CN206423100U - A kind of double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism - Google Patents
A kind of double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism Download PDFInfo
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- CN206423100U CN206423100U CN201621064427.9U CN201621064427U CN206423100U CN 206423100 U CN206423100 U CN 206423100U CN 201621064427 U CN201621064427 U CN 201621064427U CN 206423100 U CN206423100 U CN 206423100U
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Abstract
The utility model discloses a kind of double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism.Existing seedling taking and plant one potted-seedling transplanting mechanism can only in the way of directly pressing from both sides seedling seedling taking, have damage to seedling root；Seedling taking and plant are realized then more complicated by Liang Tao mechanisms.Drive sprocket axle and central shaft of the present utility model are supported on power drive case two ends by bearing；The drive sprocket being fixed on drive sprocket axle is connected with affixed center sprocket wheel on center shaft by chain；The two ends of central shaft are arranged with two primary planet trains, and upper secondary planetary gear train and lower secondary planetary gear train are separately positioned on primary planet train two ends；Upper secondary planetary gear train is provided with upper planting arm, and lower secondary planetary gear train is provided with lower planting arm.The utility model is realized using a set of mechanism and fetched earth formula seedling taking into alms bowl, is in translation in seedling taking stage seedling pawl, can be kept bowl-entering soil integrality；The Tui Yangduan trajectory distances mechanism centre of gyration farther out, improves mechanism working environment.
Description
Technical field
The utility model belongs to agricultural mechanical field, and in particular to suitable for high speed, the duplicate rows of wide row space pot seedling transplanter
Carrier formula not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism.
Background technology
At present, potted-seedling transplanting mechanism is divided into two classes mostly：One class is passed using a set of single file carrier two-stage variable speed gear
Motivation structure realizes seedling taking and plant, is had according to the difference of folder seedling position and is divided into seedling clamping type and folder alms bowl formula, wherein seedling clamping type this be easy to
The damage to seedling strain bottom cane is caused, is not suitable for the more fragile crop of seedling stem and transplants；Although and seedling can be reduced by pressing from both sides alms bowl formula
Pawl is to damage, but to stretch into the alms bowl disk Shi Tuimiaoduan trajectory distances mechanism centre of gyration in larger distance nearer for seedling pawl, causes whole mechanism
It is excessively near apart from ground, it is unfavorable for throwing seedling；Another kind of is that seedling taking and action of planting seedlings are divided into Liang Tao mechanisms to realize, a set of mechanism is used
Native seedling taking is pressed from both sides into alms bowl to realize, and another set of mechanism realizes plant, whole mechanism is more complicated.
The content of the invention
The purpose of this utility model is that there is provided a kind of not rounded-ellipse of major-minor duplicate rows carrier in view of the shortcomings of the prior art
Planetary gear train potted-seedling transplanting mechanism, is realized using a set of mechanism and is fetched earth formula seedling taking into alms bowl, and it pushes away seedling section trajectory distance
The mechanism centre of gyration farther out, raises the working depth of whole mechanism, improves mechanism working environment.
In order to achieve the above object, the technical solution adopted in the utility model is：
The utility model includes power drive case, drive sprocket axle, drive sprocket, chain, center sprocket wheel, central shaft, master
Planetary gear train, upper secondary planetary gear train, lower secondary planetary gear train, upper planting arm and lower planting arm；Described drive sprocket axle and center
Axle is supported on power drive case two ends by bearing；Be fixed in drive sprocket on drive sprocket axle with it is affixed on center shaft
Center sprocket wheel is connected by chain；The two ends of central shaft are arranged with two primary planet trains, the two ends difference of primary planet train
Secondary planetary gear train and lower secondary planetary gear train in setting；Upper secondary planetary gear train is provided with upper planting arm；Lower secondary planetary gear train is planted provided with lower
Plant arm；Upper planting arm is identical with the structure of lower planting arm.
Described primary planet train include main-gear box, center non-circular gear, lower jackshaft, lower middle non-circular gear, under
Middle elliptic gear, upper jackshaft, upper middle non-circular gear, upper middle elliptic gear, lower planet axle, upper planet axle, lower planet
Non-circular gear, lower planet elliptic gear, upper planet non-circular gear and upper planet elliptic gear；Main-gear box is fixed with central shaft；
Described center non-circular gear empty set on center shaft, and is fixed by main jaw flange with power drive case；Lower jackshaft
Central shaft both sides are symmetricly set on upper jackshaft, and are hinged with main-gear box；Upper planet axle and lower planet axial symmetry are hinged
At main-gear box two ends；Upper middle non-circular gear and upper middle elliptic gear are each attached on jackshaft, the lower non-knuckle-tooth in centre
Wheel and lower middle elliptic gear are each attached on lower jackshaft；The both sides of the center non-circular gear respectively with the lower non-knuckle-tooth in centre
Wheel and upper middle non-circular gear engagement；The upper planet non-circular gear and upper middle non-circular gear being fixed on upper planet axle are engaged；
Upper planet elliptic gear and upper middle elliptic gear of the empty set on upper planet axle are engaged；It is fixed on the lower planet on lower planet axle
Non-circular gear and lower middle non-circular gear are engaged；Lower planet elliptic gear and lower middle elliptic gear of the empty set on lower planet axle
Engagement.
Described upper secondary planetary gear train includes upper pinion case, upper secondary planet axis, upper sub-center elliptic gear and upper secondary row
Star elliptic gear.Described upper pinion case is supported on main-gear box by bearing, and upper secondary planet axis is hinged on pinion
On case；Described upper sub-center elliptic gear empty set is and affixed with upper planet elliptic gear on upper planet axle；Upper secondary planet is ellipse
Knucle-gear is fixed in secondary planet axis, and is engaged with upper sub-center elliptic gear；The housing of upper planting arm and upper secondary planet axis
One end in stretching outside pinion case is affixed；The cam of upper planting arm and upper pinion case are affixed.
Described lower secondary planetary gear train includes lower pinion case, lower sub-center elliptic gear, lower secondary planet axis and lower secondary row
Star elliptic gear.Described lower pinion case is supported on main-gear box by bearing, and lower secondary planet axis is hinged on lower pinion
On case；Described lower sub-center elliptic gear empty set is and affixed with lower planet elliptic gear on lower planet axle；Lower secondary planet is ellipse
Knucle-gear is fixed in lower secondary planet axis, and is engaged with lower sub-center elliptic gear；The housing of lower planting arm and lower secondary planet axis
The one end stretched out outside lower pinion case is affixed；The cam of lower planting arm and lower pinion case are affixed.
Described lower middle non-circular gear and upper middle non-circular gear, lower middle elliptic gear and upper middle elliptic gear,
Lower planet non-circular gear is the complete phase of geometric parameter with upper planet non-circular gear, lower planet elliptic gear and upper planet elliptic gear
Same non-circular gear.
Described lower sub-center elliptic gear and upper sub-center elliptic gear, lower secondary planet elliptic gear and upper secondary planet are ellipse
Knucle-gear is the identical non-circular gear of geometric parameter.
On same cross section, central shaft, upper jackshaft, upper planet axle, the axial connecting line of lower jackshaft and lower planet axle exist
On straight line；Or the axial connecting line of central shaft, upper jackshaft and lower jackshaft is point-blank, upper jackshaft and upper planet
The axial connecting line of the axial connecting line of axle and lower jackshaft and lower planet axle is on another two parallel straight lines.
On the same perspective plane parallel with cross section, the axle center projection of upper jackshaft, upper planet axle and upper secondary planet axis connects
Point-blank, the axle center projection join line of lower jackshaft, lower planet axle and lower secondary planet axis is point-blank for line；Or it is middle
The axle center projection join line of axle, upper planet axle and upper secondary planet axis is broken line, the axle of lower jackshaft, lower planet axle and lower secondary planet axis
Heart projection join line is broken line.
Described center non-circular gear, lower middle non-circular gear, upper middle non-circular gear, lower planet non-circular gear and up
Star non-circular gear is single order elliptic gear, single order modified elliptical gear, high order elliptic gear, High-Order Deformed Elliptic Gears, one
One kind in rank non-circular gear, high-order non-circular gear, eccentric non-circular gear or denaturation non-circular gear.
The utility model has an advantageous effect in that：
1st, the utility model has the non-at the uniform velocity than drive characteristic of non-circular gear, by adjusting primary planet train, upper secondary row
The gearratio relation property of star wheel series and lower secondary planetary gear train, and each planet axis shaft core position so that upper and lower transplanting arm
Seedling pawl seedling pick-up trajectory and posture are accurate, and plant position is accurate, so as to realize nonirrigated farmland well formula plant.
2nd, the utility model is in the seedling taking stage, and seedling pawl is in translation, and the posture of upper planting arm and seedling taking are firm when seedling taking starts
Angle during completion between the posture of upper planting arm is 0 °, moreover, seedling taking stage seedling pawl cuspidal locus is in straight line substantially
On, it is possible thereby to farthest keep the integrality of bowl-entering soil；The Tui Yangduan trajectory distances mechanism centre of gyration farther out, makes whole machine
The working depth rise of structure, improves mechanism working environment.
3rd, utility model works are stable, and mechanization degree is high, and complete root system can be preferably kept during seedling taking,
No seedling injury, highly shortened turning green the cycle for rice shoot, and obvious effect of increasing production is conducive to popularization and application.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the transmission principle figure of primary planet train in the utility model；
Fig. 3 is the transmission principle figure that power is transmitted to upper secondary planet elliptic gear by center non-circular gear of the present utility model；
Fig. 4 is the mesh schematic representation of upper sub-center elliptic gear and upper secondary planet elliptic gear in the utility model；
Fig. 5 is the resultant gear ratio curve map of primary planet train in the utility model；
Fig. 6 is the resultant gear ratio curve map of upper secondary planetary gear train in the utility model；
Fig. 7 is axle center and the movement locus figure of seedling pawl of upper secondary planet axis in the utility model；
Fig. 8 is Fig. 7 I magnified partial views；
Fig. 9 is operation principle schematic diagram of the present utility model.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in Fig. 1,2,3 and 4, a kind of double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism, bag
Include power drive case 1, drive sprocket axle 2, drive sprocket 3, chain 4, center sprocket wheel 5, central shaft 6, primary planet train, upper secondary row
Star wheel series, lower secondary planetary gear train, upper planting arm 29 and lower planting arm 14；Drive sprocket axle 2 and central shaft 6 are supported on by bearing
The two ends of power drive case 1；The drive sprocket 3 being fixed on drive sprocket axle 2 and the center sprocket wheel 5 being fixed on central shaft 6 lead to
Chain 4 is crossed to connect；The two ends of central shaft 6 are arranged with two primary planet trains, and the two ends of primary planet train set pair respectively
Planetary gear train and lower secondary planetary gear train；Upper secondary planetary gear train is provided with upper planting arm 29；Lower secondary planetary gear train is provided with lower planting arm 14；
Upper planting arm 29 is identical with the structure of lower planting arm 14, using ripe prior art, such as 201110164729.9
Patent.
Primary planet train include main-gear box 21, center non-circular gear 8, lower jackshaft 9, lower middle non-circular gear 10, under
Middle elliptic gear 13, upper jackshaft 23, upper middle non-circular gear 22, upper middle elliptic gear 24, lower planet axle 16, upper planet
Axle 28, lower planet non-circular gear 11, lower planet elliptic gear 12, upper planet non-circular gear 25 and upper planet elliptic gear 26；It is main
Gear-box 21 is fixed with central shaft 6；The empty set of center non-circular gear 8 passes through main jaw flange 7 and power on central shaft 6
Driving box 1 is fixed；Lower jackshaft 9 and upper jackshaft 23 are symmetricly set on the both sides of central shaft 6, and are hinged with main-gear box 21；
Upper planet axle 28 and lower planet axle 16 are symmetrically hinged on the two ends of main-gear box 26；Upper middle non-circular gear 22 and upper middle oval tooth
Wheel 24 is each attached on jackshaft 23, and lower middle non-circular gear 10 and lower middle elliptic gear 13 are each attached to lower jackshaft 9
On；Engaged respectively with lower middle non-circular gear 10 and upper middle non-circular gear 22 both sides of center non-circular gear 8；It is fixed on up
Upper planet non-circular gear 25 on star axle 28 is engaged with upper middle non-circular gear 22；Upper planet of the empty set on upper planet axle 28 is ellipse
Knucle-gear 26 is engaged with upper middle elliptic gear 24；The lower planet non-circular gear 11 and lower centre being fixed on lower planet axle 16 are non-
Knucle-gear 10 is engaged；Lower planet elliptic gear 12 of the empty set on lower planet axle 16 is engaged with lower middle elliptic gear 13.
Upper secondary planetary gear train includes upper pinion case 30, upper secondary planet axis 20, upper sub-center elliptic gear 27 and upper secondary row
Star elliptic gear 31.Upper pinion case 30 is supported on main-gear box 21 by bearing, and upper secondary planet axis 20 is hinged on secondary tooth
On roller box；The upper empty set of sub-center elliptic gear 27 is and affixed with upper planet elliptic gear 26 on upper planet axle 28；Upper secondary planet
Elliptic gear 31 is fixed in secondary planet axis 20, and is engaged with upper sub-center elliptic gear 27；The housing of upper planting arm 29 with
One end that upper secondary planet axis 20 is stretched out outside upper pinion case is affixed；The cam of upper planting arm and upper pinion case are affixed.
Lower secondary planetary gear train includes lower pinion case 17, lower sub-center elliptic gear 15, lower secondary planet axis 19 and lower secondary row
Star elliptic gear 18.Lower pinion case 17 is supported on main-gear box 21 by bearing, and lower secondary planet axis 19 is hinged on lower secondary tooth
On roller box 17；The lower empty set of sub-center elliptic gear 15 is and affixed with lower planet elliptic gear 12 on lower planet axle 16；Lower secondary row
Star elliptic gear 18 is fixed in lower secondary planet axis 19, and is engaged with lower sub-center elliptic gear 15；The housing of lower planting arm 14
The one end stretched out with lower secondary planet axis 19 outside lower pinion case is affixed；The cam of lower planting arm and lower pinion case are affixed.
Lower middle non-circular gear 10 and upper middle non-circular gear 22, lower middle elliptic gear 13 and upper middle elliptic gear
24th, lower planet non-circular gear 11 and upper planet non-circular gear 25, lower planet elliptic gear 12 and upper planet elliptic gear 26 are several
What identical non-circular gear of parameter.
Lower sub-center elliptic gear 15 and upper sub-center elliptic gear 27, lower secondary planet elliptic gear 18 and upper secondary planet are ellipse
Knucle-gear 31 is the identical non-circular gear of geometric parameter.
On same cross section, central shaft 6, upper jackshaft 23, upper planet axle 28, the axle of lower jackshaft 9 and lower planet axle 16
Heart line is point-blank；Or the axial connecting line of central shaft 6, upper jackshaft 23 and lower jackshaft 9 is point-blank, it is upper in
Countershaft 23 and the axial connecting line and lower jackshaft 9 of upper planet axle 28 and the axial connecting line of lower planet axle 16 are parallel at another two
On straight line.
On the same perspective plane parallel with cross section, the axle center of upper jackshaft 23, upper planet axle 28 and upper secondary planet axis 20
Point-blank, the axle center projection join line of lower jackshaft 9, lower planet axle 16 and lower secondary planet axis 19 is straight at one for projection join line
On line；Or the axle center projection join line of jackshaft 23, upper planet axle 28 and upper secondary planet axis 20 is broken line, lower jackshaft 9, lower planet
The axle center projection join line of axle 16 and lower secondary planet axis 19 is broken line.
Center non-circular gear 8, lower middle non-circular gear 10, upper middle non-circular gear 22, lower planet non-circular gear 11 and on
Planet non-circular gear 25 is single order elliptic gear, single order modified elliptical gear, high order elliptic gear, the oval tooth of high-order denatured
One kind in wheel, single order non-circular gear, high-order non-circular gear, eccentric non-circular gear or denaturation non-circular gear.
The operation principle of the double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism：
The input power of drive sprocket axle 2, and power is transmitted to central shaft 6 through drive sprocket 3, chain 4 and center sprocket wheel 5；
Central shaft 6 drives two primary planet trains of both sides, and primary planet train drives upper secondary planetary gear train and lower secondary planetary gear train, upper pair
Planetary gear train drives upper planting arm 29, and lower secondary planetary gear train drives lower planting arm 14, so as to realize planting arm 29 or lower plant
The seedling taking at seedling taking point as shown in Figure 9 of the seedling pawl cusp of arm 14, transplants seedlings pushing away at seedling point.
As shown in figure 5, there is small crest and big crest in the resultant gear ratio curve of primary planet train；As shown in fig. 6, upper pair
Occurs a crest in the resultant gear ratio curve of planetary gear train or lower secondary planetary gear train.
Main-gear box 21 is rotated one week, the axes movement locus 32 of upper secondary planet axis 20, the seedling pawl cusp of upper planting arm 29
Movement locus 33, and seedling pawl when often rotating 30 ° of main-gear box 21 position as shown in FIG. 7 and 8；It can be seen that, seedling taking stage, seedling pawl
In translation, the angle when posture C of upper planting arm 29 and seedling taking are just completed when seedling taking starts between the posture D of upper planting arm 29
Almost 0 °, moreover, seedling taking stage seedling pawl cuspidal locus is located point-blank substantially, it is possible thereby to farthest keep alms bowl
The integrality of soil.
Above-mentioned embodiment is used for illustrating the utility model, rather than the utility model is limited,
In spirit and scope of the claims of the present utility model, any modifications and changes made to the utility model all fall
Enter protection domain of the present utility model.
Claims (1)
1. a kind of double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism, including power drive case, drive chain
Wheel shaft, drive sprocket, chain, center sprocket wheel, central shaft, primary planet train, upper secondary planetary gear train, lower secondary planetary gear train, upper cultivation
Plant arm and lower planting arm, it is characterised in that：Described drive sprocket axle and central shaft is supported on power drive case two by bearing
End；The drive sprocket being fixed on drive sprocket axle is connected with affixed center sprocket wheel on center shaft by chain；Central shaft
Two ends be arranged with two primary planet trains, the two ends of primary planet train set secondary planetary gear train and lower secondary planetary gear respectively
System；Upper secondary planetary gear train is provided with upper planting arm；Lower secondary planetary gear train is provided with lower planting arm；The structure of upper planting arm and lower planting arm
It is identical；
Described primary planet train includes main-gear box, center non-circular gear, lower jackshaft, lower middle non-circular gear, lower centre
Elliptic gear, upper jackshaft, upper middle non-circular gear, upper middle elliptic gear, lower planet axle, upper planet axle, lower planet not rounded
Gear, lower planet elliptic gear, upper planet non-circular gear and upper planet elliptic gear；Main-gear box is fixed with central shaft；It is described
Center non-circular gear empty set on center shaft, and fixed by main jaw flange with power drive case；Lower jackshaft and upper
Jackshaft is symmetricly set on central shaft both sides, and is hinged with main-gear box；Upper planet axle and lower planet axial symmetry are hinged on master
Gear-box two ends；Upper middle non-circular gear and upper middle elliptic gear are each attached on jackshaft, lower middle non-circular gear and
Lower middle elliptic gear is each attached on lower jackshaft；The both sides of the center non-circular gear respectively with lower middle non-circular gear and
Upper middle non-circular gear engagement；The upper planet non-circular gear and upper middle non-circular gear being fixed on upper planet axle are engaged；Empty set
Upper planet elliptic gear and upper middle elliptic gear on upper planet axle are engaged；It is fixed on the lower planet not rounded on lower planet axle
Gear and lower middle non-circular gear are engaged；Lower planet elliptic gear and lower middle elliptic gear of the empty set on lower planet axle are nibbled
Close；
It is ellipse that described upper secondary planetary gear train includes upper pinion case, upper secondary planet axis, upper sub-center elliptic gear and upper secondary planet
Knucle-gear；Described upper pinion case is supported on main-gear box by bearing, and upper secondary planet axis is hinged on pinion case；
Described upper sub-center elliptic gear empty set is and affixed with upper planet elliptic gear on upper planet axle；The upper oval tooth of secondary planet
Wheel is fixed in secondary planet axis, and is engaged with upper sub-center elliptic gear；The housing of upper planting arm stretches out with upper secondary planet axis
One end outside upper pinion case is affixed；The cam of upper planting arm and upper pinion case are affixed；
It is ellipse that described lower secondary planetary gear train includes lower pinion case, lower sub-center elliptic gear, lower secondary planet axis and lower secondary planet
Knucle-gear；Described lower pinion case is supported on main-gear box by bearing, and lower secondary planet axis is hinged on lower pinion case；
Described lower sub-center elliptic gear empty set is and affixed with lower planet elliptic gear on lower planet axle；The lower oval tooth of secondary planet
Wheel is fixed in lower secondary planet axis, and is engaged with lower sub-center elliptic gear；The housing of lower planting arm stretches out with lower secondary planet axis
One end outside lower pinion case is affixed；The cam of lower planting arm and lower pinion case are affixed；
It is described lower middle non-circular gear and upper middle non-circular gear, lower middle elliptic gear and upper middle elliptic gear, descending
Star non-circular gear is that geometric parameter is identical with upper planet non-circular gear, lower planet elliptic gear and upper planet elliptic gear
Non-circular gear；
Described lower sub-center elliptic gear and upper sub-center elliptic gear, lower secondary planet elliptic gear and the oval tooth of upper secondary planet
Wheel is the identical non-circular gear of geometric parameter；
On same cross section, central shaft, upper jackshaft, upper planet axle, the axial connecting line of lower jackshaft and lower planet axle are at one
On straight line；Or the axial connecting line of central shaft, upper jackshaft and lower jackshaft is point-blank, upper jackshaft and upper planet axle
The axial connecting line of axial connecting line and lower jackshaft and lower planet axle is on another two parallel straight lines；
On the same perspective plane parallel with cross section, the axle center projection join line of upper jackshaft, upper planet axle and upper secondary planet axis exists
On straight line, the axle center projection join line of lower jackshaft, lower planet axle and lower secondary planet axis is point-blank；Or jackshaft,
The axle center projection join line of upper planet axle and upper secondary planet axis is broken line, the axle center of lower jackshaft, lower planet axle and lower secondary planet axis
Projection join line is broken line；
Described center non-circular gear, lower middle non-circular gear, upper middle non-circular gear, lower planet non-circular gear and upper planet are non-
Knucle-gear is that single order elliptic gear, single order modified elliptical gear, high order elliptic gear, High-Order Deformed Elliptic Gears, single order are non-
One kind in Knucle-gear, high-order non-circular gear, eccentric non-circular gear or denaturation non-circular gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621064427.9U CN206423100U (en) | 2016-09-20 | 2016-09-20 | A kind of double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621064427.9U CN206423100U (en) | 2016-09-20 | 2016-09-20 | A kind of double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism |
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| Publication Number | Publication Date |
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| CN206423100U true CN206423100U (en) | 2017-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621064427.9U Expired - Fee Related CN206423100U (en) | 2016-09-20 | 2016-09-20 | A kind of double-planet posture not rounded-elliptic gear planetary gear train potted-seedling transplanting mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111436262A (en) * | 2020-04-21 | 2020-07-24 | 浙江理工大学 | Double-planet-carrier type hole pot seedling picking and planting mechanism with large transplanting displacement and design method thereof |
-
2016
- 2016-09-20 CN CN201621064427.9U patent/CN206423100U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111436262A (en) * | 2020-04-21 | 2020-07-24 | 浙江理工大学 | Double-planet-carrier type hole pot seedling picking and planting mechanism with large transplanting displacement and design method thereof |
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