NL2027682B1 - A device for manipulating like harvesting agriculture as well as an apparatus for harvesting agriculture - Google Patents

A device for manipulating like harvesting agriculture as well as an apparatus for harvesting agriculture Download PDF

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Publication number
NL2027682B1
NL2027682B1 NL2027682A NL2027682A NL2027682B1 NL 2027682 B1 NL2027682 B1 NL 2027682B1 NL 2027682 A NL2027682 A NL 2027682A NL 2027682 A NL2027682 A NL 2027682A NL 2027682 B1 NL2027682 B1 NL 2027682B1
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NL
Netherlands
Prior art keywords
nozzle
area
apple
aperture
elastically deformable
Prior art date
Application number
NL2027682A
Other languages
Dutch (nl)
Inventor
Arnoldus Johannes Maria Michiels Henricus
Original Assignee
Smicin B V
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Smicin B V filed Critical Smicin B V
Priority to NL2027682A priority Critical patent/NL2027682B1/en
Application granted granted Critical
Publication of NL2027682B1 publication Critical patent/NL2027682B1/en

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Classifications

    • 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
    • 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
    • A01D46/24—Devices for picking apples or like fruit
    • A01D46/253—Portable motorised fruit pickers
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/0683—Details of suction cup structure, e.g. grooves or ridges

Abstract

A device for manipulating like harvesting agriculture, which device comprises a vacuum assembly and a movable nozzle, wherein the nozzle comprises 5 at least one aperture being connected to the vacuum assembly. The device comprises a further vacuum assembly, wherein the nozzle comprises at least one further aperture being connected to the further vacuum assembly, wherein the at least one aperture is located in a first area, the at least one further aperture is located in a second area, whereby the second area at least partly surrounds the first 10 area.

Description

A device for manipulating like harvesting agriculture as well as an apparatus for harvesting agriculture
FIELD OF THE INVENTION The invention relates to a device for manipulating like harvesting agriculture, which device comprises a vacuum assembly and a movable nozzle, wherein the nozzle comprises at least one aperture being connected to the vacuum assembly.
The invention also relates to an apparatus for manipulating like harvesting agriculture.
BACKGROUND OF THE INVENTION By such a device which is known from WO2020154473A1 the nozzle comprises a membrane with a large number of holes. When a strawberry is located on one side of the membrane, vacuum is applied from the other side of the membrane due to which the strawberry will be pulled against the membrane and the membrane forms its shape to the strawberry. By doing so a number of holes in the membrane will be blocked by the strawberry. However, the holes which are not covered and closed by the strawberry will be open due to which there will be a vacuum leak. Due to the vacuum leak a relatively large vacuum must be applied to guarantee a good grip on the strawberry. The surface area of the membrane to convey the negative vacuum pressure is relatively small. Only the surface area of the covered holes by the fruit convert a gripping pressure. This will result in a relatively weak grip.
SUMMARY OF THE INVENTION
At least one of the objects of the invention is to provide a device for harvesting agriculture whereby the agriculture can easily and without being damaged can be harvested.
This object is accomplished with the device according to the invention in that the device comprises a further vacuum assembly, wherein the nozzle comprises at least one further aperture being connected to the further vacuum assembly, wherein the at least one aperture is located in a first area, the at least one further aperture is located in a second area, whereby the second area at least partly surrounds the first area.
Since there are two vacuum assemblies each applying a different area with vacuum, a vacuum leak in one area has no influence on the vacuum on the other area. Furthermore, by harvesting agriculture like vegetables or fruit such as apples, the first area can be brought against a first part of the apple whilst the second can be brought against a second part of the same apple, which second part surrounds the first part. Since the second area at least partly surrounds the first area, the second area will have larger outer dimension so that a firmer grip will occur by at the second area than at the first area. The agriculture like fruit or vegetables will have different shapes and dimensions. For example apples will have a common general shape but there will be deviations in dimensions and some of the apples will have dents in or bumps on in. The smaller first area will more like be attached to a smooth and unaffected surface of the fruit or vegetable.
The device according to the invention can be used for gripping spherically shaped fruits and vegetables, for example apples, pears, plums, tomato’s, unions or potatoes to harvest, sort or transport them fast and reliable without damaging them.
The applied vacuum can be the same or different for the two areas.
Preferably the second area is located in a plane closer to the agriculture to be harvested than the plane wherein the first area is located. Due to the offset both areas will come about the same time into contact with the spherically shaped agricultural product like apples, peaches, pears etc. The offset is between the planes of contact of the first and second area depends on the diameter of the agriculture and is for example 10 millimetre.
An embodiment of the device according to the invention is characterized in that the at least one aperture has a circular cross section, whilst the at least one turther aperture has a ring shaped cross section, wherein the circular cross section and ring shaped cross section are concentrically located with respect to each other.
Bv having a first aperture with a circular cross section and a second aperture with a ring shaped cross section, the device is provided with relatively simple apertures which can be easily made. The ring shaped cross section corresponds to the spherically shaped fruits and vegetables. Also the round elastically deformable shape supports a lot of friction with the fruit supplying the nozzle with extra grip.
Another embodiment of the device according to the invention is characterized in that one or a number of apertures are located in the first area and/or the second area.
One aperture has the advantage that is can be easily made. By one aperture the surface thereof can be as large as the respective area. A number of spaced apart apertures in one area has the advantage that by the same total surface of all the apertures, a larger area will be covered. A larger area has the advantage that the agriculture can be grasped over a larger surface. A large grasp surface will lead to less pressure needed to manipulate the agriculture. Less pressure results in less change of damaging the fruit and a decrease in power usage to generate the lower level vacuum.
Another embodiment of the device according to the invention is characterized in that the vacuum assembly and the further vacuum assembly are independently controlled by a controller.
By controlling the vacuum assemblies independently, each vacuum assembly can be provide with the subnormal pressure suitable for the respective area.
Another embodiment of the device according to the invention is characterized in that the nozzle is rotatable about a central axis.
Bv rotating the nozzle the to be harvested fruit or vegetable can be disconnected from the environment like trees or shrubberies.
Another embodiment of the device according to the invention is characterized in that the central axis extends substantially perpendicular to the first area and/or second area.
Preferably the first and second areas extend parallel to each other. By having the central axis extending substantially perpendicular to the first area and second area, these areas will be simultaneously rotated with the nozzle.
Another embodiment of the device according to the invention is characterized in that the nozzle is pivotable about a pivot axis extends substantially perpendicular to the central axis.
In this manner a shear force and/or moment will be applied between the to be harvested fruit or vegetable can be disconnected from the environment like trees or shrubberies. This has the advantage that the stalk or stem remains intact and attached to the fruit or vegetable. . Normally, the fruit or vegetable is harvested by a torsion moment, a tilting moment and a pulling force.
Another embodiment of the device according to the invention is characterized in that the nozzle comprises a first elastically deformable element surrounding the first area and/or a second elastically deformable element surrounding the second area.
By having an elastically deformable element, the element can be deformed to the shape of the fruit or vegetable so that a better grip of the fruit or vegetable is obtained.
Another embodiment of the device according to the invention is characterized in that the first area has a diameter in a range of 10 — 40 millimetre, whilst the second area has a diameter in a range of 40 —100 millimetre.
BRIEF DESCRIPTION OF THE DRAWINGS
The device and apparatus according to the invention will further be explained with reference to the drawings, wherein, figure 1 is a perspective view of a first embodiment of an apparatus for harvesting agriculture according to the invention comprising devices according to 5 the invention, figures 2-5 are detailed perspective views of the apparatus as shown in figure 1, figure 6A and 6B are a perspective view and cross section of a first embodiment of a nozzle of the device as shown in figures 1 and 5, figures 7A-7C are perspective views of harvesting an apple with the device according to the invention, figure 8 is a cross section of the first embodiment of the nozzle of the device as shown in figures 6A and 6B when holding an apple, figure 9 is a cross section of the second embodiment of the nozzle of the device according to the invention when holding an apple, figure 10 is a cross section of the third embodiment of the nozzle of the device according to the invention when holding an apple, figures 11-14 are different views of the basic principle of the device according to the invention when holding an apple, figure 15 is a perspective view of a second embodiment of an apparatus for harvesting agriculture according to the invention comprising devices according to the invention, figure 16 is a detailed perspective view of the apparatus as shown in figure 15, In the drawings, like reference numerals refer to like elements.
DESCRIPTION OF PREFERRED EMBODIMENTS Figure 1 shows a perspective view of an apparatus 1 for harvesting agriculture according to the invention comprising devices 2 according to the invention. In the description below the apparatus 1 and device 2 are being used to harvest apples 3 from trees 4. It will be clear that the apparatus 1 and device 2 can also be used in a similar manner for harvesting any kind of agriculture which can be picked up by means of vacuum. Examples of such agriculture are fruit and vegetables like apples, pears, plums, kiwi’s, walnuts, oranges, tangerines, lemons, limes tomatoes for harvesting. Soil grown vegetables such as potatoes and unions are not so suitable to be harvested with the device. They can however be manipulated after harvesting during sorting and packing for example by means of the apparatus 1 and device 2.
The apparatus 1 comprises a frame 5 provided with wheels 6 to be movable over a surface. The frame 5 is provided with six devices 2, six tracks 7 to transport a harvested apple 3 to a main conveyor 8 as well as a container 9 to collect the harvested apples 3. More or less devices 2 and tracks 7 are also possible.
As can be seen in figure 2, the track 7 comprises a gutter 10, if desired provided with a conveyor to transport the apple 3 in a direction as indicated by arrow Pi to the main conveyor 8.
As can be seen in figure 3, the main conveyor 8 comprises a transport belt 11 to transport the apples 3 in a direction as indicated by arrow P2 to the main container 9.
As can be seen in figure 4, the container 9 is located near and below an end of the main conveyor 8, wherein apples 3 reaching the end of the transport belt 11 will fall automatically in a direction as indicated by arrow P3 into the container 9.
Figure 5 shows a device 2 of the invention. The device 2 comprises a number of articulated arms 12, which can be moved with respect to each under the control of a central controller (not shown) on the frame 5. One end of the device 2 is mounted on the frame 5. The other end of the device 2 is provided with a nozzle
13.
The lower arm 12 is pivotable with respect to the frame 5 about a vertical axis in and opposite to a direction as indicated by arrow P4.
The upper arm 12 is pivotable with respect to the lower arm 12 about a horizontal axis in and opposite to a direction as indicated by arrow Ps.
The nozzle 13 is rotatable with respect to the upper arm 12 about a central axis extending parallel to the longitudinal axis of the arm 12 in and opposite to a direction as indicated by arrow P6. Figures 6A and 6B show a perspective view and cross section of a first embodiment of the nozzle 13 according to the invention. The nozzle 13 comprises a first aperture 14 being connected to a first vacuum assembly as well as a second aperture 15 being connected to a second vacuum assembly. The vacuum assemblies (not shown) are mounted on the frame 5 and are connected to the central controller. The first and second vacuum assembly are independently controlled by the controller to be able to control the vacuum or negative pressure for example to maximum values in a range from below o bar to -0,9 bar at the first aperture 14 and in a range from below 0 bar to -0,5 bar at the second aperture 15.
Since the first aperture 14 is smaller than the second aperture 15 this may result in applying the same suction force at each aperture.
The vacuum in each aperture 14, 15 is preferably measured and amended continuously during the harvesting and transporting of the fruit to a level being such that the applied suction force is as low as possible but high enough to hold the fruit. This means for example that during transporting the fruit at a constant velocity, the suction force can be lower than during acceleration. During harvesting, when a torsion moment, a tilting moment and a pulling force are applied on the fruit, the suction force must also be higher. The exact suction force for each aperture 14, 15 depends a.0. on the kind of fruit to be harvested or manipulated, the acceleration forces etc.
The first aperture 14 is located in a first area, whilst the second aperture aperture is located in a second area, whereby the second area fully surrounds the first area. The first area has a diameter in a range of 10 — 40 millimetre, whilst the second area has a diameter in a range of 40 —100 millimetre.
The first aperture 14 has a circular cross section, whilst the second aperture 15 has a ring shaped cross section. The circular cross section and ring shaped cross section are concentrically located with respect to each other. The second aperture 15 being is ring-shaped has preferably a distance between the outer and inner ring of 1-10 millimetre.
The first aperture 14 is connected via a channel 16 in the nozzle 13 to the tirst vacuum assembly. When the first vacuum assembly is activated a flow of air in the direction as indicated by arrow P7 will occur.
The second aperture 15 is connected via a channel 17 in the nozzle 13 to the second vacuum assembly. When the second vacuum assembly is activated a flow of air in the direction as indicated by arrow PS will occur.
The nozzle 13 comprises a first elastically deformable element 18 surrounding the first area comprising the first aperture 14. The first elastically deformable element 18 can be made from silicone or other elastomers. The cross section of the first elastically deformable element 18 is circular with a radius Ri of 1-10 millimetre The nozzle 13 comprises a second elastically deformable element 19 surrounding the second area comprising the second aperture 15. The second elastically deformable element 19 can be made from silicone or other elastomers. The cross section of the a second elastically deformable element 19 is circular with a radius R2 of 10-30 millimetre.
As can be seen in figure 6B an outer surface of the first elastically deformable element 18 is located in a plane S1 located closed to the channels 16, 17 as an outer surface of the second elastically deformable element 19 which is located in a plane S2. The distance D1 between the planes S1, S2 is in the range of 5 and 20 mm. The planes S1, S2 extend perpendicular to the central axis about which the nozzle 13 is being rotatable in and opposite to the direction as indicated by arrow P6.
Figures 7A-7C show perspective views of harvesting an apple 3 with the device 2 comprising nozzle 13. Under the control of the controller arms 12 of the device 2 are being pivoted and rotated to bring the nozzle 13 into the vicinity of an apple 3 hanging with a stalk 21 in the trees 4. The vacuum assemblies are switched on so that a flow of air is created in the directions indicated by arrows P7, P8. Due to the flow of air the apple 3 is sucked against deformable element 18, 19. As soon as the elastically deformable element 18, 19 will be fully into contact with the apple 3 the respective aperture 14, 15 is closed. Since the vacuum assemblies are still switched on, a subnormal pressure will be present in the channels 16, 17 due to which the apple 3 will be held firmly against the deformable elements 18, 19. Under the control of the controller arms 12 of the device 2 are now being pivoted and rotated to disconnect the apple 3 from the stalk 21 (see figure 7B).
Subsequently the nozzle 13 with the apple 3 will be brought above the gutter of the track 7. The vacuum in the channels 16,17 will be removed and the apple 3 will fall into the gutter 10. The apple 3 will be transported via the main conveyor 8 10 to the container 9.
Figure 8 shows cross section of the first embodiment of the nozzle 13 of the device as shown in figures 6A and 6B when holding an apple 3. By pulling the apple under vacuum towards the nozzle 13, the elements 18, 19 are being deformed provide a relatively large surface of contact with the apple 3. As can be seen the elastically deformable elements 18, 19 are fully into contact with the apple 3 at positions 22 so that both apertures 14, 15 are closed. The elements 18, 19 have a circular cross section.
Figure 9 shows cross section of the second embodiment of the nozzle 23 of the device 2. The nozzle 23 differs from the nozzle 13 in that the second elastically deformable element 24 surrounding the ring shaped aperture 15 in the same manner as the second elastically deformable element 19 has a different cross section. The cross section of the second elastically deformable element 24 is crescent shaped with a flange 25 extending outwardly. The flange 25 can easily be deformed by the apple 3. This shape allows a high rated of deformation. This deformation results in a Jarge vacuum surface plane to ensure a sufficient grip.
Figure 10 shows cross section of the third embodiment of the nozzle 33 of the device 2. The nozzle 33 differs from the nozzle 13 in that the second elastically deformable element 34 surrounding the ring shaped aperture 15 in the same manner as the second elastically deformable element 19 has a different cross section. The cross section of the second elastically deformable element 34 is pear-shaped with an apex 35 extending outwardly. The apex 35 can easily be deformed by the apple 3 . The second elastically deformable element 34 both deforms in large rates, as well as supply sufficient support (friction) to the fruit to support it during accelerations of the arms 12 Figures 11-14 show different views of the basic principle of the device 2according to the invention when holding an apple 3.
Figure 11 shows an apple 3 with a nozzle 43 comprising a first elastically deformable element 44 and a second elastically deformable element 45, Each elastically deformable elements 44, 45 rest at its full circumference against the apple
3. Due to the vacuum created by the two vacuum assemblies the apple 3 is firmly pulled against elastically deformable elements 44, 45. The apple 3 in figure 11 has a nicely curved surface at the locations where it rests against the elastically deformable elements 44, 45.
The apple 3 in figure 12 has a slightly deformed curved surface at the right side of the first elastically deformable element 44. Due to the deformation of the element 44, the element 44 still rests against its full circumference against the apple
3. Due to the vacuum created by the two vacuum assemblies the apple 3 is firmly pulled against elastically deformable elements 44, 45.
The apple 3 in figure 13 has a dent 46 at a location of the first elastically deformable element 44. Due to the dent 46 the first elastically deformable element 44 will not rest against its full circumference against the apple 3. A flow of air along the dent 46 into the first aperture 14 will occur in the direction indicated by arrow P9 when the first vacuum assembly is switched on. Due to this vacuum leak the apple 3 will not be hold by the first aperture 14 of the nozzle 43. However since the second elastically deformable element 45 rests at its full circumference against the apple 3, the vacuum created by the second vacuum assembly will firmly pull the apple 3 against elastically deformable element 45 and the apple 3 can still be harvested.
The apple 3 in figure 14 has a dent 47 at a Jocation of the second elastically deformable element 45. Due to the dent 47 the second elastically deformable
U element 45 will not rest against its full circumference against the apple 3. A flow of air along the dent 47 into the second aperture 15 will occur in the direction indicated by arrow Pio when the second vacuum assembly is switched on. Due to this vacuum leak the apple 3 will not be hold by the second aperture 15 of the nozzle 43. However since the first elastically deformable element 44 rests at its full circumference against the apple 3, the vacuum created by the first vacuum assembly will firmly pull the apple 3 against elastically deformable element 44 and the apple 3 can still be harvested.
The outer surfaces of the against elastically deformable elements can be provided with an anti-slip layer so that the apple 3 will be firmly held when rotating the nozzle with the apple 3 with respect to the tree 4.
Figures 15 and 16 show a perspective view and detailed perspective view of a second embodiment of an apparatus 51 for harvesting or manipulating agriculture according to the invention comprising devices 52 according to the invention.
The apparatus 51 and devices 52 differs from the apparatus 1 and devices 2 in that the devices 52 comprises three articulated arms 12 providing a greater degree of freedom of movement of the nozzles 13.
It is also possible that a number of apertures are located in the first area and or in the second area. This can be realised for example by providing the apertures 14, 15 with membranes comprising relatively small air vents.
It is also possible that the second area only partly surround the first area.
It is possible to have a third area surrounding the second area, which third area is provided with at least one aperture connected to a third vacuum assembly. More areas with apertures connected to a other vacuum assemblies is also possible.
The device 2, 52 as shown in figure 5, 16 comprises two and three articulated arms 12. It is also possible to comprise four or more articulated arms 12.
It is also possible that instead of a device comprising articulated arms 12 other devices for moving the nozzle is being used, like a pick-and-place delta robot.
A large contact surface between the agriculture and the elastically deformable elements results in a low leak in both vacuum area’s. The elastic elements ensure a large scale of agriculture shapes and sizes can be manipulated with the device according to the invention. Non-elastically non-deformable elements are also possible. However, when the elements are not elastic and not deformable, a much higher suction rate would be necessary due to a leak area induced by the irregular shape of the agriculture. This would result in the need of more power.
The usage of a vacuum (decompressing pressure) compared to compressing pressure (clasping) has the advantage that the resistance until visible damage due to decompression of fruits (such as apples and pears) occurs is larger than when compressing pressure is applied. This means apples can be exposed to a larger rate of decompression pressure than compressing pressure without perceiving visible damage to the fruit. Secondly, the required working volume (the amount of space needed to grip the fruit or vegetable) is smaller. When compressing is used clasps of some sort must be positioned around the fruit or vegetable. By doing this, chances of hitting a surrounding fruit or vegetable are increased. This would result in unwanted damage to the surrounding fruits. By using decompression, the nozzle can be positioned to the approximate position, vacuum is switched on, and the fruit/vegetable will be grasped. Chances of touching surrounding fruits is small this way.
By having at least two vacuum areas ensures a good grip of the fruit. If, due to suboptimal positioning of the nozzle 13 by the arms 12, a leak remains in the contact surface between the first aperture 14 and the fruit the lost grip strength is compensated for by the second aperture 15.
LIST OF REFERENCE SIGNS 1 apparatus 2 device 3 apple 4 tree frame 6 wheel 7 track 8 conveyor 5 9 container gutter u transport belt 12 arm 13 nozzle 1O 14 first aperture second aperture 16 channel 17 channel 18 first elastically deformable element 15 19 second elastically deformable element 21 stalk 22 position 23 nozzle 24 second elastically deformable element flange 33 nozzle 34 second elastically deformable element 35 apex 43 nozzle 25 44 first elastically deformable element 45 second elastically deformable element 46 dent 47 dent 51 appararus 52 device
Di distance P1 arrow P2 arrow P3 arrow Pg arrow
Ps arrow Pe arrow P7 arrow P8 arrow
Pg arrow Ri radius R2 radius S1 plane S2 plane

Claims (12)

ConclusiesConclusions 1. Inrichting (2, 52) voor het manipuleren zoals oogsten van gewassen, welke inrichting een vacuüm samenstel en een verplaatsbaar mondstuk (13, 23, 33, 43) omvat, waarbij het mondstuk (13, 23, 33, 43) ten minste een opening (14) omvat die verbonden is met het vacuüm samenstel, met het kenmerk, dat de inrichting (2, 52) een verder vacuüm samenstel omvat, waarbij het mondstuk (13, 23, 33, 43) ten minste een verdere opening (15) omvat die verbonden is met het verdere vacuüm samenstel, waarbij de ten minste ene opening (14) is gelegen in een eerste gebied, de ten minste ene opening (15) is gelegen in een tweede gebied, waarbij het tweede gebied ten minste gedeeltelijk het eerste gebied omgeeft.Apparatus (2, 52) for manipulation such as crop harvesting, the apparatus comprising a vacuum assembly and a movable nozzle (13, 23, 33, 43), the nozzle (13, 23, 33, 43) being at least comprises an opening (14) connected to the vacuum assembly, characterized in that the device (2, 52) comprises a further vacuum assembly, the nozzle (13, 23, 33, 43) having at least one further opening ( 15) connected to the further vacuum assembly, the at least one opening (14) being located in a first region, the at least one opening (15) being located in a second region, the second region being at least partially surrounds the first area. 2. Inrichting (2, 52) volgens conclusie 1, met het kenmerk, dat de ten minste ene opening (14) een cirkelvormige doorsnede omvat, terwijl de ten minste ene verdere opening (15) een ringvormige doorsnede heeft, waarbij de cirkelvormige doorsnede en de ringvormige doorsnede concentrisch ten opzichte van elkaar zijn gelegen.A device (2, 52) according to claim 1, characterized in that the at least one opening (14) has a circular cross-section, while the at least one further opening (15) has an annular cross-section, the circular cross-section and the annular cross-section are concentric to each other. 3. Inrichting (2, 52) volgens conclusie 1 of 2, met het kenmerk, dat een of een aantal openingen (14) in het eerste gebied zijn gelegen.A device (2, 52) according to claim 1 or 2, characterized in that one or more openings (14) are located in the first region. 4. Inrichting (2, 52) volgens conclusie 1 of 2, met het kenmerk, dat een of een aantal verdere openingen (14) in het tweede gebied zijn gelegen.A device (2, 52) according to claim 1 or 2, characterized in that one or more further openings (14) are located in the second region. 3. Inrichting (2, 52) volgens een der voorgaande conclusies, met het kenmerk, dat het vacuüm samenstel en het verdere vacuüm samenstel onafhankelijk worden geregeld door een regelaar.An apparatus (2, 52) according to any one of the preceding claims, characterized in that the vacuum assembly and the further vacuum assembly are controlled independently by a controller. 6. Inrichting (2, 52) volgens een der voorgaande conclusies, met het kenmerk, dat het mondstuk (13, 23, 33, 43) roteerbaar is rond een centrale as.A device (2, 52) according to any one of the preceding claims, characterized in that the nozzle (13, 23, 33, 43) is rotatable about a central axis. 7. Inrichting (2, 52) volgens conclusie 6, met het kenmerk, dat de centrale as zich in hoofdzaak loodrecht uitstrekt op het eerste gebied en/of het tweede gebied.A device (2, 52) according to claim 6, characterized in that the central axis extends substantially perpendicular to the first region and/or the second region. 8. Inrichting (2, 52) volgens conclusie 6 of 7, met het kenmerk, dat het mondstuk (13, 23, 33, 43) zwenkbaar is rond een zwenkas die zich in hoofdzaak loodrecht op de centrale as uitstrekt.A device (2, 52) according to claim 6 or 7, characterized in that the nozzle (13, 23, 33, 43) is pivotable about a pivot axis which extends substantially perpendicular to the central axis. 9. Inrichting (2, 52) volgens een der voorgaande conclusies, met het kenmerk, dat het mondstuk (13, 23, 33, 43) een eerste elastisch vervormbaar element (18, 44) dat het eerste gebied omgeeft, omvat.A device (2, 52) according to any one of the preceding claims, characterized in that the nozzle (13, 23, 33, 43) comprises a first elastically deformable element (18, 44) surrounding the first area. 10. Inrichting (2, 52) volgens een der voorgaande conclusies, met het kenmerk, dat het mondstuk (13, 23, 33, 43) een tweede elastisch vervormbaar element (19, 24, 34, 45) dat het tweede gebied omgeeft, omvat.A device (2, 52) according to any one of the preceding claims, characterized in that the nozzle (13, 23, 33, 43) comprises a second elastically deformable element (19, 24, 34, 45) surrounding the second region, includes. 11. Inrichting (2, 52) volgens een der voorgaande conclusies, met het kenmerk, dat het eerste gebied een diameter heeft in het bereik van 10-40 millimeter, terwijl het tweede gebied een diameter heeft in het bereik van 40-100 millimeter.A device (2, 52) according to any one of the preceding claims, characterized in that the first region has a diameter in the range of 10-40 millimeters, while the second region has a diameter in the range of 40-100 millimetres. 12. Apparaat (1, 51) voor het manipuleren zoals het oogsten van gewassen omvattende een verplaatsbaar frame (5), met ten minste een inrichting (2, 52) volgens een der voorgaande conclusies.Apparatus (1, 51) for manipulating such as harvesting crops comprising a movable frame (5), with at least one device (2, 52) according to any one of the preceding claims.
NL2027682A 2021-03-02 2021-03-02 A device for manipulating like harvesting agriculture as well as an apparatus for harvesting agriculture NL2027682B1 (en)

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DE102018108727B3 (en) * 2018-04-12 2019-07-04 J. Schmalz Gmbh Gripping device for gripping objects
WO2020154473A1 (en) * 2019-01-24 2020-07-30 Ceres Innovation, Llc Harvester with robotic gripping capabilities

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