A flexible origami type strawberry stemless picking mechanism based on variable stiffness bionics principle

Abstract

The present application relates to the technical field of agricultural picking, in particular to a flexible origami type strawberry stemless picking mechanism based on variable stiffness bionics principle, which is composed of a mounting table, an origami type pipeline and a picking claw, the origami type pipeline is composed of a plurality of Miura folded pipelines, the good structural performance advantage of the origami type pipeline can realize smooth deformation, adapt to a certain degree of bending and stretching, facilitate the adjustment of picking range and angle, and save space at the same time, the picking claw is composed of a left claw, a right claw and a folded bottom claw, the opening and closing actions of the picking claw are realized through an opening and closing control assembly, the inner side wall of the picking claw is provided with a flexible inner picking curved surface, which can simulate the operation of human hands, buffer the contact between the picking claw and the strawberry fruit, reduce the damage, increase the friction, and prevent the fruit from falling. The picking mechanism has the advantages of high picking efficiency, low fruit damage rate, flexible operation 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 application relates to the technical field of agricultural picking, in particular to a flexible origami type strawberry stemless picking mechanism based on variable stiffness bionics principle. BACKGROUND

[0002] Strawberry has now become a popular fruit, with the emergence of greenhouse technology, the ripening period of strawberry has been extended for a long time, and the picking cycle of strawberry has also been extended, and its popularity has been increasing. Because strawberry is delicate, the texture of strawberry fruit is delicate and easy to be damaged in the picking process, so general mechanical picking device cannot be used. Although large-scale strawberry picking devices have been developed abroad, they have high cost, high damage rate, affect the economic value of strawberry, cause food safety hazards and other problems; at present, domestic strawberry picking is still mainly manual, and the labor cost and time cost are huge. Therefore, an efficient and low-damage strawberry picking device is urgently needed to meet market demand, reduce picking cost, and ensure the quality and safety of strawberry. SUMMARY

[0003] In view of the above-mentioned defects and problems, the present application provides a flexible origami type strawberry stemless picking mechanism based on variable stiffness bionics principle, which can realize low-damage stemless picking of fruits with different maturity and different poses without post-picking secondary treatment. Compared with the prior art, the device is convenient to use, saves labor, can greatly reduce the labor burden of picking personnel, improves the picking efficiency, thereby saves the cost of strawberry picking, and the picking principle of the present application is simple, the structure is simple, the control is convenient, the operability is strong, and the picking degree of freedom is high.

[0004] The application adopts the scheme that a flexible folding paper type stemless strawberry picking mechanism based on variable stiffness bionics principle is provided, which comprises a mounting table, a folding paper type pipeline and a picking claw, the folding paper type pipeline is composed of a plurality of Miura folding pipelines, the end of each Miura folding pipeline is provided with a pipeline end plate, adjacent Miura folding pipelines are connected through flanges, the two ends of the folding paper type pipeline are respectively fixed with the mounting table and a fixed table, a pipeline bending control mechanism for controlling the folding paper type pipeline to bend or stretch is arranged in the mounting table, a picking support table is arranged on the fixed table, the picking claw is arranged on the picking support table, and a rotating drive assembly for driving the picking claw to rotate is arranged on the fixed table; the picking claw is composed of a left claw, a right claw and a folding type bottom claw, the folding type 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 sleeved on the picking support table through sliding blocks, a crease is arranged at the center of the folding type bottom claw, a plurality of creases are arranged longitudinally on the left claw and the right claw, and the folding type bottom claw drives the left claw and the right claw to expand or close along the creases on the claw body when the folding type bottom claw is folded or unfolded, the folding and unfolding of the picking claw at the creases are realized by the crease design, the deformation and grasping functions of the picking claw are realized, and an opening and closing control assembly for controlling the picking claw to expand or close is arranged on the picking support table.

[0005] Further, a guide rail is opened on the picking support table, two sliding blocks are slidably sleeved in the guide rail in a left-right symmetrical manner, vertical standing plates are fixed above the sliding blocks, and connecting plates are fixed vertically at the positions where the bottom edges of the left claw and the right claw of the picking claw meet the folding type bottom claw, the connecting plates and the standing plates are connected through bolts, the folding or releasing of the crease of the folding type bottom claw is realized by controlling the two sliding blocks to move close to or away from each other, and then the expansion or closing of the left claw and the right claw is controlled.

[0006] Further, the opening and closing control assembly comprises a rack vertically arranged on the picking support table, the upper end of the rack is connected at the crease of the folding type bottom claw, a guide hole is opened at the center of the picking support table, the lower end of the rack is movably inserted into the guide hole, a steering gear two is arranged on the picking support table, a spur gear is fixedly sleeved at the output end of the steering gear two, the spur gear is engaged with the rack, the steering gear two controls the rack to move up and down through the spur gear, the crease of the folding type bottom claw is folded or unfolded when the rack moves up and down, and the expansion or closing action of the picking claw is realized by matching the limiting and sliding effects of the bottom of the left claw and the right claw.

[0007] Further, the pipeline bending control mechanism comprises a bending control assembly, the bending control assembly is composed of a motor, a rotating shaft and a pull rope, the motor is fixed in the mounting table, the rotating shaft is rotatably sleeved in the mounting table and connected with the output end of the motor, the pull rope is wound on the rotating shaft, the two ends of the pull rope extend into the folding paper type pipeline, and the ends are fixed on the pipeline end plate at the farthest end after being guided by the guide ring fixed on the flange.

[0008] Further, the two sets of bending control assemblies are cross-shaped and staggered in front and back on the mounting table, and through the two sets of bending control assemblies, multi-angle bending of the origami pipe is realized.

[0009] Further, the rotating drive assembly comprises a steering gear one mounted on the fixed table, a main gear is fixedly sleeved at the output end of the steering gear one, the bottom of the picking support table is provided with a main shaft, the picking support is rotatably installed on the fixed table through the main shaft, a slave gear is fixedly sleeved on the main shaft, and the slave gear is in meshing connection with the main gear.

[0010] Further, four guide rings are fixedly arranged around the central ring at the inner ring of the flange, four rope ends of two groups of pull ropes are arranged in the origami pipe through the corresponding guide rings, and the pull ropes are guided in the origami pipe through the guide rings, so that the pull ropes are close to the pipe wall to realize the pulling effect.

[0011] Further, the inner side walls of the left claw and the right claw are provided with flexible inner picking curved surfaces made of flexible materials, an inner curved surface space conforming to the shape of the strawberry is constructed, and human hand operation is simulated and simulated.

[0012] The origami pipe is composed of a plurality of Miura folded pipes, can adapt to a certain degree of bending and stretching requirements, realizes smooth deformation, in the actual strawberry picking scene, cooperates with the pipe bending control mechanism, can accurately control the bending angle and direction of the origami pipe, realizes multi-angle bending, can effectively avoid breakage or damage caused by excessive bending, and based on the rigid origami principle, the pipe has high strength and stability, the creases and structural units connected with each other can disperse stress and are not easy to deform, the reliable operation of the picking mechanism in a complex environment is ensured, and the origami design can make the pipe fold into a compact form when not in use, greatly save space and reduce the volume of the object.

[0013] The picking claw is designed based on the origami principle and is composed of a left claw, a right claw and a folded bottom claw, the creases are used to realize unfolding and grabbing actions, the opening and closing control assembly is used to realize automatic unfolding or closing actions of the picking claw, and the automation degree is high; the inner side walls of the picking claw are provided with flexible inner picking curved surfaces, human hand operation can be simulated, in the picking process, the flexible inner picking curved surfaces can buffer the contact between the picking claw and the strawberry fruit, reduce collision and extrusion damage caused by picking actions, effectively protect the integrity of the strawberry fruit, and the flexible inner picking curved surfaces can increase the friction between the picking claw and the strawberry fruit, prevent the strawberry fruit from falling from the picking claw, and realize stable grabbing.

[0014] The rotation driving assembly can accurately control the rotation angle of the picking claw, so that the picking claw can reach strawberries at different positions, and the flexibility and adaptability of the picking mechanism are improved, and the needs of different picking scenes are met. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a perspective structural schematic diagram of the present application;

[0016] Figure 2 is a front view structural schematic diagram of the present application;

[0017] Figure 3 is a perspective structural schematic diagram of the paper folding type pipeline of the present application;

[0018] Figure 4 is a structural schematic diagram of the pipeline bending control mechanism of the present application;

[0019] Figure 5 is a structural schematic diagram of the pipeline bending control mechanism and the paper folding type pipeline cooperation structure of the present application;

[0020] Figure 6 is a structural schematic diagram of the picking claw and the rotation driving assembly of the present application;

[0021] Figure 7 is a structural schematic diagram of the picking claw and the rotation driving assembly of the present application;

[0022] Figure 8 is a side view structural schematic diagram of the picking claw folding change of the present application;

[0023] Figure 9 is a front view structural schematic diagram of the picking claw folding change of the present application;

[0024] Figure 10 is a perspective structural schematic diagram of the picking claw folding change of the present application.

[0025] In the figure, 1 is a mounting table, 2 is a paper folding type pipeline, 21 is a Sanpul folding pipeline, 22 is a Sanpul folding pipeline, 23 is a Sanpul folding pipeline, 24 is a pipeline end plate, 3 is a flange, 4 is a fixed table, 5 is a rotation driving assembly, 51 is a steering engine, 52 is a main gear, 53 is a slave gear, 6 is a picking support table, 61 is a rotating table, 62 is a main shaft, 63 is a sliding block, 64 is a vertical plate, 65 is a mounting hole, 66 is a guide rail, 7 is a picking claw, 71 is a right claw, 72 is a left claw, 73 is a folding type bottom claw, 74 is a connecting plate, 75 is a flexible inner picking curved surface, 8 is an opening and closing control assembly, 81 is a steering engine, 82 is a straight gear, 83 is a rack, 9 is a pipeline bending control mechanism, 91 is a motor, 92 is a rotating shaft, 93 is a pull rope, 94 is a guide ring, 9a is a bending control assembly, and 9b is a bending control assembly. DETAILED DESCRIPTION

[0026] The application will be further described below in conjunction with the accompanying drawings and examples.

[0027] Please refer to Figures 1-10 , the application provides a flexible origami type strawberry stemless picking mechanism based on the variable stiffness biomimetic principle:

[0028] Example one: the example provides a flexible origami type strawberry stemless picking mechanism based on the variable stiffness biomimetic principle, the structure is as shown in Figure 1 and Figure 2 , including installation platform 1, origami type pipeline 2 and picking claw 7. The origami type pipeline 2 is composed of a plurality of miura folded pipeline connections, the end of each miura folded pipeline is provided with a pipeline end plate 24, the adjacent miura folded pipelines are connected through flanges 3, the two ends of the origami type pipeline 2 are respectively fixed with the installation platform 1 and the fixed platform 4, the pipeline bending control mechanism 9 is arranged in the installation platform 1, the pipeline bending control mechanism 9 is used for controlling the folding bending or stretching action of the origami type pipeline 2, the picking support platform 6 is installed on the fixed platform 4, and the picking claw 7 is installed on the picking support platform 6. In actual application, the strawberry stemless picking mechanism is installed on the picking device through the mounting seat, and the movement of the strawberry stemless picking mechanism is controlled by the picking device.

[0029] The miura folded pipeline can be reasonably provided with a plurality of pipelines according to the picking demand, and three pipelines are taken as an example here: miura folded pipeline one 21, miura folded pipeline two 22 and miura folded pipeline three 23 are arranged in order, the two ends of the miura folded pipeline two 22 are connected with the miura folded pipeline one 21 and the miura folded pipeline three 23 respectively, the outer end of the miura folded pipeline one 21 is fixed with the installation platform 1, and the outer end of the miura folded pipeline two 22 is fixed with the fixed platform 4. By adopting miura folding, based on the rigid origami principle, the pipeline can be folded into a compact form when not in use, greatly saving space, reducing the volume of the object, and facilitating storage and management in actual application; at the same time, the miura folding has good structural performance advantages, can adapt to a certain degree of bending and stretching requirements, realize smooth deformation, and further adjust the strawberry picking range and angle, and effectively avoid rupture or damage caused by excessive bending in the actual strawberry picking scene, the folded pipeline also has high strength and stability, the connected folds and structural units can disperse the stress and are not easy to deform.

[0030] As shown in FIG. 6 and Figure 7As shown, 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 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 sleeved on the picking support 6 through the sliding blocks 63; a crease is arranged at the center of the foldable bottom claw 73, through the crease, the foldable bottom claw 73 can be unfolded and folded, a plurality of creases are longitudinally arranged on the left claw 72 and the right claw 71, through the plurality of creases on the left claw 72 and the right claw 71, the left claw 72 and the right claw 71 can be unfolded and closed, and since the left claw 72 and the right claw 71 are connected together through the foldable bottom claw 73, the three can realize linkage effect, therefore, when the foldable bottom claw 73 is folded or unfolded through the crease, the left claw 72 and the right claw 71 will be synchronously unfolded or closed, the picking claw 7 realizes unfolding and grabbing action through folding at the crease, and then realizes the deformation and grabbing function of the picking claw 7.

[0031] A guide rail 66 is horizontally arranged on the rotating table 61 of the picking support 6, two sliding blocks 63 are symmetrically slidably sleeved in the guide rail 66, a vertical plate 64 is vertically fixed above the sliding blocks 63, a connecting plate 74 is vertically fixed at the bottom edges of the left claw 72 and the right claw 71 of the picking claw 7, that is, the position where the foldable bottom claw 73 meets, installation holes 65 are arranged at the corresponding positions of the connecting plate 74 and the vertical plate 64, and the connecting plate 74 and the vertical plate 64 are connected together through the installation holes 65 and bolts. By controlling the two sliding blocks 63 to move close to or away from each other, the folding or releasing of the crease of the foldable bottom claw 73 is realized, and then the unfolding or closing of the left claw 72 and the right claw 71 is controlled. The specific action here is: when the two sliding blocks 63 drive the connecting plate 74 to move close to each other, the foldable bottom claw 73 is folded upward along the crease, at the same time, the connecting plate 74 pulls the bottoms of the left claw 72 and the right claw 71 close to each other, then the tops of the left claw 72 and the right claw 71 move away from each other, and the left claw 72 and the right claw 71 are completely unfolded along the crease, at this time, the picking claw 7 is in an unfolded state, so as to facilitate picking strawberries; when the two sliding blocks 63 drive the connecting plate 74 to move away from each other, the foldable bottom claw 73 is unfolded along the crease, at the same time, the connecting plate 74 pulls the bottoms of the left claw 72 and the right claw 71 away from each other, then the tops of the left claw 72 and the right claw 71 move close to each other, at the same time, the left claw 72 and the right claw 71 are closed along the crease, at this time, the picking claw 7 is in a closed state, and can grab strawberries.

[0032] The picking support table 6 is also provided with an opening and closing control assembly 8 for controlling the unfolding or closing action of the picking claw 7. The opening and closing control assembly 8 comprises a rack 83 vertically arranged on the picking support table 6, the upper end of the rack 83 is connected at the fold of the folding bottom claw 73, the center of the picking support table 6 is provided with a guide hole, the lower end of the rack 83 is movably inserted into the guide hole, a steering engine 81 is installed on the picking support table 6, the output end of the steering engine 81 is fixedly sleeved with a spur gear 82, and the spur gear 82 is engaged with the rack 83. The steering engine 81 controls the rack 83 to move up and down through the spur gear 82, and the rack 83 can push the fold of the folding bottom claw 73 to fold or unfold, and cooperate with the limiting and sliding effect 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. As shown in Figures 8 to 10 , since the angle of the folding bottom claw 73 and the left claw 72 and the right claw 71 is fixed, when the rack 83 pushes the fold of the folding bottom claw 73 to fold upward to form an inverted V-shaped structure or unfold to form a plane structure, the left claw 72 and the right claw 71 are opened; when the rack 83 drives the fold of the folding bottom claw 73 to fold downward to form a positive V-shaped structure, the left claw 72 and the right claw 71 are closed.

[0033] In specific use, the picking mechanism based on the variable stiffness bionics principle of the flexible origami type strawberry stemless picking mechanism can control the folding or stretching of the origami type pipe 2 through the pipe bending control mechanism 9 to make the picking claw 7 reach the position of the strawberry and align with the strawberry, then the opening and closing control assembly 8 controls the picking claw 7 to unfold, the fold of the folding bottom claw 73 is folded, the two sliding blocks 63 move inward, the left claw 72 and the right claw 71 of the picking claw 7 are opened under the sliding action of the sliding block 63, when the picking claw 7 contacts the strawberry, the opening and closing control assembly 8 controls the picking claw 7 to close, the fold of the folding bottom claw 73 is unfolded, the two sliding blocks 63 move outward, and the left claw 72 and the right claw 71 are closed under the sliding action of the sliding block 63, so as to realize the grabbing of the strawberry.

[0034] Example two: on the basis of example one, the pipe bending control mechanism 9 is further described. As shown in 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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 stemless strawberry picking mechanism based on the principle of variable stiffness biomimicry, comprising a mounting table (1), an origami type pipe (2) and a picking claw (7), characterized in that, The paper folding type pipeline (2) is composed of a plurality of Miura folded pipelines, the end of each Miura folded pipeline is provided with a pipeline end plate (24), adjacent Miura folded pipelines are connected through flanges (3), both ends of the paper folding type pipeline (2) are respectively fixed with a mounting table (1) and a fixing table (4), a pipeline bending control mechanism (9) for controlling the folding and bending of the paper folding type pipeline (2) is arranged in the mounting table (1), a picking support table (6) is arranged on the fixing table (4), a picking claw (7) is arranged on the picking support table (6), and a rotating driving assembly (5) for driving the picking claw (7) to rotate is arranged on the fixing table (4); The picking claw (7) is composed of a left claw (72), a right claw (71) and a folding type bottom claw (73), the folding type 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 sleeved on the picking support table (6) through the sliding blocks (63), a crease is arranged at the center of the folding type bottom claw (73), a plurality of creases are arranged longitudinally on the left claw (72) and the right claw (71), and when the folding type bottom claw (73) is folded or unfolded, the left claw (72) and the right claw (71) are simultaneously driven to unfold or close along the creases on the claw bodies, the folding and unfolding of the picking claw (7) at the creases are realized through the crease design, the deformation and grasping functions of the picking claw (7) are realized, and an opening and closing control assembly (8) for controlling the unfolding or closing action of the picking claw (7) is arranged on the picking support table (6).

2. The flexible origami type strawberry stem-snapping mechanism based on the variable stiffness biomimetic principle according to claim 1, characterized in that, A guide rail (66) is arranged on the picking support table (6), two sliding blocks (63) are slidably sleeved in the guide rail (66) in a left-right symmetrical manner, vertical plates (64) are vertically fixed above the sliding blocks (63), connecting plates (74) are vertically fixed at positions where the bottom edges of the left claw (72) and the right claw (71) of the picking claw (7) meet the folding type bottom claw (73), the connecting plates (74) and the vertical plates (64) are connected through bolts, the folding or releasing of the crease of the folding type bottom claw (73) is realized by controlling the two sliding blocks (63) to move close to or away from each other, and then the unfolding or closing of the left claw (72) and the right claw (71) is controlled.

3. The flexible origami type strawberry stem-snapping mechanism based on the variable stiffness biomimetic principle according to claim 2, characterized in that, The opening and closing control assembly (8) comprises a rack (83) vertically arranged on the picking support table (6), the upper end of the rack (83) is connected at the folding line of the folding bottom claw (73), the center of the picking support table (6) is provided with a guide hole, the lower end of the rack (83) is movably inserted into the guide hole, a steering gear two (81) is installed on the picking support table (6), a straight gear (82) is fixedly sleeved on the output end of the steering gear two (81), and the straight gear (82) is engaged with the rack (83), the steering gear two (81) controls the rack (83) to move up and down through the straight gear (82), and the rack (83) pushes the folding line of the folding bottom claw (73) to fold or unfold when moving up and down, and the folding or unfolding action of the picking claw (7) is realized by cooperating with the limiting and sliding effects of the bottom of the left claw (72) and the right claw (71).

4. The flexible origami type strawberry stem-snapping mechanism based on the variable stiffness biomimetic principle according to claim 1, characterized in that, The pipeline bending control mechanism (9) comprises a bending control assembly, the bending control assembly is composed of a motor (91), a rotating shaft (92) and a pull rope (93), the motor (91) is fixed in the mounting table (1), the rotating shaft (92) is rotatably sleeved in the mounting table (1) and connected with the output end of the motor (91), the pull rope (93) is wound on the rotating shaft (92), the two ends of the pull rope (93) extend into the origami pipeline (2), and the two ends are guided through the guide ring (94) fixed on the flange (3) and then fixed on the pipeline end plate (24) at the farthest end.

5. The flexible origami type strawberry stem-snapping mechanism based on the variable stiffness biomimetic principle according to claim 4, characterized in that, The bending control assembly has two groups, the two groups of bending control assemblies are cross-shaped and staggered front and back and arranged on the mounting table (1), and the origami pipeline (2) can be bent at multiple angles by arranging the two groups of bending control assemblies.

6. The flexible origami type strawberry stem-snapping mechanism based on the variable stiffness biomimetic principle according to claim 1, characterized in that, The rotating drive assembly (5) comprises a steering gear one (51) mounted on the fixed table (4), a main gear (52) is fixedly sleeved on the output end of the steering gear one (51), the bottom of the picking support table (6) is provided with a main shaft (62), the picking support is rotatably mounted on the fixed table (4) through the main shaft (62), and a slave gear (53) is fixedly sleeved on the main shaft (62) and engaged with the main gear (52).

7. The flexible origami type strawberry stem snapping mechanism based on the variable stiffness biomimetic principle according to claim 5, characterized in that, Four guide rings (94) are fixedly arranged on the inner ring of the flange (3) around the center ring, the four rope ends of the two pull ropes (93) in the two groups of bending control assemblies are arranged in the origami pipeline (2) through the corresponding guide rings (94), the pull ropes (93) are guided in the origami pipeline (2) through the guide rings (94), so that the pull ropes (93) close to the pipe wall can realize the pulling effect.

8. The flexible origami type strawberry stem snapping mechanism based on the variable stiffness biomimetic 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 materials, the flexible inner picking curved surfaces (75) are used to build an inner curved surface space conforming to the shape of strawberries, and the operation of human hands is simulated.

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