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WO2018006143A1 - Système, équipement et procédé de parage de noix autonomes - Google Patents

Système, équipement et procédé de parage de noix autonomes Download PDF

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Publication number
WO2018006143A1
WO2018006143A1 PCT/BR2016/050156 BR2016050156W WO2018006143A1 WO 2018006143 A1 WO2018006143 A1 WO 2018006143A1 BR 2016050156 W BR2016050156 W BR 2016050156W WO 2018006143 A1 WO2018006143 A1 WO 2018006143A1
Authority
WO
WIPO (PCT)
Prior art keywords
demicopra
tool
paring
nut
bridge
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/BR2016/050156
Other languages
English (en)
Inventor
Giancarlo Piccoli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Geave Tecnologia Ltda
Original Assignee
Geave Tecnologia Ltda
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 Geave Tecnologia Ltda filed Critical Geave Tecnologia Ltda
Priority to BR112018075019-0A priority Critical patent/BR112018075019B1/pt
Priority to PCT/BR2016/050156 priority patent/WO2018006143A1/fr
Priority to MYPI2019000007A priority patent/MY196573A/en
Publication of WO2018006143A1 publication Critical patent/WO2018006143A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N5/00—Machines for hulling, husking or cracking nuts
    • A23N5/03—Machines for hulling, husking or cracking nuts for coconuts
    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N5/00—Machines for hulling, husking or cracking nuts
    • A23N5/08—Machines for hulling, husking or cracking nuts for removing fleshy or fibrous hulls of nuts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points

Definitions

  • the present invention is related to a system, to an apparatus and the respective method to sever in between coconut layers without the direct intervention of a human operator in the said equipment.
  • the present invention is related to the agribusiness, farming, harvesting and fruit processing industry fields, and more in particular to paring, or to the coconut Testa removal, while maximizing the yield of both, the Endosperm and the said removed Testa.
  • the Pericarp (20) is made up of the first three outer layers: Exocarp (21), Mesocarp (22) and Endocarp (23) also known as Shell.
  • the Endosperm (24) also known as Kernel is made up of the two inner layers: Solid Endosperm (26) and Liquid Endosperm (25).
  • the said Liquid Endosperm is also popularly known as the Coconut Water
  • the Solid Endosperm is also known as Coconut Meat
  • the Mesocarp as Husk and also as Fibrous Husk.
  • the seed (27) that when sprout will grow up as the future plant, is contained inside the Solid Endosperm (26) layer.
  • Testa (29), Brown Testa or Seed Coat divides the Pericarp (20) from the Endosperm (24).
  • the Testa (29) presents itself almost as thin as a film, brown in color, and very soft, coating the Solid Endosperm (26), it normally can be removed trough some scraping processes or even trough cleansing by the means of water and conventional soap.
  • the traditional coconut processing starts with some preliminary tasks, most times that includes the removal of the Liquid Endosperm (25) and the mechanical removal of the layers of the Pericarp (20).
  • the resulting structure called Copra that is the Solid Endosperm (26) coated by the Testa (29) will be then divided into two hemispherical halves, which by its turn will then be processed individually, one half at time, or even in smaller slices so that the Testa (29) can be manually removed.
  • the Pericarp (20) might be removed by chopping the said fruit in smaller pieces and then using knifes and other sharp and dangerous tools to remove it out, or trough abrasive process in some fully manual, risky operations.
  • the Pericarp is mechanically resistant and very tough to be removed without the use of tools.
  • the Testa is a thin and mechanically delicate layer that defines the transition between de Pericarp and the Endosperm, with a subtle change in density, what brings difficulties to automated processes regarding its removal.
  • the document GB 1393265 teaches some procedures for removing the Testa that wraps the Copra. Particularly Copras are deposited inside a barrel to proceed to a mechanical removal of the Testa due the physical contact between the inner side of the barrel and the outer Copra surface.
  • the document BRPI0004077 teaches an apparatus intended to remove the brown Testa, or just Testa with use of scrapping brushes associated with a suction system.
  • the present invention first objective is to provide an automated system capable to identify and remove the Testa from a previously processed Demicopra where the processes to identify its boundaries as well as its removal don't require any direct human intervention.
  • the present invention second objective is to provide the capability to identify the Demicopra or hemisphere outline thus allowing to define precisely the Testa position regarding the Demicopra, so that cutting or abrasion tools can be used for the Testa precise and controlled removal.
  • a Demicopra upholder fashioned out of a hollow cone capable of bearing the Demicopra in a fix and stable manner, being said hollow conical upholder and said Demicopra both able to spin around it's common axis;
  • a photometric system intended to map the outline of the Demicopra comprising an optical camera and backlight, being said optical camera placed in line and radially opposed regarding said backlight, so that the system's camera is able to intercept the light originating from the backlight and passing through the coconut in such a way that is able to map the Demicopra external shape;
  • the paring tool has a moving unit comprising a tool box able to hold and move a paring tool, driven by a tool's motor, through a Demicopra tangent plan;
  • said tool box moving unit comprises orthogonal arms, each comprising a bridge able to slid along the other arm extension in accordance with its appropriate motor, and in such manner that the horizontal bridge upholds the horizontal arm and the vertical bridge bears the tool box.
  • the moving the tool box comprises positioning the paring tool to be in physical contact with the Demicopra spinning surface, so that it can remove a strip of copra material composed of the testa as well as some controlled solid endosperm residue by removing a controlled outer thickness of the Demicopra.
  • the invention additionally comprises an autonomous nut paring apparatus, comprising a framework intended to hold together the following components: a protective case comprising: processor, memory, controller device and I/O, destined to send and receive data, power supply, among others, from the inside of the said protective case to the outside; a Demicopra bearing comprising a hollow, or partially hollow, cone with a top opening connecting the upper external surroundings to a vacuum pump sealed placed under the conical upholder, being said assembly capable of spinning by the means of a spin motor; a photometric system defines the Demicopra outline by the means of an optical camera and backlight, said optical camera stands in-line and in radial opposition regarding said backlight so that is able to optically see the Demicopra; and a paring tool moving unit having a tool box capable of bearing and move the paring tool, having the motion controlled by the means of the tool motor, by a plan tangent to the Demicopra; Else, the demicopra upholder stands in a "L" shaped arm so that it can keep
  • said paring tool includes a motor and a knob mechanically connected so that the rotation from the motor is transferred to the paring tool.
  • a motor By its turn, sand one vertical) orthogonally placed and connected to a horizontal bridge stiffly connected to the upper vertical arm edge, providing sliding motion.
  • said horizontal bridge is connected to an axle spindle spinning by the means of a horizontal motor, being said vertical bridge coupled to the vertical arm axle spindle, where the rotation is generated by the means of a vertical motor.
  • the present invention objectives include an autonomous nut paring method comprising both steps: activating an optical camera and its corresponding backlight having said nut in between, spinning, so that the position of its delimiting points, pertaining to a coordinate system, can be store in memory, all controlled by the means of a motion control of a tool box so that the paring tool removes consecutive and adjacent strips from the external coating of the nut.
  • the step of activating the optical camera comprises taking a series of snapshots, each one corresponding to a specific nut angular position, by the means of contrasting light against the nut outline, defining spatial coordinates, and store said coordinates in memory; on the other hand, controlling the motion means requires recalling the memory the stored coordinates and set the tool box position so that the paring tool removes from the nuts outer bound a predefined thickness.
  • Figure 1 is a schematic view of a coconut partially severed showing all that layers thereof;
  • Figure 2 is an illustrated view of a partially severed coconut, where the Testa is enhanced
  • Figure 3 is a perspective schematic view of the of the apparatus assets intended for the Testa removal according to the present invention.
  • Figure 4 is a schematic view of the bearing of a half hemispheric Copra, by the means of a conical upholder;
  • Figure 5 shows the mapped points of a Copra external arch in accordance with an embodiment of the present invention
  • Figure 6 shows a perspective view of the bearing mill and motion framework related to the Demicopra and the Testa paring tool
  • Figure 7 is a schematic top view illustrating the relative positioning between the camera and the backlight system.
  • Figure 8 is a chart showing the apparatus logical process.
  • Demicopra (30) refers to each one of two hemispherical halves of the central structure of the coconut (made up by the Solid Endosperm coated by the Testa), which are obtained from a radial section in a coconut after the Pericarp removal by any one of the means above described.
  • FIG. 3 shows an apparatus (1) made to identify and remove the Testa from an already processed Demicopra (30).
  • said apparatus comprises a power box (18) intended to keep all power supply circuitry of said apparatus, as non-limiting example? Power transformers, circuit-breakers, power surge protecting devices and others.
  • the apparatus (1) still has a protective case (13) where devices, logical circuits and control panel are installed, which will be described in further details as follows, as well as the control panel (17), presented in the protective case (13) external surface where commands may be input through the use of a keyboard (17a), as well as the display of updated status information by the means of a display (17b).
  • the amount of power needed by the electronic devices inside the protective case (13) is intending to show simpler diagrams.
  • the power supply and the protective case (13) as well as all other devices that constitute the apparatus (1) is common from ground and knowledge to any technician in the machines field.
  • the apparatus (1) comprises yet a mill (31) which, by itself comprises a paring or cutting tool moving part (2), as well as the Demicopra (30) upholder which must spin as well as the photometric system intended to realize the Demicopra structure (30).
  • the mill (31) by itself must have a respective support framework (not shown) which can be made as stand-alone equipment as well as integrated into a production line, that can, for example, begins with the Pericarp (20) removal and finishes with the coconut grinding.
  • said framework can not only bear the mill (31) but also the protective case (13) with the control panel (17) as well as the power box (18), being these configurations just a matter of project definition, and actually will not relate to the features and the operation of the said apparatus (1), as the present invention states.
  • the paring or cutting tool moving part (2) comprises a horizontal arm (32), a vertical arm (33) both connected to the horizontal bridge (34). Said bridge (34) and connection between both arms are so that all the relative movements between each other are allowed. Particularly, said horizontal bridge (34) is tightly connected to the upper end of the vertical arm (33), allowing sliding motion along the horizontal arm (32). To act so, one end of the horizontal arm (32) receives a horizontal engine (3) which, by the means of the horizontal bridge (34) is free to realize its movement through all the length of the horizontal arm (32).
  • the said movement of the bridge (34) by means of the engine (3) can be accomplished through the use of a spindle (320 whereas the horizontal bridge (34) is interlocked, or as an alternative embodiment by the means of a toothed belt drive (not shown). So, the rotation of the horizontal engine (3) will cause the spindle (340 which, by it turn, causes the shift of the horizontal bridge (34) over the horizontal arm (32).
  • the vertical arm (33) connects to a vertical motor (4) placed in its upper edge, a vertical bridge (35), capable of moving through the extension of said vertical arm (33), as well as to its own spindle (330, which is set in spin by the means of the vertical bridge (35).
  • said vertical bridge (35) bears a pitch motor (7), transversally arranged regarding the vertical bridge (35), and coupled to the projecting edge of its axle (not shown) of a tool box (36) capable of bearing the paring device (2).
  • said paring device (2) receives a knob (37) bore to the tool box (36) with an arbor or equivalent, capable of hosting the paring tool (38).
  • the spin of said paring tool (38) is produced by the tool motor (5), assembled purposely with the intention of reducing the weight bore by the vertical bridge (35).
  • a small structure is set in the apparatus (1), conveying the spin to the knob (37) and so forth to the paring tool (38) by the means of a flexible shaft (6).
  • the motor (5) and the knob (37) may be a single piece, bore by the tool box (36).
  • the knob (37) and more specifically the paring tool (38) may move along the directions taken by said arms (32, 33) in both senses, for each possibility by the means of the use of the motors (4, 3). Besides, said knob (37) may spin in a parallel plan to the one determined by the arms (32, 33) by the means of the pitch engine (7).
  • the apparatus (1) yet comprises a holding unit for the Demicopra (43), which can be better understood by the means of figures 3 and 4. More specifically said unit comprises a hollow conical upholder (8), preferable crafted using a ductile material, hermetically disposed atop of the vacuum pump (9) frame (see figure 3). Such frame is bore so that free spin is allowed by the means of an "L" arm bore in said apparatus (1) framework (not shown). Besides that, said L" arm (39) bears the horizontal arm (32), set in said "L” arm (39) from its edges, in order to bind in its position, said Demicopra (30) upholder as well as the paring device (2) moving tool.
  • the assembly composed by the hollow conical upholder (8) and the vacuum pump (9) is coupled to a spin motor (10) which has its casing fixed in the "L" arm (39), said assembly (8, 9) being bore by the drive axle. So that, the engagement of the spin motor (10) will cause a spin in the hollow conical upholder (8) and so the Demicopra (30) unto this.
  • said hollow conical upholder (8) hollow as it says, or at least partially hollow, has a top opening (40) allowing the communication of the fluids with the vacuum pump (9).
  • the vacuum pump (9) lowers the pressure inside the Demicopra (30) by the means of the top opening (40), partially enwraps the hollow conical upholder (8) as it is positioned mouth down over the hollow conical upholder (8) (see figure 4). So, the lower pressure kept inside the Demicopra (30) temporally attaches it (that is, while the vacuum pump (9) keeps operating) to the hollow conical upholder (8). As a consequence, any spin caused by the means of the spin motor (10) will be transferred to the Demicopra (30) as well.
  • said apparatus (1) yet comprises a photometric system, meant to define the outline and size of the Demicopra (30). More specifically, said photometric system comprises (see figures 8 and 7) an optical camera (11) and backlight (15), said optical camera (11) being inline and radially opposed regarding said backlight (15) so that the Demicopra (30) will be intercepted.
  • a frame (not shown) destined to bear the optical camera (11) as well as the backlight (15) is provided, without any particular feature such a frame is common place for those skilled in the art.
  • the apparatus (1) still foresees a fender (14) bore by the support frame, intended to collect the removed Testa, in such a way that it is rerouted to some eventual workstation so that benefits can be made with its use.
  • said fender (14) moves between a high position to a paring leftovers collect position as well as a retracted position, or a lowered position, so that it won't interfere in the Demicopra (30) loading and unloading procedures.
  • a load / unload motor (16) (see figure 3), is responsible lifting and lowering said fender (14), which runs in a fender (14) rail or a line shaft.
  • the protecting box (13) confines all the apparatus (1) logical command structure and circuitry. More specifically, said protective case (13) includes a processor (50), memory (51) besides the said control devices (12) and a control panel (17). Besides that, the I/O (52) is responsible for gathering the functional data and sending of the operational commands to drive all the apparatus (1) motors as well as for controlling the said photometric system, among many others.
  • said processor (50) is responsible for the execution of the stored routines stored in said memory (51), which are yet to be detailed, storing the data then received.
  • the control panel (17) comprises a keyboard (17a) which allows the input on commands and instructions, as well as a display (17b) so that the working conditions and status can be seen, acts as the user's interface, so that monitoring the operation is possible, as well as information regarding mishaps, system fails, and etc.
  • said controller device (12) acts as a specific interface to the photometric system, that is, send the commands that are needed to control the optical camera (11), receives data concerning the images collected by the said optical camera (11) as well as the backlight (15) during the images capture.
  • the I/O (52) is linked to the power box (18) so that it can act in the many motors and actuators which are integrant part of the apparatus (1), in the basis and when it is, and as it is needed, that is, under supervision of the processor (50).
  • the operation of the apparatus (1) starts when its powered on and the worker commands the equipment start procedure, for that, by the means of a local command carried out by the control panel (17) as well as by the means of an ⁇ integrated system communicating by electronic means, through cable or wireless, synchronous or asynchronous, as for example, but not limited to, RS- 232, RS-422, RS-485, USB, Bluetooth®, ZigBee®, protocols family IEEE802.1, IEEE 802.3, and etc.
  • the system will make sure that the casing is closed, granting no access to human operator whatsoever, so that safety is kept by removing the human body parts, as well as any strange part, away of the operation.
  • the mere act of opening the apparatus will immediately halt all operations, ensuring the protection of the worker, operation and equipment.
  • the system will keep stored in memory the status before its opening, so that, when it is closed the operation will resume exactly from where it stopped, without further delays.
  • a Demicopra (30) is fed, that is, inserted on the Demicopra upholder unity, that is, atop of the hollow conical upholder (8).
  • the vacuum pump (9) is engaged so that the Demicopra (30) will hold on the hollow conical upholder (8).
  • the processor (50) engages the controller device (12) so that the outline of the Demicopra (30) can be mapped.
  • p n which represents the rotation angle from the said Demicopra (30) regarding the system's origin, that is, the coordinate which gives the Demicopra (30) rotation regarding its original position.
  • the memory (51) stores an aggregate of points, in space, which indicates the outline of the Demicopra (30). To be perceived that the cut or paring (next step) will be made regarding these very points in their extent defined by the extension of the paring tool (38), which can assume many dimensions.
  • the processor (50) recalls the data related to the points that define the Demicopra (30) outline, and uses it to perform the calculation of the paring device (2) trajectory, so that it will travel all the Demicopra (30) surface while the spin motor proceeds to a controlled rotation. More specifically, as a function of the previous definition of the Demicopra (30) surface outline, the processor (50) places the tool box (36) in such a manner that the paring tool (38) takes the first paring position for the Testa (29).
  • the tool motor (5) is engaged, causing the paring tool (38) to spin as well, while the rotation motor (10) grants the hollow conical upholder (8) proceed to as many rotations as it is needed for complete that segment paring.
  • the paring tool (38) is again positioned so that it can move to the next paring strip (as example, adjacent and above the previous one), so that it can accomplish the removal of a new strip of the Testa.
  • the positioning of the tool box (36) is made through processor's (50) command combined with movements of the motors (3, 4 and 7), in order to keep the paring tool (38) in the right positioning throughout the hollow conical upholder (8) turn, as well as the Demicopra (30).
  • processor's (50) command combined with movements of the motors (3, 4 and 7), in order to keep the paring tool (38) in the right positioning throughout the hollow conical upholder (8) turn, as well as the Demicopra (30).
  • said paring device (2) can be set in a fixed position and the whole spatial movement can be done can be made through a specific bear of the hollow conical upholder (8) without any chance in the final result.
  • the present invention yet comprises a Testa (29) paring method from the Solid Endosperm (26).
  • a Testa (29) paring method comprises defining the Demicopra (30) outline from the spatial mapping and, in the following, guide a paring device (2) in a way that it will remove the adjacent strips of the outlined shape previously defined.
  • the present invention further comprises an autonomous nut paring method nut, comprising the steps of: activating an optical camera (11) and a corresponding backlight (15), said nut interposed between said optical camera ( 11) and said backlight (15), said nut spinning, so that the position of its delimiting points, pertaining to a coordinate system, can be store in memory (51), control the motion means of a tool (36) box so that the paring tool (38) removes consecutive and adjacent strips from the external coating of the nut.
  • said step of activating the optical camera (11) and said backlight (15) comprises taking a series of snapshots, each one corresponding to a nut angular position, by the means of light contrast of the nut outline define spatial coordinates, being said coordinates stored in memory (51) controlled by the means of the processor (50), the nut outline by the spatial coordinates system, said coordinates stored in the memory (51).
  • the step of issue the commands for the positioning of the tool box (36) is made by the processor's (50) retrieving the stored coordinates from the memory (51) and issuing commands combined with movements of the motors (3, 4 and 7), to set the position of tool box (36) in order to keep the paring tool (38) removes a predetermined strip from the outer surface of the nut.
  • the present invention presents itself as highly efficient and flexible, yet allowing that a commitment regarding the operation speed and amount of the lost Solid Endosperm (25) (losses). Furthermore, the system is fully automatic and autonomous, so that it is fit to be added to a production line, that could proceed its adoption or even being used stand-alone. Adding to that the fact that the human interaction is limited to the feeding of the operational parameters, that is, during the critical procedure of the paring of the Demicopra (30) there will absolute no human interaction, thus the risks and others consequences derived from that.

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  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Polymers & Plastics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne un système, un équipement et un procédé de parage de noix autonomes par exemple pour retirer la testa (29) d'un copra de noix de coco. Le système comprend un alésage de demi-copra (30) comprenant un support de cône creux (8) capable de recevoir le demi-copra (30) capable de recevoir le demi-copra tournant (30), un système photométrique destiné à cartographier le contour du demi-copra (30), un outil de parage (2) comprenant une boîte à outils (36) capable de maintenir et de déplacer un outil de parage (38), entraîné par un moteur d'outil (5), sur un plan tangent du demi-copra (30), ainsi qu'un processeur (50) à l'intérieur d'un boîtier de protection (13) comprenant un panneau de commande (17), une mémoire (51), un dispositif de commande du dispositif (12) et une E/S (52). Le parage de la noix comprend deux étapes consistant à : activer une caméra optique (11) et son rétroéclairage correspondant (15), ladite noix étant placée entre ladite caméra optique (11) et le rétroéclairage (15), ladite noix tournant, de sorte que la position de ses points de délimitation, appartenant à un système de coordonnées, puisse être stockée dans la mémoire (51), commander les moyens de déplacement d'une boîte à outils (36) de sorte que l'outil de parage (38) enlève des bandes consécutives et adjacentes du revêtement extérieur de la noix.
PCT/BR2016/050156 2016-07-05 2016-07-05 Système, équipement et procédé de parage de noix autonomes Ceased WO2018006143A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
BR112018075019-0A BR112018075019B1 (pt) 2016-07-05 2016-07-05 Sistema, equipamento e método para descascar de forma autônoma uma noz
PCT/BR2016/050156 WO2018006143A1 (fr) 2016-07-05 2016-07-05 Système, équipement et procédé de parage de noix autonomes
MYPI2019000007A MY196573A (en) 2016-07-05 2016-07-05 Autonomous Nut Paring System, Equipment and Method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/BR2016/050156 WO2018006143A1 (fr) 2016-07-05 2016-07-05 Système, équipement et procédé de parage de noix autonomes

Publications (1)

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WO2018006143A1 true WO2018006143A1 (fr) 2018-01-11

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BR (1) BR112018075019B1 (fr)
MY (1) MY196573A (fr)
WO (1) WO2018006143A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109288077A (zh) * 2018-12-05 2019-02-01 柴富鑫 一种山茶鲜果剥壳机

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