CN215774228U - Bucket wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation - Google Patents
Bucket wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation Download PDFInfo
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- CN215774228U CN215774228U CN202121725968.2U CN202121725968U CN215774228U CN 215774228 U CN215774228 U CN 215774228U CN 202121725968 U CN202121725968 U CN 202121725968U CN 215774228 U CN215774228 U CN 215774228U
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Abstract
A scoop wheel type electrically-driven corn precision seeder based on dual-mode navigation belongs to the technical field of agricultural machinery and comprises a seeder component, a driving component, a control component and a main shaft, wherein a dual-mode navigation module can quickly and accurately acquire position change information of a seeder and solve the problem that the positioning precision of the existing single-mode positioning system is not accurate enough; the single chip microcomputer controller receives the position information of the seed sowing device, obtains a theoretical rotating speed after processing, and controls the stepping motor to rotate correspondingly; a rotary encoder of the stepping motor monitors the rotating speed of the motor in real time, and the rotating speed of the stepping motor is controlled by using a PID algorithm; the display screen can display information such as the walking speed of the seeder, the rotating speed of the seed sowing device and the like in real time, and a farmer can conveniently master the seed sowing condition in real time. The electrically-driven corn precision seed sowing device can improve the automation level of corn sowing, improve the sowing qualification rate and reduce the operating cost of farmers.
Description
Technical Field
The utility model belongs to the technical field of agricultural machinery, and particularly relates to a scoop wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation.
Background
The corn is used as the first large grain crop in China, the increase of the corn yield has direct influence on the improvement of the income of the nation and the reduction of the grain pressure of the nation, and the corn planting area in China is rapidly expanded under the pull of a great amount of demands of the breeding industry and the processing industry. The bucket-wheel type seed sowing device commonly used in China has the characteristics of simple structure, wide application and low cost, and the bucket-wheel type corn seed sowing device utilizes the land wheel to provide power for the work of the seed sowing device, namely, the seed sowing shaft is driven to rotate by the friction force generated between the land wheel and the ground when the land wheel rotates in the operation. However, the complicated field operation conditions and the fault phenomena can cause the missed seeding, reduce the seeding quality, and can not meet the requirements of large-area crop planting and the requirements of the modern agriculture for accurate seeding. The main reasons are that the tractor pulls the seeder to move forward, the land wheel drives the seed shaft of the seed sowing device to rotate through chain transmission to carry out seed sowing, and when ground soil is soft or uneven, the land wheel is easy to slip to cause missed seeding, so that the seeding quality is influenced; on the other hand, the rotation speed of the seed sowing device is matched with the advancing speed of the unit, so that the definite corn sowing plant distance cannot be ensured, the sowing quality is greatly influenced by the rotation speed of the bucket wheel, the seed filling performance and the seed cleaning performance are poor due to overhigh speed, and the further improvement of the field operation speed by adopting the seed sowing device is limited. Therefore, aiming at the problems in the operation process of the corn precision seed sowing device, the bucket wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation is designed, and the bucket wheel type electrically-driven corn precision seed sowing device has important significance for promoting the intellectualization and high-efficiency development of the corn precision seed sowing technology.
Disclosure of Invention
The utility model aims to design a scoop wheel type electrically-driven corn precision seed sowing device which can stably work under high-speed operation and realize precision sowing based on a dual-mode navigation module aiming at the defect of precision sowing of the conventional mechanical corn precision seed sowing device, and improves the sowing qualification rate.
The utility model relates to a scoop wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation, which consists of a seed sowing device component A, a driving component B, a control component C and a main shaft 1, wherein the driving component B and the seed sowing device component A are arranged left and right, and the right end of a speed reducer shell 4 of the driving component B is fixedly connected to the left surface of a seed guide wheel semi-shell 7 of the seed sowing device component A; the left end of the main shaft 1 is fixedly connected with the center of a bevel gear II 18 in the driving component B, the middle part of the main shaft 1 is movably connected with the center of a seed guide wheel semi-shell 7 in the seed metering device component A, and the right end of the main shaft 1 is fixedly connected with the center of a seed guide wheel 13 in the seed metering device component A; the closed-loop stepping motor 3 of the driving component B is controlled by a closed-loop stepping motor driver 6 of the control component C; the display screen 2 of the control component C is fixedly connected to the left surface of the speed reducer shell 4 in the driving component B; an STM32 single-chip microcomputer controller 5 of the control assembly C is fixedly connected to the upper surface of a speed reducer shell 4 in the driving assembly B; a closed-loop stepping motor driver 6 of the control component C is fixedly connected to the upper part of the left surface of a seed guide wheel semi-shell 7 in the seed metering device component A.
The seed metering device component A consists of a seed guide wheel semi-shell 7, a transparent circular shell 8, a seed inlet pipe 10, a fixed support 11, a bolt group 12, a seed guide wheel 13, a partition plate 14, a spoon wheel 15, a bolt 21 and a screw group 22, wherein the seed guide wheel 13, the partition plate 14 and the spoon wheel 15 are sequentially arranged from left to right, and the center of the seed guide wheel 13 is fixedly connected with the right end of the main shaft 1, so that the seed guide wheel 13 can rotate along with the rotation of the main shaft 1; the partition 14 is fixedly connected with a partition adjusting hole 20 on the seed guide wheel semi-shell 7 through a bolt 21, and the opening angle of the partition can be adjusted by connecting different adjusting holes, wherein the angle adjusting range is 5-30 degrees; the spoon wheel 15 is fixedly connected with the seed guide wheel 13 through 3 screws of the screw group 22, so that the synchronous rotation of the seed guide wheel 13 and the spoon wheel 15 is realized; the seed guide wheel semi-shell 7 is arranged on the fixed support 11, the seed guide wheel semi-shell 7 and the transparent circular shell 8 are fixedly connected through 4 bolts of the bolt group 12, and the seed guide wheel semi-shell 7, the spoon wheel 15 and the transparent circular shell 8 jointly form a seed chamber 16; the seed inlet pipe 10 is fixedly connected to the front part of the right side of the transparent circular shell 8, and the upper end of the seed inlet pipe 10 is provided with a seed inlet 9; the lower end of the seed inlet pipe 10 is communicated with a seed chamber 16, and the lower ends of the seed guide wheel semi-shell 7 and the transparent circular shell 8 are provided with a rectangular seed outlet 17 towards the back.
The driving assembly B consists of a closed-loop stepping motor 3, a reducer shell 4, a bevel gear II 18 and a bevel gear I19, wherein the bevel gear I19 and the bevel gear II 18 are positioned in the reducer shell 4, the closed-loop stepping motor 3 is positioned in front of the reducer shell 4, and the rear end of an output shaft in the closed-loop stepping motor 3 penetrates through a front plate center hole of the reducer shell 4 and is fixedly connected with the center of the bevel gear I19; bevel gear I19 is vertically meshed with bevel gear II 18. A set of speed reducing mechanisms is formed; the center of the bevel gear II 18 is fixedly connected with the left end of the main shaft 1, so that the closed-loop stepping motor 3 drives the seed wheel 13 to rotate.
Control assembly A comprises display screen 2, STM32 microcontroller 5, closed loop step motor driver 6 and big dipper + GPS bimodulus navigation module 25, and big dipper + GPS bimodulus navigation module 25 rigid coupling is on STM32 microcontroller 5.
The seed guiding wheel 13 is internally provided with 16-20 seed guiding grooves of a seed guiding groove group 23, the spoon wheel 15 is internally provided with 16-20 spoons of a spooning group 24, the seed guiding grooves of the seed guiding groove group 23 correspond to the spooning positions of the spooning group 24 one by one, and the seed guiding grooves are uniformly distributed on the circumference of the seed guiding wheel 13.
The bottom of the closed-loop stepping motor 3 is provided with a high-precision rotary encoder, and the actual rotating speed of the closed-loop stepping motor 3 can be acquired in real time.
The operation process of the utility model is as follows:
a seed sowing device component A, a driving component B, a control component C and a main shaft 1 are all arranged on an scoop wheel type electric-driven corn precision seed sowing device based on dual-mode navigation, a Beidou and GPS dual-mode navigation positioning module 25 in the control component C is fixedly connected to an STM32 single chip microcomputer controller 5, 4 parameters of longitude, latitude, height and time correction quantity are calculated by a distance intersection method through calculating the pseudo distance between the control component C and each satellite, and data are transmitted to the STM32 single chip microcomputer controller 5.
The STM32 single-chip microcomputer controller 5 reads and calculates the position change data of the seed sowing device after receiving the position information transmitted by the Beidou + GPS dual-mode navigation module 25, and the controller processes corresponding programs to obtain the theoretical rotating speed N of the seed sowing device1And sends a corresponding pulse signal to the closed-loop stepping motor driver 6, the closed-loop stepping motor driver 6 controls the rotation of the closed-loop stepping motor 3 through the transmitted pulse signal, and a bevel gear I19 at the rear end of an output shaft of the closed-loop stepping motor 3 is vertically meshed with a bevel gear II 18 at the left end of the main shaft 1, so that the seed guiding wheel 13 is driven to rotate.
The bucket wheel 15 in the seed metering ware subassembly A is at the in-process with leading kind of wheel 13 synchronous rotation, in scooping up the seed group 24 with the seed in the seed room 16, guarantee all to have one to two corn seeds in every scooping up the spoon, when the seed in the scooping up the group 24 arrives a take the altitude along with rotating, because the effect of corn seed self gravity, fall into leading kind of wheel 13's leading kind of groove group 23 through the opening of baffle 14 in, corn seed falls into ground along with leading kind of wheel 13's rotation through rectangle play kind of a mouthful 16, accomplish whole seeding process.
The bottom end of the closed-loop stepping motor 3 is provided with a high-precision rotary encoder, so that the actual rotating speed N of the stepping motor can be measured in real time2And the rotating speed condition of the stepping motor is transmitted back to the STM32 single chip microcomputer controller 5, and the STM32 single chip microcomputer controller 5 transmits the actual rotating speed N of the seed metering device through a program in the controller2And the theoretical rotational speed N1And analyzing and comparing, giving a reasonable adjusting signal, transmitting the signal to the closed-loop stepping motor driver 6, and driving the closed-loop stepping motor 3 to rotate correspondingly by the closed-loop stepping motor driver 6, so that the seeding speed of the seeding apparatus is consistent with the running speed of the seeding apparatus, and the seeding stability of the seeding apparatus is kept.
The utility model has the beneficial effects that:
1. the driving force of the seeding apparatus is driven by a closed-loop stepping motor, so that the phenomenon of seeding missing caused by the slipping of land wheels or high-speed conditions is avoided, the seeding speed is consistent with the running speed of the seeding apparatus, and the planting distance is uniform.
2. The electric driving mode is adopted, the existence of various transmission parts of the traditional mechanical transmission mode is reduced, the whole quality of the seed sowing device is reduced, the soil compacting force is reduced, and the damage to the soil is reduced.
3. The big dipper + GPS dual-mode navigation positioning module is adopted, signals are received and transmitted simultaneously, the national real-time cross accurate positioning is realized, the system is accurate and fast compared with a common single-mode positioning system, and the advancing speed of the seed sowing device can be quickly and accurately acquired.
4. The closed-loop stepping motor is adopted, the bottom end of the closed-loop stepping motor is provided with the high-precision rotary encoder, the actual numerical value of the rotating speed of the stepping motor can be collected, the actual numerical value is transmitted back to the STM32 single chip microcomputer controller to be compared with the theoretical numerical value, and the real-time adjustment is carried out through the PID algorithm, so that the corn seeding is more accurate.
Drawings
FIG. 1 is a cross-sectional view of a scoop wheel type electrically driven corn precision seed metering device based on dual-mode navigation;
FIG. 2 is a first perspective view of a dual mode navigation based scoop wheel type electrically driven corn precision seed metering device;
FIG. 3 is a second perspective view of a dual mode navigation based scoop wheel type electrically driven corn precision seed metering device;
FIG. 4 is a sequence number labeled cross-sectional view of a scoop wheel type electrically driven corn precision seed metering device based on dual-mode navigation;
FIG. 5 is a side view of a portion of the seed meter assembly A;
FIG. 6 is an enlarged view of a indicated in FIG. 5;
FIG. 7 is a cross-sectional view of the drive assembly B;
FIG. 8 is a top view of the STM32 single chip controller 5;
FIG. 9 is a schematic diagram of the connection of the components of a scoop wheel type electrically driven corn precision seed sowing device based on dual-mode navigation;
FIG. 10 is a flow chart of the control system;
wherein: A. the seed metering device comprises a seed metering device component B, a driving component C, a control component 1, a main shaft 2, a display screen 3, a closed-loop stepping motor 4, a speed reducer shell 5, an STM32 single-chip microcomputer controller 6, a closed-loop stepping motor driver 7, a seed guide wheel semi-shell 8, a transparent circular shell 9, a seed inlet 10, a seed inlet pipe 11, a fixed support 12, a bolt group 13, a seed guide wheel 14, a partition plate 15, a scoop wheel 16, a seed chamber 17, a rectangular seed outlet 18, a bevel gear II 19, a bevel gear I20, a partition plate adjusting hole 21, a bolt 22, a seed guide groove group 23, a seed guide groove group 24, a scoop group 25, a Beidou and GPS dual-mode navigation module.
Detailed Description
The utility model is described below with reference to the drawings.
As shown in fig. 1-4, the scoop-wheel type electrically-driven corn precision seed metering device based on dual-mode navigation of the utility model comprises a seed metering device component a, a driving component B, a control component C and a main shaft 1, wherein the driving component B and the seed metering device component a are arranged left and right, and the right end of a speed reducer shell 4 of the driving component B is fixedly connected to the left surface of a seed guiding wheel semi-shell 7 of the seed metering device component a; the left end of the main shaft 1 is fixedly connected with the center of a bevel gear II 18 in the driving component B, the middle part of the main shaft 1 is movably connected with the center of a seed guide wheel semi-shell 7 in the seed metering device component A, and the right end of the main shaft 1 is fixedly connected with the center of a seed guide wheel 13 in the seed metering device component A; the closed-loop stepping motor 3 of the driving component B is controlled by a closed-loop stepping motor driver 6 of the control component C; the display screen 2 of the control component C is fixedly connected to the left surface of the speed reducer shell 4 in the driving component B; an STM32 single-chip microcomputer controller 5 of the control assembly C is fixedly connected to the upper surface of a speed reducer shell 4 in the driving assembly B; a closed-loop stepping motor driver 6 of the control component C is fixedly connected to the upper part of the left surface of a seed guide wheel semi-shell 7 in the seed metering device component A.
As shown in fig. 2-6, the seed metering device assembly a is composed of a seed guide wheel half shell 7, a transparent circular shell 8, a seed inlet pipe 10, a fixing support 11, a bolt group 12, a seed guide wheel 13, a partition plate 14, a spoon wheel 15, a bolt 21 and a screw group 22, wherein the seed guide wheel 13, the partition plate 14 and the spoon wheel 15 are sequentially arranged from left to right, and the center of the seed guide wheel 13 is fixedly connected with the right end of the main shaft 1, so that the seed guide wheel 13 can rotate along with the rotation of the main shaft 1; the baffle 14 is arranged between the seed guide wheel 13 and the spoon wheel 15, the baffle 14 is fixedly connected with a baffle adjusting hole 20 on the seed guide wheel semi-shell 7 through a bolt 21, the opening angle of the baffle is adjusted by connecting the positions of different adjusting holes, and the angle adjustable range is 5-30 degrees; the spoon wheel 15 is fixedly connected with the seed guide wheel 13 through 3 screws of the screw group 22, so that the synchronous rotation of the seed guide wheel 13 and the spoon wheel 15 is realized; the number of the seed guide groove groups 23 in the seed guide wheel 13 is 18, the number of the scooping groups 24 in the scoop wheel 15 is 18, the seed guide grooves of the seed guide groove groups 23 correspond to the scooping positions of the scooping groups 24 one by one, and the seed guide grooves are uniformly distributed on the circumference of the seed guide wheel 13; the seed guide wheel semi-shell 7 is arranged on the fixed support 11, the seed guide wheel semi-shell 7 and the transparent circular shell 8 are fixedly connected through 4 bolts of the bolt group 12, the seed guide wheel semi-shell 7, the spoon wheel 15 and the transparent circular shell 8 jointly form a seed chamber 16, and the seed condition in the seed chamber 16 can be observed outside in real time through the transparent circular shell 8; the seed inlet pipe 10 is fixedly connected to the front part of the right side of the transparent circular shell 8, and the upper end of the seed inlet pipe 10 is provided with a seed inlet 9; the lower end of the seed inlet pipe 10 is communicated with a seed chamber 16, and the lower ends of the seed guide wheel semi-shell 7 and the transparent circular shell 8 are provided with a rectangular seed outlet 17 towards the back.
As shown in fig. 2, 3, 4 and 7, the driving assembly B is composed of a closed-loop stepping motor 3, a reducer housing 4, a bevel gear ii 18 and a bevel gear i 19, the bevel gear i 19 and the bevel gear ii 18 are located in the reducer housing 4, the closed-loop stepping motor 3 is located in front of the reducer housing 4, and the rear end of an output shaft in the closed-loop stepping motor 3 passes through a center hole of a front plate of the reducer housing 4 and is fixedly connected with the center of the bevel gear i 19; the bevel gear I19 is vertically meshed with the bevel gear II 18, and the two gears form a group of speed reducing mechanisms; the center of the bevel gear II 18 is fixedly connected with the left end of the main shaft 1, so that the closed-loop stepping motor 3 can drive the seed wheel 13 to rotate.
As shown in fig. 2, 3, 4 and 8, the control assembly C is composed of a display screen 2, an STM32 single chip microcomputer controller 5, a closed-loop stepping motor driver 6 and a big dipper + GPS dual-mode navigation module 25, the display screen 2 is fixedly connected to the left side of a reducer casing 4 in the drive assembly B, the STM32 single chip microcomputer controller 5 is fixedly connected to the upper side of the reducer casing 4 in the drive assembly B, and the closed-loop stepping motor driver 6 is fixedly connected to the upper portion of the left side of a seed guiding wheel casing half 7 in the seed sowing device assembly a; and the Beidou and GPS dual-mode navigation module 25 is fixedly connected to the STM32 single-chip microcomputer controller 5.
As shown in fig. 9 and 10, when the scoop wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation is used for high-speed sowing operation, the big dipper and GPS dual-mode navigation module 25 can quickly and accurately acquire the position change condition of the seed sowing device, calculates the pseudo distance from each satellite, selects 4 parameters of longitude, latitude, height and time correction quantity by a distance intersection method, transmits the acquired information to the STM32 singlechip controller 5, and can obtain the theoretical rotating speed N of the closed-loop stepping motor 3 after processing and analyzing through the program written in before1The expected speed of the seed sowing device is obtained through the collected position change information of the seed sowing device, and the seed sowing device is driven to rotate correspondingly; the bottom end of the closed-loop stepping motor 3 is provided with a high-precision rotary encoder, so that the rotating speed of the stepping motor can be measured in real time, and the actual speed N of the seeding apparatus can be obtained2And the rotating speed condition of the stepping motor is transmitted back to an STM32 single chip microcomputer controller 5, analysis and comparison are carried out through a PID algorithm in a program, a reasonable adjusting signal is given, the signal is transmitted to a closed-loop stepping motor driver 6, the closed-loop stepping motor driver 6 drives a closed-loop stepping motor 3 to rotate correspondingly, a bevel gear I19 at the rear end of an output shaft of the closed-loop stepping motor 3 is vertically meshed with a bevel gear II 18 at the left end of a main shaft 1, and therefore a seed guide wheel 13 and a scoop wheel 15 are driven to rotate synchronously.
Claims (6)
1. A scoop wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation is characterized by comprising a seed sowing device component (A), a driving component (B), a control component (C) and a main shaft (1), wherein the driving component (B) and the seed sowing device component (A) are arranged in a left-right mode, and the right end of a speed reducer shell (4) of the driving component (B) is fixedly connected to the left surface of a seed guiding wheel semi-shell (7) of the seed sowing device component (A); the left end of the main shaft (1) is fixedly connected with the center of a bevel gear II (18) in the driving component (B), the middle part of the main shaft (1) is movably connected with the center of a seed guide wheel semi-shell (7) in the seed metering device component (A), and the right end of the main shaft (1) is fixedly connected with the center of a seed guide wheel (13) in the seed metering device component (A); the closed-loop stepping motor (3) of the driving component (B) is controlled by a closed-loop stepping motor driver (6) of the control component (C); the display screen (2) of the control component (C) is fixedly connected to the left surface of the reducer shell (4) in the driving component (B); an STM32 single-chip microcomputer controller (5) of the control assembly (C) is fixedly connected to the upper surface of a speed reducer shell (4) in the driving assembly (B); a closed-loop stepping motor driver (6) of the control component (C) is fixedly connected with the upper part of the left surface of a seed guide wheel semi-shell (7) in the seed metering device component (A).
2. The scoop-wheel type electrically-driven corn precision seed sowing device based on the dual-mode navigation is characterized in that a seed sowing device component (A) consists of a seed guiding wheel semi-shell (7), a transparent circular shell (8), a seed inlet pipe (10), a fixed support (11), a bolt group (12), a seed guiding wheel (13), a partition plate (14), a scoop wheel (15), a bolt (21) and a screw group (22), wherein the seed guiding wheel (13), the partition plate (14) and the scoop wheel (15) are sequentially arranged from left to right, the partition plate (14) is fixedly connected with a partition plate adjusting hole (20) on the seed guiding wheel semi-shell (7) through the bolt (21), and the scoop wheel (15) is fixedly connected with the seed guiding wheel (13) through 3 screws of the screw group (22); the seed guide wheel semi-shell (7) is fixedly connected on the fixed support (11), the seed guide wheel semi-shell (7) and the transparent circular shell (8) are fixedly connected through 4 bolts of the bolt group (12), and the seed guide wheel semi-shell (7), the spoon wheel (15) and the transparent circular shell (8) jointly form a seed chamber (16); the seed inlet pipe (10) is fixedly connected to the front part of the right side of the transparent circular shell (8), the upper end of the seed inlet pipe (10) is provided with a seed inlet (9), and the lower end of the seed inlet pipe (10) is communicated with the seed chamber (16); the lower ends of the seed wheel semi-shell (7) and the transparent circular shell (8) are backwards provided with a rectangular seed outlet (17).
3. The scoop wheel type electrically-driven corn precision seed sowing device based on the dual-mode navigation is characterized in that the driving assembly (B) consists of a closed-loop stepping motor (3), a speed reducer shell (4), a bevel gear II (18) and a bevel gear I (19), wherein the bevel gear I (19) and the bevel gear II (18) are positioned in the speed reducer shell (4), the closed-loop stepping motor (3) is positioned in front of the speed reducer shell (4), and the rear end of an output shaft in the closed-loop stepping motor (3) penetrates through a center hole of a front plate of the speed reducer shell (4) and is fixedly connected with the center of the bevel gear I (19); the bevel gear I (19) is vertically meshed with the bevel gear II (18).
4. The scoop-wheel type electrically-driven corn precision seed sowing device based on the dual-mode navigation as claimed in claim 1, wherein the control assembly (C) consists of a display screen (2), an STM32 single-chip microcomputer controller (5), a closed-loop stepping motor driver (6) and a Beidou + GPS dual-mode navigation module (25), and the Beidou + GPS dual-mode navigation module (25) is fixedly connected to the STM32 single-chip microcomputer controller (5).
5. The scoop-wheel type electrically-driven corn precision seed sowing device based on the dual-mode navigation as claimed in claim 2, wherein 16-20 seed guiding grooves of the seed guiding groove group (23) are arranged in the seed guiding wheel (13), 16-20 scoops of the scoop group (24) are arranged in the scoop wheel (15), the seed guiding grooves of the seed guiding groove group (23) correspond to the scooping positions of the scoop group (24) one by one, and are uniformly distributed on the circumference of the seed guiding wheel (13).
6. The dual-mode navigation-based scoop-wheel type electrically-driven corn precision seed sowing device according to claim 3, characterized in that the bottom of the closed-loop stepping motor (3) is provided with a high-precision rotary encoder.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121725968.2U CN215774228U (en) | 2021-07-28 | 2021-07-28 | Bucket wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121725968.2U CN215774228U (en) | 2021-07-28 | 2021-07-28 | Bucket wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation |
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| CN215774228U true CN215774228U (en) | 2022-02-11 |
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| CN202121725968.2U Active CN215774228U (en) | 2021-07-28 | 2021-07-28 | Bucket wheel type electrically-driven corn precision seed sowing device based on dual-mode navigation |
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2021
- 2021-07-28 CN CN202121725968.2U patent/CN215774228U/en active Active
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