Flexible clamping jaw capable of automatically adjusting clamping force based on deformation measurement

Abstract

The invention discloses a flexible clamping jaw capable of automatically adjusting clamping force based on deformation measurement, and belongs to the field of vegetable and fruit picking devices.The flexible clamping jaw comprises a rotating mechanism, three clamping jaw mechanisms are symmetrically installed at the front end of the rotating mechanism through an installation disc, and the rotating mechanism and the clamping jaw mechanisms form a picking mechanism; the rotating mechanism can drive the three clamping jaw mechanisms to rotate through an internal rotating motor, each clamping jaw mechanism comprises a flexible clamping jaw, the tail of each flexible clamping jaw is driven by a connected cam connecting rod mechanism to swing, and the back face of each clamping jaw mechanism is fixedly provided with a monitoring mechanism. The monitoring mechanism monitors the deformation quantity of the flexible clamping jaw through a camera. According to the flexible clamping jaw, the clamping force is accurately controlled through a camera and an algorithm, and fruits are protected against damage; the three-jaw structure is stable, the process is automatic, and the efficiency is improved; ginseng can be flexibly set according to vegetables and fruits, and the adaptability is wide; data after picking is driven and optimized, long-acting operation of equipment is facilitated, and the cost is reduced.

Description

Technical Field

[0001] The invention relates to the field of vegetable and fruit picking devices, and in particular to a flexible clamping claw with self-adjusting clamping force based on deformation measurement. Background Art

[0002] In the field of agricultural production, fruit and vegetable picking has long occupied a key position, but the many difficulties it currently faces urgently need to be overcome.

[0003] The traditional fruit and vegetable picking model is highly dependent on manual labor. From large-scale orchards to scattered vegetable plots, it has become the norm for teams of manual pickers to shuttle between them. Take apple picking as an example. During the harvest season, fruit farmers need to climb ladders, carefully identify ripe fruits branch by branch, and pick them by hand. Each person works for more than 8 hours a day, and can only pick a few acres of orchards, with extremely limited efficiency. This method means a huge demand for labor, especially during the concentrated listing period. Recruiting a large number of skilled pickers has become a difficult problem for growers. Labor costs have soared, and the golden period of picking is often delayed due to labor shortages, resulting in losses such as over-ripening of fruits and deterioration of quality. The pickers are overwhelmed by the long-term repeated bending and raising of hands, which not only affects the health of practitioners, but also indirectly reduces labor efficiency and enthusiasm.

[0004] The rise of automated picking machines has brought hope to the industry, but the existing equipment is of varying quality. Most automated picking devices have shortcomings in the clamping process, and the lack of gripper force control function is the primary problem. Different fruit and vegetable varieties vary greatly in shape, but the existing picking grippers are unable to keenly perceive the actual size and shape of the fruit and unify the gripping force, resulting in poor picking results. At the same time, the material of the grippers is improperly selected, and a large amount of hard plastic and metal materials rub and squeeze the soft skin of fruits and vegetables, resulting in a high breakage rate during harvest, which greatly reduces the yield of commercial fruits and causes heavy economic losses.

[0005] The mainstream two-finger gripper design in the market has inherent structural stability deficiencies, and the force applied to the fruit is uneven. Spherical fruits such as oranges and grapefruits often slip due to the lack of force points, and fall to the ground and get injured. In high-speed automated picking lines, frequent falling causes frequent equipment shutdowns for error correction, disrupting the overall picking rhythm and greatly reducing efficiency. It is difficult to meet the efficient harvesting needs of large-scale plantations, and has become a bottleneck for industrial upgrading. Summary of the invention

[0006] The main purpose of the present invention is to provide a flexible clamping jaw with self-adjusting clamping force based on deformation measurement, which can effectively solve the problems mentioned in the background technology.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] A flexible clamping jaw with self-adjusting clamping force based on deformation measurement comprises a rotating mechanism, three clamping jaw mechanisms are symmetrically mounted on the front end of the rotating mechanism via a mounting plate, the rotating mechanism and the clamping jaw mechanism constitute a picking mechanism, the rotating mechanism can drive the three clamping jaw mechanisms to rotate via an internal rotating motor, the clamping jaw mechanism comprises a flexible clamping jaw, the tail of the flexible clamping jaw is driven to swing via a connected cam-link mechanism, a monitoring mechanism is fixedly mounted on the back of each clamping jaw mechanism, and the monitoring mechanism monitors the deformation amount of the flexible clamping jaw via a camera.

[0009] Preferably, the rotating mechanism includes a cage-type bracket, the rotating motor is fixedly installed inside the bracket, an outer ring is fixedly installed at the front end of the bracket, an inner ring is provided inside the outer ring, the outer ring and the inner ring form a bearing structure for relative rotation, and the output shaft of the rotating motor is fixedly connected to the center of the inner ring.

[0010] Preferably, a plurality of screw rods are fixedly mounted on the outer surface of the inner ring, and the mounting plate is fixedly mounted on the inner ring via these screw rods.

[0011] Preferably, the cam-connecting rod mechanism includes a driving motor, which is fixedly mounted on a mounting plate via a fixing member, a cam is fixedly mounted on the output shaft of the driving motor, the end of the cam is movably connected to a connecting rod, the other end of the connecting rod is rotatably connected to a movable screw, and the movable screw is fixedly mounted on the tail end of the flexible clamp.

[0012] Preferably, a fixing screw is also installed at the tail end of the flexible clamp, a fixing column is rotatably installed on the fixing screw, the other end of the fixing column is fixed to a fixing plate by bolts, and the fixing plate is fixedly connected to the mounting plate by a plurality of long bolts.

[0013] Preferably, the monitoring mechanism includes an L-shaped mounting frame, which is fixedly mounted on both sides of the flexible clamp, and the camera is fixedly mounted on the mounting frame and faces the flexible clamp to collect deformation information. A wireless transmission module is integrated inside the camera to transmit the collected image information to a computer.

[0014] Preferably, the method for the monitoring mechanism to adjust the clamping force of the flexible clamp based on the deformation measurement of the flexible clamp monitored by the camera comprises the following steps:

[0015] S1: Preparation before picking

[0016] Start the image monitoring and control software on the computer, and preset basic parameters in the software according to common types of fruits and vegetables, including the approximate size range of fruits and the initial threshold value of the flexible gripper shape variable, and make timely adjustments based on the actual picking;

[0017] Use a standard calibration plate to calibrate the camera on each flexible gripper; place the calibration plate in the standard shooting position of the flexible gripper, fine-tune the camera focus, white balance, and contrast parameters to ensure that the image is clear and accurate, and that the image size ratio displayed by the software corresponds accurately to the actual flexible gripper size;

[0018] S2: Picking process - Target fruit positioning

[0019] The picking mechanism is manually controlled to move to the vegetable and fruit planting area, so that the center of the picking mechanism is accurately aligned with the fruit to be picked, ensuring that the fruit is within the effective grasping range of the flexible gripper;

[0020] S3: Picking process - the flexible gripper approaches the fruit

[0021] The drive motor runs, driving the flexible gripper to slowly approach the fruit. During this period, the camera continuously captures real-time images of the flexible gripper at a frequency of 10-20 frames per second, and transmits the image data to the computer in real time with the help of a wireless transmission module. The computer software receives and presents the image in real time, and the operator monitors the dynamics of the flexible gripper approaching the fruit.

[0022] S4: Picking process - initial light clamping and deformation monitoring

[0023] The moment the flexible gripper touches the surface of the fruit, the drive motor switches to low speed and low torque mode, allowing the flexible gripper to gently close and initially clamp the fruit. At the same time, the camera captures the image change of the flexible gripper when it touches the fruit and within 0.1-0.5 seconds thereafter. The software uses the image recognition algorithm to lock the pixel coordinate changes of the key parts of the flexible gripper and calculate the initial deformation value.

[0024] S5: Picking process - dynamic adjustment of clamping force

[0025] The software compares the calculated initial deformation value with the preset threshold value; if the deformation is less than the lower threshold, the motor automatically increases the torque by 5% each time, continues to close the flexible gripper and monitors the deformation; if the deformation exceeds the upper threshold, the motor quickly reduces the torque and appropriately loosens the flexible gripper, and continues to track the deformation until it stabilizes in a reasonable threshold range, ensuring that the flexible gripper firmly grasps the fruit without damage;

[0026] S6: Harvesting process - fruit picking

[0027] After the clamping force of the flexible clamp is adjusted appropriately and stabilized for 0.5-1 second, and after confirming that the fruit is firmly grasped, the motor is switched to high-power output mode to drive the clamp mechanism to rotate and complete the fruit picking action. The flexible clamp camera keeps shooting throughout the process, and the software verifies the deformation in real time to prevent the clamping force from getting out of control at the moment of picking;

[0028] S7: Post-harvest operations - fruit transfer

[0029] The picking mechanism moves the flexible claw holding the fruit to the top of the fruit collection container, drives the motor to reverse, and slowly and steadily releases the flexible claw to let the fruit fall into the container; if the camera detects that the flexible claw is abnormally released, it will immediately pause and adjust the position or state of the flexible claw to ensure smooth transfer of the fruit;

[0030] S8: Post-harvest operations - data recording and analysis

[0031] After each harvest, the computer software automatically records the time-varying curve of the flexible clamping jaw shape, the frequency of clamping force adjustment, and the final stable clamping force value, and stores it in the database in association with the fruit variety and location information. After each day of harvest, the accumulated data is deeply analyzed to explore the correlation between the fruit variety, growth stage, clamping force, and flexible clamping jaw shape, and optimize the preset parameters.

[0032] S9: Post-harvest operations - equipment maintenance inspection

[0033] After each batch of picking is completed or the equipment has been running for 4-6 hours, the picking mechanism should be fully inspected; focus on checking the wear and deformation of the flexible grippers, the cleanliness and integrity of the camera lens, and the signal stability of the wireless transmission module, and clean, repair or replace parts in a timely manner.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. Precise picking control: The camera monitors the shape variables of the flexible clamp in real time, and uses image recognition algorithms and software analysis to dynamically and accurately adjust the clamping force according to the actual situation of the fruit, avoiding damage or falling of the fruit due to improper clamping force, greatly improving the accuracy of picking and the integrity of the fruit, and effectively reducing the defective rate.

[0036] 2. Improve picking efficiency: The three-claw structure is more stable than the common two-finger claws, and can hold the fruit more firmly, reducing the risk of fruit slipping during picking. The drive motor synchronously drives the three flexible claws to grab the fruit, and cooperates with the rotating mechanism to drive the three claw mechanisms to rotate to pick the fruit. All links are closely coordinated, from positioning to picking and transferring, the movements are smooth, and the picking process is highly automated. Compared with simple manual picking, the efficiency is greatly improved, and it can meet the rapid harvesting needs of large-scale plantations.

[0037] 3. Wide adaptability: Parameters can be preset according to common types of fruits and vegetables before picking, and can be flexibly adjusted in subsequent actual operations. It is suitable for picking fruits and vegetables of various shapes, sizes and textures, with strong versatility and high equipment utilization.

[0038] 4. Data-driven optimization: After picking, the system automatically records and deeply analyzes the picking data, explores the correlation between vegetable and fruit characteristics and picking parameters, and continuously optimizes preset parameters to achieve continuous improvement in picking performance, ensure long-term and efficient operation of equipment, extend equipment service life, and reduce the cost of frequent equipment replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The overall structure of the picking mechanism of the present invention is shown in FIG. Figure 1 ;

[0040] Figure 2 The overall structure of the picking mechanism of the present invention is shown in FIG. Figure 2 ;

[0041] Figure 3 It is an exploded view of the overall structure of the picking mechanism of the present invention;

[0042] Figure 4 It is a schematic diagram of the structure of the rotating mechanism of the present invention;

[0043] Figure 5 It is a schematic diagram of the structure of the clamping mechanism of the present invention;

[0044] Figure 6 It is a schematic diagram of the picking control method flow of the present invention.

[0045] In the figure: 1. rotating mechanism; 2. clamping mechanism; 3. monitoring mechanism; 4. fixed plate; 5. mounting plate; 6. bracket; 7. rotating motor; 8. outer ring; 9. inner ring; 10. driving motor; 11. fixing piece; 12. cam; 13. connecting rod; 14. fixing column; 15. flexible clamping jaw; 16. fixing screw; 17. movable screw; 18. mounting bracket; 19. camera. DETAILED DESCRIPTION

[0046] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0047] like Figure 1-Figure 3 As shown, a flexible clamping jaw with self-adjusting clamping force based on deformation measurement includes a rotating mechanism 1, and three clamping jaw mechanisms 2 are symmetrically mounted on the front end of the rotating mechanism 1 through a mounting plate 5. The rotating mechanism 1 and the clamping jaw mechanisms 2 form a picking mechanism. The rotating mechanism 1 can drive the three clamping jaw mechanisms 2 to rotate through the internal rotating motor 7. The clamping jaw mechanism 2 includes a flexible clamping jaw 15. The tail of the flexible clamping jaw 15 is driven to swing through the connected cam connecting rod mechanism. A monitoring mechanism 3 is fixedly mounted on the back of each clamping jaw mechanism 2.

[0048] like Figure 4As shown, the rotating mechanism 1 includes a cage-type bracket 6, a rotating motor 7 is fixedly installed inside the bracket 6, an outer ring 8 is fixedly installed at the front end of the bracket 6, an inner ring 9 is provided inside the outer ring 8, the outer ring 8 and the inner ring 9 form a bearing structure for relative rotation, the output shaft of the rotating motor 7 is fixedly connected to the center of the inner ring 9, a plurality of screws are also fixedly installed on the outer surface of the inner ring 9, and the mounting plate 5 is fixedly installed on the inner ring 9 through these screws.

[0049] like Figure 5 As shown, the cam-linkage mechanism includes a driving motor 10, which is fixedly mounted on the mounting plate 5 through a fixing member 11, and a cam 12 is fixedly mounted on the output shaft of the driving motor 10, and a connecting rod 13 is movably connected to the end of the cam 12, and the other end of the connecting rod 13 is rotatably connected to a movable screw 17, and the movable screw 17 is fixedly mounted on the tail end of the flexible clamping jaw 15. A fixing screw 16 is also installed at the tail end of the flexible clamping jaw 15, and a fixing column 14 is rotatably mounted on the fixing screw 16, and the other end of the fixing column 14 is fixedly mounted on a fixing plate 4 by bolts, and the fixing plate 4 is fixedly connected to the mounting plate 5 by a plurality of long bolts.

[0050] The monitoring mechanism 3 monitors the deformation of the flexible clamp 15 through a camera 19. The monitoring mechanism 3 includes an L-shaped mounting frame 18, and the mounting frame 18 is fixedly installed on both sides of the flexible clamp 15. The camera 19 is fixedly installed on the mounting frame 18 and faces the flexible clamp 15 to collect deformation information. A wireless transmission module is integrated in the camera 19 to transmit the collected image information to the computer.

[0051] In actual work, the above structures cooperate with each other. First, the three driving motors 10 are started synchronously to drive the cam 12 to rotate, and then the flexible clamp 15 is pushed / pulled through the connecting rod 13. Since the tail end of the flexible clamp 15 is also rotatably connected to a fixed column 14, and the other end of the fixed column 14 is fixed to the fixed disk 4, and the fixed disk 4 is fixed to the mounting disk 5, when the connecting rod 13 acts on the flexible clamp 15, it naturally drives the flexible clamp 15 to rotate with the fixed screw 16 as the axis to achieve the action of closing / opening, thereby forming the action of clamping and loosening. At the same time, since the three clamp mechanisms 2 are all fixedly installed on the mounting disk 5 by the fixing member 11 on the driving motor 10, and the mounting disk 5 is fixedly installed on the rotating mechanism 1, after the rotating motor 7 is started to rotate, the output shaft of the rotating motor 7 drives the inner ring 9 to rotate, thereby driving the mounting disk 5 to rotate, and then driving the three clamp mechanisms 2 to rotate, which also drives the fruit clamped by the flexible clamp 15 to rotate, so that it is separated from the branch, thereby completing the picking.

[0052] In order to ensure the quality and efficiency of fruit picking, the picking mechanism is equipped with a monitoring mechanism 3. The monitoring mechanism 3 monitors the deformation of the flexible clamp 15 through a camera 19. The monitoring mechanism 3 includes an L-shaped mounting frame 18. The mounting frame 18 is fixedly mounted on both sides of the flexible clamp 15. The camera 19 is fixedly mounted on the mounting frame 18 and faces the flexible clamp 15 to collect deformation information. A wireless transmission module is integrated in the camera 19 to transmit the collected image information to the computer.

[0053] The specific process is as follows: before the fruit and vegetable picking operation starts, the pre-picking preparation stage needs to be carefully prepared. On the one hand, the exclusive image monitoring and control software on the computer is started, and with reference to common types of fruits and vegetables, basic parameters such as the approximate size range of the fruit and the initial threshold of the deformation of the flexible clamp 15 are preset in the software to lay the foundation for subsequent precise picking, and these parameters can be flexibly adjusted according to the actual picking situation; on the other hand, the camera 19 on each flexible clamp 15 is carefully calibrated using a standard calibration plate, and the calibration plate is accurately placed in the standard position for clamp shooting, and the focal length, white balance, contrast and other parameters of the camera 19 are carefully adjusted to ensure that the captured image is clear and accurate, and that the image size ratio presented by the software is exactly the same as the actual clamp size.

[0054] When everything is ready, the picking process begins. In the target fruit positioning stage of the picking process, the picking mechanism is moved to the vegetable and fruit planting area by skilled manual manipulation. The center of the picking mechanism is steadily aligned with the fruit to be picked based on experience and eyesight, ensuring that the fruit is firmly within the range that the flexible clamp 15 can effectively grasp. Next, the flexible clamp 15 approaches the fruit, and the drive motor 10 starts to operate slowly, pushing the flexible clamp 15 slowly towards the fruit. During this process, the camera 19 continuously captures real-time images of the clamp at a frequency of 10-20 frames per second, and uses a wireless transmission module to quickly transmit image data to the computer in real time. The computer software immediately receives and clearly presents the picture, and the operator closely monitors the dynamics of the clamp and the fruit gradually approaching each other.

[0055] When the flexible clamp 15 touches the surface of the fruit, it instantly enters the initial light clamping and deformation monitoring stage. The drive motor 10 quickly switches to the low speed and low torque mode, driving the flexible clamp 15 to gently close and initially clamp the fruit. At the same time, the camera 19 quickly captures the subtle changes in the deformation image of the clamp contacting the fruit and within 0.1-0.5 seconds thereafter. The software uses the image recognition algorithm to accurately lock the pixel coordinate changes of the key parts of the clamp, thereby calculating the initial deformation value. Then, in the dynamic adjustment stage of the clamping force, the software carefully compares the calculated initial deformation value with the preset threshold. Once the deformation is less than the lower limit threshold, the motor automatically increases the torque, increasing by 5% each time, and continues to close the clamp and monitor closely; if the deformation exceeds the upper limit threshold, the motor quickly reduces the torque and appropriately loosens the clamp, keeping a close eye on the deformation trend throughout the process until it stabilizes in a reasonable range to ensure that the clamp can both firmly grasp the fruit and not cause any damage.

[0056] During the fruit picking stage, when the clamping force of the flexible clamp 15 is adjusted to the right level and maintained for 0.5-1 second, and after confirming that the fruit has been firmly grasped, the rotating motor 7 decisively switches to the high-power output mode, strongly drives the clamp mechanism 2 to rotate quickly, and successfully completes the fruit branch picking action. The camera 19 on the flexible clamp 15 continues to work throughout the process, and the software verifies the deformation in real time to prevent the clamping force from getting out of control at the moment of picking. After picking the fruit, it comes to the fruit transfer stage. The picking mechanism moves smoothly to the top of the fruit collection container, and the drive motor 10 slowly reverses, gently and slowly loosens the flexible clamp 15, allowing the fruit to fall safely into the container; if the camera 19 detects that the loosening action is abnormal, it will immediately pause and adjust the position or state of the clamp in time to ensure the smooth transfer of the fruit.

[0057] After a picking is completed, the data recording and analysis process starts. After each picking, the computer software automatically and accurately records the key data such as the time-varying curve of the deformation of the flexible clamp 15, the frequency of clamping force adjustment, and the final stable clamping force value, and stores it in the database in association with the fruit variety and location information. When the daily picking work is over, the accumulated data is deeply mined and analyzed to explore the inherent correlation between the fruit and vegetable variety, growth stage and the clamping force and the deformation of the clamp, and optimize the preset parameters accordingly to improve the subsequent picking efficiency. Finally, during the equipment maintenance and inspection stage, after each batch of picking tasks is completed or the equipment has been running for 4-6 hours, the picking mechanism is carefully inspected in all aspects, focusing on whether the flexible clamp 15 is worn or deformed, whether the camera 19 lens is clean and intact, and whether the signal of the wireless transmission module is stable. Once a problem is found, the corresponding parts are cleaned, repaired or replaced immediately to ensure that the equipment is in the best operating state at all times.

[0058] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A flexible clamping jaw with self-adjusting clamping force based on deformation measurement, characterized in that: The invention comprises a rotating mechanism (1), wherein three clamping mechanisms (2) are symmetrically mounted on the front end of the rotating mechanism (1) via a mounting plate (5), wherein the rotating mechanism (1) and the clamping mechanisms (2) constitute a picking mechanism, wherein the rotating mechanism (1) can drive the three clamping mechanisms (2) to rotate via an internal rotating motor (7), wherein the clamping mechanisms (2) comprise a flexible clamping jaw (15), wherein the tail of the flexible clamping jaw (15) is driven to swing via a connected cam connecting rod mechanism, and a monitoring mechanism (3) is fixedly mounted on the back of each of the clamping jaw mechanisms (2), wherein the monitoring mechanism (3) monitors the deformation of the flexible clamping jaw (15) via a camera (19).

2. The flexible clamping jaw with self-adjusting clamping force based on deformation measurement according to claim 1, characterized in that: The rotating mechanism (1) comprises a cage-type bracket (6), the rotating motor (7) is fixedly mounted inside the bracket (6), an outer ring (8) is fixedly mounted at the front end of the bracket (6), an inner ring (9) is arranged inside the outer ring (8), the outer ring (8) and the inner ring (9) form a bearing structure for relative rotation, and the output shaft of the rotating motor (7) is fixedly connected to the center of the inner ring (9).

3. The flexible clamping jaw with self-adjusting clamping force based on deformation measurement according to claim 2, characterized in that: A plurality of screw rods are fixedly mounted on the outer surface of the inner ring (9), and the mounting plate (5) is fixedly mounted on the inner ring (9) via these screw rods.

4. The flexible clamping jaw with self-adjusting clamping force based on deformation measurement according to claim 3, characterized in that: The cam-connecting rod mechanism comprises a driving motor (10), wherein the driving motor (10) is fixedly mounted on a mounting plate (5) via a fixing member (11), a cam (12) is fixedly mounted on an output shaft of the driving motor (10), the end of the cam (12) is movably connected to a connecting rod (13), the other end of the connecting rod (13) is rotatably connected to a movable screw (17), and the movable screw (17) is fixedly mounted on the tail end of a flexible clamp (15).

5. The flexible clamping jaw with self-adjusting clamping force based on deformation measurement according to claim 4, characterized in that: A fixing screw (16) is also installed at the tail end of the flexible clamp (15), and a fixing column (14) is rotatably installed on the fixing screw (16). The other end of the fixing column (14) is fixed to a fixing plate (4) by bolts, and the fixing plate (4) is fixedly connected to the mounting plate (5) by a plurality of long bolts.

6. The flexible clamping jaw with self-adjusting clamping force based on deformation measurement according to claim 5, characterized in that: The monitoring mechanism (3) comprises an L-shaped mounting frame (18), wherein the mounting frame (18) is fixedly mounted on both sides of the flexible clamping claw (15), and the camera (19) is fixedly mounted on the mounting frame (18) and faces the flexible clamping claw (15) to collect deformation information, and a wireless transmission module is integrated inside the camera (19) to transmit the collected image information to a computer.

7. The flexible clamping jaw with self-adjusting clamping force based on deformation measurement according to claim 6, characterized in that: The method for the monitoring mechanism (3) to adjust the clamping force of the flexible clamping claw (15) based on the deformation measurement monitored by the camera (19) comprises the following steps: S1: Preparation before picking Start the image monitoring and control software on the computer, preset basic parameters in the software according to common types of fruits and vegetables, covering the approximate size range of the fruit and the initial threshold value of the deformation of the flexible gripper (15), and adjust them in time according to the actual picking; A standard calibration plate is used to calibrate the camera (19) on each flexible clamp (15); the calibration plate is placed at the standard shooting position of the flexible clamp (15), and the focal length, white balance, and contrast parameters of the camera (19) are finely adjusted to ensure that the image is clear and accurate, and that the image size ratio displayed by the software accurately corresponds to the actual size of the flexible clamp (15); S2: Picking process - Target fruit positioning Manually control the picking mechanism to move to the vegetable and fruit planting area, so that the center of the picking mechanism is accurately aligned with the fruit to be picked, ensuring that the fruit is within the effective grasping range of the flexible clamp (15); S3: Picking process - the flexible gripper (15) approaches the fruit The driving motor (10) is running to drive the flexible clamp (15) to slowly approach the fruit; during this period, the camera (19) continuously captures real-time images of the flexible clamp (15) at a frequency of 10-20 frames per second, and transmits the image data to the computer in real time with the help of a wireless transmission module. The computer software receives and presents the image in real time, and the operator monitors the dynamics of the flexible clamp (15) approaching the fruit; S4: Picking process - initial light clamping and deformation monitoring When the flexible clamp (15) touches the surface of the fruit, the driving motor (10) switches to a low speed, low torque mode, so that the flexible clamp (15) closes gently to initially clamp the fruit; at the same time, the camera (19) captures the image change of the deformation of the flexible clamp (15) within 0.1-0.5 seconds after it touches the fruit, and the software uses an image recognition algorithm to lock the pixel coordinate changes of the key parts of the flexible clamp (15) and calculate the initial deformation value; S5: Picking process - dynamic adjustment of clamping force The software compares the calculated initial deformation value with the preset threshold value; if the deformation value is less than the lower threshold value, the motor automatically increases the torque, increasing by 5% each time, continues to close the flexible clamp (15) and monitors the deformation value; if the deformation value exceeds the upper threshold value, the motor quickly reduces the torque and appropriately loosens the flexible clamp (15), and continues to track the deformation value until it stabilizes in a reasonable threshold range, ensuring that the flexible clamp (15) firmly grasps the fruit without damage; S6: Harvesting process - fruit picking After the clamping force of the flexible clamp (15) is adjusted to be appropriate and stable for 0.5-1 second and the fruit is confirmed to be firmly grasped, the rotating motor (7) is switched to a high-power output mode to drive the clamp mechanism (2) to rotate and complete the fruit picking operation. The flexible clamp (15) camera (19) continuously shoots the entire process and the software verifies the deformation in real time to prevent the clamping force from getting out of control at the moment of picking. S7: Post-harvest operations - fruit transfer The picking mechanism moves the flexible clamping claw (15) holding the fruit to the top of the fruit collection container, drives the motor (10) to reverse, and slowly and steadily releases the flexible clamping claw (15) to allow the fruit to fall into the container; if the camera (19) detects that the flexible clamping claw (15) is abnormally released, it immediately pauses and adjusts the position or state of the flexible clamping claw (15) to ensure smooth transfer of the fruit; S8: Post-harvest operations - data recording and analysis After each harvest, the computer software automatically records the time-varying curve of the deformation of the flexible clamp (15), the frequency of clamping force adjustment, and the final stable clamping force value, and stores the information in the database in association with the fruit variety and position; after the daily harvest, the accumulated data is deeply analyzed to explore the correlation between the fruit variety, growth stage and the clamping force, the deformation of the flexible clamp (15), and optimize the preset parameters; S9: Post-harvest operations - equipment maintenance inspection After each batch of picking is completed or the equipment has been running for 4-6 hours, the picking mechanism should be fully inspected; the wear and deformation of the flexible clamp (15), the cleanliness and integrity of the camera (19) lens, and the signal stability of the wireless transmission module should be checked in a timely manner, and parts should be cleaned, repaired or replaced.

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