and slide block (2-8), slide block (2-15) lower surface is fixedly connected with 3 connectors (2-9) rounded end surfaces respectively, ball screw slide unit (2-11) is away from motor side lower surface and slide block (2-12), slide block (2-16) lower surface is fixedly connected with 3 connectors (2-9) square end surface respectively, connecting rod two ends and the middle part of rhombus constraint chunk (2-10) are provided with manhole and are socketed on the intermediate cylindrical of connector (2-9), and position is near square end chain connection, wherein slide block (2-16) and the slide block (2-8) near motor side engages with screw mandrel spiral, other slide blocks are non-meshing blocks, 3 connectors (2-9) rounded end surfaces on ball screw slide unit (2-11) is fixedly connected with the upper surface of 6 cylinder fixtures (2-13) respectively with upper 3 connectors of ball screw slide unit (2-7) (2-9) square end surface, the lower surface of each cylinder fixture (2-13) offers a groove, side opening is provided with a manhole, the cylinder ends of 6 identical column type cylinders (2-14) stretches into respectively in the groove of 6 cylinder fixtures (2-13) and is fixedly connected with, the upper end of each motor fixed case (3-1) offers a manhole, the piston of 6 column type cylinders (2-14) is fixedly connected with 6 motor fixed cases (3-1) upper surface respectively, when transplanting and separating machine is expanded, for preventing collision, the lower end of same ball screw slide unit is connected with round nose or the square end of connector (2-9)Two adjacent ball screw slide units are fixedly connected with the difform end face of lower connecting member (2-9), the lower surface of motor fixed case (3-1) is fixedly connected with well word platform (3-3) upper surface, the center of motor fixed case (3-1) lower surface and well word platform (3-3) is equipped with a manhole, the motor shaft of stepper motor (3-2) through motor fixed case (3-1) with the manhole of well word platform (3-3) and be coaxially connected with power transmission shaft (3-7), the lower end of power transmission shaft (3-7) is fixedly connected with the upper surface of cam (3-5), the each direction of four direction of well word platform (3-3) is equipped with a pair of lug, the upper end of four mechanical fingers (3-4) respectively with four pairs of lug chain connections, the middle part of mechanical finger (3-4) is provided with a groove, groove internal fixtion has spring (3-6), groove upper end on mechanical finger (3-4) is fixed with a miniature bearing, miniature bearing outer surface and cam (3-5) outer surface contacts with each other.
2. Plug seedling transplanting and separating machine according to claim 1, it is characterized in that line-spacing spacing in the rows regulates, transplanting and separating machine transversely can increase without meshing blocks number according to actual conditions on each ball screw slide unit, in longitudinal direction, the slide unit number increased on tooth bar slide rail (2-4) increases the number of end effector (3), the cave dish meeting different laterally longitudinal caves dish number carries out moving a point job, wherein non-meshing blocks needs to be increased between ball screw slide unit end (away from stepper motor end) and meshing blocks, and retrain chunk (2-10) with rhombus to retrain, ensure, between end effector (3), there is identical spacing, adjustment while ensureing to realize transplanting and separating machine vertical and horizontal spacing in the process that Plug seedling moves point, moving in point course of work, slide unit on slide block on transplanting and separating machine structure (2) each ball screw slide unit upper and The Cloud Terrace and tooth bar slide rail (2-4) moves to one end, end effector (3) is made to be suspended in directly over the seedling of needs crawl, after cylinder declines and end effector (3) captures seedling, cylinder starts to rise, slide unit on slide block on each ball screw slide unit and The Cloud Terrace and tooth bar slide rail (2-4) starts mobile simultaneously, time directly over moving to other end cave dish or be potted plant, the spacing of end effector (3) coil with the cave of putting or potted plant spacing identical, cylinder declines and places seedling, complete transplanting work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520127574.5U CN204681997U (en) | 2015-03-05 | 2015-03-05 | Plug seedling transplanting and separating machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520127574.5U CN204681997U (en) | 2015-03-05 | 2015-03-05 | Plug seedling transplanting and separating machine |
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| CN204681997U true CN204681997U (en) | 2015-10-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520127574.5U Expired - Fee Related CN204681997U (en) | 2015-03-05 | 2015-03-05 | Plug seedling transplanting and separating machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104770120A (en) * | 2015-03-05 | 2015-07-15 | 中国计量学院 | Plug seedling transferring and separating machine |
| CN107371512A (en) * | 2016-01-19 | 2017-11-24 | 黄志凌 | A kind of laboratory seedling is from turn cultivating method |
| CN107820801A (en) * | 2017-11-09 | 2018-03-23 | 同济大学 | A kind of automation plant feed unit of adjustable multirow transplanting spacing |
| CN108617206A (en) * | 2018-03-28 | 2018-10-09 | 浙江大学 | A kind of cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings |
| CN110992774A (en) * | 2019-12-20 | 2020-04-10 | 德州职业技术学院（德州市技师学院） | Teaching aid suitable for preschool infant music education |
| CN112166884A (en) * | 2020-10-10 | 2021-01-05 | 湖南生物机电职业技术学院 | Automatic transplanter of flowers seedling |
-
2015
- 2015-03-05 CN CN201520127574.5U patent/CN204681997U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104770120A (en) * | 2015-03-05 | 2015-07-15 | 中国计量学院 | Plug seedling transferring and separating machine |
| CN107371512A (en) * | 2016-01-19 | 2017-11-24 | 黄志凌 | A kind of laboratory seedling is from turn cultivating method |
| CN107820801A (en) * | 2017-11-09 | 2018-03-23 | 同济大学 | A kind of automation plant feed unit of adjustable multirow transplanting spacing |
| CN107820801B (en) * | 2017-11-09 | 2020-10-02 | 同济大学 | Automatic planting device capable of adjusting multi-row transplanting interval |
| CN108617206A (en) * | 2018-03-28 | 2018-10-09 | 浙江大学 | A kind of cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings |
| CN108617206B (en) * | 2018-03-28 | 2023-09-22 | 浙江大学 | Seedling supplementing end effector for cotyledon-stage vegetable pot seedlings and seedling supplementing method thereof |
| CN110992774A (en) * | 2019-12-20 | 2020-04-10 | 德州职业技术学院（德州市技师学院） | Teaching aid suitable for preschool infant music education |
| CN110992774B (en) * | 2019-12-20 | 2021-11-09 | 德州职业技术学院（德州市技师学院） | Teaching aid suitable for preschool infant music education |
| CN112166884A (en) * | 2020-10-10 | 2021-01-05 | 湖南生物机电职业技术学院 | Automatic transplanter of flowers seedling |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151007 Termination date: 20160305 |