CN112136539B - Fruit and vegetable pruning and leaf beating actuator and pruning robot - Google Patents

Fruit and vegetable pruning and leaf beating actuator and pruning robot Download PDF

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Publication number
CN112136539B
CN112136539B CN202010859048.3A CN202010859048A CN112136539B CN 112136539 B CN112136539 B CN 112136539B CN 202010859048 A CN202010859048 A CN 202010859048A CN 112136539 B CN112136539 B CN 112136539B
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China
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pruning
clamping
fruit
vegetable
clamping finger
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CN112136539A (en
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冯青春
王秀
姜凯
张春凤
范鹏飞
邹伟
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Beijing Research Center of Intelligent Equipment for Agriculture
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Beijing Research Center of Intelligent Equipment for Agriculture
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/08—Other tools for pruning, branching or delimbing standing trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Food Science & Technology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

The embodiment of the invention provides a fruit and vegetable pruning and threshing actuator and a pruning robot, wherein the fruit and vegetable pruning and threshing actuator comprises a clamping mechanism, and the clamping mechanism comprises a first clamping finger and a second clamping finger; the limiting piece is arranged on one side of the clamping mechanism and is provided with an attaching surface for attaching the main stem of the pre-pruning fruit and vegetable; the first clamping finger and the second clamping finger are arranged side by side and are used for rotating along opposite rotation directions; the first clamping fingers and the second clamping fingers are used for forming a first distance when the clamping mechanism is in a first state and forming a second distance when the clamping mechanism is in a second state, and the second distance is smaller than the first distance; the invention realizes non-shearing pruning and leaf-removing of the pre-pruning fruits and vegetables, avoids the problem that the shearing pruning mode needs frequent cutter replacement, and causes the risk of disease and insect pest propagation among plants due to contact infection of the cut, and can be applied to the pruning robot to greatly improve the operation efficiency of pruning and leaf-removing and reduce the labor cost.

Description

Fruit and vegetable pruning and leaf beating actuator and pruning robot
Technical Field
The invention relates to the technical field of agricultural intelligent equipment, in particular to a fruit and vegetable pruning and leaf beating actuator and a pruning robot.
Background
Pruning and threshing are a necessary link for cultivation and management of fruits and vegetables such as tomatoes, cucumbers, peppers and the like, and the whole production cycle of the fruits and vegetables is penetrated. Through reasonably pruning and threshing, the balance of plant nutrition and reproductive growth can be adjusted, the ventilation and light transmission conditions among plants are improved, the risk of plant diseases and insect pests is reduced, and the method has important significance for improving the yield and the quality of fruits and vegetables.
At present, in the greenhouse production of fruits and vegetables, a single-stem pruning cultivation mode is generally adopted, namely only the main stem of a plant is reserved, and all branches and leaves in the bottom area of the plant are removed. In field pruning operations, a cutting tool is typically used to cut off the leaves or lateral branches from the trunk of the plant. Because there is the problem of repeated contact between the cutter of the shearing tool and the cuts on different plants during pruning, the risk of spreading the plant diseases and insect pests among different plants is easily caused. Meanwhile, in the pruning operation, the cutter is frequently required to be frequently replaced so as to adapt to the pruning operation of different types of plants, the finger of an operator is easily accidentally injured, and the safety of agricultural production is not favorably ensured.
In addition, because the plant needs to be pruned and threshed 2-3 times every week, the pruning operation is carried out only by a shearing tool manually, the labor intensity is high, the operation efficiency is low, and a large amount of planting management cost is consumed.
Disclosure of Invention
One of the purposes of the embodiment of the invention is to provide a fruit and vegetable pruning and threshing actuator, which is used for solving the problem that the current shearing type pruning mode for plants needs frequent replacement of cutters, and the risk of disease and insect pest propagation among plants is caused by contact infection of cuts.
The second purpose of the embodiment of the invention is to provide a pruning robot based on the fruit and vegetable pruning and leaf beating actuator, which is used for solving the problems of high labor intensity, low efficiency and high labor cost of the existing manual pruning operation.
The embodiment of the invention provides a fruit and vegetable pruning and leaf beating actuator, which comprises: a clamping mechanism comprising a first clamping finger and a second clamping finger; the limiting piece is arranged on one side of the clamping mechanism and is provided with an attaching surface for attaching the main stem of the pre-pruning fruit and vegetable; wherein the first and second gripping fingers are arranged side-by-side for rotation in opposite rotational directions; the first clamping finger and the second clamping finger are used for forming a first distance when the clamping mechanism is in a first state and forming a second distance when the clamping mechanism is in a second state; the second distance is smaller than the first distance, so that the clamping mechanism clamps the branches and leaves of the pre-pruning fruits and vegetables and generates a pulling force far away from one side of the main stem in the process of switching from the first state to the second state.
According to the fruit and vegetable pruning and threshing actuator disclosed by the embodiment of the invention, the first clamping finger and the second clamping finger are identical in structure and are used for realizing synchronous rotation.
According to one embodiment of the invention, the first clamping finger and the second clamping finger both comprise a main shaft, and a first structure and a second structure which are formed on the side wall of the main shaft, wherein the first structure is a plane, and the second structure is a convex arc surface.
According to one embodiment of the fruit and vegetable pruning and threshing actuator, the clamping mechanism further comprises a rotary driving device, the rotary driving device is provided with two output ends, one output end is connected with one end of the first clamping finger, and the other output end is connected with one end of the second clamping finger.
According to one embodiment of the fruit and vegetable pruning and threshing actuator, the rotary driving device comprises a driving motor and a gear assembly, an output end of the driving motor is connected with an input end of the gear assembly, and two output ends of the gear assembly are correspondingly connected with one ends of the first clamping finger and the second clamping finger.
According to one embodiment of the fruit and vegetable pruning and threshing actuator, the gear assembly comprises a driving gear and a driven gear, the driving gear is meshed with the driven gear, the output end of the driving motor is coaxially connected with the driving gear, and the end faces of the driving gear and the driven gear, which are far away from one side of the driving motor, are correspondingly connected with the first clamping finger and the second clamping finger.
According to the fruit and vegetable pruning and threshing actuator disclosed by the embodiment of the invention, the limiting piece is provided with the guide notches, and the guide notches are arranged along the gap between the first clamping finger and the second clamping finger.
According to one embodiment of the fruit and vegetable pruning and threshing actuator, the shape of the guide notch comprises any one of a V shape, a long strip shape and a trapezoid shape.
An embodiment of the present invention further provides a pruning robot, including: the fruit and vegetable pruning and threshing actuator is arranged at the tail end of the mechanical arm and is in communication connection with the binocular vision mechanism.
The fruit and vegetable pruning and leaf pruning actuator and the pruning robot provided by the embodiment of the invention have the advantages that the first clamping fingers and the second clamping fingers are arranged side by side and are arranged to rotate along opposite rotation directions, when the clamping mechanism is sequentially in the first state and the second state, the first distance and the second distance are correspondingly formed between the two clamping fingers, as the second distance is smaller than the first distance, when the branches and leaves of pre-pruned fruits and vegetables are placed between the two clamping fingers, the distance between the two clamping fingers can be gradually reduced in the process of switching the clamping mechanism from the first state to the second state, the branches and leaves of the pre-pruned fruits and vegetables are clamped, meanwhile, as the two clamping fingers rotate along the opposite rotation directions, the two clamping fingers can jointly generate tension force on the branches and leaves of the pre-pruned fruits and vegetables far away from one side of the main stem of the pre-pruned fruits and vegetables in the clamping process, when the main stem of the pre-pruning fruit and vegetable is limited through the limiting part, the tension can drive the branches and leaves of the pre-pruning fruit and vegetable to be separated from the main stem, so that non-shearing type pruning and leaf-removing are carried out on the pre-pruning fruit and vegetable, the problem that the shearing type pruning mode needs to replace cutters frequently, the risk of disease and insect pest propagation among plants is caused due to contact infection of the cut is solved, meanwhile, the tension can be applied to a pruning robot, the operation efficiency of pruning and leaf-removing is greatly improved, and the labor cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a pruning and leaf-threshing actuator for fruits and vegetables according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a clamping mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a fruit and vegetable pruning and threshing actuator according to an embodiment of the present invention in a first state relative to a pre-pruned fruit and vegetable;
FIG. 4 is a schematic structural diagram of the fruit and vegetable pruning and threshing actuator according to the embodiment of the invention in one of the intermediate states between the first state and the second state, relative to a pre-pruned fruit and vegetable;
fig. 5 is a schematic structural diagram of the fruit and vegetable pruning and threshing actuator in the second state relative to the pre-pruning fruit and vegetable according to the embodiment of the invention.
In the figure, 1, a clamping mechanism; 11. a first clamping finger; 12. a second clamping finger; 13. a drive motor; 14. a gear assembly; 141. a driving gear; 142. a driven gear; 2. a limiting member; 21. a guide notch; 3. a support plate; 4. a housing; 5. pre-pruning fruits and vegetables.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 and fig. 2, the embodiment provides a pruning and leaf-threshing actuator for fruits and vegetables, comprising: the clamping mechanism 1, the clamping mechanism 1 includes the first and second clamping fingers 11 and 12; the limiting piece 2 is arranged on one side of the clamping mechanism 1, and is provided with an attaching surface for attaching the main stem of the pre-pruning fruit and vegetable; wherein the first gripping finger 11 is arranged side by side with the second gripping finger 12 and is intended to rotate in opposite sense of rotation; the first clamping finger 11 and the second clamping finger 12 are used for forming a first distance when the clamping mechanism 1 is in a first state and forming a second distance when the clamping mechanism 1 is in a second state; the second distance is smaller than the first distance, so that in the process that the clamping mechanism 1 is switched from the first state to the second state, the branches and leaves of the pre-pruning fruits and vegetables are clamped, and pulling force far away from one side of the main stem is generated.
Specifically, in the actuator shown in this embodiment, the first clamping fingers 11 and the second clamping fingers 12 are arranged side by side and configured to rotate in opposite rotation directions, when the clamping mechanism 1 is in the first state and the second state in sequence, the first distance and the second distance are correspondingly formed between the two clamping fingers, since the second distance is smaller than the first distance, when the branches and leaves of the pre-pruning fruit and vegetable are placed between the two clamping fingers, the distance between the two clamping fingers is gradually reduced in the process that the clamping mechanism 1 is switched from the first state to the second state, so as to clamp the branches and leaves of the pre-pruning fruit and vegetable, and meanwhile, since the two clamping fingers rotate in opposite rotation directions, the two clamping fingers also generate a pulling force on the branches and leaves of the pre-pruning fruit and vegetable away from one side of the main stem of the pre-pruning fruit and vegetable together in the clamping process, when the main stem of the pre-pruning fruit and vegetable is limited by the limiting member 2, the pulling force can drive branches and leaves of the pre-pruning fruits and vegetables to be separated from main stems of the pre-pruning fruits and vegetables, so that non-shearing type pruning and leaf beating are carried out on the fruits and vegetables, the problems that a cutter needs to be frequently replaced in a shearing type pruning mode, and the risk of disease and pest propagation among plants due to incision contact infection exists are avoided.
It should be noted that, in the embodiment, by providing the limiting member 2 at one side of the clamping mechanism 1, when pruning branches and leaves of the pre-pruned fruit and vegetable, the limiting member 2 can be attached to one side of the stem of the pre-pruned fruit and vegetable, the clamping mechanism 1 clamps the stem of the branches and leaves of the pre-pruned fruit and vegetable, and when a tensile force is formed at the joint of the stem and the stem, the stem can be prevented from moving based on the limiting member 2, so as to separate the stem from the stem; certainly, in the process of pruning and threshing, a manual operation mode can be adopted, one hand of a worker holds the actuator shown in the embodiment, the other hand holds the main stem of the pre-pruning fruit and vegetable, and based on the clamping of the clamping mechanism 1 on the branches and leaves of the pre-pruning fruit and vegetable and the pulling force of one side far away from the main stem, the branches and leaves can be separated from the main stem.
Meanwhile, the first holding finger 11 and the second holding finger 12 shown in the present embodiment may be provided in the same structure or in different structures, and are not particularly limited. Wherein, when the two clamping fingers (the first clamping finger 11 and the second clamping finger 12) have different structures, one of the clamping fingers can be designed as a first circular shaft, the other clamping finger can be designed as a second circular shaft, and a bent neck is arranged on the second circular shaft or a clamping block is welded on the side wall of the second circular shaft, so that when the two clamping fingers rotate along opposite rotation directions, the clamping mechanism 1 can be switched from a first state to a second state, and the distance between the two clamping fingers is correspondingly switched from the first distance to the second distance, wherein, the first state can be set as the initial state of the clamping mechanism 1, the distance between the two clamping fingers reaches the maximum value to form the first distance, the second state can be set as the best clamping state of the clamping mechanism 1 to the branches and leaves of the fruit and vegetable in the pre-pruning branch, and the distance between the two clamping fingers reaches the minimum value, to form a second pitch.
In one preferred embodiment, in order to facilitate the operation and control and ensure the reliable clamping of the branches and leaves of the pre-pruning fruits and vegetables, the two clamping fingers are designed to be the same in structure and rotate in opposite rotation directions and simultaneously realize synchronous rotation. As shown in fig. 2, the first clamping finger 11 and the second clamping finger 12 of the present embodiment both include a main shaft, and a first structure and a second structure are formed on a side wall of the main shaft; when the clamping mechanism 1 is in the first state, the first clamping finger 11 corresponds to the first structure on the second clamping finger 12; when the gripper mechanism 1 is in the second state, the first gripping fingers 11 correspond to the second structures on the second gripping fingers 12.
As shown in fig. 2, the first structure shown in this embodiment is a flat surface formed on the side wall of the spindle, and the second structure is a convex arc surface formed on the side wall of the spindle. In this way, the first and second clamping fingers 11, 12 can be designed as spindles with semicircular cross sections, so that when the clamping mechanism 1 is in the first state, the planes on the two clamping fingers correspond, and when the clamping mechanism 1 is in the second state, the circular arc surfaces on the two clamping fingers correspond.
In a further preferred embodiment, as shown in fig. 2, the clamping mechanism 1 further comprises a rotary drive having two outputs, one of which is connected to one end of the first clamping finger 11 and the other of which is connected to one end of the second clamping finger 12.
Specifically, the rotation driving device shown in this embodiment includes a driving motor 13 and a gear assembly 14, an output end of the driving motor 13 is connected to an input end of the gear assembly 14, and two output ends of the gear assembly 14 are correspondingly connected to one ends of the first clamping finger 11 and the second clamping finger 12.
The gear assembly 14 includes a driving gear 141 and a driven gear 142, the driving gear 141 and the driven gear 142 are rotatably mounted on the supporting plate 3, the driving gear 141 is engaged with the driven gear 142, the output end of the driving motor 13 is coaxially connected to the driving gear 141, and the end surfaces of the driving gear 141 and the driven gear 142 far away from the driving motor 13 are correspondingly connected to the first clamping fingers 11 and the second clamping fingers 12.
It should be noted that the clamping mechanism 1 shown in this embodiment can be installed in the housing 4 to provide better protection for the driving motor 13 and the gear assembly 14, and to ensure the overall aesthetic appearance of the clamping mechanism 1.
As shown in fig. 1, based on the improvement of the above embodiment, the limiting member 2 shown in this embodiment is preferably a limiting baffle, a guiding notch 21 may be formed in the limiting baffle, the guiding notch 21 is arranged along the gap between the first clamping finger 11 and the second clamping finger 12, so that the petiole can be guided between the two clamping fingers through the guiding notch 21, so as to perform pruning operation on the pre-pruned fruit and vegetable, wherein the shape of the guiding notch 21 includes any one of a "V" shape, a long strip shape and a trapezoid shape, and the shape of the guiding notch 21 shown in this embodiment is preferably the "V" shape as shown in fig. 1.
The following describes the process of pruning the branches and leaves of the pre-pruned fruit and vegetable 5 with reference to fig. 3 to 5.
As shown in fig. 3, when the planes of the two clamping fingers are opposite to each other, the clamping mechanism 1 is in an initial state, the attaching surface of the limiting member 2 is close to the main stem of the pre-pruned fruit and vegetable 5, and the petioles of the upper branches and leaves of the pre-pruned fruit and vegetable 5 are placed between the planes of the two clamping fingers under the guidance of the guiding notch 21.
After the drive motor 13 on the gripper mechanism 1 is started, the two gripper fingers rotate synchronously in opposite directions of rotation, the planes on the two gripper fingers rotate towards the side away from the main stem of the pre-pruned fruit and vegetable 5, and the arc surfaces on the two gripper fingers are continuously close to each other. When the two gripping fingers are rotated to the state shown in fig. 4, the respective planes on the two gripping fingers are in a coplanar state.
As shown in fig. 5, as the two clamping fingers continue to rotate, the arc surfaces on the two clamping fingers gradually clamp the petioles in the process of approaching each other. After the leaf handles are clamped, the leaf handles can be driven to move away from the main stem along with the continuous rotation of the two clamping fingers, the main stem cannot move due to the limiting action of the limiting part 2, so that a pulling force is formed at the joint parts of the leaf handles and the main stem, and when the pulling force is greater than the joint force of the leaf handles and the main stem, the leaf handles are separated from the main stem, so that the non-shearing type pruning and leaf-removing operation of the pre-pruning fruits and vegetables 5 is realized.
Preferably, the present embodiment further provides a pruning robot, including: the fruit and vegetable pruning and threshing actuator is arranged at the tail end of the mechanical arm and is in communication connection with the binocular vision mechanism, wherein the binocular vision mechanism can select a binocular camera known in the field.
Specifically, the embodiment can position the branches and leaves of the pre-pruned fruits and vegetables through the binocular vision mechanism, and transmit detected positioning information to the control system of the pruning robot, and the control system can send a control instruction to control the mechanical arm to send the fruit and vegetable pruning and leaf beating actuator shown in the embodiment to a target position, and correspondingly adjust the posture of the fruit and vegetable pruning and leaf beating actuator, so that when the leaf handles of the branches and leaves of the pre-pruned fruits and vegetables are placed between the two clamping fingers, non-shearing pruning and leaf beating operation can be performed on the pre-pruned fruits and vegetables. Therefore, based on the pruning robot disclosed by the embodiment, the operation efficiency of pruning and threshing can be greatly improved, and the labor cost is reduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

Claims (9)

1. A fruit and vegetable pruning and leaf beating actuator is characterized by comprising:
a clamping mechanism comprising a first clamping finger and a second clamping finger;
the limiting piece is arranged on one side of the clamping mechanism and is provided with an attaching surface for attaching the main stem of the pre-pruning fruit and vegetable;
the first clamping finger and the second clamping finger are arranged side by side and used for rotating along opposite rotation directions; the first clamping finger and the second clamping finger are used for forming a first distance when the clamping mechanism is in a first state and forming a second distance when the clamping mechanism is in a second state; the second pitch is smaller than the first pitch;
in the process that the clamping mechanism is switched from the first state to the second state, the clamping mechanism clamps the branches and leaves of the pre-pruning fruits and vegetables and generates a pulling force on one side far away from the main stem, and the movement of the main stem is stopped based on the limiting part so as to separate the petioles from the main stem.
2. The implement of claim 1, wherein the first and second clamp fingers are identical in structure and configured to rotate in unison.
3. The implement of claim 2, wherein the first and second fingers each comprise a main shaft and first and second structures formed on a sidewall of the main shaft, the first structure is a flat surface, and the second structure is a convex arc surface.
4. The fruit and vegetable pruning and threshing actuator according to any one of claims 1 to 3, wherein the clamping mechanism further comprises a rotary driving device, the rotary driving device is provided with two output ends, one of the output ends is connected with one end of the first clamping finger, and the other output end is connected with one end of the second clamping finger.
5. The fruit and vegetable pruning and threshing actuator according to claim 4, wherein the rotary driving device comprises a driving motor and a gear assembly, an output end of the driving motor is connected with an input end of the gear assembly, and two output ends of the gear assembly are correspondingly connected with one ends of the first clamping finger and the second clamping finger.
6. The fruit and vegetable pruning and threshing actuator according to claim 5, wherein the gear assembly comprises a driving gear and a driven gear, the driving gear is meshed with the driven gear, the output end of the driving motor is coaxially connected with the driving gear, and the end surfaces of the driving gear and the driven gear, which are far away from one side of the driving motor, are correspondingly connected with the first clamping finger and the second clamping finger.
7. The fruit and vegetable pruning and threshing actuator according to any one of claims 1 to 3, wherein the limiting member is provided with a guide notch, and the guide notch is arranged along a gap between the first clamping finger and the second clamping finger.
8. The implement of claim 7, wherein the shape of the guiding notch comprises any one of a "V" shape, a long strip shape and a trapezoid shape.
9. A pruning robot, comprising: the arm, its characterized in that still includes: the binocular vision mechanism and the fruit and vegetable pruning and threshing actuator as claimed in any one of claims 1 to 8 are mounted at the tail end of the mechanical arm and are in communication connection with the binocular vision mechanism.
CN202010859048.3A 2020-08-24 2020-08-24 Fruit and vegetable pruning and leaf beating actuator and pruning robot Active CN112136539B (en)

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CN112136539B true CN112136539B (en) 2022-07-01

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EP3796771B1 (en) * 2018-05-22 2023-08-02 Octiva Belgium BV Improved method and apparatus for automatically picking a fruit
CN114342685B (en) * 2021-12-09 2023-03-14 北京市农林科学院智能装备技术研究中心 Fruit and vegetable pruning device

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CN103548496B (en) * 2013-10-21 2015-11-04 华南农业大学 Class circle fruit and vegetable picking end effector, method and robot
CN208258442U (en) * 2018-05-08 2018-12-21 湖州佳创自动化科技有限公司 A kind of end effector of spheral fruit picking robot
CN110050566B (en) * 2019-04-23 2022-01-18 重庆智田科技有限公司 Pulling mechanism of radish harvesting robot
CN210987166U (en) * 2019-10-24 2020-07-14 中国计量大学 Tomato branch and leaf trimming device
CN110603976B (en) * 2019-10-24 2024-04-26 中国计量大学 Tomato branch and leaf trimming device and trimming method thereof

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