CN204291771U - The seedling-culturing sowing machine that a kind of PLC controls - Google Patents
The seedling-culturing sowing machine that a kind of PLC controls Download PDFInfo
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- CN204291771U CN204291771U CN201420666477.9U CN201420666477U CN204291771U CN 204291771 U CN204291771 U CN 204291771U CN 201420666477 U CN201420666477 U CN 201420666477U CN 204291771 U CN204291771 U CN 204291771U
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- 238000009331 sowing Methods 0.000 title claims abstract description 22
- 238000012258 culturing Methods 0.000 title abstract 2
- 238000003973 irrigation Methods 0.000 claims abstract description 28
- 230000002262 irrigation Effects 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 239000002689 soil Substances 0.000 claims description 21
- 238000010899 nucleation Methods 0.000 claims description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 238000005056 compaction Methods 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000035899 viability Effects 0.000 abstract 1
- 238000004382 potting Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000004083 survival effect Effects 0.000 description 3
- 241000721671 Ludwigia Species 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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Abstract
Description
技术领域 technical field
本实用新型涉及一种育苗播种机，尤其涉及一种PLC控制的育苗播种机。 The utility model relates to a seedling seeding machine, in particular to a PLC-controlled seedling seeding machine.
背景技术 Background technique
随着科技的发展，育苗播种机已广泛地出现在花卉和蔬菜的育苗播种工作中。但是现有的育苗播种机多采用机械机构实现其间歇逻辑控制，多采用不完全齿轮机构、槽轮机构以及棘轮机构，由于机械机构易磨损、工作过程中易振动等缺点，这就造成了控制部分相关零件更换频繁，成本增加，生产效率降低甚至严重影响播种机的寿命。另外，现有播种机大多集装钵、播种和覆土基本功能于一体，这样未经压实和灌溉的土壤严重影响了种子的成活率，造成一定的经济损失。显然这种播种机已不能满足农户的生产需求。 With the development of science and technology, seedling seeding machines have widely appeared in the seedling and seeding work of flowers and vegetables. However, most of the existing seedling seeding machines use mechanical mechanisms to realize their intermittent logic control, and mostly use incomplete gear mechanisms, sheave mechanisms, and ratchet mechanisms. Due to the shortcomings of mechanical mechanisms that are easy to wear and vibrate during work, this has caused control problems. Some related parts are replaced frequently, the cost increases, the production efficiency decreases and even seriously affects the life of the planter. In addition, most of the existing planters integrate the basic functions of potting, sowing and soil covering, so that the uncompacted and irrigated soil seriously affects the survival rate of seeds and causes certain economic losses. Obviously this planter can no longer meet the production needs of farmers.
因此设计一种PLC控制的育苗播种机并且增加压实装置和灌溉装置变得非常有必要，有利于推动农业生产的发展，满足成本低廉、高生产率、高效益、高可靠性的生产化需要。 Therefore, it is very necessary to design a PLC-controlled seedling seeder and add compaction devices and irrigation devices, which is conducive to promoting the development of agricultural production and meeting the production needs of low cost, high productivity, high benefit, and high reliability.
实用新型内容 Utility model content
本实用新型所要解决的技术问题是提供一种基于PLC系统控制的并且在现有装钵、播种、覆土功能的基础上集压实与灌溉功能与一体的全自动育苗播种机。解决机械结构控制其间歇运动过程中机械零件易磨损、易振动和更换零件困难，导致生产成本增加，生产效率降低等问题。同时，增加压实与灌溉功能，提高种子成活率，填补了育苗播种机这方面的空白。在播种装置上换用凸轮推杆装置，有效地避免了由于零件磨损以及制造精度等因素而导致滑动杆卡死的情况，提高了生产效益，可以满足农户的需要。 The technical problem to be solved by the utility model is to provide a fully automatic seedling planter based on the PLC system control and integrating the functions of compaction and irrigation on the basis of the existing functions of potting, sowing and soil covering. Solve the problems that the mechanical parts are easy to wear, easy to vibrate and difficult to replace parts in the process of controlling the intermittent movement of the mechanical structure, resulting in increased production costs and reduced production efficiency. At the same time, the function of compaction and irrigation is increased, and the survival rate of seeds is improved, which fills the gap in this aspect of the seedling planter. The cam push rod device is used instead of the sowing device, which effectively avoids the situation of the sliding rod being stuck due to factors such as parts wear and manufacturing precision, improves production efficiency, and can meet the needs of farmers.
本实用新型解决上述技术问题的技术方案如下：一种PLC控制的育苗播种机，包括控制装置和机架，所述控制装置采用PLC，所述机架沿输送方向依次设置有自动放钵装置、装钵装置、播种装置、覆土装置、压实装置与灌溉装置，所述各装置通过PLC系统控制使其逻辑的连接在一起。在现有播种机所具有的放钵装置、装钵装置、覆土装置的基础上增添压实装置与灌溉装置。 The technical scheme of the utility model for solving the above-mentioned technical problems is as follows: a PLC-controlled seedling planter, including a control device and a frame, the control device adopts PLC, and the frame is sequentially provided with an automatic bowl-putting device, The bowl filling device, the seeding device, the soil covering device, the compacting device and the irrigation device are controlled by a PLC system to be logically connected together. A compacting device and an irrigation device are added on the basis of the bowl-putting device, the bowl-loading device and the soil-covering device of the existing planter.
所述PLC控制元件包括电源、CPU、编程器、存储器、输入/输出设备，所述PLC控制元件与各装置步进电机控制开关或电磁阀连接，是通过可编程控制器控制所述自动放钵装置、装钵装置、播种装置、覆土装置、压实装置的步进电机的启停和灌溉装置的电磁阀启停，通过步进电机启停控制各部分的驱动轴运动以及阀门的动作，实现各部分的顺序启动以及间歇控制，完成整机的功能。 Described PLC control element comprises power supply, CPU, programmer, storer, input/output device, and described PLC control element is connected with each device stepper motor control switch or electromagnetic valve, is to control described automatic putting bowl by programmable controller The start and stop of the stepping motor of the device, potting device, seeding device, soil covering device and compacting device and the solenoid valve of the irrigation device control the movement of the drive shaft of each part and the action of the valve through the start and stop of the stepping motor to realize The sequential start and intermittent control of each part completes the function of the whole machine.
采用上述技术方案的有益效果是采用PLC控制可以实现整机机构的轻量化，避免因机械机构控制引起的零件磨损、机构振动、维护困难、更换零件频繁和机械寿命低，从而导致生产成本提高，生产效益降低等缺点。 The beneficial effect of adopting the above technical solution is that the use of PLC control can realize the lightweight of the whole machine mechanism, avoiding the wear and tear of the parts caused by the control of the mechanical mechanism, the vibration of the mechanism, the difficulty of maintenance, the frequent replacement of parts and the low mechanical life, resulting in increased production costs. Disadvantages such as reduced production efficiency.
所述播种装置包括微型抽气泵、电磁阀、行程开关、凸轮推杆机构、种子盒、橡胶 管、轴承支架和种子漏斗，所述的凸轮机构为直动平底凸轮机构，滑动杆固定于两推杆的轴端，推杆的回程通过套在推杆上的弹簧产生的弹簧力作用，通过PLC控制元件控制输入轴轴端的步进电机启停从而使固定在输入轴上的凸轮产生相应的动作，通过直动杆的运动控制行程开关的开启和关闭，进而控制电磁阀的动作，所述的吸嘴固定在推杆的轴端的滑动杆上。 The sowing device includes a miniature air pump, a solenoid valve, a travel switch, a cam push rod mechanism, a seed box, a rubber tube, a bearing bracket and a seed funnel. The shaft end of the rod, the return stroke of the push rod is acted by the spring force generated by the spring sleeved on the push rod, and the stepper motor at the shaft end of the input shaft is controlled by the PLC control element to start and stop, so that the cam fixed on the input shaft produces a corresponding action , the opening and closing of the limit switch is controlled by the movement of the straight-acting rod, and then the action of the solenoid valve is controlled, and the suction nozzle is fixed on the sliding rod at the shaft end of the push rod.
采用上述技术方案的有益效果是采用凸轮推杆机构可以有效避免由于摩擦和制造精度等原因导致滑动杆在滑槽内卡死的情况，减少漏播种情况的发生。 The beneficial effect of adopting the above technical solution is that the use of the cam push rod mechanism can effectively avoid the situation that the sliding rod is stuck in the chute due to friction and manufacturing precision, and reduce the occurrence of missed seeding.
所述压实装置包括轴承支架、凸轮推杆机构、连接杆、连接杆支撑轴、压杆、压头、重块，所述连接杆一端连有凸轮机构的推杆，另一端连有压杆，连接杆安装在支撑轴上，通过约束使其保证只有沿轴线的旋转运动，所述凸轮推杆机构通过PLC控制元件控制其凸轮所在轴的轴端步进电机的启停进而控制凸轮推杆机构的动作，从而控制压杆的相应动作，实现压实功能，所述凸轮推杆机构的直动杆在与凸轮接触端装有重块，保证直动推杆的顺利返回。 The compacting device includes a bearing bracket, a cam push rod mechanism, a connecting rod, a connecting rod support shaft, a pressure rod, a pressure head, and a weight. One end of the connecting rod is connected with a push rod of the cam mechanism, and the other end is connected with a pressure rod , the connecting rod is installed on the support shaft, and it is constrained to ensure that it only rotates along the axis. The cam push rod mechanism controls the start and stop of the stepper motor at the shaft end of the shaft where the cam is located through the PLC control element to control the cam push rod The action of the mechanism, thereby controlling the corresponding action of the pressing rod, realizes the compaction function, and the straight moving rod of the cam push rod mechanism is equipped with a weight at the contact end with the cam to ensure the smooth return of the straight moving push rod.
采用上述技术方案的有益效果是实现了覆土与压实的配合，使钵内土壤压实，有效减少水分流失，提高种子成活率。 The beneficial effect of adopting the above-mentioned technical scheme is that the combination of covering soil and compacting is realized, the soil in the pot is compacted, water loss is effectively reduced, and the survival rate of seeds is improved.
所述灌溉装置包括支架、水箱、水龙头、脉冲电磁阀、软管、连接管，所述软管一端与水箱连接另一端连接到主机，主机内有脉冲电磁阀，主机与水龙头通过连接管连接，所述装置通过PLC控制元件控制脉冲电磁阀的开关，从而控制水龙头间歇流水，达到灌溉功能。 The irrigation device includes a bracket, a water tank, a faucet, a pulse solenoid valve, a hose, and a connecting pipe. One end of the hose is connected to the water tank and the other end is connected to the host. There is a pulse electromagnetic valve in the host. The device controls the switch of the pulse electromagnetic valve through the PLC control element, thereby controlling the intermittent flow of water from the faucet to achieve the irrigation function.
采用上述方案的有益效果是实现了间歇灌溉，高可靠性控制。 The beneficial effect of adopting the above scheme is that intermittent irrigation and high reliability control are realized.
本实用新型的有益效果是：本实用新型在装钵、播种和覆土的基本功能的基础上及压实与灌溉功能于一体，通过PLC控制元件控制实现各功能之间的逻辑间歇动作，播种覆土装置换用凸轮推杆机构，减少了因零件磨损，制造精度等原因引起的滑动杆在滑动槽内卡死的情况，本实用新型易操作、易维护、经济实用、生产效益高，市场前景广阔。 The beneficial effects of the utility model are: the utility model integrates the functions of compaction and irrigation on the basis of the basic functions of potting, sowing and soil covering, and realizes logical intermittent actions between functions through the control of PLC control elements, sowing and soil covering The device is replaced by a cam push rod mechanism, which reduces the situation that the sliding rod is stuck in the sliding groove caused by parts wear, manufacturing precision and other reasons. The utility model is easy to operate, easy to maintain, economical and practical, high in production efficiency, and has a broad market prospect. .
附图说明 Description of drawings
图1为本实用新型整机装置分布示意图； Fig. 1 is the schematic diagram of distribution of the whole device of the present utility model;
图2为本实用新型自动放钵装置示意图； Fig. 2 is a schematic diagram of the automatic bowl-putting device of the present utility model;
图3为本实用新型自动放钵装置放钵机构示意图； Fig. 3 is a schematic diagram of the bowl-putting mechanism of the automatic bowl-putting device of the present invention;
图4为本实用新型装钵装置示意图； Fig. 4 is a schematic diagram of the utility model filling bowl device;
图5为本实用新型播种覆土装置示意图； Fig. 5 is a schematic diagram of the utility model sowing soil covering device;
图6为本实用新型压实装置示意图； Fig. 6 is a schematic diagram of the compacting device of the present utility model;
图7、图8为本实用新型灌溉装置示意图； Fig. 7, Fig. 8 are the schematic diagrams of the utility model irrigation device;
具体实施方式 Detailed ways
以下结合附图对本实用新型的原理和特征进行描述，所举实例只用于解释本实用新型，并非用于限定本实用新型的范围。 The principles and features of the present utility model are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the utility model, and are not used to limit the scope of the utility model.
在图1中，所述PLC控制的育苗播种机包括输送装置6，沿所述输送装置6的前进方向依次设置有控制装置7、自动放钵装置5、装钵装置1、播种覆土装置2、压实装置3、灌溉装置4，所述的输送装置6、自动放钵装置5、装钵装置1、播种覆土装置2、压实装置3 与灌溉装置4通过PLC控制元件逻辑的连接在一起。 In Fig. 1, the seedling planter controlled by the PLC includes a conveying device 6, and along the forward direction of the conveying device 6, a control device 7, an automatic potting device 5, a potting device 1, a sowing soil covering device 2, The compacting device 3, the irrigation device 4, the conveying device 6, the automatic pot-putting device 5, the pot-filling device 1, the seeding and covering device 2, the compacting device 3 and the irrigation device 4 are logically connected together by the PLC control element.
在图5中，所述的播种覆土装置3包括轴承支架18、凸轮17、凸轮轴16、回程弹簧19、推杆21、滑动杆22、电磁阀20、种子漏斗24、种子盒23、抽气泵14、行程开关15、覆土装置25，所述的凸轮机构中，凸轮轴16通过轴承支架18固定，凸轮17固定在凸轮轴16上，通过PLC控制元件控制凸轮轴16的转动进而控制凸轮17的动作，凸轮17的转动推动推杆21的直线运动，其推杆21的回程是通过回程弹簧19的作用，连接在推杆一端的滑动杆22在推杆直线运动的动作下控制行程开关15的开启与关闭，进而控制电磁阀20的动作，电磁阀20的动作作用于抽气泵14，完成播种功能，所述的覆土装置3通过PLC程序控制驱动轴的间隙运动，实现间歇覆土功能。 In Fig. 5, described sowing soil covering device 3 comprises bearing bracket 18, cam 17, camshaft 16, return spring 19, push rod 21, slide rod 22, solenoid valve 20, seed funnel 24, seed box 23, air pump 14. Travel switch 15, earth-covering device 25, in the cam mechanism, the camshaft 16 is fixed by the bearing bracket 18, the cam 17 is fixed on the camshaft 16, the rotation of the camshaft 16 is controlled by the PLC control element and then the rotation of the cam 17 is controlled. Action, the rotation of the cam 17 pushes the linear motion of the push rod 21, the return of the push rod 21 is through the action of the return spring 19, and the sliding rod 22 connected to one end of the push rod controls the travel switch 15 under the linear motion of the push rod. Opening and closing, and then controlling the action of the solenoid valve 20, the action of the solenoid valve 20 acts on the air pump 14 to complete the seeding function. The soil covering device 3 controls the gap movement of the drive shaft through the PLC program to realize the intermittent soil covering function.
在图6中，所述的压实装置包括支架26、凸轮27、推杆28、轴承29、连接杆30、压杆31，连接杆支撑轴32、凸轮轴33、重块34，所述凸轮27固定在凸轮轴33上，推杆28与凸轮27接触端带有重块34，推杆28另一端与连接杆30连接，连接杆30另一端连有压杆31，通过PLC控制元件控制凸轮轴33的间歇动作，进而控制凸轮27的相应动作，推动推杆28经连接杆30驱动压杆31作用，实现对育苗钵土壤的压实工作，其中推杆28的回程是通过连接在推杆28一端的重块34作用。 In Fig. 6, described compaction device comprises support 26, cam 27, push rod 28, bearing 29, connecting rod 30, pressure rod 31, connecting rod support shaft 32, cam shaft 33, weight 34, described cam 27 is fixed on the cam shaft 33, the contact end of the push rod 28 and the cam 27 has a weight 34, the other end of the push rod 28 is connected with the connecting rod 30, and the other end of the connecting rod 30 is connected with a pressing rod 31, and the cam is controlled by the PLC control element The intermittent action of the shaft 33, and then control the corresponding action of the cam 27, pushes the push rod 28 to drive the pressure rod 31 through the connecting rod 30, and realizes the compaction work to the seedling pot soil, wherein the return of the push rod 28 is connected to the push rod The weight 34 effect of 28 one ends.
在图7和图8中，所述的灌溉装置包括水箱35、支架36、水龙头37、连接管38、脉冲电磁阀39、软管40，所述水箱35固定在支架36上，软管40连接水箱35与脉冲电磁阀39，连接管38连接脉冲电磁阀39与水龙头37，脉冲电磁阀39通过PLC控制元件控制间歇性的开启与关闭进而控制水龙头流水与否，实现灌溉功能。 7 and 8, the irrigation device includes a water tank 35, a bracket 36, a faucet 37, a connecting pipe 38, a pulse solenoid valve 39, and a hose 40. The water tank 35 is fixed on the bracket 36, and the hose 40 is connected to Water tank 35 and pulse solenoid valve 39, connecting pipe 38 connect pulse solenoid valve 39 and faucet 37, pulse solenoid valve 39 controls intermittent opening and closing by PLC control element and then controls faucet to flow water or not, realizes irrigation function.
所述PLC控制的育苗播种机的工作流程：首先将育苗土装到装钵装置1的填土漏斗中，将育苗钵放入自动放钵装置5中；启动PLC控制器，可编程控制器运行，输送装置6电机与自动放钵装置5电机启动运转(此时PLC控制元件控制装钵装置1、播种覆土装置2、压实装置3、灌溉装置4均延时启动)，由自动放钵装置5将育苗钵放在输送装置6上，经输送装置6依次运送到各个装置相应位置，当第一个育苗钵由输送装置6输送到装钵装置1下(此时PLC控制元件控制输送装置6和自动装钵装置5停止，装钵装置1启动，播种覆土装置2、压实装置3、灌溉装置4均处于延时启动状态)，装钵装置启动后在PLC控制元件控制下实现启停间歇装钵，当第一个育苗钵由输送装置6输送到播种覆土装置漏斗下(此时PLC控制元件控制播种装置2启动，自动装钵装置5和输送装置6停止,压实装置3和灌溉装置4未启动)，播种装置启动后持续动作，通过凸轮装置控制电磁阀进而控制抽气泵实现间歇播种，第一个育苗钵输送到播种装置2的覆土装置下的时候，完成覆土，在第一个育苗钵由输送装置6输送到压实装置3的压杆位置下(此时PLC控制元件控制压实装置3启动，输送装置6和自动放钵装置5停止)，压实装置启动后通过PLC控制元件控制完成间歇压实功能，当第一个育苗钵由输送装置6输送到灌溉装置4的水龙头下(此时PLC控制元件控制灌溉装置4的脉冲电磁阀39开启，输送装置6和自动放钵装置5停止)，灌溉装置4的脉冲电磁阀39开启后，此后通过PLC控制元件控制其间歇动作，实现间歇灌溉，至此集放钵、装钵、播种、覆土、压实和灌溉于一体的工作完成，所述装置的运动或停止由PLC控制元件进行控制。 The working process of the seedling seeding machine controlled by the PLC: at first, the seedling soil is packed into the soil filling funnel of the potting device 1, and the seedling pot is put into the automatic potting device 5; the PLC controller is started, and the programmable controller runs , the conveying device 6 motors and the automatic bowl-putting device 5 motors start and run (at this time, the PLC control element controls the bowl-filling device 1, the sowing and covering device 2, the compacting device 3, and the irrigation device 4 are all delayed start), and the automatic bowl-putting device 5 Put the seedling pot on the conveying device 6, and transport it to the corresponding positions of each device successively through the conveying device 6. and the automatic potting device 5 stops, the potting device 1 starts, the seeding and covering device 2, the compacting device 3, and the irrigation device 4 are all in the delayed start state), after the potting device is started, the intermittent start and stop is realized under the control of the PLC control element Bottling, when the first seedling pot is transported to the funnel of the sowing soil covering device by the conveying device 6 (at this moment, the PLC control element controls the sowing device 2 to start, the automatic potting device 5 and the conveying device 6 stop, the compacting device 3 and the irrigation device 4 is not started), the seeding device continues to act after starting, and the electromagnetic valve is controlled by the cam device to control the air pump to realize intermittent sowing. When the first seedling pot is transported to the soil covering device of the seeding device 2, the covering is completed. The seedling pot is transported by the conveying device 6 to the position of the pressing bar of the compacting device 3 (at this time, the PLC control element controls the compacting device 3 to start, and the conveying device 6 and the automatic pot-putting device 5 stop), and the compacting device is controlled by PLC after starting. Component control completes the intermittent compaction function, when the first seedling pot is delivered to the water tap of the irrigation device 4 by the conveying device 6 (at this moment, the pulse electromagnetic valve 39 of the PLC control element controls the irrigation device 4 to open, and the conveying device 6 and the automatic potting device 5 stops), after the pulse solenoid valve 39 of the irrigation device 4 is opened, then the intermittent action is controlled by the PLC control element to realize intermittent irrigation, so far the work of putting the bowl, filling the bowl, sowing, covering soil, compacting and irrigation is integrated Complete, the movement or stop of the device is controlled by the PLC control element.
以上所述仅为本实用新型的较佳施例，并不用以限制本实用新型，凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。 The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018120752A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳前海弘稼科技有限公司 | Planter control method and device, and planter |
| CN109392379A (en) * | 2018-11-14 | 2019-03-01 | 上海摩天农业科技有限公司 | Automatic sowing assembly line |
| CN110476659A (en) * | 2019-09-04 | 2019-11-22 | 安徽新源农业科技有限公司 | A kind of nutritive cube sowing filling production line of automation |
| CN111788909A (en) * | 2020-04-24 | 2020-10-20 | 安徽农业大学 | A kind of corn missed seed reseed device and control system |
| CN114467561A (en) * | 2022-01-21 | 2022-05-13 | 富阳学院 | Seedling raising machine |
-
2014
- 2014-11-10 CN CN201420666477.9U patent/CN204291771U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018120752A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳前海弘稼科技有限公司 | Planter control method and device, and planter |
| CN109392379A (en) * | 2018-11-14 | 2019-03-01 | 上海摩天农业科技有限公司 | Automatic sowing assembly line |
| CN110476659A (en) * | 2019-09-04 | 2019-11-22 | 安徽新源农业科技有限公司 | A kind of nutritive cube sowing filling production line of automation |
| CN111788909A (en) * | 2020-04-24 | 2020-10-20 | 安徽农业大学 | A kind of corn missed seed reseed device and control system |
| CN111788909B (en) * | 2020-04-24 | 2022-03-15 | 安徽农业大学 | Corn miss-seeding reseeding device and control method |
| CN114467561A (en) * | 2022-01-21 | 2022-05-13 | 富阳学院 | Seedling raising machine |
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