CN112703889A - Negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries - Google Patents
Negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries Download PDFInfo
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- CN112703889A CN112703889A CN202011387693.6A CN202011387693A CN112703889A CN 112703889 A CN112703889 A CN 112703889A CN 202011387693 A CN202011387693 A CN 202011387693A CN 112703889 A CN112703889 A CN 112703889A
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- negative pressure
- sundries
- straight pipe
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/005—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs picking or shaking pneumatically
Abstract
A negative pressure adsorption picking end effector capable of automatically filtering sucked sundries comprises a straight pipe, a negative pressure cavity, an air pipe opening, a rear end buffer cavity, a fruit dropping door, a collecting hose and a sundries collecting device, wherein the front end of the straight pipe is sleeved with a picking opening rubber sleeve, a strip-shaped air passage is arranged between the straight pipe and the negative pressure cavity, the air passage only allows blades, residual branches and chippy sundries to pass through, and fruits cannot pass through; the outer side of the straight pipe is wrapped with a negative pressure cavity, and the straight pipe is communicated with the negative pressure cavity only through an air passage; the inner wall of the straight pipe is provided with a straight pipe buffer layer; the tail end of the straight pipe is provided with a fruit dropping door which is normally in a closed state, so that the air tightness in the straight pipe is ensured; the fruit dropping door is provided with a torsion spring and can be automatically closed after the fruits pass through; a fruit drop door buffer layer is arranged on one side of the fruit drop door facing the interior of the straight pipe, and the rear wall of the negative pressure cavity is fixedly connected with the rear end buffer cavity; a buffer cavity buffer layer is arranged in the rear buffer cavity; the rear end of the rear end buffer cavity is communicated with the collecting hose. The invention can automatically filter and suck sundries.
Description
Technical Field
The invention relates to the field of intelligent picking, in particular to a negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries.
Background
At present, the automation level of domestic fruit picking is low, and most of fruits are picked still in a manual picking mode. There are many drawbacks to the manual picking method. First, manual picking is inefficient, and particularly for some fruits that need to be picked within a short time after ripening, the fruit often has not been picked. Secondly, when some fruits growing on higher trees are picked, the manual picking mode needs to climb to a high place in the field for picking by means of tools such as an escalator, and the like, so that the danger is high; in addition, in recent years, as agricultural labor is gradually shifted to urban factories, the labor power of new generations is mostly unwilling to engage in agricultural production work, so that the labor cost for picking is continuously increased, and the rising trend in the following years can be expected not to be slowed down; even in areas where part of the labor is scarce, employee difficulties may be encountered during the picking season. Therefore, in recent years, the demand for automated picking equipment in the field of fruit picking is becoming stronger.
The negative pressure adsorption type fruit picking robot has the advantages that the picking action is simple, the requirement on positioning accuracy is low, the picking efficiency and the picking success rate are high, when an effective buffer structure is matched, the automatic picking of fruits can be realized under the condition that the fruits are not damaged, and the negative pressure adsorption type fruit picking robot is used for automatic picking of the fruits. The negative pressure adsorption end effector is a key component of the picking robot, and the design of the part determines the picking success rate of the picking robot and the damage rate of fruits.
Domestic invention patent application No. CN201580075405.4 discloses an end effector for robotic harvesting, which specifically discloses an end effector comprising a vacuum generating subsystem and a connection to the vacuum generating subsystem. The end effector has: a first tube having a first diameter; and a second tube having a second diameter smaller than the first diameter so that the second tube is fitted inside the first tube. The invention greatly improves the picking efficiency by a suction picking mode.
Domestic invention patent application No. CN201910418059.5 discloses an end effector for robot harvesting, which specifically discloses an end effector comprising an air inlet, a vacuum suction port connected with a vacuum generating system, and a fruit drop outlet at the lower end. The fruit picking device utilizes the annular air flow generated in the buffer cavity to generate upward lifting force on the fruits to resist the action of free falling bodies when the fruits fall down after being picked, reduces the probability that the falling parabola of the fruits is too long in the horizontal direction and collides with the extending part at the rear end to damage the rear wall, and reduces the fruit damage caused in the picking falling process.
None of the above patents provide an effective treatment solution for leaves, twigs, and debris that may be sucked into the picking end effector during picking.
In the automatic fruit picking process adopting the negative pressure adsorption picking mode, part of sundries such as leaves, residual branches and scraps of fruit trees are inevitably sucked into the end effector together. If the sundries sucked into the picking end effector are not cleaned in time, the sundries can block an air passage of the picking end effector or the harder sundries scratch the inner wall of the picking end effector, so that equipment failure is caused and the automatic picking operation is influenced. Furthermore, if these hard impurities are sucked in with the fruit and transported to the collecting mechanism, additional damage may be caused to the fruit during the collecting process, affecting the quality of the picking. If the mode of manual regular cleaning is adopted, the air passage inside the picking end effector is complex and not easy to clean, the efficiency of continuous work can be influenced, and extra labor is wasted. Therefore, the invention designs the negative pressure adsorption picking end effector which can automatically filter and suck sundries.
Through set up some bar openings between straight tube and negative pressure chamber, make debris such as blade, incomplete branch, piece directly inhaled the negative pressure chamber when through straight tube bar opening in, and then through the tuber pipe mouth, the hose that link to each other with the negative pressure chamber, enter into in the debris collection device. The pipe orifice of the sundries collecting device communicated with the air pipe orifice of the picking end effector extends inwards to the bottom of the sundries collecting device, so that the sucked sundries directly reach the bottom of the sundries collecting device, and the pipe orifice communicated with the vacuum pump does not extend inwards, so that a large height difference exists between the sundries and the pipe orifice communicated with the vacuum pump, the suction force is insufficient to suck the sundries to such a height, and the sundries are ensured not to enter the vacuum pump. The sundries collecting device has larger capacity, and can be cleaned for a long time, so that the continuity of automatic picking operation is ensured.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a negative pressure adsorption picking end effector which can automatically filter sucked sundries.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries comprises a straight pipe, a negative pressure cavity, an air pipe opening, a rear end buffer cavity, a fruit dropping door, a collecting hose and a sundries collecting device, wherein a picking opening rubber sleeve is sleeved at the front end of the straight pipe, a strip-shaped air passage is arranged between the straight pipe and the negative pressure cavity, the air passage only allows blades, residual branches and debris sundries to pass through, and fruits cannot pass through; the outer side of the straight pipe is wrapped with a negative pressure cavity, and the straight pipe is communicated with the negative pressure cavity only through an air passage; the inner wall of the straight pipe is provided with a straight pipe buffer layer; the tail end of the straight pipe is provided with a fruit dropping door which is normally in a closed state, so that the air tightness in the straight pipe is ensured; the fruit dropping door is provided with a torsion spring and can be automatically closed after the fruits pass through; a fruit drop door buffer layer is arranged on one side of the fruit drop door facing the interior of the straight pipe, and the rear wall of the negative pressure cavity is fixedly connected with the rear end buffer cavity; a buffer cavity buffer layer is arranged in the rear buffer cavity; the rear end of the rear end buffer cavity is communicated with the collecting hose.
Furthermore, three air pipe openings connected with the sundries collecting device are arranged on the outer side of the negative pressure cavity, and the three air pipe openings are connected with three downward extending pipe openings connected with a top cover of the sundries collecting device through hoses; the top cover of the sundries collecting device is provided with three downwards extending pipe orifices and four non-downwards extending pipe orifices, the downwards extending pipe orifices enable the sucked sundries to directly reach the bottom of the sundries collecting device, and the four non-downwards extending pipe orifices are communicated with the vacuum pump, so that the two pipe orifices have height difference in the sundries collecting device; the four nozzles which do not extend downwards are connected with four vacuum pumps through hoses; the top cover of the sundries collecting device is fixedly connected with the sundries collecting device through bolts.
Furthermore, the sundries collecting device and the top cover of the sundries collecting device are made of transparent materials, so that a user can clearly and visually see the sundries in the sundries collecting device, and the sundries collecting device is convenient to clean in time.
Furthermore, a connecting port is arranged at the edge of the bottom of the sundries collecting device and is fixed with the picking robot through a bolt;
preferably, the drop door buffer layer, the buffer cavity buffer layer and the straight tube buffer layer can be made of buffer materials such as polyethylene, polypropylene, polystyrene and polyurethane sponge;
the negative pressure chamber and the air nozzle are provided with three evenly distributed, which is arranged so that the end effector is subjected to as uniform as possible a force from the suction hose during movement. The air pipe openings can also adopt more quantity so as to increase the air flow and further improve the negative pressure adsorption force.
The whole outer wall of the negative pressure cavity is cylindrical, the front end of the outer wall of the negative pressure cavity gradually shrinks inwards to match with the diameter of the outer wall of the negative pressure cavity and the outer diameter of the straight pipe, and the front end of the outer wall of the negative pressure cavity is connected with the outer wall of the straight pipe in a sealing mode.
And three pairs of connectors are arranged on the outer side of the negative pressure cavity and used for connecting the picking end executor with the parallel mechanical arms through bolts.
The invention has the following beneficial effects:
1. according to the invention, the strip-shaped air passages are formed between the straight pipe and the negative pressure cavity, so that sundries such as blades, residual branches and scraps can be sucked into the sundry collecting device, and the conditions that the sundries are accumulated and retained in the end effector, the air passages are blocked, the inner wall of the end effector is scratched, fruits are damaged and the like are prevented.
2. According to the fruit picking device, the strip-shaped air passages are formed between the straight pipe and the negative pressure cavity, so that the fruits can be adsorbed in the opposite direction when moving to the rear of the air passages, the speed of the fruits is further reduced, and the damage to the fruits when the fruits collide with the fruit falling door with the rear end of the picking end actuator and the rear end of the picking end actuator is buffered is reduced.
3. The invention is additionally provided with a sundries collecting device communicated with the negative pressure cavity and the vacuum pump, and the pipe orifice of the sundries collecting device communicated with the air pipe orifice of the picking end effector extends downwards to the bottom of the sundries collecting device, so that the sucked sundries directly reach the bottom of the sundries collecting device, and the pipe orifice communicated with the vacuum pump does not extend downwards, therefore, a larger height difference exists between the sundries and the pipe orifice communicated with the vacuum pump, the suction force is not enough to suck the sundries to the height, and the sundries are ensured to be remained in the sundries collecting device and not enter the vacuum pump.
4. The straight pipe buffer layer is arranged on the inner side of the straight pipe, so that the fruit can be prevented from colliding with the inner wall of the straight pipe due to vertical jolt in the transportation process of the fruit in the straight pipe, and the fruit damage probability is reduced.
5. The straight tube buffer layer arranged on the inner side of the straight tube can provide a dynamic friction force opposite to the fruit moving direction, so that the speed of the fruit is reduced, and the probability of collision damage with a fruit drop door is further reduced.
6. According to the invention, the fruit dropping door is arranged at the tail end of the straight pipe, and is closed normally under the action of adsorption force, so that the air tightness of the straight pipe is ensured, and the negative pressure utilization rate is improved; when the fruit contacts the fruit falling door at a certain speed, the fruit falling door is automatically opened, so that the fruit enters the rear end buffer cavity and is automatically closed under the action of the spring.
7. According to the invention, the buffer layer is arranged on the fruit drop door, so that damage to the fruits when the fruits collide with the fruit drop door is reduced.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a left side view of the structure of the present invention;
FIG. 4 is a cross-sectional view of the structure of the present invention;
FIG. 5 is a side view of the invention with the rear cushion chamber removed;
FIG. 6 is a side view of the debris collection system of the present invention;
FIG. 7 is a cross-sectional view of the debris collecting apparatus according to the present invention;
wherein, 1-air pipe orifice, 2-connector, 3-rear buffer cavity, 4-collection hose, 5-fruit falling door, 6-fruit falling door buffer layer, 7-picking mouth rubber sleeve, 8-straight pipe buffer layer, 9-air passage, 10-straight pipe, 11-negative pressure cavity, 12-buffer cavity buffer layer, 13-sundries collection device, 14-sundries collection device top cover, 15-downward extending pipe orifice, 16-non-downward extending pipe orifice.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 7, a negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries comprises a straight pipe 10, a negative pressure cavity 11, an air pipe opening 1, a rear end buffer cavity 3, a fruit dropping door 5, a collecting hose 4 and a sundries collecting device 13, wherein the front end of the straight pipe 10 is sleeved with a picking opening rubber sleeve 7 which has certain flexibility, so that the picking end effector can be suitable for different fruits in a certain range; a plurality of strip-shaped air 9 are arranged between the straight pipe 10 and the negative pressure cavity 11, the air passage 9 only allows sundries such as leaves, residual branches and scraps to pass through, but not fruits; the outer side of the straight pipe 10 is wrapped with a negative pressure cavity 11, and the straight pipe 10 is communicated with the negative pressure cavity 11 only through an air passage 9; the inner wall of the straight pipe 10 is provided with a straight pipe buffer layer 8, the buffer layer can provide a dynamic friction force opposite to the movement direction of the fruits, the speed of the fruits is reduced, the probability of collision and damage of the fruits with a fruit falling door is further reduced, the fruits can be prevented from colliding with the inner wall of the straight pipe 10 due to up-and-down bumping in the transportation process inside the straight pipe 10, and the probability of damage of the fruits is reduced; the tail end of the straight pipe 10 is provided with a fruit dropping door 5, and the fruit dropping door 5 is normally in a closed state to ensure the air tightness in the straight pipe; the fruit dropping door 5 is provided with a torsion spring and can be automatically closed after the fruits pass through; a fruit drop door buffer layer 6 is arranged on one side, facing the interior of the straight pipe, of the fruit drop door 5, and the buffer layer 6 can reduce damage to fruits when the fruits collide with the fruit drop door; the rear wall of the negative pressure cavity 11 is fixedly connected with the rear end buffer cavity 3; a buffer cavity buffer layer 12 is arranged in the rear buffer cavity 3; the rear end of the rear end buffer cavity 3 is communicated with a collecting hose 4;
the outer side of the negative pressure cavity is provided with three air pipe openings 1 connected with a sundries collecting device 13, and the three air pipe openings 1 are connected with three pipe openings 15 which are connected with a top cover 14 of the sundries collecting device and extend downwards through hoses; the top cover 14 of the sundries collecting device is provided with three downwardly extending pipe orifices 15 and four non-downwardly extending pipe orifices 16, the downwardly extending pipe orifices 15 enable the sucked sundries to directly reach the bottom of the sundries collecting device 13, and the four non-downwardly extending pipe orifices 16 are communicated with the vacuum pump, so that the two pipe orifices have height difference in the sundries collecting device 13, the suction force is not enough to suck the sundries to the height, and the sundries are ensured to be left in the sundries collecting device 13 and not to enter the vacuum pump; the four nozzles 16 which do not extend downwards are connected with four vacuum pumps through hoses; the top cover 14 of the sundries collecting device is fixedly connected with the sundries collecting device 13 through bolts;
the sundries collecting device 13 and the sundries collecting device top cover 14 are made of transparent materials, so that a user can clearly and intuitively see the sundries in the sundries collecting device 13, and the sundries are convenient to clean in time;
a connecting port is formed in the edge of the bottom of the sundries collecting device 13, so that the sundries collecting device and the picking robot can be conveniently fixed through bolts;
the fruit drop door buffer layer 6, the buffer cavity buffer layer 12 and the straight tube buffer layer 8 can be made of buffer materials such as polyethylene, polypropylene, polystyrene and polyurethane sponge;
the negative pressure chamber 11 and the air nozzle 1 are arranged with three evenly distributed, in order that the end effector is subjected to as uniform as possible forces from the suction hose during movement. The number of the air pipe openings 1 can be increased to increase the air flow and further improve the negative pressure adsorption force.
The whole outer wall of the negative pressure cavity 11 is cylindrical, the front end of the outer wall of the negative pressure cavity 11 gradually shrinks inwards to match with the diameter of the outer wall of the straight pipe 10, and the front end of the outer wall of the negative pressure cavity 11 is connected with the outer wall of the straight pipe 10 in a sealing mode.
And three pairs of connectors 2 are arranged on the outer side of the negative pressure cavity 11 and are used for connecting the picking end executor with the parallel mechanical arms through bolts.
When picking work starts, the fruit dropping door 5 is in a closed state, the vacuum pump is started, and picked fruits and sundries such as blades, residual branches and scraps are sucked into the straight pipe 1 of the picking end effector. Picking mouth gum cover 7 at first takes place the contact with the apple, and picking mouth gum cover 7 deformation degree when contacting the not equidimension apple is different, guarantees that the gap between apple and the picking mouth gum cover 7 is in less state all the time, and then improves the negative pressure utilization ratio. The apples are then contacted with the straight tube buffer layer 8 within the straight tube 1. The straight tube buffer layer 8 can provide a kinetic friction force opposite to the movement direction of the fruits, reduce the speed of the fruits, further reduce the probability of damage caused by collision with a fruit drop door, and prevent the fruits from colliding with the inner wall of the straight tube 10 due to vertical jolting in the process of transporting the fruits inside the straight tube 10, so that the probability of damage to the fruits is reduced. When passing through the strip-shaped air passage 9 communicating the straight pipe 10 and the negative pressure cavity 11, sundries such as blades, branches, scraps and the like are sucked into the negative pressure cavity 11 through the air passage 9 and then enter the sundries collecting device 13 through the air duct opening 1 and the hose. Connected to the three air nozzles 1 are three downwardly extending nozzles 15 in the top cover 14 of the debris collecting device so that the sucked up debris reaches directly to the bottom of the debris collecting device 13, while in connection with the vacuum pump are four nozzles 16 which do not extend downwards, so that there is a difference in height between the two nozzles in the debris collecting device 13, and the suction is not sufficient to suck up the debris to such a height that it is ensured that the debris is retained in the debris collecting device 13 without entering the vacuum pump. After the fruit passes through the air passage 9, the fruit is subjected to the adsorption force in the opposite direction, and the speed is further reduced. Subsequently, the fruit collides with the drop door breaker 6, so that the drop door 5 opens, the apple enters the rear buffer chamber 3 and falls onto the buffer chamber breaker 12, then into the collection hose 4 and finally falls into the fruit collection device. The fruit dropping door 5 is provided with a torsion spring and can be automatically closed after the apple passes through.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that the conventional terms should be interpreted as having a meaning that is consistent with their meaning in the relevant art and this disclosure. The present disclosure is to be considered as an example of the invention and is not intended to limit the invention to the particular embodiments.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. Such as "horizontal" simply means that its orientation is more horizontal than "vertical," and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
The embodiments described in this specification are merely illustrative of implementations of the inventive concepts, which are intended for purposes of illustration only. The scope of the present invention should not be construed as being limited to the particular forms set forth in the examples, but rather as being defined by the claims and the equivalents thereof which can occur to those skilled in the art upon consideration of the present inventive concept.
Claims (8)
1. A negative pressure adsorption picking end effector capable of automatically filtering sucked sundries is characterized by comprising a straight pipe, a negative pressure cavity, an air pipe opening, a rear end buffer cavity, a fruit dropping door, a collecting hose and a sundry collecting device, wherein a picking opening rubber sleeve is sleeved at the front end of the straight pipe, a strip-shaped air passage is arranged between the straight pipe and the negative pressure cavity, the air passage only allows blades, residual branches and chippy sundries to pass through, and fruits cannot pass through; the outer side of the straight pipe is wrapped with a negative pressure cavity, and the straight pipe is communicated with the negative pressure cavity only through an air passage; the inner wall of the straight pipe is provided with a straight pipe buffer layer; the tail end of the straight pipe is provided with a fruit dropping door which is normally in a closed state, so that the air tightness in the straight pipe is ensured; the fruit dropping door is provided with a torsion spring and can be automatically closed after the fruits pass through; a fruit drop door buffer layer is arranged on one side of the fruit drop door facing the interior of the straight pipe, and the rear wall of the negative pressure cavity is fixedly connected with the rear end buffer cavity; a buffer cavity buffer layer is arranged in the rear buffer cavity; the rear end of the rear end buffer cavity is communicated with the collecting hose.
2. The negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries according to claim 1, wherein three air pipe ports connected with a sundries collecting device are arranged outside the negative pressure cavity, and the three air pipe ports are connected with three connecting downward extending pipe ports of a top cover of the sundries collecting device through hoses; the top cover of the sundries collecting device is provided with three downwards extending pipe orifices and four non-downwards extending pipe orifices, the downwards extending pipe orifices enable the sucked sundries to directly reach the bottom of the sundries collecting device, and the four non-downwards extending pipe orifices are communicated with the vacuum pump, so that the two pipe orifices have height difference in the sundries collecting device; the four nozzles which do not extend downwards are connected with four vacuum pumps through hoses; the top cover of the sundries collecting device is fixedly connected with the sundries collecting device through bolts.
3. The negative pressure adsorption picking end effector capable of automatically filtering sucked sundries according to claim 1 or 2, characterized in that the sundries collecting device and the sundries collecting device top cover are both made of transparent materials.
4. The negative pressure adsorption picking end effector capable of automatically filtering sucked sundries according to claim 1 or 2, wherein a connecting port is arranged at the edge of the bottom of the sundries collecting device and is fixed with a picking robot through a bolt.
5. The negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries according to claim 1 or 2, wherein the drop door buffer layer, the buffer cavity buffer layer and the straight tube buffer layer are all made of polyethylene, polypropylene, polystyrene and polyurethane sponge buffer materials.
6. The negative pressure adsorption picking end effector capable of automatically filtering sucked impurities as claimed in claim 2, wherein the negative pressure cavity and the air nozzle are provided with three uniformly distributed.
7. The negative pressure adsorption picking end effector capable of automatically filtering and sucking impurities as claimed in claim 1 or 2, wherein the outer wall of the negative pressure cavity is cylindrical as a whole, the front end of the outer wall of the negative pressure cavity gradually shrinks inwards to match the diameter of the front end and the outer diameter of the straight pipe, and the front end of the outer wall of the negative pressure cavity is hermetically connected with the outer wall of the straight pipe.
8. The negative pressure adsorption picking end effector capable of automatically filtering sucked impurities as claimed in claim 1 or 2, wherein three pairs of connectors are arranged outside the negative pressure cavity and used for connecting the picking end effector with the bolts of the parallel mechanical arms.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011387693.6A CN112703889A (en) | 2020-12-02 | 2020-12-02 | Negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011387693.6A CN112703889A (en) | 2020-12-02 | 2020-12-02 | Negative pressure adsorption picking end effector capable of automatically filtering and sucking sundries |
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| CN112703889A true CN112703889A (en) | 2021-04-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114051829A (en) * | 2021-10-14 | 2022-02-18 | 中国农业机械化科学研究院 | Orderly fruit guiding and picking device and method for porous single forest fruits |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
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| CN114051829A (en) * | 2021-10-14 | 2022-02-18 | 中国农业机械化科学研究院 | Orderly fruit guiding and picking device and method for porous single forest fruits |
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| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
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Application publication date: 20210427 |