CN109220152B - Cassava harvester digger blade with automatic depth and angle control function - Google Patents
Cassava harvester digger blade with automatic depth and angle control function Download PDFInfo
- Publication number
- CN109220152B CN109220152B CN201811309917.4A CN201811309917A CN109220152B CN 109220152 B CN109220152 B CN 109220152B CN 201811309917 A CN201811309917 A CN 201811309917A CN 109220152 B CN109220152 B CN 109220152B
- Authority
- CN
- China
- Prior art keywords
- profiling
- hydraulic cylinder
- shovel
- angle
- connecting piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D13/00—Diggers, e.g. potato ploughs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Harvesting Machines For Root Crops (AREA)
- Earth Drilling (AREA)
Abstract
The invention belongs to the field of agricultural machinery, and relates to a cassava harvester digger blade with an automatic depth and angle control function, which comprises a rack, a singlechip and a control circuit, wherein a ground surface profiling detection device and a hydraulic shovel execution device are arranged on the rack, and the ground surface profiling detection device is connected with the hydraulic shovel execution device through the singlechip and the control circuit; the surface profile modeling detection device comprises a profile modeling fixed connection plate, an angle sensor, a profiling shaft, a profiling adjusting plate and a profiling supporting plate; the hydraulic shovel actuating device comprises a mounting seat, a digging shovel component, a lifting hydraulic cylinder and an angle adjusting hydraulic cylinder. According to the invention, the ground surface profiling detection mechanism is used for monitoring the road surface in real time and controlling the hydraulic shovel execution device according to the acquired data, so that the control on the depth and the soil penetration angle of the digging shovel in the harvesting process is realized, the power consumption of machines and tools can be reduced under the condition of not damaging potatoes, and the harvesting efficiency is improved.
Description
Technical Field
The invention belongs to the field of agricultural machinery, relates to a harvester, and particularly relates to a cassava harvester digger blade with an automatic depth and angle control function.
Background
Cassava is also called cassava and cassava, is one of three potatoes in the world, is planted in large area all over the world, and is an important tropical crop and energy crop in China. The cassava root is rich in starch, can be used for preparing alcohol, monosodium glutamate, sauce, plastic fibers, plastic films, adhesives and other chemical products after extraction, is widely applied to industries such as papermaking, spinning, medicines, cosmetics and the like, and can be used as feed and important biomass energy, so that the demand for the cassava is continuously increased.
The mechanical harvesting of cassava is an important link in the cassava industry, and is beneficial to improving the production efficiency of the cassava industry, however, the cassava harvester in China is still in the stages of development and test at present, and a complete machine model with strong adaptability and reliable performance cannot be provided. The key to research the harvester with strong adaptability lies in the research of the digging part, the defect of the digging shovel cannot be fundamentally eliminated by simply changing the structure of the digging part, and the automatic digging device can greatly improve the performance of the digging shovel while the digging shovel suitable for different soil conditions is researched and the automatic control aspect of the underground motion state of the digging shovel is also considered. At present, the digging depth of a mechanical cassava harvesting digging shovel is unstable, and meanwhile, the soil dug up in the operation process is increased, so that the whole machine is blocked greatly, the machine is difficult to advance, the power consumption of the machine is increased, the phenomena of potato leakage, potato damage and the like are caused, and therefore, automatic control research becomes one of the problems to be solved urgently for the digging device of the cassava harvester.
Disclosure of Invention
The invention aims to provide a digging shovel of a cassava harvester with an automatic depth and angle control function, which has a simple structure and is convenient to operate, can dig cassava growing in different depths in different sections, can reduce the power consumption of machines and tools under the condition of not damaging the cassava, greatly reduces the damage rate of cassava roots in the digging process, and effectively avoids the occurrence of the phenomenon of potato leakage.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a cassava harvester digger blade with automatic control depth angle modulation function, which comprises a frame, singlechip and control circuit, set up earth's surface profile modeling detection device and hydraulic shovel final controlling element in the frame, earth's surface profile modeling detection device passes through the singlechip, control circuit is connected with hydraulic shovel final controlling element, earth's surface profile modeling detection device carries out real-time supervision to the road surface and exports the data of gathering to the singlechip, the singlechip carries out the digitization with data and obtains hydraulic shovel final controlling element's controlled variable, drive hydraulic shovel final controlling element's control depth angle modulation action through control circuit:
the ground surface profile modeling detection device is arranged at the front end of a rack to ensure that the fluctuation condition of the ground surface is detected in advance, and comprises a profile modeling fixed connecting plate, the profile modeling fixed connecting plate is fixed at the front end of the rack, an angle sensor is arranged on the profile modeling fixed connecting plate, the signal output end of the angle sensor is connected with a single chip microcomputer, the rotating shaft of the angle sensor is connected with a profiling shaft through a coupler, a profile modeling adjusting plate inclining downwards is arranged at the other end of the profiling shaft, the other end of the profile modeling adjusting plate is connected with a bending profile modeling supporting plate, the profile modeling supporting plate is required to be tightly attached to the ground surface in the working process, the fluctuation condition of the ground surface is detected by the profile modeling supporting plate, the fluctuation condition of the ground surface is reflected on the profile modeling shaft (the profile modeling supporting plate drives the profile modeling shaft to rotate through the profile modeling adjusting plate in the process of detecting the fluctuation condition of the ground surface), and the rotation angle is transmitted to the angle sensor by the profile modeling shaft through the coupler, the angle sensor forms a signal and outputs the signal to the singlechip;
the hydraulic shovel execution device is a component for digging cassava, is driven by a control circuit to perform corresponding actions for depth control and angle adjustment, and comprises a mounting seat, a digging shovel component, a lifting hydraulic cylinder and an angle adjusting hydraulic cylinder, wherein the digging shovel component comprises a horizontal connecting piece, a transverse connecting piece and a digging shovel arranged on the transverse connecting piece, the mounting seat is arranged on a frame and is used for mounting other corresponding components, a cylinder body of the lifting hydraulic cylinder is connected with the mounting seat, a piston rod of the lifting hydraulic cylinder is fixedly connected with the horizontal connecting piece of the digging shovel component, the lifting hydraulic cylinder can drive the digging shovel component to move up and down by working, a self-aligning ball bearing capable of bearing radial load is arranged on the horizontal connecting piece, the self-aligning ball bearing is hinged with the transverse connecting piece of the digging shovel component, a hinge lug seat fixedly connected on the transverse connecting piece is hinged with a piston rod of the angle adjusting hydraulic cylinder, and a cylinder body of the angle adjusting hydraulic cylinder is fixedly connected with the horizontal connecting piece of the digging shovel component, the angle adjusting hydraulic cylinder can drive the transverse connecting piece to rotate when working, so that the angle of the digging shovel is adjusted, the lifting hydraulic cylinder and the angle adjusting hydraulic cylinder are respectively connected with the control circuit, and the lifting hydraulic cylinder and the angle adjusting hydraulic cylinder are driven to work by the control circuit according to an instruction output by the single chip microcomputer.
As a further improvement of the invention, a limit rod is vertically arranged on a profiling shaft of the ground surface profiling detection device, and two reset springs of the same type are symmetrically hung at two sides of the top end of the limit rod.
As a further improvement of the invention, the connection mode of the profiling adjusting plate and the profiling supporting plate is designed to be in detachable connection, the proper height can be adjusted, and the profiling supporting plate can be ensured to be tightly attached to the ground surface in different cassava planting fields so as to adapt to different excavation environments.
Compared with the prior art, the invention has the following advantages:
the ground surface profiling detection device is used for monitoring the road surface in real time, data collected by the angle sensor are digitized through the built-in ADC module of the single chip microcomputer to obtain the control quantity of the hydraulic shovel execution device, the single chip microcomputer outputs an instruction to the control circuit, the angle adjusting hydraulic cylinder and the lifting hydraulic cylinder are driven to perform corresponding depth control and angle adjustment actions, digging of different depths can be performed on cassava growing in different sections, the adjustment of the soil penetration angle of the digging shovel in the cassava digging process can be reasonably controlled, the power consumption of a machine tool is reduced in the cassava digging and harvesting processes, the damage rate and the incomplete digging probability of the cassava are greatly reduced, and the machine-electricity-liquid combined system is adopted for control, so that the accurate control of the digging depth of the digging shovel in the harvesting processes is realized.
Drawings
FIG. 1 is a schematic view of the integral hanging connection of a digging shovel depth control angle adjusting device of a cassava harvester.
Fig. 2 is a schematic structural view of a surface profile modeling detection device.
Fig. 3 is a schematic three-dimensional structure diagram of the surface profile modeling detection device.
Fig. 4 is a schematic view of the connection structure of the angle sensor of the surface profile modeling apparatus.
FIG. 5 is a schematic diagram of the hydraulic shovel actuator.
Fig. 6 is a schematic three-dimensional structure diagram of the hydraulic shovel actuator.
FIG. 7 is a schematic three-dimensional structure diagram of horizontal and transverse connecting plates of the hydraulic shovel actuating device.
In the figure: 1. a frame; 2. fixing a connecting plate in a profiling way; 3. a return spring; 4. a limiting rod; 5. an angle sensor; 6. fixing a bracket; 7. a profiling adjusting plate; 8. a bolt; 9. profiling supporting plates; 10. excavating a shovel; 11. a transverse connector; 12. a horizontal connecting member; 13. an angle adjusting hydraulic cylinder; 14. a lifting hydraulic cylinder; 15. lifting a hydraulic cylinder mounting seat; 16. a traveling wheel; 17. a spring hanging seat; 18. a weight-reducing through hole; 19. mounting holes; 20. a contoured shaft; 21. a coupling; 22. a zinc alloy bearing seat; 23. a horizontal hinge lug seat; 24. a transverse hinge lug seat; 25. self-aligning ball bearing.
Detailed Description
The following examples are given to further illustrate the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the structure shown in figure 1, the cassava harvester digger shovel with the automatic depth and angle control function comprises a frame 1, a single chip microcomputer and a control circuit, wherein the frame 1 comprises traveling wheels 16, the traveling wheels are driven by a tractor to advance in a three-point suspension mode, and a ground surface profiling detection device and a hydraulic shovel execution device are arranged on the frame. The two ground surface profiling detection devices are arranged at the front end of the frame to ensure that the fluctuation condition of the ground surface is detected in advance, the distance between the two ground surface profiling detection devices is 320mm, the requirement that the measurement precision is not influenced by the blockage of cassava stems in the advancing process can be met, the ground surface fluctuation condition around the cassava stems can be detected by adopting a mode of being tightly contacted with the ground when the tractor advances, the height of the ground surface is sensed in time, the hydraulic cylinder stroke of the depth and the angle of the hydraulic shovel execution device, which need to be adjusted, is obtained by calculating the mathematical relation between the angle signal and the fluctuation height of the ground surface, the on-off duration of the electromagnetic directional valve is calculated by analyzing each load characteristic of the hydraulic cylinder and considering the flow condition in each oil cylinder, and the stroke of the hydraulic cylinder is controlled. The verification proves that the depth is the same as the on-off duration of the angle adjusting oil reversing valve cylinder within the height range of the surface relief of 80-120 mm, and the adjusting requirement of the digging shovel can be met; the detected angle signal can meet the requirements of angle and depth adjustment, self-adjustment of the depth and the soil-entering angle of the digging shovel is achieved, and the digging requirements that potatoes are not damaged and not leaked are met under the condition that power consumption of machines is reduced.
In the structure shown in fig. 2, 3 and 4, the ground surface profiling detection device designed by the invention comprises a profiling fixed connecting plate 2 fixed at the front end of a frame 1, a weight-reducing through hole 18 and a mounting hole 19 are formed on the profiling fixed connecting plate 2, a fixed support 6 is arranged on the profiling fixed connecting plate, an angle sensor 5 is fixed on the fixed support 6, the signal output end of the angle sensor is connected with a single chip microcomputer, the rotating shaft of the angle sensor 5 is connected with a profiling shaft 20 through a coupler 21, a zinc alloy bearing seat 22 is arranged at the front end of the profiling fixed connecting plate 2 and used for limiting the axial movement of the profiling shaft 20, a profiling adjusting plate 7 inclining downwards is arranged at the other end of the profiling shaft, a bent profiling supporting plate 9 is tightly connected at the other end of the profiling adjusting plate 7 through a bolt 8, the appropriate height can be adjusted, the profiling supporting plate 9 is ensured to be tightly attached to the ground surface, a limiting rod 4 is vertically arranged on the profiling shaft 20, two reset springs 3 of the same type are symmetrically hung on two sides of the top end of the profile modeling fixing connecting plate, the other ends of the reset springs 3 are fixed in mounting holes 19 of the profile modeling fixing connecting plate, and the included angle between each reset spring 3 and the vertical direction is 40-50 degrees so as to reduce errors. In the installation process, the shaft centers of the coupler 21, the angle sensor 5 and the profiling adjusting plate 7 are installed on the same horizontal line. The profile modeling supporting plate is used for detecting the fluctuation condition of the ground surface, the fluctuation condition of the ground surface is reflected on the profile modeling shaft (the profile modeling supporting plate drives the profile modeling shaft to rotate through the profile modeling adjusting plate in the process of detecting the fluctuation condition of the ground surface), the rotation angle of the profile modeling shaft is transmitted to the angle sensor through the coupler, and the angle sensor forms a signal and outputs the signal to the single chip microcomputer.
In the structures shown in fig. 5, 6 and 7, the hydraulic shovel actuating device designed by the invention is a part for digging cassava, and is driven by a control circuit according to the instruction of a single chip microcomputer to perform corresponding actions for depth control and angle adjustment, and comprises a mounting seat 15, a digging shovel component, a lifting hydraulic cylinder 14 and an angle adjusting hydraulic cylinder 13, wherein the digging shovel component comprises a horizontal connecting piece 12, a transverse connecting piece 11 and a digging shovel 10 arranged on the transverse connecting piece, wherein the transverse connecting piece 11 is in a square steel section bar structure, and the height is 450mm, so that the shoveled cassava is smoothly discharged backwards, and the phenomenon of potato blockage is avoided. The mount pad 15 sets up in frame 1, and the cylinder body that promotes pneumatic cylinder 14 is connected with mount pad 15, promotes the piston rod of pneumatic cylinder and the 12 fixed connection of horizontal connecting piece of digger blade subassembly, and 14 work of promotion pneumatic cylinder can drive the digger blade subassembly and reciprocate, and its stroke is 0 ~ 350mm to satisfy the biggest excavation depth of digger blade, avoid leaking the potato. The horizontal connecting piece 12 is provided with a self-aligning ball bearing 25 capable of bearing radial load, the self-aligning ball bearing 25 is hinged with the horizontal connecting piece 11, a horizontal hinge lug seat 24 fixedly connected with the horizontal connecting piece is hinged with a piston rod of an angle adjusting hydraulic cylinder, a cylinder body of the angle adjusting hydraulic cylinder 13 is fixedly connected with a horizontal hinge lug seat 23 of the horizontal connecting piece 12, the angle adjusting hydraulic cylinder can drive the horizontal connecting piece to rotate when working, so that the angle of the digging shovel is adjusted, the stroke of the digging shovel is 0-100 mm, and the adjusting angle is 0-50 degrees, so that the largest soil penetrating angle of the digging shovel is met, and the potatoes are prevented from being damaged; the lifting hydraulic cylinder and the angle adjusting hydraulic cylinder are respectively connected with the control circuit, and the control circuit drives the lifting hydraulic cylinder and the angle adjusting hydraulic cylinder to work according to the instruction output by the single chip microcomputer, so that the control of the depth and the soil penetration angle of the digging shovel in the harvesting process is realized, the power consumption of machines and tools can be reduced under the condition of not damaging potatoes, and the harvesting efficiency is improved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (2)
1. The utility model provides a cassava harvester digger blade with automatic depth control angle modulation function which characterized in that: including the frame, singlechip and control circuit, set up earth's surface profile modeling detection device and hydraulic shovel final controlling element in the frame, earth's surface profile modeling detection device passes through the singlechip, control circuit is connected with hydraulic shovel final controlling element, earth's surface profile modeling detection device carries out real-time supervision to the road surface and exports the data of gathering to the singlechip, the singlechip carries out the digitization with data and obtains hydraulic shovel final controlling element's controlled variable, the accuse depth angle modulation action through control circuit drive hydraulic shovel final controlling element:
the earth surface profiling detection device is arranged at the front end of the rack and comprises a profiling fixed connecting plate, the profiling fixed connecting plate is fixed at the front end of the rack, an angle sensor is arranged on the profiling fixed connecting plate, a signal output end of the angle sensor is connected with the single chip microcomputer, a rotating shaft of the angle sensor is connected with a profiling shaft through a coupler, a profiling adjusting plate inclining downwards is arranged at the other end of the profiling shaft, and the other end of the profiling adjusting plate is connected with a bending profiling supporting plate; a limiting rod is vertically arranged on the profiling shaft, and two reset springs with the same type are symmetrically hung on two sides of the top end of the profiling shaft;
the hydraulic shovel actuating device comprises a mounting seat, a digging shovel component, a lifting hydraulic cylinder and an angle adjusting hydraulic cylinder, wherein the digging shovel component comprises a horizontal connecting piece, a transverse connecting piece and a digging shovel arranged on the transverse connecting piece, the mounting seat is arranged on a rack, a cylinder body of the lifting hydraulic cylinder is connected with the mounting seat, a piston rod of the lifting hydraulic cylinder is fixedly connected with the horizontal connecting piece of the digging shovel component, a self-aligning ball bearing capable of bearing radial load is arranged on the horizontal connecting piece, the self-aligning ball bearing is hinged with the transverse connecting piece of the digging shovel component, a hinge lug seat fixedly connected with the transverse connecting piece is hinged with a piston rod of the angle adjusting hydraulic cylinder, a cylinder body of the angle adjusting hydraulic cylinder is fixedly connected with the horizontal connecting piece of the digging shovel component, the lifting hydraulic cylinder and the angle adjusting hydraulic cylinder are respectively connected with a control circuit, the lifting hydraulic cylinder is driven by the control circuit according to an instruction output by a single chip microcomputer, The angle adjusting hydraulic cylinder works.
2. The cassava harvester digger blade of claim 1, wherein: the connection mode of the profiling adjusting plate and the profiling supporting plate is designed to be in detachable connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811309917.4A CN109220152B (en) | 2018-11-06 | 2018-11-06 | Cassava harvester digger blade with automatic depth and angle control function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811309917.4A CN109220152B (en) | 2018-11-06 | 2018-11-06 | Cassava harvester digger blade with automatic depth and angle control function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109220152A CN109220152A (en) | 2019-01-18 |
| CN109220152B true CN109220152B (en) | 2021-07-30 |
Family
ID=65076808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811309917.4A Active CN109220152B (en) | 2018-11-06 | 2018-11-06 | Cassava harvester digger blade with automatic depth and angle control function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109220152B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110024545B (en) * | 2019-05-16 | 2022-02-01 | 海南大学 | Bionic cassava harvester |
| CN110999581A (en) * | 2019-12-26 | 2020-04-14 | 洛阳智能农业装备研究院有限公司 | Tractor lifting system control device and method |
| CN113348788A (en) * | 2021-07-02 | 2021-09-07 | 四川省农业机械研究设计院 | But automatically regulated's plays membrane device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204362572U (en) * | 2014-12-22 | 2015-06-03 | 甘肃农业大学 | A kind of potato harvester digger blade shovel face angle of penetration governor motion |
-
2018
- 2018-11-06 CN CN201811309917.4A patent/CN109220152B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204362572U (en) * | 2014-12-22 | 2015-06-03 | 甘肃农业大学 | A kind of potato harvester digger blade shovel face angle of penetration governor motion |
Non-Patent Citations (1)
| Title |
|---|
| "挖拔式木薯收获机挖深液压控制装置的设计与试验";熊佳等;《农机化研究》;20180913;全文，图1-4 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109220152A (en) | 2019-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109220152B (en) | Cassava harvester digger blade with automatic depth and angle control function | |
| CN101946576B (en) | Automatic control system for opening depth for disk-type opener | |
| CN201623979U (en) | Automatic adjusting device for ditching depth of no-tillage seeding machine | |
| CN204482276U (en) | The infrared feeler mechanism of corn seeding machine ditch double disk opener | |
| CN103168519B (en) | Hoe entering depth and entering angle continuous adjusting mechanism | |
| CN109220008B (en) | Intelligent film lifting device and method for residual film recycling machine | |
| CN109429586A (en) | It is a kind of collection in the ranks, between strain weeding function one the device that weeds with a hoe | |
| CN110692299B (en) | Row-aligning detection device, intertillage topdressing machine and control method thereof | |
| CN201853134U (en) | Indoor test station for automatic control system of seeding depth | |
| CN108925201A (en) | A kind of novel beet excavates automatic aligning device and its working principle | |
| CN207185204U (en) | Picker for tuber crops automatic aligning device | |
| CN113236614B (en) | Automatic ditching control device for transverse planting of sugarcane and control method thereof | |
| CN204346690U (en) | No-tillage subsoiling combined seed and fertilizer drill soil-engaging component proving installation | |
| CN108925209A (en) | Fruit harvester automatic aligning device and its working principle under two row soil of one kind | |
| CN109041609A (en) | A kind of agriculture special intelligent with soil quality detection function is digged equipment | |
| CN108174641A (en) | Kind tree machine | |
| CN108432403A (en) | Sowing and ditching copying device | |
| CN1899008A (en) | Automatic guiding device for tilless seeder of corn ridge | |
| CN215109750U (en) | Automatic ditching control device for transverse sugarcane planting | |
| CN211321958U (en) | Dedicated hydraulic pressure leveling linkage of hillside tractor | |
| CN205755587U (en) | A kind of seed watermelon collection bar machine | |
| CN210512955U (en) | Agricultural machinery tilling depth detection device | |
| CN209299673U (en) | A kind of residual machine for recycling mulch film | |
| CN210247419U (en) | Ditching and ridging lifting device of rotary cultivator | |
| CN208354268U (en) | A kind of reflective automatic profiling jacking system of melanoscope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liao Yulan Inventor after: Liu Bingxian Inventor after: Xiong Jia Inventor after: Lv Kaiying Inventor after: Wang Gaoyuan Inventor before: Liao Yulan Inventor before: Lv Kaiying Inventor before: Xiong Jia Inventor before: Liu Bingxian Inventor before: Wang Gaoyuan |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |