CN206866077U - A kind of automatic picking machine of grape - Google Patents
A kind of automatic picking machine of grape Download PDFInfo
- Publication number
- CN206866077U CN206866077U CN201720176399.8U CN201720176399U CN206866077U CN 206866077 U CN206866077 U CN 206866077U CN 201720176399 U CN201720176399 U CN 201720176399U CN 206866077 U CN206866077 U CN 206866077U
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- picking
- bottom plate
- grape
- parallel institution
- supporting plate
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Abstract
It the utility model is related to a kind of automatic picking machine of grape, including bottom plate, the lower end of bottom plate is symmetrically installed with four universal wheels, handle is installed on the right side of bottom plate upper end, the front and rear sides of bottom plate are symmetrically installed with Liang Ge travel mechanisms, rotating mechanism is installed in the middle part of bottom plate, annular flap is installed on rotating mechanism, cylinder is installed in the middle part of annular flap, the top of cylinder is arranged on parallel institution by flange, four expansion links are provided with the outside of annular flap, the top of four expansion links is arranged on parallel institution, a buffer spring is provided with each expansion link, two picking mechanisms are provided with parallel institution, it is connected between two picking mechanisms by being provided with the supporting plate of looping pit, shear knife is installed on the picking mechanism in left side.The utility model can solve the artificial grape-picking of existing needs, labor intensity is big, operating efficiency is low, easily causes the problems such as waste, it is possible to achieve the function of automatic grape-picking.
Description
Technical field
Fruit picking equipment technical field is the utility model is related to, specifically a kind of automatic picking machine of grape.
Background technology
In the season of grape-picking, grape-picking is a tired job, and harvesting personnel will ceaselessly work to avoid mistake
The best period of grape-picking is crossed, but the harvesting of existing grape is all mostly manual operation, not only labor intensity is big, Er Qiegong
Make that efficiency is low, the higher grape grown on grape trellis needs to employ the instruments such as ladder, and harvesting is cumbersome, grape harvesting
During grape, the general grape cut is all first to be held by harvesting personnel with hand, is then put into specified location in concentration,
Because harvesting personnel work for a long time during this, grape may be caused to slide and cause to waste.
Utility model content
In order to solve the above problems, the utility model provides a kind of automatic picking machine of grape, can solve existing needs
Artificial grape-picking, labor intensity is big, operating efficiency is low, easily causes the problems such as waste, it is possible to achieve automatic grape-picking
Function, without manual operation, and have the advantages that simple to operate, operating efficiency is high.
To achieve these goals, the utility model is realized using following technical scheme：A kind of automatic picking machine of grape,
Including bottom plate, the lower end of bottom plate is symmetrically installed with four universal wheels, and four universal wheels facilitate staff to promote the utility model
Motion, flexibility of the present utility model is improved, handle is installed on the right side of bottom plate upper end, handle can be promoted with ancillary staff
The utility model, the front and rear sides of bottom plate are symmetrically installed with Liang Ge travel mechanisms, and Liang Ge travel mechanisms can ensure to pick
Grape can uniformly place, rotating mechanism is installed, rotating mechanism can ensure that the grape after harvesting can be with the middle part of bottom plate
It is placed into specified location, annular flap is provided with by welding manner on rotating mechanism, cylinder is installed in the middle part of annular flap,
Cylinder, which moves up and down, can adjust height, and the top of cylinder is arranged on parallel institution by flange, on the outside of annular flap uniformly
Four expansion links are provided with, expansion link plays a part of limitation, and the top of four expansion links is arranged on parallel institution, parallel machine
Structure has the advantages that with stability is good, dynamic property is good, precision is high, rigidity is strong and bearing capacity is big, it is ensured that is adopting automatically
The stability of grape-picking, a buffer spring is provided with each expansion link between annular flap and parallel institution,
Buffer spring serves the effect of buffer limit, and the left and right sides has been oppositely arranged two picking mechanisms on parallel institution, and two are adopted
Off-hook structure can ensure grape pluck during will not slide grape, improve the stability of work, two picking machines
It is connected between structure by being provided with the supporting plate of looping pit, the support column that the supporting plate of flexible material composition can be stablized at work needs
The grape to be plucked, grape waste so as to caused by by extrusion damage is avoided, is installed on the picking mechanism on the left of supporting plate
There is shear knife, be provided with the picking mechanism on the right side of supporting plate into knife rest, shear knife is used cooperatively with entering knife rest, and guarantee can
Smoothly to be cut to grapevine, accelerate the speed of harvesting, improve operating efficiency.
The picking mechanism includes the electric pushrod being connected by bearing pin with parallel institution, and the top of electric pushrod passes through pin
Axle is connected with being uniformly arranged round-meshed bracket, and the lower end of bracket is connected by bearing pin with parallel institution, and electric pushrod drives support
Frame carries out angular adjustment by bearing pin, and the grape for ensureing accurately to pluck needs in picking process is protected, and is made
The grape for needing to pluck can be smoothly entered in bracket, prevented grape comes off in picking process from causing to waste, improved
The stability of work.
As a kind of optimal technical scheme of the present utility model, the travel mechanism includes being arranged on bottom plate by motor cabinet
On mobile motor, the output shaft of mobile motor is connected by shaft coupling with the right-hand member of leading screw, and the left end of leading screw is pacified by bearing
On baffle plate, baffle plate is arranged on bottom plate, and movable block is provided with the middle part of leading screw, and the upper end of movable block is provided with shelves,
Collection frame is placed with shelves, the lower end of shelves is symmetrically installed with four directional wheels, and being symmetrically installed with two on bottom plate leads
Rail, each guide rail are connected by rolling fit system with two corresponding directional wheels, and mobile motor drives leading screw to rotate, silk
Thick stick drives movable block to move left and right, while drives the shelves being arranged on movable block to be synchronized with the movement, four of shelves lower end
Directional wheel left and right in guide rail rolls, and auxiliary shelves motion, guide rail serves spacing effect.
As a kind of optimal technical scheme of the present utility model, the rotating mechanism includes being arranged on first on the right side of bottom plate
Supporting plate, electric rotating machine is provided with by motor cabinet on the first supporting plate inwall, the output shaft of electric rotating machine by shaft coupling with
Roller right-hand member is connected, and the left end of roller is arranged on by bearing on the inwall of the second supporting plate, and the second supporting plate is arranged on bottom plate
On, electric rotating machine drives roller to be rotated, and grape can uniformly be placed on two collection frames after can not only ensureing harvesting
It is interior, and ensure that angle needed for regulation harvesting is more smooth during grape is plucked, and makes whole picking process more just
It is prompt.
As a kind of optimal technical scheme of the present utility model, the parallel institution includes the ring being arranged on annular flap
Shape panel, four No.1 ear mounts are uniformly installed on annular panel, each No.1 ear mount passes through bearing pin and a hydraulic cylinder phase
Even, the top of each hydraulic cylinder is connected with No. two ear mounts by bearing pin, is connected with four hydraulic cylinder tops by bearing pin
Four No. two ear mounts be installed on annular roof plate, wherein hydraulic cylinder forms that kinematic pair R is secondary, hydraulic cylinder extension when rotating
Formd during motion and form kinematic pair R pairs when kinematic pair P is secondary, hydraulic cylinder rotates between No.1 ear mount, so that four
No.1 ear mount, four hydraulic cylinders, four RPR type parallel connection side chains that four No. two ear mounts are parallel institution, annular roof plate are parallel connection
The moving platform of mechanism, annular panel are the fixed platform of parallel institution, pass through fixed platform, four RPR types parallel connections in the utility model
Side chain, moving platform form 4-RPR type parallel institutions, 4-RPR types parallel institution with stability is good, dynamic property is good,
The advantages that precision is high, rigidity is strong and bearing capacity is big, parallel institution drives two picking mechanisms to be protected to being adjusted during work
Card picking mechanism can be plucked in suitable position to grape, improve the stability of work.
As a kind of optimal technical scheme of the present utility model, the supporting plate forms for flexible material, and guarantee will not be to Portugal
Grape cause to extrude, and avoid wasting.
As a kind of optimal technical scheme of the present utility model, the width of the shear knife is less than the width into knife rest opening
Degree, guarantee fast and effectively can be cut to grapevine, accelerated the speed cut, improved operating efficiency.
During work, staff shifts the utility model onto assigned work position, while gas by four universal wheels first
Cylinder is started working, and cylinder drives parallel institution to move to suitable height under the limitation of four expansion links, now parallel institution
Start working, four hydraulic cylinders on parallel institution work simultaneously, and drive is arranged on two picking mechanisms on annular roof plate
Best angle is adjusted, two electric pushrods on latter two right picking mechanism drive movement of bracket to start move toward one another to most preferably
Position, the supporting plate of flexible material composition hold the grape for needing to pluck, and now shear knife is by entering the cooperation of knife rest to grapevine
Being cut, after the completion of harvesting, the electric rotating machine on rotating mechanism is started working, and electric rotating machine drives roller to be rotated, when
When two picking mechanisms are located above collection frame, electric rotating machine is stopped, and the mobile motor in travel mechanism drives leading screw to turn
When moving, leading screw drive movable block movement, while driving the collection frame motion suitable location being placed in shelves, two picking machines
Structure is unclamped, and grape is uniformly fallen within two picking mechanisms, realizes the function of automatic grape-picking.
The beneficial effects of the utility model are：
1st, the utility model devises two picking mechanisms arranged in opposite directions, and two two on two picking mechanisms are electronic
Push rod drives carriage turns, and the grape for ensureing accurately to pluck needs in picking process is protected, and adopts needs
The grape plucked can be smoothly entered in bracket, prevented grape comes off in picking process from causing to waste, improved work
Stability；
2nd, the utility model devises parallel institution, and parallel institution is with stability is good, dynamic property is good, precision
High, the advantages that rigidity is strong and bearing capacity is big, parallel institution drives two picking mechanisms to ensure to adopt to being adjusted during work
Off-hook structure can be plucked in suitable position to grape, improve the stability of work；
3rd, the utility model devises rotating mechanism, and electric rotating machine drives roller to be rotated, can not only ensure to pluck
Grape can be uniformly placed in two collection frames afterwards, and ensure that the angle needed for regulation harvesting during grape is plucked
Degree is more smooth, makes whole picking process more convenient；
4th, compared with prior art, the utility model solves the artificial grape-picking of existing needs, work by force to the utility model
Degree is big, operating efficiency is low, easily causes the problems such as waste, realizes the function of automatic grape-picking, without manual operation, and has
Have the advantages that simple to operate, operating efficiency is high.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is structural representation of the present utility model；
Fig. 2 be the utility model Fig. 1 I to partial enlarged drawing.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand, under
Face combines and is specifically illustrating, and the utility model is expanded on further.
As depicted in figs. 1 and 2, the automatic picking machine of a kind of grape, including bottom plate 1, the lower end of bottom plate 1 are symmetrically installed with four
Universal wheel 11, four universal wheels 11 facilitate staff to promote the utility model to move, improve flexibility of the present utility model,
Handle 3 is installed on the right side of the upper end of bottom plate 1, handle 3 can promote the utility model, the front and rear sides of bottom plate 1 with ancillary staff
Liang Ge travel mechanisms 4 are symmetrically installed with, the grape that Liang Ge travel mechanisms 4 can ensure to pick can be placed uniformly, bottom plate 1
Middle part rotating mechanism 5 is installed, rotating mechanism 5 can ensure that the grape after harvesting can be placed into specified location, whirler
Annular flap 6 is provided with by welding manner on structure 5, the middle part of annular flap 6 is provided with cylinder 7, and cylinder 7 moves up and down can be with
Regulation height, the top of cylinder 7 are arranged on parallel institution 8 by flange, and the annular outside of flap 6 is evenly arranged with four and stretched
Bar 9, expansion link play a part of limitation, and the top of four expansion links 9 is arranged on parallel institution 8, parallel institution with
The advantages that stability is good, dynamic property is good, precision is high, rigidity is strong and bearing capacity is big, it is ensured that in the steady of automatic grape-picking
It is qualitative, a buffer spring 10, buffering elastic are provided with each expansion link 9 between annular flap 6 and parallel institution 8
Spring 10 serves the effect of buffer limit, and the left and right sides has been oppositely arranged two picking mechanisms 2, two harvestings on parallel institution 8
Mechanism 2 can ensure grape pluck during will not slide grape, improve the stability of work, two picking mechanisms
It is connected between 2 by being provided with the supporting plate 12 of looping pit, the support that the supporting plate 12 that flexible material forms can be stablized at work
Post needs the grape plucked, and avoids grape from being wasted by extrusion damage so as to caused by, the picking mechanism 2 positioned at the left side of supporting plate 12
On shear knife 13 is installed, be provided with the picking mechanism 2 on the right side of supporting plate 12 into knife rest 14, shear knife 13 and enter knife rest 14
It is used cooperatively, guarantee smoothly can be cut to grapevine, accelerated the speed of harvesting, improved operating efficiency.
The picking mechanism 2 includes the electric pushrod 21 being connected by bearing pin with parallel institution 8, the top of electric pushrod 21
It is connected by bearing pin with being uniformly arranged round-meshed bracket 22, the lower end of bracket 22 is connected by bearing pin with parallel institution 8, electronic
Push rod 21 drives bracket 22 to carry out angular adjustment by bearing pin, ensures the Portugal that accurately can be plucked in picking process to needs
Grape are protected, and the grape that needs are plucked is smoothly entered in bracket 22, prevent grape from being come off in picking process
Cause to waste, improve the stability of work.
The travel mechanism 4 includes the mobile motor 41 being arranged on by motor cabinet on bottom plate 1, the output of mobile motor 41
Axle is connected by shaft coupling with the right-hand member of leading screw 42, and the left end of leading screw 42 is arranged on baffle plate 43 by bearing, and baffle plate 43 is installed
On bottom plate 1, the middle part of leading screw 42 is provided with movable block 44, and the upper end of movable block 44 is provided with shelves 45, in shelves 45
Collection frame 49 is placed with, the lower end of shelves 45 is symmetrically installed with four directional wheels 46, two guide rails are symmetrically installed with bottom plate 1
48, each guide rail 48 is connected by rolling fit system with two corresponding directional wheels 46, and mobile motor 41 drives leading screw
42 rotate, and leading screw 42 drives movable block 44 to move left and right, while drive the shelves 45 being arranged on movable block 44 to be synchronized with the movement,
Four directional wheels 46 of the lower end of shelves 45 left and right in guide rail 48 is rolled, and auxiliary shelves 45 are moved, and guide rail 48 serves limit
The effect of position.
The rotating mechanism 5 includes being arranged on first supporting plate 51 on the right side of bottom plate 1, passes through on the inwall of the first supporting plate 51
Motor cabinet is provided with electric rotating machine 52, and the output shaft of electric rotating machine 52 is connected by shaft coupling with the right-hand member of roller 53, roller 53
Left end is arranged on by bearing on the inwall of the second supporting plate 54, and the second supporting plate 54 is arranged on bottom plate 1, the band of electric rotating machine 52
Dynamic roller 53 is rotated, and grape can be uniformly placed in two collection frames 49 after can not only ensureing harvesting, Er Qiebao
Demonstrate,proved grape pluck during regulation harvesting needed for angle it is more smooth, make whole picking process more convenient.
The parallel institution 8 includes the annular panel 81 being arranged on annular flap 6, is uniformly provided with annular panel 81
Four No.1 ear mounts 82, each No.1 ear mount 82 are connected by bearing pin with a hydraulic cylinder 83, the top of each hydraulic cylinder 83
It is connected by bearing pin with No. two ear mounts 84, four No. two ear mounts 84 being connected with four tops of hydraulic cylinder 83 by bearing pin
It is installed on annular roof plate 85, shape when wherein hydraulic cylinder 83 forms kinematic pair R secondary, 83 stretching motion of hydraulic cylinder when rotating
Kinematic pair R pairs are formd when kinematic pair P is secondary, hydraulic cylinder 83 rotates between No.1 ear mount 82, so that four No.1s
No. two ear mounts 84 of the hydraulic cylinder 83, four of ear mount 82, four are four RPR type parallel connection side chains of parallel institution, and annular roof plate 85 is
The moving platform of parallel institution, annular panel 81 are the fixed platform of parallel institution, pass through fixed platform, four RPR in the utility model
Type parallel connection side chain, moving platform form 4-RPR type parallel institutions, and 4-RPR types parallel institution is with stability is good, dynamic
Can be good, precision is high, rigidity is strong and bearing capacity is big the advantages that, parallel institution 8 drives two picking mechanisms 2 to carrying out during work
Regulation, ensure that picking mechanism 2 can be plucked in suitable position to grape, improve the stability of work.
The supporting plate 12 forms for flexible material, and guarantee will not cause to extrude, avoids wasting to grape.
The width of the shear knife 13 is less than the width being open into knife rest 14, and guarantee fast and effectively can enter to grapevine
Row is cut, and is accelerated the speed cut, is improved operating efficiency.
During work, staff shifts the utility model onto assigned work position by four universal wheels 11 first, simultaneously
Cylinder 7 is started working, and cylinder 7 drives parallel institution 8 to move to suitable height under the limitation of four expansion links 9, now simultaneously
Online structure 8 is started working, and four on parallel institution 8 hydraulic cylinder 83 works simultaneously, drives two be arranged on annular roof plate 85
The regulation of individual picking mechanism 2 drives bracket 22 to move to best angle, so two electric pushrods 21 on latter two picking mechanism 2
Start move toward one another and hold the grape for needing to pluck to optimum position, the supporting plate 12 of flexible material composition, now shear knife 13 is logical
The cooperation crossed into knife rest 14 is cut to grapevine, and after the completion of harvesting, the electric rotating machine 52 on rotating mechanism 5 is started working,
Electric rotating machine 52 drives roller 53 to be rotated, and when two picking mechanisms 2 are located at 49 top of collection frame, electric rotating machine 52 stops
Work, the mobile motor 41 in travel mechanism 4 drives leading screw 42 to rotate, and leading screw 42 drives movable block 44 to move, while drives and put
When putting the motion suitable location of collection frame 49 in shelves 45, two picking mechanisms 2 unclamp, and grape uniformly falls within two harvestings
In mechanism 2, the function of automatic grape-picking is realized, solves the artificial grape-picking of existing needs, labor intensity is big, work effect
Rate is low, easily causes the problems such as waste, has reached purpose.
General principle, principal character and advantage of the present utility model has been shown and described above.The technical staff of the industry
It should be appreciated that the utility model is not restricted to the described embodiments, the simply explanation of the description in above-described embodiment and specification
Principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model also has various changes
Change and improve, these changes and improvements are both fallen within claimed the scope of the utility model.The requires of the utility model protects model
Enclose by appended claims and its equivalent thereof.
Claims (4)
- A kind of 1. automatic picking machine of grape, it is characterised in that：Including bottom plate (1), the lower end of bottom plate (1) is symmetrically installed with four ten thousand To wheel (11), handle (3) is installed on the right side of bottom plate (1) upper end, the front and rear sides of bottom plate (1) are symmetrically installed with Liang Ge travel mechanisms (4) rotating mechanism (5), is installed in the middle part of bottom plate (1), annular flap is provided with by welding manner on rotating mechanism (5) (6) cylinder (7), is installed in the middle part of annular flap (6), the top of cylinder (7) is arranged on parallel institution (8) by flange, Four expansion links (9) are evenly arranged with the outside of annular flap (6), the top of four expansion links (9) is arranged on parallel institution (8) On, a buffer spring (10) is provided with each expansion link (9) between annular flap (6) and parallel institution (8), The left and right sides is symmetrically installed with two picking mechanisms (2) on parallel institution (8), by being provided between two picking mechanisms (2) The supporting plate (12) of looping pit is connected, and shear knife (13) is provided with the picking mechanism (2) on the left of supporting plate (12), positioned at supporting plate (12) it is provided with the picking mechanism (2) on the right side of into knife rest (14)；The picking mechanism (2) includes the electric pushrod (21) being connected by bearing pin with parallel institution (8), electric pushrod (21) Top is connected by bearing pin with being uniformly arranged round-meshed bracket (22), and the lower end of bracket (22) passes through bearing pin and parallel institution (8) it is connected；The travel mechanism (4) includes the mobile motor (41) being arranged on by motor cabinet on bottom plate (1), mobile motor (41) Output shaft is connected by shaft coupling with the right-hand member of leading screw (42), and the left end of leading screw (42) is arranged on baffle plate (43) by bearing, Baffle plate (43) is arranged on bottom plate (1), movable block (44) is provided with the middle part of leading screw (42), the upper end of movable block (44) is provided with Shelves (45), collection frame (49) are placed with shelves (45), the lower end of shelves (45) is symmetrically installed with four directional wheels (46), be symmetrically installed with two guide rails (48) on bottom plate (1), each guide rail (48) by roll fit system with it is corresponding Two directional wheels (46) are connected；The rotating mechanism (5) includes being arranged on the first supporting plate (51) on the right side of bottom plate (1), on the first supporting plate (51) inwall Electric rotating machine (52) is provided with by motor cabinet, the output shaft of electric rotating machine (52) passes through shaft coupling and roller (53) right-hand member phase Even, the left end of roller (53) is arranged on by bearing on the inwall of the second supporting plate (54), and the second supporting plate (54) is arranged on bottom On plate (1).
- A kind of 2. automatic picking machine of grape according to claim 1, it is characterised in that：The parallel institution (8) includes peace Annular panel (81) on annular flap (6), four No.1 ear mounts (82) are uniformly installed on annular panel (81), each No.1 ear mount (82) is connected by bearing pin with a hydraulic cylinder (83), and the top of each hydraulic cylinder (83) passes through bearing pin and one Individual No. two ear mounts (84) are connected, and four No. two ear mounts (84) being connected with four hydraulic cylinder (83) tops by bearing pin are installed in On the lower surface of annular roof plate (85).
- A kind of 3. automatic picking machine of grape according to claim 1, it is characterised in that：The supporting plate (12) is flexible material Composition.
- A kind of 4. automatic picking machine of grape according to claim 1, it is characterised in that：The width of the shear knife (13) is small In the width for entering knife rest (14) opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720176399.8U CN206866077U (en) | 2017-02-25 | 2017-02-25 | A kind of automatic picking machine of grape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720176399.8U CN206866077U (en) | 2017-02-25 | 2017-02-25 | A kind of automatic picking machine of grape |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206866077U true CN206866077U (en) | 2018-01-12 |
Family
ID=61326079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720176399.8U Expired - Fee Related CN206866077U (en) | 2017-02-25 | 2017-02-25 | A kind of automatic picking machine of grape |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206866077U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108499634A (en) * | 2018-05-17 | 2018-09-07 | 李�杰 | A kind of small-sized paddy machine of controllable paddy inlet amount |
| CN109451982A (en) * | 2018-12-19 | 2019-03-12 | 衢州职业技术学院 | 3-PRS tea picking parallel institution and its picking method |
| CN112293057A (en) * | 2020-10-16 | 2021-02-02 | 华南农业大学 | Banana picking and cutting machine |
| CN114946407A (en) * | 2022-04-15 | 2022-08-30 | 常州机电职业技术学院 | Picking device of apple picking robot and picking method thereof |
-
2017
- 2017-02-25 CN CN201720176399.8U patent/CN206866077U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108499634A (en) * | 2018-05-17 | 2018-09-07 | 李�杰 | A kind of small-sized paddy machine of controllable paddy inlet amount |
| CN109451982A (en) * | 2018-12-19 | 2019-03-12 | 衢州职业技术学院 | 3-PRS tea picking parallel institution and its picking method |
| CN112293057A (en) * | 2020-10-16 | 2021-02-02 | 华南农业大学 | Banana picking and cutting machine |
| CN112293057B (en) * | 2020-10-16 | 2022-06-28 | 华南农业大学 | Banana picking and cutting machine |
| CN114946407A (en) * | 2022-04-15 | 2022-08-30 | 常州机电职业技术学院 | Picking device of apple picking robot and picking method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180112 Termination date: 20190225 |
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| CF01 | Termination of patent right due to non-payment of annual fee |