CN114431006A - Picking end effector for reducing damage to plants and fruits - Google Patents
Picking end effector for reducing damage to plants and fruits Download PDFInfo
- Publication number
- CN114431006A CN114431006A CN202210214749.0A CN202210214749A CN114431006A CN 114431006 A CN114431006 A CN 114431006A CN 202210214749 A CN202210214749 A CN 202210214749A CN 114431006 A CN114431006 A CN 114431006A
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- clamping jaw
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- motor
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 91
- 239000012636 effector Substances 0.000 title claims abstract description 20
- 230000001360 synchronised effect Effects 0.000 claims abstract description 42
- 230000009977 dual effect Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 238000003306 harvesting Methods 0.000 abstract description 12
- 238000005452 bending Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 3
- 241000196324 Embryophyta Species 0.000 description 33
- 235000003953 Solanum lycopersicum var cerasiforme Nutrition 0.000 description 23
- 240000003040 Solanum lycopersicum var. cerasiforme Species 0.000 description 23
- 230000005540 biological transmission Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008635 plant growth Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000021028 berry Nutrition 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000008121 plant development Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
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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
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
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- 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
Abstract
The invention discloses a picking end effector for reducing damage to plants and fruits, which comprises a base, a motor base, a double-output motor and a clamping device, wherein a large synchronous belt pulley is mounted on an output shaft at the lower end of the double-output motor, the clamping device comprises a lower clamping jaw and an upper clamping jaw, a rotating device is arranged at the right end of the lower clamping jaw and comprises a small synchronous belt pulley and a friction disc, a curved surface groove is formed in the upper side of the friction disc, micro-nano-scale array bristles are arranged on the inner side of the curved surface groove, the upper clamping jaw is sequentially provided with a guide sliding groove, an L-shaped bending area, a supporting device and an arc baffle from left to right, the supporting device is positioned right above the friction disc and comprises an arc groove, a strip-shaped clamping groove is formed in the arc groove, and movable balls are mounted in the strip-shaped clamping groove. The invention improves the success rate of fruit harvest by using multiple picking modes and reduces the probability of the phenomenon that the branches and leaves of the plants are broken in the picking process.
Description
Technical Field
The invention relates to the technical field of design of end effectors of intelligent agricultural harvesting robots, in particular to a picking end effector capable of reducing damage to plants and fruits.
Background
The plant factory is a high-efficiency agricultural system for realizing annual continuous production of crops by high-precision environmental control in a facility, and is a labor-saving production mode which automatically controls the environmental conditions of temperature, humidity, illumination, CO2 concentration, nutrient solution and the like for plant growth by using an intelligent computer and an electronic sensing system and ensures that the plant growth and development in the facility are not or rarely restricted by natural conditions. The plant factory is an advanced stage of modern facility agricultural development, is a production system with high investment, high technology and fine equipment, integrates biotechnology, engineering technology and system management, and enables agricultural production to be separated from natural ecological constraint. While cherry tomatoes are fed on their ripe juicy berries. The cherry tomato fruit can be eaten raw or cooked, but is preferably eaten raw. The cherry tomatoes are suitable for being planted on balconies, sunning tables and terraces, and can also be hung for decoration, and potted plants are one of better plant types in decoration rooms.
Harvesting of cherry tomato fruits in a plant factory environment has long been a problem faced by harvesting robots. However, the existing harvesting robot end effector has a single picking mode, easily breaks branches and leaves of plants during picking, and can generate irreparable damage to target fruits, thereby greatly reducing the fruit harvesting efficiency; some harvesting robot end effectors cannot constrain the cherry tomato fruits in the arc-shaped grooves of the two upper clamping jaws and cannot contact the bottoms of the cherry tomato fruits with the curved surface grooves of the friction discs. Some harvesting robot end effectors cannot enable the cherry tomato fruit to rotate along the vertical center line of the cherry tomato fruit in the clamping device, are difficult to effectively reduce the connecting capacity of the joint of the fruit and the plant, and cannot provide support for the fruit to be separated from the plant in the joint of the fruit and the plant in a bending picking mode. The end effector of some harvesting robots cannot increase the fit degree of fruits and friction discs, reduce the static friction effect of the fruits and the friction discs and make the fruits and the friction discs difficult to rotate synchronously. Some harvesting robot end effectors cannot cover remote transmission parts such as a small synchronous belt pulley and the like, so that transmission failure caused by the fact that stems and leaves of plants enter the transmission parts is effectively prevented, the phenomenon that the small synchronous belt pulley and a synchronous belt touch the stems and leaves of the plants to move fruits is further reduced, and the risk of picking failure is increased; the harvesting robot end effector can not only ensure the connection between the base and the motor base but also can not realize the rotary motion function of the base, and when the fruit is clamped, the fruit can not be separated from the plant at the joint of the fruit and the plant in a bending picking mode. Therefore, there is a need for a picking end effector that is simple in structure, quick and convenient to operate, safe, and efficient, and reduces damage to plants and fruits.
Disclosure of Invention
The invention aims to solve the technical problem, overcomes the defects of the prior art, and provides a picking end effector which is simple in structure, quick, convenient, safe and efficient to operate and can reduce the damage of plants and fruits.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a picking end effector capable of reducing damage to plants and fruits comprises a base and a motor base, wherein the motor base is located at the left end of the base, the picking end effector further comprises a double-output motor and a clamping device, the double-output motor is installed in the base through a connecting sleeve, output shafts of the double-output motor are vertically arranged, the clamping device is located at the right end of the base, a large synchronous belt wheel is installed on an output shaft at the lower end of the double-output motor, the clamping device comprises a lower clamping jaw and an upper clamping jaw, a rotating device is arranged at the right end of the lower clamping jaw and comprises a small synchronous belt wheel and a friction disc, the small synchronous belt wheel and the friction disc are installed at the right end of the lower clamping jaw through a connecting shaft, the small synchronous belt wheel and the friction disc are also located at the lower side of the lower clamping jaw and the upper side of the lower clamping jaw respectively, and the small synchronous belt wheel is connected with the large synchronous belt wheel through a toothed belt, the upside of friction disk is equipped with the curved surface groove, the inboard in curved surface groove is equipped with the little nanoscale array seta, the slope of the little nanoscale array seta sets up, the incline direction of the little nanoscale array seta is opposite with the direction of rotation of friction disk, it has a plurality of to receive the nanoscale array seta, and the length of the little nanoscale array seta reduces along the friction disk direction of radius in proper order, last clamping jaw has two, and symmetric distribution is at the right-hand member of base, last clamping jaw is equipped with direction spout, L shape bending zone, strutting arrangement and cowl from a left side to the right side in proper order, strutting arrangement is located the friction disk directly over, strutting arrangement includes the arc wall, the inside of arc wall is equipped with banded draw-in groove, install movable ball in the banded draw-in groove, cowl is located the upside of arc wall, cowl's material is the flexible glue, the inner side of the arc-shaped baffle is provided with an inclined groove, and the inclined groove is also positioned at the lower part of the arc-shaped baffle.
The left end of base is equipped with ring flange first, the left end of ring flange first is connected with horizontal output motor through the torque disc, horizontal output motor installs in the motor cabinet, the left end of motor cabinet is equipped with ring flange second, the right-hand member of base is equipped with T shape slip table, the last clamping jaw is installed on T shape slip table through the direction spout, the hidden box is all installed to the downside of base and next clamping jaw.
The upper end of the double-output motor is connected with a rotating connecting rod through an output shaft, two ends of the rotating connecting rod are respectively connected with an arc-shaped rod through hinges, and the end part of the arc-shaped rod is connected with the left end of the upper clamping jaw through a hinge.
The movable balls are provided with a plurality of movable balls and are evenly distributed in the strip-shaped clamping grooves.
When the cherry tomato friction disc is used on site, firstly, an operator connects the whole device to the tail end of the mechanical arm through the flange B, and after the picking robot determines the position and the posture of the cherry tomato fruit through the visual positioning system, the mechanical arm moves the whole position of the device to enable the cherry tomato fruit to be located between the friction disc and the two arc-shaped grooves.
Secondly, the double-output motor is started to enable the output shafts of the double-output motor to rotate, the output shafts at the upper ends of the double-output motor enable the rotating connecting rod to rotate, the rotating connecting rod enables the two upper clamping jaws to move oppositely along the T-shaped sliding table through the arc-shaped rod, the fruits are restrained in the arc-shaped groove, the surface of the fruits is in contact with the movable ball, and the bottom of the fruits is in contact with the surface of the curved surface groove. Meanwhile, an output shaft at the lower end of the double-output motor enables the large synchronous belt wheel to rotate, the large synchronous belt wheel enables the small synchronous belt wheel to rotate through the synchronous belt, the small synchronous belt wheel enables the friction disc to rotate, and the friction disc enables fruits in the curved surface groove to rotate synchronously under the action of friction force.
Finally, due to the transmission ratio of the large synchronous belt wheel and the small synchronous belt wheel, when the fruit is restrained between the upper clamping jaw and the lower clamping jaw, the fruit rotates for a certain number of turns, the double-output motor is turned off at the moment, the horizontal output motor is started, the base rotates for a certain angle, then the whole device is moved away from the current position of the device through the mechanical arm, the fruit is separated from the plant, and the fruit picking operation is completed.
Compared with the prior art, the invention has the beneficial effects that: the fruit picking method disclosed by the invention has the advantages that the fruit harvesting success rate is improved by using various picking modes, and the probability of the phenomenon that the branches and leaves of the plants are broken in the picking process can be effectively reduced. The fruit is rotated at the joint of the fruit and the plant by screwing the picking mode, the connecting force of the joint of the fruit and the plant is reduced, the fruit is bent at the joint of the fruit and the plant by the bending mode, and finally the grabbed fruit is pulled away from the current position by adopting the pulling operation mode, so that the fruit and the plant are successfully separated. The clamping device with the lower clamping jaw and the upper clamping jaw is arranged to help the cherry tomato fruit to be restrained in the arc-shaped grooves of the two upper clamping jaws and to help the bottom of the cherry tomato fruit to be in contact with the curved surface grooves of the friction disc. The cherry tomato fruit is rotated along the vertical center line of the cherry tomato fruit in the clamping device through the rotating device, the connecting capacity of the joint of the fruit and the plant is reduced through the rotation of the cherry tomato fruit along the vertical center line of the cherry tomato fruit, and the fruit and the plant can be separated through a bending picking mode at the joint of the fruit and the plant to provide support for the fruit. The friction disc with the micro-nano scale array bristles and the curved surface grooves is arranged, so that the fitting degree of fruits and the friction disc is facilitated, the friction force between the fruits and the friction disc is increased, and the fruits and the friction disc synchronously rotate. The length of the micro-nano scale array bristles is sequentially reduced along the radius direction of the friction disc by setting the inclination direction of the micro-nano scale array bristles to be opposite to the rotation direction of the friction disc, so that the attachment effect of different positions of fruits and the friction disc is increased, the static friction effect of the fruits and the friction disc is enhanced, and the fruits and the friction disc synchronously rotate. Through setting up direction spout and L shape bending area help realizing that two upper clamping jaws remove in opposite directions and to fruit middle part centre gripping and support function, prevent the head of two upper clamping jaw centre gripping fruits, lead to two upper clamping jaws can not successfully retrain the fruit. By arranging the supporting device, the arc-shaped groove, the strip-shaped clamping groove and the movable ball, cherry tomato fruits are restrained in the arc-shaped groove, and certain support is provided for the fruits, when the fruits rotate along with the friction disc, the surfaces of the fruits can rotate between the two upper clamping jaws through the movable ball, the arc-shaped baffle plate and the inclined groove can help the middle parts of the cherry tomato fruits to be better attached to the two upper clamping jaws, the hidden box can help to cover remote transmission parts such as a small synchronous pulley and the like, the stem leaves of plants are prevented from entering the transmission parts to cause transmission failure, the small synchronous pulley and the synchronous belt can be reduced from touching the stem leaves of the plants, the fruits can move, the risk of picking failure is increased, and by arranging the horizontal output motor, the flange plate A and the flange plate B not only help to be connected with the base and the motor base but also help to realize the rotary motion function of the base, when the fruit is held, the fruit can be through bending the mode of picking with fruit and plant separation in fruit and plant junction, have T shape slip table and direction spout through the setting and help two upper clamping jaws along T shape slip table relative motion, make the arc wall among the strutting arrangement and the cherry tomato fruit surface of being grabbed contact and realize the support function, through setting up dual output motor, rotary device, rotatory connecting rod and arc pole both help rotary device to make the friction disk rotatory and help making two upper clamping jaws along T shape slip table relative motion, and simple structure, high durability and convenient operation, economy and practicality.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a portion of the base and clamping device of FIG. 1;
FIG. 3 is a partial schematic structural view of the connection between the arc-shaped baffle and the upper clamping jaw in FIG. 1;
FIG. 4 is a schematic diagram of a micro-nano scale array bristle arrangement on the friction disk of FIG. 1;
FIG. 5 is a diagram showing the fruit picking effect in the grip area according to the present invention.
In the figure: 1. a base; 11. a flange plate A; 111. a horizontal output motor; 12. a T-shaped sliding table; 2. a motor base; 21. a flange plate B; 3. a dual output motor; 31. a large synchronous pulley; 32. rotating the connecting rod; 33. an arcuate bar; 4. a clamping device; 41. a lower clamping jaw; 411. a rotating device; 4111. a small synchronous pulley; 4112. a friction disk; 42. an upper clamping jaw; 421. a guide chute; 422. an L-shaped bending region; 423. a support device; 4231. an arc-shaped slot; 4232. a strip-shaped clamping groove; 4233. a movable ball; 424. an arc-shaped baffle plate; 4241. an inclined groove; 5. a curved groove; 51. micro-nano scale array seta; 6. and (4) hiding the box.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.
As shown in fig. 1, 2, 3 and 4, the picking end effector for reducing damage to plants and fruits comprises a base 1 and a motor base 2, wherein the motor base 2 is located at the left end of the base 1, and further comprises a dual-output motor 3 and a clamping device 4, the dual-output motor 3 is installed in the base 1 through a connecting sleeve, output shafts of the dual-output motor 3 are vertically arranged, the clamping device 4 is located at the right end of the base 1, a large synchronous pulley 31 is installed on an output shaft at the lower end of the dual-output motor 3, the clamping device 4 comprises a lower clamping jaw 41 and an upper clamping jaw 42, a rotating device 411 is arranged at the right end of the lower clamping jaw 41, the rotating device 411 comprises a small synchronous pulley 4111 and a friction disc 4112, the small synchronous pulley 4111 and the friction disc 4112 are installed at the right end of the lower clamping jaw 41 through a connecting shaft, the small synchronous pulleys 4111 and 4112 are further located at the lower side of the lower clamping jaw 41 and at the upper side of the lower clamping jaw 41 respectively, little synchronous pulley 4111 is connected with big synchronous pulley 31 through the toothed belt, friction disk 4112's upside is equipped with curved surface groove 5, curved surface groove 5's inboard is equipped with a little yardstick array seta 51, the slope of a little yardstick array seta 51 sets up, the incline direction of a little yardstick array seta 51 is opposite with friction disk 4112's direction of rotation, a little yardstick array seta 51 has one hundred, and the length of a little yardstick array seta 51 reduces along friction disk 4112 radius direction in proper order, last clamping jaw 42 has two, and symmetric distribution is at the right-hand member of base 1, last clamping jaw 42 is equipped with direction spout 421, L shape bending zone 422, strutting arrangement 423 and arc baffle 424 from a left side to the right side in proper order, strutting arrangement 423 is directly over friction disk 4112, strutting arrangement 423 includes arc wall 4231, arc wall 4231's inside is equipped with banded draw-in groove 4232, movable balls 4233 are installed in the strip-shaped clamping grooves 4232, the arc baffle 424 is located on the upper side of the arc-shaped groove 4231, the arc baffle 424 is made of soft rubber, an inclined groove 4241 is formed in the inner side of the arc baffle 424, and the inclined groove 4241 is also located on the lower portion of the arc baffle 424.
As fig. 1, fig. 2 and fig. 3, the left end of base 1 is equipped with ring flange first 11, the left end of ring flange first 11 is connected with horizontal output motor 111 through the torque disk, horizontal output motor 111 installs in motor cabinet 2, the left end of motor cabinet 2 is equipped with ring flange second 21, the right-hand member of base 1 is equipped with T shape slip table 12, upward clamping jaw 42 installs on T shape slip table 12 through direction spout 421, hidden box 6 is all installed to the downside of base 1 and lower clamping jaw 41.
As shown in fig. 1 and 2, the upper end of the dual-output motor 3 is connected to a rotating link 32 through an output shaft, two ends of the rotating link 32 are respectively connected to an arc-shaped rod 33 through a hinge, and an end of the arc-shaped rod 33 is connected to a left end of an upper clamping jaw 42 through a hinge.
As shown in fig. 2, six movable balls 4233 are uniformly distributed in the strip-shaped slot 4232.
When the cherry tomato friction disc device is used on site, firstly, an operator connects the whole device to the tail end of the mechanical arm through the flange plate B21, and after the picking robot determines the position and the posture of the cherry tomato fruits through the visual positioning system, the mechanical arm moves the position of the whole device, so that the cherry tomato fruits are located between the friction disc 4112 and the two arc-shaped grooves 4231.
Secondly, the double-output motor 3 is started to rotate the output shafts of the double-output motor 3, the output shafts at the upper ends of the double-output motor 3 rotate the rotating connecting rod 32, the rotating connecting rod 32 enables the two upper clamping jaws 42 to move oppositely along the T-shaped sliding table 12 through the arc-shaped rod 33, the fruit is restrained in the arc-shaped groove 4231, the surface of the fruit is in contact with the movable ball 4233 at the moment, and the bottom of the fruit is in contact with the surface of the curved groove 5. At the same time, the output shafts at the lower ends of the two output motors 3 rotate the large synchronous pulley 31, the large synchronous pulley 31 rotates the small synchronous pulley 4111 via the synchronous belt, the small synchronous pulley 4111 rotates the friction disc 4112, and the friction disc 4112 rotates the fruit in the curved groove 5 synchronously due to the friction force.
Finally, due to the transmission ratio of the large synchronous pulley 31 and the small synchronous pulley 4111, when the fruit is constrained between the upper clamping jaw 42 and the lower clamping jaw 41, the fruit rotates for a certain number of turns, at this time, the dual-output motor 3 is turned off, the horizontal output motor 111 is started, the base 1 rotates for a certain angle, and then the whole device is moved away from the current position of the device through the mechanical arm, so that the fruit is separated from the plant, and the fruit picking operation is completed.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A picking end effector for reducing damage to plants and fruits, comprising a base and a motor base, wherein the motor base is located at the left end of the base, and is characterized in that: still include dual output motor and clamping device, dual output motor passes through the adapter sleeve and installs in the base, the output shaft of dual output motor is vertical to be arranged, clamping device is located the right-hand member of base, big synchronous pulley is installed to the output shaft of dual output motor lower extreme, clamping device includes next clamping jaw and upper clamping jaw, the right-hand member of next clamping jaw is equipped with rotary device, rotary device includes little synchronous pulley and friction disc, little synchronous pulley passes through the connecting axle with the friction disc and installs the right-hand member at next clamping jaw, little synchronous pulley and friction disc still are located the downside of next clamping jaw and the upside of next clamping jaw respectively, little synchronous pulley is connected with big synchronous pulley through the toothed belt, the upside of friction disc is equipped with the curved surface groove, the inboard in curved surface groove is equipped with the micro-nano scale array seta, the slope of micro-nano scale array seta, receive the incline direction of yardstick array seta and the rotation direction of friction disk opposite, receive yardstick array seta a number a little, and receive the length of yardstick array seta a reduce along friction disk radius direction in proper order a little, upper clamping jaw has two, and the symmetric distribution is at the right-hand member of base, upper clamping jaw is equipped with direction spout, L shape district, strutting arrangement and cowl from the left side right side in proper order, strutting arrangement is located the friction disk directly over, strutting arrangement includes the arc wall, the inside of arc wall is equipped with the banded draw-in groove, install movable ball in the banded draw-in groove, cowl is located the upside of arc wall, cowl's material is the flexible glue, cowl's inboard is equipped with the inclined groove, the inclined groove still is located cowl's lower part.
2. A picking end effector for reducing plant and fruit damage according to claim 1, wherein: the left end of base is equipped with ring flange first, the left end of ring flange first is connected with horizontal output motor through the torque disc, horizontal output motor installs in the motor cabinet, the left end of motor cabinet is equipped with ring flange second, the right-hand member of base is equipped with T shape slip table, the last clamping jaw is installed on T shape slip table through the direction spout, the hidden box is all installed to the downside of base and next clamping jaw.
3. A picking end effector for reducing plant and fruit damage according to claim 1, wherein: the upper end of the double-output motor is connected with a rotating connecting rod through an output shaft, two ends of the rotating connecting rod are respectively connected with an arc-shaped rod through hinges, and the end part of the arc-shaped rod is connected with the left end of the upper clamping jaw through a hinge.
4. A picking end effector for reducing plant and fruit damage according to claim 1, wherein: the movable balls are provided with a plurality of movable balls and are evenly distributed in the strip-shaped clamping grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214749.0A CN114431006A (en) | 2022-03-07 | 2022-03-07 | Picking end effector for reducing damage to plants and fruits |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210214749.0A CN114431006A (en) | 2022-03-07 | 2022-03-07 | Picking end effector for reducing damage to plants and fruits |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114431006A true CN114431006A (en) | 2022-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210214749.0A Withdrawn CN114431006A (en) | 2022-03-07 | 2022-03-07 | Picking end effector for reducing damage to plants and fruits |
Country Status (1)
| Country | Link |
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| CN (1) | CN114431006A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
-
2022
- 2022-03-07 CN CN202210214749.0A patent/CN114431006A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
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Application publication date: 20220506 |