CN204180519U - Double-deck swing-arm type displacement Yi Bo robot - Google Patents
Double-deck swing-arm type displacement Yi Bo robot Download PDFInfo
- Publication number
- CN204180519U CN204180519U CN201420606295.2U CN201420606295U CN204180519U CN 204180519 U CN204180519 U CN 204180519U CN 201420606295 U CN201420606295 U CN 201420606295U CN 204180519 U CN204180519 U CN 204180519U
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- slide
- slide block
- robot
- conveyer belt
- type displacement
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 16
- 230000000050 nutritive effect Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 7
- 150000001875 compounds Chemical class 0.000 claims description 6
- 239000013013 elastic material Substances 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 3
- 235000012055 fruits and vegetables Nutrition 0.000 abstract description 3
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 235000021384 green leafy vegetables Nutrition 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000280 densification Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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Abstract
The utility model relates to double-deck swing-arm type displacement Yi Bo robot.Nutritive cube in vesicle dish should be able to be transferred in the large cave dish of larger cavities spacing by the robot that object is to provide, for follow-up development that is full-automatic and compact fruits and vegetables transfer machine provides basis; And have that complete machine width is little, the simple feature of structure.Technical scheme is: scissor-type displacement moves alms bowl manipulator, it is characterized in that: this manipulator comprises several and to be positioned in frame and for the clamping supporting plate clamping seedling-raising cup, the Wire pulling mechanism described clamping supporting plate being applied to chucking power and the scissors mechanism that regulated by the distance between two cylinders drive in opposite directions to described clamping supporting plate.
Description
Technical field
The utility model relates to leaf vegetables transplanting machine technical field, especially the nutritive cube filling seedling can be coiled the double-deck swing-arm type displacement Yi Bo robot coiling transfer to Large space cave by Small Distance cave.
Background technology
With improving constantly of Automation of Agricultural Production technology, the people increases fast to leafy green vegetable demand; Current leaf vegetables seedling progressively transplants transition (because artificial cost of transplanting is high and speed slow, being difficult to catch up with modern step) from artificial transplanting to machinery; But mechanization transplanting operation, need in advance the large cave that nutritive cube (be also seedling-raising cup, cup of planting) transfers to cavities arrangement sparse (spacing between cavities is larger) from the vesicle dish that cavities is arranged intensive to be coiled, this part operation is still needed at present and is manually completed, and substitutes in the urgent need to there being a kind of servicing unit.
Utility model content
Technical problem to be solved in the utility model is the deficiency overcoming above-mentioned background technology, a kind of double-deck swing-arm type displacement Yi Bo robot is provided, nutritive cube in vesicle dish should be able to be transferred in the large cave dish of larger cavities spacing by this robot, for follow-up development that is full-automatic and compact fruits and vegetables transfer machine provides basis; And have that complete machine width is little, the simple feature of structure.
The technical solution adopted in the utility model is as follows:
Double-deck swing-arm type displacement Yi Bo robot, is characterized in that: described displacement Yi Bo robot comprise frame and be positioned in frame for carry cave coil conveying mechanism, for adjusting the clamping distance adjustor of nutritive cube spacing and the lifting rotation mechanism for ordering about the lifting of clamping distance adjustor and rotation;
Described conveying mechanism comprises level respectively and correspondence is arranged in two-layer conveyer belt in frame, drives the transmission mechanism of two-layer conveyer belt and drive the stepper motor of transmission mechanism up and down.
Described lifting rotation mechanism comprises the leading screw and nut mechanism vertically arranged and the compound oscillating mechanism by the nut sleeve band action elevating movement in leading screw and nut mechanism, described compound oscillating mechanism comprise an axis vertical arrange with the slide bar of slide block, a pair semicircle supporting plate be positioned on slide block by link, be installed on semicircle supporting plate and with external gear small machine and be fixed on the ring gear engaged on described slide block and with described external gear; The pivot center of described external gear and ring gear is all vertically arranged; Described slide block locates a roller by a horizontally disposed roller shaft, to drive moving up and down of compound oscillating mechanism in a pair semicircle supporting plate described in this roller embeds.
Described clamping distance adjustor comprises the framework be fixed on link, level and two slide-bars be arranged in parallel up and down, be fixedly connected with and two fixed blocks be connected as a single entity by middle connecting plate with the central part of two slide-bars simultaneously, be positioned at slidably respectively fixed block the left and right sides and respectively by two pairs of slide blocks (often pair of slide block comprises two slide blocks) that a side connecting plate is connected as a single entity, two pairs of slide blocks are driven to make two cylinders of move toward one another and be separately fixed at the jaw of fixed block and two slide block bottoms respectively.
Described jaw is formed by a pair elastic material and with the annular claw arm of prong, the internal diameter of annular claw arm and the rim of a cup fit of nutritive cube.
Horizontally disposed respectively on described two-layer conveyer belt have several baffle plates, and the bearing of trend of baffle plate is vertical with the length direction of conveyer belt, and the distance between two between baffle plate is corresponding with the width that cave is coiled.
Described transmission mechanism is the live-roller of transmission conveyer belt.
Operation principle of the present utility model is: before utility model works, vesicle dish, large cave dish and clamping distance adjustor are all in original position, now the first row distance jaw of vesicle dish has certain distance (pitch-row being set to vesicle dish is advisable), and the jaw of clamping distance adjustor is in Small Distance state.First, upper strata conveyer belt fixed length transmits lattice (distance of lattice is the pitch-row of vesicle dish), one row's nutritive cube is moved in the arc-shaped elastic pawl arm of jaw, thus clamping simultaneously and support and lift the nutritive cube (rim of a cup of nutritive cube has outstanding edge, therefore can support and lift) be positioned on vesicle dish; Small machine running in slide block group, the dextrorotation of clamping distance adjustor turn 90 degrees (being clockwise in vertical view); Motor running on leading screw, slide block group is ordered about by nut sleeve, drives clamping distance adjustor to be displaced downwardly to conveying belt of lower floor position along the outside of framework; Small machine in slide block group oppositely operates, and clamping distance adjustor is rotated counterclockwise 90 degree, clamped by the nutritive cube that supports and lifts be shifted in conveying belt of lower floor top (upper strata conveyer belt following); Cylinder piston rod motion on clamping distance adjustor is stretched out, and jaw is setting Large space state from Small Distance state transfer; Screw mandrel continues to drive clamping distance adjustor to move down, and just nutritive cube is positioned in the first round of large cave dish; Conveying belt of lower floor orientation conveying one lattice (its throughput direction is contrary with upper strata conveyer belt), makes nutritive cube depart from from having flexible jaw, and the emptying aperture of the upper second row of large cave dish moves to the position of original first row; Clamping distance adjustor on cylinder piston rod retract, between jaw from Large space state transfer be Small Distance state; Small machine forward running in slide block group, the dextrorotation of clamping distance adjustor turn 90 degrees and is again transferred to outside framework; Heavy motor on leading screw oppositely operates, and slide block group drives and clamping distance adjustor moves to higher than shelf position; Small machine in slide block group oppositely operates, and clamping distance adjustor is rotated counterclockwise 90 degree and drives jaw to arrange (completing reset) along the lateral attitude of upper strata conveyer belt; A circulation terminates, and this circulation, moves the operation of alms bowl displacement and carry out continuously repeatedly.
The beneficial effect that the utility model has is: the nutritive cube in vesicle dish can be transferred on the dish of cave by the utility model rapidly, and the spacing between nutritive cube is significantly expanded, for the operation of fruits and vegetables transplanter lays the foundation.In addition, the three-dimensional structural design of being carried by bilayer decreases the width of transplanter fuselage, has saved occupation of land space, has practical significance to the densification of transplanter and miniaturization.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is main TV structure schematic diagram of the present utility model.
Fig. 3 is plan structure schematic diagram of the present utility model.
Fig. 4 is the perspective view of the utility model mid frame.
Fig. 5 is the perspective view of lifting rotation mechanism of the present utility model.
Fig. 6 is the stereochemical structure explosive view of lifting rotation mechanism of the present utility model.
Fig. 7 is clamping distance adjustor Small Distance view of the present utility model.
Fig. 8 is clamping distance adjustor Large space view of the present utility model.
Fig. 9 is the clamping distance adjustor location status schematic diagram (turning to 90 degree) in the utility model.
Figure 10 is that the utility model moves into working state schematic representation when large cave is coiled first row nutritive cube.
Embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model is not limited to following examples.
Double-deck swing-arm type displacement Yi Bo robot shown in the drawings, comprises frame 1-1 and makes Yi Bo robot complete required action with the conveying plant 1 be positioned in frame, lifting rotation mechanism 2 and clamping distance adjustor 3.
As shown in Figure 4, described conveying plant 1 by double-deck conveyer belt, drive the transmission mechanism of two-layer conveyer belt and stepper motor to form, upper strata conveyer belt 1-2 wherein and conveying belt of lower floor 1-3 is all horizontally disposed conveyer belts with baffle plate 1-a, and the direction of baffle plate is vertical with throughput direction, described baffle plate is for realizing dish location in the conveying direction, cave, preventing rim, cave from throughput direction slippage, is advisable with the length just holding one piece of cave dish in the interval of described baffle plate.Described upper and lower two-layer conveyer belt (is positioned at the live-roller 10 in frame by transmission mechanism by bearing, conventional structure) drive, driving stepper motor (in figure, stepper motor does not show), fixed length conveying (namely stopping at once after each conveying fixed range) can be realized, upper strata is used for conveyer belt in carrying the fixed length of vesicle dish, and conveying belt of lower floor is used for the fixed length conveying of coiling large cave.
As shown in Figure 5 and Figure 6, described lifting rotation mechanism 2 is made up of top board 2-a, base plate 2-b, large stepper motor 2-1, shaft coupling 2-2, screw mandrel 2-3, nut sleeve 2-4, rolling bearing units 2-5, roller shaft 2-6, roller 2-7, circular arc internal gear 2-8, external gear 2-9, small machine (i.e. little stepper motor) 2-10, first round pallet 2-11, lower semi-circular supporting plate 2-12, top shoe 2-13, sliding block 2-14, slide-bar 2-15 and link 2-16.Described large stepper motor 2-1 and rolling bearing units 2-5 is connected on top board 2-a and base plate 2-b respectively.The lower end of described screw mandrel 2-3 is connected by shaft coupling 2-2 and large stepper motor 2-1, and the upper end of screw mandrel 2-3 is connected with rolling bearing units 2-5; Described nut sleeve with between screw mandrel for being threaded, the rotary motion of screw mandrel can be converted into the rectilinear motion of nut sleeve; Described roller shaft 2-6 and circular arc internal gear 2-8 is all connected in the right side of nut sleeve, and described roller 2-7 is connected on roller shaft 2-6 and can rotates around roller shaft; Described little stepper motor 2-10 is fixed on upper semi-circle supporting plate, and described external gear 2-9 is connected to motor shaft end and engages with circular arc internal gear 2-8, jointly rotates around slide-bar 2-15 for driving upper and lower two slide blocks (2-13 and 2-14 forms slide block group); Described top shoe 2-13 and the fast 2-14 that glides both can rotate around slide-bar, can slide again along slide-bar; Described upper and lower two pieces of semicircle supporting plate 2-11,2-12 are connected in upper and lower two slide block 2-13,2-14 upper (upper and lower two blocks of semicircle supporting plates partner semicircle supporting plate) respectively; Described roller 2-7 is folded between upper and lower two blocks of semicircle supporting plates, on the one hand for reducing friction when slide block group is rotated between semicircle supporting plate and roller, on the other hand when roller can drive slide block group to slide up and down along slide-bar with during nut interplanting elevating movement; The both sides up and down of described link 2-16 left side are connected with the right side of upper and lower slide block respectively, and make two slide blocks form slide block group and make associated movement, link 2-16 right side is connected with clamping distance adjustor 3.
As shown in Figure 7 and Figure 8, described clamping distance adjustor 3 comprises framework 3-1,2 slide-bar 3-2,2 cylinder 3-3,3 elasticity jaw 3-4, two side connecting plate 3-5, middle connecting plate 3-6,4 slide block 3-7,2 fixed block 3-8 form.Described 4 slide block 3-7 to be set on slide-bar 3-2 and can along slide-bar horizontal slips; Described 2 fixed block 3-8 are connected in the centre position of 2 slide-bars respectively, and middle connecting plate 3-6 is then fixed as one with upper and lower two fixed blocks simultaneously; Each side connecting plate 3-5 is respectively used to connect upper and lower two pieces of slide block 3-7 (forming a slide block group) makes it do common slip along slide-bar 3-2; Described 3 elasticity jaw 3-4 are fixedly connected on the bottom side of connecting plate in the middle of two side connecting plates and respectively; Described two cylinders are arranged on framework in opposite directions, namely the tail end of a cylinder 3-3 to be fixed on the left of framework 3-1 on side plate, its piston rod end is connected on the connecting plate 3-5 of right edge, to turn right slip (thus the spacing convergent-divergent realized between elasticity jaw) for promoting slide block; And the tail end of another cylinder is fixed on the right side of framework 3-1 on side plate, its piston rod end is connected on the connecting plate 3-5 on limit, left side, to turn left slip for promoting slide block.From above-mentioned annexation, two jaws near outside are mobile with the movement of slide block, and middle jaw is fixed.These three jaws are formed by a pair elastic material and with the annular claw arm of prong (or be furnished with spring and endless metal pawl arm with prong is formed), the internal diameter of annular claw arm and the rim of a cup fit of nutritive cube; Nutritive cube is entered from prong level clamp-on in jaw or throw off in jaw.
Operation principle of the present utility model is:
As shown in Figure 3, before utility model works, vesicle dish A, large cave dish B and clamping distance adjustor 3 are all in original position, the orientation now clamping jaw in distance adjustor is orthogonal with the direction of transfer that cave is coiled (conveyer belt direction), first row nutritive cube center line A-1 distance jaw 3-4 line of centres B-1 on vesicle dish A has certain distance (the distance d between the dotted line B-1 namely in Fig. 3 and dotted line A-1, the pitch-row that d is set to vesicle dish is advisable), the first row nutritive cube center line of large cave dish B overlaps with jaw line of centres B-1, the jaw of clamping distance adjustor is in Small Distance state.
As shown in Figure 1, when starting working, first upper strata conveyer belt 1-2 fixed length transmits lattice (along the direction of arrow in Figure 10, the distance of lattice is the pitch-row of vesicle dish), moves in the annular claw arm of jaw 3-4 by row's nutritive cube; Then the large stepper motor 2-1 on leading screw moves, order about on slide block group drive clamping distance adjustor 3 and move some distances, thus jaw is clamped and nutritive cube C on holding vesicle dish A makes its (rim of a cup of nutritive cube has outstanding edge, therefore can holding) depart from upper strata driving-belt;
As shown in Figure 9, the small machine 2-10 forward running in slide block group, the dextrorotation of clamping distance adjustor 3 turn 90 degrees (for clockwise in Fig. 3 vertical view) and drives the nutritive cube of jaw institute holding to move to the outside of frame; Large stepper motor 2-1 on leading screw operates, and slide block group drives the nutritive cube of clamping distance adjustor institute holding to be displaced downwardly between lower floor's conveyer belt and upper strata conveyer belt;
As shown in Figure 10, the small machine 2-10 in slide block group oppositely operates, and clamping distance adjustor 3 is rotated counterclockwise the top that the nutritive cube of institute's holding is moved to large cave dish (being positioned on lower floor's conveyer belt) by 90 degree; In clamping distance adjustor 3, the piston rod of two cylinders stretches out simultaneously, makes the spacing between jaw strengthen (be Large space state from Small Distance state transfer); Screw mandrel continues to drive clamping distance adjustor to move down, and the nutritive cube of jaw institute holding is positioned in first round of large cave dish B just.
Conveying belt of lower floor 1-3 orientation conveying one lattice (along the direction of arrow in Figure 10, its throughput direction is contrary with upper strata conveyer belt), drives nutritive cube to throw off from having flexible jaw; The emptying aperture of the upper second row of large cave dish moves to the position of original first row simultaneously; Cylinder piston rod in clamping distance adjustor is retracted, and the spacing of jaw is Small Distance state from Large space state transfer;
Small machine 2-10 forward running in slide block group, the dextrorotation of clamping distance adjustor turn 90 degrees, and drives jaw to move to the outside of frame; Heavy motor on leading screw oppositely operates, and slide block group drives top clamping distance adjustor moving to frame; Small machine in slide block group oppositely operates, and clamping distance adjustor is rotated counterclockwise 90 degree, drives jaw to move the top of vesicle dish (being positioned on the conveyer belt of upper strata); Reset completes, and a circulation terminates; This circulation, moves the operation of alms bowl displacement and carries out continuously repeatedly.
Claims (4)
1. double-deck swing-arm type displacement Yi Bo robot, is characterized in that: described displacement Yi Bo robot comprise frame (1-11) and be positioned in frame for carry cave to coil conveying mechanism (1), for adjust nutritive cube spacing clamping distance adjustor (3) and for order about clamping distance adjustor lifting and rotate lifting rotation mechanism (2);
Described conveying mechanism comprises level respectively and correspondence is arranged in two-layer conveyer belt in frame, drives the transmission mechanism of two-layer conveyer belt and drive the stepper motor of transmission mechanism up and down;
Described lifting rotation mechanism comprises the vertically leading screw and nut mechanism of layout and the compound oscillating mechanism by the nut sleeve band action elevating movement in leading screw and nut mechanism, described compound oscillating mechanism comprises an axis vertical and arranges with slide block (2-13, slide bar (2-15) 2-14), a pair that is positioned on slide block by link (2-16) semicircle supporting plate (2-11, 2-1, 2), to be installed on semicircle supporting plate and with external gear (2-9) little stepper motor (2-10) and be fixed on the ring gear (2-8) engaged on described slide block and with described external gear, the pivot center of described external gear and ring gear is all vertically arranged, described slide block locates a roller (2-7) by a horizontally disposed roller shaft (2-6), to drive moving up and down of compound oscillating mechanism in a pair semicircle supporting plate described in this roller embeds,
Described clamping distance adjustor comprises the framework (3-1) be fixed on link, level and two slide-bars (3-2) be arranged in parallel up and down, be fixedly connected with and two fixed blocks (3-8) be connected as a single entity by middle connecting plate (3-6) with the central part of two slide-bars simultaneously, be positioned at slidably respectively fixed block the left and right sides and respectively by two pairs of slide blocks (3-7) that a side connecting plate (3-5) is connected as a single entity, two pairs of slide blocks are driven to do two cylinders (3-3) of move toward one another and be separately fixed at the jaw (3-4) of fixed block and two slide block bottoms respectively.
2. double-deck swing-arm type displacement Yi Bo robot according to claim 1, is characterized in that: described jaw is formed by a pair elastic material and with the annular claw arm of prong, the internal diameter of annular claw arm and the rim of a cup fit of nutritive cube.
3. double-deck swing-arm type displacement Yi Bo robot according to claim 2, it is characterized in that: horizontally disposed respectively on described two-layer conveyer belt have several baffle plates (1-a), the bearing of trend of baffle plate is vertical with the length direction of conveyer belt, and the distance between two between baffle plate is corresponding with the width that cave is coiled.
4. double-deck swing-arm type displacement Yi Bo robot according to claim 3, is characterized in that: described transmission mechanism is the live-roller (10) driving conveyer belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420606295.2U CN204180519U (en) | 2014-10-20 | 2014-10-20 | Double-deck swing-arm type displacement Yi Bo robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420606295.2U CN204180519U (en) | 2014-10-20 | 2014-10-20 | Double-deck swing-arm type displacement Yi Bo robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204180519U true CN204180519U (en) | 2015-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420606295.2U Expired - Fee Related CN204180519U (en) | 2014-10-20 | 2014-10-20 | Double-deck swing-arm type displacement Yi Bo robot |
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| CN (1) | CN204180519U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104429246A (en) * | 2014-10-20 | 2015-03-25 | 浙江理工大学 | Two-layer radial arm type variable-pitch bowl-moving robot |
| CN105766174A (en) * | 2016-04-26 | 2016-07-20 | 浙江理工大学 | Greenhouse plug tray seedling transplanting machine |
| CN110342217A (en) * | 2019-07-12 | 2019-10-18 | 东莞恩茁智能科技有限公司 | Sabot equipment |
| CN110342215A (en) * | 2019-07-12 | 2019-10-18 | 东莞恩茁智能科技有限公司 | Sabot equipment |
| CN110386436A (en) * | 2019-07-12 | 2019-10-29 | 东莞恩茁智能科技有限公司 | Feeding device and sabot equipment with the feeding device |
| CN110386402A (en) * | 2019-07-12 | 2019-10-29 | 东莞恩茁智能科技有限公司 | Feeding mechanism and sabot equipment with the feeding mechanism |
| CN110771323A (en) * | 2019-10-25 | 2020-02-11 | 中国科学院合肥物质科学研究院 | Hole tray conveying device of transplanter and positioning method thereof |
| CN112262685A (en) * | 2020-11-17 | 2021-01-26 | 西北农林科技大学 | Automatic greenhouse pot seedling transplanting system for industrial seedling raising |
-
2014
- 2014-10-20 CN CN201420606295.2U patent/CN204180519U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104429246A (en) * | 2014-10-20 | 2015-03-25 | 浙江理工大学 | Two-layer radial arm type variable-pitch bowl-moving robot |
| CN105766174A (en) * | 2016-04-26 | 2016-07-20 | 浙江理工大学 | Greenhouse plug tray seedling transplanting machine |
| CN110342217A (en) * | 2019-07-12 | 2019-10-18 | 东莞恩茁智能科技有限公司 | Sabot equipment |
| CN110342215A (en) * | 2019-07-12 | 2019-10-18 | 东莞恩茁智能科技有限公司 | Sabot equipment |
| CN110386436A (en) * | 2019-07-12 | 2019-10-29 | 东莞恩茁智能科技有限公司 | Feeding device and sabot equipment with the feeding device |
| CN110386402A (en) * | 2019-07-12 | 2019-10-29 | 东莞恩茁智能科技有限公司 | Feeding mechanism and sabot equipment with the feeding mechanism |
| CN110342215B (en) * | 2019-07-12 | 2021-08-10 | 东莞恩茁智能科技有限公司 | Tray loading equipment |
| CN110386436B (en) * | 2019-07-12 | 2021-08-10 | 东莞恩茁智能科技有限公司 | Tray loading equipment |
| CN110771323A (en) * | 2019-10-25 | 2020-02-11 | 中国科学院合肥物质科学研究院 | Hole tray conveying device of transplanter and positioning method thereof |
| CN110771323B (en) * | 2019-10-25 | 2023-05-16 | 中国科学院合肥物质科学研究院 | Plug conveying device of transplanting machine and positioning method thereof |
| CN112262685A (en) * | 2020-11-17 | 2021-01-26 | 西北农林科技大学 | Automatic greenhouse pot seedling transplanting system for industrial seedling raising |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150304 Termination date: 20171020 |
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| CF01 | Termination of patent right due to non-payment of annual fee |