Gripper and manipulator for harvesting solanaceous vegetable fruits

Abstract

The invention relates to a gripper and manipulator for harvesting all-in-one eggplant and solanaceous vegetables, comprising a support mechanism, a drive mechanism, a shearing mechanism, and a clamping mechanism. The shearing and clamping mechanisms are stacked on the sliding portion of the drive mechanism. The shearing mechanism's scissor lever is located between a first front guide wheel and a first rear guide wheel, with the first front curved portion contacting the first front guide wheel and the first rear curved portion contacting the first rear guide wheel. The clamping mechanism's clamping lever is located between a second front guide wheel and a second rear guide wheel, with the second front curved portion contacting the second front guide wheel and the second rear curved portion contacting the second rear guide wheel. The distance from the point of contact between the first front curved portion and the first front guide wheel to the first hinge axis is greater than the distance from the point of contact between the second front curved portion and the second front guide wheel to the second hinge axis. The invention achieves rapid gripping and cutting without causing the fruit stem to fall out of the clamping device and damage the fruit, thereby significantly improving the success rate of harvesting and preventing damage caused by fruit squeezing.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a clamping and cutting integrated harvesting gripper and manipulator for solanaceous vegetable fruits. Background Art

[0002] Solanaceous vegetables such as tomatoes, cucumbers, eggplants, etc. With the development of computer technology, the research and development of fruit picking robots is constantly advancing. As an important part of the picking robot, the design of the picking claw is directly related to the efficiency of the picking operation and the effect of fruit picking.

[0003] Current harvesting robots primarily separate tomato fruits from their stems by twisting, sucking, dragging, and shearing the stems. However, these methods present several challenges: they can easily damage the fruit by squeezing it; and when the fruit is clamped after the stems are cut, the stems can easily break free from the gripping device and fall, damaging the fruit and reducing the success rate of harvesting. Summary of the Invention

[0004] To this end, the technical problem to be solved by the invention is to overcome the problem in the prior art that the fruit is easily squeezed and damaged; after cutting the fruit stalks, the fallen fruit is clamped, which easily causes the fruit stalks to fall out of the clamping device, damage the fruit, and reduce the success rate of picking.

[0005] In order to solve the above technical problems, the invention provides a gripper for harvesting solanaceous vegetables and fruits, comprising:

[0006] Support mechanism;

[0007] The driving mechanism includes a sliding portion and two guide assemblies, the sliding portion being slidably connected to the support mechanism; the two guide assemblies being symmetrically arranged on either side of the sliding portion; the guide assemblies including a first front guide wheel, a second front guide wheel, a first rear guide wheel, and a second rear guide wheel, all of which are rotatably connected to the support mechanism;

[0008] The shearing mechanism comprises two scissor levers hingedly connected by a first hinge shaft, wherein the inner wall of the front end of the scissor lever is provided with a blade, and the rear end of the scissor lever comprises a first front arc portion and a first rear arc portion;

[0009] The clamping mechanism includes two clamping rods hingedly connected by a second hinge shaft, the inner wall of the front end of the clamping rod is provided with a clamping surface, and the rear end of the clamping rod includes a second front arc portion and a second rear arc portion;

[0010] In which, the shearing mechanism and the clamping mechanism are superimposed on the sliding part, the scissor rod is located between the first front guide wheel and the first rear guide wheel, the first front arc-shaped portion contacts the first front guide wheel, and the first rear arc-shaped portion contacts the first rear guide wheel; the clamping rod is located between the second front guide wheel and the second rear guide wheel, the second front arc-shaped portion contacts the second front guide wheel, and the second rear arc-shaped portion contacts the second rear guide wheel; the distance from the contact point of the first front arc-shaped portion and the first front guide wheel to the first hinge axis is greater than the distance from the contact point of the second front arc-shaped portion and the second front guide wheel to the second hinge axis.

[0011] In one embodiment of the invention, the second front arc portion and the second rear arc portion form an S-shaped connecting portion, and the two ends of the S-shaped connecting portion respectively enclose the second front guide wheel and the second rear guide wheel.

[0012] In one embodiment of the invention, the first hinge shaft and the second hinge shaft are coaxially arranged, and the clamping mechanism is connected to the sliding portion at the second hinge shaft.

[0013] In one embodiment of the invention, the driving mechanism further includes a driving part, which is a cylinder fixedly connected to the support plate, a piston rod of the cylinder connected to the sliding part, and the driving part drives the sliding part to slide on the support plate.

[0014] In one embodiment of the invention, the driving mechanism further includes a pulley, which is rotatably connected to the support plate, and sliding grooves are provided on both sides of the sliding portion, and the pulley is located in the sliding grooves.

[0015] In one embodiment of the invention, a rubber anti-slip pad is detachably connected to the clamping surface of the clamping rod.

[0016] In one embodiment of the invention, the first front guide wheel and the second front guide wheel are coaxially arranged;

[0017] The first rear guide wheel and the second rear guide wheel are coaxially arranged.

[0018] In one embodiment of the invention, the present application further comprises a front bolt and a rear bolt both connected to the support mechanism;

[0019] The first front guide wheel and the second front guide wheel are rotatably connected to the front bolts through bearings; the first rear guide wheel and the second rear guide wheel are rotatably connected to the rear bolts through bearings.

[0020] In one embodiment of the invention, the driving mechanism further includes an adjusting portion connected to the front bolt and the rear bolt, and the adjusting portion adjusts the distance between the front bolt and the rear bolt.

[0021] On the other hand, the invention provides a gripper-cutting integrated harvesting robot for Solanaceae vegetables and fruits, comprising:

[0022] The above embodiment is used for the integrated cutting and harvesting claws of Solanaceae vegetables and fruits;

[0023] The robotic arm is connected to the harvesting claw.

[0024] The above technical solution of the invention has the following advantages over the prior art:

[0025] The present invention relates to an integrated cutting and harvesting gripper for Solanaceae and eggplant vegetables, which is provided with a shearing mechanism and a clamping mechanism connected to a sliding part. The sliding part slides back and forth relative to the supporting mechanism. The scissor rod of the shearing mechanism is located between the first front guide wheel and the first rear guide wheel, the first front arc-shaped part contacts the first front guide wheel, and the first rear arc-shaped part contacts the first rear guide wheel; the clamping rod of the clamping mechanism is located between the second front guide wheel and the second rear guide wheel, the second front arc-shaped part contacts the second front guide wheel, and the second rear arc-shaped part contacts the second rear guide wheel, and the distance from the contact point of the first front arc-shaped part and the first front guide wheel to the first hinge axis is greater than the contact point of the second front arc-shaped part and the second front guide wheel The distance to the second hinge axis is such that during the sliding process of the sliding part, the two clamping rods are driven to close before the two scissor rods, so that the clamping rods first grab and clamp the fruit stems and then the scissor rods close to cut the fruit stems. In addition, during the cutting process and after the cutting is completed, the clamping rods always clamp the fruit stems, thereby achieving rapid clamping and cutting while not causing the fruit stems to fall out of the clamping device and damage the fruit, greatly improving the success rate of picking. In addition, during the picking process, the present application only contacts the fruit stems and does not contact the fruit, thereby avoiding damage caused by squeezing the fruit and further improving the success rate of picking. In addition, the structure of this embodiment is simple and compact, which is convenient for picking in small and complex environments. Secondly, the front end of the present application adopts a scissor-like structure, which is conducive to the harvesting claws entering complex and narrow spaces and improving the universality of the picking claws. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to make the content of the invention easier to understand, the invention is further described in detail below based on the specific embodiments of the invention and in conjunction with the accompanying drawings, wherein

[0027] Figure 1 This is a schematic structural diagram of a gripper for harvesting Solanaceae vegetables and fruits in a preferred embodiment of the present invention;

[0028] Figure 2 yes Figure 1 The figure shows a schematic diagram of the structure of a shearing mechanism in a gripper for harvesting eggplant and solanaceous vegetables;

[0029] Figure 3 yes Figure 1 The figure shows a schematic diagram of the structure of a clamping mechanism in a gripper for cutting and harvesting eggplant and solanaceous vegetables;

[0030] Figure 4 yes Figure 1 The figure shows a schematic diagram of the structure of a rubber anti-slip pad in a gripper for cutting and harvesting eggplant and solanaceous vegetables;

[0031] Figure 5 yes Figure 1 A schematic diagram of a gripper for harvesting solanaceous vegetables and fruits showing both the scissor rod and the clamping rod opened;

[0032] Figure 6 yes Figure 1 A schematic diagram of a gripper for harvesting solanaceous vegetables and fruits showing a closed gripper lever (with the scissor lever not closed);

[0033] Figure 7 yes Figure 1 A schematic diagram of a gripper for harvesting solanaceous vegetables and fruits showing that both the scissor rod and the clamping rod are closed;

[0034] Figure 8 yes Figure 1 A schematic diagram of a gripper for harvesting solanaceous vegetables and fruits showing the scissor rods and the clamping rods half-opened;

[0035] Description of the accompanying drawings: 100, support mechanism; 110, support plate;

[0036] 200, driving mechanism; 210, sliding portion; 211, slideway; 220, guide assembly; 221, first front guide wheel; 222, second front guide wheel; 223, first rear guide wheel; 224, second rear guide wheel; 230, driving portion; 240, pulley;

[0037] 300, shearing mechanism; 310, scissor lever; 311, blade; 312, first front curved portion; 313, first rear curved portion;

[0038] 400, clamping mechanism; 410, clamping rod; 411, second front arc-shaped portion; 412, second rear arc-shaped portion; 413, mounting hole; 420, rubber anti-slip pad; 421, clamping table;

[0039] 500, front bolt;

[0040] 600, rear bolt;

[0041] 700. Long hole. DETAILED DESCRIPTION

[0042] The invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the invention and implement it. However, the embodiments are not intended to limit the invention.

[0043] Reference Figures 1 to 4As shown, the invention provides a gripper for harvesting solanaceous vegetables and fruits, comprising:

[0044] Support mechanism 100;

[0045] The drive mechanism 200 includes a sliding portion 210 and two guide assemblies 220. The sliding portion 210 is slidably connected to the support mechanism 100. The two guide assemblies 220 are symmetrically arranged on both sides of the sliding portion 210. The guide assemblies 220 include a first front guide wheel 221, a second front guide wheel 222, a first rear guide wheel 223, and a second rear guide wheel 224, all of which are rotatably connected to the support mechanism 100.

[0046] The shearing mechanism 300 includes two scissor levers 310 hingedly connected by a first hinge axis. The inner wall of the front end of the scissor levers 310 is provided with a blade 311. The rear end of the scissor levers 310 includes a first front curved portion 312 and a first rear curved portion 313.

[0047] The clamping mechanism 400 includes two clamping rods 410 hingedly connected by a second hinge axis. The inner wall of the front end of the clamping rod 410 is provided with a clamping surface. The rear end of the clamping rod 410 includes a second front arc portion 411 and a second rear arc portion 412.

[0048] Among them, the shearing mechanism 300 and the clamping mechanism 400 are superimposed on the sliding part 210, the scissor rod 310 is located between the first front guide wheel 221 and the first rear guide wheel 223, the first front arc-shaped portion 312 is in contact with the first front guide wheel 221, and the first rear arc-shaped portion 313 is in contact with the first rear guide wheel 223; the clamping rod 410 is located between the second front guide wheel 222 and the second rear guide wheel 224, the second front arc-shaped portion 411 is in contact with the second front guide wheel 222, and the second rear arc-shaped portion 412 is in contact with the second rear guide wheel 224; the distance from the contact point of the first front arc-shaped portion 312 with the first front guide wheel 221 to the first hinge axis is greater than the distance from the contact point of the second front arc-shaped portion 411 with the second front guide wheel 222 to the second hinge axis.

[0049] It should be noted that, during operation, the harvesting claws approach the fruit stalks so that the fruit stalks fall between the two clamping rods 410. In the process of the sliding part 210 sliding forward, the two clamping rods 410 are closed under the action of the second front guide wheel 222 and the second rear guide wheel 224, and the two scissor rods 310 are closed under the action of the first front guide wheel 221 and the first rear guide wheel 223. Moreover, the closing speed of the two clamping rods 410 is different from that of the two scissor rods 310, ensuring that the clamping rods 410 clamp the fruit stalks first and the scissor rods 310 cut off the fruit stalks later (because the distance from the contact point of the first front arc-shaped part 312 and the first front guide wheel 221 to the first hinge axis is greater than the distance from the contact point of the second front arc-shaped part 411 and the second front guide wheel 222 to the second hinge axis), thereby realizing integrated clamping and cutting harvesting.

[0050] Specifically, this embodiment provides a shearing mechanism 300 and a clamping mechanism 400 connected to the sliding portion 210, the sliding portion 210 slides back and forth relative to the supporting mechanism 100, the scissor rod 310 of the shearing mechanism 300 is located between the first front guide wheel 221 and the first rear guide wheel 223, the first front arc portion 312 contacts the first front guide wheel 221, and the first rear arc portion 313 contacts the first rear guide wheel 223; the clamping rod 410 of the clamping mechanism 400 is located between the second front guide wheel 222 and the second rear guide wheel 224, the second front arc portion 411 contacts the second front guide wheel 222, and the second rear arc portion 412 contacts the second rear guide wheel 224, and the distance from the contact point of the first front arc portion 312 and the first front guide wheel 221 to the first hinge axis is greater than that of the second front arc portion The distance between the contact point between the shaped portion 411 and the second front guide wheel 222 and the second hinge axis is such that during the sliding process of the sliding portion 210, the two clamping rods 410 are driven to close before the two scissor rods 310, so that the clamping rods 410 first grab and clamp the fruit stems and then the scissor rods 310 close to cut the fruit stems. In addition, during the cutting process and after the cutting is completed, the clamping rods 410 always clamp the fruit stems, thereby achieving rapid clamping and cutting while not causing the fruit stems to fall out of the clamping device and damage the fruit, greatly improving the success rate of picking. In addition, during the picking process, the present application only contacts the fruit stems and does not contact the fruit, thereby avoiding damage caused by squeezing the fruit and further improving the success rate of picking. In addition, the structure of this embodiment is simple and compact, which is convenient for picking in small and complex environments. Secondly, the front end of the present application adopts a scissor-like structure, which is conducive to the harvesting claws entering complex and narrow spaces and improving the universality of the picking claws.

[0051] It should be noted that the present application can also adjust the opening angle of the cutting mechanism 300 and the clamping mechanism 400 by changing the shapes of the first front arc portion 312, the first rear arc portion 313, the second front arc portion 411 and the second rear arc portion 412, which is suitable for picking stalks of different fruits and has a wider range of applications.

[0052] Furthermore, the second front arc-shaped portion 411 and the second rear arc-shaped portion 412 form an S-shaped connecting portion, and both ends of the S-shaped connecting portion are respectively disposed on one side of the second front guide wheel 222 and the second rear guide wheel 224 .

[0053] Specifically, the second front arc portion 411 and the second rear arc portion 412 in this embodiment form an S-shaped connecting portion, and the two ends of the S-shaped connecting portion are respectively wrapped on one side of the second front guide wheel 222 and the second rear guide wheel 224, so that the two clamping rods 410 are closed during the forward movement of the sliding block, and after being fully closed, the clamping force of the two clamping rods 410 is further increased under the joint action of the second front guide wheel 222 and the second rear guide wheel 224, which is convenient for clamping the fruit stalks to prevent the fruit stalks from slipping and causing picking failure, thereby further improving the picking success rate.

[0054] Furthermore, the first hinge axis and the second hinge axis are coaxially arranged, and the clamping mechanism 400 is connected to the sliding portion 210 at the second hinge axis.

[0055] Furthermore, the driving mechanism 200 also includes a driving part 230, which is a cylinder. The cylinder is fixedly connected to the support plate 110, and the piston rod of the cylinder is connected to the sliding part 210. The driving part 230 drives the sliding part 210 to slide on the support plate 110.

[0056] Specifically, the driving portion 230 in this embodiment is a pneumatic cylinder, which provides reliable and stable power for the sliding of the sliding portion 210. While only using a single pneumatic cylinder, the present application achieves the goal of first clamping and then cutting the fruit stem, which is easy to control and can effectively cooperate with the robot arm to complete the fruit picking, further improving the picking success rate.

[0057] Furthermore, the support mechanism 100 includes an L-shaped support plate 110 , which includes a horizontal plate and a vertical plate. The vertical plate is connected to the driving portion 230 , and the sliding portion 210 , the shearing mechanism 300 , and the clamping mechanism 400 are connected to the horizontal plate.

[0058] Furthermore, the driving mechanism 200 further includes a pulley 240 , which is rotatably connected to the support plate 110 . Slide grooves 211 are provided on both sides of the sliding portion 210 , and the pulley 240 is located in the slide grooves 211 .

[0059] Specifically, the sliding groove 211 and the pulley 240 provided in this embodiment play a guiding role in the reciprocating sliding of the sliding part 210, making its operation more stable.

[0060] In some possible implementations, the diameter of the first front guide wheel 221 is smaller than the diameter of the second front guide wheel 222 , and the diameters of the first rear guide wheel 223 and the second rear guide wheel 224 are the same.

[0061] In some possible implementations, the pulley 240 is rotatably connected to the front bolt 500 via a bearing.

[0062] Furthermore, a rubber anti-slip pad 420 is detachably connected to the clamping surface of the clamping rod 410 .

[0063] Specifically, the rubber anti-skid pad 420 provided in this embodiment is made of a flexible material, which can reduce damage to the fruit stem when clamping, thereby ensuring the beauty of the appearance of the fruit.

[0064] Furthermore, in some possible implementations, the inner wall of the clamping rod 410 is provided with a plurality of mounting holes 413 , and the rubber anti-slip pad 420 is provided with a plurality of clamping platforms 421 , which are clamped in the mounting holes 413 .

[0065] Specifically, in this embodiment, the cooperation between the clamping platform 421 and the mounting hole 413 facilitates the rapid installation and removal of the rubber anti-slip pad 420 for replacement.

[0066] Furthermore, the rubber anti-skid pad 420 is provided with an oblique thread.

[0067] Specifically, in this embodiment, the rubber anti-slip pad 420 is provided with an oblique thread, which increases the friction between the clamping part and the fruit stem, reduces the chance of the fruit slipping, and improves the success rate of picking.

[0068] Furthermore, the first front guide wheel 221 and the second front guide wheel 222 are coaxially arranged;

[0069] The first rear guide wheel 223 and the second rear guide wheel 224 are coaxially arranged.

[0070] Specifically, in this embodiment, the first front guide wheel 221 and the second front guide wheel 222 are coaxially arranged, and the first rear guide wheel 223 and the second rear guide wheel 224 are coaxially arranged, thereby making the mechanism of the present application more compact and further facilitating picking in a small space.

[0071] Furthermore, the present application also includes a front bolt 500 and a rear bolt 600 both connected to the support mechanism 100;

[0072] The first front guide wheel 221 and the second front guide wheel 222 are rotatably connected to the front bolt 500 through bearings; the first rear guide wheel 223 and the second rear guide wheel 224 are rotatably connected to the rear bolt 600 through bearings.

[0073] Specifically, in this embodiment, the first front guide wheel 221, the second front guide wheel 222, the first rear guide wheel 223 and the second rear guide wheel 224 are rotatably connected to the support mechanism 100 through bolts and bearings, and the structure is simple.

[0074] Furthermore, the driving mechanism 200 further includes an adjusting portion connected to the front bolt 500 and the rear bolt 600 , and the adjusting portion adjusts the distance between the front bolt 500 and the rear bolt 600 .

[0075] Specifically, this embodiment is provided with an adjustment part for adjusting the distance between the front bolt 500 and the rear bolt 600, and further adjusts the distance between the first front guide wheel 221 and the first rear guide wheel 223 and the distance between the second front guide wheel 222 and the second rear guide wheel 224, so that the opening and closing degree of the cutting mechanism 300 and the clamping mechanism 400 can be adjusted, which is suitable for picking fruits of different diameters.

[0076] Furthermore, the adjustment portion includes an elongated hole 700 , and the front bolt 500 and the rear bolt 600 are respectively connected in the elongated hole 700 through nuts.

[0077] Specifically, the present embodiment is provided with an elongated hole 700 , so that the distance between the front bolt 500 and the rear bolt 600 can be adjusted by adjusting the positions of the two bolts in the elongated hole 700 . This has a simple structure and low manufacturing cost.

[0078] On the other hand, the invention provides a gripper-cutting integrated harvesting robot for Solanaceae vegetables and fruits, comprising:

[0079] The above embodiment is used for the integrated cutting and harvesting claws of Solanaceae vegetables and fruits;

[0080] The robotic arm is connected to the harvesting claw.

[0081] Furthermore, the robotic arm includes a control unit electrically connected to the cylinder, so that the control unit controls the cylinder to drive the sliding portion 210 to slide, thereby achieving automated control, improving picking efficiency, preventing damage to the fruit, and increasing the shelf life of the fruit.

[0082] The process of picking fruit using this application is as follows (taking picking tomatoes as an example):

[0083] 1. The first stage, such as Figure 5 As shown, the air pump is turned on to fully retract the piston rod of the air cylinder, so that the openings between the two clamping rods 410 and the two scissor rods 310 reach the maximum angle, ensuring that the fruit stem can be located between the two clamping rods 410;

[0084] 2. The second stage, such as Figure 6 As shown, the air pump causes the piston rod of the air cylinder to drive the sliding portion 210 to slide forward. At this time, the second front curved portion 411 of the two clamping rods 410 contacts the second front guide wheel 222, and the second rear curved portion 412 contacts the second rear guide wheel 224, causing the two clamping rods 410 to gradually close. The first front curved portion 312 of the two scissor rods 310 contacts the first front guide wheel 221, causing the two scissor rods 310 to gradually close. The two clamping rods 410 and the two scissor rods 310 close at different speeds. The clamping rod 410 closes and clamps the fruit stem before the scissor rods 310 close.

[0085] 3. The third stage, such as Figure 7 As shown, as the sliding portion 210 continues to slide forward, the two scissor rods 310 are completely closed to shear the fruit stems;

[0086] 4. The fourth stage, such as Figure 8 As shown, after the fruit stems are cut, the control robot arm clamps the fruit stems and slides to the designated collection position. The control unit changes the working direction of the cylinder, and the piston rod of the cylinder drives the sliding part 210 to slide backward. At this time, the second rear arc-shaped parts 412 of the two clamping rods 410 contact the second rear guide wheel 224, and the first rear arc-shaped parts 313 of the two scissor rods 310 contact the first rear guide wheel 223, so that the two clamping rods 410 and the two scissor rods 310 are opened, and the tomato bunches are placed at the designated position.

[0087] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications derived therefrom remain within the scope of protection of the invention.

Claims

1. A gripper for harvesting solanaceous vegetables and fruits, characterized by: include: Support mechanism; The driving mechanism includes a sliding portion and two guide assemblies, wherein the sliding portion is slidably connected to the support mechanism; the two guide assemblies are symmetrically arranged on both sides of the sliding portion; the guide assemblies include a first front guide wheel, a second front guide wheel, a first rear guide wheel, and a second rear guide wheel, all of which are rotatably connected to the support mechanism; The shearing mechanism comprises two scissor levers hingedly connected by a first hinge shaft, wherein the inner wall of the front end of the scissor lever is provided with a blade, and the rear end of the scissor lever comprises a first front arc portion and a first rear arc portion; The clamping mechanism includes two clamping rods hingedly connected by a second hinge shaft, the inner wall of the front end of the clamping rod is provided with a clamping surface, and the rear end of the clamping rod includes a second front arc portion and a second rear arc portion; In which, the shearing mechanism and the clamping mechanism are superimposed on the sliding part, the scissor rod is located between the first front guide wheel and the first rear guide wheel, the first front arc-shaped portion is in contact with the first front guide wheel, and the first rear arc-shaped portion is in contact with the first rear guide wheel; the clamping rod is located between the second front guide wheel and the second rear guide wheel, the second front arc-shaped portion is in contact with the second front guide wheel, and the second rear arc-shaped portion is in contact with the second rear guide wheel; the distance from the contact point of the first front arc-shaped portion and the first front guide wheel to the first hinge axis is greater than the distance from the contact point of the second front arc-shaped portion and the second front guide wheel to the second hinge axis, so that when the sliding part slides, the clamping rod closes to clamp the fruit stalk before the scissor rod, and then the scissor rod closes to cut the fruit stalk.

2. The integrated gripper for harvesting Solanaceae vegetables and fruits according to claim 1, characterized in that: The second front arc-shaped portion and the second rear arc-shaped portion form an S-shaped connecting portion, and two ends of the S-shaped connecting portion are respectively arranged on one side of the second front guide wheel and the second rear guide wheel.

3. The integrated gripper for harvesting Solanaceae vegetables and fruits according to claim 1, characterized in that: The first hinge shaft and the second hinge shaft are coaxially arranged, and the clamping mechanism is connected to the sliding part at the second hinge shaft.

4. The integrated gripper for harvesting Solanaceae vegetables and fruits according to claim 1, characterized in that: The supporting mechanism includes an L-shaped supporting plate; the driving mechanism also includes a driving part, which is a cylinder, the cylinder is fixedly connected to the supporting plate, the piston rod of the cylinder is connected to the sliding part, and the driving part drives the sliding part to slide on the supporting plate.

5. The integrated gripper for harvesting Solanaceae vegetables and fruits according to claim 4, characterized in that: The driving mechanism further includes a pulley, which is rotatably connected to the support plate. Slide grooves are provided on both sides of the sliding portion, and the pulley is located in the slide grooves.

6. The integrated gripper for harvesting Solanaceae vegetables and fruits according to claim 1, characterized in that: The clamping surface of the clamping rod is detachably connected with a rubber anti-slip pad.

7. The integrated gripper for harvesting Solanaceae vegetables and fruits according to claim 1, characterized in that: The first front guide wheel and the second front guide wheel are coaxially arranged; The first rear guide wheel and the second rear guide wheel are coaxially arranged.

8. The integrated gripper for harvesting Solanaceae vegetables and fruits according to claim 7, characterized in that: Also included are a front bolt and a rear bolt both connected to the support mechanism; The first front guide wheel and the second front guide wheel are rotatably connected to the front bolt via bearings; the first rear guide wheel and the second rear guide wheel are rotatably connected to the rear bolt via bearings.

9. The integrated gripper for harvesting Solanaceae vegetables and fruits according to claim 8, characterized in that: The driving mechanism further includes an adjusting portion connected to the front bolt and the rear bolt, and the adjusting portion adjusts a distance between the front bolt and the rear bolt.

10. A gripper-cutting harvesting robot for Solanaceae vegetables and fruits, characterized by: include: The integrated cutting and harvesting claw for Solanaceae vegetables and fruits as claimed in claim 1; A robotic arm is connected to the harvesting claw.

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