A harvesting platform for heady vegetables

Abstract

This invention discloses a harvesting platform for heady vegetables, including a carrier, a robotic arm, and a robotic hand. The robotic arm is mounted on the carrier, and the robotic hand is mounted on the robotic arm. The robotic hand includes a base, a boom, a base plate, and a finger assembly. The base is mounted on the robotic arm, and the two ends of the boom are connected to the base and the base plate, respectively. Multiple finger assemblies are mounted on the base plate and arranged in a ring around the center of the base plate. Each finger assembly includes a connector, an inflatable base, and a finger. The finger is hollow inside and is mounted on the inflatable base, with its interior communicating with the interior of the inflatable base. The finger is elongated and has a serrated structure on one side. The finger is made of an elastic material. The harvesting platform for heady vegetables of this invention uses fingers made of elastic material to grasp the vegetables. The surface of the fingers is soft, and the grasping will not cause damage to the surface of the vegetables, so that the vegetables harvested by fully automated mechanization can also have good appearance quality.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and more particularly to a harvesting platform for heady vegetables. Background Technology

[0002] Heading vegetables are a type of vegetable characterized by their head-like leaves, such as cabbage. The edible parts of these vegetables are generally irregularly shaped or heart-shaped. When harvesting these vegetables, you only need to cut off the root and then remove the edible, head-shaped part.

[0003] Currently, the harvesting of head vegetables mainly relies on manual labor and some auxiliary machinery. Although various fully automated head vegetable harvesting platforms have emerged, their harvesting efficiency is poor and their application is limited. The main reason is that existing head vegetable harvesting platforms use blades to cut the vegetables and then use clamps or pipes to remove them. This method of removing vegetables causes them to collide with hard parts multiple times, leaving scratches on the surface and affecting their appearance.

[0004] It should be noted that in the field of agricultural machinery, although vegetables such as broccoli and cauliflower are not considered head vegetables, their harvesting characteristics are very similar to those of head vegetables. Therefore, the application targets of head vegetable harvesting platforms include not only head vegetables such as cabbage, but also spherical vegetables such as broccoli and cauliflower. Summary of the Invention

[0005] The technical problem to be solved by this invention is that existing harvesting platforms for heady vegetables easily leave scratch marks on the surface of the vegetables, affecting their edibility and sale.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a harvesting platform for heady vegetables, including a carrier, a robotic arm and a robotic hand;

[0007] The robotic arm is mounted on a carrier, and the robotic hand is mounted on the robotic arm; the carrier carries the robotic arm and robotic hand and moves them between fields where head vegetables are grown, and the robotic hand drives the robotic hand to move in three-dimensional space, grasping and picking vegetables;

[0008] The robotic arm includes a base, a boom, a base plate, and finger fasteners. The base is mounted on the robotic arm, and the two ends of the boom are connected to the base and the base plate, respectively. Multiple finger fasteners are mounted on the base plate and arranged in a ring around the center of the base plate.

[0009] The snap fastener assembly includes a connector, an inflatable base, and a snap fastener. The inflatable base is mounted on the base plate via the connector. The inflatable base is hollow inside and has a first air inlet on its surface. The snap fastener is hollow inside and is mounted on the inflatable base, with its interior communicating with the interior of the inflatable base. The snap fastener is elongated and has a serrated structure on one side. The snap fastener is made of elastic material. After being inflated, the snap fastener bends towards the opposite side of the serrated structure.

[0010] Because multiple finger-holding components are distributed in a ring on the base plate, when all finger-holding components are inflated at the same time, all fingers bend towards the center of the base plate to achieve a grasping action; when harvesting heady vegetables, the robotic arm controls the robotic hand to move directly above the vegetables, with the vegetables in the center of the base plate, and all the fingers bend to grasp the vegetables; because the fingers are made of elastic material and the surface of the fingers is soft, the fingers will not cause damage to the surface of the vegetables when grasping them.

[0011] Specifically, the base plate is provided with multiple horizontal beams extending outward from the center, and the horizontal beams are provided with mounting grooves along the length of the horizontal beams. The connectors are fixed in the mounting grooves by bolts. The position of the connectors in the mounting grooves can be freely adjusted, thereby changing the distance between the snap-fin assembly and the center of the base plate, and adjusting the size of the entire robot to adapt to the harvesting of vegetables of different sizes.

[0012] Furthermore, the boom is hollow and connected to an air source. The surface of the boom is provided with a first inflation port, which is connected to the first air inlet through a pipe. By connecting all the first air inlets with the boom, the number of exposed pipes can be reduced, and all the fingers can be inflated at the same time, ensuring the synchronicity of the finger gripping action.

[0013] Furthermore, the boom is equipped with a movable valve core and a drive assembly. The drive assembly drives the valve core to move up and down within the boom, causing the valve core to switch between a first position and a second position, with the first position being lower than the second position. The valve core is cylindrical, with its inner cavity connected to an air source. The outer surface of the valve core is in contact with the inner surface of the boom. The surface of the valve core has a radial first through hole and an axial first connecting groove, which are arranged vertically. The boom has a first exhaust port, which is arranged vertically with the first inflation port.

[0014] When the valve core is in the first position, the first air inlet and the first air outlet are connected through the first connecting groove;

[0015] When the valve core is in the second position, the first through hole is aligned with the first air inlet;

[0016] The valve core is used to control the finger snapping action. The hollow inner cavity of the valve core is connected to the air source. When the valve core is in the second position, the first through hole is aligned with the first air inlet. The high-pressure air in the hollow inner cavity of the valve core enters the finger snapping action through the first through hole, the first air inlet, the pipe and the first air inlet, causing the finger snapping action to bend after being inflated, thus realizing the gripping action.

[0017] When the valve core is switched to the first position, the first inflation port and the first through hole are misaligned, and the first inflation port is no longer connected to the hollow inner cavity of the valve core; the first inflation port and the first exhaust port are connected through the first connecting groove, which means that the inner cavity of the snap ring is connected to the outside through the first air inlet, pipe, first inflation port and first exhaust port, the air pressure in the inner cavity of the snap ring returns to normal pressure, and the snap ring returns to the relaxed state under the action of its own gravity and elasticity, realizing the relaxation action of the robotic arm.

[0018] In this invention, the expansion of the gripper finger relies on its own weight and the elasticity of the material itself. During expansion, the gripper finger contains only air at normal pressure, and is in a relatively soft state. This leads to a drawback: after a period of use, the elasticity of the gripper finger material decreases, the expansion speed slows down, and the expansion degree is insufficient; that is, the gripper finger remains somewhat bent after expansion. In subsequent work, the bent gripper finger may be prematurely curled due to the scraping effect of vegetables, thus failing to achieve the gripping function. To overcome this drawback, the gripper finger assembly also includes a gripper extension rod, which is made of elastic material, hollow inside, and located inside the gripper finger. A second air inlet is provided on the inflation base, and the second air inlet is connected to the gripper extension rod.

[0019] The valve core has a radial second through hole on its surface and an axial second connecting groove on its surface. The second through hole and the second connecting groove are arranged vertically. The rod has a second air inlet and a second air outlet on its surface. The second air inlet and the second air outlet are arranged vertically. The second air inlet and the second air inlet are connected by a pipe.

[0020] When the valve core is in the first position, the second through hole is aligned with the second air inlet. The high-pressure air in the hollow inner cavity of the valve core enters the finger release rod through the second through hole, the second air inlet, the pipe, and the second air inlet, causing the finger release rod to straighten, which in turn causes the finger to straighten quickly.

[0021] When the valve core is in the second position, the second air inlet and the second through hole are misaligned, and the second air inlet and the second exhaust port are connected through the second connecting groove. This means that the inner cavity of the finger release rod is connected to the outside through the second air inlet, pipe, second air inlet and second exhaust port. The air pressure in the inner cavity of the finger release rod returns to normal pressure. At this time, the finger release rod can be freely deformed without affecting the bending of the finger.

[0022] It can be seen that the inflation and deflation principles of the snap ring and the release ring are the same, but the timing of inflation and deflation is exactly opposite. When the snap ring is inflated, the release ring is in a deflated state; when the release ring is inflated, the snap ring is in a deflated state.

[0023] Specifically, the drive assembly includes a push rod, a first top plate, a second top plate, and a spring. The push rod extends through the base plate into the boom, with the first and second top plates respectively mounted at its upper and lower ends. The spring is installed inside the boom, with its two ends abutting against the valve core and the first top plate, respectively. When the robotic arm descends and approaches the vegetable, the second top plate is blocked by the vegetable, causing the second top plate, the first top plate, and the push rod to rise relative to the boom, lifting the valve core and switching it from the first position to the second position. This means that the upward movement of the valve core is determined by the position of the vegetable; as long as the vegetable is in a graspable position, the valve core will switch to the second position, and the locking mechanism will begin to inflate and bend to grasp the vegetable.

[0024] Furthermore, the drive assembly also includes a motor and a swing arm. The swing arm is installed inside the boom. The motor drives the swing arm to swing. During the swing, the swing arm presses against the upper surface of the valve core, causing the valve core to descend. When the valve core descends to the first position, the fingers release the vegetables.

[0025] The harvesting platform for heady vegetables of the present invention can be configured with various disc saws or blades in the prior art to cut the roots of vegetables. In addition, this application also provides a water jet assembly for cutting the roots of vegetables. The water jet assembly includes a mounting plate, a rotator and a nozzle. The rotator and the nozzle are both located on the mounting plate, which is fixed to a robotic arm. The rotator drives the nozzle to oscillate, and the nozzle is connected to a water pump. The high-pressure water jet from the nozzle can cut the roots of vegetables.

[0026] Furthermore, the vehicle is equipped with a storage box for storing harvested vegetables; the vehicle is a tracked vehicle to adapt to various terrains.

[0027] Beneficial effects: (1) The picking platform for heady vegetables of the present invention uses a finger gripper made of elastic material to grasp vegetables. The surface of the finger gripper is soft and will not cause damage to the surface of the vegetables when grasping, so that vegetables harvested by fully automatic mechanization can also have good appearance quality. (2) The picking platform for heady vegetables of the present invention is equipped with an inflatable expansion rod inside the finger gripper. The inflatable expansion rod drives the finger gripper to straighten quickly, so that the expansion response speed of the robot arm is faster and the expansion action is not affected by the elasticity of the finger gripper material. (3) The picking platform for heady vegetables of the present invention is equipped with a valve core inside the hanging rod to control the inflation and deflation of the finger gripper and the expansion rod, so that the inflation and deflation actions of the two are interlocked, ensuring that the grasping and expansion actions of the robot arm are more crisp and clean. (4) The picking platform for heady vegetables of the present invention uses a vegetable trigger rod to drive the valve core to move, so that the grasping action control of the robot arm does not depend on the control program, and the action control is more accurate and reliable. Attached Figure Description

[0028] Figure 1 This is a three-dimensional view of the harvesting platform for heady vegetables in Example 1.

[0029] Figure 2 This is a perspective view of the robotic arm and water jet assembly in Example 1.

[0030] Figure 3 This is a three-dimensional view of the robotic arm in Example 1.

[0031] Figure 4 This is a cross-sectional view of the finger fastening component in Embodiment 1.

[0032] Figure 5 This is a diagram showing the state of the finger-clamping component after it has been inflated in Example 1.

[0033] Figure 6 This is a top view of the finger-clamping component in Embodiment 2.

[0034] Figure 7 yes Figure 6 AA rotating section view.

[0035] Figure 8 yes Figure 7 Enlarged view of A.

[0036] Figure 9 yes Figure 7 Enlarged view of B.

[0037] Figure 10 This is a diagram showing the working state of the finger-clamping component in Embodiment 2 (one of them).

[0038] Figure 11 This is a diagram showing the working state of the finger-clamping component in Embodiment 2 (Part Two).

[0039] Figure 12 This is the third working state diagram of the finger-clamping component in Embodiment 2.

[0040] Figure 13 This is the fourth diagram showing the working state of the finger-clamping component in Embodiment 2.

[0041] Wherein: 100, carrier; 110, storage box; 200, robotic arm; 300, robotic hand; 310, base; 320, boom; 321, first inflation port; 322, first exhaust port; 323, second inflation port; 324, second exhaust port; 330, base plate; 331, horizontal beam; 340, finger fastener assembly; 341, connector; 342, inflation base; 342-1, first air inlet; 342-2, second air inlet; 3 43. Finger snap; 344. Finger extension rod; 350. Pipe; 360. Valve core; 361. First through hole; 362. Second through hole; 363. First connecting groove; 364. Second connecting groove; 370. Drive assembly; 371. Push rod; 372. First top plate; 373. Second top plate; 374. Spring; 375. Motor; 376. Swing rod; 400. Water jet assembly; 410. Mounting plate; 420. Rotator; 430. Nozzle. Detailed Implementation

[0042] The present invention will be further described in detail below with reference to specific embodiments.

[0043] Example 1

[0044] like Figure 1 As shown, the harvesting platform for heady vegetables in this embodiment includes a carrier 100, a robotic arm 200, a robotic hand 300, and a water jet assembly 400; the carrier 100 is a tracked carrier, and a storage frame 110 is provided on the carrier 100 for storing the harvested vegetables.

[0045] The robotic arm 200 is mounted on the carrier 100. The robotic hand 300 and the water jet assembly 400 are both mounted on the robotic arm 200. The robotic hand 300 drives the robotic hand 300 and the water jet assembly 400 to move in three-dimensional space. The robotic hand 300 grasps and picks vegetables, and the water jet assembly 400 is used to cut the roots of vegetables.

[0046] like Figure 2 As shown, the water jet assembly 400 includes a mounting plate 410, a rotator 420, and a nozzle 430. Both the rotator 420 and the nozzle 430 are located on the mounting plate 410, which is fixed to the robotic arm 200. The rotator 420 drives the nozzle 430 to oscillate. The nozzle 430 is connected to a water pump, and the high-pressure water jet from the nozzle 430 can cut the roots of vegetables.

[0047] like Figure 3As shown, the robotic arm 300 includes a base 310, a boom 320, a base plate 330, and a finger fastening assembly 340. The base 310 is mounted on the robotic arm 200. The two ends of the boom 320 are connected to the base 310 and the base plate 330, respectively. The base plate 330 is provided with a plurality of horizontal beams 331 extending outward from the center. The horizontal beams 331 are provided with mounting grooves along the length of the horizontal beams 331. A finger fastening assembly 340 is installed in the mounting groove of each horizontal beam 331. All the finger fastening assemblies 340 are arranged in a ring around the center of the base plate 330.

[0048] like Figure 4 As shown, the snap fastener assembly 340 includes a connector 341, an inflatable base 342, and a snap fastener 343. The inflatable base 342 is mounted on the base plate 330 via the connector 341. The inflatable base 342 is hollow inside and has a first air inlet 342-1 on its surface. The snap fastener 343 is also hollow inside, mounted on the inflatable base 342, and its interior communicates with the interior of the inflatable base 342. The snap fastener 343 is elongated and has a serrated structure on one side. The snap fastener 343 is made of an elastic material. When the snap fastener 343 is inflated, it will... Figure 5 As shown, it bends towards the opposite direction of the sawtooth structure, when... Figure 3 When all five fingers 343 of the robotic arm 300 shown bend towards the center, the robotic arm 300 can perform a grasping action.

[0049] The basic workflow of the heading vegetable harvesting platform in this embodiment is as follows:

[0050] (1) The vehicle 100 carries the robotic arm 200, the robotic hand 300 and the water jet assembly 400 and moves between fields;

[0051] (2) The robotic arm 200 moves the robotic hand 300 and the water jet assembly 400 to the mature vegetables on the ground;

[0052] (3) All finger-clamping components 340 are inflated simultaneously, and the five fingers 343 bend to grasp vegetables;

[0053] (4) The nozzle 430 in the water jet assembly 400 sprays out a high-pressure water line, and the rotator 420 drives the nozzle 430 to swing appropriately, so that the high-pressure water line cuts the roots of the vegetables.

[0054] (5) The robotic arm 200 moves the robotic hand 300 and the vegetables held by the robotic hand 300 to the storage box 110. All the snap-fin components 340 release air simultaneously, and the five snap-fins 343 naturally open, and the vegetables fall into the storage box 110, completing the harvesting of vegetables.

[0055] The harvesting platform for heady vegetables in this embodiment uses a gripper 343 made of elastic material to grasp the vegetables. The surface of the gripper 343 is soft and will not cause damage to the surface of the vegetables when gripping, so that vegetables harvested by fully automated mechanization can also have good appearance quality.

[0056] Example 2

[0057] The harvesting platform for heady vegetables in this embodiment is basically the same as that in Embodiment 1, except that the only difference is the robotic arm 300.

[0058] like Figures 6 to 9 As shown, the robotic arm 300 includes a base 310, a boom 320, a base plate 330, a finger fastener assembly 340, and a pipe 350. The base 310 is mounted on the robotic arm 200. The two ends of the boom 320 are connected to the base 310 and the base plate 330, respectively. The base plate 330 is provided with a plurality of horizontal beams 331 extending outward from the center. The horizontal beams 331 are provided with mounting grooves along the length of the horizontal beams 331. A finger fastener assembly 340 is installed in the mounting groove of each horizontal beam 331. All the finger fastener assemblies 340 are arranged in a ring around the center of the base plate 330.

[0059] like Figure 9 As shown, the finger-fastening assembly 340 includes a connector 341, an inflatable base 342, a finger 343, and a finger-relaxing rod 344. The inflatable base 342 is mounted on the base plate 330 via the connector 341. The inflatable base 342 is hollow inside and has a first air inlet 342-1 on its surface. The finger 343 is hollow inside and is mounted on the inflatable base 342, with its interior communicating with the interior of the inflatable base 342. The finger 343 is elongated and has a serrated structure on one side. The finger 343 is made of elastic material. The finger-relaxing rod 344 is made of elastic material, is hollow inside, and is located inside the finger 343. The inflatable base 342 has a second air inlet 342-2, which communicates with the finger-relaxing rod 344.

[0060] like Figure 8 As shown, the boom 320 in this embodiment is hollow, and its inner cavity is connected to an air source. A movable valve core 360 ​​and a drive assembly 370 are installed inside the boom 320. The surface of the boom 320 is provided with a first inflation port 321, a first exhaust port 322, a second inflation port 323, and a second exhaust port 324. The first exhaust port 322 and the first inflation port 321 are arranged vertically, as are the second inflation port 323 and the second exhaust port 324. The first inflation port 321 is connected to the first air inlet 342-1 via a pipe 350, and the second inflation port 323 is connected to the second air inlet 342-2 via a pipe 350. (For ease of illustration,...) Figure 6 , Figures 10 to 13Pipe 350 is hidden.

[0061] The valve core 360 ​​is cylindrical, and its inner cavity is connected to the inner cavity of the boom 320. This means that the inner cavity of the valve core 360 ​​is connected to the air source and is filled with high-pressure air. The outer surface of the valve core 360 ​​is in contact with the inner surface of the boom 320. The surface of the valve core 360 ​​is provided with a radial first through hole 361 and a second through hole 362, and an axial first connecting groove 363 and a second connecting groove 364. The first connecting groove 363 and the first through hole 361 are arranged vertically, as are the second through hole 362 and the second connecting groove 364. The drive assembly 370 drives the valve core 360 ​​to move up and down within the boom 320, causing the valve core 360 ​​to switch between a first position and a second position, where the first position is lower than the second position. Figure 7 and Figure 8 The valve core 360 ​​shown is in the first position. Figure 11 The valve core 360 ​​shown is in the second position.

[0062] like Figure 7 and Figure 8 As shown, when the valve core 360 ​​is in the first position, the first inflation port 321 and the first exhaust port 322 are connected through the first connecting groove 363. This means that the inner cavity of the snap finger 343 is connected to the outside through the first air inlet 342-1, the pipe 350, the first inflation port 321 and the first exhaust port 322. The air pressure in the inner cavity of the snap finger 343 is normal pressure. At this time, the second through hole 362 is aligned with the second inflation port 323. The high-pressure air in the hollow inner cavity of the valve core 360 ​​enters the finger release rod 344 through the second through hole 362, the second inflation port 323, the pipe 350 and the second air inlet 342-2, so that the finger release rod 344 is straightened and the snap finger 343 will naturally be in a relaxed state.

[0063] like Figure 11 As shown, when the valve core 360 ​​is in the second position, the first through hole 361 is aligned with the first inflation port 321. The high-pressure air in the hollow cavity of the valve core 360 ​​enters the snap ring 343 through the first through hole 361, the first inflation port 321, the pipe 350 and the first air inlet 342-1, causing the snap ring 343 to bend after inflation, thus realizing the gripping action. At this time, the second inflation port 323 and the second exhaust port 324 are connected through the second connecting groove 364. This means that the inner cavity of the snap ring 344 is connected to the outside through the second air inlet 342-2, the pipe 350, the second inflation port 323 and the second exhaust port 324. The air pressure in the inner cavity of the snap ring 344 returns to normal pressure. At this time, the snap ring 344 can be freely deformed without affecting the bending of the snap ring 343.

[0064] It can be seen that the inflation and deflation principles of the finger buckle 343 and the finger release lever 344 are the same, but the timing of inflation and deflation is exactly opposite. When the finger buckle 343 is inflated, the finger release lever 344 is in a deflated state; when the finger release lever 344 is inflated, the finger buckle 343 is in a deflated state.

[0065] like Figure 7 As shown, the drive assembly 370 includes a push rod 371, a first top plate 372, a second top plate 373, a spring 374, a motor 375, and a swing rod 376. The push rod 371 passes through the base plate 330 and extends into the suspension rod 320. The first top plate 372 and the second top plate 373 are respectively installed at the upper and lower ends of the push rod 371. The spring 374 is installed inside the suspension rod 320, and the two ends of the spring 374 abut against the valve core 360 ​​and the first top plate 372, respectively. Figure 10 and Figure 11 As shown, when the robotic arm 300 descends and approaches the vegetables, the second top plate 373 is blocked by the vegetables, causing the second top plate 373, the first top plate 372, and the top rod 371 to rise relative to the boom 320, lifting the valve core 360 ​​and switching it from the first position to the second position. This means that the upward movement of the valve core 360 ​​is determined by the position of the vegetables. As long as the vegetables are in a graspable position, the valve core 360 ​​will switch to the second position, and the latch 343 will begin to inflate and bend to grasp the vegetables. The swing arm 376 is installed inside the boom 320, and the motor 375 drives the swing arm 376 to swing, as... Figure 13 As shown, the lever 376 presses down on the upper surface of the valve core 360 ​​during the swing, causing the valve core 360 ​​to descend. When the valve core 360 ​​descends to the first position, the snap finger 343 releases the vegetables.

[0066] The following describes the basic workflow of the head vegetable harvesting platform in this embodiment, using broccoli as the target vegetable:

[0067] (1) The vehicle 100 carries the robotic arm 200, the robotic hand 300, and the water jet assembly 400 and moves across the field; initially, the valve core 360 ​​is in the position as Figure 7 In the first position shown, the finger release lever 344 is inflated and in a taut state, while the finger snap lever 343 is also in a relaxed state.

[0068] (2) The robotic arm 200 moves the robotic hand 300 and the water jet assembly 400 to the mature vegetables on the ground, such as... Figure 10 As shown, the robotic arm 300 is positioned above the vegetables;

[0069] (3) Figure 11 As shown, the entire robotic arm 300 descends, and the second top plate 373 is lifted by the vegetables, causing the valve core 360 ​​to rise to the second position; the air pressure in the release lever 344 returns to normal pressure, and the inner cavity of the snap finger 343 begins to inflate, causing the snap finger 343 to bend to the desired position. Figure 12As shown, the five fingers bend 343 to grasp the vegetables;

[0070] (4) The nozzle 430 in the water jet assembly 400 sprays out a high-pressure water line, and the rotator 420 drives the nozzle 430 to swing appropriately, so that the high-pressure water line cuts the roots of the vegetables.

[0071] (5) After the robotic arm 200 moves the robotic hand 300 and the vegetables grasped by the robotic hand 300 to the storage box 110, as follows: Figure 13 As shown, motor 375 drives rocker arm 376 to swing, rocker arm 376 causes valve core 360 ​​to compress spring 374 and move downward to the first position; the air pressure in the snap-on finger 343 returns to normal pressure, the snap-on lever 344 begins to inflate and straighten, and snap-on finger 343 also changes synchronously to the first position. Figure 7 As shown in the relaxed state, the vegetables naturally fall into the storage box 110, completing the harvesting of the vegetables.

[0072] Although embodiments of the present invention have been described in the specification, these embodiments are merely illustrative and should not be construed as limiting the scope of protection of the present invention. Various omissions, substitutions, and modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A harvesting platform for heady vegetables, characterized in that: Includes vehicles, robotic arms, and robotic hands; The robotic arm is mounted on the carrier, and the robotic hand is mounted on the robotic arm; The robotic arm includes a base, a boom, a base plate, and finger fasteners. The base is mounted on the robotic arm, and the two ends of the boom are connected to the base and the base plate, respectively. Multiple finger fasteners are mounted on the base plate and arranged in a ring around the center of the base plate. The snap fastener assembly includes a connector, an inflatable base, and a snap fastener. The inflatable base is mounted on the base plate via the connector. The inflatable base is hollow inside and has a first air inlet on its surface. The snap fastener is hollow inside and is mounted on the inflatable base, with its interior communicating with the interior of the inflatable base. The snap fastener is elongated and has a serrated structure on one side. The snap fastener is made of elastic material. After being inflated, the snap fastener bends towards the opposite side of the serrated structure. The boom is hollow and connected to an air source. A first air inlet is provided on the surface of the boom, and the first air inlet is connected to the first air inlet through a pipe. The boom contains a movable valve core and a drive assembly. The drive assembly drives the valve core to move up and down within the boom, switching the valve core between a first position and a second position, with the first position being lower than the second position. The valve core is cylindrical, with its outer surface fitting against the inner surface of the boom. The valve core has a radial first through hole and an axial first connecting groove, which are arranged vertically. The boom also has a first vent, which is arranged vertically with a first inflation port. When the valve core is in the first position, the first air inlet and the first air outlet are connected through the first connecting groove; When the valve core is in the second position, the first through hole is aligned with the first air inlet; The finger buckle assembly also includes a finger release rod, which is made of elastic material and is hollow inside. The finger release rod is located inside the finger buckle. The inflatable base is provided with a second air inlet, which is connected to the finger release rod. The valve core has a radial second through hole on its surface and an axial second connecting groove on its surface. The second through hole and the second connecting groove are arranged vertically. The rod has a second air inlet and a second air outlet on its surface. The second air inlet and the second air outlet are arranged vertically. The second air inlet and the second air inlet are connected by a pipe. When the valve core is in the first position, the second through hole is aligned with the second air inlet; When the valve core is in the second position, the second air inlet and the second air outlet are connected through the second connecting groove.

2. The harvesting platform for heady vegetables according to claim 1, characterized in that: The base plate is provided with multiple horizontal beams extending outward from the center, and the horizontal beams are provided with mounting grooves. The connectors are fixed in the mounting grooves by bolts.

3. The harvesting platform for heading vegetables according to claim 1, characterized in that: The drive assembly includes a push rod, a first top plate, a second top plate, and a spring. The push rod passes through the base plate and extends into the suspension rod. The first top plate and the second top plate are respectively installed at the upper and lower ends of the push rod. The spring is installed inside the suspension rod, and the two ends of the spring abut against the valve core and the first top plate, respectively.

4. The harvesting platform for heading vegetables according to claim 3, characterized in that: The drive assembly also includes a motor and a swing arm. The swing arm is installed inside the boom. The motor drives the swing arm to swing, and the swing arm presses against the upper surface of the valve core during the swing, causing the valve core to move downward.

5. The harvesting platform for heading vegetables according to claim 1, characterized in that: It also includes a water jet assembly, which includes a mounting plate, a rotator, and a nozzle. The rotator and the nozzle are both located on the mounting plate, which is fixed to the robotic arm. The rotator drives the nozzle to oscillate.

6. The harvesting platform for heading vegetables according to claim 1, characterized in that: The vehicle is equipped with a storage frame.

7. The harvesting platform for heading vegetables according to claim 1, characterized in that: The vehicle is a tracked vehicle.

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