CN112075172B - Plug seedling taking device and working method thereof - Google Patents
Plug seedling taking device and working method thereof Download PDFInfo
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- CN112075172B CN112075172B CN202010898833.XA CN202010898833A CN112075172B CN 112075172 B CN112075172 B CN 112075172B CN 202010898833 A CN202010898833 A CN 202010898833A CN 112075172 B CN112075172 B CN 112075172B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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Abstract
The embodiment of the invention provides a plug seedling taking device and a working method thereof. The device includes: get seedling needle, get a seedling section of thick bamboo, get seedling needle actuating mechanism and get a seedling section of thick bamboo actuating mechanism, it is hollow structure to get a seedling section of thick bamboo, and get the seedling needle set up in getting a seedling section of thick bamboo inside and can remove along the length direction who gets a seedling section of thick bamboo, get seedling needle actuating mechanism and get the seedling needle and be connected for the drive gets the seedling needle and removes along the length direction who gets a seedling section of thick bamboo, gets a seedling section of thick bamboo actuating mechanism and gets a seedling section of thick bamboo and be connected, is used for the drive to get a seedling section of thick bamboo and remove along its length direction. According to the plug seedling taking device and the working method thereof, the seedling taking needle driving mechanism drives the seedling taking needle to move and push plug seedlings out of the plug, and the seedling taking barrel driving mechanism drives the seedling taking barrel to move and push the plug seedlings out of the tail end of the seedling taking needle, so that the seedling taking operation is completed. The plug seedling taking device provided by the embodiment of the invention has the advantages of simple structure, compact arrangement, high seedling taking efficiency, low seedling damage rate, good seedling taking uniformity and high stability.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a plug seedling taking device and a working method thereof.
Background
With the development of the vegetable planting industry, transplantation has become a key ring of the modern vegetable planting industry. The transplantation can fully utilize the photo-thermal resource, has the comprehensive effects of climate compensation and shortening the growth period of the seedlings, and can bring considerable social and economic benefits. At present, the semi-automatic transplanter is widely used, the semi-automatic transplanter manually feeds seedlings, the efficiency is low, the labor intensity is high, and most of the full-automatic transplanters are still in research, development, test and popularization stages. The seedling taking mechanism is a core component of the full-automatic transplanter, and the seedling taking technology is one of key technologies of the full-automatic transplanter. The existing full-automatic transplanter mostly adopts the modes of seedling jacking and mechanical arm clamping to fetch the seedlings or adopts a seedling fetching needle to fetch the seedlings. The traditional in-row ejection type seedling taking method is only to simply eject the seedling pot body out of a drain hole at the bottom of a plug tray, the seedling taking success rate is low, the taken seedlings lack uniformity, and the conveying of a follow-up mechanism to plug tray seedlings can be influenced. The seedling is got to the needle prick formula and is pricked into from seedling alms bowl the place ahead, can appear the condition of damage seedling body, and the mechanism is complicated moreover. The seedling taking mode has multiple seedling taking links, high manufacturing cost, low success rate of seedling taking and low reliability.
Disclosure of Invention
The embodiment of the invention provides a plug seedling picking device and a working method thereof, which are used for overcoming the defects of multiple seedling picking links, high manufacturing cost, low seedling picking success rate and low reliability in the prior art and realizing simple and compact device structure, high-efficiency seedling picking and low seedling damage rate.
According to one aspect of the embodiment of the invention, the plug seedling taking device comprises: get seedling needle, get a seedling section of thick bamboo, get seedling needle actuating mechanism and get a seedling section of thick bamboo actuating mechanism, it is hollow structure to get a seedling section of thick bamboo, just get the seedling needle set up in get inside and can follow of a seedling section of thick bamboo the length direction who gets a seedling section of thick bamboo removes, get seedling needle actuating mechanism with get the seedling needle and connect, be used for the drive get the seedling needle and follow the length direction who gets a seedling section of thick bamboo removes, get a seedling section of thick bamboo actuating mechanism with get a seedling section of thick bamboo and connect, be used for the drive get a seedling section of thick bamboo and remove along its length direction.
The seedling taking device is characterized by further comprising a seedling taking support, wherein the fixed end of the seedling taking barrel driving mechanism and the fixed end of the seedling taking needle driving mechanism are fixed on the seedling taking support.
Wherein, still including getting seedling section of thick bamboo framed bent, it is a plurality of and follows to get a seedling section of thick bamboo get the length direction of seedling section of thick bamboo framed bent arrange and be fixed in get in the mounting hole of seedling section of thick bamboo framed bent, it passes through to get seedling section of thick bamboo actuating mechanism's motion end get seedling section of thick bamboo framed bent with it connects to get a seedling section of thick bamboo.
Wherein, still including getting seedling needle framed bent, get seedling needle for many and follow the length direction of getting seedling needle framed bent arranges and is fixed in get in the mounting hole of seedling needle framed bent, get seedling needle actuating mechanism's motion end and pass through get seedling needle framed bent with it connects to get the seedling needle.
Wherein, still include guide rail, first slide bearing and second slide bearing, the guide rail vertical fixation in get the seedling support with get between the seedling section of thick bamboo framed bent, first slide bearing is fixed in get seedling section of thick bamboo framed bent, the second slide bearing is fixed in get seedling needle framed bent, just first slide bearing with second slide bearing slide set up in on the guide rail.
The seedling taking needle frame is characterized by further comprising a connecting piece, one end of the connecting piece is connected with the moving end of the seedling taking needle driving mechanism, and the other end of the connecting piece is connected with one end of the seedling taking needle frame.
Wherein, still include pressure sensor, pressure sensor is fixed in get seedling section of thick bamboo actuating mechanism with get between the seedling section of thick bamboo framed bent.
Wherein, still include first support and second support, first support is fixed in get the tip of seedling support, the stiff end of getting seedling needle actuating mechanism passes through first support is fixed in get on the seedling support, the second support is fixed in get the intermediate position of seedling support, the stiff end of getting seedling section of thick bamboo actuating mechanism passes through the second support is fixed in get on the seedling support.
Wherein, get seedling needle actuating mechanism and be first cylinder, get seedling section of thick bamboo actuating mechanism and be the second cylinder.
According to another aspect of the embodiment of the invention, the working method of the plug seedling taking device comprises the following steps:
s1, when the plug seedlings reach the preset position, the seedling taking needle driving mechanism operates to drive the seedling taking needles to extend out of the seedling taking barrel and eject the plug seedlings out of the plug;
and S2, stopping the operation of the seedling taking needle driving mechanism, operating the seedling taking barrel driving mechanism, moving the seedling taking barrel and ejecting the plug seedlings from the tail end of the seedling taking needle.
According to the plug seedling taking device and the working method thereof provided by the embodiment of the invention, the seedling taking needle driving mechanism drives the seedling taking needle to move and push plug seedlings out of the plug, and the seedling taking barrel driving mechanism drives the seedling taking barrel to move and push plug seedlings out of the tail end of the seedling taking needle, so that the seedling taking operation is completed. The plug seedling taking device provided by the embodiment of the invention has the advantages of simple structure, compact arrangement, high seedling taking efficiency, low seedling damage rate, good seedling taking uniformity and high stability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a plug seedling taking device provided by an embodiment of the invention;
fig. 2 is a front view of a plug seedling taking device provided by an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a seedling fetching support according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a seedling taking needle, a seedling taking needle bent frame and a seedling taking needle driving mechanism according to an embodiment of the present invention;
fig. 5 is a structural schematic diagram of a plug seedling taking device in a first state according to an embodiment of the present invention;
fig. 6 is a structural schematic diagram of a plug seedling taking device in a second state according to an embodiment of the present invention;
fig. 7 is a structural schematic diagram of a third state of a plug seedling taking device provided by the embodiment of the invention;
FIG. 8 is a schematic diagram of a state structure in a seedling picking process according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a state structure in the seedling picking process according to the embodiment of the present invention;
FIG. 10 is a schematic diagram of a state structure in a seedling picking process according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a state structure in a seedling picking process according to an embodiment of the present invention;
fig. 12 is a partial schematic view of a in fig. 6.
Reference numerals:
1: taking a seedling cylinder; 2: a connecting member; 3: a small connector; 4: a seedling taking needle driving mechanism; 5: a first support; 6: taking a seedling bracket; 7: a guide rail support; 8: a seedling taking barrel driving mechanism; 9: a rail connector; 10: a guide rail; 11: a second sliding bearing; 12: seedling taking needle bent frames; 13: seedling taking needles; 14: a first sliding bearing; 15: a pressure sensor; 16: plug seedlings; 17: taking seedling cylinder bent; 18: a second support.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or point connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A plug seedling picking device according to an embodiment of the present invention is described below with reference to fig. 1 to 12, including: get seedling needle 13, get a seedling section of thick bamboo 1, get seedling needle actuating mechanism 4 and get a seedling section of thick bamboo actuating mechanism 8, it is hollow structure to get a seedling section of thick bamboo 1, and get seedling needle 13 set up in getting 1 inside of a seedling section of thick bamboo and can follow the length direction who gets a seedling section of thick bamboo 1 and remove, get seedling needle actuating mechanism 4 and get seedling needle 13 and be connected, a length direction who is used for the drive to get seedling needle 13 and removes along getting a seedling section of thick bamboo 1, get a seedling section of thick bamboo actuating mechanism 8 and get a seedling section of thick bamboo 1 and be connected, a seedling section of thick bamboo 1 removes along its length direction is got in the drive.
Specifically, get seedling needle 13 in this embodiment and get a seedling section of thick bamboo 1 and be parallel arrangement, and get seedling needle 13 and can remove along the length direction who gets a seedling section of thick bamboo 1, get the one end of seedling needle 13 promptly and can stretch out from the tip of getting a seedling section of thick bamboo 1, also can let get a seedling section of thick bamboo 1 and stretch out and make to get seedling needle 13 and retract relatively inside getting a seedling section of thick bamboo 1. It can be understood that the outer diameter of the seedling taking needle 13 is smaller than the inner diameter of the seedling taking barrel 1, and the seedling taking needles 13 and the seedling taking barrel 1 are arranged in a one-to-one correspondence manner. As shown in FIG. 12, the seedling taking needle 13 is stepped, and the tip thereof is a thin end which is a seedling hanging end and has a length of about 20 mm.
As shown in fig. 1, when the seedling taking needle driving mechanism 4 pushes the seedling taking needle 13 forward, the seedling taking needle 13 extends out of the seedling taking barrel 1; when the seedling taking barrel driving mechanism 8 pushes the seedling taking barrel 1 forwards, the seedling taking barrel 1 moves forwards, and the seedling taking needle 13 retracts into the seedling taking barrel 1 relatively; when the seedling taking needle driving mechanism 4 and the seedling taking barrel driving mechanism 8 pull the seedling taking needle 13 and the seedling taking barrel 1 backwards, the seedling taking needle 13 and the seedling taking barrel 1 reset.
When the device is used, when the plug seedlings 16 reach a preset position (as shown in fig. 5), the seedling taking needle driving mechanism 4 is started, the seedling taking needles 13 move forwards, the plug seedlings 16 are inserted into and ejected out of the drain holes at the bottoms of the plug seedlings, at the moment, the plug seedlings 16 are positioned at the tail ends of the seedling taking needles 13, and the state diagram of the plug seedling taking device is shown in fig. 6; then, starting the seedling taking barrel driving mechanism 8, moving the seedling taking barrel 1 forwards, retracting the seedling taking needle 13 into the seedling taking barrel 1 relatively (as shown in fig. 7), and ejecting the plug seedlings 16 from the tail end of the seedling taking needle 13; and finally, the seedling taking needle driving mechanism 4 controls the seedling taking needle 13 to reset, and the seedling taking barrel driving mechanism 8 controls the seedling taking barrel 1 to reset, so that the seedling taking operation is completed.
According to the plug seedling taking device and the working method thereof provided by the embodiment of the invention, the seedling taking needle driving mechanism 4 drives the seedling taking needle 13 to move and push out the plug seedlings 16 from the plug, and the seedling taking barrel driving mechanism 8 drives the seedling taking barrel 1 to move and push out the plug seedlings 16 from the tail end of the seedling taking needle 13, so that the seedling taking operation is completed. The plug seedling taking device provided by the embodiment of the invention has the advantages of simple structure, compact arrangement, high seedling taking efficiency, low seedling damage rate, good seedling taking uniformity and high stability.
In one embodiment, as shown in fig. 3, the plug seedling taking device further comprises a seedling taking bracket 6, and the fixed end of the seedling taking barrel driving mechanism 8 and the fixed end of the seedling taking needle driving mechanism 4 are both fixed on the seedling taking bracket 6. Specifically, get and arrange a plurality of mounted positions on seedling support 6 for getting seedling section of thick bamboo actuating mechanism 8 and getting seedling needle actuating mechanism 4 installation, if actuating mechanism chooses for use the cylinder, then the stiff end of cylinder is fixed on getting seedling support 6.
In one embodiment, the plug seedling taking device further comprises a seedling taking barrel bent frame 17, the seedling taking barrels 1 are multiple and are arranged and fixed in the mounting holes of the seedling taking barrel bent frame 17 along the length direction of the seedling taking barrel bent frame 17, and the moving end of the seedling taking barrel driving mechanism 8 is connected with the seedling taking barrels 1 through the seedling taking barrel bent frame 17. Specifically, get seedling section of thick bamboo framed bent 17 and for getting seedling section of thick bamboo 1 and provide the mounted position, get the mounting hole that seedling section of thick bamboo 1 accessible got seedling section of thick bamboo framed bent 17 and arrange a whole row for a whole row gets a seedling section of thick bamboo 1 and moves together, guarantees each motion uniformity who gets a seedling section of thick bamboo 1.
In one embodiment, the plug seedling taking device further comprises a seedling taking needle bent frame 12, the seedling taking needles 13 are multiple and are arranged and fixed in the mounting holes of the seedling taking needle bent frame 12 along the length direction of the seedling taking needle bent frame 12, and the moving end of the seedling taking needle driving mechanism 4 is connected with the seedling taking needles 13 through the seedling taking needle bent frame 12. Specifically, get seedling needle bent 12 and provide the mounted position for getting seedling needle 13, get seedling needle 13 accessible and get seedling needle bent 12's mounting hole and arrange a whole row for a whole row gets seedling needle 13 and moves together, guarantees each and gets the motion uniformity of seedling needle 13.
In one embodiment, the plug seedling taking device further comprises a guide rail 10, a first sliding bearing 14 and a second sliding bearing 11, the guide rail 10 is vertically fixed between the seedling taking support 6 and the seedling taking barrel bent frame 17, the first sliding bearing 14 is fixed on the seedling taking barrel bent frame 17, the second sliding bearing 11 is fixed on the seedling taking needle bent frame 12, and the first sliding bearing 14 and the second sliding bearing 11 are slidably arranged on the guide rail 10. Specifically, this embodiment is getting seedling support 6 and getting seedling section of thick bamboo framed bent 17 between two guide rails 10 of perpendicular arrangement, and it can only move along the direction of guide rail 10 to prescribe a limit to get seedling section of thick bamboo framed bent 17 and get seedling needle framed bent 12 through first slide bearing 14 and second slide bearing 11, avoids taking place the skew at the removal in-process, guarantees to get seedling needle 13 and gets seedling section of thick bamboo 1 and remove according to the direction of guide rail 10, has guaranteed motion stability. Furthermore, two guide rail supports 7 for installing the guide rail 10 are arranged on the seedling taking bracket 6, and the guide rail supports 7 are connected with one end of the guide rail 10 through guide rail connectors 9.
In one embodiment, the plug seedling taking device further comprises a connecting piece 2, one end of the connecting piece 2 is connected with the moving end of the seedling taking needle driving mechanism 4, and the other end of the connecting piece 2 is connected with one end of the seedling taking needle bent frame 12. Due to the size problem of the seedling taking needle driving mechanism 4, the connecting piece 2 in the embodiment mainly serves to connect the seedling taking needle bent frame 12 and the seedling taking needle driving mechanism 4. For example, as shown in fig. 4, if the length of the seedling taking needle driving mechanism 4 is too long to be directly connected to the seedling taking needle bent 12, the connecting member 2 is used to coordinate the connection relationship between the seedling taking needle driving mechanism 4 and the seedling taking needle bent 12. It can be understood that the present embodiment further comprises a small connecting member 3 connected between the connecting member 2 and the seedling taking needle driving mechanism 4, so as to further coordinate the connection and matching relationship between the two.
In one embodiment, the plug seedling taking device further comprises a pressure sensor 15, the pressure sensor 15 is fixed between the seedling taking barrel driving mechanism 8 and the seedling taking barrel bent frame 17, and the pressure sensor 15 is used for monitoring the ejection pressure in real time.
In one embodiment, the plug seedling taking device further comprises a first support 5 and a second support 18, the first support 5 is fixed at the end of the seedling taking support 6, the fixed end of the seedling taking needle driving mechanism 4 is fixed on the seedling taking support 6 through the first support 5, the second support is fixed at the middle position of the seedling taking support 6, and the fixed end of the seedling taking barrel driving mechanism 8 is fixed on the seedling taking support 6 through the second support 18. The first support 5 and the second support 18 are respectively used for installing the seedling taking needle driving mechanism 4 and the seedling taking barrel driving mechanism 8, specifically, a part of angle iron is cut off at the lower part of one end of the seedling taking bracket 6, and the end is used for fixing the first support 5.
In one embodiment, the seedling taking needle driving mechanism 4 is a first air cylinder, and the seedling taking barrel driving mechanism 8 is a second air cylinder. It should be understood that other driving devices such as oil cylinders, electric cylinders and hydraulic cylinders can be used instead of the air cylinders according to actual needs.
As shown in fig. 8 to 11, an embodiment of the present invention further discloses a working method of the plug seedling picking device according to the above embodiment, including:
s1, when the plug seedlings 16 reach the preset position (as shown in figure 8), the seedling taking needle driving mechanism 4 operates to drive the seedling taking needles 13 to extend out of the seedling taking barrel 1 and eject the plug seedlings 16 out of the plug (as shown in figure 9);
s2, stopping the operation of the seedling taking needle driving mechanism 4, operating the seedling taking barrel driving mechanism 8, moving the seedling taking barrel 1 and ejecting the plug seedlings 16 from the tail ends of the seedling taking needles 13 (as shown in figure 10);
s3, the seedling taking needle driving mechanism 4 and the seedling taking barrel driving mechanism 8 operate to drive the seedling taking needle 13 and the seedling taking barrel 1 to reset (as shown in figure 11).
It will be appreciated that the arrows in fig. 9-11 represent the direction of movement of the shoot barrel drive mechanism 8 and shoot pin drive mechanism 4.
The working method of the plug seedling picking device based on the embodiment of the invention greatly improves the success rate of picking seedlings, improves the uniformity of picking seedlings, has low seedling damage rate and meets the actual requirements; is suitable for various plug seedlings, has strong adaptability and is convenient to popularize.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a seedling device is got to plug seedling which characterized in that includes: the seedling taking cylinder is of a hollow structure, the seedling taking needle is arranged inside the seedling taking cylinder and can move along the length direction of the seedling taking cylinder, the seedling taking needle driving mechanism is connected with the seedling taking needle and used for driving the seedling taking needle to move along the length direction of the seedling taking cylinder, and the seedling taking cylinder driving mechanism is connected with the seedling taking cylinder and used for driving the seedling taking cylinder to move along the length direction of the seedling taking cylinder;
the fixed end of the seedling taking barrel driving mechanism and the fixed end of the seedling taking needle driving mechanism are both fixed on the seedling taking support;
the seedling taking cylinder bent frame is characterized by further comprising a plurality of seedling taking cylinders, the seedling taking cylinders are arranged and fixed in mounting holes of the seedling taking cylinder bent frame along the length direction of the seedling taking cylinder bent frame, and a moving end of the seedling taking cylinder driving mechanism is connected with the seedling taking cylinders through the seedling taking cylinder bent frame;
the seedling taking needle rack is characterized by further comprising a plurality of seedling taking needles, the seedling taking needles are arranged and fixed in the mounting holes of the seedling taking needle rack along the length direction of the seedling taking needle rack, and the moving end of the seedling taking needle driving mechanism is connected with the seedling taking needles through the seedling taking needle rack;
still include guide rail, first slide bearing and second slide bearing, the guide rail vertical fixation in get the seedling support with get between the seedling section of thick bamboo framed bent, first slide bearing is fixed in get seedling section of thick bamboo framed bent, the second slide bearing is fixed in get seedling needle framed bent, just first slide bearing with second slide bearing slide set up in on the guide rail.
2. The plug seedling taking device according to claim 1, further comprising a connecting piece, wherein one end of the connecting piece is connected with the moving end of the seedling taking needle driving mechanism, and the other end of the connecting piece is connected with one end of the seedling taking needle bent.
3. The plug seedling picking device according to claim 1, further comprising a pressure sensor fixed between the seedling picking cylinder driving mechanism and the seedling picking cylinder bent.
4. The plug seedling taking device according to claim 1, further comprising a first support and a second support, wherein the first support is fixed to an end of the seedling taking support, a fixed end of the seedling taking needle driving mechanism is fixed to the seedling taking support through the first support, the second support is fixed to a middle position of the seedling taking support, and a fixed end of the seedling taking barrel driving mechanism is fixed to the seedling taking support through the second support.
5. The plug seedling taking device according to any one of claims 1 to 4, wherein the seedling taking needle driving mechanism is a first air cylinder, and the seedling taking barrel driving mechanism is a second air cylinder.
6. The working method of the plug seedling taking device according to any one of claims 1 to 5, characterized by comprising the following steps:
s1, when the plug seedlings reach the preset position, the seedling taking needle driving mechanism operates to drive the seedling taking needles to extend out of the seedling taking barrel and eject the plug seedlings out of the plug;
and S2, stopping the operation of the seedling taking needle driving mechanism, operating the seedling taking barrel driving mechanism, moving the seedling taking barrel and ejecting the plug seedlings from the tail end of the seedling taking needle.
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| CN113711746B (en) * | 2021-10-18 | 2022-10-21 | 无锡悦田农业机械科技有限公司 | Seedling ejecting device of automatic plug seedling transplanter |
| CN118058038A (en) * | 2024-03-12 | 2024-05-24 | 湖北工业大学 | Automatic transplanting equipment and transplanting method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2686676B2 (en) * | 1991-01-18 | 1997-12-08 | ヤンマー農機株式会社 | Transplant machine |
| US6591766B2 (en) * | 1996-12-31 | 2003-07-15 | Williames Hi-Tech International Pty Ltd. | Field transplanter |
| CN102282943B (en) * | 2011-06-30 | 2013-02-20 | 南京农业大学 | Turnover pneumatic seedling taking device |
| CN203105095U (en) * | 2012-12-12 | 2013-08-07 | 北京工业大学 | Translation grabbing type plug seedling transplanting gripper |
| CN203015437U (en) * | 2013-01-09 | 2013-06-26 | 浙江大学 | Pot seedling transplanting inserting clamping type end actuator |
| CN103597939B (en) * | 2013-10-21 | 2015-08-12 | 浙江大学 | The plugging clamp modus ponens Plug seedling of single air cylinder driven transplants paw |
| CN106717374A (en) * | 2016-12-05 | 2017-05-31 | 石河子大学 | A kind of automatic transplanter entire row seedling taking manipulator |
| CN206517795U (en) * | 2017-02-22 | 2017-09-26 | 华中农业大学 | A kind of pot seedling transplanter pneumatic seedling taking pawl |
| CN111296009B (en) * | 2020-02-27 | 2022-02-08 | 中国农业大学 | Plug seedling taking device |
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