Layered apple picking robot

Abstract

The utility model discloses a layered apple picking robot which comprises a crawler-type walking device (1), a control box (2) provided with a visual system, a picking mechanical arm (3) and a picking end executor (4) located at the moving end of the picking mechanical arm (3). At least two groups of picking mechanical arms (3) and picking end executors (4) are arranged on the crawler-type walking device (1), and the positions of at least one group of picking mechanical arms (3) and picking end executors (4) are higher than the positions of the other groups of picking mechanical arms (3) and picking end executors (4). According to the picking robot, layered picking is conducted through the two picking mechanical arms, apples on the left side and the right side or on the high layer and the low layer in an orchard are picked at the same time, and the picking efficiency and the picking speed are improved to a certain degree through the picking mode.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent fruit picking equipment, in particular to a layered apple picking robot. Background Art

[0002] At present, a lot of research has been done on apple picking robots at home and abroad, but there are still problems such as low picking efficiency and poor picking quality. This is not conducive to the commercial application of apple picking robots and the development of reducing labor costs. Nowadays, most picking robots use single-arm robots, and their orchard environment is relatively complex. When picking with a single arm, only one side of the fruit tree can be picked. In order to reduce the overall picking time and improve the picking efficiency, the use of double-arm picking robots instead of single-arm picking robots can greatly improve the efficiency and flexibility of apple picking. At the same time, it can pick apples from high places, on the ground and on both sides, which can effectively utilize resources and have greater freedom, so that it can play the greatest advantage in complex working environments and tasks. Utility Model Content

[0003] The purpose of the utility model is to provide a layered apple picking robot to address the problems existing in the prior art. The picking robot performs layered picking through double picking mechanical arms, thereby achieving simultaneous picking of apples on the left and right sides or high and low layers in the orchard. This picking method improves the picking efficiency and picking speed to a certain extent.

[0004] The purpose of the utility model is solved by the following technical solutions:

[0005] A layered apple picking robot is characterized in that: the picking robot includes a crawler walking device, a control box equipped with a visual system, a picking mechanical arm and a picking end effector located at the moving end of the picking mechanical arm, at least two groups of picking mechanical arms and picking end effectors are arranged on the crawler walking device, and the position of at least one group of picking mechanical arms and picking end effectors is higher than the positions of other groups of picking mechanical arms and picking end effectors.

[0006] The crawler walking device is designed with a chassis structure of driving wheels, guide wheels, supporting wheels, spring hydraulic shock absorbers and a tensioning device to jointly build a stable picking platform.

[0007] The power system of the crawler-type walking device is electrically driven, and the electric drive system has high control accuracy, large output power, stable power, high transmission efficiency, and small size. The crawler-type walking device is provided with a power supply system for the entire picking robot.

[0008] At least one group of picking mechanical arms is installed on the control box and the control box is arranged on the top of the crawler-type walking device; at least one group of picking mechanical arms is installed on the top of the crawler-type walking device.

[0009] To avoid interference between the picking robot arms, each group of picking robot arms is separated by a certain distance.

[0010] The control box is used to control the crawler-type walking device, the visual system, the picking mechanical arm and the picking end effector.

[0011] The picking robot arm adopts a six-axis articulated robot arm. Each joint of the picking robot arm can rotate ±180° and has a certain working range and flexibility, thereby ensuring that the apple picking robot can pick fruits from every corner of the crown surface; the various parts of the picking robot arm are connected by a rotating pair.

[0012] The picking robot arm consists of a base, four intermediate arms and a terminal arm connected in sequence. The base, the four intermediate arms and the terminal arm are respectively driven by independent robot arm motors, and the robot arm motors respectively control the rotation of the base, the swing of the four intermediate arms and the rotation of the terminal arm.

[0013] A preferred solution is to place the collection component of the visual system on the end arm of the picking robot arm.

[0014] The end of the end arm is used for installing a picking end effector.

[0015] The picking end effector is a hollow structure, and an apple storage device is arranged on the picking end effector.

[0016] The picking end effector is composed of a hollow rotating mechanism and a hollow picking mechanism. The rotating mechanism for driving the apples to rotate is installed on the moving end of the picking robot arm, and the picking mechanism for grabbing the apples is installed on the rotating mechanism.

[0017] The rotating mechanism includes a hollow actuator seat, a rotating motor, a driving gear, an internal gear plate and a hollow rotating seat. The rotating motor is fixedly installed on the hollow actuator seat installed on the moving end of the picking robot arm. The driving gear set at the driving end of the rotating motor is meshed and transmitted with the internal gear plate located on the hollow actuator seat through a transfer gear. The picking mechanism is installed on the hollow rotating seat fixed on the internal gear plate.

[0018] The transfer gear is a structure of one shaft and two gears, one shaft is mounted on a bearing seat on a hollow actuator seat, and the two gears are respectively meshed with the driving gear and the internal gear plate.

[0019] Furthermore, three sets of transfer gear structures are arranged in a triangular distribution on the hollow actuator seat, at least one set is used for transmission, and the remaining sets are used for following to play a supporting and stabilizing role; of course, multiple sets of transfer gears can also be used for transmission.

[0020] The picking mechanism includes three groups of finger cylinders, finger seats and clamping fingers distributed in a triangular shape. The finger cylinders of any group are arranged on the outside of the corresponding finger seat. The bottom outer side of the clamping finger is hinged to the piston rod of the finger cylinder through a connecting rod, and the bottom inner side of the clamping finger is hinged to the finger seat. The three groups of finger cylinders control the closing and opening of the three clamping fingers by telescoping respectively.

[0021] The finger surfaces of the clamping fingers have a flexible structure.

[0022] The picking end effector mainly consists of a rotating device and a clamping device. The rotating device is arranged at the lower part of the end, and the rotation of the picking mechanism is completed by connecting the stepper motor and the gear. The finger cylinder is connected to the clamping finger and the movement of the clamping finger is driven by telescopic movement to complete the picking of apples.

[0023] The picking end effector adopts an air suction actuator or a combination of an air suction actuator and a rotating mechanism. The air suction actuator includes a hollow suction cup seat and a telescopic suction cup. The bottom of the hollow suction cup seat is directly mounted on the moving end of the picking robot arm or is mounted on the moving end of the picking robot arm through a rotating mechanism; four telescopic suction cups are arranged on the funnel-shaped inner wall of the hollow suction cup seat, and the spacing between the telescopic suction cups that can be telescoped back and forth in a direction perpendicular to the funnel-shaped inner wall of the hollow suction cup seat can be adjusted, and the suction force of the telescopic suction cup is provided by a miniature vacuum pump.

[0024] The arrangement of the four vacuum-traceless silicone suction cups refers to the "finger gestures" of human fingers picking apples. The retractable suction cups made of silicone are used to absorb the apples, thereby imitating the process of human hands picking apples.

[0025] Compared with the prior art, the utility model has the following advantages:

[0026] The utility model discloses a layered apple picking robot which can pick apples in layers at the same time, and can also pick apples on the left and right sides at the same time. It adopts a six-axis articulated picking robot arm, which can effectively avoid collision with tree branches, obstacles and the like during picking, thereby ensuring low damage to the robot and the fruit tree.

[0027] The picking end effector of the utility model adopts a hollow structure and the clamping finger part is made of flexible material, which reduces damage to apples during picking. After the apples are picked, they can directly enter the storage device through the hollow part, which improves the picking efficiency and quality. Another picking end effector picks apples by air suction, which reduces the requirements for visual recognition and causes less damage to apples during picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Attached Figure 1 This is a schematic diagram of the overall structure of a layered apple picking robot provided by the utility model;

[0029] Attached Figure 2 This is a schematic diagram of the structure of a crawler-type walking device of a layered apple picking robot provided by the utility model;

[0030] Attached Figure 3 This is a schematic diagram of the control box structure of a layered apple picking robot provided by the utility model;

[0031] Attached Figure 4 This is a schematic diagram of the structure of a picking mechanical arm of a layered apple picking robot provided by the utility model;

[0032] Attached Figure 5 This is a schematic diagram of the structure of a picking end effector of a layered apple picking robot provided by the utility model;

[0033] Attached Figure 6 It is a plan view of the rotating mechanism of the picking end effector of a layered apple picking robot provided by the utility model;

[0034] Attached Figure 7 This is a stereoscopic diagram of the rotating mechanism of the picking end effector of a layered apple picking robot provided by the utility model;

[0035] Attached Figure 8 This is a driving relationship diagram of a rotating mechanism of a picking end effector of a layered apple picking robot provided by the utility model;

[0036] Attached Fig. 9 This is a schematic diagram of a picking mechanism of a picking end effector of a layered apple picking robot provided by the utility model;

[0037] Attached Fig.10 The utility model is a schematic diagram of the structure of an air suction actuator of a layered apple picking robot.

[0038] Among them: 1—crawler-type walking device; 2—control box; 3—picking robot arm; 4—picking end effector; 5—rotating mechanism; 6—hollow execution seat; 7—rotating motor; 8—driving gear; 9—hollow rotating seat; 10—internal gear plate; 11—picking mechanism; 12—gripping finger; 13—finger cylinder; 14—finger seat; 15—hollow suction cup seat; 16—telescopic suction cup; 17—transfer gear. DETAILED DESCRIPTION

[0039] The technical solution of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present utility model, rather than all of the embodiments.

[0040] The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0041] Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the utility model.

[0042] In the description of the utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] like Figure 1-10 As shown: a layered apple picking robot, the picking robot includes a crawler walking device 1, a control box 2 equipped with a visual system, a picking robot arm 3 and a picking end effector 4 located at the moving end of the picking robot arm 3, at least two groups of picking robot arms 3 and picking end effectors 4 are arranged on the crawler walking device 1, and the position of at least one group of picking robot arms 3 and picking end effectors 4 is higher than that of other groups of picking robot arms 3 and picking end effectors 4; in order to reduce the structure and be able to distinguish between high and low, at least one group of picking robot arms 3 is installed on the control box 2 and the control box 2 is arranged on the top of the crawler walking device 1; at least one group of picking robot arms 3 is installed on the top of the crawler walking device 1.

[0045] On the basis of the above structure, the picking robot arm 3 adopts a six-axis articulated robot arm. Each joint of the picking robot arm 3 can rotate ±180°, and the various parts of the picking robot arm 3 are connected by a rotating pair; specifically, the picking robot arm 3 is composed of a base, four intermediate arms and an end arm connected in sequence, and the end of the end arm is used to install the picking end effector 4. The base, the four intermediate arms and one end arm are respectively driven by independent robot arm motors, and the robot arm motors respectively control the rotation of the base, the swing of the four intermediate arms and the rotation of the end arm.

[0046] When the picking end effector 4 is a hollow structure, an apple storage device is disposed on the picking end effector 4 .

[0047] The present application provides three structures of the picking end effector 4 below.

[0048] The first type of picking end effector 4 is composed of a hollow rotating mechanism 5 and a hollow picking mechanism 11. The rotating mechanism 5 for driving the apple to rotate is installed on the moving end of the picking robot arm 3, and the picking mechanism 11 for grabbing the apple is installed on the rotating mechanism 5; the second type of picking end effector 4 only uses an air suction actuator, and the air suction actuator that can suck the apple is directly installed on the moving end of the picking robot arm 3; the third type of picking end effector 4 is composed of a combination of an air suction actuator and a rotating mechanism 5, and the air suction actuator that can suck the apple is installed on the moving end of the picking robot arm 3 through the rotating mechanism 5.

[0049] In the above scheme, the rotating mechanism 5 includes a hollow actuator seat 6, a rotating motor 7, a driving gear 8, a hollow rotating seat 9 and an internal gear disk 10. The rotating motor 7 is fixedly arranged on the hollow actuator seat 6 installed on the moving end of the picking robot arm 3. The driving gear 8 arranged at the driving end of the rotating motor 7 is meshed with the internal gear disk 10 located on the hollow actuator seat 6 through the transfer gear 17 for adjacent transmission. The picking mechanism 11 is installed on the hollow rotating seat 9 linked with the internal gear disk 10; the picking mechanism 11 includes three groups of finger cylinders 13, finger seats 14 and clamping fingers 12 distributed in a triangular shape, and any group of finger cylinders 13 is arranged on the outer side of the corresponding finger seat 14. The outer side of the bottom of the clamping finger 12 is hinged to the piston rod of the finger cylinder 13 through a connecting rod, and the inner side of the bottom of the clamping finger 12 is hinged to the finger seat 14. The three groups of finger cylinders 13 respectively control the closing and opening of the three clamping fingers 12 by telescoping.

[0050] like Figure 6 , Figure 7 As shown, a hollow channel is arranged in the hollow actuator seat 6. The functions of the hollow channel are to provide a channel and to provide protection for the driving transmission part.

[0051] In the above scheme, the air suction actuator includes a hollow suction cup seat 15 and a telescopic suction cup 16. The bottom of the hollow suction cup seat 15 is directly mounted on the moving end of the picking robot arm 3 or is mounted on the moving end of the picking robot arm 3 through the rotating mechanism 5; four telescopic suction cups 16 are arranged on the funnel-shaped inner wall of the hollow suction cup seat 15, and the spacing between the telescopic suction cups 16 that can be telescoped back and forth in a direction perpendicular to the funnel-shaped inner wall of the hollow suction cup seat 15 can be adjusted, and the suction force of the telescopic suction cups 16 is provided by a micro vacuum pump. Example

[0052] like Figure 1-10 As shown, a layered apple picking robot includes two groups of picking end effectors 4, two groups of picking mechanical arms 3 using six-axis articulated mechanical arms, a control box 2 equipped with a visual system, and a crawler walking device 1.

[0053] The first solution of the crawler walking device 1 is to use a synchronous toothed belt made of materials such as polyurethane and rubber. In this solution, the crawler driving wheel is designed as a synchronous pulley structure, which meshes with the toothed crawler to drive the crawler to move; the second solution is to use rubber material as the base of the crawler teeth, and to achieve the transmission purpose by applying a certain pressure to it to deform it. When a synchronous toothed belt is used, the accuracy and overall strength of the crawler can be significantly improved; another alternative is to use a chain crawler made of metal material to achieve more efficient transportation. When the crawler walking device 1 is working, due to the friction between the chain and the gear teeth, it is ensured that there will be no slipping during the operation of the entire system.

[0054] The driving wheel of the crawler walking device 1 serves as the power output wheel system of the crawler walking mechanism. The torque is output to the driving wheel through the reducer. The driving wheel meshes with the crawler track, thereby achieving the effect of paving forward, and then pushing the crawler track forward; it is fixed through the shaft-wheel connecting sleeve, and the driving shaft is connected to the shaft-wheel connecting sleeve through a key to achieve power transmission to the driving wheel; in order to reduce vibration and noise, a shock absorbing device is set between the gears; the design of the road wheel adopts a single-tube spring hydraulic shock absorber for buffering and shock absorption to reduce the vibration of the road wheel; the vibration reduction effect is ensured by setting the wheel frame and the frame in an articulated manner. The design of this structure optimizes the support structure of the vehicle body, and effectively reduces the amplitude of the vehicle body vibration when crossing obstacles.

[0055] The picking robot arm 3 adopts a six-axis articulated robot arm. Each joint of the picking robot arm 3 can rotate ±180°, and the joints are connected by a revolute pair. The main function of the picking robot arm 3 is to make the picking end effector 4 more flexible and have a larger range of motion, so that the picking end effector 4 can adapt to different work requirements. The wrist movement of the picking robot arm 3 usually has three movement modes: up and down, left and right, and rotation. The motor is installed inside the picking robot arm 3, and the rotational power is transmitted to the connecting rod through the key.

[0056] A picking end effector 4 is mainly composed of a hollow rotating mechanism 5 and a hollow picking mechanism 11. When picking, the picking end effector 4 is placed under the apple, and the finger clamping position of the picking mechanism 11 is flush with the apple. The clamping action of the clamping fingers 12 is achieved by controlling the finger cylinder 13 to push the connecting rod. When the apple is clamped, the rotating motor 7 is controlled to rotate to achieve the rotation of the picking mechanism 11 to twist off the apple handle; after the handle is twisted off, the finger cylinder 13 is controlled again to open the clamping fingers 12, and the apple relies on its own gravity to enter the hollow part of the picking end effector 4, thereby completing the collection task.

[0057] A picking end effector 4 is provided with four vacuum traceless silicone suction cups as telescopic suction cups 16, which are used to refer to the "finger gesture" of human fingers picking apples, and a micro vacuum pump is used to provide suction force for the telescopic suction cups 16 to achieve apple picking; the suction force is controlled by adjusting the distance and spacing between the four telescopic suction cups 16 and the power of the vacuum pump. When the target apple enters the picking position, the apple is sucked by the vacuum traceless silicone suction cup, and is easily picked by twisting off the fruit stem, thereby achieving complete non-destructiveness to the apple skin and effectively imitating the process of human hand picking apples.

[0058] The utility model provides a layered apple picking robot, the whole structure of which is divided into four parts: a crawler walking device 1, a control box 2 equipped with a visual system, a picking mechanical arm 3, and a picking end effector 4 located at the moving end of the picking mechanical arm 3. The power of the crawler walking device 1 comes from the vehicle-mounted battery inside the vehicle, and the battery is connected to the motor. The motor reduces the speed through a reducer to increase the torque, and transmits the power to the drive wheel to drive the crawler walking device 1 to travel; the two groups of picking mechanical arms 3 are designed as six-axis joints to ensure that the apple picking robot can achieve the picking of fruits in every corner of the crown surface, especially the layered picking of high and bottom layers, with a certain working range and flexibility. Each group of picking mechanical arms 3 has a total of six degrees of freedom, which are controlled by six motors, respectively controlling the rotation of the base, the swing of the four middle arms and the rotation of the end arm; the picking end effector 4 adopts The design is similar to the manual picking method, and a structure mainly includes an overall rotating mechanism 5 and a finger-type picking mechanism 11. When the end effector 4 is in motion, the finger cylinder 13 is controlled to push the connecting rod to realize the clamping action of the clamping finger 12. The rotating mechanism 5 is mainly composed of a gear pair and a stepper motor. When the rotating mechanism 5 rotates, the rotating motor 7 engages with the inner gear plate 10 through the driving gear 8 and the transfer gear 17 to complete the rotation of the picking mechanism 11. The picking end effector 4 is a hollow structure. The picked apples rely on their own gravity to enter the hollow part of the picking end effector 4 to complete the collection task, thereby realizing effective and non-destructive picking of apples.

[0059] The layered apple picking robot adopted by the utility model can pick apples in layers, specifically, it can pick apples at high and low places at the same time, and can also pick apples on the left and right sides at the same time. It does not require too high recognition accuracy when picking, and has a certain robustness. At the same time, the clamping fingers of the picking end effector 4 are made of flexible materials, which greatly reduces the damage to the apples when clamping, and when the apples are picked, they can be directly collected through the storage pipe below. The air suction actuator uses negative pressure picking, and has a simple structure. This picking robot reduces the difficulty of picking to a certain extent, increases the picking area, shortens the picking time, and greatly improves the picking efficiency.

[0060] The above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit them; although the utility model is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some or all of the technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the utility model. The technologies not involved in the utility model can be implemented by existing technologies.

Claims

1. A layered apple picking robot, characterized in that: The picking robot comprises a crawler-type walking device (1), a control box (2) equipped with a visual system, a picking mechanical arm (3), and a picking end effector (4) located at the moving end of the picking mechanical arm (3); at least two groups of picking mechanical arms (3) and picking end effectors (4) are arranged on the crawler-type walking device (1), and the position of at least one group of picking mechanical arms (3) and picking end effectors (4) is higher than the positions of other groups of picking mechanical arms (3) and picking end effectors (4); The picking end effector (4) is composed of a hollow rotating mechanism (5) and a hollow picking mechanism (11), wherein the rotating mechanism (5) for driving the apple to rotate is mounted on the moving end of the picking mechanical arm (3), and the picking mechanism (11) for grabbing the apple is mounted on the rotating mechanism (5); Alternatively, the picking end actuator (4) is an air suction actuator or a combination of an air suction actuator and a rotating mechanism (5), wherein the air suction actuator comprises a hollow suction cup seat (15) and a telescopic suction cup (16), and the bottom of the hollow suction cup seat (15) is directly mounted on the moving end of the picking robot arm (3) or is mounted on the moving end of the picking robot arm (3) via the rotating mechanism (5).

2. The layered apple picking robot according to claim 1, characterized in that: At least one group of picking mechanical arms (3) is mounted on a control box (2), and the control box (2) is arranged on the top of the crawler-type walking device (1); at least one group of picking mechanical arms (3) is mounted on the top of the crawler-type walking device (1).

3. The layered apple picking robot according to claim 1, characterized in that: The picking mechanical arm (3) is a six-axis joint type mechanical arm. Each joint of the picking mechanical arm (3) can rotate ±180°, and various parts of the picking mechanical arm (3) are connected via a rotating pair.

4. The layered apple picking robot according to claim 3, characterized in that: The picking mechanical arm (3) is composed of a base, four intermediate arms and a terminal arm connected in sequence, and the base, the four intermediate arms and the terminal arm are driven by independent mechanical arm motors respectively, and the mechanical arm motors respectively control the rotation of the base, the swing of the four intermediate arms and the rotation of the terminal arm.

5. The layered apple picking robot according to claim 4, characterized in that: The end of the end arm is used to mount a picking end effector (4).

6. The layered apple picking robot according to any one of claims 1 to 5, characterized in that: The picking end effector (4) is a hollow structure, and an apple storage device is arranged on the picking end effector (4).

7. The layered apple picking robot according to claim 1, characterized in that: The rotating mechanism (5) comprises a hollow actuator seat (6), a rotating motor (7), a driving gear (8), a hollow rotating seat (9) and an internal gear plate (10); the rotating motor (7) is fixedly arranged on the hollow actuator seat (6) mounted on the moving end of the picking robot arm (3); the driving gear (8) arranged on the driving end of the rotating motor (7) is meshed with the internal gear plate (10) located on the hollow actuator seat (6) through a transfer gear (17); and the picking mechanism (11) is installed on the hollow rotating seat (9) fixedly arranged on the internal gear plate (10).

8. The layered apple picking robot according to claim 1, characterized in that: The picking mechanism (11) comprises three groups of finger cylinders (13), a finger seat (14) and a clamping finger (12) distributed in a triangular shape. The finger cylinders (13) of any group are arranged on the outside of the corresponding finger seat (14). The outside of the bottom of the clamping finger (12) is hinged to the piston rod of the finger cylinder (13) through a connecting rod, and the inside of the bottom of the clamping finger (12) is hinged to the finger seat (14). The three groups of finger cylinders (13) respectively control the closing and opening of the three clamping fingers (12) by telescoping.

9. The layered apple picking robot according to any one of claims 1 to 5, characterized in that: Four telescopic suction cups (16) are arranged on the funnel-shaped inner wall of the hollow suction cup seat (15); the distance between the telescopic suction cups (16) which can be telescoped forward and backward in a direction perpendicular to the funnel-shaped inner wall of the hollow suction cup seat (15) can be adjusted, and the suction force of the telescopic suction cups (16) is provided by a micro vacuum pump.

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