CN102668817A - Self-propelling camellia oleifera fruit-picking machine - Google Patents
Self-propelling camellia oleifera fruit-picking machine Download PDFInfo
- Publication number
- CN102668817A CN102668817A CN2012101407393A CN201210140739A CN102668817A CN 102668817 A CN102668817 A CN 102668817A CN 2012101407393 A CN2012101407393 A CN 2012101407393A CN 201210140739 A CN201210140739 A CN 201210140739A CN 102668817 A CN102668817 A CN 102668817A
- Authority
- CN
- China
- Prior art keywords
- arm
- self
- hydraulic cylinder
- picking machine
- picking
- 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.)
- Pending
Links
Images
Abstract
The invention discloses a self-propelling camellia oleifera fruit-picking machine. As shown in diagram 1, the self-propelling camellia oleifera fruit-picking machine comprises a chassis, chassis outriggers and a chassis driving system for driving the chassis to move. The chassis driving system adopts caterpillar tracks in order to be adapted to the complex terrain of a camellia oleifera forest. A picking arm is mounted on the chassis, and a vibrating picking head is mounted on the picking arm. The picking arm is a spatial open chain link mechanism, has six degrees of freedom, and is driven by a hydraulic system. The self-propelling camellia oleifera fruit-picking machine is convenient to operate, is highly adaptable to picking environments, and can meet the requirement of a picking space, the working efficiency is high, the coordination between the mechanisms is good, particularly, because electrohydraulic integrated control is adopted, the degree of integration is high, and the self-propelling camellia oleifera fruit-picking machine is convenient to control. The self-propelling camellia oleifera fruit-picking machine is highly practical, can provide technical support for the popularization of the growth of camellia oleifera fruits, and can substitute for manual picking.
Description
Technical field
The present invention relates to a kind of oil tea fruit picking machine, specifically belong to forestry harvest machinery technical field.
Background technology
Oil tea is the distinctive woody oleiferous plants crop of China, also is and one of oil palm, olive, the coconut world's four big woody edible oil materials equally celebrated for their achievements.There is abundant oil tea resource in China, and nearly 5,000 ten thousand mu of cultivated area is produced about 1,000,000 tons of tea seed per year.The grease that from tea seed, proposes is called camellia seed oil, and camellia seed oil is nutritious, is rich in unsaturated fatty acids such as oleic acid, linoleic acid, and its fatty acid is formed with the olive oil of the title that " queen in the oil " arranged quite similar.In addition, camellia seed oil also contains physiological activators such as abundant vitamin A, E, D, K, beta carotene, squalene.
The rapid expansion of oil tea cultivated area impels oil tea really to pluck to mechanization, automation direction development.For a long time, oil tea fruit picking machine tool degree is not high, is accomplished by manual work basically, and labour intensity is big, and efficient is low.So far, the oil tea picking mechanical that does not also have technology maturation on the market.
Summary of the invention
Not high to present oil tea fruit picking machine tool degree, manual picking labour intensity is big, inefficient present situation; It is reasonable that the present invention aims to provide a kind of harvesting scope, and picking efficiency is high, and is easy to operate; Inter-agency adaptability and harmony are good, practical oil tea fruit picking machine.
For realizing above-mentioned purpose, the technical scheme that the present invention takes is: a kind of self-propelled oil tea fruit picking machine, comprise frame, and the chassis driving system that drive chassis moves is characterized in, Picker arm is housed on the frame, the Picker arm end is equipped with picking head.
The telescopic chassis of Driven by Hydraulic Cylinder supporting leg for preventing that picking machine from overturning is housed on the said frame.
The diesel engine that power is provided for the chassis driving system is housed on the said frame, and the generator and the accumulator of electric power is provided for the oil tea fruit picking machine.
Among the present invention; The structure of said Picker arm comprises through the Picker arm base and is contained in the turning arm on the frame that the upper end of turning arm is hinged with principal arm, is with driven sliding block in the principal arm; The external part of driven sliding block is hinged with the horizontal hunting seat; The other end of horizontal hunting seat is hinged with vibration swing seat, the hinged vibration head hanger that is used to settle picking head of the other end of vibration swing seat, and the vibration picking head is suspended in below the hanger.
Said picking head is the structure of adjustable amplitude and frequency.
Said Picker arm is a space open chain linkage, has six-freedom degree.
The hydraulic system that hydraulic power is provided for turning arm hydraulic cylinder, principal arm hydraulic cylinder, driven sliding block hydraulic cylinder, horizontal hunting seat hydraulic cylinder, vibration swing seat hydraulic cylinder and clamping hydraulic cylinder is housed on the said frame, and this hydraulic system is by the electrical control cabinet and the control of control system that are contained on the frame.
Said hydraulic system is an open type hydraulic system, and maximum pressure is 14MPa.
Said turning arm one side is provided with the power set of driven in rotation arm rotation, and this power set structure does, plucks on the arm seat hydraulic motor is housed, and this hydraulic motor rotates through worm-gear speed reducer and a pair of gear pair driven in rotation arm.
This self-propelled oil tea fruit picking machine comprises caterpillar chassis, and is fixed on Picker arm on the chassis, vibration picking head, hydraulic system, electrical control cabinet, diesel engine, generator, accumulator, control system etc.Said Picker arm is made up of turning arm, principal arm, driven sliding block, horizontal hunting seat, vibration swing seat, through the driving of hydraulic cylinder and hydraulic motor, can realize certain spatial movement, and satisfy the requirement of plucking that the working range of Picker arm is seen Figure of abstract.Said hydraulic system is an open type hydraulic system, and the design maximum pressure is 14Mpa, and power is about 10KW, and hydraulic valve all adopts magnetic valve, controls through the mode of electricity, therefore is equipped with electric integrated cabinet.The electric power of picking machine is provided by the accumulator of two groups of 24V, and generator can be charge in batteries.Whole power of picking machine are provided by the diesel engine of a 23KW.
Said self-propelled oil tea fruit picking machine is characterized in that said Picker arm working space is reasonable, conforms to the harvesting space that requires.
When said self-propelled oil tea fruit picking machine is worked, whole power are provided,, arrive the space specified pose thereby drive Picker arm through solenoid control hydraulic cylinder and hydraulic motor by diesel engine.Harmony is good between each parts of harvesting process, and speeds match is reasonable.
Compare with existing oil tea fruit picking machine, advantage of the present invention is: convenient installation and operation of the present invention, pluck good environmental adaptability, and inter-agency coordination property is good; Easy to maintenance, adopt electrohydraulic integration control, integrated level is high; Can guarantee to pluck the continuity of action, picking efficiency is high, and is practical.
Description of drawings
Fig. 1 is a kind of structure principle chart of the embodiment of the invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the mechanism principle figure of Picker arm according to the invention.
In the accompanying drawing:
1-Picker arm, 2-diesel engine, 3-circuit general switch,
4-frame, 5-storage battery, 6-chassis driving system,
7-generator, 8-hydraulic pressure pump bracket, 9-hydraulic pump,
10-control system, 11-hydraulic system, 12-electrical control cabinet,
13-pluck arm seat, 14-decelerator, 15-pinion,
16-gear wheel, 17-turning arm, 18-turning arm hydraulic cylinder,
19-principal arm, 20-principal arm hydraulic cylinder, 21-driven sliding block,
22-horizontal hunting seat, 23-vibration swing seat, 24-vibration swing seat hydraulic cylinder,
25-vibration head hanger, 26-vibration picking head, 27-vibrating motor,
28-fulcrum post A, 29-driven sliding block hydraulic cylinder, 30-fulcrum post B,
31-horizontal hunting seat hydraulic cylinder, 32-clamping hydraulic cylinder, 33-hydraulic motor,
34-chassis supporting leg.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
A kind of self-propelled oil tea fruit picking machine; As illustrated in fig. 1 and 2; Comprise frame (4); The chassis driving system (6) that drive chassis moves, and be fixed on Picker arm (1), chassis supporting leg (34), hydraulic system (11), electrical control cabinet (12) on the frame (4), for chassis driving system (6) diesel engine (2) of power be provided, generator (7) and the accumulator (5) and the control system compositions such as (10) of electric power are provided for picking machine.Picker arm (1) is housed on the said frame (4), vibration picking head (26) is housed on the Picker arm (1).
As shown in Figure 3; The mechanism of said Picker arm (1) does; Comprise through plucking arm seat (13) being contained in the turning arm (17) on the frame (4), turning arm (17) upper end is hinged with principal arm (19), is with driven sliding block (21) in the principal arm; The external part of driven sliding block (21) is hinged with horizontal hunting seat (22); The other end of horizontal hunting seat (22) is hinged with vibration swing seat (23), the hinged vibration head hanger (25) that is used to settle picking head of the other end of vibration swing seat (23), and vibration picking head (26) is suspended in below the hanger.Make each parts certain angle free to rotate and move certain distance through hinged the connection with sliding pair like this, whole Picker arm has six-freedom degree.
Said turning arm (17) is provided with and can drives principal arm (19) hydraulic cylinder (18) of turning arm (17) rotation relatively; Said principal arm (19) is provided with and can drives driven sliding block (21) hydraulic cylinder (20) of principal arm (19) slip relatively; Said driven sliding block (21) is provided with and can drives horizontal hunting seat (22) hydraulic cylinder (29) of driven sliding block (21) rotation relatively; (22) are provided with and can drive vibration swing seat (23) hydraulic cylinder (31) of horizontal hunting seat (22) rotation relatively on the said horizontal hunting seat; Said vibration swing seat (23) is provided with and can drives the hydraulic cylinder (24) that the relative vibration swing seat of vibration head hanger (25) (23) rotates, and said vibration picking head (26) is provided with and is used to clamp the dried hydraulic cylinder (32) of oil tea fruit tree.
The hydraulic system (11) that hydraulic power is provided for turning arm hydraulic cylinder (18), principal arm hydraulic cylinder (20), driven sliding block hydraulic cylinder (29), horizontal hunting seat hydraulic cylinder (31), vibration swing seat hydraulic cylinder (24) and clamping hydraulic cylinder (32) is housed on the said frame, and this hydraulic system (11) is by the electrical control cabinet (12) and control system (10) control that are contained on the frame (4).
Said turning arm (17) one sides are provided with the power set of driven in rotation arm (17) rotation; This power set structure does; Pluck on the arm seat (13) hydraulic motor (33) is housed; This hydraulic motor (33) rotates through worm-gear speed reducer (14) and a pair of gear pair (15,16) driven in rotation arm (17).Turning arm can be around self axis rotation 270 degree under the drive unit effect.
When plucking the oil tea fruit; Earlier chassis supporting leg (34) is stretched out suitable length according to landform; Again picking machine is stopped in place, handle Picker arm (1) through control system (10) and stretch to the oil tea fruit tree, adjust to suitable pose after vibration picking head (26) and clamp branch and drive the branch vibration; The inertia force that produces through vibration makes fruit separate with branch, accomplishes the harvesting process.
The diesel engine that the power of complete machine is 23KW by a rated power (2) provides, and the electric power of electrical control cabinet (12) is provided by the accumulator (5) of two groups of 24V.
Claims (9)
1. a self-propelled oil tea fruit picking machine comprises frame (4), drives the chassis driving system (6) of this frame (4) motion, and Picker arm (1) and chassis supporting leg (34) are housed on the said frame (4), and the Picker arm end is equipped with vibration picking head (26).
2. self-propelled oil tea fruit picking machine according to claim 1; It is characterized in that: said Picker arm (1) is space open chain linkage; Has six-freedom degree; Its structure comprises through plucking arm seat (13) and is contained in the turning arm (17) on the said frame (4) that the upper end of turning arm (17) is hinged with principal arm (19), is with driven sliding block (21) in the principal arm; The external part of driven sliding block is hinged with horizontal hunting seat (22); The other end of horizontal hunting seat (22) is hinged with vibration swing seat (23), the hinged vibration head hanger (25) that is used to settle picking head of the other end of vibration swing seat (23), and vibration picking head (26) is suspended in below the hanger.
3. self-propelled oil tea fruit picking machine according to claim 2; It is characterized in that: said turning arm (17) is provided with and can drives principal arm (19) hydraulic cylinder (18) of turning arm (17) rotation relatively; Said principal arm (17) is provided with and can drives driven sliding block (21) hydraulic cylinder (20) of principal arm (17) slip relatively; Said driven sliding block (21) is provided with and can drives horizontal hunting seat (22) hydraulic cylinder (29) of driven sliding block (21) rotation relatively; (22) are provided with and can drive vibration swing seat (23) hydraulic cylinder (31) of horizontal hunting seat (22) rotation relatively on the said horizontal hunting seat; Said vibration swing seat (23) is provided with and can drives the hydraulic cylinder (24) that the relative vibration swing seat of vibration head hanger (25) (23) rotates; Said vibration picking head (26) is provided with and is used to clamp that the oil tea fruit tree does steps up hydraulic cylinder (32), the amplitude of picking head and frequency adjustable.
4. self-propelled oil tea fruit picking machine according to claim 2; It is characterized in that: said turning arm (17) one sides are provided with the power set of driven in rotation arm (17) rotation; This power set structure does; Pluck on the arm seat (13) hydraulic motor (33) is housed, this hydraulic motor rotates through worm-gear speed reducer (14) and a pair of gear pair (15,16) driven in rotation arm (17).
5. self-propelled oil tea fruit picking machine according to claim 1; It is characterized in that: the hydraulic system (11) that power is provided for turning arm hydraulic cylinder (18), principal arm hydraulic cylinder (20), driven sliding block hydraulic cylinder (29), horizontal hunting seat hydraulic cylinder (31), vibration swing seat hydraulic cylinder (24) and clamping hydraulic cylinder (32) is housed on the said frame (4), and this hydraulic system (11) is by the electrical control cabinet (12) and control system (10) control that are contained on the frame (4).
6. self-propelled oil tea fruit picking machine according to claim 5 is characterized in that: said hydraulic system (11) is an open type hydraulic system, and maximum pressure is 14Mpa, adopts electrohydraulic integration control.
7. self-propelled oil tea fruit picking machine according to claim 1; It is characterized in that: the diesel engine (2) that power is provided for chassis driving system (6) is housed on the said frame (4), and the generator (7) and the accumulator (5) of electric power is provided for the oil tea fruit picking machine.
8. self-propelled oil tea picking machine according to claim 1 is characterized in that: said chassis driving system (6) adopts crawler type, turns to the employing double clutch construction.
9. self-propelled oil tea picking machine according to claim 1 is characterized in that: said chassis supporting leg (34) adopts the Driven by Hydraulic Cylinder telescopic structure, and rubber wheel is installed on the Retractive leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101407393A CN102668817A (en) | 2012-05-09 | 2012-05-09 | Self-propelling camellia oleifera fruit-picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101407393A CN102668817A (en) | 2012-05-09 | 2012-05-09 | Self-propelling camellia oleifera fruit-picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102668817A true CN102668817A (en) | 2012-09-19 |
Family
ID=46801912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101407393A Pending CN102668817A (en) | 2012-05-09 | 2012-05-09 | Self-propelling camellia oleifera fruit-picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102668817A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103348819A (en) * | 2013-07-12 | 2013-10-16 | 中南林业科技大学 | Oil-tea camellia fruit picking method and oil-tea camellia fruit picking robot using same |
| CN103416161A (en) * | 2013-07-12 | 2013-12-04 | 中南林业科技大学 | Actuating mechanism for tea-oil camellia fruit picking robot |
| CN103947373A (en) * | 2014-05-14 | 2014-07-30 | 山东理工大学 | Remotely-controlled self-propelled serrated-knife-type sophora flower bud picking machine |
| CN104221606A (en) * | 2014-07-22 | 2014-12-24 | 中南林业科技大学 | Self-propelled vibrating forest fruit harvester and harvesting method for same |
| CN104255197A (en) * | 2014-09-05 | 2015-01-07 | 甘肃农业大学 | Red date combine harvester |
| WO2015003513A1 (en) * | 2013-07-12 | 2015-01-15 | 中南林业科技大学 | Robot and method for picking fruit of camellia oleifera |
| CN105015636A (en) * | 2015-07-14 | 2015-11-04 | 河南科技大学 | Micro double-crawler walking device |
| CN105075529A (en) * | 2015-09-06 | 2015-11-25 | 山西瑞杰农业开发有限公司 | Walnut shaking-off machine |
| CN106416485A (en) * | 2016-11-21 | 2017-02-22 | 镇江市胜得机械制造有限责任公司 | Fast advancing device for automatic fruit picking machine |
| CN106612947A (en) * | 2016-11-21 | 2017-05-10 | 镇江市胜得机械制造有限责任公司 | Base supporting mechanism for automatic fruit picker |
| CN107295858A (en) * | 2017-08-08 | 2017-10-27 | 徐化金 | A kind of high Cone picking device of operating efficiency |
| CN107862254A (en) * | 2017-10-20 | 2018-03-30 | 武汉科技大学 | A kind of method for realizing that matrimony vine efficiently plucks based on artificial intelligence |
| CN109197159A (en) * | 2018-11-28 | 2019-01-15 | 刘艳荣 | A kind of Chinese walnut picking robot |
| CN110959384A (en) * | 2020-01-19 | 2020-04-07 | 中南林业科技大学 | Double-vibration picking machine and double-vibration picking method |
| CN111771539A (en) * | 2020-06-15 | 2020-10-16 | 安徽农业大学 | Vibrating oil tea fruit picking device of adjustable amplitude |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201663816U (en) * | 2010-03-08 | 2010-12-08 | 中南林业科技大学 | Four-bar picking head used for oil-tea camellia fruit picking machine |
| CN102124867A (en) * | 2011-01-27 | 2011-07-20 | 中南林业科技大学 | Camellia oleifera Abel fruit picker |
| CN201928661U (en) * | 2011-01-27 | 2011-08-17 | 中南林业科技大学 | Multiple-degree-of-freedom picking arm for oil-tea camellia fruit picking machine |
-
2012
- 2012-05-09 CN CN2012101407393A patent/CN102668817A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201663816U (en) * | 2010-03-08 | 2010-12-08 | 中南林业科技大学 | Four-bar picking head used for oil-tea camellia fruit picking machine |
| CN102124867A (en) * | 2011-01-27 | 2011-07-20 | 中南林业科技大学 | Camellia oleifera Abel fruit picker |
| CN201928661U (en) * | 2011-01-27 | 2011-08-17 | 中南林业科技大学 | Multiple-degree-of-freedom picking arm for oil-tea camellia fruit picking machine |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103416161A (en) * | 2013-07-12 | 2013-12-04 | 中南林业科技大学 | Actuating mechanism for tea-oil camellia fruit picking robot |
| CN103416161B (en) * | 2013-07-12 | 2014-10-15 | 中南林业科技大学 | Actuating mechanism for tea-oil camellia fruit picking robot |
| WO2015003513A1 (en) * | 2013-07-12 | 2015-01-15 | 中南林业科技大学 | Robot and method for picking fruit of camellia oleifera |
| CN103348819A (en) * | 2013-07-12 | 2013-10-16 | 中南林业科技大学 | Oil-tea camellia fruit picking method and oil-tea camellia fruit picking robot using same |
| CN103947373A (en) * | 2014-05-14 | 2014-07-30 | 山东理工大学 | Remotely-controlled self-propelled serrated-knife-type sophora flower bud picking machine |
| CN103947373B (en) * | 2014-05-14 | 2015-09-30 | 山东理工大学 | A kind of remote control is from walking serrated knife formula sophora bud picking machine |
| CN104221606A (en) * | 2014-07-22 | 2014-12-24 | 中南林业科技大学 | Self-propelled vibrating forest fruit harvester and harvesting method for same |
| CN104255197B (en) * | 2014-09-05 | 2017-06-27 | 甘肃农业大学 | A kind of jujube combined harvester |
| CN104255197A (en) * | 2014-09-05 | 2015-01-07 | 甘肃农业大学 | Red date combine harvester |
| CN105015636A (en) * | 2015-07-14 | 2015-11-04 | 河南科技大学 | Micro double-crawler walking device |
| CN105075529A (en) * | 2015-09-06 | 2015-11-25 | 山西瑞杰农业开发有限公司 | Walnut shaking-off machine |
| CN106416485A (en) * | 2016-11-21 | 2017-02-22 | 镇江市胜得机械制造有限责任公司 | Fast advancing device for automatic fruit picking machine |
| CN106612947A (en) * | 2016-11-21 | 2017-05-10 | 镇江市胜得机械制造有限责任公司 | Base supporting mechanism for automatic fruit picker |
| CN106416485B (en) * | 2016-11-21 | 2019-03-19 | 镇江市胜得机械制造有限责任公司 | A kind of Fast marching device for automatic fruit picker |
| CN107295858A (en) * | 2017-08-08 | 2017-10-27 | 徐化金 | A kind of high Cone picking device of operating efficiency |
| CN107862254A (en) * | 2017-10-20 | 2018-03-30 | 武汉科技大学 | A kind of method for realizing that matrimony vine efficiently plucks based on artificial intelligence |
| CN107862254B (en) * | 2017-10-20 | 2021-07-06 | 武汉科技大学 | Method for realizing high-efficiency picking of Chinese wolfberry based on artificial intelligence |
| CN109197159A (en) * | 2018-11-28 | 2019-01-15 | 刘艳荣 | A kind of Chinese walnut picking robot |
| CN110959384A (en) * | 2020-01-19 | 2020-04-07 | 中南林业科技大学 | Double-vibration picking machine and double-vibration picking method |
| CN110959384B (en) * | 2020-01-19 | 2022-03-11 | 中南林业科技大学 | Double-vibration picking machine and double-vibration picking method |
| CN111771539A (en) * | 2020-06-15 | 2020-10-16 | 安徽农业大学 | Vibrating oil tea fruit picking device of adjustable amplitude |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102668817A (en) | Self-propelling camellia oleifera fruit-picking machine | |
| CN201467711U (en) | Vibrating type fruit tree harvester | |
| CN202617725U (en) | Arm frame structure for oil tea fruit picking machine | |
| CN102577754B (en) | Automatic Torreya grandis picking machine | |
| CN104221606B (en) | A kind of self-propelled vibration woods fruit harvester and collecting method thereof | |
| CN104094734B (en) | Swing type vibrates picking head vibration and amplitude control method and vibrates picking head | |
| CN201243498Y (en) | Vibration type machine for picking fruit tree | |
| CN103039199B (en) | Portable walnut picker | |
| CN103563566B (en) | A kind of impacting type walnut picker | |
| CN106856751B (en) | A kind of ornamental trees and shrubs transplant robot | |
| CN203435376U (en) | Novel portable walnut picking machine | |
| CN203814217U (en) | Variable-frequency variable-amplitude vibrating-type fruit picking machine | |
| CN204443103U (en) | A kind of remote control mower | |
| CN103202142A (en) | Chinese walnut vibration picking device | |
| CN102656999B (en) | Vibrating fruit tree harvester | |
| CN203136569U (en) | Vibrating picking device for pecans | |
| CN203387923U (en) | Handheld type walnut picking machine | |
| CN204157338U (en) | The rotary garden trimming machine of a kind of tower crane | |
| CN202617724U (en) | Semi-mounted vibrating picking head for picking oil-tea fruits | |
| CN204616447U (en) | For the picker of woods fruit results | |
| CN204888012U (en) | Coconut picking manipulator | |
| CN203302009U (en) | Double-shaft type dry fruit picking machine | |
| CN202455856U (en) | Vibratory forest tree seed picking device | |
| CN209824474U (en) | Vibrator with eccentric wheel | |
| CN105123120A (en) | Nut picking manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120919 |