CN203691967U - Mulberry leaf picking device of rocker type driving mulberry leaf automatic picking machine - Google Patents
Mulberry leaf picking device of rocker type driving mulberry leaf automatic picking machine Download PDFInfo
- Publication number
- CN203691967U CN203691967U CN201320814876.0U CN201320814876U CN203691967U CN 203691967 U CN203691967 U CN 203691967U CN 201320814876 U CN201320814876 U CN 201320814876U CN 203691967 U CN203691967 U CN 203691967U
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- mulberry leaf
- guide rail
- ramulus mori
- shaped
- mulberry
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Abstract
The utility model discloses a mulberry leaf picking device of a rocker type driving mulberry leaf automatic picking machine. The mulberry leaf picking device is characterized in that the mulberry leaf picking device comprises hook-shaped guide rails, a guide rail slide block, a U-shaped block, a guide wheel and a cutter rod shaft, wherein the hook-shaped guide rails are in bilaterally symmetrical arrangement, the guide rail slide block is embedded on the hook-shaped guide rails, the U-shaped block and the guide wheel are arranged at the bottom of the hook-shaped guide rails, the U-shaped block and the guide wheel are connected through a guide wheel pin shaft, the cutter rod shaft is sheathed in the guide rail slide block, the back part of the cutter rod shaft is sheathed with a hard spring and tightly props the U-shaped block to be jointly positioned in a groove of the guide rail slide block. The mulberry leaf picking device has the advantages that the picking speed is high, the mulberry leaf picking rate is high, and the rocker type driving mulberry leaf automatic picking machine provided and assembled with the mulberry leaf picking device can reduce the work intensity of mulberry farmers and can help the mulberry farmers to be liberated from the heavy work; the mulberry leaf picking speed is accelerated, and the mulberry leaf picking rate is improved; the work cost is reduced, and the use is convenient.
Description
Technical field
The utility model relates to Mulberry leaves plucking machine, and especially a kind of rocker type drives the mulberry leaf picker of the automatic picking machine of mulberry leaf.
Background technology
Along with the enforcement of eastern Sang Xiyi engineering, the silkworm in whole nation cultivation has at present reached the unprecedented vigorous stage, but the harvesting of the mulberry leaf of China is still main, using hand labour as unique custom, the time is long, and labour intensity is large, and also the hand of Hui Shi peasant household is injured.Country is for keeping farmers' income to maintain sustained and rapid growth, and this just need to greatly develop agricultural mechanization, and agricultural mechanization is the important substance basis that advances Construction of Modern Agriculture.In recent years, although agricultural machinery has been obtained certain development, as " a kind of picking device " that be CN202210964U at publication number aspect mulberry leaf harvesting, it is fast that this instrument has speed, plucks mulberry leaf and do not hinder hand, and volume is little, can be held in palm of the hand operation by one hand, right-hand man all can.Lightweight, less than 150 grams, be suitable for various mulberry tree breeds, all can rapid picking for the ramulus mori varying in size; For another example " Mulberry leaves plucking machine " that publication number is CN202565751U, the guide plate of its umbilicate S shape is arranged at the front bottom of driver, accumulate pond, by the conveyer belt of barbed nail, collect fan, roller, connecting rod, lower collecting board, wheel, beats wheel, upper collecting net, control stick, leaf outlet composition, this structure can improve the efficiency of plucking mulberry leaf, promotes the development of sericulture.The appearance of these leaf pluckers can reduce the labour intensity of peasant household, but the design of these Mulberry leaf pluckers does not all change mulberry planter's harvesting pattern, mainly also still relies on mulberry planter's labour.For this reason, harvesting pattern and present situation based on current, be badly in need of a kind of picking device (machine) that can automatically pluck mulberry leaf.
Utility model content
The purpose of this utility model is for the deficiencies in the prior art, and provide a kind of rocker type to drive the mulberry leaf picker of the automatic picking machine of mulberry leaf, this device picking rate is fast, mulberry leaf harvesting rate is high, the rocker type of equipped this mulberry leaf picker drives mulberry leaf automatically to pluck function reduction mulberry planter's labour intensity, helps them from onerous toil, to free; Improve mulberry leaf picking rate and harvesting rate; Reduce labour cost, easy to use.
The purpose of this utility model is to realize by following technical scheme:
A kind of rocker type drives the mulberry leaf picker of the automatic picking machine of mulberry leaf, comprise left and right symmetrically arranged hook-shaped guide rail, guide rail slide block, U-shaped piece, guide wheel, cutter spindle, on hook-shaped guide rail, be embedded with guide rail slide block, U-shaped piece and guide wheel are arranged on hook-shaped guide rail bottom, U-shaped piece is connected by guide wheel bearing pin with guide wheel, cutter spindle is enclosed within guide rail slide block, and cutter spindle rear sleeve one hard spring also holds out against in the groove that U-shaped piece is co-located on guide rail slide block.
The cutter of described cutter spindle front end is semicircle annular.
The rocker type of equipped this mulberry leaf picker drives the automatic picking machine of mulberry leaf, comprise running gear, base device, ramulus mori is stirred positioner, rocker actuator and mulberry leaf picker, base device is arranged on running gear, ramulus mori is stirred in the casing that positioner is arranged on base device, two hook-shaped guide rail symmetries of mulberry leaf picker are vertically arranged on base device, the ramulus mori locating wheel that ramulus mori is stirred positioner is arranged on entering after Sang Kou of base device, the cutter of two cutter spindle front ends of mulberry leaf picker is arranged on the top of ramulus mori locating wheel, cutter spindle rear sleeve is in guide rail slide block and the rod hinge connection of slips end and rocker actuator, the driven shaft of the rocking bar of rocker actuator and hook-shaped guide rail upper end is affixed, driven shaft is connected with actuating unit.
Described base device comprises into Sang Kou, and the described Sang Kou that enters is Y shape.
Described ramulus mori is stirred positioner and is comprised first, second, third ramulus mori locating wheel, first, second big disk index cam, roundel index cam, the first front flywheel, the first rear flywheel and limitting casing, described ramulus mori locating wheel is provided with multiple backstays, greatly, roundel index cam is provided with segmental arc for intermittently stirring backstay, wherein the backstay on the first ramulus mori locating wheel and the segmental arc of first disk index cam are abutted against, backstay on the first ramulus mori locating wheel is intermittently stirred by the segmental arc of first disk index cam, backstay on the second ramulus mori locating wheel and the segmental arc of second largest disk index cam are abutted against, backstay on the second ramulus mori locating wheel is intermittently stirred by the segmental arc of second largest disk index cam, first disk index cam is connected with the first front flywheel, second largest disk index cam is connected with the first rear flywheel, backstay on the 3rd ramulus mori locating wheel and the segmental arc of roundel index cam are abutted against, backstay on the 3rd ramulus mori locating wheel is intermittently stirred by the segmental arc of roundel index cam, roundel index cam is connected with motor, greatly, roundel index cam is separately positioned on the both sides into Sang Tongdao, correspondingly, first, the second ramulus mori locating wheel and the 3rd ramulus mori locating wheel are separately positioned on the both sides into Sang Tongdao, limitting casing is arranged between the 3rd ramulus mori locating wheel and the second ramulus mori locating wheel, the second ramulus mori locating wheel, backstay on the 3rd ramulus mori locating wheel with enter Sang Tongdao and jointly form limitting casing.
The segmental arc that described large and small disk index cam is provided with is divided into two sections, one section near the center of circle is circular arc section, account for 3/4 of segmental arc total length, another section is involute spirality section, account for 1/4 of segmental arc total length, the involute spirality section top on involute spirality section end and second largest disk index cam on first disk index cam is on same tangent line.
The utility model is simple and reasonable, economy and durability, and maintenance, simple to operate, this device picking rate is fast, mulberry leaf harvesting rate is high; The rocker type of equipped this mulberry leaf picker drives the automatic picking machine of mulberry leaf to promote running gear machine-walking in mulberry field by mulberry planter; Can enter Sang Kou feeding ramulus mori through casing Y type front end; Stirring the first ramulus mori locating wheel by the first disk index cam of driving link again rotates, then second largest disk index cam and roundel index cam are stirred respectively after second, third ramulus mori locating wheel rotation, ramulus mori is sent into limitting casing, directly over limitting casing, be mulberry leaf and pluck tool position, thereby pluck; Reduce mulberry planter's labour intensity, improve and pluck mulberry leaf efficiency; Harvesting process only needs mulberry planter pushing away picking machine walking just can realize automatic harvesting mulberry leaf, easy to use.
Accompanying drawing explanation
Fig. 1 is that in the utility model embodiment, mulberry leaf picker and rocker type drive the equipped structure master of the automatic picking machine of mulberry leaf to look schematic diagram;
Fig. 2 is the schematic top plan view of Fig. 1;
Fig. 3 is the left TV structure schematic diagram of Fig. 1;
Fig. 4 is the active flywheel at top in Fig. 1 and the connection diagram of driven flywheel;
Fig. 5 is the structural representation that in embodiment, ramulus mori is stirred positioner;
Fig. 6 is the main TV structure schematic diagram of hook-shaped guide rail bottom in mulberry leaf picker;
Fig. 7 is the structural representation of first disk index cam;
Fig. 8 is the structural representation of second largest disk index cam;
Fig. 9 is the structural representation of roundel index cam.
In the picture, 1 box 2 guide 3 bracket 4 motor 5 rocker bearing 6 driven shaft 7 active flywheel 8 driven flywheel 9 drive shaft 10 hook shaped guide rail 11 rocker 12 pin 13 connecting rod 14 is connected with the blade plate 15.U block 16 roller guide pin shaft bearing seat 17 18 19-1. the first 19-2. second mulberry mulberry positioning wheel a positioning wheel 19-3. third mulberry positioning wheel 20-1. first disc cam 20-1-1. the first arc section of 20-1-2. first involute helical segment 20-2. second disc cam 20-2-1. second arc section of 20-2-2. second involute helical segment 21-1. first flywheel 21-2. after the first flywheel 22 walking device 23 small disc cam 23-1. third arc section 23-2. third involute helical segment 24 base bearing 25 rail base 26 spring 27 supporting plates 28 knife shaft 29 into mulberry 30 second 31 32 flywheel transmission supporting seat cushion block 33 screws 34 inclined guide 35 neck 36 limiting frame 37 in mulberry channel.
Embodiment
Below in conjunction with drawings and Examples, the utility model content is further elaborated, but is not to restriction of the present utility model.
Embodiment:
With reference to Fig. 1-Fig. 9, a kind of rocker type drives the mulberry leaf picker of the automatic picking machine of mulberry leaf, comprise left and right symmetrically arranged hook-shaped guide rail 10, guide rail slide block 2, U-shaped piece 15, guide wheel 16, cutter spindle 28, on hook-shaped guide rail 10, be embedded with guide rail slide block 2, U-shaped piece 15 and guide wheel 16 are arranged on hook-shaped guide rail 10 bottoms, U-shaped piece 15 is connected by guide wheel bearing pin 17 with guide wheel 16, cutter spindle 28 is enclosed within guide rail slide block 2, and cutter spindle 28 rear sleeve one hard springs 26 also hold out against in the groove that U-shaped piece 15 is co-located on guide rail slide block 2.
The cutter of described cutter spindle 28 front ends is semicircle annular.
The rocker type of equipped this mulberry leaf picker drives the automatic picking machine of mulberry leaf, comprise running gear, base device, ramulus mori is stirred positioner, rocker actuator and mulberry leaf picker, base device is arranged on running gear, ramulus mori is stirred in the casing that positioner is arranged on base device, two hook-shaped guide rail symmetries of mulberry leaf picker are vertically arranged on base device, the ramulus mori locating wheel that ramulus mori is stirred positioner is arranged on entering after Sang Kou of base device, the cutter of two cutter spindle front ends of mulberry leaf picker is arranged on the top of ramulus mori locating wheel, cutter spindle rear sleeve is in guide rail slide block and the rod hinge connection of slips end and rocker actuator, the driven shaft of the rocking bar of rocker actuator and hook-shaped guide rail upper end is affixed, driven shaft is connected with actuating unit by driving shaft.
Rocking bar 11 in driven shaft 6 two ends and rocker actuator is fastenedly connected, and connecting rod 13 bottoms and guide rail slide block 2 are hinged.
Described base device comprises casing 1, enters mulberry mouth 29, and described enters mulberry mouth 29 for Y shape.
Particularly, casing 1 base plate is left and right respectively a guiderail base 25, the hook-shaped guide rail 10 of each installation on base 25, on hook-shaped guide rail 10, be respectively embedded with a guide rail slide block 2, and hook-shaped guide rail 10 bottoms, both sides are placed with U-shaped piece 15 and guide wheel 16, wherein U-shaped piece 15 is connected by guide wheel bearing pin 17 with guide wheel 16, and cutter spindle 28 is enclosed within guide rail slide block 2, and cutter spindle 28 rear sleeve one hard springs 26 also hold out against U-shaped piece 15 and be co-located on the groove of guide rail slide block 2; In Fig. 2, both sides on casing 1 base, by near-end and distal direction mounting bracket 3, hook-shaped guide rail 10 and support plate 27 respectively, and be connected with transmission supporting base 31 by rocking bar supporting bearing base 5 on support 3, hook-shaped guide rail 10 and support plate 27 tops, rocking bar supporting bearing base 5 is connected by cushion block 32 with transmission supporting base 31, and lock with screw 33, and be fixed on support plate 27.Driving shaft 9 is arranged on the bearing of supporting base 31, drive initiatively flywheel 7 to drive the driven flywheel 8 that is arranged on the driven shaft 6 on bearing block 5 to rotate by motor 4, driven shaft 6 two ends and rocking bar 11 are fastenedly connected, rocking bar 11 is hinged by bearing pin 12 and connecting rod 13, and connecting rod 13 bottoms and guide rail slide block 2 are hinged.
Described ramulus mori is stirred positioner and is comprised the first ramulus mori locating wheel 19-1, the second ramulus mori locating wheel 19-2, the 3rd ramulus mori locating wheel 19-3, first disk index cam 20-1, second largest disk index cam 20-2, roundel index cam 23, the first front flywheel 21-1, the first rear flywheel 21-2 and limitting casing 36, described ramulus mori locating wheel is provided with multiple backstays, big disk index cam and roundel index cam 23 are provided with segmental arc for intermittently stirring backstay, wherein the backstay on the first ramulus mori locating wheel 19-1 and the segmental arc of first disk index cam 20-1 are abutted against, backstay on the first ramulus mori locating wheel 19-1 is intermittently stirred by the segmental arc of first disk index cam 20-1, backstay on the second ramulus mori locating wheel 19-2 and the segmental arc of second largest disk index cam 20-2 are abutted against, backstay on the second ramulus mori locating wheel 19-2 is intermittently stirred by the segmental arc of second largest disk index cam 20-2, first disk index cam 20-1 is connected with the first front flywheel 21-1, second largest disk index cam 20-2 is connected with the first rear flywheel 21-2, backstay on the 3rd ramulus mori locating wheel 19-3 and the segmental arc of roundel index cam 23 are abutted against, backstay on the 3rd ramulus mori locating wheel 19-3 is intermittently stirred by the segmental arc of roundel index cam 23, roundel index cam 23 is connected with motor 4 by belt, big disk index cam and roundel index cam 23 are separately positioned on into the both sides of Sang Tongdao 37, correspondingly, the first ramulus mori locating wheel 19-1, the second ramulus mori locating wheel 19-2 and the 3rd ramulus mori locating wheel 19-3 are separately positioned on into the both sides of Sang Tongdao 37, limitting casing 36 is arranged between the 3rd ramulus mori locating wheel 19-3 and the second ramulus mori locating wheel 19-2, the second ramulus mori locating wheel 19-2, backstay on the 3rd ramulus mori locating wheel 19-3 with enter the common composition of Sang Tongdao 37 limitting casing 36.
As shown in Fig. 7 Fig. 8 Fig. 9, the segmental arc that large and small disk index cam is provided with is divided into two sections, and one section of the close center of circle is circular arc section, accounts for 3/4 of segmental arc total length, and another section is involute spirality section, accounts for 1/4 of segmental arc total length.
Particularly, in Fig. 7, the segmental arc that first disk index cam 20-1 is provided with is divided into two sections, one section near the center of circle is the first circular arc section 20-1-1, account for 3/4 of segmental arc total length, another section is the first involute spirality section 20-1-2, accounts for 1/4 of segmental arc total length; In Fig. 8, the segmental arc that second largest disk index cam 20-2 is provided with is divided into two sections, and one section of the close center of circle is the second circular arc section 20-2-1, accounts for 3/4 of segmental arc total length, and another section is the second involute spirality section 20-2-2, accounts for 1/4 of segmental arc total length.When first, second big disk cam is installed, must make the second involute spirality section 20-2-2 top on the first involute spirality section 20-1-2 end and the second largest disk index cam 20-2 on first disk index cam 20-1 be on same tangent line.In Fig. 9, the segmental arc that roundel index cam 23 is provided with is divided into two sections, and one section of the close center of circle is three-arc shape section 23-1, accounts for 3/4 of segmental arc total length, and another section is the 3rd involute spirality section 23-2, accounts for 1/4 of segmental arc total length.Segmental arc rotation direction on large and small disk index cam is contrary, and the segmental arc rotation direction of big disk index cam is clockwise direction, and the segmental arc rotation direction of roundel index cam 23 is counterclockwise.
By driving-belt transmission drive installation, the roundel index cam 23 in casing 1 datum axle bearing 24 and big disk index cam rotate motor 4 respectively, thereby promote ramulus mori locating wheel, ramulus mori locating wheel is separately fixed at casing 1 base and is connect on impeller 14 by bearing block 18, and base has running gear 22.
When initial position, guide wheel 16 in the time of the bottom of hook-shaped guide rail 10 the hard spring 26 between guide rail slide block 2 and U-shaped piece 15 in the raw, at this moment, the open mode of the semicircular ring cutter on left and right both sides in being separated.While starting working, picking machine is pushed to mulberry field, open the power switch of motor 4, motor 4 rotates by belt drives base roundel index cam 23 and active flywheel 7 respectively, on driving shaft 9, two active flywheels 7 drive two driven flywheels 8 on driven shaft 6 by belt, the rotation of driven flywheel 8 drives driven shaft 6 to rotate, thereby drives the rocking bar 11 that is fastened on the both sides on driven shaft 6 to rotate.The rotation drivening rod 13 of rocking bar 11 moves, and because rocking bar 11 is hinged by bearing pin 12 with connecting rod 13, thereby drives the guide rail slide block 2 being hinged on connecting rod 13 up to slide along guide rail.In the time that guide wheel slides to the neck 35 of hook-shaped guide rail, due to the no longer bottom in hook-shaped guide rail of guide wheel, so compressing and hold out against semicircular ring cutter, hard spring 26 impels two semicircular ring cutter closures.
Simultaneously, initiatively flywheel 7 drives the second flywheel 30 to rotate by belt, the second flywheel 30 drives the first front flywheel 21-1 and the first rear flywheel 21-2 to rotate simultaneously, the first front flywheel 21-1 drives first disk index cam 20-1 to rotate, the first rear flywheel 21-2 drives second largest disk index cam 20-2 to rotate, in the time that picking machine moves ahead, ramulus mori enters mulberry mouth 29 by Y shape and enters into Sang Tongdao 37, through oblique guide wheel 34, when greatly, when circular arc section on roundel index cam contacts with the backstay on ramulus mori locating wheel, ramulus mori locating wheel keeps static and is lockable, when greatly, when involute spirality section on roundel index cam contacts with the backstay on ramulus mori locating wheel, ramulus mori locating wheel is realized intermittent rotary, wherein, in the time that the first involute spirality section 20-1-2 on first disk index cam 20-1 contacts with the backstay on the first ramulus mori locating wheel 19-1, to make the first ramulus mori locating wheel 19-1 rotate, and now because the second circular arc section 20-2-1 on second largest disk index cam 20-2 contacts with the backstay on the second ramulus mori locating wheel 19-2, make the second ramulus mori locating wheel 19-2 remain static and be lockable, the rotation of the first ramulus mori locating wheel 19-1 can be stirred the ramulus mori through oblique guide wheel 34 toward the position of limitting casing 36, now, the second involute spirality section 20-2-2 on second largest disk index cam 20-2 contacts with the backstay on the second ramulus mori locating wheel 19-2, the second ramulus mori locating wheel 19-2 is rotated, with the limitting casing 36 of jointly ramulus mori being dragged on of the backstay on the 3rd ramulus mori locating wheel 19-3 intermittently being stirred by roundel index cam 23, when large and small disk turns around, ramulus mori locating wheel rotational angle 2 π/z, z is the backstay number on ramulus mori locating wheel, be that backstay rotates a transposition, and insert to the time difference that next transposition starts to carry out and be intermittent time of index cam completing one, therefore priming leaf mechanism moves the needed time and must be controlled in the intermittent time of index cam intermittent drive mechanism carrying out priming leaf, the intermittent time be index cam rotate one week time used 3/4.The position at place just ramulus mori can be sent into semicircular ring cutter and opened in the time that ramulus mori locating wheel is realized intermittent rotary time, also just in time in limitting casing position, avoid two semicircular ring cutters ramulus mori before closed to produce dislocation and move, so just can make mulberry leaf pluck and carry out smoothly.At this moment the mulberry leaf that pick drop on and connect on impeller 14.The base running gear 22 of casing 1 can guarantee the walking of picking machine.
Claims (2)
1. the mulberry leaf picker of the automatic picking machine of rocker type driving mulberry leaf, it is characterized in that: described mulberry leaf picker comprises left and right symmetrically arranged hook-shaped guide rail, guide rail slide block, U-shaped piece, guide wheel, cutter spindle, on hook-shaped guide rail, be embedded with guide rail slide block, U-shaped piece and guide wheel are arranged on hook-shaped guide rail bottom, U-shaped piece is connected by guide wheel bearing pin with guide wheel, cutter spindle is enclosed within guide rail slide block, and cutter spindle rear sleeve one hard spring also holds out against in the groove that U-shaped piece is co-located on guide rail slide block.
2. mulberry leaf picker according to claim 1, is characterized in that: the cutter of described cutter spindle front end is semicircle annular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320814876.0U CN203691967U (en) | 2013-12-12 | 2013-12-12 | Mulberry leaf picking device of rocker type driving mulberry leaf automatic picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320814876.0U CN203691967U (en) | 2013-12-12 | 2013-12-12 | Mulberry leaf picking device of rocker type driving mulberry leaf automatic picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203691967U true CN203691967U (en) | 2014-07-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320814876.0U Expired - Fee Related CN203691967U (en) | 2013-12-12 | 2013-12-12 | Mulberry leaf picking device of rocker type driving mulberry leaf automatic picking machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN203691967U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103650770A (en) * | 2013-12-12 | 2014-03-26 | 广西科技大学 | Mulberry leaf picking device of automatic rocker type driving mulberry picking machine |
| CN105103790A (en) * | 2015-06-30 | 2015-12-02 | 蒙桂文 | Mulberry harvester |
| CN108271510A (en) * | 2018-02-11 | 2018-07-13 | 广西科技大学 | A kind of pineapple picker |
| CN108901355A (en) * | 2018-06-11 | 2018-11-30 | 大连理工大学 | A kind of cherry picking device based on Variable Freedom Mechanism |
-
2013
- 2013-12-12 CN CN201320814876.0U patent/CN203691967U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103650770A (en) * | 2013-12-12 | 2014-03-26 | 广西科技大学 | Mulberry leaf picking device of automatic rocker type driving mulberry picking machine |
| CN105103790A (en) * | 2015-06-30 | 2015-12-02 | 蒙桂文 | Mulberry harvester |
| CN105103790B (en) * | 2015-06-30 | 2016-11-02 | 蒙桂文 | A kind of mulberry leaf harvester |
| CN108271510A (en) * | 2018-02-11 | 2018-07-13 | 广西科技大学 | A kind of pineapple picker |
| CN108901355A (en) * | 2018-06-11 | 2018-11-30 | 大连理工大学 | A kind of cherry picking device based on Variable Freedom Mechanism |
| CN108901355B (en) * | 2018-06-11 | 2021-02-26 | 大连理工大学 | Cherry picking device based on variable-degree-of-freedom mechanism |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20151212 |
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| EXPY | Termination of patent right or utility model |