CN104255193A - Apple picking machine and method for operating same - Google Patents
Apple picking machine and method for operating same Download PDFInfo
- Publication number
- CN104255193A CN104255193A CN201410419522.5A CN201410419522A CN104255193A CN 104255193 A CN104255193 A CN 104255193A CN 201410419522 A CN201410419522 A CN 201410419522A CN 104255193 A CN104255193 A CN 104255193A
- Authority
- CN
- China
- Prior art keywords
- apple
- assembly pulley
- fixed
- button
- pulley
- 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
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an apple picking machine and a method for operating the same. The apple picking machine comprises a framework, a shearing mechanism, an adjusting mechanism, a collecting channel, an accommodating mechanism and an apple box. The adjusting mechanism comprises a support column, a rotary column and a crank-slider mechanism; the bottom of the support column sleeves a base, and the top of the support column is hinged to an end of the rotary column; the crank-slider mechanism comprises a slider and a connecting rod, the slider sleeves the rotary column, one end of the connecting rod is hinged to the rotary column, and the other end of the connecting rod is hinged to the support column; the shearing mechanism is arranged on the top of the rotary column. The apple picking machine and the method have the advantages that the height of shears can be conveniently controlled via the crank-slider mechanism, and the apple picking machine can be controlled via motors and is simple in operation and low in labor intensity; an electromagnet is arranged at the tail of a handle of the shears, so that the apple picking machine can be conveniently manually operated, and the labor intensity can be reduced; the apple picking machine is provided with the collecting channel, so that apples can be conveniently collected while bruise due to an accommodating machine can be effectively prevented; the apples can be automatically placed by the accommodating mechanism which is matched with the apple box, and accordingly the labor time can be saved.
Description
[technical field]
The present invention relates to fruit picking technical field, particularly a kind of apple picking and method of operating thereof.
[background technology]
Apple tree has dividing of height, and some higher apple tree is highly more than 3 meters, and for the pinnacled fruit of growth, artificial harvesting is very difficult, often will by ladder; But due to apple tree branches and leaves more, affect the placement of ladder, be difficult to equally pluck the fruit of eminence; The apple of eminence is due to illumination abundance, and quality is all relatively better, abandons harvesting and can bring larger loss to orchard worker.
Refer to Chinese patent disclosed in 30 days October in 2013 and disclose CN103371026A patent of invention, it discloses and a kind ofly utilizes adjusting rod, hand shape cuts the high fruit picking device made with mesh bag; Although its result is simple, staff holds heavier adjusting rod, and when working long hours, live load is larger; And when once plucking multiple apple, after the apple fallen in mesh bag can collide with the apple plucked before, cause damage, impact sell.
[summary of the invention]
The object of the present invention is to provide a kind of apple picking and method of operating thereof, to solve the problems of the technologies described above.
To achieve these goals, the present invention adopts following technical scheme:
A kind of apple picking, comprises frame, governor motion and cutting mechanism;
Frame is fixed with rotating shaft fixed station, rotating shaft fixed station is a square block, and its top is fixed with cylindric pedestal;
Governor motion comprises support column, column spinner and crank block; Be enclosed within bottom support column on pedestal, one end of top and column spinner is hinged; Crank block comprises slide block and connecting rod, and slide block set is located on column spinner, connecting rod one end and column spinner hinged, the other end and support column hinged; The outer tip end of column spinner is provided with the first assembly pulley, closes on and is provided with the 3rd assembly pulley with the lower end of support column hinged place, and the top of slide block is provided with the second assembly pulley; The outside of support column is provided with the 4th assembly pulley and the 5th assembly pulley from top to bottom successively; The inner side of support column is provided with the 8th assembly pulley and the 9th assembly pulley from top to bottom successively; The inside lower end of column spinner is closed on and is provided with the 7th assembly pulley with support column hinged place; The outside of rotating shaft fixed station is provided with the 6th assembly pulley, and inner side is provided with the tenth assembly pulley; The outside of rotating shaft fixed station is fixed with the first mount pad, and inner side is fixed with the second mount pad, the first mount pad is provided with the first cylinder, and the second mount pad is provided with second tin roller; First control line one ends wound is on the first cylinder, and the other end is successively through the outer upper end being fixed on slide block after the 6th assembly pulley, the 5th assembly pulley, the 4th assembly pulley, the 3rd assembly pulley, the second assembly pulley and the first assembly pulley; The one ends wound of the second control line is on second tin roller, and the other end is successively through the inside lower end being fixed on slide block after the tenth assembly pulley, the 9th assembly pulley, the 8th assembly pulley and the 7th assembly pulley;
Frame is fixed with the first motor and the second motor, the output shaft of the first motor is fixedly connected with the roller bearing of the first cylinder; The output shaft of the second motor is fixedly connected with the roller bearing of second tin roller;
Cutting mechanism comprises scissors and electromagnetism adhesive mechanism, and scissors comprises the first sword and second sword of cross-articulation; The top of column spinner is fixed with cutting mechanism installing plate, shear constitution installing plate is fixed with telescopic drive motor, and shear constitution installing plate is provided with slide rail, this slide rail is provided with scissors slide block, and the first sword of scissors is fixed on scissors slide block; Scissors slide block is provided with tapped through hole, and the output shaft of telescopic drive motor is provided with external screw thread, and output shaft and the scissors slide block of telescopic drive motor form screw-nut body; A stage clip is provided with between the handle of the first sword and the second sword; The handle end of the first sword is fixed with electromagnet, and the end of the second sword is fixed with adhesive iron block; During electromagnet energising, adhesive iron block overcomes resistance and the electromagnetic actuation of stage clip due to electromagnetic attraction, scissors is completed and once shears; After electromagnet dead electricity, stage clip drives the first sword and the second sword to reset.
Preferably, also collection channel is comprised; Collection channel comprises rubber collecting mouth, the first bellows, the second bellows, the first rubber tube and the second rubber tube; The rubber collecting mouth of cone-shaped is positioned at immediately below scissors, and it is hinged with the dead lever being fixed on column spinner top; In frame, interval is fixed with the first support bar and the second support bar, and the top of the first support bar and the second support bar is semicircle, its respectively with the first rubber tube and the second rubber tube hinged; First bellows one end connects the outlet of rubber collecting mouth, and the other end connects the entrance of the first rubber tube, and the outlet of the first rubber tube connects the entrance of the second rubber tube by cloth cylinder, and the outlet of the second rubber tube connects the second bellows; The height of rubber collecting mouth, the first rubber tube and the second rubber tube reduces successively.
Preferably, placement mechanism and apple box is also comprised;
Apple box is positioned in frame; Apple box comprises some apple compartments;
Placement mechanism comprises the column be fixed in frame, horizontal columns and manipulator; Column top is provided with the first tooth bar with uprights vertical, and the bearing of trend of the first tooth bar is vertical with horizontal columns; Horizontal columns comprises the second tooth bar, the first guide pad and the first gear; First guide pad is set on the first tooth bar, and can slidably reciprocate along the bearing of trend of the first tooth bar, first gear is meshed with the first tooth bar, and the first gear rotates under the drive of the first gear drive motor, and horizontal columns can be driven to slide along the bearing of trend of the first tooth bar; Manipulator comprises the second guide pad and the second gear; Second guide pad is set on the second tooth bar, and can slidably reciprocate along the bearing of trend of the second tooth bar, second gear is meshed with the second tooth bar, and the second gear rotates under the drive of the second gear drive motor, can slide along the bearing of trend of the second tooth bar by driving device hand; First tooth bar and the second tooth bar perpendicular; The bottom of the second guide pad is provided with apple placer, and this apple placer comprises placement bar, places below bar and is fixed with the direction apple accommodating cavity that does not have the end; The bottom that placement bar stretches into apple accommodating cavity is fixed with the first semi-ring, and placing bar internal fixtion has micromachine, the output shaft of micromachine is fixed with the second semi-ring; When first semi-ring and the second semi-ring close, the apple that the apple entrance from apple accommodating cavity can be entered is caught;
Placement mechanism also comprises controller and infrared inductor, and infrared inductor is installed on to be placed on bar, for responding in apple accommodating cavity whether have apple; Controller connects infrared inductor, micromachine, the first gear drive motor and the second gear drive motor.
Preferably, the first motor connects first and rotates forward button and the first invert button, and the second motor connects second and rotates forward button and the second invert button; Telescopic drive motor connects the 3rd and rotates forward button and the 3rd invert button; Electromagnet connects magnet control button; First rotating forward button and the second invert button are positioned at the both sides of left hand control lever, and the 3rd rotating forward button and the 3rd invert button are positioned at the top of left hand control lever; First invert button and second rotates forward button and is positioned on right hand control lever, and magnet control button is positioned at the top of right hand control lever; Left hand control lever and right hand control lever are fixed in frame.
Preferably, four universal wheels are installed bottom frame.
Preferably, first assembly pulley, the second assembly pulley, the 3rd assembly pulley, the 4th assembly pulley, the 5th assembly pulley, the 6th assembly pulley, the 7th assembly pulley, the 8th assembly pulley, the 9th assembly pulley are identical with the tenth assembly pulley group structure, include U-shaped holder, adjacent and the first pulley be installed in parallel on U-shaped holder and the second pulley, first pulley and the second peripheral pulley are equipped with groove, and the first control line and the second control line all pass between the first pulley of corresponding assembly pulley and the second pulley.
Preferably, place inside bar periphery, the first semi-ring periphery, the second semi-ring periphery and apple accommodating cavity and be equipped with rubber layer.
The method of operating of apple picking, comprise the following steps: operator presses first on left hand control lever simultaneously and rotates forward button and the second invert button, control to control the second motor reversal while the first motor rotates forward, put by one of the first control line and the second control line, receipts, drive slide block movement, and then drive column spinner to be rotated counterclockwise to raise the height of cutting mechanism to the apple height needing to pluck; Then, operator presses the 3rd on left hand control lever and rotates forward the rotating forward of button driving telescopic drive motor, outwards moves make the base of fruit of apple between the first sword and the second sword to drive scissors; Then operator presses the magnet control button at right hand control lever top, and control electromagnet energising, iron block overcomes resistance and the electromagnetic actuation of stage clip due to electromagnetic attraction, completes and once shears; The apple cut off enters apple accommodating cavity by collection channel; Infrared inductor sends a signal to controller when having apple to apple accommodating cavity, and controller drives micromachine Unscrew second semi-ring apple to be put into corresponding apple compartment; Then controller aligns with the apple compartment of next one sky to adjust apple accommodating cavity according to path clustering first gear drive motor preset and the second gear drive motor, completes a picking process.
Preferably, controller, according to the path of presetting, controls apple accommodating cavity and rests on successively on empty apple compartment, until whole apple box sends alarm signal prompting after filling manually change apple box.
Compared with prior art, the present invention has following beneficial effect: the present invention can control the height of scissors easily by slider-crank mechanism, and by Electric Machine Control, simple to operate, labour intensity is low; Arrange and organize assembly pulley more, its position of reasonable Arrangement, can be convenient to the path of the first bracing wire and the second bracing wire simultaneously; First motor and two a positive and a negative run-in synchronisms of the second motor, make the stable movement of slide block; The structure of assembly pulley makes the first bracing wire and the second bracing wire can not from wherein departing from; The handle afterbody of scissors arranges electromagnet, facilitates manual operation, reduces labour intensity; Screw-nut structure is set, the position of scissors can be finely tuned easily, make apple base of fruit between the two-edged of scissors; Arrange collection channel to be convenient to collect while apple, can effectively damage by placer; Be arranged at the placement mechanism that apple box matches, can automatically carry out apple and put, save manual time; The column of placement mechanism, arrange two between horizontal columns and manipulator to the pinion and rack cooperatively interacted, planar can regulate arbitrarily the position of manipulator, structure is simple.
[accompanying drawing explanation]
Fig. 1 is the lateral plan of apple-picking of the present invention;
Fig. 2 is the partial schematic diagram of placement mechanism;
Fig. 3 is the partial schematic diagram placing bar;
Fig. 4 is the first semi-ring and the second semi-ring closure state schematic diagram;
Fig. 5 is the first semi-ring and the second semi-ring open mode schematic diagram;
Fig. 6 is the vertical view of apple box;
Fig. 7 is the schematic diagram of cutting mechanism;
Fig. 8 is the end view of assembly pulley;
Fig. 9 is the front view of assembly pulley shown in Fig. 8;
Figure 10 is setting structural representation of the present invention when increasing column.
[embodiment]
Refer to shown in Fig. 1 to Figure 10, apple picking of the present invention comprises frame 1, cutting mechanism 6, governor motion, collection channel 7, placement mechanism 8 and apple box 9.
Four universal wheels 100 are installed bottom frame 1, facilitate field to move freely.Apple box 9 is positioned in frame 1.Apple box 9 comprises some apple compartments 90.
Frame 1 is fixed with rotating shaft fixed station 2, rotating shaft fixed station 2 is a square block, and its top is fixed with cylindric pedestal 21.
Governor motion comprises support column 3, column spinner 4 and crank block 5; Be enclosed within pedestal 21 bottom support column 3, one end of top and column spinner 4 is hinged.Crank block 5 comprises slide block 51 and connecting rod 52, and slide block 51 is set on column spinner 4, connecting rod 52 one end and column spinner 4 hinged, the other end and support column 3 hinged.The outer tip end of column spinner 4 is provided with the first assembly pulley 101, closes on and is provided with the 3rd assembly pulley 103 with the lower end of support column 3 hinged place, and the top of slide block 51 is provided with the second assembly pulley 102.The outside of support column 3 is provided with the 4th assembly pulley 104 and the 5th assembly pulley 105 from top to bottom successively; The inner side of support column 3 is provided with the 8th assembly pulley 108 and the 9th assembly pulley 109 from top to bottom successively; The inside lower end of column spinner 4 is closed on and is provided with the 7th assembly pulley 107 with support column 3 hinged place.The outside of rotating shaft fixed station 2 is provided with the 6th assembly pulley 106, and inner side is provided with the tenth assembly pulley 110.The outside of rotating shaft fixed station 2 is fixed with the first mount pad 22, and inner side is fixed with the second mount pad 23, first mount pad 22 is provided with on the first cylinder 221, second mount pad 23 and is provided with second tin roller 231.First control line 2210 one ends wound is on the first cylinder 221, and the other end is successively through the outer upper end being fixed on slide block 51 after the 6th assembly pulley 106, the 5th assembly pulley 105, the 4th assembly pulley 104, the 3rd assembly pulley 103, second assembly pulley 102 and the first assembly pulley 101.The one ends wound of the second control line 2310 is on second tin roller 231, and the other end is successively through the inside lower end being fixed on slide block 51 after the tenth assembly pulley 110, the 9th assembly pulley 109, the 8th assembly pulley 108 and the 7th assembly pulley 107.Ten groups of pulley block structures are identical, include U-shaped holder 1011, adjacent and the first pulley 1012 and the second pulley 1013 be installed in parallel on U-shaped holder 1011, first pulley 1012 and the second pulley 1013 periphery are equipped with groove, first control line 2210 and the second control line 2310 all pass between the first pulley 1012 and the second pulley 1013, prevent control line from departing from assembly pulley.
Output shaft frame 1 being fixed with the first motor 2211 and the second motor 2311, first motor 2211 is fixedly connected with the roller bearing of the first cylinder 221; The output shaft of the second motor 2311 is fixedly connected with the roller bearing of second tin roller 231.
Cutting mechanism 6 comprises scissors and electromagnetism adhesive mechanism, and scissors comprises the first sword 61 and the second sword 62 of cross-articulation.The top of column spinner 4 is fixed with cutting mechanism installing plate 41, shear constitution installing plate 41 is fixed with telescopic drive motor, and shear constitution installing plate 41 is provided with slide rail, this slide rail is provided with scissors slide block, and the first sword 61 of scissors is fixed on scissors slide block; Scissors slide block is provided with tapped through hole, and the output shaft of telescopic drive motor is provided with external screw thread, and output shaft and the scissors slide block of telescopic drive motor form screw-nut body.The rotating of telescopic drive motor can control scissors slide block outwards or move inward, to finely tune the position of scissors.A stage clip 63 is provided with between first sword 61 and the handle of the second sword 62.The handle end of the first sword 61 is fixed with electromagnet 611, and the end of the second sword 62 is fixed with adhesive iron block 621; When electromagnet 611 is energized, adhesive iron block 621 overcomes resistance and electromagnet 611 adhesive of stage clip 63 due to electromagnetic attraction, scissors is completed and once shears, the base of fruit of apple can be cut short.After electromagnet 611 dead electricity, stage clip 63 drives the first sword 61 and the second sword 62 to reset.
Collection channel 7 comprises rubber collecting mouth 71, first bellows 76, second bellows 77, first rubber tube 72 and the second rubber tube 73; The rubber collecting mouth 71 of cone-shaped is positioned at immediately below scissors, its both sides are hinged with the dead lever being fixed on column spinner 4 top, with ensure no matter column spinner 4 be positioned at what angle rubber collecting mouth 71 all can be parallel to the ground, the apple dropped accurately is fallen in collection channel 7.The top that in frame 1, interval is fixed with the first support bar 72 and the second support bar 75, first support bar 72 and the second support bar 75 is semicircle, and it is hinged with the two ends of the first rubber tube 72 and the second rubber tube 73 respectively; First bellows 76 one end connects the outlet of rubber collecting mouth 71, the other end connects the entrance of the first rubber tube 72, the outlet of the first rubber tube 72 connects the entrance of the second rubber tube 73 by cloth cylinder, the outlet of the second rubber tube 73 connects the apple entrance of apple accommodating cavity 84 by the second bellows 77.The height of rubber collecting mouth 71, first rubber tube 72 and the second rubber tube 73 reduces successively.Refer to shown in Figure 10, the present invention is also provided with and multiplely increases column 31, is installed between support column 3 and pedestal 21, and then can increases the height of scissors, uses the apple tree of differing heights.Column is increased in use to be made, and the first bellows 76 extends, so need not change.
Placement mechanism 8 comprises the column 81 be fixed in frame 1, horizontal columns 82 and manipulator 83.The bearing of trend that column 81 top is provided with first tooth bar 810, first tooth bar 810 vertical with column 81 is vertical with horizontal columns 82.Horizontal columns 82 comprises the second tooth bar 820, first guide pad 821 and the first gear 822; First guide pad 821 is set on the first tooth bar 810, and can slidably reciprocate along the bearing of trend of the first tooth bar 810, first gear 822 is meshed with the first tooth bar 810, first gear 822 rotates under the drive of the first gear drive motor, and horizontal columns 82 can be driven to slide along the bearing of trend of the first tooth bar 810.Manipulator 83 comprises the second guide pad 831 and the second gear 832; Second guide pad 831 is set on the second tooth bar 820, and can slidably reciprocate along the bearing of trend of the second tooth bar 820, second gear 832 is meshed with the second tooth bar 820, second gear 832 rotates under the drive of the second gear drive motor, can slide along the bearing of trend of the second tooth bar 820 by driving device hand 83.First tooth bar 810 and the second tooth bar 820 perpendicular.The bottom of the second guide pad 831 is provided with apple placer, and this apple placer comprises places bar 833, places below bar 833 and is fixed with the direction apple accommodating cavity 84 that does not have the end.The bottom that placement bar 833 stretches into apple accommodating cavity 84 is fixed with the first semi-ring 835, and placing bar 833 internal fixtion has micromachine 834, the output shaft 8341 of micromachine 834 is fixed with the second semi-ring 836.When first semi-ring 835 and the second semi-ring 836 close, the apple 1000 that the apple entrance from apple accommodating cavity 84 can be entered is caught.Placement mechanism 8 comprises controller and infrared inductor (not shown), and controller is CPU or single-chip microcomputer; Infrared inductor is installed on to be placed on bar 833, and for responding in apple accommodating cavity 84 whether have apple, controller connects infrared inductor, micromachine 834, first gear drive motor and the second gear drive motor.When not having apple in infrared inductor induction apple accommodating cavity 84, controller controls micromachine 834 makes the second semi-ring 836 close; When sensing apple, controller drives micromachine 834 Unscrew second semi-ring 836 that apple is put into corresponding apple compartment 90; Then controller aligns with the apple compartment 90 of next one sky to adjust apple accommodating cavity 84 according to path clustering first gear drive motor preset and the second gear drive motor.Controller, according to the path of presetting, controls apple accommodating cavity 84 and rests on successively on empty apple compartment 90, until whole apple box 9 sends after filling, alarm signal prompting is artificial changes apple box 9.Then, controller control apple accommodating cavity 84 restarts to place apple from the starting point in path.Apple accommodating cavity 84 is connected with the second bellows, can facilitate movement.Place inside bar 833 periphery, the first semi-ring 835 periphery, the second semi-ring 836 periphery and apple accommodating cavity 84 and be equipped with rubber layer, prevent apple from damaging.
First motor 2211 connects the first rotating forward button and the first invert button, and the second motor 2311 connects the second rotating forward button and the second invert button; Telescopic drive motor connects the 3rd and rotates forward button and the 3rd invert button; Electromagnet 611 connects magnet control button.First rotating forward button and the second invert button are positioned at the both sides of left hand control lever, and the 3rd rotating forward button and the 3rd invert button are positioned at the top of left hand control lever; First invert button and second rotates forward button and is positioned on right hand control lever, and magnet control button is positioned at the top of right hand control lever.Left hand control lever and right hand control lever are fixed in frame 1.The present invention also comprises the battery of powering to controller, the first motor 2211, second motor 2311 infrared ray sensor, telescopic drive motor, the first gear drive motor and the second gear drive motor, and this battery is arranged in frame; This battery can adopt solar cell, and when just working, limit charging, effectively utilizes clean energy resource.
The method of operating of apple picking of the present invention comprises the following steps: operator presses first on left hand control lever simultaneously and rotates forward button and the second invert button, control to control the second motor 2311 while the first motor 2211 rotates forward to reverse, put by one of the first control line 2210 and the second control line 2310, receipts, drive slide block 51 to move, and then drive column spinner 4 to be rotated counterclockwise to raise the height of cutting mechanism 6 to the apple height needing to pluck; Then, operator presses the 3rd on left hand control lever and rotates forward the rotating forward of button driving telescopic drive motor, outwards moves make the base of fruit of apple between the first sword 61 and the second sword 62 to drive scissors; Then operator presses the magnet control button at right hand control lever top, and control electromagnet 611 and be energized, iron block 621 overcomes resistance and electromagnet 611 adhesive of stage clip 63 due to electromagnetic attraction, completes and once shears; The apple cut off enters apple accommodating cavity 84 by collection channel 7; Infrared inductor sends a signal to controller when having apple to apple accommodating cavity 84, and controller drives micromachine 834 Unscrew second semi-ring 836 that apple is put into corresponding apple compartment 90; Then controller aligns with the apple compartment 90 of next one sky to adjust apple accommodating cavity 84 according to path clustering first gear drive motor preset and the second gear drive motor; So complete a picking process; Repeat same action when plucking next time.Just apple-picking process can be completed easily by left hand control lever and right-hand operated bar.First of left hand control lever rotates forward the lifting of button and the second invert button control scissors, and second of right hand control lever rotates forward the decline of button and the first invert button control scissors.
Claims (9)
1. an apple picking, is characterized in that, comprises frame (1), governor motion and cutting mechanism (6);
Frame (1) is fixed with rotating shaft fixed station (2), rotating shaft fixed station (2) is a square block, and its top is fixed with cylindric pedestal (21);
Governor motion comprises support column (3), column spinner (4) and crank block (5); Support column (3) bottom is enclosed within pedestal (21), and one end of top and column spinner (4) is hinged; Crank block (5) comprises slide block (51) and connecting rod (52), slide block (51) is set on column spinner (4), connecting rod (52) one end and column spinner (4) hinged, the other end and support column (3) hinged; The outer tip end of column spinner (4) is provided with the first assembly pulley (101), close on and be provided with the 3rd assembly pulley (103) with the lower end of support column (3) hinged place, the top of slide block (51) is provided with the second assembly pulley (102); The outside of support column (3) is provided with the 4th assembly pulley (104) and the 5th assembly pulley (105) from top to bottom successively; The inner side of support column (3) is provided with the 8th assembly pulley (108) and the 9th assembly pulley (109) from top to bottom successively; The inside lower end of column spinner (4) is closed on and is provided with the 7th assembly pulley (107) with support column (3) hinged place; The outside of rotating shaft fixed station (2) is provided with the 6th assembly pulley (106), and inner side is provided with the tenth assembly pulley (110); The outside of rotating shaft fixed station (2) is fixed with the first mount pad (22), inner side is fixed with the second mount pad (23), first mount pad (22) is provided with the first cylinder (221), the second mount pad (23) is provided with second tin roller (231); First control line (2210) one ends wound is on the first cylinder (221), and the other end is successively through the outer upper end being fixed on slide block (51) after the 6th assembly pulley (106), the 5th assembly pulley (105), the 4th assembly pulley (104), the 3rd assembly pulley (103), the second assembly pulley (102) and the first assembly pulley (101); The one ends wound of the second control line (2310) is on second tin roller (231), and the other end is successively through the inside lower end being fixed on slide block (51) after the tenth assembly pulley (110), the 9th assembly pulley (109), the 8th assembly pulley (108) and the 7th assembly pulley (107);
Frame (1) is fixed with the first motor (2211) and the second motor (2311), the output shaft of the first motor (2211) is fixedly connected with the roller bearing of the first cylinder (221); The output shaft of the second motor (2311) is fixedly connected with the roller bearing of second tin roller (231);
Cutting mechanism (6) comprises scissors and electromagnetism adhesive mechanism, and scissors comprises the first sword (61) and second sword (62) of cross-articulation; The top of column spinner (4) is fixed with cutting mechanism installing plate (41), (41) are fixed with telescopic drive motor to shear constitution installing plate, shear constitution installing plate (41) is provided with slide rail, this slide rail is provided with scissors slide block, first sword (61) of scissors is fixed on scissors slide block; Scissors slide block is provided with tapped through hole, and the output shaft of telescopic drive motor is provided with external screw thread, and output shaft and the scissors slide block of telescopic drive motor form screw-nut body; A stage clip (63) is provided with between the handle of the first sword (61) and the second sword (62); The handle end of the first sword (61) is fixed with electromagnet (611), and the end of the second sword (62) is fixed with adhesive iron block (621); During electromagnet (611) energising, adhesive iron block (621) overcomes resistance and electromagnet (611) adhesive of stage clip (63) due to electromagnetic attraction, scissors is completed and once shears; After electromagnet (611) dead electricity, stage clip (63) drives the first sword (61) and the second sword (62) to reset.
2. a kind of apple picking according to claim 1, is characterized in that, also comprises collection channel (7); Collection channel (7) comprises rubber collecting mouth (71), the first bellows (76), the second bellows (77), the first rubber tube (72) and the second rubber tube (73); The rubber collecting mouth (71) of cone-shaped is positioned at immediately below scissors, and it is hinged with the dead lever being fixed on column spinner (4) top; The upper interval of frame (1) is fixed with the first support bar (72) and the second support bar (75), the top of the first support bar (72) and the second support bar (75) is semicircle, its respectively with the first rubber tube (72) and the second rubber tube (73) hinged; First bellows (76) one end connects the outlet of rubber collecting mouth (71), the other end connects the entrance of the first rubber tube (72), the outlet of the first rubber tube (72) connects the entrance of the second rubber tube (73) by cloth cylinder, the outlet of the second rubber tube (73) connects the second bellows (77); The height of rubber collecting mouth (71), the first rubber tube (72) and the second rubber tube (73) reduces successively.
3. a kind of apple picking according to claim 2, is characterized in that, also comprises placement mechanism (8) and apple box (9);
Apple box (9) is positioned in frame (1); Apple box (9) comprises some apple compartments (90);
Placement mechanism (8) comprises the column (81) be fixed in frame (1), horizontal columns (82) and manipulator (83); Column (81) top is provided with first tooth bar (810) vertical with column (81), and the bearing of trend of the first tooth bar (810) is vertical with horizontal columns (82); Horizontal columns (82) comprises the second tooth bar (820), the first guide pad (821) and the first gear (822); First guide pad (821) is set on the first tooth bar (810), and can slidably reciprocate along the bearing of trend of the first tooth bar (810), first gear (822) is meshed with the first tooth bar (810), first gear (822) rotates under the drive of the first gear drive motor, and horizontal columns (82) can be driven to slide along the bearing of trend of the first tooth bar (810); Manipulator (83) comprises the second guide pad (831) and the second gear (832); Second guide pad (831) is set on the second tooth bar (820), and can slidably reciprocate along the bearing of trend of the second tooth bar (820), second gear (832) is meshed with the second tooth bar (820), second gear (832) rotates under the drive of the second gear drive motor, can slide along the bearing of trend of the second tooth bar (820) by driving device hand (83); First tooth bar (810) and the second tooth bar (820) perpendicular; The bottom of the second guide pad (831) is provided with apple placer, and this apple placer comprises places bar (833), places bar (833) below and is fixed with direction apple accommodating cavity (84) that does not have the end; The bottom that apple accommodating cavity (84) is stretched in placement bar (833) is fixed with the first semi-ring (835), place bar (833) internal fixtion and have micromachine (834), the output shaft (8341) of micromachine (834) is fixed with the second semi-ring (836); When first semi-ring (835) and the second semi-ring (836) close, the apple (1000) that the apple entrance from apple accommodating cavity (84) can be entered is caught;
Placement mechanism (8) also comprises controller and infrared inductor, and infrared inductor is installed on to be placed on bar (833), for responding in apple accommodating cavity (84) whether have apple; Controller connects infrared inductor, micromachine (834), the first gear drive motor and the second gear drive motor.
4. a kind of apple picking according to claim 3, is characterized in that, the first motor (2211) connects first and rotates forward button and the first invert button, and the second motor (2311) connects second and rotates forward button and the second invert button; Telescopic drive motor connects the 3rd and rotates forward button and the 3rd invert button; Electromagnet (611) connects magnet control button; First rotating forward button and the second invert button are positioned at the both sides of left hand control lever, and the 3rd rotating forward button and the 3rd invert button are positioned at the top of left hand control lever; First invert button and second rotates forward button and is positioned on right hand control lever, and magnet control button is positioned at the top of right hand control lever; Left hand control lever and right hand control lever are fixed in frame (1).Layout like this, handled easily person control.
5. a kind of apple picking according to claim 1, is characterized in that, frame (1) bottom is provided with four universal wheels (100).
6. a kind of apple picking according to claim 1, it is characterized in that, first assembly pulley, second assembly pulley, 3rd assembly pulley, 4th assembly pulley, 5th assembly pulley, 6th assembly pulley, 7th assembly pulley, 8th assembly pulley, 9th assembly pulley is identical with the tenth assembly pulley group structure, include U-shaped holder (1011), adjacent and the first pulley (1012) be installed in parallel on U-shaped holder (1011) and the second pulley (1013), first pulley (1012) and the second pulley (1013) periphery are equipped with groove, first control line (2210) and the second control line (2310) all pass between first pulley (1012) of corresponding assembly pulley and the second pulley (1013).
7. a kind of apple picking according to claim 3, it is characterized in that, place bar (833) periphery, the first semi-ring (835) periphery, the second semi-ring (836) periphery and apple accommodating cavity (84) inner side and be equipped with rubber layer.
8. the method for operating of apple picking according to claim 4, it is characterized in that, comprise the following steps: operator presses first on left hand control lever simultaneously and rotates forward button and the second invert button, control while the first motor (2211) rotates forward, to control the second motor (2311) reversion, put by one of the first control line (2210) and the second control line (2310), receipts, drive slide block (51) motion, and then drive column spinner (4) to be rotated counterclockwise to raise the height of cutting mechanism (6) to the apple height needing to pluck; Then, operator presses the 3rd on left hand control lever and rotates forward the rotating forward of button driving telescopic drive motor, outwards moves make the base of fruit of apple be positioned between the first sword (61) and the second sword (62) to drive scissors; Then operator presses the magnet control button at right hand control lever top, control electromagnet (611) energising, iron block (621) overcomes resistance and electromagnet (611) adhesive of stage clip (63) due to electromagnetic attraction, completes and once shears; The apple cut off enters apple accommodating cavity (84) by collection channel (7); Time infrared inductor has apple to apple accommodating cavity (84), send a signal to controller, controller drives micromachine (834) Unscrew second semi-ring (836) apple to be put into corresponding apple compartment (90); Then controller aligns with the apple compartment (90) of next one sky to adjust apple accommodating cavity (84) according to path clustering first gear drive motor preset and the second gear drive motor, completes a picking process.
9. method of operating according to claim 8, it is characterized in that, controller is according to the path of presetting, control apple accommodating cavity (84) to rest on successively on empty apple compartment (90), until whole apple box (9) sends alarm signal prompting after filling manually change apple box (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410419522.5A CN104255193B (en) | 2014-08-19 | 2014-08-19 | Apple picking and method of operating thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410419522.5A CN104255193B (en) | 2014-08-19 | 2014-08-19 | Apple picking and method of operating thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104255193A true CN104255193A (en) | 2015-01-07 |
| CN104255193B CN104255193B (en) | 2016-05-11 |
Family
ID=52146882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410419522.5A Active CN104255193B (en) | 2014-08-19 | 2014-08-19 | Apple picking and method of operating thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104255193B (en) |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104145614A (en) * | 2014-08-27 | 2014-11-19 | 韩玉龙 | Hydraulic fruit picking manipulator |
| CN104686072A (en) * | 2015-02-15 | 2015-06-10 | 广东省农业科学院蚕业与农产品加工研究所 | Device for picking up high-altitude litchis |
| CN106171288A (en) * | 2016-09-30 | 2016-12-07 | 桂林实力科技有限公司 | A kind of Fructus Momordicae picker |
| CN106501019A (en) * | 2016-11-01 | 2017-03-15 | 无锡艾科瑞思产品设计与研究有限公司 | A kind of automobile-used fruit sampler of food inspection |
| CN106508285A (en) * | 2016-10-26 | 2017-03-22 | 丹阳正联知识产权运营管理有限公司 | Fruit picking device |
| CN106717541A (en) * | 2016-11-21 | 2017-05-31 | 广西大学 | One kind revolution controllable straight line telescopic lever formula machine for picking fruits of multiple degrees of freedom |
| CN106717540A (en) * | 2016-11-21 | 2017-05-31 | 广西大学 | A kind of mixed straight line lever multiple degrees of freedom controllable lift type machine for picking fruits |
| CN106969936A (en) * | 2017-05-11 | 2017-07-21 | 山东省农业科学院农业质量标准与检测技术研究所 | A kind of residual detection field sampler of tomato agriculture |
| CN107493828A (en) * | 2017-09-23 | 2017-12-22 | 安徽秋歌农业开发有限公司 | A kind of Kiwi berry harvester |
| CN107667664A (en) * | 2017-11-23 | 2018-02-09 | 恭城福茂生油茶文化产业发展有限公司 | A kind of picking fruit car |
| CN107683700A (en) * | 2017-10-19 | 2018-02-13 | 贵州务川红宇生物科技开发有限公司 | A kind of oil tea seed harvester |
| CN107690960A (en) * | 2017-11-23 | 2018-02-16 | 恭城福茂生油茶文化产业发展有限公司 | A kind of picking fruit car of fruit automatic classification |
| CN107690969A (en) * | 2017-11-23 | 2018-02-16 | 西北农林科技大学 | A kind of aspirated-air type apple harvests robot |
| CN107896636A (en) * | 2017-11-23 | 2018-04-13 | 恭城福茂生油茶文化产业发展有限公司 | A kind of high tree picking fruit car |
| CN107912143A (en) * | 2017-11-23 | 2018-04-17 | 恭城福茂生油茶文化产业发展有限公司 | A kind of Siraitia grosvenorii picking vehicle |
| CN107969217A (en) * | 2016-10-21 | 2018-05-01 | 甘肃农业大学 | A kind of integration apple-picking platform |
| CN108112354A (en) * | 2018-01-31 | 2018-06-05 | 齐鲁工业大学 | A kind of apple-picking device |
| CN108207322A (en) * | 2016-12-15 | 2018-06-29 | 青田县瓯青机械有限公司 | Light red bayberry picking machine |
| CN108353629A (en) * | 2018-05-22 | 2018-08-03 | 沈阳农业大学 | Small-sized strawberry picks collection machine |
| CN108377741A (en) * | 2018-04-24 | 2018-08-10 | 福建农林大学 | Funneling auxiliary picking citrus device and its application method |
| CN108464115A (en) * | 2018-04-10 | 2018-08-31 | 浙江海洋大学 | A kind of apple picks packaging system automatically |
| CN108513803A (en) * | 2018-06-14 | 2018-09-11 | 梧州学院 | Mandarin orange picks collection device |
| CN108528813A (en) * | 2018-04-10 | 2018-09-14 | 浙江海洋大学 | A kind of apple picks the packaged unit in packaging system automatically |
| CN108718699A (en) * | 2018-08-03 | 2018-11-02 | 湖南文理学院 | A kind of hand-held backpack orange picking machine |
| CN108738700A (en) * | 2018-08-24 | 2018-11-06 | 湖州师范学院 | A kind of monkey tail formula is interlocked apple picking |
| CN109005913A (en) * | 2018-10-19 | 2018-12-18 | 赵银宝 | A kind of convenient picker of novel fruits in agricultural |
| CN109220205A (en) * | 2018-05-23 | 2019-01-18 | 长春师范大学 | Electrodynamic type fruit picking collects all-in-one machine |
| CN110226408A (en) * | 2019-07-04 | 2019-09-13 | 上海海洋大学 | A kind of portable fruit picking collection device and picking collection method |
| CN111579280A (en) * | 2020-05-25 | 2020-08-25 | 内蒙古自治区农牧业科学院 | Device and method for collecting native grassland native grass seeds |
| CN117242985A (en) * | 2023-10-07 | 2023-12-19 | 河北省农林科学院生物技术与食品科学研究所 | Portable winter jujube picking device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2829814A (en) * | 1954-08-02 | 1958-04-08 | Ernest H Warner | Combination ladder and fruit lowerer |
| US3127725A (en) * | 1961-09-20 | 1964-04-07 | Irwin W Richardson | Fruit picker |
| US3413787A (en) * | 1966-08-25 | 1968-12-03 | Frederick W. Van Antwerp | Mechanical fruit picker |
| CN2158396Y (en) * | 1993-02-18 | 1994-03-09 | 甄道瑛 | Quick self-erecting crane |
| CN103782723A (en) * | 2014-03-05 | 2014-05-14 | 山东理工大学 | Air suction comb brushing type winter jujube picking and cleaning harvester |
| CN103947373A (en) * | 2014-05-14 | 2014-07-30 | 山东理工大学 | Remotely-controlled self-propelled serrated-knife-type sophora flower bud picking machine |
-
2014
- 2014-08-19 CN CN201410419522.5A patent/CN104255193B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2829814A (en) * | 1954-08-02 | 1958-04-08 | Ernest H Warner | Combination ladder and fruit lowerer |
| US3127725A (en) * | 1961-09-20 | 1964-04-07 | Irwin W Richardson | Fruit picker |
| US3413787A (en) * | 1966-08-25 | 1968-12-03 | Frederick W. Van Antwerp | Mechanical fruit picker |
| CN2158396Y (en) * | 1993-02-18 | 1994-03-09 | 甄道瑛 | Quick self-erecting crane |
| CN103782723A (en) * | 2014-03-05 | 2014-05-14 | 山东理工大学 | Air suction comb brushing type winter jujube picking and cleaning harvester |
| CN103947373A (en) * | 2014-05-14 | 2014-07-30 | 山东理工大学 | Remotely-controlled self-propelled serrated-knife-type sophora flower bud picking machine |
Cited By (41)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104145614A (en) * | 2014-08-27 | 2014-11-19 | 韩玉龙 | Hydraulic fruit picking manipulator |
| CN104686072A (en) * | 2015-02-15 | 2015-06-10 | 广东省农业科学院蚕业与农产品加工研究所 | Device for picking up high-altitude litchis |
| CN106171288A (en) * | 2016-09-30 | 2016-12-07 | 桂林实力科技有限公司 | A kind of Fructus Momordicae picker |
| CN106171288B (en) * | 2016-09-30 | 2020-05-05 | 桂林实力科技有限公司 | Siraitia grosvenorii picking device |
| CN107969217A (en) * | 2016-10-21 | 2018-05-01 | 甘肃农业大学 | A kind of integration apple-picking platform |
| CN106508285A (en) * | 2016-10-26 | 2017-03-22 | 丹阳正联知识产权运营管理有限公司 | Fruit picking device |
| CN106501019A (en) * | 2016-11-01 | 2017-03-15 | 无锡艾科瑞思产品设计与研究有限公司 | A kind of automobile-used fruit sampler of food inspection |
| CN106717540A (en) * | 2016-11-21 | 2017-05-31 | 广西大学 | A kind of mixed straight line lever multiple degrees of freedom controllable lift type machine for picking fruits |
| CN106717541A (en) * | 2016-11-21 | 2017-05-31 | 广西大学 | One kind revolution controllable straight line telescopic lever formula machine for picking fruits of multiple degrees of freedom |
| CN106717540B (en) * | 2016-11-21 | 2018-11-27 | 广西大学 | A kind of mixed straight line lever multiple degrees of freedom controllable lift type machine for picking fruits |
| CN106717541B (en) * | 2016-11-21 | 2018-11-27 | 广西大学 | A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom |
| CN108207322B (en) * | 2016-12-15 | 2023-06-06 | 青田县瓯青机械有限公司 | Portable waxberry picking machine |
| CN108207322A (en) * | 2016-12-15 | 2018-06-29 | 青田县瓯青机械有限公司 | Light red bayberry picking machine |
| CN106969936A (en) * | 2017-05-11 | 2017-07-21 | 山东省农业科学院农业质量标准与检测技术研究所 | A kind of residual detection field sampler of tomato agriculture |
| CN107493828A (en) * | 2017-09-23 | 2017-12-22 | 安徽秋歌农业开发有限公司 | A kind of Kiwi berry harvester |
| CN107683700A (en) * | 2017-10-19 | 2018-02-13 | 贵州务川红宇生物科技开发有限公司 | A kind of oil tea seed harvester |
| CN107896636A (en) * | 2017-11-23 | 2018-04-13 | 恭城福茂生油茶文化产业发展有限公司 | A kind of high tree picking fruit car |
| CN107912143A (en) * | 2017-11-23 | 2018-04-17 | 恭城福茂生油茶文化产业发展有限公司 | A kind of Siraitia grosvenorii picking vehicle |
| CN107690969B (en) * | 2017-11-23 | 2023-07-21 | 西北农林科技大学 | Air suction type apple harvesting robot |
| CN107667664A (en) * | 2017-11-23 | 2018-02-09 | 恭城福茂生油茶文化产业发展有限公司 | A kind of picking fruit car |
| CN107690960A (en) * | 2017-11-23 | 2018-02-16 | 恭城福茂生油茶文化产业发展有限公司 | A kind of picking fruit car of fruit automatic classification |
| CN107690969A (en) * | 2017-11-23 | 2018-02-16 | 西北农林科技大学 | A kind of aspirated-air type apple harvests robot |
| CN108112354A (en) * | 2018-01-31 | 2018-06-05 | 齐鲁工业大学 | A kind of apple-picking device |
| CN108464115B (en) * | 2018-04-10 | 2021-06-29 | 浙江海洋大学 | Automatic apple picking and packaging system |
| CN108528813B (en) * | 2018-04-10 | 2020-06-19 | 浙江海洋大学 | Packing unit in automatic apple picking and packing system |
| CN108528813A (en) * | 2018-04-10 | 2018-09-14 | 浙江海洋大学 | A kind of apple picks the packaged unit in packaging system automatically |
| CN108464115A (en) * | 2018-04-10 | 2018-08-31 | 浙江海洋大学 | A kind of apple picks packaging system automatically |
| CN108377741A (en) * | 2018-04-24 | 2018-08-10 | 福建农林大学 | Funneling auxiliary picking citrus device and its application method |
| CN108353629A (en) * | 2018-05-22 | 2018-08-03 | 沈阳农业大学 | Small-sized strawberry picks collection machine |
| CN108353629B (en) * | 2018-05-22 | 2023-06-06 | 沈阳农业大学 | Small strawberry picking and collecting machine |
| CN109220205A (en) * | 2018-05-23 | 2019-01-18 | 长春师范大学 | Electrodynamic type fruit picking collects all-in-one machine |
| CN108513803A (en) * | 2018-06-14 | 2018-09-11 | 梧州学院 | Mandarin orange picks collection device |
| CN108718699A (en) * | 2018-08-03 | 2018-11-02 | 湖南文理学院 | A kind of hand-held backpack orange picking machine |
| CN108738700A (en) * | 2018-08-24 | 2018-11-06 | 湖州师范学院 | A kind of monkey tail formula is interlocked apple picking |
| CN108738700B (en) * | 2018-08-24 | 2023-09-08 | 湖州师范学院 | Monkey tail type staggered apple picking machine |
| CN109005913B (en) * | 2018-10-19 | 2021-05-14 | 简胜坚 | A convenient device of picking of fruit for in agricultural |
| CN109005913A (en) * | 2018-10-19 | 2018-12-18 | 赵银宝 | A kind of convenient picker of novel fruits in agricultural |
| CN110226408A (en) * | 2019-07-04 | 2019-09-13 | 上海海洋大学 | A kind of portable fruit picking collection device and picking collection method |
| CN111579280A (en) * | 2020-05-25 | 2020-08-25 | 内蒙古自治区农牧业科学院 | Device and method for collecting native grassland native grass seeds |
| CN117242985A (en) * | 2023-10-07 | 2023-12-19 | 河北省农林科学院生物技术与食品科学研究所 | Portable winter jujube picking device |
| CN117242985B (en) * | 2023-10-07 | 2024-03-08 | 河北省农林科学院生物技术与食品科学研究所 | Portable winter jujube picking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104255193B (en) | 2016-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104255193B (en) | Apple picking and method of operating thereof | |
| CN207235484U (en) | Automatic multifunctional fruit picking device | |
| CN104206122B (en) | A kind of remote control turns a bowl belt clean classification cherry picking machine from walking aspiration comb bar serrated knife | |
| CN206274781U (en) | A kind of automatic picking machine of grape | |
| CN104041466B (en) | A kind of automatic cocoon-picking device | |
| CN104396449B (en) | A kind of remote control is plucked and is turned bowl conveyer belt type from walking aspiration comb and clean classification pears picking machine | |
| CN103404307B (en) | Fully-automatic kiwi fruit picking end effector | |
| CN108745850B (en) | Device of supplementary artifical ware of picking of fruit | |
| CN109964649A (en) | A kind of vegetables and fruits picking machine device and picking method | |
| CN206274782U (en) | A kind of automatic picking machine of novel link type grape | |
| CN107899729B (en) | Energy-concerving and environment-protective type chemical plant apparatus for producing | |
| CN208874857U (en) | A kind of remote control type apple picking | |
| CN205727105U (en) | A kind of Semen Castaneae gathers dolly automatically | |
| CN209063196U (en) | A kind of plastic detonating tube collection device | |
| CN203952169U (en) | A kind of automatic cocoon-picking device | |
| CN108990540B (en) | Auxiliary cherry picking device with comb tooth structure and picking method thereof | |
| CN207075250U (en) | A kind of adjustable for height picking fruit device | |
| CN104718889B (en) | A kind of fruit picker | |
| CN108293430A (en) | Strawberry based on man-machine collaboration harvests integral system | |
| CN107932967A (en) | A kind of five metalworking scrap fast compacting equipment | |
| CN108738697B (en) | Multi-orientation automatic citrus picking device and picking method thereof | |
| CN207083498U (en) | A kind of overhead fruit picking device for preventing from skidding | |
| CN209498301U (en) | Automatically silk cocoon machine is plucked | |
| CN211580713U (en) | Efficient and labor-saving fruit picking vehicle | |
| CN111108910A (en) | Efficient and labor-saving fruit picking vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |