CN114698466B - Car is picked to mangosteen - Google Patents
Car is picked to mangosteen Download PDFInfo
- Publication number
- CN114698466B CN114698466B CN202210511291.5A CN202210511291A CN114698466B CN 114698466 B CN114698466 B CN 114698466B CN 202210511291 A CN202210511291 A CN 202210511291A CN 114698466 B CN114698466 B CN 114698466B
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- picking
- momordica grosvenori
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- bin
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- 235000017048 Garcinia mangostana Nutrition 0.000 title claims description 10
- 240000006053 Garcinia mangostana Species 0.000 title claims description 10
- 235000011171 Thladiantha grosvenorii Nutrition 0.000 claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 27
- 239000000463 material Substances 0.000 claims description 22
- 238000012545 processing Methods 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 244000185386 Thladiantha grosvenorii Species 0.000 claims 12
- 241001409321 Siraitia grosvenorii Species 0.000 abstract description 41
- 241000345998 Calamus manan Species 0.000 description 5
- 235000012950 rattan cane Nutrition 0.000 description 5
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 108010066278 cabin-4 Proteins 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a siraitia grosvenorii picking vehicle, which comprises: the device comprises a vehicle body, a first cabin body and a second cabin body, wherein the first cabin body and the second cabin body are arranged on the vehicle body; the height adjusting column is vertically fixed on the vehicle body and is provided with a height adjusting end; the horizontal driving mechanism is horizontally fixed at the height adjusting end and is provided with a horizontal adjusting end; the treatment bin is fixed at the horizontal adjusting end of the horizontal driving mechanism, and a picking assembly and a detection assembly are arranged in the treatment bin, wherein the picking assembly is used for carrying out appearance detection on the momordica grosvenori after picking; the first pipe body is used for receiving the qualified momordica grosvenori and sending the momordica grosvenori to the first bin body; one side of the first pipe body is communicated with a second pipe body for receiving the non-qualified momordica grosvenori and sending the momordica grosvenori to a second bin body.
Description
Technical Field
The invention relates to the technical field of picking of momordica grosvenori, in particular to a momordica grosvenori picking vehicle.
Background
When picking the momordica grosvenori, thereby current picking car often utilizes the cutting knife to cut the rattan pole and reach the purpose of picking, but so after the cutting, the momordica grosvenori still can remain partial rattan pole, still need clear up the rattan pole when just handling in later stage to can't carry out preliminary classification to the momordica grosvenori in advance when picking, lead to the post processing work load big.
Therefore, it is necessary to provide a luo han guo picking cart to solve the above problems.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: a momordica grosvenori picking vehicle comprises:
the device comprises a vehicle body, a first cabin body and a second cabin body, wherein the first cabin body and the second cabin body are arranged on the vehicle body;
the height adjusting column is vertically fixed on the vehicle body and is provided with a height adjusting end;
the horizontal driving mechanism is horizontally fixed at the height adjusting end and is provided with a horizontal adjusting end;
the treatment bin is fixed at the horizontal adjusting end of the horizontal driving mechanism, and a picking assembly and a detection assembly are arranged in the treatment bin, wherein the picking assembly is used for carrying out appearance detection on the momordica grosvenori after picking; and
the first pipe body is used for receiving qualified momordica grosvenori and sending the momordica grosvenori to the first bin body; one side of the first pipe body is communicated with a second pipe body for receiving the non-qualified momordica grosvenori and sending the momordica grosvenori to a second bin body.
Further, preferably, the detection unit includes:
the transmission gears are symmetrically and rotatably arranged in the processing bin;
the transmission chain is in transmission connection between the two transmission gears; and
the array is fixed on a limiting seat on the transmission chain;
the limiting seat is provided with a receiving mechanism for receiving the momordica grosvenori from the picking assembly;
and the visual sensor is positioned at the top of the processing bin.
Further, as preferred, one of them drive gear is gone up coaxial fixed with driven synchronizing wheel, driven synchronizing wheel adopts the hold-in range and links to each other with the transmission of initiative synchronizing wheel, the initiative synchronizing wheel sets up in picking the output of driving motor in the subassembly, just when driving motor drive picking the subassembly and once picking, can drive driven synchronizing wheel and rotate, and make receiving mechanism walk a step, this step satisfies that next receiving mechanism can remove to the discharge end of picking the subassembly.
Further, preferably, the receiving mechanism comprises a receiving frame, a follow-up gear is fixed at the bottom of the receiving frame, and the follow-up gear can rotate around the central vertical axis of the follow-up gear and is arranged on the limiting seat;
and a rack positioned above the transmission chain is also fixed in the treatment bin, and the rack can be meshed with the follow-up gear.
Further, as a preferred option, a support rail distributed along the movement track of the limiting seat is further fixed in the treatment bin, and the support rail is connected with the limiting seat in a sliding manner.
Further, preferably, the picking assembly comprises:
the guide chute is fixed at the top of the treatment bin;
the mounting seat is embedded into the bottom of the guide chute;
the base is rotationally arranged on the mounting seat, sliding seats are symmetrically arranged on the base in a sliding manner, and the sliding seats are driven by a double-head telescopic rod; and
the picking arm is fixed on the sliding seat; and an arc-shaped self-adaptive claw is hinged on the picking arm.
Further, as preferred, the base adopt the axis body rotate set up in on the mount pad, axis body one end is worn out the mount pad and is connected with driven gear, driven gear meshes with the driving gear mutually, the driving gear is coaxial to be fixed in on the through axle, the through axle runs through to rotate and sets up in the transmission storehouse, and is driven by driving motor.
Preferably, a driving bevel gear is coaxially fixed at one end of the penetrating shaft, which is far away from the driving gear, the driving bevel gear is meshed with a driven bevel gear, and a driving synchronizing wheel is coaxially fixed on the driven bevel gear.
Further, as preferred, adopt a plurality of spring coupling to have the bottom plate on the telescopic link, the bottom plate is the arc structure.
Further, as preferred, the vertical intercommunication in of one end of first body the bottom of processing the storehouse, second body level communicate in one side of first body, the opposite side of first body still is provided with the guide bar, the guide bar can stretch out and draw back, and can provide the direction for the mangosteen when extending, makes it enter into to the second body under the direction of guide bar.
Compared with the prior art, the invention provides a momordica grosvenori picking vehicle which has the following beneficial effects:
in the embodiment of the invention, the picking assembly and the detection assembly are arranged in the processing bin, so that the appearance of the momordica grosvenori can be preliminarily detected by using the detection assembly when the momordica grosvenori is picked, thus realizing preliminary sorting and facilitating the classified storage of the momordica grosvenori;
and when the driving motor drives the picking assembly to pick for one time, the driven synchronizing wheel can be driven to rotate, the material receiving mechanism can walk for a step distance which meets the requirement that the next material receiving mechanism can move to the discharge end of the picking assembly, so that the picking action and the feeding detection action are synchronized, the uniformity of picking and feeding detection is ensured, and all the momordica grosvenori can be sequentially fed and detected,
in addition, when receiving agencies moved, the follow-up gear can mesh with the rack to when making when receiving agencies moved, receive the material frame and can rotate under the effect of rack, thereby make the picture that vision sensor can shoot a plurality of angles of mangosteen and upload to the treater and carry out the picture analysis.
Drawings
Fig. 1 is a schematic view of the overall structure of a siraitia grosvenorii picking vehicle;
FIG. 2 is a schematic view of a mid-view detection assembly of a Momordica grosvenori picking vehicle;
fig. 3 is a schematic structural diagram of picking assemblies in a siraitia grosvenorii picking vehicle;
fig. 4 is a schematic perspective view of a picking assembly in a siraitia grosvenorii picking vehicle;
in the figure: 1. a vehicle body; 2. a height adjustment post; 3. a horizontal driving mechanism; 4. a processing bin; 5. a picking assembly; 6. a detection component; 7. a first pipe body; 8. a second tube body; 9. a material guiding rod; 10. a first bin body; 11. a second bin body; 51. a material guide chute; 52. picking the arm; 53. a drive motor; 54. an adaptive jaw; 55. a telescopic rod; 56. a slide base; 57. a base; 58. a base plate; 59. a transmission bin; 510. penetrating the shaft; 511. a driven bevel gear; 512. a mounting seat; 513. a driven gear; 61. a transmission gear; 62. a drive chain; 63. a limiting seat; 64. a support rail; 65. a follower gear; 66. a material receiving frame; 67. a rack; 68. a vision sensor; 69. a driven synchronizing wheel.
Detailed Description
Referring to fig. 1 to 4, the present invention provides a siraitia grosvenorii picking vehicle, including:
the device comprises a vehicle body 1, a first cabin body 10 and a second cabin body 11, wherein the first cabin body and the second cabin body are arranged on the vehicle body 1;
the height adjusting column 2 is vertically fixed on the vehicle body 1 and is provided with a height adjusting end;
a horizontal driving mechanism 3 horizontally fixed to the height adjusting end and having a horizontal adjusting end;
the treatment bin 4 is fixed at the horizontal adjusting end of the horizontal driving mechanism 3, and a picking assembly 5 and a detection assembly 6 are arranged in the treatment bin 4, wherein the appearance of the momordica grosvenori picked by the picking assembly 5 is detected by the detection assembly 6; and
the first pipe body 7 is used for receiving qualified momordica grosvenori and sending the momordica grosvenori to the first bin body 10; one side of the first pipe body 7 is communicated with a second pipe body 8 for receiving the non-qualified momordica grosvenori and sending the momordica grosvenori to a second bin body 11.
Wherein, the height adjusting column 2 and the horizontal driving mechanism 3 can adopt the same structure;
in an alternative embodiment, the height adjusting column 2 and the horizontal driving mechanism 3 may be air cylinders, with which telescopic adjustment can be performed, and the adjustment can provide a certain buffer for the movement of the processing chamber 4;
in an alternative embodiment, the height adjusting column 2 and the horizontal driving mechanism 3 may be a screw nut pair structure, which can provide a telescopic driving precisely, and ensure the moving precision of the processing bin 4.
In an alternative embodiment, the height adjusting column 2 and the horizontal driving mechanism 3 may be hydraulic cylinders, which can provide a larger hydraulic pressure to ensure the stability and efficiency of the movement of the treatment cabin 4;
in addition, in this embodiment, be provided with in handling storehouse 4 and pick subassembly 5 and determine module 6, consequently, when picking the mangosteen, can utilize determine module 6 to carry out preliminary detection to its appearance to realize preliminary sorting, be convenient for carry out categorised storage to the mangosteen.
In this embodiment, as shown in fig. 2, the detecting component 6 includes:
a transmission gear 61 symmetrically and rotatably arranged in the processing bin 4;
a transmission chain 62 which is in transmission connection between the two transmission gears 61; and
the limiting seat 63 is fixed on the transmission chain 62 in an array manner;
wherein, a receiving mechanism is arranged on the limiting seat 63 and is used for receiving the momordica grosvenori from the picking assembly 5;
a vision sensor 68 is also included at the top of the treatment chamber 4.
In addition, a driven synchronizing wheel 69 is coaxially fixed on one of the transmission gears 61, the driven synchronizing wheel 69 is in transmission connection with the driving synchronizing wheel through a synchronous belt, the driving synchronizing wheel is arranged at the output end of the driving motor 53 in the picking assembly 5, and the driving motor 53 can drive the driven synchronizing wheel 69 to rotate when the picking assembly 5 is driven to pick for one time, so that the material receiving mechanism can walk by one step, and the step can meet the requirement that the next material receiving mechanism can move to the discharge end of the picking assembly 5.
That is to say, in this embodiment, can be synchronous picking action and pay-off detection action, guarantee the uniformity of picking and pay-off detection for each momordica grosvenori all can be pay-off in proper order and detect.
As a preferred embodiment, the material receiving mechanism comprises a material receiving frame 66, a follower gear 65 is fixed at the bottom of the material receiving frame 66, and the follower gear 65 can rotate around the central vertical axis thereof and is arranged on the limiting seat 63;
a rack 67 positioned above the transmission chain 62 is also fixed in the treatment bin 4, and the rack 67 can be meshed with the following gear 65.
That is to say, when receiving agencies moved, the follow-up gear can mesh with the rack mutually to make when receiving agencies moved, receive the material frame and can rotate under the effect of rack, thereby make the picture that vision sensor can shoot a plurality of angles of mangosteen and upload to the treater and carry out the picture analysis.
In a preferred embodiment, the processing chamber 4 is further fixed with a support rail 64 distributed along a moving track of the position-limiting seat 63, and the support rail 64 is connected with the position-limiting seat 63 in a sliding manner.
In this embodiment, as shown in fig. 3 and 4, the picking assembly 5 comprises:
a material guide chute 51 fixed to the top of the treatment chamber 4;
a mounting seat 512 embedded in the bottom of the material guide chute 51;
a base 57, which is rotatably disposed on the mounting base 512, and sliding bases 56 are symmetrically slidably disposed on the base 57, and the sliding bases 56 are driven by a double-end telescopic rod 55; and
picking arm 52 secured to the carriage 56; and an arc-shaped self-adaptive claw 54 is hinged on the picking arm 52.
In addition, the base 57 is rotatably disposed on the mounting base 512 through a shaft body, one end of the shaft body penetrates through the mounting base 512 and is connected with a driven gear 513, the driven gear 513 is engaged with a driving gear, the driving gear is coaxially fixed on a through shaft 510, and the through shaft 510 is rotatably disposed in the transmission bin 59 and driven by the driving motor 53.
In addition, a driving bevel gear is coaxially fixed at one end of the penetrating shaft 510, which is far away from the driving gear, the driving bevel gear is meshed with a driven bevel gear, and a driving synchronizing wheel is coaxially fixed on the driven bevel gear.
In a preferred embodiment, the telescopic rod 55 is connected to a bottom plate 58 by a plurality of springs, and the bottom plate 58 has an arc-shaped structure.
When utilizing the picking arm is plucked, thereby drive motor 53 drives base 57 rotates and breaks away from the rattan pole with fructus momordicae, wherein, at the rotation in-process, the picking arm is kept away from each other for fructus momordicae contact constraint and throw away, it should be noted in addition that, the receipts material space of receiving the material frame is great, and is greater than the bin outlet in the baffle box, for example, when plucking fructus momordicae at every turn, drive motor can drive the base and rotate 4 weeks, wherein, in 3.5 week, the left side of next receipts material frame is located the left side of bin outlet, the arm of picking is kept away from each other this moment, make fructus momordicae contact constraint and throw away from, when rotating 0.5 week again, should receive the material frame and just be located the bin outlet under, thereby guarantee that fructus momordicae is collected.
In this embodiment, the vertical intercommunication in of one end of first body 7 the bottom of handling storehouse 4, second body 8 level communicate in one side of first body 7, the opposite side of first body 7 still is provided with guide bar 9, guide bar 9 can stretch out and draw back, and can provide the direction for the mangosteen when extending, makes it enter into in second body 8 under the direction of guide bar.
When concrete implementation, when picking momordica grosvenori, driving motor 53 drives thereby base 57 rotates and breaks away from the rattan pole with momordica grosvenori, wherein, at the rotation in-process, picks the arm and keeps away from each other for momordica grosvenori contacts the constraint and throws away from, and momordica grosvenori enters into to receiving in the material frame, and can remove and rotate along with receiving the material frame, thereby utilize detecting element 6 to carry out preliminary detection to its outward appearance, thereby realize preliminary sorting, be convenient for carry out classified storage to momordica grosvenori.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (8)
1. The utility model provides a car is picked to mangosteen which characterized in that: the method comprises the following steps:
the device comprises a vehicle body (1), a first bin body (10) and a second bin body (11) are arranged on the vehicle body;
the height adjusting column (2) is vertically fixed on the vehicle body (1) and is provided with a height adjusting end;
the horizontal driving mechanism (3) is horizontally fixed at the height adjusting end and is provided with a horizontal adjusting end;
the treatment bin (4) is fixed at the horizontal adjusting end of the horizontal driving mechanism (3), a picking assembly (5) and a detection assembly (6) are arranged in the treatment bin (4), and appearance detection is carried out on the momordica grosvenori picked by the picking assembly (5) through the detection assembly (6); and
the first pipe body (7) is used for receiving qualified momordica grosvenori and sending the momordica grosvenori to the first bin body (10); one side of the first pipe body (7) is communicated with a second pipe body (8) for receiving the unqualified momordica grosvenori and sending the unqualified momordica grosvenori to a second bin body (11);
the detection assembly (6) comprises:
the transmission gears (61) are symmetrically and rotatably arranged in the processing bin (4);
a transmission chain (62) which is in transmission connection between the two transmission gears (61); and
the limiting seat (63) is fixed on the transmission chain (62) in an array manner;
the limiting seat (63) is provided with a receiving mechanism for receiving the momordica grosvenori from the picking assembly (5);
a vision sensor (68) positioned at the top of the processing bin (4);
one of them drive gear (61) is gone up coaxial fixed with driven synchronizing wheel (69), driven synchronizing wheel (69) adopt the hold-in range to link to each other with the transmission of initiative synchronizing wheel, the initiative synchronizing wheel sets up in picking the output of drive motor (53) in subassembly (5), just when drive motor (53) drive is picked subassembly (5) and is carried out once and pick, can drive driven synchronizing wheel (69) and rotate, and make receiving mechanism walking stride, this stride satisfies that next receiving mechanism can remove to the discharge end of picking subassembly (5).
2. The momordica grosvenori picking vehicle according to claim 1, wherein: the receiving mechanism comprises a receiving frame (66), a follow-up gear (65) is fixed at the bottom of the receiving frame (66), and the follow-up gear (65) can rotate around the central vertical axis of the follow-up gear and is arranged on the limiting seat (63);
a rack (67) positioned above the transmission chain (62) is further fixed in the treatment bin (4), and the rack (67) can be meshed with the follow-up gear (65).
3. The luo han guo picking cart according to claim 1, wherein: the treatment bin (4) is also fixedly provided with a supporting rail (64) distributed along the moving track of the limiting seat (63), and the supporting rail (64) is connected with the limiting seat (63) in a sliding manner.
4. The momordica grosvenori picking vehicle according to claim 1, wherein: the picking assembly (5) comprises:
a material guide chute (51) fixed on the top of the treatment bin (4);
a mounting base (512) embedded in the bottom of the material guide chute (51);
the base (57) is rotatably arranged on the mounting base (512), sliding seats (56) are symmetrically arranged on the base (57) in a sliding manner, and the sliding seats (56) are driven by a double-head telescopic rod (55); and
a picking arm (52) secured to the carriage (56); and an arc-shaped self-adaptive claw (54) is hinged on the picking arm (52).
5. The momordica grosvenori picking vehicle according to claim 4, wherein: base (57) adopt the axis body to rotate set up in on mount pad (512), axis body one end is worn out mount pad (512) and is connected with driven gear (513), driven gear (513) mesh mutually with the driving gear, the driving gear is coaxial to be fixed in on running through axle (510), running through axle (510) run through to rotate and set up in transmission storehouse (59), and by driving motor (53) driven.
6. A Luo Han Guo picking cart according to claim 5, wherein: and a driving bevel gear is coaxially fixed at one end of the through shaft (510) far away from the driving gear, the driving bevel gear is meshed with a driven bevel gear, and a driving synchronizing wheel is coaxially fixed on the driven bevel gear.
7. The luo han guo picking cart according to claim 4, wherein: the telescopic rod (55) is connected with a bottom plate (58) through a plurality of springs, and the bottom plate (58) is of an arc-shaped structure.
8. The luo han guo picking cart according to claim 1, wherein: the vertical intercommunication in of one end of first body (7) in the bottom of handling storehouse (4), second body (8) level communicate in one side of first body (7), the opposite side of first body (7) still is provided with guide pole (9), guide pole (9) can stretch out and draw back, and can provide the direction for the mangosteen when extending, make it enter into in second body (8) under the direction of guide pole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210511291.5A CN114698466B (en) | 2022-05-11 | 2022-05-11 | Car is picked to mangosteen |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210511291.5A CN114698466B (en) | 2022-05-11 | 2022-05-11 | Car is picked to mangosteen |
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| Publication Number | Publication Date |
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| CN114698466A CN114698466A (en) | 2022-07-05 |
| CN114698466B true CN114698466B (en) | 2023-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210511291.5A Active CN114698466B (en) | 2022-05-11 | 2022-05-11 | Car is picked to mangosteen |
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Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2036909B1 (en) * | 1990-04-18 | 1994-01-01 | Ind Albajar S A | ARTIFICIAL VISION SYSTEM FOR ROBOTIZED FRUIT COLLECTION. |
| CN108464114B (en) * | 2018-04-03 | 2023-05-26 | 仲恺农业工程学院 | High-order fruit is picked and is collected all-in-one |
| WO2020051620A1 (en) * | 2018-05-16 | 2020-03-19 | Universal Field Robotics Pty Ltd | Automated vehicle |
| CN108839045B (en) * | 2018-07-22 | 2021-11-19 | 浙江中嘉再生资源有限公司 | Mechanical fixture for recovery station of scrapping car |
| CN109618670B (en) * | 2019-03-01 | 2024-02-06 | 南通理工学院 | Intelligent robot for picking and sorting fruits and vegetables |
| CN110352703B (en) * | 2019-08-15 | 2020-11-06 | 安徽省乐悠悠户外用品有限公司 | Intelligent mechanical harvesting device |
| CN210995299U (en) * | 2019-11-20 | 2020-07-14 | 新疆大学 | Flower and leaf separating device of hop cleaning and sorting machine |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| CN112740912B (en) * | 2021-02-01 | 2021-10-26 | 桂林航天工业学院 | Adjustable type momordica grosvenori is planted with picking frame |
| CN215122223U (en) * | 2021-07-13 | 2021-12-14 | 西北农林科技大学 | Rotary separating type kiwi fruit picking end effector |
| CN113661828B (en) * | 2021-08-26 | 2022-06-14 | 中以集知(广州)科技有限公司 | Classifiable watermelon harvesting conveyor based on machine vision |
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Application publication date: 20220705 Assignee: GUANGXI AGLYCONE PLANT PRODUCTS Co.,Ltd. Assignor: GUILIN University OF AEROSPACE TECHNOLOGY Contract record no.: X2023980043449 Denomination of invention: A kind of Siraitia grosvenorii picking car Granted publication date: 20230418 License type: Common License Record date: 20231013 |
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