Raspberry lossless picking device and method based on tactile feedback

Abstract

The invention relates to the technical field of agricultural equipment, and discloses a raspberry lossless picking device based on tactile feedback and a picking method.The raspberry lossless picking device based on tactile feedback comprises a bottom plate, a collecting basket is fixedly installed on one side of the top end of the bottom plate, and a mechanical arm is fixedly installed on the other side of the top end of the bottom plate; a mounting frame is fixedly mounted on the mechanical arm, a supporting plate is fixedly mounted on the mounting frame, a clamping assembly is mounted on the supporting plate, a cutting assembly is arranged above the clamping assembly, an electric push rod is fixedly mounted on the side, away from the clamping assembly, of the mounting frame, and a feeding cylinder is arranged below the clamping assembly; continuous water flow is formed by injecting water into the flexible conveying cylinder, raspberries slowly fall down along with the water flow, collision force is buffered through a liquid medium, friction and impact between the raspberries and the inner wall of a pipeline and between the raspberries and fruits are reduced, and particularly epidermis breakage caused by local pressure concentration at the bent position is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, and in particular to a raspberry non-destructive picking device and a picking method based on tactile feedback. Background Art

[0002] Raspberries are small berries with high economic value. Due to their soft texture and fragile skin, they are easily damaged by mechanical forces during picking and post-harvest processing, causing juice to leak out, which in turn leads to corruption and deterioration, causing serious economic losses. Although traditional manual picking methods can reduce the fruit damage rate to a certain extent, they are inefficient and labor-intensive, making it difficult to meet the needs of large-scale planting. In recent years, automated picking devices have been gradually applied to the field of raspberry harvesting.

[0003] The existing technology often uses a robotic arm in conjunction with a gripper to pick raspberries. After picking, the raspberries need to be transported to a collection basket. Generally, a slide or a free-fall pipe is used to transport the fruit. In this type of transportation method, the fruit frequently collides and rubs against the inner wall of the device or each other, especially at the bends of the pipe or in the stacking state, the local pressure increases significantly, causing the skin to rupture. In addition, multiple bounces and rolling during the transportation process further aggravate the physical damage to the fruit.

[0004] Therefore, it is necessary to provide a raspberry non-destructive picking device and picking method based on tactile feedback to solve the above technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a raspberry non-destructive picking device and picking method based on tactile feedback, which buffers the collision force through a liquid medium, reduces the friction and impact with the inner wall of the pipeline and the fruit, and avoids the rupture of the raspberry skin.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: a raspberry non-destructive picking device based on tactile feedback, comprising a base plate, a collecting basket is fixedly installed on one side of the top of the base plate, a mechanical arm is fixedly installed on the other side of the top of the base plate, a mounting frame is fixedly installed on the mechanical arm, a support plate is fixedly installed on the mounting frame, a clamping assembly is installed on the support plate, a cutting assembly is arranged above the clamping assembly, an electric push rod is fixedly installed on the side of the mounting frame away from the clamping assembly, a feeding barrel is arranged below the clamping assembly, the output end of the electric push rod is fixedly connected to the feeding barrel, the bottom end of the feeding barrel is connected to a flexible conveying barrel, the bottom end of the flexible conveying barrel is connected to a discharging barrel, the bottom end of the discharging barrel is provided with a sealing disk, the discharging barrel is arranged above the collecting basket, one side of the feeding barrel is connected to a water injection port, a water supply component for supplying water to the water injection port is arranged on the collecting basket, and multiple groups of cameras are arranged on the mechanical arm.

[0007] The present invention is further configured as follows: a collection chamber and a buffer chamber are provided in the collection basket, a baffle is fixedly provided between the buffer chamber and the collection chamber, a valve plate is hinged above the baffle by a hinge, the valve plate is elastically connected to the inner wall of the buffer chamber by an elastic pull rope, a locking assembly for locking the valve plate is provided on the side wall of the collection basket, and a driving assembly for driving the discharge barrel to move horizontally is provided at the top of the collection basket.

[0008] The present invention is further configured as follows: the driving assembly includes a third guide rail, a screw rod rotatably installed inside the third guide rail, and a third slide seat slidably installed inside the third guide rail; the third guide rail is fixedly installed on the top of the collecting basket; the screw rod passes through the third slide seat, and the screw rod is threadedly connected to the third slide seat; and the third slide seat is fixedly connected to the discharge barrel.

[0009] The present invention is further configured as follows: a connecting seat is fixedly installed on one side of the discharge barrel, the sealing disk is hinged to the connecting seat, a counterweight block is fixedly installed on one side of the sealing disk, the counterweight block is made of iron, and a plurality of magnetic blocks are equidistantly embedded and installed on the top of the side wall of the collecting basket close to the robotic arm.

[0010] The present invention is further configured as follows: the locking assembly includes a one-way block, an adjustment plate, a guide post and a tension spring, the one-way block passes through the side wall of the collecting basket, and the one-way block slides with the collecting basket, one end of the one-way block is fixedly connected to the adjusting plate, one end of the guide post is fixedly connected to the outer wall of the collecting basket, the other end of the guide post passes through the adjusting plate, and the guide post slides with the adjusting plate, a tension spring is sleeved on the guide post, one end of the tension spring is fixedly connected to the outer wall of the collecting basket, and the other end of the tension spring is fixedly connected to the adjusting plate, a push rod is fixedly installed on the side of the third slide away from the discharge barrel, and when the third slide slides to the side away from the second motor, the push rod contacts the adjusting plate and pushes the adjusting plate to move in the direction away from the collecting basket.

[0011] The present invention is further configured as follows: the water delivery component includes a water pump, a flexible water delivery pipe and a filter cover, the water pump is fixedly installed on the side wall of the collection basket, the input end of the water pump is connected to a filter cover, the filter cover is connected to the collection chamber, and the output end of the water pump is connected to the water injection port through the flexible water delivery pipe.

[0012] The present invention is further configured as follows: the clamping assembly includes a first guide rail, a first double-headed screw rotatably mounted inside the first guide rail, two first slide seats slidably mounted inside the first guide rail, and a first motor fixedly mounted on a support plate, the first guide rail is fixedly mounted on the support plate, the first double-headed screw passes through the two first slide seats, and the first double-headed screw is threadedly connected to the two first slide seats, a clamp plate is fixedly mounted on one side of the two first slide seats away from the first motor, an anti-slip pad is fixedly mounted on one side of the two clamp plates close to each other, a first bevel gear is fixedly mounted on the middle part of the first double-headed screw, a second bevel gear is fixedly mounted on the output end of the first motor, and the first bevel gear is meshed with the second bevel gear.

[0013] The present invention is further configured as follows: the cutting assembly includes a second guide rail, a second double-headed screw rotatably mounted inside the second guide rail, and a second slide seat slidably mounted inside the second guide rail, the second guide rail is fixedly mounted on a support plate, the second double-headed screw passes through two second slide seats, and the second double-headed screw is threadedly connected to the two second slide seats, both second slide seats are rotatably connected with shear knives, and the middle parts of the two shear knives are rotatably connected.

[0014] The present invention is further configured as follows: a driving frame is fixedly mounted on the feed barrel, a spur gear is fixedly mounted on the end of the second double-headed screw, a rack is fixedly mounted on the top of the mounting frame, and the rack is meshed with the spur gear.

[0015] A method for non-destructive raspberry picking based on tactile feedback, using the above-mentioned non-destructive raspberry picking device based on tactile feedback, comprises the following steps:

[0016] S1. Before using the device, water is injected into the collection basket. When picking, the gripping assembly is driven by the robot arm to move and grip the raspberries, and then the stems on the raspberries are cut off by the cutting assembly;

[0017] S2. During the process of clamping and cutting the raspberries, the water in the collection basket is injected into the water inlet through the water delivery assembly, so that the injected water enters the flexible conveying cylinder through the feed cylinder. After the flexible conveying cylinder is filled with water, the clamping assembly releases the grip of the raspberries, so that the raspberries fall downward into the feed cylinder;

[0018] S3. Open the sealing plate, so that the water in the flexible conveying tube flows downward and is discharged into the collection basket through the opening at the bottom of the discharge tube, so that the raspberries flow downward along with the water flow and enter the collection basket.

[0019] In summary, the present invention has the following beneficial effects:

[0020] 1. The present invention forms a continuous water flow by injecting water into the flexible conveying tube. The raspberries fall slowly with the water flow, and the collision force is buffered by the liquid medium, thereby reducing the friction and impact with the inner wall of the pipe and the fruit, especially avoiding the rupture of the epidermis caused by the local pressure concentration at the bend. The drive component controls the horizontal movement of the discharge tube to make the raspberries fall into different positions of the buffer cavity one by one, avoiding vertical accumulation impact, ensuring that the raspberries enter the buffer cavity smoothly while being wrapped by the water flow, avoiding damage caused by collision between the raspberries, and the raspberries first fall into the water surface of the buffer cavity, and are discharged into the collection cavity in stages through the valve plate, and the isolation component is used to press the fruit underwater, thereby reducing the extrusion damage caused by floating accumulation;

[0021] 2. The present invention links the cutting component with the electric push rod, and the cutting of the fruit stem and the movement of the feed barrel are carried out synchronously without the need for an additional power source, thereby improving the coordination of the movements and reducing energy consumption. The clamping component is integrated with a slip sensor to monitor the degree of slip in real time and dynamically adjust the clamping force, thereby minimizing damage to the fruit texture while ensuring a stable grasp. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the mounting frame, the clamping assembly and the cutting assembly of the present invention;

[0024] Figure 3 It is a schematic structural diagram of the clamping assembly of the present invention;

[0025] Figure 4 It is a schematic structural diagram of the cutting assembly and the feed barrel of the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of the collection basket of the present invention;

[0027] Figure 6 It is a schematic structural diagram of the valve plate, the drive assembly and the discharge barrel of the present invention;

[0028] Figure 7 for Figure 6 A schematic diagram of the enlarged structure at point A;

[0029] Figure 8 It is a schematic structural diagram of the third slide seat, the discharging cylinder and the counterweight block of the present invention;

[0030] Fig. 9 It is a structural schematic diagram of the water delivery assembly of the present invention;

[0031] Fig.10 It is a schematic structural diagram of the isolation assembly of the present invention.

[0032] In the figure: 1, bottom plate; 2, collection basket; 201, collection chamber; 202, buffer chamber; 3, mechanical arm; 4, camera; 5, clamping assembly; 51, first motor; 52, first guide rail; 53, first double-headed screw; 54, first slide seat; 55, first bevel gear; 56, second bevel gear; 57, clamping plate; 58, anti-skid pad; 6, mounting frame; 7, support plate; 8, cutting assembly; 81, second guide rail; 82, second slide seat; 83, second double-headed screw; 84, shearing knife; 85, spur gear; 86, rack; 87, driving frame; 9, electric push rod; 10, feeding barrel; 1 1. Water inlet; 12. Flexible conveying cylinder; 13. Discharging cylinder; 14. Driving assembly; 141. Third guide rail; 142. Second motor; 143. Screw rod; 144. Third slide seat; 15. Sealing plate; 16. Connecting seat; 17. Counterweight block; 18. Valve plate; 19. Hinge; 20. Elastic pull rope; 21. Magnetic block; 22. One-way block; 23. Adjusting plate; 24. Guide column; 25. Tension spring; 26. Flexible water pipe; 27. Filter cover; 28. Water pump; 29. ​​Isolation assembly; 291. Mounting frame; 292. Blocking net; 293. Support block; 30. Push rod; 31. Baffle. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings in the embodiments of the present invention.

[0034] See also Figure 1 to Figure 6In an embodiment of the present invention, a non-destructive raspberry picking device based on tactile feedback comprises a bottom plate 1, a collecting basket 2 is fixedly installed on one side of the top of the bottom plate 1, a mechanical arm 3 is fixedly installed on the other side of the top of the bottom plate 1, a mounting frame 6 is fixedly installed on the mechanical arm 3, a supporting plate 7 is fixedly installed on the mounting frame 6, a clamping assembly 5 is installed on the supporting plate 7, a cutting assembly 8 is arranged above the clamping assembly 5, an electric push rod 9 is fixedly installed on the side of the mounting frame 6 away from the clamping assembly 5, a feeding cylinder 10 is arranged below the clamping assembly 5, an output end of the electric push rod 9 is fixedly connected to the feeding cylinder 10, a flexible conveying cylinder 12 is connected at the bottom end of the feeding cylinder 10, a discharging cylinder 13 is connected at the bottom end of the discharging cylinder 13, a sealing disk 15 is arranged at the bottom end of the discharging cylinder 13, the discharging cylinder 13 is arranged above the collecting basket 2, a water injection port 11 is connected on one side of the feeding cylinder 10, and a useful In the water supply component for supplying water to the water injection port 11, the robot arm 3 is provided with multiple groups of cameras 4; when in use, water is injected into the collection basket 2, and images are collected by the cameras 4 on the robot arm 3 to identify the position of the raspberries. The robot arm 3 drives the clamping component 5 to move and clamp the raspberries, and then the fruit stems on the raspberries are cut off by the cutting component 8. In the process of clamping and cutting the raspberries, the water in the collection basket 2 is injected into the water injection port 11 through the water supply component, so that the injected water enters the flexible conveying cylinder 12 through the feeding cylinder 10, and a liquid level sensor can be set in the feeding cylinder 10 to determine whether the flexible conveying cylinder 12 is filled with water. After the flexible conveying cylinder 12 is filled with water, the clamping component 5 releases the clamping of the raspberries, so that the raspberries fall downward into the feeding cylinder 10, and then the sealing disk 15 is opened, so that the water in the flexible conveying cylinder 12 flows downward and is discharged into the collection basket 2 through the opening at the bottom of the discharging cylinder 13, so that the raspberries flow downward with the water flow and enter the collection basket 2.

[0035] In the present embodiment, preferably, the clamping assembly 5 comprises a first guide rail 52, a first double-headed screw 53 rotatably mounted inside the first guide rail 52, two first slide seats 54 slidably mounted inside the first guide rail 52, and a first motor 51 fixedly mounted on the support plate 7; the first guide rail 52 is fixedly mounted on the support plate 7; the first double-headed screw 53 passes through the two first slide seats 54, and the first double-headed screw 53 is threadedly connected to the two first slide seats 54; the first double-headed screw 53 is provided with two opposite sections of thread, so that the first double-headed screw 53 can drive the two first slide seats 54 to move in opposite directions when rotating; a clamping plate 57 is fixedly mounted on one side of the two first slide seats 54 away from the first motor 51, and an anti-skid pad 58 is fixedly mounted on one side of the two clamping plates 57 close to each other to prevent skidding. A slip sensor (not shown in the figure) is arranged inside the pad 58. The slip sensor can detect the slip degree between the anti-slip pad 58 and the grasped object in real time, so as to determine the appropriate gripping force value, and can gradually increase the force without damaging the object, so as to achieve stable and reliable grasping of the object. The middle part of the first double-headed screw 53 is fixedly sleeved with a first bevel gear 55, and the output end of the first motor 51 is fixedly mounted with a second bevel gear 56, and the first bevel gear 55 is meshed with the second bevel gear 56; the second bevel gear 56 can be driven to rotate by the first motor 51, and when the second bevel gear 56 rotates, the first double-headed screw 53 is driven to rotate through the first bevel gear 55, thereby driving the two first slides 54 to move synchronously in opposite directions, so that the two clamping plates 57 move synchronously in opposite directions to clamp the raspberry.

[0036] In the present embodiment, preferably, the cutting assembly 8 comprises a second guide rail 81, a second double-headed screw 83 rotatably mounted inside the second guide rail 81 and a second slide seat 82 slidably mounted inside the second guide rail 81, the second guide rail 81 is fixedly mounted on the support plate 7, and the second guide rail 81 is located above the first guide rail 52, the second double-headed screw 83 passes through the two second slide seats 82, and the second double-headed screw 83 is threadedly connected to the two second slide seats 82, and the second double-headed screw 83 is provided with two opposite sections of thread, so that when the second double-headed screw 83 rotates, it can drive the two second slide seats 82 to move in the opposite direction, and the two second slide seats 82 are both rotatably connected with shear knives 84, and the middle parts of the two shear knives 84 are rotatably connected; the feed barrel 10 is fixedly mounted with a drive frame 87, a spur gear 85 is fixedly installed at the end of the second double-headed screw 83, and a rack 86 is fixedly installed on the top of the mounting frame 6, and the rack 86 is meshed with the spur gear 85; when the output end of the electric push rod 9 extends to drive the feed barrel 10 to move to the bottom of the clamping plate 57, the electric push rod 9 drives the rack 86 to move through the driving frame 87, and the rack 86 drives the gear to rotate when it moves, and the gear drives the second double-headed screw 83 to rotate when it rotates. When the second double-headed screw 83 rotates, it drives the two second slides 82 to move synchronously in the opposite direction, thereby driving the two shearing knives 84 to rotate to shear the fruit stems, so that the electric push rod 9 can automatically drive the shearing knife 84 to shear the raspberry stems while driving the feed barrel 10 to move, without the need to add an additional driving source, and the synchronization is good.

[0037] See also Figures 5 to 10 In the embodiment of the present invention, a collecting chamber 201 and a buffer chamber 202 are provided in the collecting basket 2, a baffle 31 is fixedly provided between the buffer chamber 202 and the collecting chamber 201, a valve plate 18 is hingedly provided above the baffle 31 through a hinge 19, the valve plate 18 is elastically connected to the inner wall of the buffer chamber 202 through an elastic pull rope 20, a locking assembly for locking the valve plate 18 is provided on the side wall of the collecting basket 2, and a driving assembly 14 for driving the discharging barrel 13 to move horizontally is provided at the top of the collecting basket 2; the driving assembly 14 includes a third guide rail 141, a screw rod 143 rotatably mounted inside the third guide rail 141, and a third slide seat 144 slidably mounted inside the third guide rail 141, the third guide rail 141 is fixedly mounted on the top of the collecting basket 2, the screw rod 143 passes through the third slide seat 144, and the screw rod 143 is threadedly connected to the third slide seat 144, and the third slide seat 144 is fixedly connected to the discharging barrel 13.

[0038] In this embodiment, preferably, a connecting seat 16 is fixedly installed on one side of the discharge barrel 13, the sealing disk 15 is hinged to the connecting seat 16, a counterweight block 17 is fixedly installed on one side of the sealing disk 15, and the counterweight block 17 is made of iron. A plurality of magnetic blocks 21 are equidistantly embedded and installed on the top of the side wall of the collecting basket 2 close to the robotic arm 3.

[0039] The second motor 142 can drive the screw rod 143 to rotate, and the screw rod 143 drives the third slide 144 to move when rotating, and the third slide 144 drives the discharge barrel 13 to move when moving. Every time a raspberry is picked, the third slide 144 is moved at a certain distance, so that the raspberries falling from the bottom opening of the discharge barrel 13 will not hit the previous raspberries that have fallen into the buffer chamber 202, so as to avoid the raspberries being damaged by impact. The setting of the counterweight block 17 makes the sealing plate 15 discharge the material when there is no water in the flexible feeding pipe. The bottom opening of the cylinder 13 is closed. When water is input into the flexible feed pipe, the counterweight 17 is located above the magnet 21. Under the magnetic attraction of the magnet 21 on the counterweight 17, the water pressure cannot push the sealing disk 15 to rotate downward. When the raspberries are put into the feed cylinder 10, the drive assembly 14 drives the discharge cylinder 13 to move horizontally, so that the counterweight 17 is separated from the magnet 21. After losing the magnetic attraction of the magnet 21, the sealing disk 15 rotates downward under the action of the water pressure, so that the raspberries follow the water flow and flow downward into the buffer chamber 202.

[0040] In this embodiment, preferably, the locking assembly includes a one-way block 22, an adjustment plate 23, a guide post 24 and a tension spring 25, the one-way block 22 passes through the side wall of the collecting basket 2, and the one-way block 22 slides with the collecting basket 2, one end of the one-way block 22 is fixedly connected to the adjustment plate 23, one end of the guide post 24 is fixedly connected to the outer wall of the collecting basket 2, the other end of the guide post 24 passes through the adjustment plate 23, and the guide post 24 slides with the adjustment plate 23, a tension spring 25 is sleeved on the guide post 24, one end of the tension spring 25 is fixedly connected to the outer wall of the collecting basket 2, and the other end of the tension spring 25 is fixedly connected to the adjustment plate 23, and a push rod 30 is fixedly installed on the side of the third slide 144 away from the discharge barrel 13. When the third slide 144 slides When it moves to the side away from the second motor 142, the push rod 30 contacts the adjustment plate 23 and pushes the adjustment plate 23 to move in the direction away from the collecting basket 2, thereby driving the one-way block 22 to move to release the lock on the valve plate 18, so that the valve plate 18 rotates under the water pressure in the buffer chamber 202 to discharge the water in the buffer chamber 202 into the collecting chamber 201, and makes the raspberries floating on the water surface of the buffer chamber 202 flow into the collecting chamber 201 with the water flow, thereby realizing the transfer of the raspberries. After the drainage in the buffer chamber 202 is completed, under the tension of the elastic pull rope 20, the valve plate 18 rotates to the vertical state and resets, and can automatically release the lock of the locking assembly through the push rod 30 under the power of the third slide 144, thereby improving the synchronization.

[0041] In this embodiment, preferably, the water delivery assembly includes a water pump 28, a flexible water delivery pipe 26 and a filter cover 27. The water pump 28 is fixedly installed on the side wall of the collection basket 2. The input end of the water pump 28 is connected to the filter cover 27. The filter cover 27 is connected to the collection chamber 201. The output end of the water pump 28 is connected to the water injection port 11 through the flexible water delivery pipe 26. The water in the collection chamber 201 can be input into the flexible water delivery pipe 26 through the water pump 28, and then input into the feed barrel 10 through the water injection port 11.

[0042] In this embodiment, preferably, an isolation component 29 is provided in the collection chamber 201, and the isolation component 29 includes a mounting frame 291, a blocking net 292 is fixedly installed inside the mounting frame 291, and support blocks 293 are fixedly installed at the four corners of the bottom of the mounting frame 291; multiple isolation components 29 are provided, and when the water surface of the collection chamber 201 is full of raspberries floating on the water surface, the isolation component 29 can be covered on the water surface, thereby pressing a layer of raspberries on the water surface into the bottom of the inner cavity of the collection chamber 201 to prevent squeezing between the raspberries, and multiple isolation components 29 can be placed in the collection chamber 201 to increase the number of raspberries that can be placed in the collection chamber 201.

[0043] The present invention also discloses a non-destructive raspberry picking method based on tactile feedback, comprising the following steps:

[0044] S1. Before using the device, water is injected into the collection basket 2. When picking, the gripping assembly 5 is driven by the robot arm 3 to move and grip the raspberries, and then the stems on the raspberries are cut off by the cutting assembly 8;

[0045] S2. During the process of clamping and cutting the raspberries, the water in the collection basket 2 is injected into the water inlet 11 through the water delivery assembly, so that the injected water enters the flexible conveying cylinder 12 through the feed cylinder 10. After the flexible conveying cylinder 12 is filled with water, the clamping assembly 5 releases the grip of the raspberries, so that the raspberries fall downward into the feed cylinder 10;

[0046] S3. Open the sealing plate 15, so that the water in the flexible conveying cylinder 12 flows downward and is discharged into the collection basket 2 through the opening at the bottom of the discharge cylinder 13, so that the raspberries flow downward along with the water flow and enter the collection basket 2.

[0047] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. A non-destructive raspberry picking device based on tactile feedback, comprising a bottom plate, a collecting basket is fixedly mounted on one side of the top of the bottom plate, a mechanical arm is fixedly mounted on the other side of the top of the bottom plate, and a mounting frame is fixedly mounted on the mechanical arm, characterized in that: A support plate is fixedly mounted on the mounting frame, a clamping assembly is mounted on the support plate, a cutting assembly is arranged above the clamping assembly, an electric push rod is fixedly mounted on a side of the mounting frame away from the clamping assembly, a feed cylinder is arranged below the clamping assembly, an output end of the electric push rod is fixedly connected to the feed cylinder, a flexible conveying cylinder is connected at the bottom end of the feed cylinder, a discharging cylinder is connected at the bottom end of the flexible conveying cylinder, a sealing disk is arranged at the bottom end of the discharging cylinder, the discharging cylinder is arranged above a collecting basket, a water injection port is connected at one side of the feed cylinder, a water delivery component for delivering water to the water injection port is arranged on the collecting basket, and a plurality of cameras are arranged on the robotic arm.

2. The non-destructive raspberry picking device based on tactile feedback according to claim 1, characterized in that: A collecting chamber and a buffer chamber are provided in the collecting basket, a baffle is fixedly provided between the buffer chamber and the collecting chamber, a valve plate is hinged above the baffle by a hinge, the valve plate is elastically connected to the inner wall of the buffer chamber by an elastic pull rope, a locking assembly for locking the valve plate is provided on the side wall of the collecting basket, and a driving assembly for driving the discharging barrel to move horizontally is provided at the top of the collecting basket.

3. The non-destructive raspberry picking device based on tactile feedback according to claim 2, characterized in that: The driving assembly includes a third guide rail, a screw rod rotatably installed inside the third guide rail, and a third slide seat slidably installed inside the third guide rail. The third guide rail is fixedly installed on the top of the collecting basket. The screw rod passes through the third slide seat and is threadedly connected to the third slide seat. The third slide seat is fixedly connected to the discharge barrel.

4. The non-destructive raspberry picking device based on tactile feedback according to claim 2, characterized in that: A connecting seat is fixedly installed on one side of the discharge barrel, the sealing disk is hinged to the connecting seat, a counterweight block is fixedly installed on one side of the sealing disk, the counterweight block is made of iron, and a plurality of magnetic blocks are equidistantly embedded on the top of the side wall of the collecting basket close to the robotic arm.

5. The non-destructive raspberry picking device based on tactile feedback according to claim 3, characterized in that: The locking assembly includes a one-way block, an adjustment plate, a guide post and a tension spring, the one-way block passes through the side wall of the collecting basket, and the one-way block slides with the collecting basket, one end of the one-way block is fixedly connected to the adjusting plate, one end of the guide post is fixedly connected to the outer wall of the collecting basket, the other end of the guide post passes through the adjusting plate, and the guide post slides with the adjusting plate, a tension spring is sleeved on the guide post, one end of the tension spring is fixedly connected to the outer wall of the collecting basket, and the other end of the tension spring is fixedly connected to the adjusting plate, and a push rod is fixedly installed on the side of the third slide away from the discharge barrel, and when the third slide slides to the side away from the second motor, the push rod contacts the adjusting plate and pushes the adjusting plate to move in the direction away from the collecting basket.

6. The non-destructive raspberry picking device based on tactile feedback according to claim 2, characterized in that: The water delivery assembly includes a water pump, a flexible water delivery pipe and a filter cover. The water pump is fixedly installed on the side wall of the collection basket. The input end of the water pump is connected to the filter cover, which is connected to the collection chamber. The output end of the water pump is connected to the water injection port through the flexible water delivery pipe.

7. The non-destructive raspberry picking device based on tactile feedback according to claim 1, characterized in that: The clamping assembly includes a first guide rail, a first double-headed screw rotatably installed inside the first guide rail, two first slide seats slidably installed in the first guide rail, and a first motor fixedly installed on a support plate, the first guide rail is fixedly installed on the support plate, the first double-headed screw passes through the two first slide seats, and the first double-headed screw is threadedly connected to the two first slide seats, a clamping plate is fixedly installed on the side of the two first slide seats away from the first motor, and an anti-slip pad is fixedly installed on the side of the two clamping plates close to each other, a first bevel gear is fixedly mounted on the middle part of the first double-headed screw, a second bevel gear is fixedly mounted on the output end of the first motor, and the first bevel gear is meshed with the second bevel gear.

8. The non-destructive raspberry picking device based on tactile feedback according to claim 7, characterized in that: The cutting assembly includes a second guide rail, a second double-headed screw rotatably installed inside the second guide rail, and a second slide seat slidably installed inside the second guide rail. The second guide rail is fixedly installed on a support plate. The second double-headed screw passes through two second slide seats, and the second double-headed screw is threadedly connected to the two second slide seats. Shear knives are rotatably connected to the two second slide seats, and the middle parts of the two shear knives are rotatably connected.

9. The non-destructive raspberry picking device based on tactile feedback according to claim 8, characterized in that: A driving frame is fixedly mounted on the feed barrel, a spur gear is fixedly mounted on the end of the second double-headed screw, a rack is fixedly mounted on the top of the mounting frame, and the rack is meshed with the spur gear.

10. A method for non-destructive raspberry picking based on tactile feedback, using the non-destructive raspberry picking device based on tactile feedback according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Before using the device, water is injected into the collection basket. When picking, the gripping assembly is driven by the robot arm to move and grip the raspberries, and then the stems on the raspberries are cut off by the cutting assembly; S2. During the process of clamping and cutting the raspberries, the water in the collection basket is injected into the water inlet through the water delivery assembly, so that the injected water enters the flexible conveying cylinder through the feed cylinder. After the flexible conveying cylinder is filled with water, the clamping assembly releases the grip of the raspberries, so that the raspberries fall downward into the feed cylinder; S3. Open the sealing plate, so that the water in the flexible conveying tube flows downward and is discharged into the collection basket through the opening at the bottom of the discharge tube, so that the raspberries flow downward along with the water flow and enter the collection basket.

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