CN202197572U - Fruit tree multifunctional machine - Google Patents
Fruit tree multifunctional machine Download PDFInfo
- Publication number
- CN202197572U CN202197572U CN2011202198714U CN201120219871U CN202197572U CN 202197572 U CN202197572 U CN 202197572U CN 2011202198714 U CN2011202198714 U CN 2011202198714U CN 201120219871 U CN201120219871 U CN 201120219871U CN 202197572 U CN202197572 U CN 202197572U
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- mechanical arm
- fruit tree
- manipulator
- multi role
- role aircraft
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Abstract
The utility model discloses a fruit tree multifunctional machine which includes a mechanical hand, a mechanical arm and a worktable, wherein the mechanical hand is connected with the mechanical arm; the mechanical arm is connected with the worktable; the worktable includes wheels enabling the fruit tree multifunctional machine to move, an operating console capable of issuing an operating instruction to the mechanical hand and the mechanical arm and a controller for controlling the work of the mechanical hand and the mechanical arm; and the control part in the worktable controls the mechanical hand and the mechanical arm to rotate, cut, clamp, loosen and move according to the instruction issued by an operator on the worktable. The fruit tree multifunctional machine adopts the mechanical and electric principles, simulates the manual operation, adopts the mechanical hand and the mechanical arm to manually or electrically control the mechanical arm so as to enable the mechanical hand to reach the position of the to-be-operated fruit tree, adopts the mechanical hand to simulate the operating process of the manual operation so as to perform the operations as flower thinning, bagging and fruit picking, thereby reducing the labor intensity of the manual operation and improving the working efficiency.
Description
Technical field
The utility model relates to a planting fruit-trees Multi Role Aircraft, relates in particular to a planting fruit-trees Multi Role Aircraft structure.
Background technology
Robot has obtained more general application at industrial circle at present; Robot can replace the mankind to carry out danger, multiple work such as repeat, but at present agriculture field, particularly in the management process of fruit tree; Mechanization or robotic degree are not high; The peasant still is being engaged in heavy manual labor, and this labout process much be repeatability than higher, thereby be very necessary with the production field that science and technology is applied to agricultural.
The utility model content
The utility model is exactly in order to alleviate manual labor heavy in the fruit tree growth process; Replace manual operation with manipulator, can make the handwork of higher position on the level land, can realize operation, reduce the process of climbing with the mechanical arm that extends; Improve operating efficiency, alleviate working strength.
The technical problem of the utility model solves through following technical scheme:
Said fruit tree Multi Role Aircraft comprises manipulator, mechanical arm, workbench; Manipulator connects mechanical arm; Mechanical arm connects workbench; Workbench comprises wheel that the fruit tree Multi Role Aircraft is moved, can send the operating desk of operational order, the controller of control mechanical arm work to mechanical arm, the control section in the workbench according to workbench operator's commands for controlling mechanical arm be rotated, shear, firmly grasp, loosen, mobile working.
Said fruit tree Multi Role Aircraft has camera head on its manipulator or the mechanical arm.
Said fruit tree Multi Role Aircraft has infrared on its manipulator or the mechanical arm or Electromagnetic Launching and receiving system.
Said fruit tree Multi Role Aircraft has positioner on its manipulator or the mechanical arm.
The technical problem of the utility model can also solve through following technical scheme:
Said fruit tree Multi Role Aircraft comprises manipulator, mechanical arm, operating desk, and manipulator connects mechanical arm, and mechanical arm connects workbench, the operator through operating desk control mechanical arm be rotated, shear, firmly grasp, loosen, mobile working.
Said fruit tree Multi Role Aircraft, its mechanical arm are can be flexible in level and vertical direction, can be to carry out simultaneously at the flexible of level and vertical direction, also can be that timesharing is carried out.
Said fruit tree Multi Role Aircraft, its manipulator and mechanical arm are rotatable.
Said fruit tree Multi Role Aircraft, its manipulator can be scissor, also can be blade types, can also be clamp types.
Said fruit tree Multi Role Aircraft, its manipulator can be pellet types, also can be the mesh bag formulas, can also be the finger forms.
Said fruit tree Multi Role Aircraft, the handgrip part in its manipulator has three mechanical fingers at least, can firmly grasp and loosening up.
The beneficial effect of the utility model and prior art contrast is:
The fruit tree Multi Role Aircraft that the utility model proposed adopts machinery or electronic mode, the work in the simulation fruit tree operation process; Realize the mechanization of fruit tree management; Can better reduce handwork heavy in the fruit tree growth process, reduce labor intensity, raise labour efficiency.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment one;
Fig. 2 is the structural representation of the utility model embodiment two;
Fig. 3 is the structural representation of the utility model embodiment three;
Fig. 4 is the structural representation of the utility model embodiment four;
Fig. 5 is the structural representation of the utility model embodiment five;
Fig. 6 is the structural representation of the utility model embodiment six;
Fig. 7 is the structural representation of the utility model embodiment seven;
Fig. 8 is the structural representation of the utility model embodiment eight;
Fig. 9 is the structural representation of the utility model embodiment nine.
Embodiment
Embodiment one
Fruit tree Multi Role Aircraft 10 as shown in Figure 1 comprises manipulator 110, mechanical arm 120 and 130, workbench 160; Manipulator 110 connects mechanical arm 120, and mechanical arm 120 links to each other with mechanical arm 130, and mechanical arm 130 is connected on the workbench 160; Workbench 160 comprises the wheel 170 that Multi Role Aircraft is moved, and can send the operating desk 140 of operational order to mechanical arm, the controller 150 of control mechanical arm work.
The operator is through operation push-button or knob on the operating desk 140; Send operational order and give controller 150; Command mechanical arm 120 and 130 stretching, extensions or rotate to the fruit tree position that to operate; Mechanical arm 120 mainly is to stretch in vertical direction, and mechanical arm 130 mainly is to stretch in the horizontal direction and be rotated simultaneously, and mechanical arm 120 and 130 synergies make manipulator arrivals need the fruit tree position of operating; Work such as the operational order that controller 150 provides according to operating desk 140 simultaneously, commander's manipulator move, rotate, shearing.
Said mechanical arm 120 and 130 can be realized that the arrival of disposable commander's manipulator needs the fruit tree position of work by a mechanical arm, also can be by realizing that more than two mechanical arm branch level and vertical direction arrival need the fruit tree position of work.
That said mechanical arm has is flexible, the function of rotation, is used to make manipulator to arrive appointed positions.
Said manipulator can be a scissors, also can be a mesh bag, also can be handgrip, also can be clip, can also be the combination of the two at least in the said structure; Said handgrip can be a hemispherical or a gengon device with at least two fingers, and said mesh bag also can be a pocket not with holes, and the inside of said mesh bag and handgrip all has protective device, to guarantee not damage at work fruit.
Said workbench has can make the stepper motor that mechanical arm is flexible and rotate.
Said controller has display unit, has infrared, electromagnetism or camera head on said manipulator or the mechanical arm, and being used to explore the manipulator present position is fruit or leaf.
Said controller can also have positioner, reaches the position that needs operation with the indication manipulator.
Embodiment two
Fruit tree Multi Role Aircraft 20 as shown in Figure 2 comprises manipulator 210, mechanical arm 220 and 230, workbench 240; Manipulator 110 connects mechanical arm 220, and mechanical arm 220 links to each other with mechanical arm 230, and mechanical arm 230 is connected on the workbench 240.
The operator is through the functional unit on the workbench 240; Command mechanical arm 220 and 230 stretching, extensions or rotate to the fruit tree position that to operate; Mechanical arm 220 mainly is to stretch in vertical direction; Mechanical arm 230 mainly is to stretch in the horizontal direction and be rotated simultaneously, makes manipulator arrival need the fruit tree position of operation, and move, rotate, work such as shearing.
Said mechanical arm 220 and 230 can be realized that the arrival of disposable commander's manipulator needs the fruit tree position of work by a mechanical arm, also can divide by realizing that more than two mechanical arm branch level and vertical direction arrival need the fruit tree position of work.
That said mechanical arm has is flexible, the function of rotation, is used to make manipulator to arrive appointed positions.
Said manipulator can be a scissors, also can be a mesh bag, also can be handgrip, also can be clip, can also be the combination of the two at least in the said structure; Said handgrip can be a hemispherical or a gengon device with at least two fingers, and said mesh bag also can be a pocket not with holes, and the inside of said mesh bag and handgrip all has protective device, to guarantee not damage at work fruit.
Embodiment three
Fruit tree Multi Role Aircraft 30 as shown in Figure 3 comprises manipulator 310, mechanical arm 320, workbench 350; Manipulator 310 connects mechanical arm 320, and mechanical arm 320 is connected on the workbench 350; Workbench 350 comprises the wheel 360 that Multi Role Aircraft is moved, and can send the operating desk 330 of operational order to mechanical arm, the controller 340 of control mechanical arm work.
The operator is through operation push-button or knob on the operating desk 330; Send operational order and give controller 340; Command mechanical arm 320 stretching, extensions or rotate to the fruit tree position that to operate; Mechanical arm 320 stretches and rotates in level and vertical direction simultaneously, makes manipulator arrival need the fruit tree position of operation; Work such as the operational order that controller 340 provides according to operating desk 330 simultaneously, commander's manipulator move, rotate, shearing.
That said mechanical arm has is flexible, the function of rotation, is used to make manipulator to arrive appointed positions.
Said manipulator can be a scissors, also can be a mesh bag, also can be handgrip, also can be clip, can also be the combination of the two at least in the said structure; Said handgrip can be a hemispherical or a gengon device with at least two fingers, and said mesh bag also can be a pocket not with holes, and the inside of said mesh bag and handgrip all has protective device, to guarantee not damage at work fruit.
Said workbench has can make the stepper motor that mechanical arm is flexible and rotate.
Said controller has display unit, has infrared or camera head on said manipulator or the mechanical arm, and being used to explore the manipulator present position is fruit or leaf.
Said controller can also have positioner, reaches the position that needs operation with the indication manipulator.
Embodiment four
Fruit tree Multi Role Aircraft 40 as shown in Figure 4 comprises manipulator, mechanical arm and operation control device, and the scissors that manipulator is made up of 410 and 420 two blades constitutes; Mechanical arm is made up of 460,470,480 3 action bars, and 490 is operation control device; Blade 410 can be done rotation around itself and the junction 450 of action bars 470, and blade 420 can center on the junction 440 of itself and action bars 460 and do rotation; Action bars 480 is connected to the stranded place 430 of blade 410 and 420 on one side, be connected on the operation control device 490 on one side, the junction of action bars 480 and operation control device 490, and the junction at stranded place 430 all be rotary.
Said operation control device 490 can be free to slide on behaviour's part bar 470; When operation control device 490 slides on action bars 470; Drive action bars 480 actions, and then drive the operator scissors, make the angle that the manipulator scissors is adjusted to be needed around action bars 460,470 rotations; Adjust action bars 460,470 simultaneously and reach and need the fruit tree of work position, fruit tree is carried out work with the manipulator scissors.
Said mechanical arm has Telescopic, that is to say that the length of action bars can be adjusted, to adapt to the work of diverse location.
Embodiment five
Fruit tree Multi Role Aircraft 50 as shown in Figure 5 comprises manipulator, mechanical arm and operation control device, and the scissors that manipulator is made up of 510 and 520 two blades, mesh bag 511 constitute; Mechanical arm is made up of 560,570,580 3 action bars, and 590 is operation control device; Blade 510 can be done rotation around itself and the junction 550 of action bars 560, and blade 520 can center on the junction 540 of itself and action bars 570 and do rotation; Action bars 580 is connected to the stranded place 530 of blade 510 and 520 on one side, be connected on the operation control device 590 on one side, the junction of action bars 580 and operation control device 590, and the junction at stranded place 530 all be rotary; At twisting point 530 places of manipulator, connect a mesh bag 511 that opens mouth through connecting line 512, the central point of mesh bag 511 is positioned at the front end of scissors.
Said operation control device 590 can be free to slide on behaviour's part bar 570; When operation control device 590 slides on action bars 570; Drive action bars 580 actions, and then drive the operator scissors, make the angle that the manipulator scissors is adjusted to be needed around action bars 560,570 rotations; Adjust action bars 560,570 simultaneously and reach and need the fruit tree of work position, fruit tree is carried out work with the manipulator scissors; When the manipulator scissors was plucked fruit, the effect of mesh bag 511 was exactly that the fruit that manipulator shears off is contained in the mesh bag, in order to avoid fruit drops.
Said mechanical arm has Telescopic, that is to say that the length of action bars can be adjusted, to adapt to the work of diverse location.
The connecting line 512 of said mesh bag can be movable at tie point 530 places, so that during manipulator scissors adjustment angle, mesh bag is positioned at the below of scissors always, guarantees that fruit falls in the mesh bag.
Said mesh bag also can be a pocket.
Be soft in the said mesh bag, do not damaged when fruit is in falling into mesh bag guaranteeing.
Embodiment six
Fruit tree Multi Role Aircraft 60 as shown in Figure 6 comprises manipulator, mechanical arm and operation control device, and the scissors that manipulator is made up of 610 and 620 two blades, mesh bag 611 constitute; Mechanical arm is made up of 660,670,680,613,615 5 action bars, and 690,616 is operation control device; Blade 610 can be done rotation around itself and the junction 650 of action bars 660, and blade 620 can center on the junction 640 of itself and action bars 670 and do rotation; Action bars 680 is connected to the stranded place 630 of blade 610 and 620 on one side, be connected on the operation control device 690 on one side, the junction of action bars 680 and operation control device 690, and the junction at stranded place 630 all be rotary; Action bars 613 is made up of two support bars, and an end of action bars 613 is connected on the mesh bag 611, and an end is connected on the control 614 on the action bars 660; Two support bars of action bars 613 and the junction of mesh bag are positioned on the diameter of mesh bag; The junction of action bars 613 and mesh bag 611, be to rotate, action bars 613 also is rotary with the junction at control 614 places; The control 614 of action bars 613 is fixed on a certain position of action bars 660 but can rotates around action bars 660; In a certain position, the centre of action bars 613 one tie point 612 is set, an end of action bars 615 is connected to tie point 612, and the other end is connected on the operation control device 616; The junction of action bars 615 and operation control device 616, with the junction of tie point 612 all be rotary; Have on the operation control device 616 and can make the control section of mesh bag 611 around action bars 660 rotations.
Said operation control device 690 can be free to slide on behaviour's part bar 670; When operation control device 690 slides on action bars 670; Drive action bars 680 actions, and then drive the operator scissors, make the angle that the manipulator scissors is adjusted to be needed around action bars 660,670 rotations; Adjust action bars 660,670 simultaneously and reach and need the fruit tree of work position, fruit tree is carried out work with the manipulator scissors; Said operation control device 616 can be free to slide on behaviour's part bar 660; When operation control device 616 slides on action bars 660; Drive action bars 615 actions; Move thereby drive mesh bag 611, the control section of control mesh bag rotation makes the position that mesh bag is transferred to be needed on the operation control device 616 simultaneously, receives fruit.
When the manipulator scissors was plucked fruit, the effect of mesh bag 611 was exactly that the fruit that manipulator shears off is contained in the mesh bag, in order to avoid fruit drops.
Said mechanical arm has Telescopic, that is to say that the length of action bars can be adjusted, to adapt to the work of diverse location.
Said action bars 613 can be made up of one or more support bars.
Said mesh bag also can be a pocket.
Be soft in the said mesh bag, do not damaged when fruit is in falling mesh bag guaranteeing.
Embodiment seven
Fruit tree Multi Role Aircraft 70 as shown in Figure 7 comprises manipulator, mechanical arm and operation control device, and the scissors that manipulator is made up of 710 and 720 two blades constitutes; Mechanical arm is made up of 760,770,780 3 action bars, and 790 is operation control device; Blade 710 can be done rotation around itself and the junction 750 of action bars 770, and blade 720 can center on the junction 740 of itself and action bars 760 and do rotation; Action bars 780 is connected to a certain position of the twisting point rear end of blade 720 on one side, be connected on the operation control device 790 on one side, the junction of action bars 780 and operation control device 790, and the junction of blade 720 all be rotary; Fixed card slot 711 is set on action bars 760.
Said operation control device 790 can be free to slide on behaviour's part bar 760; When operation control device 790 slides on action bars 760; Drive action bars 780 actions, and then drive the operator scissors, make the angle that the manipulator scissors is adjusted to be needed around action bars 760,770 rotations; Adjust action bars 760,770 simultaneously and reach and need the fruit tree of work position, fruit tree is carried out work with the manipulator scissors.
The effect of said fixed card slot 711 is sides that action bars 780 are fixed on manipulator.
Said mechanical arm has Telescopic, that is to say that the length of action bars can be adjusted, to adapt to the work of diverse location.
Embodiment eight
Fruit tree Multi Role Aircraft 80 as shown in Figure 8 comprises manipulator, mechanical arm and operation control device, and the scissors that manipulator is made up of 810 and 820 two blades constitutes; Mechanical arm is made up of 860,870,880 3 action bars, and 890 is operation control device; Blade 810 can be done rotation around itself and the junction 850 of action bars 870, and blade 820 can center on the junction 840 of itself and action bars 860 and do rotation; Action bars 880 is connected to the twisting point 830 of blade 820 on one side, be connected on the operation control device 890 on one side, the junction of action bars 880 and operation control device 890, and the junction of twisting point 830 all be rotary; Fixed card slot 811 is set on action bars 860.
Said operation control device 890 can be free to slide on behaviour's part bar 860; When operation control device 890 slides on action bars 860; Drive action bars 880 actions, and then drive the operator scissors, make the angle that the manipulator scissors is adjusted to be needed around action bars 860,870 rotations; Adjust action bars 860,870 simultaneously and reach and need the fruit tree of work position, fruit tree is carried out work with the manipulator scissors.
The effect of said fixed card slot 811 is sides that action bars 880 are fixed on manipulator, can be positioned at the outside of action bars.
Said mechanical arm has Telescopic, that is to say that the length of action bars can be adjusted, to adapt to the work of diverse location.
Said action bars is to be made up of big, the inelastic material of intensity, and material itself does not have retractility.
Embodiment nine
Fruit tree Multi Role Aircraft 90 as shown in Figure 9 comprises manipulator, mechanical arm and operation control device, and the scissors that manipulator is made up of 910 and 920 two blades, the handgrip of being made up of mechanical finger 911 and 912 constitute; Mechanical arm is made up of 960,970,980,914,915,921 6 action bars, and 990,919,916 is operation control device; Blade 910 can be done rotation around itself and the junction 950 of action bars 970, and blade 920 can center on the junction 940 of itself and action bars 960 and do rotation; Action bars 980 is connected to the stranded place 930 of blade 910 and 920 on one side, Yi Bian be connected on the operation control device 990, being connected of action bars 980 and operation control device 990, action bars 980 all are rotary with being connected of operation control device; One end of action bars 914 is connected on the handgrip, and an end is connected on the action bars 970, and action bars 914 is rotary with the junction of handgrip 911; The tie point 918 of action bars 914 and action bars 970 is fixed on a certain position of action bars 970 but can rotates around action bars 970; Action bars 915 1 ends are connected on the fixture 913 of mechanical finger 912, and an end is connected on the operation control device 919; Mechanical finger 911 has certain radian, and mechanical finger 912 1 ends connect mechanical finger 911, one ends and connect control 913; Control 913 can slide along action bars 914; One end of action bars 921 is connected to a certain position on the action bars 914, and its junction can be rotated, and the other end of action bars 921 is connected on the operation control device 916, has the control 917 of adjustment handgrip direction on the operation control device 916.
Said operation control device 990 can be free to slide on behaviour's part bar 960; When operation control device 990 slides on action bars 960; Drive action bars 980 actions, and then drive the operator scissors, make the angle that the manipulator scissors is adjusted to be needed around action bars 960,970 rotations; Adjust action bars 960,970 simultaneously and reach and need the fruit tree of work position, fruit tree is carried out work with the manipulator scissors.
Said operation control device 919 can be free to slide on behaviour's part bar 970; When operation control device 919 slides on action bars 970; Drive action bars 915 actions; Move thereby drive control 913, the mobile mechanical finger 911,912 that makes of control 913 moves, and handgrip is produced as firmly grasping and the action of loosening; Said operation control device 916 can be free to slide and rotate on behaviour's part bar 970; When operation control device 916 slides on action bars 970; Drive action bars 921 actions, handgrip is whole to be moved thereby drive, and the control 917 on the operation control device 916 can be adjusted handgrip integral body and rotate around mechanical arm 970; Operation control device 916 and control 917 actings in conjunction, the adjustment handgrip is to desired location.
When the manipulator scissors is plucked fruit, up promote operation control device 919, mechanical finger 911 is opened, and pulled down operation control device 919 can make mechanical finger 911 promptly.
When mechanical finger 911 was firmly grasped fruit, the fruit handle was cut off in the angle and the position of adjustment manipulator scissors, and the move operation control device 916 again, the position that handgrip arrival is needed.
Said mechanical arm has Telescopic, that is to say that the length of action bars can be adjusted, to adapt to the work of diverse location.
Said mesh bag also can be a pocket.
Be soft in the said mesh bag, do not damaged when fruit is in falling mesh bag guaranteeing.
Said mechanical handgrip can use separately with mechanical scissor.
Above content is the further explain that combines concrete preferred implementation that the utility model is done, and can not assert that the practical implementation of the utility model is confined to these explanations.For the those of ordinary skill of technical field under the utility model, under the prerequisite that does not break away from the utility model design, can also make some simple deduction or replace, all should be regarded as belonging to the protection domain of the utility model.
Claims (10)
1. a planting fruit-trees Multi Role Aircraft is characterized in that:
Said fruit tree Multi Role Aircraft comprises manipulator, mechanical arm, workbench; Manipulator connects mechanical arm; Mechanical arm connects workbench; Workbench comprises wheel that the fruit tree Multi Role Aircraft is moved, can send the operating desk of operational order, the controller of control mechanical arm work to mechanical arm, the control section in the workbench according to workbench operator's commands for controlling mechanical arm be rotated, shear, firmly grasp, loosen, mobile working.
2. fruit tree Multi Role Aircraft according to claim 1 is characterized in that:
Said fruit tree Multi Role Aircraft has camera head on its manipulator or the mechanical arm.
3. fruit tree Multi Role Aircraft according to claim 1 is characterized in that:
Said fruit tree Multi Role Aircraft has infrared on its manipulator or the mechanical arm or Electromagnetic Launching and receiving system.
4. fruit tree Multi Role Aircraft according to claim 1 is characterized in that:
Said fruit tree Multi Role Aircraft has positioner on its manipulator or the mechanical arm.
5. a planting fruit-trees Multi Role Aircraft is characterized in that:
Said fruit tree Multi Role Aircraft comprises manipulator, mechanical arm, operating desk, and manipulator connects mechanical arm, and mechanical arm connects workbench, the operator through operating desk control mechanical arm be rotated, shear, firmly grasp, loosen, mobile working.
6. according to claim 1 or 5 described fruit tree Multi Role Aircrafts, it is characterized in that:
Said fruit tree Multi Role Aircraft, its mechanical arm are can be flexible in level and vertical direction, can be to carry out simultaneously at the flexible of level and vertical direction, also can be that timesharing is carried out.
7. according to claim 1 or 5 described fruit tree Multi Role Aircrafts, it is characterized in that:
Said fruit tree Multi Role Aircraft, its manipulator and mechanical arm are rotatable.
8. according to claim 1 or 5 described fruit tree Multi Role Aircrafts, it is characterized in that:
Said fruit tree Multi Role Aircraft, its manipulator can be scissor, also can be blade types, can also be clamp types.
9. according to claim 1 or 5 described fruit tree Multi Role Aircrafts, it is characterized in that:
Said fruit tree Multi Role Aircraft, its manipulator can be pellet types, also can be the mesh bag formulas, can also be the finger forms.
10. according to claim 1 or 5 described fruit tree Multi Role Aircrafts, it is characterized in that:
Said fruit tree Multi Role Aircraft, the handgrip part in its manipulator has three mechanical fingers at least, can firmly grasp and loosening up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202198714U CN202197572U (en) | 2011-06-19 | 2011-06-19 | Fruit tree multifunctional machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202198714U CN202197572U (en) | 2011-06-19 | 2011-06-19 | Fruit tree multifunctional machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202197572U true CN202197572U (en) | 2012-04-25 |
Family
ID=45961724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202198714U Expired - Fee Related CN202197572U (en) | 2011-06-19 | 2011-06-19 | Fruit tree multifunctional machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202197572U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111837701A (en) * | 2020-09-02 | 2020-10-30 | 山东农业大学 | Flower thinning arm based on image recognition and use method thereof |
-
2011
- 2011-06-19 CN CN2011202198714U patent/CN202197572U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111837701A (en) * | 2020-09-02 | 2020-10-30 | 山东农业大学 | Flower thinning arm based on image recognition and use method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120425 Termination date: 20130619 |