Raspberry nondestructive picking device and picking method based on tactile feedback

Abstract

The present application relates to the technical field of agricultural equipment, and discloses a raspberry nondestructive picking device and picking method based on tactile feedback, the raspberry nondestructive picking device based on tactile feedback comprises a bottom plate, one side of the top end of the bottom plate is fixedly provided with a collecting basket, the other side of the top end of the bottom plate is fixedly provided with a mechanical arm, the mechanical arm is fixedly provided with a mounting bracket, the mounting bracket is fixedly provided with a supporting plate, the supporting plate is provided with a clamping assembly, the clamping assembly is provided with a cutting assembly above, the side, away from the clamping assembly, of the mounting bracket is fixedly provided with an electric push rod, and the lower side of the clamping assembly is provided with a feeding cylinder; water is injected into the flexible conveying cylinder to form a continuous water flow, the raspberries slowly fall along with the water flow, the impact force is buffered through the liquid medium, the friction and impact between the inner wall of the pipeline and the fruits are reduced, and in particular, the skin is prevented from being broken due to local pressure concentration at the bending part.

Description

TECHNICAL FIELD

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

[0002] Raspberry, as a kind of high economic value small berry, is extremely easy to cause surface damage and juice leakage due to mechanical external force during picking and post-harvest processing, thereby causing serious economic losses. Although the traditional manual picking method can reduce the damage rate of the fruit to a certain extent, it is low in efficiency and high in labor cost, and it is difficult to meet the demand of large-scale planting. In recent years, automatic picking devices have been gradually applied to the field of raspberry picking.

[0003] The prior art often uses a mechanical arm cooperating with a gripper to pick raspberries. After picking, the raspberries need to be transported into a collection basket. Generally, a slide or a free-fall type pipeline is used for fruit transportation. In this type of transportation, the fruit frequently collides with and rubs against the inner wall of the device or each other, especially at the bending part of the pipeline or in the stacked state, the local pressure increases significantly, causing the surface to crack. In addition, the multiple bouncing and rolling during transportation further aggravate the physical damage of the fruit.

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

[0005] The present application aims to provide a raspberry non-destructive picking device based on tactile feedback and a picking method, which reduces the friction and impact between the fruit and the inner wall of the pipeline by buffering the impact force with a liquid medium, thereby avoiding the cracking of the surface of the raspberry.

[0006] The above technical purpose of the present application is achieved by the following technical scheme: a raspberry non-destructive picking device based on tactile feedback, comprising a bottom plate, a collection basket is fixedly installed on one side of the top end of the bottom plate, a mechanical arm is fixedly installed on the other side of the top end of the bottom plate, an installation rack is fixedly installed on the mechanical arm, a support plate is fixedly installed on the installation rack, 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 installation rack away from the clamping assembly, a feeding cylinder is arranged below the clamping assembly, the output end of the electric push rod is fixedly connected with the feeding cylinder, a flexible conveying cylinder is communicatively arranged at the bottom end of the feeding cylinder, a discharging cylinder is communicatively arranged at the bottom end of the flexible conveying cylinder, a sealing disc is arranged at the bottom end of the discharging cylinder, the discharging cylinder is arranged above the collection basket, a water injection port is communicatively arranged on one side of the feeding cylinder, a water conveying assembly for conveying water into the water injection port is arranged on the collection basket, and a plurality of cameras are arranged on the mechanical arm.

[0007] The further arrangement of the present application is that the collecting basket is internally provided with a collecting cavity and a buffer cavity, a baffle is fixedly arranged between the buffer cavity and the collecting cavity, a valve plate is hingedly connected above the baffle, the valve plate is elastically connected to the inner side wall of the buffer cavity through an elastic pull rope, a locking assembly for locking the valve plate is arranged on the side wall of the collecting basket, and a driving assembly for driving the horizontal movement of the discharging cylinder is arranged at the top end of the collecting basket.

[0008] The further arrangement of the present application is that the driving assembly comprises a third guide rail, a lead screw rotatably arranged in the third guide rail, and a third sliding seat slidably arranged in the third guide rail, the third guide rail is fixedly arranged at the top end of the collecting basket, the lead screw penetrates through the third sliding seat and is threadedly connected with the third sliding seat, and the third sliding seat is fixedly connected with the discharging cylinder.

[0009] The further arrangement of the present application is that one side of the discharging cylinder is fixedly provided with a connecting seat, the sealing disc is hingedly connected with the connecting seat, a counterweight is fixedly arranged on one side of the sealing disc, the counterweight is made of iron, and a plurality of magnetic blocks are equidistantly embedded and arranged on the top of the side wall of the collecting basket close to the mechanical arm.

[0010] The further arrangement of the present application is that the locking assembly comprises a one-way clamping block, an adjusting plate, a guide column and a tension spring, the one-way clamping block penetrates through the side wall of the collecting basket and is slidably connected with the collecting basket, one end of the one-way clamping block is fixedly connected with the adjusting plate, one end of the guide column is fixedly connected with the outer wall of the collecting basket, the other end of the guide column penetrates through the adjusting plate and is slidably connected with the adjusting plate, the guide column is sleeved with the tension spring, one end of the tension spring is fixedly connected with the outer wall of the collecting basket, the other end of the tension spring is fixedly connected with the adjusting plate, and a jacking rod is fixedly arranged on the side of the third sliding seat away from the discharging cylinder, when the third sliding seat slides to the side away from the second motor, the jacking rod is in contact with the adjusting plate and pushes the adjusting plate to move away from the collecting basket.

[0011] The further arrangement of the present application is that the water conveying assembly comprises a water pump, a flexible water conveying pipe and a filter cover, the water pump is fixedly arranged on the side wall of the collecting basket, the input end of the water pump is communicatively provided with the filter cover, the filter cover is in communication with the collecting cavity, and the output end of the water pump is in communication with the water inlet through the flexible water conveying pipe.

[0012] Further, the clamping assembly comprises a first guide rail, a first double-headed screw rotatably installed in the first guide rail, two first sliding seats slidably installed in the first guide rail, and a first motor fixedly installed on the support plate, the first guide rail is fixedly installed on the support plate, the first double-headed screw penetrates through the two first sliding seats and is threadedly connected with the two first sliding seats, the two first sliding seats are fixedly installed with clamping plates on sides away from the first motor, the two clamping plates are fixedly installed with anti-skid pads on sides close to each other, and a first bevel gear is fixedly sleeved on the middle part of the first double-headed screw.

[0013] Further, the cutting assembly comprises a second guide rail, a second double-headed screw rotatably installed in the second guide rail, and a second sliding seat slidably installed in the second guide rail, the second guide rail is fixedly installed on the support plate, the second double-headed screw penetrates through the two second sliding seats and is threadedly connected with the two second sliding seats, and the two second sliding seats are rotatably connected with shearing knives.

[0014] Further, the feeding cylinder is fixedly installed with a driving frame, the end of the second double-headed screw is fixedly installed with a straight gear, and the top of the mounting frame is fixedly installed with a rack, and the rack is engaged with the straight gear.

[0015] A raspberry non-damage picking method based on tactile feedback, using the raspberry non-damage picking device based on tactile feedback, comprising the following steps:

[0016] S1. Before using the device, water is injected into the collection basket, when picking, the clamping assembly is moved to clamp the raspberry through the mechanical arm, and then the fruit stem of the raspberry is cut off through the cutting assembly;

[0017] S2. During the clamping and cutting of the raspberry, the water in the collection basket is injected into the water injection port through the water injection assembly, so that the injected water enters the flexible conveying cylinder through the feeding cylinder, after the flexible conveying cylinder is filled with water, the clamping assembly releases the clamping of the raspberry, so that the raspberry falls downward into the feeding cylinder;

[0018] S3. The sealing disc is opened, so that the water in the flexible conveying cylinder flows downward and is discharged into the collection basket through the opening at the bottom of the discharging cylinder, so that the raspberry flows downward together with the water flow, and then enters the collection basket.

[0019] In summary, the present application has the following advantages:

[0020] 1. The application forms a continuous water flow by injecting water into the flexible conveying cylinder, and the raspberries fall slowly with the water flow, the liquid medium buffers the impact force, reduces the friction and impact between the inner wall of the pipeline and the fruit, especially avoids the skin rupture caused by local pressure concentration at the bending part, the driving assembly controls the horizontal movement of the discharge cylinder, so that the raspberries fall into different positions of the buffer cavity one by one, avoids vertical stacking impact, ensures that the raspberries enter the buffer cavity smoothly in the water flow, avoids damage caused by mutual impact between the raspberries, and the raspberries fall into the buffer cavity first, and are discharged into the collection cavity in stages through the valve plate, and the isolation assembly presses the fruit underwater, reduces the extrusion damage caused by floating accumulation;

[0021] 2. The application is connected with the electric push rod through the cutting assembly, the shearing of the fruit stem and the movement of the feeding cylinder are synchronized, without additional power source, the action coordination is improved and the energy consumption is reduced, the clamping assembly integrates the slip sensor, the slip degree is monitored in real time and the clamping force is dynamically adjusted, the fruit texture damage is avoided to the maximum extent while the stable grabbing is ensured. DETAILED DESCRIPTION

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

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

[0024] Figure 3 is a structure schematic diagram of the clamping assembly of the application;

[0025] Figure 4 is a structure schematic diagram of the cutting assembly and the feeding cylinder of the application;

[0026] Figure 5 is a structure schematic diagram of the collection basket of the application;

[0027] Figure 6 is a structure schematic diagram of the valve plate, driving assembly and discharge cylinder of the application;

[0028] Figure 7 is Figure 6 the enlarged structure schematic diagram of A;

[0029] Figure 8 is a structure schematic diagram of the third sliding seat, discharge cylinder and counterweight of the application;

[0030] Figure 9 is a structure schematic diagram of the water conveying assembly of the application;

[0031] Figure 10 is a structure schematic diagram of the isolation assembly of the application.

[0032] In the figure: 1, bottom plate; 2, collection basket; 201, collection cavity; 202, buffer cavity; 3, mechanical arm; 4, camera; 5, clamping assembly; 51, first motor; 52, first guide rail; 53, first double-headed screw; 54, first sliding seat; 55, first bevel gear; 56, second bevel gear; 57, clamping plate; 58, non-slip pad; 6, mounting frame; 7, support plate; 8, cutting assembly; 81, second guide rail; 82, second sliding seat; 83, second double-headed screw; 84, shearing knife; 85, straight gear; 86, rack; 87, driving frame; 9, electric push rod; 10, feeding cylinder; 11, water inlet; 12, flexible conveying cylinder; 13, discharging cylinder; 14, driving assembly; 141, third guide rail; 142, second motor; 143, screw rod; 144, third sliding seat; 15, sealing disc; 16, connecting seat; 17, counterweight; 18, valve plate; 19, hinge; 20, elastic pull rope; 21, magnetic block; 22, one-way clamping block; 23, adjusting plate; 24, guide column; 25, tension spring; 26, flexible water delivery pipe; 27, filter cover; 28, water pump; 29, isolation assembly; 291, mounting frame; 292, blocking net; 293, support block; 30, jacking rod; 31, baffle. DETAILED DESCRIPTION

[0033] The application will be further described below with reference to the accompanying drawings of the embodiments thereof.

[0034] Please refer to Figures 1-6The embodiment of the present application is a raspberry nondestructive picking device based on tactile feedback, comprising a bottom plate 1, a collecting basket 2 is fixedly installed on one side of the top end of the bottom plate 1, a mechanical arm 3 is fixedly installed on the other side of the top end of the bottom plate 1, a mounting rack 6 is fixedly installed on the mechanical arm 3, a supporting plate 7 is fixedly installed on the mounting rack 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 rack 6 away from the clamping assembly 5, a feeding cylinder 10 is arranged below the clamping assembly 5, the output end of the electric push rod 9 is fixedly connected with the feeding cylinder 10, a flexible conveying cylinder 12 is communicatively arranged at the bottom end of the feeding cylinder 10, a discharging cylinder 13 is communicatively arranged at the bottom end of the flexible conveying cylinder 12, a sealing disc 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 communicatively arranged on one side of the feeding cylinder 10, a water conveying assembly for conveying water into the water injection port 11 is arranged on the collecting basket 2, and a plurality of cameras 4 are arranged on the mechanical arm 3; in specific use, water is injected into the collecting basket 2, the cameras 4 on the mechanical arm 3 are used to collect images to identify the position of the raspberries, the clamping assembly 5 is driven by the mechanical arm 3 to move to clamp the raspberries, and then the fruit stem of the raspberries is cut off by the cutting assembly 8; during the clamping and cutting of the raspberries, the water in the collecting basket 2 is injected into the water injection port 11 by the water conveying assembly, so that the injected water enters the flexible conveying cylinder 12 through the feeding cylinder 10, whether the flexible conveying cylinder 12 is filled with water can be determined by arranging a liquid level sensor in the feeding cylinder 10, after the flexible conveying cylinder 12 is filled with water, the clamping assembly 5 releases the clamping of the raspberries, so that the raspberries fall downward into the feeding cylinder 10, then the sealing disc 15 is opened, so that the water in the flexible conveying cylinder 12 flows downward and is discharged through the opening at the bottom of the discharging cylinder 13 into the collecting basket 2, so that the raspberries flow downward together with the water flow and enter the collecting basket 2.

[0035] In the embodiment, preferably, the clamping assembly 5 comprises a first guide rail 52, a first double-headed screw 53 rotatably installed inside the first guide rail 52, two first sliding bases 54 slidably installed in the first guide rail 52, and a first motor 51 fixedly installed on the support plate 7, the first guide rail 52 is fixedly installed on the support plate 7, the first double-headed screw 53 penetrates through the two first sliding bases 54 and is threadedly connected with the two first sliding bases 54, two opposite threads are formed in the first double-headed screw 53, so that the first double-headed screw 53 can drive the two first sliding bases 54 to move in opposite directions when the first double-headed screw 53 rotates, two clamping plates 57 are fixedly installed on the sides, away from the first motor 51, of the two first sliding bases 54, antiskid pads 58 are fixedly installed on the sides, close to each other, of the two clamping plates 57, a slip sensor (not shown in the figure) is arranged in the antiskid pad 58, the slip sensor can detect the slip degree between the antiskid pad 58 and the object to be gripped in real time, so as to determine the appropriate grip value, gradually increase the force without damaging the object, and realize stable and reliable gripping of the object, a first bevel gear 55 is fixedly sleeved on the middle part of the first double-headed screw 53, a second bevel gear 56 is fixedly installed on the output end of the first motor 51, and the first bevel gear 55 is engaged with the second bevel gear 56; the first motor 51 can drive the second bevel gear 56 to rotate, the first bevel gear 55 drives the first double-headed screw 53 to rotate when the second bevel gear 56 rotates, so as to drive the two first sliding bases 54 to move in opposite directions synchronously, the two clamping plates 57 move in opposite directions synchronously, and the raspberry is clamped.

[0036] Preferably in this embodiment, the cutting assembly 8 comprises a second guide rail 81, a second double-headed screw 83 rotatably installed inside the second guide rail 81, and a second sliding seat 82 slidably installed inside the second guide rail 81, the second guide rail 81 is fixedly installed on the support plate 7 and located above the first guide rail 52, the second double-headed screw 83 penetrates through the two second sliding seats 82 and is threadedly connected with the two second sliding seats 82, two opposite threads are formed on the second double-headed screw 83, so that the second double-headed screw 83 can drive the two second sliding seats 82 to move in opposite directions when the second double-headed screw 83 rotates, two shearing knives 84 are rotatably connected to the two second sliding seats 82 respectively, and the two shearing knives 84 are rotatably connected at the middle portions, the feeding cylinder 10 is fixedly installed with a driving frame 87, the end of the second double-headed screw 83 is fixedly installed with a spur gear 85, the top of the mounting frame 6 is fixedly installed with a rack 86, and the rack 86 is engaged with the spur gear 85, when the output end of the electric push rod 9 extends to drive the feeding cylinder 10 to move below the clamping plate 57, the electric push rod 9 drives the rack 86 to move through the driving frame 87, the rack 86 drives the gear to rotate when moving, the gear drives the second double-headed screw 83 to rotate when rotating, and the second double-headed screw 83 drives the two second sliding seats 82 to synchronously move in opposite directions when rotating, so as to drive the two shearing knives 84 to rotate to shear the fruit stems, so that the electric push rod 9 can automatically drive the shearing knives 84 to shear the fruit stems of the raspberries while driving the feeding cylinder 10 to move, without the need of adding an additional driving source, and the synchronization is good.

[0037] Please refer to Figures 5-10 In the embodiment of the present application, the collecting basket 2 is provided with a collecting cavity 201 and a buffer cavity 202, a baffle 31 is fixedly arranged between the buffer cavity 202 and the collecting cavity 201, a valve plate 18 is hingedly connected above the baffle 31 through a hinge 19, the valve plate 18 is elastically connected to the inner side wall of the buffer cavity 202 through an elastic pull rope 20, a locking assembly for locking the valve plate 18 is arranged on the side wall of the collecting basket 2, and a driving assembly 14 for driving the discharging cylinder 13 to move horizontally is arranged at the top end of the collecting basket 2.

[0038] Preferably in this embodiment, the discharging cylinder 13 is fixedly installed with a connecting seat 16 on one side, the sealing disc 15 is hingedly connected with the connecting seat 16, a counterweight 17 is fixedly installed on one side of the sealing disc 15, the counterweight 17 is made of iron, and 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 mechanical arm 3.

[0039] The second motor 142 can drive the lead screw 143 to rotate, and the lead screw 143 drives the third sliding seat 144 to move when rotating, and the third sliding seat 144 drives the discharge cylinder 13 to move when moving. After picking up one raspberry, the third sliding seat 144 moves a certain distance, so that the raspberries falling from the bottom opening of the discharge cylinder 13 will not hit the previous raspberries that have fallen into the buffer cavity 202, avoiding the damage of the raspberries caused by the impact. The counterweight 17 is arranged so that when there is no water in the flexible conveying pipe, the gravity of the counterweight 17 causes the sealing disc 15 to close the bottom opening of the discharge cylinder 13. When water is input into the flexible conveying pipe, the counterweight 17 is located above the magnetic block 21, and under the magnetic attraction of the magnetic block 21, the water pressure cannot push the sealing disc 15 to rotate downward. When the raspberries are thrown into the feeding cylinder 10, the drive assembly 14 drives the discharge cylinder 13 to move horizontally, so that the counterweight 17 is separated from the magnetic block 21. After losing the magnetic attraction of the magnetic block 21, under the action of water pressure, the sealing disc 15 rotates downward, so that the raspberries flow downward into the buffer cavity 202 along with the water flow.

[0040] In the embodiment, preferably, the locking assembly comprises a one-way clamping block 22, an adjusting plate 23, a guide column 24 and a tension spring 25. The one-way clamping block 22 penetrates the side wall of the collecting basket 2 and is in sliding fit with the collecting basket 2. One end of the one-way clamping block 22 is fixedly connected with the adjusting plate 23. One end of the guide column 24 is fixedly connected with the outer wall of the collecting basket 2, and the other end of the guide column 24 penetrates the adjusting plate 23 and is in sliding fit with the adjusting plate 23. The guide column 24 is sleeved with the tension spring 25, one end of the tension spring 25 is fixedly connected with the outer wall of the collecting basket 2, and the other end of the tension spring 25 is fixedly connected with the adjusting plate 23. The third sliding seat 144 is fixedly installed with a jacking rod 30 away from the discharge cylinder 13. When the third sliding seat 144 slides away from the second motor 142, the jacking rod 30 contacts the adjusting plate 23 and pushes the adjusting plate 23 to move away from the collecting basket 2, thereby driving the one-way clamping block 22 to move, so as to unlock the valve plate 18, thereby enabling the valve plate 18 to rotate under the water pressure in the buffer cavity 202, so as to discharge the water in the buffer cavity 202 into the collecting cavity 201, and enabling the raspberries floating on the water surface of the buffer cavity 202 to flow into the collecting cavity 201 along with the water flow, thereby realizing the transfer of the raspberries. After the water in the buffer cavity 202 is discharged, the valve plate 18 rotates to the vertical state under the tension of the elastic pull rope 20, and can be automatically unlocked by the jacking rod 30 under the power of the third sliding seat 144, thereby improving the synchronicity.

[0041] In the embodiment, preferably, the water delivery assembly comprises 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 collecting basket 2, the input end of the water pump 28 is communicated with the filter cover 27, the filter cover 27 is communicated with the collecting cavity 201, and the output end of the water pump 28 is communicated with the water injection port 11 through the flexible water delivery pipe 26; the water pump 28 can input the water in the collecting cavity 201 into the flexible water delivery pipe 26, and then into the feeding cylinder 10 through the water injection port 11.

[0042] In the embodiment, preferably, the collecting cavity 201 is provided with a separation assembly 29, the separation assembly 29 comprises a mounting frame 291, the inside of the mounting frame 291 is fixedly installed with a barrier net 292, and the four corners of the bottom of the mounting frame 291 are fixedly installed with supporting blocks 293; the separation assembly 29 is provided with a plurality of separation assemblies 29, when the water surface of the collecting cavity 201 is full of floating raspberries, the separation assembly 29 can be covered on the water surface, so that a layer of raspberries on the water surface is pressed into the bottom of the inner cavity of the collecting cavity 201, so as to prevent the raspberries from being squeezed, and a plurality of separation assemblies 29 can be placed in the collecting cavity 201, so as to increase the number of raspberries that can be placed in the collecting cavity 201.

[0043] The application further discloses a raspberry nondestructive picking method based on tactile feedback.

[0044] S1. Before the device is used, water is injected into the collecting basket 2, when picking, the clamping assembly 5 is driven to move by the mechanical arm 3 to clamp the raspberries, and then the fruit stem of the raspberries is cut off by the cutting assembly 8;

[0045] S2. During the clamping and cutting of the raspberries, the water in the collecting basket 2 is injected into the water injection port 11 through the water delivery assembly, so that the injected water enters the flexible conveying cylinder 12 through the feeding cylinder 10, after the flexible conveying cylinder 12 is filled with water, the clamping assembly 5 releases the clamping of the raspberries, so that the raspberries fall downward into the feeding cylinder 10;

[0046] S3. The sealing disc 15 is opened, so that the water in the flexible conveying cylinder 12 flows downward and is discharged into the collecting basket 2 through the opening at the bottom of the discharging cylinder 13, so that the raspberries flow downward together with the water flow, and then enter the collecting basket 2.

[0047] The above only describes the preferred embodiments of the application, and equivalent changes or modifications made according to the structure, features and principles described in the patent application range of the application are included in the patent application range of the application.

Claims

1. A tactile feedback-based raspberry harvesting device, comprising a base plate, a collection basket fixedly mounted on one side of the top of the base plate, and a robotic arm fixedly mounted on the other side of the top of the base plate, wherein a mounting frame is fixedly mounted on the robotic arm, characterized in that: The mounting frame is fixedly provided with a supporting plate, the supporting plate is provided with a clamping assembly, the clamping assembly is provided with a cutting assembly above, the mounting frame is fixedly provided with an electric push rod away from the clamping assembly, the clamping assembly is provided with a feeding cylinder below, the output end of the electric push rod is fixedly connected with the feeding cylinder, the bottom end of the feeding cylinder is communicated with a flexible conveying cylinder, the bottom end of the flexible conveying cylinder is communicated with a discharging cylinder, the bottom end of the discharging cylinder is provided with a sealing disc, the discharging cylinder is arranged above a collecting basket, one side of the feeding cylinder is communicated with a water inlet, the collecting basket is provided with a water conveying assembly for conveying water to the water inlet, and a plurality of cameras are arranged on the mechanical arm.

2. The raspberry non-destructive picking device based on tactile feedback according to claim 1, characterized in that: The collecting basket is provided with a collecting cavity and a buffer cavity, a baffle is fixedly arranged between the buffer cavity and the collecting cavity, a valve plate is hingedly connected above the baffle, the valve plate is elastically connected with the inner side wall of the buffer cavity through an elastic pull rope, a locking assembly for locking the valve plate is arranged on the side wall of the collecting basket, and a driving assembly for driving the discharging cylinder to move horizontally is arranged at the top end of the collecting basket.

3. The raspberry non-destructive picking device based on tactile feedback according to claim 2, characterized in that: The driving assembly comprises a third guide rail, a lead screw rotatably arranged in the third guide rail and a third sliding block slidably arranged in the third guide rail, the third guide rail is fixedly arranged at the top end of the collecting basket, the lead screw penetrates through the third sliding block and is threadedly connected with the third sliding block, and the third sliding block is fixedly connected with the discharging cylinder.

4. The raspberry non-destructive picking device based on tactile feedback according to claim 2, characterized in that: One side of the discharging cylinder is fixedly provided with a connecting seat, the sealing disc is hingedly connected with the connecting seat, a counterweight is fixedly arranged on one side of the sealing disc, the counterweight 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 mechanical arm.

5. The raspberry non-destructive picking device based on tactile feedback according to claim 3, characterized in that: The locking assembly comprises a one-way clamping block, an adjusting plate, a guide column and a tension spring, the one-way clamping block penetrates through the side wall of the collecting basket and is slidably connected with the collecting basket, one end of the one-way clamping block is fixedly connected with the adjusting plate, one end of the guide column is fixedly connected with the outer wall of the collecting basket, the other end of the guide column penetrates through the adjusting plate and is slidably connected with the adjusting plate, the guide column is sleeved with the tension spring, one end of the tension spring is fixedly connected with the outer wall of the collecting basket, the other end of the tension spring is fixedly connected with the adjusting plate, and a jacking rod is fixedly arranged on the side of the third sliding block away from the discharging cylinder, when the third sliding block slides to the side away from the second motor, the jacking rod is in contact with the adjusting plate and drives the adjusting plate to move away from the collecting basket.

6. The raspberry non-destructive picking device based on tactile feedback according to claim 2, characterized in that: The water conveying assembly comprises a water pump, a flexible water conveying pipe and a filter cover, the water pump is fixedly arranged on the side wall of the collecting basket, the input end of the water pump is communicated with the filter cover, the filter cover is communicated with the collecting cavity, and the output end of the water pump is communicated with the water inlet through the flexible water conveying pipe.

7. The raspberry non-destructive picking device based on tactile feedback according to claim 1, characterized in that: The clamping assembly comprises a first guide rail, a first double-headed screw rotatably installed inside the first guide rail, two first sliding seats slidably installed inside the first guide rail and a first motor fixedly installed on the support plate, the first guide rail is fixedly installed on the support plate, the first double-headed screw penetrates through the two first sliding seats and is threadedly connected with the two first sliding seats, two first clamping plates are fixedly installed on the sides, away from the first motor, of the two first sliding seats, anti-skid pads are fixedly installed on the sides, close to each other, of the two first clamping plates, a first bevel gear is fixedly sleeved on the middle portion of the first double-headed screw, a second bevel gear is fixedly installed on the output end of the first motor, and the first bevel gear is engaged with the second bevel gear.

8. The raspberry non-destructive picking device based on tactile feedback according to claim 7, characterized in that: The cutting assembly comprises a second guide rail, a second double-headed screw rotatably installed inside the second guide rail and a second sliding seat slidably installed inside the second guide rail, the second guide rail is fixedly installed on the support plate, the second double-headed screw penetrates through the two second sliding seats and is threadedly connected with the two second sliding seats, and the two second sliding seats are rotatably connected with shearing knives.

9. The raspberry non-destructive picking device based on tactile feedback according to claim 8, characterized in that: The feeding cylinder is fixedly installed with a driving frame, the end portion of the second double-headed screw is fixedly installed with a straight gear, the top portion of the mounting frame is fixedly installed with a rack, and the rack is engaged with the straight gear.

10. A method for non-destructive picking of raspberries based on tactile feedback, using the device for non-destructive picking of raspberries based on tactile feedback according to any one of claims 1-9, characterized in that, The method comprises the following steps: S1. Before the device is used, water is injected into the collecting basket, when picking, the clamping assembly is driven by the mechanical arm to clamp the raspberries, and then the fruit stems on the raspberries are cut off by the cutting assembly; S2. During the clamping and cutting of the raspberries, the water in the collecting basket is injected into the water injection port by the water injection assembly, so that the injected water enters the flexible conveying cylinder through the feeding cylinder, after the flexible conveying cylinder is filled with water, the clamping assembly releases the clamping of the raspberries, so that the raspberries fall downward into the feeding cylinder; S3. The sealing disc is opened, so that the water in the flexible conveying cylinder flows downward and is discharged into the collecting basket through the opening at the bottom of the discharging cylinder, so that the raspberries flow downward together with the water flow and enter the collecting basket.

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