CN109601128A - A kind of apple-picking collection method - Google Patents
A kind of apple-picking collection method Download PDFInfo
- Publication number
- CN109601128A CN109601128A CN201910023011.4A CN201910023011A CN109601128A CN 109601128 A CN109601128 A CN 109601128A CN 201910023011 A CN201910023011 A CN 201910023011A CN 109601128 A CN109601128 A CN 109601128A
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- China
- Prior art keywords
- apple
- picking
- sorting
- collection
- cutting mechanism
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000005520 cutting process Methods 0.000 claims abstract description 31
- 235000011430 Malus pumila Nutrition 0.000 claims description 45
- 235000015103 Malus silvestris Nutrition 0.000 claims description 45
- 241000220225 Malus Species 0.000 claims description 42
- 239000004744 fabric Substances 0.000 claims description 12
- 239000004677 Nylon Substances 0.000 claims description 11
- 229920001778 nylon Polymers 0.000 claims description 11
- 230000001939 inductive effect Effects 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 6
- 244000141359 Malus pumila Species 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 239000002420 orchard Substances 0.000 abstract description 6
- 230000003139 buffering effect Effects 0.000 abstract description 4
- 230000001976 improved effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 235000013399 edible fruits Nutrition 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/22—Baskets or bags attachable to the picker
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B13/00—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
- B07B13/04—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices according to size
- B07B13/07—Apparatus in which aggregates or articles are moved along or past openings which increase in size in the direction of movement
Abstract
The invention discloses a kind of apple-picking collection method, picker is made of power-supply system, cutting mechanism, picking lever, collection sorting mechanism, bracket institution etc..The power-supply system is connect by conducting wire with cutting mechanism.Conducting wire passes through among picking lever.The picking lever is fixed on bracket by rod end bearing and bolt, and rod end bearing can drive the picking lever to rotate.The picking lever is connect with rod end bearing by nut.Sorting mechanism is collected to be located at below cutting mechanism.The portable apple-picking collection device of the present invention, the device are controlled using infra-red sensor switch, and picking efficiency can be improved；It is not damaged to apple in such a way that blade shears picking and buffering landing；Diameter categorised collection can be pressed to apple, mitigate orchard worker's follow-up work amount；It charges using solar battery edges of boards working edge, saves electric energy；Support height is adjustable, and foldable, and picking lever can stretch, easy to carry and store.
Description
Technical field
The present invention relates to a kind of picking methods, and in particular to a kind of apple-picking collection method.
Background technique
Existing apple mechanization seed harvester mainly has simple device for picking, portable seed harvester and intelligent picking machine
The types such as device people.Simple device for picking mainly uses head to cut the structure of saw screening bag and telescopic rod, and cost is relatively low, but operates not
Just, to the no positive effect of the reduction of peasant's labor intensity.Picking robot intelligent automaticization degree is high, but there are costs
Height, the automatic identification of picking are low, and time-consuming, a series of problems, such as mountain area knob is mobile difficult, are also difficult to realize at present
Industrialization.Therefore it is easier to realize that industrialization is portable seed harvester in apple-picking machine field at present.Such sets at present
It is heavier-weight for the main reason for promoting is difficult to, in orchard, especially orchard in mountain area carries mobile inconvenient；Mostly use clamping
Or mode of vibration is picked, and is damaged to fruit larger；Generally without sorting unit, manual sort is also needed after orchard worker's picking,
Follow-up work amount is big；Battery capacity deficiency etc. when large area operation.
Summary of the invention
Goal of the invention: operating the purpose of the present invention is to solve existing apple-picking collection device and mobile inconvenient,
It is big to fruit losses and the problems such as without sorting unit and insufficient large area operation battery capacity, provide a kind of portable apple
Fruit picks collection method.This method is not damaged to apple by the way of shearing picking and buffering landing；It can be to apple by straight
Diameter magnitude classification is collected；It charges using solar battery edges of boards working edge, saves electric energy；Support height is adjustable, and foldable,
Picking lever can stretch, easy to carry and store.
Technical solution: a kind of apple-picking collection method of the present invention includes the following steps:
(1) apple-picking collection device is moved near apple tree to be collected；
(2) height and position for adjusting picking lever, enables cutting mechanism consistent with apple position height；
(3) when apple enters collector oral area, infrared sensor controls blade rotation in the cutting mechanism, completes tree shears
It cuts；
(4) apple enters sorting unit by collector oral area and lower section nylon cloth bag, apple is divided by diameter several
Grade simultaneously sequentially enters dashpot from multiple square holes respectively, and falls into respective storage basket.
Further, the apple-picking collection device includes cutting mechanism, power-supply system, collects sorting mechanism, bracket
Mechanism, picking lever, the power-supply system are connect by conducting wire with cutting mechanism, and conducting wire passes through among picking lever, the shearing
Mechanism is mounted at the collection port for collecting sorting mechanism, and branch is fixed on by rod end bearing and bolt in one end of the picking lever
On frame mechanism, the rod end bearing drives the picking lever rotation, and one end of the picking lever is fixed on cutting mechanism, described
It collects sorting mechanism to be located at below cutting mechanism, the power-supply system, collection sorting mechanism are installed on the bracket institution.
Further, the cutting mechanism includes inductive switch, motor, blade, protective blade cover, collection port, blocks
It covers, sets infrared sensor in the inductive switch, infrared sensor installation site is slightly below collection port, the collection oral area face
Infrared sensor position is equipped with square groove.
Further, protective blade cover is set above blade, is arranged between the protective blade cover and support of motor
Tension spring.
Further, the collection sorting mechanism includes nylon cloth bag, sorting mouth, sorting track, roll shaft, dashpot, receipts
Receive basket, one end of the nylon cloth bag be connected to one end of the sorting mouth, the other end of the sorting mouth and sorting track company
It is logical, it is equipped with multiple roll shafts in the sorting track, multiple dashpots are equipped on the outside of sorting track, correspondence is set below each dashpot
There is storage basket.
Further, at least three kinds of different size of square holes are successively opened in the sorting track, and are entered along apple
Certain gradient is arranged in direction.
Further, the dashpot, which is all provided with, is set to constant slope.
Further, the roll shaft slightly above sorts mouth plane.
Further, the power-supply system includes solar panel and battery, and the battery is by conducting wire and too
Positive energy solar panel connection, while being connected with and filling connector outside.
Further, the bracket institution includes frame, rod end bearing, folding rod, adjusting rod, bottom support frame, wheel,
Support height is adjusted by adjusting rod, and is locked by tension spring, and bracket is folded by folding rod.
Further, the picking lever can stretch within the scope of certain length.
Beneficial effect, the invention patent this method and device are controlled using infra-red sensor switch, and picking efficiency can be improved；
It is not damaged to apple in such a way that blade shears picking and buffering landing；Diameter categorised collection can be pressed to apple, subtracted
Light orchard worker's follow-up work amount；It charges using solar battery edges of boards working edge, saves electric energy；Support height is adjustable, and can roll over
Folded, picking lever can stretch, easy to carry and store.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is cutting mechanism structural schematic diagram of the present invention；
Fig. 3 is that the present invention collects sorting mechanism schematic diagram；
Fig. 4 is bracket institution schematic diagram of the present invention；
Fig. 5 is solar charging device schematic diagram of the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail combined with specific embodiments below.
A kind of apple-picking collection method of the invention, includes the following steps:
(1) apple-picking collection device is moved near apple tree to be collected；
(2) height and position for adjusting picking lever, enables cutting mechanism consistent with apple position height；
(3) when apple enters collector oral area, infrared sensor controls blade rotation in the cutting mechanism, completes tree shears
It cuts；
(4) apple enters sorting unit by collector oral area and lower section nylon cloth bag, apple is divided by diameter several
Grade simultaneously sequentially enters dashpot from multiple square holes respectively, and falls into respective storage basket.
Specifically, a kind of novel portable apple-picking collection device as shown in Figure 1, by power-supply system 1, cutting mechanism
2, the composition such as picking lever 3, collection sorting mechanism 4, bracket institution 5.The power-supply system 1 is connect by conducting wire with cutting mechanism 2.
Conducting wire passes through among picking lever 3.The picking lever 3 is fixed on bracket 5, rod end bearing by rod end bearing 502 and bolt
502 can drive the picking lever 3 to rotate.It collects sorting mechanism 4 and is located at 2 lower section of cutting mechanism.It is arranged in cutting mechanism 2 infrared
Inductive switch 207.Apple enters after collection port 211 transmitted using nylon cloth bag 401 after enter sorting track 403, sorting track
Dashpot 405 is set in 403 lower sections.The picking lever 3 is connect with rod end bearing 502 by nut 301, when plucking height is higher
When, nut 301 can be unclamped, picking lever 3 is removed.When apple, which enters, collects oral area 211, described in 208 controller of infrared sensor
2 blade rotation in cutting mechanism, completes branch shearing, and apple enters sorting by collecting oral area 211 and lower section nylon cloth bag 401
Apple is divided into three grades by diameter and sequentially enters dashpot 405 from three square holes by device 4, and falls into three receipts
Receive basket 406.Power-supply system 1 includes solar panel 101 and battery 104.The battery 104 passes through conducting wire and too can energy
Solar panel 101 connects, while being connected with and filling connector outside.
Fig. 2 is cutting mechanism structural schematic diagram of the present invention.Cutting mechanism includes inductive switch 207, motor 202, blade
215, protective blade cover 216, collection port 211, shielding cover 213 etc. form.Collection port 211 is connect by connection sheet 210 with picking lever
First 209 connection.Sensor stand 206 is bolted with picking knock-off joint 209.Connection sheet 210 and sensor stand 206 connect
It connects, sensor stand 206 is connect with support of motor 201 by the first bolt 204.Motor 202 is solid by the second bolt 203
Due to support of motor 201.Infrared sensor 208 is set in inductive switch 207, collection port 211 is provided with square groove 212, works as apple
When into collection port 211, infrared sensor sense 208 has sensed object entrance, closes the switch, and circuit is connected, 202 band of motor
The rotation cutting apple branch of cutting blade 215, apple branch cut off rear apple and enter collector cloth bag.Infrared sensor 208 incudes at mouth
Induction is disconnected less than object, switch, and motor 202 and blade 215 stop operating.To prevent leaf branch etc. in picking process miscellaneous
Object enters collection port, causes 207 maloperation of inductive switch, and shielding cover 213 is arranged above collection port 211.Shielding cover is lightweight
Plastic material, edge are connect by tension spring 205 with collection port 211.When having the sundries such as leaf above shielding cover 213, because of quality
Relatively light, shielding cover 213 will not decline.When apple is located at 211 top of collection port, picking lever 3 is moved up, under the effect of gravity, apple
Fruit will oppress under shielding cover 213 and turn over, and apple enters collection port 211, is sensed by infrared sensor 208.After apple is fallen, drawing
Under the action of spring 205, shielding cover 213 resets.Blade 215 accidentally injures apple, blade when to prevent picking lever movement in picking process
Shield 216 is arranged in 215 tops.Tension spring 214 is equipped between blade 215 and shield 216.Shield 216 is fixed on motor branch
Frame 201.In cutting process, blade 215 is rotated, and shield 216 does not turn.After cutting, blade 215 is resetted by tension spring 214.
Fig. 3 is that the present invention collects sorting mechanism schematic diagram.Collect sorting mechanism include nylon cloth bag 401, sorting mouth 402,
Sorting track 403, roll shaft 404, dashpot 405, storage basket 406 etc..Apple is entered by nylon cloth bag 401 and sorting mouth 402
To sorting track 403.Track 403 is arranged certain gradient, sets gradually three from small to large along apple approach axis in track
Kind specification slot.The apple of minimum diameter is fallen from the first slot 411, remaining apple continues to advance along track, big according to diameter
It is small to be fallen from the second slot 410 or third slot 409.In slot edge, roll shaft 404 is set, roll shaft is slightly above orbit plane,
Apple can be slowed down and play buffer function along track forward speed, while can avoid staging error.Roll shaft 404 passes through fixinig plate 407
And third bolt 408 is fixed on 403 liang of side baffles of sorting track.Dashpot 405 is set below sorting slot, apple is through too slow
405 inclined-plane of jet-bedding slides into storage basket 406, completes apple sorting and collection.When operation, storage basket 406 is placed on frame bottom support
506 top of frame, when device is carried and stored, storage basket 406 can be removed from frame bottom support frame 506, be convenient for bracket institution 5
It folds.
Fig. 4 is bracket institution schematic diagram of the present invention.Bracket institution include frame 501, rod end bearing 502, folding rod 503,
The components such as adjusting rod 504, bottom support frame 506, wheel 507.Picking lever 3 is connect by nut with rod end bearing 502.For convenient for
People of different heights operates, and support height can divide three gears to adjust by adjusting rod 504.Bracket can pass through folding rod
503 are folded, easy to carry and usually store.To prevent adjusting rod in operation process from loosening, supported in adjusting rod and bottom
Tension spring 505 is arranged between frame to tense.Pass through connection sheet 509 and the 4th between frame 501, folding rod 503 and bottom support frame 506
Bolt 510 connects.Four wheels 507, to prevent wheel rolling in operation process, two wheels wherein are arranged in support frame bottom
Upper setting brake(-holder) block 508.
Fig. 5 is solar charging device schematic diagram of the present invention.Solar panel 101 is fixed on branch by support frame 103
Frame frame 501.The position of support frame 103 can be adjusted with sunshine direction, and be fixed by bolts in frame 501.Solar battery
Back is equipped with hook with sucker 102, is fixed on support frame 103 by hook 102.
The invention patent device is controlled using infra-red sensor switch, and picking efficiency can be improved；It is sheared and is picked using blade
And the mode of buffering landing, it is not damaged to apple；Diameter categorised collection can be pressed to apple, mitigate orchard worker's follow-up work
Amount；It charges using solar battery edges of boards working edge, saves electric energy；Support height is adjustable, and foldable, and picking lever can be stretched
Contracting, it is easy to carry and store.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of apple-picking collection method, characterized by the following steps:
(1) apple-picking collection device is moved near apple tree to be collected；
(2) height and position for adjusting picking lever, enables cutting mechanism consistent with apple position height；
(3) when apple enters collector oral area, infrared sensor controls blade rotation in the cutting mechanism, completes tree shears
It cuts；
(4) apple enters sorting unit by collector oral area and lower section nylon cloth bag, apple is divided by diameter several
Grade simultaneously sequentially enters dashpot from multiple square holes respectively, and falls into respective storage basket.
2. a kind of apple-picking collection method according to claim 1, it is characterised in that: the apple-picking collects dress
It sets including cutting mechanism, power-supply system, collect sorting mechanism, bracket institution, picking lever, the power-supply system passes through conducting wire and cuts
Mechanism connection is cut, conducting wire passes through among picking lever, and the cutting mechanism is mounted at the collection port for collecting sorting mechanism, described
One end of picking lever is fixed on bracket institution by rod end bearing and bolt, and the rod end bearing drives the picking lever to turn
Dynamic, one end of the picking lever is fixed on cutting mechanism, and the collection sorting mechanism is located at below cutting mechanism, the power supply
System, collection sorting mechanism are installed on the bracket institution.
3. a kind of apple-picking collection method according to claim 2, it is characterised in that: the cutting mechanism includes induction
Switch, motor, blade, protective blade cover, collection port, shielding cover set infrared sensor, infrared sensing in the inductive switch
Device installation site is slightly below collection port, and collection oral area face infrared sensor position is equipped with square groove.
4. a kind of apple-picking collection method according to claim 3, it is characterised in that: it is anti-that blade is arranged above blade
Tension spring is arranged between the protective blade cover and support of motor in shield.
5. a kind of apple-picking collection method according to claim 2, it is characterised in that: the collection sorting mechanism includes
Nylon cloth bag, sorting mouth, sorting track, roll shaft, dashpot, storage basket, one end of the nylon cloth bag and the sorting mouth
The other end of one end connection, the sorting mouth is connected to sorting track, and multiple roll shafts, sorting track are equipped in the sorting track
Outside is equipped with multiple dashpots, is correspondingly provided with storage basket below each dashpot.
6. a kind of apple-picking collection method according to claim 5, it is characterised in that: successively opened in the sorting track
There are at least three kinds of different size of square holes, and certain gradient is set along apple approach axis.
7. a kind of apple-picking collection method according to claim 5, it is characterised in that: the dashpot, which is all provided with, is set to one
Determine gradient.
8. a kind of apple-picking collection method according to claim 5, it is characterised in that: the roll shaft slightly above sorts mouth
Plane.
9. a kind of apple-picking collection method according to claim 2, it is characterised in that: the power-supply system includes the sun
Energy solar panel and battery, the battery are connect by conducting wire with solar panel, while being connected with and being filled connector outside.
10. a kind of apple-picking collection method according to claim 2, it is characterised in that: the bracket institution includes side
Frame, rod end bearing, folding rod, adjusting rod, bottom support frame, wheel, support height are adjusted by adjusting rod, and pass through drawing
Spring is locked, and bracket is folded by folding rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023011.4A CN109601128B (en) | 2019-01-10 | 2019-01-10 | Apple picking and collecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023011.4A CN109601128B (en) | 2019-01-10 | 2019-01-10 | Apple picking and collecting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109601128A true CN109601128A (en) | 2019-04-12 |
| CN109601128B CN109601128B (en) | 2021-12-31 |
Family
ID=66016536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910023011.4A Expired - Fee Related CN109601128B (en) | 2019-01-10 | 2019-01-10 | Apple picking and collecting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109601128B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110720311A (en) * | 2019-11-26 | 2020-01-24 | 徐州斯塬网络科技有限公司 | Real-time monitoring device for picking and packaging agricultural products |
| CN111684922A (en) * | 2020-06-18 | 2020-09-22 | 三峡大学 | Semi-automatic orange and tangerine collecting and shearing system and using method |
| CN112273051A (en) * | 2020-11-12 | 2021-01-29 | 安徽农业大学 | Portable kiwi fruit picking and sorting instrument |
| CN112947221A (en) * | 2021-03-03 | 2021-06-11 | 青海师范大学 | Device for picking golden dew plum and control system thereof |
| CN113455194A (en) * | 2021-07-05 | 2021-10-01 | 上海电机学院 | Apple picking, classifying and collecting all-in-one machine |
| CN114375687A (en) * | 2020-10-16 | 2022-04-22 | 衡阳县志宏农业发展有限公司 | Avoid damaged harvesting device of kiwi fruit |
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| CN206895249U (en) * | 2017-07-07 | 2018-01-19 | 齐齐哈尔大学 | Sensor-based automatic identification fruit picking |
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| CN108575302A (en) * | 2018-03-29 | 2018-09-28 | 武汉理工大学 | Multifunctional apple picks auxiliary system |
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| CN108925238A (en) * | 2018-09-21 | 2018-12-04 | 西安交通大学城市学院 | A kind of semi-automatic apple picking |
| CN109089543A (en) * | 2018-10-26 | 2018-12-28 | 广西大学 | A kind of claw apple-picking device |
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| ES2528310A1 (en) * | 2013-08-06 | 2015-02-06 | Instituto Valenciano De Investigaciones Agrarias (Ivia) | Machine for the collection and storage of trees felled (Machine-translation by Google Translate, not legally binding) |
| CN205755601U (en) * | 2016-06-23 | 2016-12-07 | 海南大学 | A kind of solar energy Fructus Mangifera Indicae picking machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110720311A (en) * | 2019-11-26 | 2020-01-24 | 徐州斯塬网络科技有限公司 | Real-time monitoring device for picking and packaging agricultural products |
| CN111684922A (en) * | 2020-06-18 | 2020-09-22 | 三峡大学 | Semi-automatic orange and tangerine collecting and shearing system and using method |
| CN114375687A (en) * | 2020-10-16 | 2022-04-22 | 衡阳县志宏农业发展有限公司 | Avoid damaged harvesting device of kiwi fruit |
| CN112273051A (en) * | 2020-11-12 | 2021-01-29 | 安徽农业大学 | Portable kiwi fruit picking and sorting instrument |
| CN112947221A (en) * | 2021-03-03 | 2021-06-11 | 青海师范大学 | Device for picking golden dew plum and control system thereof |
| CN113455194A (en) * | 2021-07-05 | 2021-10-01 | 上海电机学院 | Apple picking, classifying and collecting all-in-one machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109601128B (en) | 2021-12-31 |
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