CN206365250U - One kind is planted seedlings robot - Google Patents
One kind is planted seedlings robot Download PDFInfo
- Publication number
- CN206365250U CN206365250U CN201720025068.4U CN201720025068U CN206365250U CN 206365250 U CN206365250 U CN 206365250U CN 201720025068 U CN201720025068 U CN 201720025068U CN 206365250 U CN206365250 U CN 206365250U
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- seedling box
- dolly
- motor
- driving wheel
- bucket
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Abstract
Planted seedlings robot the utility model discloses one kind, including dolly, the upper surface of the back seat of the dolly is provided with storage seedling box, and the upper surface of the small dickey seats of storage seedling box rear end is provided with storage seedling box drive device, and the back seat for storing up the dolly between the biside plate of seedling box is provided with nursery stock conveyer；Support is installed with the dolly of the front end of small dickey seats, the rear end of support is installed with electric pushrod, what the lower end of electric pushrod was rotated is set with the bucket that plants seedlings, rotary sleeve is equipped with vertical ball screw on the support of electric pushrod front end, the lower end of ball screw is installed with shoveling rotation bucket, and the upper end of ball screw is installed with leading screw motor.The robot that plants seedlings of the application by nursery stock conveyer belt, plant seedlings and bucket and cut the earth and revolve the cooperation of bucket, fast and accurately nursery stock can be planted to and run into position, it is simple in construction, efficiency high, practical.
Description
Technical field
The utility model belongs to agricultural machinery technological field, relates generally to one kind and plants seedlings robot.
Background technology
In the case where Global Environmental Problems are increasingly highlighted, energy strategy is all being carried forward vigorously in countries in the world, and China is not yet
Exception, is that environment is seriously damaged, the body and mind that air pollution is seriously endangered to people is good for the material progress of height and depositing
Health.In order to meet the spiritual cultural demand that people increasingly improve, the greening for avenue, cell, court etc. seems outstanding
To be important, the people that an environment full of green can allow arduous busy one day obtain it is spiritual loosen, alleviate tired out, put
Get relaxed feelings.Green, represents life, represents and wishes.But prior art lacks the equipment dedicated for planting nursery stock, the plantation of nursery stock
Typically by being accomplished manually, waste time and energy, inefficiency.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of robot that accurately and efficiently plants seedlings.
The technical solution of the utility model is：
One kind is planted seedlings robot, including dolly, and the upper surface of the back seat of the dolly is provided with storage seedling box, and storage seedling box is by both sides
Plate and end plate composition, the front end for storing up the biside plate of seedling box are respectively equipped with pulley, and the upper surface of the back seat of dolly, which is provided with, supplies pulley
The chute of slip, the rear end face for storing up the end plate of seedling box is installed with storage seedling box fixed block；
The upper surface of small dickey seats of seedling box rear end is stored up provided with storage seedling box drive device, storage seedling box drive device includes first
Driving wheel, the first motor, rotational band, the first driven pulley, the first driving wheel are sleeved on the motor shaft of the first motor,
First driving wheel and the first driven pulley set up separately in the both sides of storage seedling box, and the first driving wheel and the first driven pulley are rotated by transmission belt
Connection, storage seedling box fixed block is fixedly connected with transmission belt；
The back seat for storing up the dolly between the biside plate of seedling box is provided with nursery stock conveyer, and nursery stock conveyer includes nursery stock
Conveyer belt, the second driving wheel, the second driven pulley, the second motor, the second motor are located at the rear end of storage seedling box, and second drives
Driving wheel is sleeved on the motor shaft of the second motor, and the second driven pulley is located at the front end of storage seedling box, the second driving wheel and second
Driven pulley is rotated by nursery stock conveyer belt and connected, fore-and-aft direction arrangement of the nursery stock conveyer belt along storage seedling box；
Support is installed with the dolly of the front end of small dickey seats, the rear end of support is installed with electric pushrod, electricity
The lower end of dynamic push rod is equipped with electric machine support, motor branch provided with vertically flexible expansion link, the lower end fixed cover of expansion link
It is installed with frame on the 3rd motor, the motor shaft of the 3rd motor and is set with the 3rd driving wheel；Under electric machine support
What is rotated on the expansion link of side is set with the bucket that plants seedlings, and the 3rd driving wheel and the bucket that plants seedlings rotate connection by the bucket rotating belt that plants seedlings；
Rotary sleeve is equipped with vertical ball screw on the support of electric pushrod front end, and the lower end of ball screw is installed with
Rotation of cutting the earth struggles against, and the upper end of ball screw is installed with leading screw motor.
Preferably, the described bucket that plants seedlings includes revolution driven pulley of the turning set on the expansion link below electric machine support
And the outer sleeve being fixedly connected with revolution driven pulley, the 3rd driving wheel and revolution driven pulley are rotated by the bucket rotating belt that plants seedlings and connected
Connect；Outer sleeve is upper and lower opening structure, and the upper surface of outer sleeve, which is installed with steering wheel, the motor shaft of steering wheel, is set with swing
Connecting rod, the inner wall sleeve of outer sleeve is equipped with inner sleeve, and inner sleeve is upper and lower opening structure, and the upper surface of inner sleeve is fixedly connected with perpendicular
To connecting rod, swing connecting bar and vertical connecting rod are connected by the first pull bar；The lower end of outer sleeve is hinged with symmetrical rotate and held in the palm
Plate, the upper end of rotating pallet is rotated by the lower surface of the second pull bar and inner sleeve to be connected.
Preferably, being provided with the idle pulley for being tensioned nursery stock conveyer belt on the back seat of described dolly.
Preferably, be also equipped with control device on dolly, described control device include processor module, camera,
Temperature humidity sensor module, ZIGBEE modules and Beidou navigation module, described camera are fixedly mounted on the front end of dolly, temperature
Moisture sensor module is arranged on the lower end of dolly, described camera, temperature humidity sensor module, ZIGBEE modules and the Big Dipper
Navigation module is set up with processor module and communicated to connect.
The beneficial effects of the utility model are：
Cooperation of the robot by nursery stock conveyer belt, plant seedlings bucket and rotation bucket of cutting the earth of planting seedlings of the application, can be quick and precisely
Nursery stock be planted to run into position, it is simple in construction, efficiency high, practical.
Brief description of the drawings
Fig. 1 is one of structural representation of the present utility model；
Fig. 2 is the two of structural representation of the present utility model；
Fig. 3 is the three of structural representation of the present utility model；
Fig. 4 is the four of structural representation of the present utility model；
Fig. 5 is the five of structural representation of the present utility model；
Fig. 6 is the A zoomed-in views in Fig. 5；
Fig. 7 is the structural representation of the bucket that plants seedlings in the utility model；
Fig. 8 is the structural representation (hiding revolution driven pulley and outer sleeve) of the bucket that plants seedlings in the utility model；
Fig. 9 is control structure block diagram of the present utility model；
In figure：1 is dolly, and 2 be storage seedling box, and 3 be storage seedling box fixed block, and 4 be the first driving wheel, and 5 be the first motor,
6 be rotational band, and 7 be the first driven pulley, and 8 be nursery stock conveyer belt, and 9 be the bucket that plants seedlings, and 10 be expansion link, and 11 be electric pushrod, and 12 are
Support, 13 be ball-screw, and 14 be leading screw motor, and 15 be rotation bucket of cutting the earth, and 16 be nursery stock, and 17 be the second driving wheel, and 18 are
Second driven pulley, 19 be the second motor, and 20 be idle pulley, and 21 be the 3rd motor, and 22 be the 3rd driving wheel, and 23 be to plant seedlings
Struggle against rotating belt.901 be revolution driven pulley, and 902 be steering wheel, and 903 be swing connecting bar, and 904 be the first pull bar, and 905 be vertical connection
Bar, 906 be outer sleeve, and 907 be inner sleeve, and 908 be rotating pallet, and 909 be supporting plate rotating shaft, and 910 be the second pull bar.
Embodiment
Embodiment one：Referring to Fig. 1-8, one kind is planted seedlings robot, including dolly 1, and the upper surface of the back seat of dolly 1 is provided with storage
Seedling box 2, storage seedling box 2 is made up of biside plate and end plate, and the front end for storing up the biside plate of seedling box 2 is respectively equipped with after pulley, dolly 1
The upper surface of seat is provided with the chute slided for pulley, and the rear end face for storing up the end plate of seedling box 2 is installed with storage seedling box fixed block 3.
The upper surface of the back seat of dolly 1 of seedling box 2 rear end is stored up provided with storage seedling box drive device, storage seedling box drive device includes the
One driving wheel 4, the first motor 5, rotational band 6, the first driven pulley 7, the first driving wheel 4 are sleeved on the first motor 5
On motor shaft, the first driving wheel 4 and the first driven pulley 7 set up separately in the both sides of storage seedling box 2, the first driving wheel 4 and the first driven pulley 7
Rotated and connected by transmission belt, storage seedling box fixed block 3 is fixedly connected with transmission belt.
The back seat for storing up the dolly 1 between the biside plate of seedling box 2 is provided with nursery stock conveyer, and nursery stock conveyer includes seedling
Wooden conveyer belt 8, the second driving wheel 17, the second driven pulley 18, the second motor 19, the second motor 19 are located at storage seedling box 2
Rear end, the second driving wheel 17 is sleeved on the motor shaft of the second motor 19, and the second driven pulley 18 is located at before storage seedling box 2
End, the second driving wheel 17 and the second driven pulley 18 are rotated by nursery stock conveyer belt 8 and connected, and nursery stock conveyer belt 8 is along storage seedling box 2
Fore-and-aft direction is arranged.Idle pulley 20 for being tensioned nursery stock conveyer belt 8 is installed on the back seat of dolly 1.
Support 12 is installed with the dolly 1 of the front end of the back seat of dolly 1, the rear end of support 12 is installed with electronic push away
Bar 11, the lower end of electric pushrod 11 is provided with vertically flexible expansion link 10, and the lower end fixed cover of expansion link 10 is equipped with electricity
It is installed with the 3rd motor 21, the motor shaft of the 3rd motor 21 and is set with machine support 12, electric machine support 12
3rd driving wheel 22.What is rotated on the expansion link 10 of the lower section of electric machine support 12 is set with the bucket 9 that plants seedlings, the 3rd driving wheel 22 and plant
Seedling bucket 9 is rotated by the bucket rotating belt 23 that plants seedlings and connected.
Rotary sleeve is equipped with vertical ball screw on the support 12 of the front end of electric pushrod 11, and peace is fixed in the lower end of ball screw
Equipped with rotation bucket 15 of cutting the earth, the upper end of ball screw is installed with leading screw motor 14.
The bucket 9 that plants seedlings includes revolution driven pulleys 901 of the turning set on the expansion link 10 of the lower section of electric machine support 12 and with returning
Turn the outer sleeve 906 that driven pulley 901 is fixedly connected, the 3rd driving wheel 22 and revolution driven pulley 901 pass through the bucket rotating belt 23 that plants seedlings
Rotate connection.Outer sleeve 906 is upper and lower opening structure, and the upper surface of outer sleeve 906 is installed with steering wheel 902, steering wheel 902
Swing connecting bar 903 is set with motor shaft, the inner wall sleeve of outer sleeve 906 is equipped with inner sleeve 907, and inner sleeve 907 is upper and lower opening
Structure, the upper surface of inner sleeve 907 is fixedly connected with vertical connecting rod 905, and swing connecting bar 903 and vertical connecting rod 905 pass through
First pull bar 904 is connected.The lower end of outer sleeve 906 is hinged with symmetrical rotating pallet 908, and the upper end of rotating pallet 908 passes through
Second pull bar 910 is rotated with the lower surface of inner sleeve 907 and is connected.
Seedling growth process：
First nursery stock 16 is placed into storage seedling box 2, dolly 1 is moved to specified location, leading screw motor 14 is connected
Power supply, the driving ball-screw 13 of leading screw motor 14 is rotated down, and soil rotary digging is gone out a hole by the rotation for rotation bucket 15 of cutting the earth,
Then, leading screw motor 14 is inverted, and ball-screw 13 drives rotation bucket 15 of cutting the earth to move up.
Then, the power supply of the first motor 5 is connected, the rotational band 6 of the first motor 5 is moved the first driving wheel 4 and rotated,
First driving wheel 4 driving rotational band 6 is rotated, and rotational band 6 drives storage seedling box fixed block 3 to move, and stores up the side plate of seedling box 2 by nursery stock
16 are moved on nursery stock conveyer belt 8.
Then, the power supply of the second motor 19 is connected, the rotational band 6 of the second motor 19 moves the second driving wheel 17,
Second driving wheel 17 drives nursery stock conveyer belt 8 to rotate, and nursery stock 16 is transferred to front end by nursery stock conveyer belt 8, and nursery stock 16, which falls into, plants seedlings
In bucket 9.
Then, the power supply of the 3rd motor 21 is connected, the 3rd driving wheel 22 drives the bucket rotating belt 23 that plants seedlings to rotate, Miao Dou
The rotating belt bucket 9 that will plant seedlings turns to the lower section of rotation bucket 15 of cutting the earth, and electric pushrod 11 is powered, and expansion link 10 downwards, plant seedlings bucket by drive
In 9 motions, the hole that the bucket 9 that plants seedlings has been dug before entering.Steering wheel 902 is rotated, and swing connecting bar 903 is to lower swing, the He of the first pull bar 904
Vertical connecting rod 905 drives inner sleeve 907 to move down, and rotating the rotating pallet 908 being connected with the lower end of inner sleeve 907 opens,
Nursery stock 16 is fallen into hole from the bucket 9 that plants seedlings, and steering wheel 902 resets rotation, and rotating pallet 908 closes up, and completes the plantation of nursery stock 16.Electricity
Dynamic push rod 11 is powered, and expansion link 10 drives the bucket 9 that plants seedlings to move up, and the 3rd motor 21 is reversely rotated, and the bucket 9 that plants seedlings is returned to just
Beginning position.
Embodiment two：Referring to Fig. 9, on the basis of embodiment one, in order to further improve the automation for the robot that plants seedlings
Level, can be provided with control device on dolly 1.Control device includes processor module, camera, Temperature Humidity Sensor mould
Block, ZIGBEE modules and Beidou navigation module, camera are fixedly mounted on the front end of dolly 1, and temperature humidity sensor module is installed
In the lower end of dolly 1, camera, temperature humidity sensor module, ZIGBEE modules and Beidou navigation module are and processor module
Set up communication connection.Processor module uses STM32 single-chip microcomputers.Control device drives the electricity in embodiment one by relay
Machine.
Ambient condition information is acquired by the camera of installation, using image transmission module, turned by ZIGBEE
The signal that terminal can be received is changed into, so that the working condition to robot in terminal is monitored in real time.2.4GHz image
Transmission can be based on IEEE802.11b agreements, and transmission rate is 11Mbit/s, removes the expense in transmitting procedure, actually active speed
Rate is 3.8Mbit/s or so.The IEEE802.11g standards worked out later, rate-limit reaches 54Mbit/s, the standard intercommunication
Property high, the point-to-point compression image for transmitting a few road MPEG-4.Pass through image transmission technology, it is possible to achieve the work(of remote control
Can so that operation more facilitates, and is not limited by place.
Using ZIGBEE technology, ZIGBEE networks are set up to realize several kilometers of data transfer and be in communication with each other, and control
With the operation conditions for monitoring each equipment.Preparation uses netted ZIGBEE networks, using a ZIGBEE node as telegon,
Service range is covered using multiple Routing expansions.The work of using terminal node control robot.The wherein work of the terminal node
Work includes, and external ambient conditions is obtained using camera, mechanical energy is automatically judged image information, extracts information needed
Afterwards, worked accordingly.
In configuration after Beidou navigation module, it is capable of the position of each robot of remote monitor, realizes remote monitoring function.
And the positional information of each Lawn vehicle can be transmitted in ZIGBEE networks, in order in extensive operation, each machine
People's mutual information is transmitted and coordinates and be independent of each other.After being divided such as A robot work regions, B robots can be according to positional information
Judge whether the working region in A robots.Can also at work, if C robots are in completion working condition, and energy
When amount is sufficient, if participate in the benefit grass work that A robots are responsible for region, and the position obtained by global position system, make C machines
Device people only goes to the region that A robots do not work.
ZIGBEE terminal devices are connected with various sensors, such as temperature, humidity, gyroscope, satellite fix, barometer.
So robot can be safeguarded according to these information (temperature, humidity, air pressure etc.) to lawn.Pass through gyroscope and satellite
Position system, host computer is uploaded to by related data.Data storage into database, and is drawn out corresponding height above sea level by host computer
Figure.
After the upper WiFi module of routing node addition, when the number that various sensors are detected on the terminal node in robot
According to routing device can be uploaded to.ZIGBEE signals by WiFi module can be converted into WiFi signal by routing device.With this
It can cause many equipment (such as PC, flat board or mobile phone) without ZIGBEE modules being capable of remotely convenient and robot connection
And data exchange.Portable set, mobile device can also be used to be monitored and control.
Using wireless modules such as ZIGBEE, wifi, satellite fixes, mobile phone A PP or computer software realization pair can be passed through
The Remote of robot, and the data such as soil property humidity, temperature are tested and analyzed by corresponding sensor assembly, instead
It is fed on user terminal, according to the data-optimized plantation of these feedbacks；Technology of Internet of things can also be realized by ZIGBEE modules
Application, i.e., realized in the same area Duo Tai robots and meanwhile work and do not interfere with each other, influence, reduce labour while
Efficiency can also be increased.The addition of WiFi function can realize Terminal Server Client, such as mobile phone, the remote monitoring of computer terminal
And its control.WiFi is connected to behind internet, there can be the place of net by any place in the world, be controlled.In various temperature
Under humidity and its image acquiring sensor, it is possible to achieve by the data record in whole big place, such as：Golf course.Upper
In machine, data processing is carried out, and be stored into database.The temperature, humidity, height sea of multiple stackings can be obtained on a remote device
Pull out, lawn vacancy, afforest the area of coverage 3-D view.After device camera, monitored picture can be obtained in real time.Reached in final
Under the high-intelligentization arrived and the effect of automation, it is possible to achieve the unattended entirely worked, the equipment should be able to be realized unmanned
Work, in low battery, can find juice point, or utilize the sun under the setting of program by global position system
Energy cell panel accumulates electricity at any time.People only need to the equipment such as the mobile phone by internet is connected, and are needing to want to understand to work as
During preceding working condition, check.
Embodiment described above is only that preferred embodiment of the present utility model is described, and is not departing from this reality
On the premise of new design spirit, the various modifications that those of ordinary skill in the art make to the technical solution of the utility model
And improvement, it all should fall into the protection domain that the utility model claims are determined.
Claims (4)
- The robot 1. one kind is planted seedlings, including dolly, it is characterised in that the upper surface of the back seat of the dolly is provided with storage seedling box, storage Seedling box is made up of biside plate and end plate, and the front end for storing up the biside plate of seedling box is respectively equipped with pulley, the upper surface of the back seat of dolly Provided with the chute slided for pulley, the rear end face for storing up the end plate of seedling box is installed with storage seedling box fixed block；The upper surface of small dickey seats of seedling box rear end is stored up provided with storage seedling box drive device, storage seedling box drive device includes the first driving Wheel, the first motor, rotational band, the first driven pulley, the first driving wheel are sleeved on the motor shaft of the first motor, and first Driving wheel and the first driven pulley set up separately in the both sides of storage seedling box, and the first driving wheel and the first driven pulley are rotated by transmission belt and connected Connect, storage seedling box fixed block is fixedly connected with transmission belt；The back seat for storing up the dolly between the biside plate of seedling box is provided with nursery stock conveyer, and nursery stock conveyer is transmitted including nursery stock Band, the second driving wheel, the second driven pulley, the second motor, the second motor are located at the rear end of storage seedling box, the second driving wheel On the motor shaft for being sleeved on the second motor, the second driven pulley is located at the front end of storage seedling box, the second driving wheel and second driven Wheel rotates connection, fore-and-aft direction arrangement of the nursery stock conveyer belt along storage seedling box by nursery stock conveyer belt；Support is installed with the dolly of the front end of small dickey seats, the rear end of support is installed with electric pushrod, electronic to push away The lower end of bar is equipped with electric machine support, electric machine support provided with vertically flexible expansion link, the lower end fixed cover of expansion link It is installed with the 3rd motor, the motor shaft of the 3rd motor and is set with the 3rd driving wheel；Below electric machine support What is rotated on expansion link is set with the bucket that plants seedlings, and the 3rd driving wheel and the bucket that plants seedlings rotate connection by the bucket rotating belt that plants seedlings；Rotary sleeve is equipped with vertical ball screw on the support of electric pushrod front end, and the lower end of ball screw is installed with shoveling Rotation bucket, the upper end of ball screw is installed with leading screw motor.
- 2. the robot according to claim 1 that plants seedlings, it is characterised in that the described bucket that plants seedlings includes turning set mounted in motor Revolution driven pulley on expansion link below support and the outer sleeve being fixedly connected with revolution driven pulley, the 3rd driving wheel and revolution Driven pulley is rotated by the bucket rotating belt that plants seedlings and connected；Outer sleeve is upper and lower opening structure, and the upper surface of outer sleeve is installed with Swing connecting bar is set with steering wheel, the motor shaft of steering wheel, the inner wall sleeve of outer sleeve is equipped with inner sleeve, and inner sleeve is upper and lower opening knot Structure, the upper surface of inner sleeve is fixedly connected with vertical connecting rod, and swing connecting bar and vertical connecting rod are connected by the first pull bar；Outside The lower end of sleeve is hinged with symmetrical rotating pallet, and the upper end of rotating pallet is rotated by the lower surface of the second pull bar and inner sleeve Connection.
- 3. the robot according to claim 2 that plants seedlings, it is characterised in that be provided with the back seat of described dolly for opening The idle pulley of tight nursery stock conveyer belt.
- 4. the robot according to claim 3 that plants seedlings, it is characterised in that control device is also equipped with dolly, described Control device includes processor module, camera, temperature humidity sensor module, ZIGBEE modules and Beidou navigation module, described Camera be fixedly mounted on the front end of dolly, temperature humidity sensor module is arranged on the lower end of dolly, described camera, temperature Moisture sensor module, ZIGBEE modules and Beidou navigation module are set up with processor module and communicated to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720025068.4U CN206365250U (en) | 2017-01-10 | 2017-01-10 | One kind is planted seedlings robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720025068.4U CN206365250U (en) | 2017-01-10 | 2017-01-10 | One kind is planted seedlings robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206365250U true CN206365250U (en) | 2017-08-01 |
Family
ID=59390624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720025068.4U Expired - Fee Related CN206365250U (en) | 2017-01-10 | 2017-01-10 | One kind is planted seedlings robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206365250U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108391489A (en) * | 2018-04-29 | 2018-08-14 | 红河学院 | Self-propelled automatic rice transplanter |
| CN108432422A (en) * | 2018-03-20 | 2018-08-24 | 金陵科技学院 | A kind of soil embryo nursery type seedling plantation robot |
| CN109122194A (en) * | 2018-10-17 | 2019-01-04 | 四川理工学院 | A kind of mountainous region nursery stock transplanting robot |
| CN109220688A (en) * | 2018-10-16 | 2019-01-18 | 东北林业大学 | A kind of suspension type is digged pit seedling transplanter |
| CN109662006A (en) * | 2019-02-13 | 2019-04-23 | 武汉理工大学 | A kind of small-sized ecological seedling transplanter |
| CN114208459A (en) * | 2022-01-07 | 2022-03-22 | 武汉轻工大学 | Automatic seedling inserting device |
| CN114208458A (en) * | 2022-01-07 | 2022-03-22 | 武汉轻工大学 | Automatic change equipment of planting seedlings |
| CN115191212A (en) * | 2022-08-05 | 2022-10-18 | 中国热带农业科学院农业机械研究所 | Automatic control device and control method for excavation depth of cassava harvester |
-
2017
- 2017-01-10 CN CN201720025068.4U patent/CN206365250U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108432422A (en) * | 2018-03-20 | 2018-08-24 | 金陵科技学院 | A kind of soil embryo nursery type seedling plantation robot |
| CN108391489A (en) * | 2018-04-29 | 2018-08-14 | 红河学院 | Self-propelled automatic rice transplanter |
| CN109220688A (en) * | 2018-10-16 | 2019-01-18 | 东北林业大学 | A kind of suspension type is digged pit seedling transplanter |
| CN109122194A (en) * | 2018-10-17 | 2019-01-04 | 四川理工学院 | A kind of mountainous region nursery stock transplanting robot |
| CN109662006A (en) * | 2019-02-13 | 2019-04-23 | 武汉理工大学 | A kind of small-sized ecological seedling transplanter |
| CN114208459A (en) * | 2022-01-07 | 2022-03-22 | 武汉轻工大学 | Automatic seedling inserting device |
| CN114208458A (en) * | 2022-01-07 | 2022-03-22 | 武汉轻工大学 | Automatic change equipment of planting seedlings |
| CN115191212A (en) * | 2022-08-05 | 2022-10-18 | 中国热带农业科学院农业机械研究所 | Automatic control device and control method for excavation depth of cassava harvester |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170801 Termination date: 20180110 |
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| CF01 | Termination of patent right due to non-payment of annual fee |