Flexible paper folding type strawberry stem-free picking mechanism based on variable stiffness bionic principle

Abstract

The invention relates to the technical field of agricultural picking, in particular to a flexible paper folding type strawberry stem-free picking mechanism based on a variable stiffness bionic principle, the flexible paper folding type strawberry stem-free picking mechanism is composed of a mounting table, a paper folding type pipeline and a picking claw, the paper folding type pipeline is formed by connecting a plurality of Mipu folding pipelines, and smooth deformation can be achieved by utilizing the good structural performance advantages of the paper folding type pipeline; the picking claw is suitable for bending and stretching to a certain degree, the picking range and angle are convenient to adjust, meanwhile, space is saved, the picking claw is composed of a left claw body, a right claw body and a folding bottom claw body, unfolding and closing actions of the picking claw are achieved through an opening and closing control assembly, and a flexible inner picking curved surface is arranged on the inner side wall of the picking claw and can simulate manual operation; contact between the picking claws and strawberry fruits is buffered, damage is reduced, friction force is increased, and the fruits are prevented from falling off. The picking mechanism has the advantages of being high in picking efficiency, low in fruit damage rate, flexible to operate and the like, can be widely applied to the field of strawberry picking, reduces the picking cost and improves the fruit quality.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural picking, and in particular to a flexible origami-type strawberry sessile picking mechanism based on a variable stiffness bionic principle. Background Art

[0002] Strawberries have become a popular fruit. With the advent of greenhouse technology, the ripening period of strawberries has been significantly extended, extending the strawberry picking cycle and boosting their popularity. However, because strawberries are delicate and easily damaged during the picking process, conventional mechanical picking devices are ineffective. While large-scale strawberry picking devices have been developed abroad, these devices are expensive, have a high rate of damage during picking, and affect the economic value of strawberries, posing a potential food safety risk. Currently, strawberry picking in China is still primarily done manually, which consumes significant labor and time costs. Therefore, there is an urgent need for a device that can efficiently and effectively harvest strawberries with minimal damage to meet market demand, reduce picking costs, and ensure the quality and safety of the strawberries. Summary of the Invention

[0003] In response to the above-mentioned defects and problems, the present invention provides a flexible origami-type strawberry stalk-less picking mechanism based on the variable stiffness bionic principle. Through flexible stalk-less picking, the damage rate is low, and low-damage stalk-less picking of fruits of different maturity and different postures can be achieved without the need for post-harvest secondary processing. Compared with the prior art, the device of the present invention is easy to use and labor-saving, which can greatly reduce the labor burden of pickers and improve the picking efficiency, thereby saving the cost of strawberry picking. In addition, the strawberry picking principle of the present invention is simple, the structure is simple, the control is convenient, the operability is strong, and the picking freedom is high.

[0004] The solution adopted by the present invention to solve its technical problems is: a flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle, including a mounting platform, an origami-type pipe and a picking claw, the origami-type pipe is composed of a plurality of Miura folding pipes, each Miura folding pipe is provided with a pipe end plate at the end, and adjacent Miura folding pipes are connected by flanges, the two ends of the origami pipe are respectively fixed with a mounting platform and a fixed platform, a pipe bending control mechanism for controlling the folding, bending or stretching of the origami pipe is provided in the mounting platform, a picking support is installed on the fixed platform, and a picking claw is installed on the picking support, and a rotating drive component for driving the picking claw to rotate is provided on the fixed platform. ; The picking claw is composed of a left claw, a right claw and a foldable bottom claw. The foldable bottom claw is arranged at the bottom of the left claw and the right claw and connects the left claw and the right claw. The bottom edges of the left claw and the right claw are slidably mounted on the picking support through a slider. A crease is arranged in the center of the foldable bottom claw. Multiple creases are longitudinally arranged on the left claw and the right claw. When the foldable bottom claw is folded or unfolded at the crease, it synchronously drives the left claw and the right claw to unfold or close along the crease on the claw body. The crease design is utilized to realize the folding and unfolding of the picking claw at the crease, thereby realizing the deformation and grasping function of the picking claw. An opening and closing control component for controlling the unfolding or closing action of the picking claw is provided on the picking support.

[0005] Furthermore, the picking support is provided with a guide rail, and two sliders are symmetrically slidably mounted on the guide rail. A vertical plate is fixed vertically above the slider, and connecting plates are fixed vertically on the left and right sides of the bottom edges of the left and right claws of the picking claws where they intersect with the foldable bottom claws. The connecting plate and the vertical plate are connected together by bolts, and the folding or release of the folding bottom claw crease is achieved by controlling the two sliders to move closer or further away from each other, thereby controlling the left and right claws to be unfolded or closed.

[0006] Furthermore, the opening and closing control component includes a rack vertically arranged on the picking support, the upper end of the rack is connected to the fold of the foldable bottom claw, a guide hole is opened in the center of the picking support, the lower end of the rack is movably inserted into the guide hole, and a servo motor 2 is installed on the picking support, and a spur gear is fixedly mounted on the output end of the servo motor 2, and the spur gear is meshed with the rack. The servo motor 2 controls the rack to move up and down through the spur gear, and the rack pushes the fold of the foldable bottom claw to fold or unfold when moving up and down, and cooperates with the limiting and sliding effects at the bottom of the left claw and the right claw to realize the expansion or closing action of the picking claw.

[0007] Furthermore, the pipe bending control mechanism includes a bending control assembly, which is composed of a motor, a rotating shaft and a pull rope. The motor is fixed in the mounting platform, the rotating shaft is rotatably mounted in the mounting platform and is connected to the output end of the motor, and the pull rope is wound around the rotating shaft. Both ends of the pull rope extend into the origami-type pipe, and after being guided by the guide ring fixed on the flange, its end is fixed to the farthest end pipe end plate.

[0008] Furthermore, there are two groups of bending control components, which are cross-shaped and staggered front and back on the mounting table. By setting up two groups of bending control components, multi-angle bending of the origami-style pipe can be achieved.

[0009] Furthermore, the rotation drive assembly includes a servo mounted on a fixed platform, a main gear is fixedly mounted on the output end of the servo, a main shaft is provided at the bottom of the picking support platform, the picking bracket is rotatably mounted on the fixed platform through the main shaft, a slave gear is fixedly mounted on the main shaft, and the slave gear is engaged with the main gear.

[0010] Furthermore, four guide rings are fixed around the center ring at the inner ring of the flange. The four rope ends of the two pull ropes in the two sets of bending control components are respectively passed through the corresponding guide rings and arranged in the origami-like pipe. The pull ropes are guided by the guide rings in the origami-like pipe to ensure that the pull ropes are close to the pipe wall to achieve the pulling effect.

[0011] Furthermore, the inner side walls of the left claw and the right claw are provided with flexible inner picking curved surfaces using flexible materials, so as to construct an inner curved surface space that fits the shape of the strawberry and simulates human hand operation.

[0012] The beneficial effects of the present invention are as follows: the origami-type pipe is composed of multiple Miura folding pipes connected together, which can adapt to a certain degree of bending and stretching requirements and achieve smooth deformation. In the actual strawberry picking scene, in conjunction with the pipe bending control mechanism, the bending angle and direction of the origami-type pipe can be accurately controlled to achieve multi-angle bending, which can effectively avoid rupture or damage caused by excessive bending. Based on the rigid origami principle, the pipe has high strength and stability, and the interconnected folds and structural units can disperse the force and are not easy to deform, ensuring the reliable operation of the picking mechanism in complex environments. Moreover, the origami design can make the pipe fold into a compact shape when not in use, greatly saving space and reducing the volume of objects.

[0013] The picking claw is designed based on the origami principle. It consists of a left claw, a right claw and a folding bottom claw. The creases are used to realize the expansion and grasping actions. The opening and closing control components are used to realize the automatic expansion or closing action of the picking claw, with a high degree of automation. The inner wall of the picking claw is provided with a flexible inner picking surface, which can simulate human manual operation. During the picking process, the flexible inner picking surface can buffer the contact between the picking claw and the strawberry fruit, reduce the collision and extrusion damage caused by the picking action, and effectively protect the integrity of the strawberry fruit. In addition, the flexible inner picking surface can increase the friction between the picking claw and the strawberry fruit, prevent the strawberry fruit from falling from the picking claw, and achieve stable grasping.

[0014] The rotary drive assembly can precisely control the rotation angle of the picking claws, enabling them to reach strawberries at different positions, thereby improving the flexibility and adaptability of the picking mechanism and meeting the needs of different picking scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a front view structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the origami-type pipeline of the present invention; Figure 4 This is a schematic structural diagram of the pipeline bending control mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the pipe bending control mechanism and the origami-type pipe of the present invention; Figure 6 This is a schematic diagram of the overall structure of the picking claw and the rotation drive assembly of the present invention; Figure 7 This is a schematic diagram of the separate structure of the picking claw and the rotation drive assembly of the present invention; Figure 8 This is a side view schematic diagram of the folding structure of the picking claw of the present invention; Figure 9 This is a schematic diagram of the front cross-sectional structure of the folding variation of the picking claw of the present invention; Figure 10 It is a schematic diagram of the three-dimensional structure of the folding variation of the picking claw of the present invention.

[0016] Numbers in the figure: 1. Mounting table; 2. Origami pipe; 21. Miura folding pipe 1; 22. Miura folding pipe 2; 23. Miura folding pipe 3; 24. Pipe end plate; 3. Flange; 4. Fixed table; 5. Rotation drive assembly; 51. Servo 1; 52. Main gear; 53. Slave gear; 6. Picking support platform; 61. Turntable; 62. Main shaft; 63. Slider; 64. Vertical plate; 65. Mounting hole; 66. Guide rail; 7. Picking claw; 71. Right claw; 72. Left claw; 73. Folding bottom claw; 74. Connecting plate; 75. Flexible inner picking surface; 8. Opening and closing control assembly; 81. Servo 2; 82. Spur gear; 83. Rack; 9. Pipe bending control mechanism; 91. Motor; 92. Rotating shaft; 93. Pull rope; 94. Guide ring; 9a. Bending control assembly 1; 9b. Bending control assembly 2. DETAILED DESCRIPTION

[0017] The present invention will be further described below with reference to the accompanying drawings and examples.

[0018] See also Figure 1-10The present invention provides a technical solution of a flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle: Example 1: This example provides a flexible origami-type strawberry stemless picking mechanism based on the variable stiffness bionic principle, the structure of which is as follows: Figure 1 and Figure 2 As shown, it includes a mounting platform 1, an origami-style pipe 2 and a picking claw 7. The origami-style pipe 2 is composed of a plurality of Miura folding pipes connected together. The end of each Miura folding pipe is provided with a pipe end plate 24. Adjacent Miura folding pipes are connected by a flange 3. The two ends of the origami-style pipe 2 are respectively fixed with a mounting platform 1 and a fixed platform 4. A pipe bending control mechanism 9 is provided inside the mounting platform 1. The pipe bending control mechanism 9 is used to control the folding, bending or stretching movement of the origami-style pipe 2. A picking support 6 is installed on the fixed platform 4, and a picking claw 7 is installed on the picking support 6. In actual application, the strawberry stalkless picking mechanism is installed on the picking equipment through a mounting seat, and the movement of the strawberry stalkless picking mechanism is controlled by the picking equipment.

[0019] Multiple Miura folding pipes can be reasonably arranged according to the needs of picking. Here, three pipes are taken as an example: Miura folding pipe 1 21, Miura folding pipe 2 22, and Miura folding pipe 3 23 are arranged in sequence. The two ends of Miura folding pipe 2 22 are connected to Miura folding pipe 1 21 and Miura folding pipe 3 23 respectively. A mounting platform 1 is fixed to the outer end of Miura folding pipe 1 21, and a fixing platform 4 is fixed to the outer end of Miura folding pipe 2 22. By adopting Miura folding, based on the principle of rigid origami, the pipes can be folded into a compact form when not in use, greatly saving space, reducing the volume of objects, and facilitating storage and management in practical applications. At the same time, Miura folding has good structural performance advantages, can adapt to a certain degree of bending and stretching requirements, achieve smooth deformation, and thus adjust the range and angle of strawberry picking. In actual strawberry picking scenarios, it effectively avoids breakage or damage caused by excessive bending. The folded pipes also have high strength and stability. The interconnected creases and structural units can disperse the force and are not easily deformed.

[0020] As shown in Figure 6 and Figure 7As shown, the picking claw 7 consists of a left claw 72, a right claw 71 and a foldable bottom claw 73. The foldable bottom claw 73 is located at the bottom of the left claw 72 and the right claw 71, and connects the bottom of the left claw 72 and the right claw 71 together. The bottom edges of the left claw 72 and the right claw 71 are slidably mounted on the picking support 6 through the slider 63; a fold is provided in the center of the foldable bottom claw 73, through which the folding bottom claw 73 can be unfolded and folded, and multiple folds are provided longitudinally on the left claw 72 and the right claw 71. Through the multiple creases on the left claw 72 and the right claw 71, the left claw 72 and the right claw 71 can be expanded and closed, and because the left claw 72 and the right claw 71 are connected together by the foldable bottom claw 73, the three can achieve a linkage effect. Therefore, when the foldable bottom claw 73 is folded or expanded with the crease, it will synchronously drive the left claw 72 and the right claw 71 to expand or close. The picking claw 7 folds at the crease and uses the crease design to achieve the expansion and grasping action, thereby realizing the deformation and grasping function of the picking claw 7.

[0021] A guide rail 66 is horizontally provided on the turntable 61 of the picking support 6. Two sliders 63 are symmetrically slidably mounted within the guide rail 66. A vertical plate 64 is vertically fixed above the sliders 63. Connecting plates 74 are vertically fixed to the left and right edges of the left and right claws 72 and 71 of the picking claws 7, where they intersect with the foldable bottom claws 73. Mounting holes 65 are provided at corresponding positions of the connecting plates 74 and the vertical plates 64. The connecting plates 74 and the vertical plates 64 are connected together through the mounting holes 65 and bolts. By controlling the two sliders 63 to move closer or further away from each other, the folding or releasing of the folding bottom claws 73 is achieved, thereby controlling the expansion or closing of the left and right claws 72 and 71. When the two sliders 63 drive the connecting plates 74 to move closer to each other, the foldable bottom claws 73 are folded upward along the fold, and at the same time, the connecting plates 74 pull the bottoms of the left claws 72 and the right claws 71 closer together, so that the tops of the left claws 72 and the right claws 71 move away from each other, and the left claws 72 and the right claws 71 are fully unfolded along the fold, and the picking claws 7 are in the unfolded state, so that the strawberries can be picked. When the two sliders 63 drive the connecting plates 74 to move away from each other, the foldable bottom claws 73 are unfolded along the fold, and at the same time, the connecting plates 74 pull the bottoms of the left claws 72 and the right claws 71 away from each other, so that the tops of the left claws 72 and the right claws 71 move closer to each other, and at the same time, the left claws 72 and the right claws 71 are closed along the fold, and the picking claws 7 are in the closed state, so that the strawberries can be picked.

[0022] The picking support 6 is also provided with an opening and closing control component 8, which is used to control the picking claws 7 to expand or close. The opening and closing control component 8 includes a rack 83 vertically arranged on the picking support 6, the upper end of the rack 83 is connected to the fold of the foldable bottom claw 73, and a guide hole is opened in the center of the picking support 6. The lower end of the rack 83 is movably inserted into the guide hole. A servo 81 is installed on the picking support 6, and the output end of the servo 81 is fixedly provided with a spur gear 82, and the spur gear 82 is meshed with the rack 83. The servo 81 controls the rack 83 to move up and down through the spur gear 82. When moving up and down, the rack 83 can push the fold of the foldable bottom claw 73 to fold or expand, and cooperate with the limiting and sliding effects at the bottom of the left claw 72 and the right claw 71 to realize the expansion or closing action of the picking claw 7. As shown Figures 8 to 10 As shown, since the angles of the foldable bottom claw 73 and the left claw 72 and the right claw 71 are fixed, when the rack 83 pushes the fold of the foldable bottom claw 73 to fold upward to form an inverted V-shaped structure or unfold into a flat structure, the left claw 72 and the right claw 71 are opened; when the rack 83 drives the fold of the foldable bottom claw 73 to fold downward to form a positive V-shaped structure, the left claw 72 and the right claw 71 are closed.

[0023] During specific use, the present invention provides a flexible origami-type strawberry stalkless picking mechanism based on the variable stiffness bionic principle. The picking mechanism of the present invention first controls the folding, bending or stretching of the origami-type pipe 2 through the pipe bending control mechanism 9, so that the picking claw 7 can reach the position where the strawberry is located and align it with the strawberry. Then, the opening and closing control component 8 controls the picking claw 7 to unfold, the folding bottom claw 73 is folded, the two sliders 63 move inward, and the left claw 72 and the right claw 71 of the picking claw 7 are opened under the sliding action of the slider 63. When the picking claw 7 contacts the strawberry, the opening and closing control component 8 controls the picking claw 7 to close, the folding bottom claw 73 is unfolded, the two sliders 63 move outward, and the left claw 72 and the right claw 71 are closed under the sliding action of the slider 63, thereby achieving the grasping of the strawberry.

[0024] Example 2: Based on Example 1, this example further explains the pipe bending control mechanism 9. Figure 4 and Figure 5As shown, the pipe bending control mechanism 9 includes two groups of bending control components 1 9a and bending control component 2 9b with the same structure. The two groups of bending control components are composed of a motor 91, a rotating shaft 92 and a pull rope 93. The motor 91 is fixed in the mounting platform 1, and the rotating shaft 92 is rotatably mounted in the mounting platform 1 and connected to the output end of the motor 91. The motor 91 is used to drive the rotating shaft 92 to rotate. A pull rope 93 is wound around the rotating shaft 92. Both ends of the pull rope 93 extend into the origami pipe 2. The bending control component 1 9a and the bending control component 2 9b are cross-shaped and staggered front and back and arranged in the mounting platform 1, so that the four rope ends of the two pull ropes 93 are symmetrically arranged in pairs in the origami pipe 2. By setting two groups of bending control components, multi-angle bending of the origami pipe 2 can be achieved. On the flange 3 at the connection point of the Miura folding pipe, four guide rings 94 are circumferentially fixed around the inner ring of the flange 3. After the four rope ends of the two pull ropes 93 pass through the corresponding guide rings 94, their ends are fixed to the pipe end plate 24 at the farthest end. The pull ropes 93 are guided by the guide rings 94 within the origami-shaped pipe 2, ensuring that the pull ropes 93 are close to the pipe wall to achieve a pulling effect. The guide rings 94 here can also be replaced with fixed pulleys, which can also achieve a guiding effect. The provision of guide rings 94 or fixed pulleys can ensure smooth guidance of the pull ropes 93 within the origami-shaped pipe 2, preventing the pull ropes 93 from becoming entangled or stuck within the pipe; at the same time, the guide rings 94 or fixed pulleys can ensure that the pull ropes 93 are close to the pipe wall, thereby achieving a better pulling effect and improving the bending performance and stability of the origami-shaped pipe 2.

[0025] During specific use, when it is necessary to control the bending of the origami pipe 2, the motor 91 is started to drive the rotating shaft 92 to rotate, and one end of the pull rope 93 on the rotating shaft 92 is tightened and the other end is relaxed. Since the two ends of the pull rope 93 are respectively fixed on the pipe end plate 24 at the farthest end, the tightening or loosening of the pull rope 93 will drive the origami pipe 2 to bend. Through the coordinated action of the two sets of bending control components, combined with the elastic and rigid deformation effects of the origami pipe 2 itself, the origami pipe 2 can be bent in different directions, so that the picking claw 7 can reach strawberries at different positions, accurately control the bending angle and direction of the origami pipe 2, and improve the flexibility and adaptability of the picking mechanism.

[0026] Example 3: Based on Example 1, this example further provides a rotation drive assembly 5 on the fixed platform 4 to drive the picking support 6 and the picking claw 7 to rotate. Figure 7 As shown, the rotation drive assembly 5 includes a servo 51 installed on the fixed platform 4, and a main gear 52 is fixedly mounted on the output end of the servo 51. A main shaft 62 is provided at the bottom of the turntable 61 of the picking support 6. The picking bracket is rotatably mounted on the fixed platform 4 through the main shaft 62. A slave gear 53 is fixedly mounted on the main shaft 62, and the slave gear 53 is engaged with the main gear 52.

[0027] During specific use, when the orientation of the picking claw 7 needs to be adjusted, the servo 51 is started to drive the main gear 52 to rotate. The main gear 52 drives the picking support 6 to rotate around the main shaft 62 through engagement with the slave gear 53, thereby realizing the orientation adjustment of the picking claw 7. The rotation angle of the picking claw 7 can be accurately controlled, thereby improving the flexibility and operability of the picking mechanism.

[0028] Example 4: This example further optimizes the picking claw 7. Figure 9 As shown, the inner walls of the left and right claws 72 and 71 are constructed of flexible material to form a flexible inner picking surface 75. This creates an inner curved space that conforms to the shape of the strawberry, simulating human hand operation. During picking, the flexible inner picking surface 75 cushions the contact between the picking claws 7 and the strawberry fruit, reducing collision and crushing damage caused by the movement of the picking claws 7 and protecting the integrity of the strawberry fruit. Furthermore, the flexible inner picking surface 75 increases friction between the picking claws 7 and the strawberry fruit, preventing the fruit from falling through the picking claws 7. Once the picking claws 7 contact the strawberry fruit, the flexible inner picking surface 75 tightly adheres to the surface of the fruit, enabling stable grasping.

[0029] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible origami-type strawberry sessile picking mechanism based on a variable stiffness bionic principle, comprising a mounting platform (1), an origami-type pipe (2) and a picking claw (7), characterized in that: The origami-type pipe (2) is composed of a plurality of Miura folded pipes, each Miura folded pipe is provided with a pipe end plate (24) at the end thereof, and adjacent Miura folded pipes are connected via flanges (3). A mounting platform (1) and a fixed platform (4) are fixed to the two ends of the origami-type pipe (2), respectively. A pipe bending control mechanism (9) for controlling the folding, bending or stretching of the origami-type pipe (2) is provided in the mounting platform (1), a picking support platform (6) is provided on the fixed platform (4), a picking claw (7) is provided on the picking support platform (6), and a rotation drive assembly (5) for driving the picking claw (7) to rotate is provided on the fixed platform (4); The picking claw (7) is composed of a left claw (72), a right claw (71) and a foldable bottom claw (73). The foldable bottom claw (73) is arranged at the bottom of the left claw (72) and the right claw (71) and connects the left claw (72) and the right claw (71). The bottom edges of the left claw (72) and the right claw (71) are slidably mounted on the picking support (6) through a slider (63). A fold is provided at the center of the foldable bottom claw (73). A plurality of folds are longitudinally arranged on the left claw (72) and the right claw (71). When the foldable bottom claw (73) is folded or unfolded at the folds, it synchronously drives the left claw (72) and the right claw (71) to unfold or close along the folds on the claw body. The folding design is utilized to realize the folding and unfolding of the picking claw (7) at the folds, thereby realizing the deformation and grasping function of the picking claw (7). An opening and closing control component (8) for controlling the unfolding or closing action of the picking claw (7) is provided on the picking support (6).

2. A flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle according to claim 1, characterized in that: A guide rail (66) is provided on the picking support (6), and two sliders (63) are symmetrically slidably mounted on the guide rail (66). A vertical plate (64) is vertically fixed above the slider (63). Connecting plates (74) are vertically fixed on the left and right sides of the bottom edges of the left claw (72) and the right claw (71) of the picking claw (7) at the intersection with the foldable bottom claw (73). The connecting plate (74) and the vertical plate (64) are connected together by bolts. By controlling the two sliders (63) to move closer to or farther away from each other, the folding or releasing of the folding bottom claw (73) is achieved, thereby controlling the left claw (72) and the right claw (71) to be unfolded or closed.

3. The flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle according to claim 2, characterized in that: The opening and closing control component (8) includes a rack (83) vertically arranged on the picking support (6), the upper end of the rack (83) is connected to the fold of the foldable bottom claw (73), the center of the picking support (6) is provided with a guide hole, the lower end of the rack (83) is movably inserted into the guide hole, and a second servo (81) is installed on the picking support (6), a spur gear (82) is fixedly mounted on the output end of the second servo (81), and the spur gear (82) is meshed with the rack (83), and the second servo (81) controls the rack (83) to move up and down through the spur gear (82), and the rack (83) pushes the fold of the foldable bottom claw (73) to fold or unfold when moving up and down, and cooperates with the limiting and sliding effects of the bottom of the left claw (72) and the right claw (71) to realize the unfolding or closing action of the picking claw (7).

4. The flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle according to claim 1, characterized in that: The pipe bending control mechanism (9) includes a bending control assembly, which is composed of a motor (91), a rotating shaft (92) and a pull rope (93). The motor (91) is fixed in the mounting platform (1), the rotating shaft (92) is rotatably mounted in the mounting platform (1) and is connected to the output end of the motor (91), and the pull rope (93) is wound on the rotating shaft (92). Both ends of the pull rope (93) extend into the origami-shaped pipe (2) and are guided by a guide ring (94) fixed on the flange (3). The end of the pull rope is fixed to the pipe end plate (24) at the farthest end.

5. The flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle according to claim 4, characterized in that: There are two groups of bending control components, which are arranged on the mounting platform (1) in a cross shape and staggered front and back. By arranging the two groups of bending control components, the origami-type pipe (2) can be bent at multiple angles.

6. The flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle according to claim 1, characterized in that: The rotation drive assembly (5) includes a steering gear (51) mounted on a fixed platform (4), a main gear (52) fixedly mounted on the output end of the steering gear (51), a main shaft (62) provided at the bottom of the picking support platform (6), the picking support being rotatably mounted on the fixed platform (4) via the main shaft (62), a slave gear (53) fixedly mounted on the main shaft (62), and the slave gear (53) meshing with the main gear (52).

7. The flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle according to claim 5, characterized in that: Four guide rings (94) are fixed around the center of the inner ring of the flange (3). The four rope ends of the two pull ropes (93) in the two sets of bending control components pass through the corresponding guide rings (94) and are arranged in the origami-type pipe (2). The pull ropes (93) are guided by the guide rings (94) in the origami-type pipe (2), ensuring that the pull ropes (93) are close to the pipe wall to achieve a pulling effect.

8. The flexible origami-type strawberry sessile picking mechanism based on the variable stiffness bionic principle according to claim 1, characterized in that: The inner side walls of the left claw (72) and the right claw (71) are provided with flexible inner picking curved surfaces (75) made of flexible material, and an inner curved surface space fitting the shape of a strawberry is constructed through the flexible inner picking curved surfaces (75), simulating human hand operation.

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