Flexible leaf vegetable clamping and conveying mechanism and design method thereof

Abstract

The invention discloses a leaf vegetable flexible clamping and conveying mechanism and a design method thereof, and relates to the technical field of agricultural machinery, the leaf vegetable flexible clamping and conveying mechanism comprises flexible clamping and conveying mechanism units which are symmetrically arranged, each flexible clamping and conveying mechanism unit is composed of a rack, a driving device, a supporting wheel and a clamping module, the driving device and the supporting wheel are arranged at the two ends of the rack, and the clamping module surrounds the rack; the rack is a framework of the whole clamping and conveying mechanism and used for fixedly installing the supporting wheels, the clamping modules and the driving device, and the supporting wheels are used for supporting and guiding the clamping modules to move. The flexible clamping module and the conveying structure are relatively independent, interference generated by interaction of different clamping wheels and a conveying belt in a traditional clamping conveying belt mode is avoided, and stable clamping and conveying of the leaf vegetables are guaranteed. In addition, the shape parameters of the buckling beams can be optimally designed, flexible clamping and conveying of the leaf vegetables under different feeding quantities are achieved, clamping damage in the mechanical harvesting process of the leaf vegetables is avoided, and low-damage ordered harvesting of the leaf vegetables is completed.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to a flexible clamping and conveying mechanism for leafy vegetables and a design method thereof. Background Art

[0002] Leafy vegetables are fast-growing vegetables that mainly produce fresh green leaves, petioles and tender stems, such as spinach and rapeseed, which are important components of people's daily diet. At present, the harvesting of leafy vegetables is mainly done manually, which is laborious and time-consuming, resulting in increased production costs. The harvesting of leafy vegetables has seriously affected the development of the vegetable industry.

[0003] Some equipment used to harvest leafy vegetables in traditional technology can replace manual labor to pull leafy vegetables out of the soil, greatly reducing labor intensity and improving harvesting efficiency. For leafy vegetables, in order to facilitate bundling and packing after harvesting, the leafy vegetable plants pulled out of the soil need to be transported backward for a distance to achieve orderly harvesting. However, the method of cutting stubble and disorderly harvesting is often adopted. This harvesting method does not use bundling and packing after harvesting, thereby increasing the workload of post-harvest leafy vegetable processing.

[0004] In order to solve the above problems, there are leafy vegetable harvesting machines in the prior art that can realize orderly harvesting, which can facilitate the bundling and boxing of harvested leafy vegetables. However, since the stems of leafy vegetables are tender and juicy, they are easily damaged by clamping during the orderly clamping and transportation process. Summary of the invention

[0005] In order to solve the above technical problems, this application proposes the following technical solutions:

[0006] In the first aspect, an embodiment of the present application provides a flexible clamping and conveying mechanism for leafy vegetables, comprising: a symmetrically arranged flexible clamping and conveying mechanism unit, wherein the flexible clamping and conveying mechanism unit is composed of a frame, a driving device and support wheels arranged at both ends of the frame, and a clamping module surrounding the frame; the frame is the skeleton of the entire clamping and conveying mechanism, which is used to fix the support wheels, the clamping module and the driving device, and the support wheels are used to support and guide the movement of the clamping module.

[0007] In a possible implementation, the clamping module is mainly composed of a clamping plate, a flexible buckling beam, a bearing plate, a height difference fastener, and a universal rotating base; the clamping plate is fixedly connected to the working end of the flexible buckling beam for clamping leafy vegetables; the flexible buckling beam is configured in a symmetrical manner, and its supporting end is fixedly connected to the bearing plate, and each flexible buckling beam is composed of two sections of unit beams of specific shapes connected in series; the bearing plate is connected to the universal rotating base through a height difference fastener; the height difference fasteners are used alternately to form connections with different height differences between the bearing plates and the universal rotating base of adjacent clamping modules, and the adjacent clamping plates have a staggered layout to avoid the gaps between adjacent clamping plates from clamping the stems of leafy vegetables; the universal rotating bases are connected in series in sequence to form a closed transmission link, which rotates smoothly along the guide groove of the frame.

[0008] In a possible implementation, the driving device includes a driving wheel and a driving motor, the driving wheel is arranged on the frame, the rotation output end of the driving motor is fixedly connected to the driving wheel, and the driving motor is arranged on a motor fixing frame.

[0009] In a possible implementation, the frame is provided with a guide groove for accurately guiding the clamping module to move along a predetermined route.

[0010] In a second aspect, an embodiment of the present application provides a method for designing a flexible clamping and conveying mechanism for leafy vegetables, using the flexible clamping and conveying mechanism for leafy vegetables described in any possible implementation of the first aspect of the design right, including:

[0011] Based on the relationship between the deadweight and clamping force of leafy vegetables at different feeding amounts, the minimum clamping force required to achieve stable clamping of leafy vegetables at different feeding amounts is determined;

[0012] When the leafy vegetable flexible clamping and conveying mechanism clamps and conveys leafy vegetables of different feeding amounts, under the reaction force of the minimum clamping force, each unit beam of the buckled beam in the clamping module of the leafy vegetable flexible clamping and conveying mechanism undergoes a deformation that satisfies the Euler-Bernoulli beam equation, thereby obtaining the Euler-Bernoulli beam equation of the unit beam;

[0013] A global coordinate system is established with the contact point between the axis of the buckled beam and the load-bearing plate in the clamping module as the origin, the positive direction of the x-axis is parallel to the load-bearing plate and horizontally points to the right, and the positive direction of the y-axis is perpendicular to the load-bearing plate and points to the clamping plate;

[0014] With reference to the global coordinate system, a local coordinate system is established for each unit beam. The origin of the local coordinate system coincides with the starting point of the unit beam. The local coordinate system of the first unit beam coincides with the global coordinate system. The local coordinate system of the second unit beam is deflected from the global coordinate system. The deflection angle is equal to the change angle of the working end of the first unit beam.

[0015] According to the geometric relationship between the global coordinate system and the local coordinate system, the spatial motion equilibrium equation and the static equilibrium equation generated by the working end of the buckled beam are derived, and the equation system composed of the Euler-Bernoulli beam equation, the spatial motion equilibrium equation and the static equilibrium equation is solved to obtain the clamping force generated by the working end of the buckled beam under different feeding amounts of leafy vegetables.

[0016] The shape parameters of the unit beam were iteratively optimized, and the component of the clamping force in the y-axis direction at the working end of the buckled beam under different feeding amounts of leafy vegetables was set to be equal to the minimum clamping force as the goal of the optimization design, and a flexible buckled beam structure that met the stable clamping conditions was obtained.

[0017] In a possible implementation, the unit beam of the buckled beam uses an axis to characterize the overall shape, and uses a polynomial function to describe its specific shape, and its initial shape is:

[0018] φ i (s) = a i +b i s+c i s 2 +d i s 3 (0≤s≤L i )

[0019]

[0020]

[0021] Where i represents the i-th unit beam, L i is the length of the i-th unit beam, s is the length of a point on the i-th unit beam, φ i (s) is the angle between the tangent line of the i-th unit beam at the beam length s and the x-axis, a i , b i 、c i and d i is the shape parameter of the i-th unit beam, x i (s) is the horizontal coordinate of the i-th unit beam in the Cartesian coordinate system at the beam length s, y i (s) is the ordinate of the i-th unit beam in the Cartesian coordinate system at the beam length s, and ξ is the variable in the definite integral calculation.

[0022] In a possible implementation, the deformation of the unit beam of the buckled beam that satisfies the Euler-Bernoulli beam equation is:

[0023]

[0024]

[0025]

[0026]

[0027] Where E is the elastic modulus of the unit beam material, I is the section moment of inertia of the unit beam, is the angle between the i-th unit beam and the x-axis at the beam length s after deformation, f xi is the clamping force component in the x-axis direction of the working end of the i-th unit beam, f yi is the clamping force component in the y-axis direction of the working end of the i-th unit beam, Δα i (s) is the angle difference of the i-th unit beam at the beam length s after deformation, Δx i (s) is the displacement of the i-th unit beam in the x-axis direction at the beam length s after deformation, Δy i (s) is the displacement of the i-th unit beam in the y-axis direction at the beam length s after deformation.

[0028] In a possible implementation, the corresponding spatial motion equilibrium equation generated by the working end of the buckled beam is:

[0029]

[0030] Δx1(L1)+Δx2(L2)cos|Δα1(L1)|+Δy2(L2)sin|Δα1(L1)|=0

[0031] Δy-[-Δy1(L1)-Δy2(L2)cos|Δα1(L1)|+Δx2(L2)sin|Δα1(L1)|]=0

[0032] Among them, Δy is the displacement of the working end of the buckled beam in the y-axis direction under different feed amounts.

[0033] In a possible implementation, the corresponding static equilibrium equation generated at the working end of the buckled beam is:

[0034] f y1 -[f y2 cos|Δα1(L1)|+f x2 sin|Δα1(L1)]=0

[0035] f x1 -[f x2 cos|Δα1(L1)|-f y2 sin|Δα1(L1)]=0

[0036]

[0037] Where M is the moment at the connection between the two element beams.

[0038] In a possible implementation, the optimization model for iteratively optimizing the shape parameters of the unit beam is:

[0039]

[0040] Wherein, F is the minimum clamping force under the different feed amounts.

[0041] In the embodiment of the present application, the flexible clamping module is relatively independent from the conveying structure, avoiding the interference caused by the interaction between different clamping wheels and the conveyor belt in the traditional clamping conveyor belt method, ensuring the stable clamping and conveying of leafy vegetables. In addition, by optimizing the shape parameters of the buckled beam, the flexible clamping and conveying of leafy vegetables under different feeding amounts can be achieved, thus avoiding clamping damage during the mechanical harvesting of leafy vegetables and completing the low-damage and orderly harvesting of leafy vegetables. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of the structure of a flexible clamping and conveying mechanism for leafy vegetables provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the structure of a clamping module provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of a design method for a flexible gripping and conveying mechanism for leafy vegetables provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of the stress and deformation of a buckled beam provided in an embodiment of the present application;

[0046] Figure 1-4 In the symbol, it is represented as:

[0047] 1-frame, 2-support wheel, 3-clamping module, 4-driving wheel, 5-driving motor, 31-clamping plate, 32-flexible buckling beam, 33-bearing plate, 34-difference height fastener, 35-universal rotating base. DETAILED DESCRIPTION

[0048] The present solution is described below in conjunction with the accompanying drawings and specific implementation methods.

[0049] See also Figure 1 The flexible clamping and conveying mechanism for leafy vegetables provided in this embodiment includes: a symmetrically arranged flexible clamping and conveying mechanism unit, which is composed of a frame 1, a driving device and support wheels 2 arranged at both ends of the frame 1, and a clamping module 3 surrounding the frame 1; the frame 1 is the skeleton of the entire clamping and conveying mechanism, which is used to fix the support wheels 2, the clamping module 3 and the driving device, and the support wheels 2 are used to support and guide the movement of the clamping module 3.

[0050] The driving device includes a driving wheel 4 and a driving motor 5. The driving wheel 4 is arranged on the frame 1. The rotation output end of the driving motor 5 is fixedly connected to the driving wheel 4. The driving motor 5 is arranged on a motor fixing frame. The frame 1 is provided with a guide groove for accurately guiding the clamping module 3 to move along a predetermined route.

[0051] See also Figure 2 The clamping module 3 is mainly composed of a clamping plate 31 , a flexible buckling beam 32 , a bearing plate 33 , a height difference fastener 34 , and a universal rotating base 35 .

[0052] The clamping plate 31 is fixedly connected to the working end of the flexible buckling beam 32 for clamping leafy vegetables; the flexible buckling beam 32 is arranged in a symmetrical manner, and its supporting end is fixedly connected to the bearing plate 33. Each flexible buckling beam 32 is composed of two sections of unit beams of specific shapes connected in series.

[0053] The supporting plate 33 is connected to the universal rotating base 35 via a height difference fastener 34. The height difference fasteners 34 are used alternately to form connections with different height differences between the supporting plates 33 and the universal rotating base 35 of adjacent clamping modules 3. Adjacent clamping plates 31 have a staggered layout to avoid gaps between adjacent clamping plates 31 from clamping the stems of leafy vegetables.

[0054] The universal rotating bases 35 are connected in series in sequence to form a closed transmission chain, and rotate smoothly along the guide groove of the frame 1.

[0055] Corresponding to the flexible clamping and conveying mechanism for leafy vegetables provided in the above-mentioned embodiment, the present application also provides an embodiment of a design method for a flexible clamping and conveying mechanism for leafy vegetables.

[0056] See also Figure 3 The design method of the leaf vegetable flexible clamping and conveying mechanism provided in this embodiment includes:

[0057] S101, based on the relationship between the dead weight and the clamping force of the leafy vegetables at different feeding amounts, determine the minimum clamping force required to achieve stable clamping of the leafy vegetables at different feeding amounts.

[0058] S102, when the leafy vegetable flexible clamping and conveying mechanism clamps and conveys leafy vegetables with different feed amounts, under the reaction force of the minimum clamping force, each unit beam of the buckled beam in the clamping module of the leafy vegetable flexible clamping and conveying mechanism undergoes a deformation that satisfies the Euler-Bernoulli beam equation, thereby obtaining the Euler-Bernoulli beam equation of the unit beam.

[0059] S103, establish a global coordinate system with the contact point between the axis of the buckled beam and the load-bearing plate in the clamping module as the origin, the positive direction of the x-axis parallel to the load-bearing plate and horizontal to the right, and the positive direction of the y-axis perpendicular to the load-bearing plate and pointing to the clamping plate, such as Figure 4 shown.

[0060] S104, with reference to the global coordinate system, establish a local coordinate system for each unit beam, the origin of the local coordinate system coincides with the starting point of the unit beam, the local coordinate system of the first unit beam coincides with the global coordinate system, and the local coordinate system of the second unit beam is deflected from the global coordinate system, and the deflection angle is equal to the change angle of the working end of the first unit beam.

[0061] S105, based on the geometric relationship between the global coordinate system and the local coordinate system, the spatial motion equilibrium equation and the static equilibrium equation generated by the working end of the buckled beam are derived, and the equation group composed of the Euler-Bernoulli beam equation, the spatial motion equilibrium equation and the static equilibrium equation is solved to obtain the clamping force generated by the working end of the buckled beam under different feed amounts of leafy vegetables.

[0062] S106, iteratively optimize the shape parameters of the unit beam, and set the component of the clamping force of the working end of the buckled beam under different feeding amounts of leafy vegetables in the y-axis direction equal to the minimum clamping force as the goal of the optimization design, and obtain a flexible buckled beam structure that meets the stable clamping conditions.

[0063] In this embodiment, the unit beam of the buckled beam uses an axis to characterize the overall shape, and uses a polynomial function to describe its specific shape, and its initial shape is:

[0064] φ i (s) = a i +b i s+c i s 2 +d i s 3 (0≤s≤L i )

[0065]

[0066]

[0067] Where i represents the i-th unit beam, L i is the length of the i-th unit beam, s is the length of a point on the i-th unit beam, φ i (s) is the angle between the tangent line of the i-th unit beam at the beam length s and the x-axis, a i , b i 、c i and d i is the shape parameter of the i-th unit beam, x i (s) is the horizontal coordinate of the i-th unit beam in the Cartesian coordinate system at the beam length s, y i (s) is the ordinate of the i-th unit beam in the Cartesian coordinate system at the beam length s, and ξ is the variable in the definite integral calculation.

[0068] The deformation of the unit beam of the buckled beam that satisfies the Euler-Bernoulli beam equation is:

[0069]

[0070]

[0071]

[0072]

[0073] Where E is the elastic modulus of the unit beam material, I is the section moment of inertia of the unit beam, is the angle between the i-th unit beam and the x-axis at the beam length s after deformation, f xi is the clamping force component in the x-axis direction of the working end of the i-th unit beam, f yi is the clamping force component in the y-axis direction of the working end of the i-th unit beam, Δα i (s) is the angle difference of the i-th unit beam at the beam length s after deformation, Δx i (s) is the displacement of the i-th unit beam in the x-axis direction at the beam length s after deformation, Δy i (s) is the displacement of the i-th unit beam in the y-axis direction at the beam length s after deformation.

[0074] The corresponding spatial motion equilibrium equation generated by the working end of the buckled beam is:

[0075]

[0076] Δx1(L1)+Δx2(L2)cos|Δα1(L1)|+Δy2(L2)sin|Δα1(L1)|=0

[0077] Δy-[-Δy1(L1)-Δy2(L2)cos|Δα1(L1)|+Δx2(L2)sin|Δα1(L1)|]=0

[0078] Among them, Δy is the displacement of the working end of the buckled beam in the y-axis direction under different feed amounts.

[0079] The static equilibrium equation corresponding to the working end of the buckled beam is:

[0080] f y1 -[f y2 cos|Δα1(L1)|+f x2 sin|Δα1(L1)]=0

[0081] f x1 -[f x2 cos|Δα1(L1)|-f y2sin|Δα1(L1)]=0

[0082]

[0083] Where M is the moment at the connection between the two element beams.

[0084] The optimization model for iteratively optimizing the shape parameters of the unit beam is:

[0085]

[0086] Wherein, F is the minimum clamping force under the different feed amounts.

[0087] By optimizing the shape parameters of the unit beams that make up the buckled beam, the clamping force of the first unit beam in the y-axis direction is made to approach the minimum clamping force, and finally the buckled beam shape parameters that meet the flexible clamping requirements are obtained to achieve flexible structure design.

[0088] It can be seen from the above embodiments that the clamping and conveying mechanism of the present application adopts a symmetrical clamping and conveying action form. The frame serves as the skeleton of the entire conveying mechanism and is used to fix and install various auxiliary mechanisms. The clamping module is used to clamp and convey leafy vegetables. The support wheel is used to support and guide the movement of the clamping module. The clamping module, as the core component of the entire clamping and conveying mechanism, achieves flexible clamping of leafy vegetables by optimizing the shape parameters of the buckling beam. The driving device is used to drive the clamping module to rotate. The clamping and conveying mechanism of the present invention can avoid clamping damage during the mechanical harvesting process of leafy vegetables, and achieve flexible clamping and conveying of leafy vegetables under different feed amounts. Moreover, the clamping module and the conveying module are relatively independent, and have higher reliability, which ultimately helps to achieve low-damage and orderly harvesting of leafy vegetables.

[0089] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0090] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A flexible gripping and conveying mechanism for leafy vegetables, characterized in that: include: A symmetrically arranged flexible clamping and conveying mechanism unit, the flexible clamping and conveying mechanism unit consists of a frame, a driving device and support wheels arranged at both ends of the frame, and a clamping module surrounding the frame; the frame is the skeleton of the entire clamping and conveying mechanism, which is used to fix the support wheels, clamping modules and driving devices, and the support wheels are used to support and guide the movement of the clamping modules.

2. The leaf vegetable flexible clamping and conveying mechanism according to claim 1 is characterized in that: The clamping module is mainly composed of a clamping plate, a flexible buckling beam, a bearing plate, a height difference fastener, and a universal rotating base; the clamping plate is fixedly connected to the working end of the flexible buckling beam for clamping leafy vegetables; the flexible buckling beam is arranged in a symmetrical manner, and its supporting end is fixedly connected to the bearing plate, and each flexible buckling beam is composed of two sections of unit beams of specific shapes in series; the bearing plate is connected to the universal rotating base through a height difference fastener; the height difference fasteners are used alternately to form connections with different height differences between the bearing plates and the universal rotating base of adjacent clamping modules, and the adjacent clamping plates have a staggered layout to avoid the gaps between adjacent clamping plates from clamping the stems of leafy vegetables; the universal rotating bases are connected in series in sequence to form a closed transmission link, which rotates smoothly along the guide groove of the frame.

3. The leaf vegetable flexible clamping and conveying mechanism according to claim 1 is characterized in that: The driving device comprises a driving wheel and a driving motor. The driving wheel is arranged on the frame. The rotation output end of the driving motor is fixedly connected to the driving wheel. The driving motor is arranged on a motor fixing frame.

4. The leaf vegetable flexible clamping and conveying mechanism according to claim 1 is characterized in that: The frame is provided with a guide groove for accurately guiding the clamping module to move along a predetermined route.

5. A design method for a flexible gripping and conveying mechanism for leafy vegetables, characterized in that: The leaf vegetable flexible clamping and conveying mechanism according to any one of claims 1 to 4 is designed to include: Based on the relationship between the deadweight and clamping force of leafy vegetables at different feeding amounts, the minimum clamping force required to achieve stable clamping of leafy vegetables at different feeding amounts is determined; When the leafy vegetable flexible clamping and conveying mechanism clamps and conveys leafy vegetables of different feeding amounts, under the reaction force of the minimum clamping force, each unit beam of the buckled beam in the clamping module of the leafy vegetable flexible clamping and conveying mechanism undergoes a deformation that satisfies the Euler-Bernoulli beam equation, thereby obtaining the Euler-Bernoulli beam equation of the unit beam; A global coordinate system is established with the contact point between the axis of the buckled beam and the load-bearing plate in the clamping module as the origin, the positive direction of the x-axis is parallel to the load-bearing plate and horizontally points to the right, and the positive direction of the y-axis is perpendicular to the load-bearing plate and points to the clamping plate; With reference to the global coordinate system, a local coordinate system is established for each unit beam. The origin of the local coordinate system coincides with the starting point of the unit beam. The local coordinate system of the first unit beam coincides with the global coordinate system. The local coordinate system of the second unit beam is deflected from the global coordinate system. The deflection angle is equal to the change angle of the working end of the first unit beam. According to the geometric relationship between the global coordinate system and the local coordinate system, the spatial motion equilibrium equation and the static equilibrium equation generated by the working end of the buckled beam are derived, and the equation system composed of the Euler-Bernoulli beam equation, the spatial motion equilibrium equation and the static equilibrium equation is solved to obtain the clamping force generated by the working end of the buckled beam under different feeding amounts of leafy vegetables. The shape parameters of the unit beam were iteratively optimized, and the component of the clamping force in the y-axis direction at the working end of the buckled beam under different feeding amounts of leafy vegetables was set to be equal to the minimum clamping force as the goal of the optimization design, and a flexible buckled beam structure that met the stable clamping conditions was obtained.

6. The design method of a flexible gripping and conveying mechanism for leafy vegetables according to claim 5 is characterized in that: The unit beam of the buckled beam uses the axis to characterize the overall shape, and uses a polynomial function to describe its specific shape, and its initial shape is: φ i (s)=a i +b i s+c i s 2 +d i s 3 (0≤s≤L i ) Where i represents the i-th unit beam, L i is the length of the i-th unit beam, s is the length of a point on the i-th unit beam, φ i (s) is the angle between the tangent line of the i-th unit beam at the beam length s and the x-axis, a i 、b i 、c i and d i is the shape parameter of the i-th unit beam, x i (s) is the horizontal coordinate of the i-th unit beam in the Cartesian coordinate system at the beam length s, y i (s) is the ordinate of the i-th unit beam in the Cartesian coordinate system at the beam length s, and ξ is the variable in the definite integral calculation.

7. The design method of a flexible gripping and conveying mechanism for leafy vegetables according to claim 6, characterized in that: The deformation of the unit beam of the buckled beam that satisfies the Euler-Bernoulli beam equation is: Where E is the elastic modulus of the unit beam material, I is the section moment of inertia of the unit beam, is the angle between the i-th unit beam and the x-axis at the beam length s after deformation, f xi is the clamping force component in the x-axis direction of the working end of the i-th unit beam, f yi is the clamping force component in the y-axis direction of the working end of the i-th unit beam, Δα i (s) is the angle difference of the i-th unit beam at the beam length s after deformation, Δx i (s) is the displacement of the i-th unit beam in the x-axis direction at the beam length s after deformation, Δy i (s) is the displacement of the i-th unit beam in the y-axis direction at the beam length s after deformation.

8. The design method of a flexible gripping and conveying mechanism for leafy vegetables according to claim 7, characterized in that: The corresponding spatial motion equilibrium equation generated by the working end of the buckled beam is: Δx1(L1)+Δx2(L2)cos|Δα1(L1)|+Δy2(L2)sin|Δα1(L1)|=0 Δy-[-Δy1(L1)-Δy2(L2)cos|Δα1(L1)|+Δx2(L2)sin|Δα1(L1)]=0 Among them, Δy is the displacement of the working end of the buckled beam in the y-axis direction under different feed amounts.

9. The design method of a flexible gripping and conveying mechanism for leafy vegetables according to claim 8, characterized in that: The static equilibrium equation corresponding to the working end of the buckled beam is: f y1 -[f y2 cos|Δα1(L1)|+f x2 sin|Δα1(L1)]=0 f x1 -[f x2 cos|Δα1(L1)|-f y2 sin|Δα1(L1)]=0 Where M is the moment at the connection between the two element beams.

10. The design method of a flexible gripping and conveying mechanism for leafy vegetables according to claim 9, characterized in that: The optimization model for iteratively optimizing the shape parameters of the unit beam is: Wherein, F is the minimum clamping force under the different feed amounts.

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