Flexible bionic clamping mechanism for banana fruits

Abstract

The invention discloses a flexible bionic clamping mechanism for banana fruits and relates to the technical field of clamping, a flexible clamping assembly is mounted at one end of a connecting mounting rod, a clamping motor is mounted on one side of one end plate, clamping transmission blocks are connected to the two ends of a clamping lead screw through threads, racks are fixedly mounted at the top end and the bottom end of the interior of a clamping box, and the clamping transmission blocks are connected with the racks through threads. One side of the vertical partition plate is connected to the middle of one side of the arc-shaped spring plate in a welded mode, a clamping inflation pump is installed in the middle of the top face of the clamping box, and an expanding clamping assembly is installed on the end sliding rail. And then the clamping air bag is inflated through the clamping inflation pump, so that the clamping operation can be rapidly and flexibly adjusted, the shape and stress condition of the clamping part are adjusted according to the shape of the banana so as to adapt to banana strings of various sizes, the clamping effect is better, the banana is not prone to being damaged, and the banana picking quality is improved.

Description

Technical Field

[0001] This invention relates to the field of clamping technology, specifically to a flexible biomimetic clamping mechanism for banana fruits. Background Technology

[0002] Bananas are one of the world's major fruit crops and important food crops. Once the bananas are ripe, farmers begin harvesting them. They carefully hold the bunch of bananas, then gently cut along the base of the bunch, where it connects to the pseudostem, using a tool to remove the bananas.

[0003] However, during the banana harvesting process, bananas are usually manually lifted and positioned before being separated and connected. This process usually requires the cooperation of multiple people. Using clamps to hold the bananas would be more labor-saving and easier, but the banana bunches are of different sizes, and clamping can easily damage the rubber, causing many inconveniences to the harvesting of bananas. Summary of the Invention

[0004] This invention provides a flexible biomimetic clamping mechanism for bananas, which can effectively solve the problems mentioned in the background art. In the process of harvesting bananas, bananas are usually manually lifted and limited before being cut off at the connection point. This process usually requires the cooperation of multiple people. Using a clamp is more labor-saving and easier. However, banana bunches are of different sizes, and clamping can easily damage the rubber, which brings many inconveniences to the harvesting of bananas.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a flexible biomimetic clamping mechanism for banana fruit, comprising a connecting rod, wherein a flexible clamping component is mounted on one end of the connecting rod, and the flexible clamping component comprises an end slide rail, an end plate, a clamping motor, a clamping lead screw, a clamping transmission block, a clamping box, a rack, a vertical partition, an arc-shaped spring plate, a clamping airbag, an anti-slip rubber pad, a clamping air pump, a squeezing roller, a gear, a transmission shaft, an adjusting guide hole, a translation plate, a translation rail, and a translation motor;

[0006] One end of the connecting rod is welded to the middle of the side of the end slide rail. Both ends of the end slide rail are inlaid with end plates. A clamping motor is installed on one side of one end plate. The output shaft of the clamping motor is movably connected to the clamping screw through the end plate. Both ends of the clamping screw are connected to clamping transmission blocks by threads. One end of the clamping transmission block is welded with a clamping box.

[0007] The clamping box has racks fixedly installed at both the top and bottom. The middle parts of the two racks are welded to both ends of the vertical partition. One side of the vertical partition is welded to the middle of one side of the arc-shaped spring plate. A clamping airbag is glued to one side of the arc-shaped spring plate. An anti-slip rubber pad is glued to one side of the clamping airbag. A clamping air pump is installed in the middle of the top surface of the clamping box. The inflation end of the clamping air pump passes through the top of the clamping box and connects to the clamping airbag.

[0008] According to the above technical solution, a squeezing roller is slidably engaged at both ends between the two racks. Gears are welded to both ends of the squeezing rollers, and the gears mesh with the racks. A drive shaft is welded to the center of the top surface of the gear at the top end. An adjustment guide hole is opened on the top surface of the clamping box corresponding to the drive shaft. A translation plate is movably sleeved on the top surface of the clamping box at the drive shaft. One side of the translation plate is slidably engaged inside the translation rail. The translation rail is fixedly connected to the top surface of the clamping box. A translation motor is connected to the top surface of the translation plate, and the output shaft end of the translation motor is connected to the drive shaft.

[0009] According to the above technical solution, the threads at both ends of the clamping screw rotate in opposite directions, the outer side of the clamping transmission block is in contact with the inner wall of the slide rail, and one end of the clamping box is in contact with one side of the slide rail.

[0010] According to the above technical solution, the end slide rail is equipped with an enlarged clamping assembly, which includes an expansion block, a limiting ring, an adjusting internal thread tube, a rotating collar, a push rod groove, an expansion push rod, a magnetic ring, a flexible airbag, a protective soft pad, a magnetic plate, an electromagnet, and a protective air pump.

[0011] An expansion block is sleeved at one end of the connecting mounting rod near the slide rail. A limit ring is welded to the top surface of the expansion block. An adjusting internal threaded tube is rotatably connected inside the limit ring. A rotating collar is fixedly sleeved on the outside of the adjusting internal threaded tube. A push rod groove is opened at the bottom end of the expansion block. An expansion push rod is embedded inside the push rod groove.

[0012] The clamping box has magnetic rings welded to its top and bottom surfaces. A flexible airbag is set inside the magnetic ring. A protective pad is attached to one side of the flexible airbag. Magnetic plates are attached to the top and bottom of the flexible airbag. Electromagnets are embedded at both ends of the magnetic plates. A protective inflation pump is installed on one side of the flexible airbag.

[0013] According to the above technical solution, the clamping motor, clamping air pump, translation motor, expansion push rod, electromagnet and the input terminal of the protective air pump are electrically connected to the output terminal of the external controller, and the input terminal of the external controller is electrically connected to the output terminal of the external power supply.

[0014] According to the above technical solution, the flexible clamping mechanism is controlled by a control system, wherein the data acquisition module of the control system includes at least two types of sensors;

[0015] Sensors include, but are not limited to, image sensors, depth sensors, and force sensors. By fusing sensor data and combining the output signals of different types of sensors, banana positioning information is provided, and this is done in conjunction with an inertial measurement unit.

[0016] According to the above technical solution, the image sensor is used to acquire two-dimensional image information of the target banana, the depth sensor is used to generate three-dimensional depth data of the target object, the pressure sensor is used to sense the contact force during the clamping process, and the inertial measurement unit provides the real-time posture and position information of the manipulator.

[0017] By using multi-sensor fusion algorithms, data from different sensors are integrated and processed, thereby effectively eliminating blind spots and errors caused by a single sensor.

[0018] According to the above technical solution, the control system uses a deep learning model to detect and recognize targets in the acquired images, and combines sensor data to perform three-dimensional positioning of the targets, providing accurate reference coordinates for subsequent grasping actions. Finally, by calculating the gripping point in real time and optimizing the grasping method, the system ensures the accuracy of the gripping action and the integrity of the banana, avoiding possible damage during the gripping process.

[0019] According to the above technical solution, the image is segmented by a deep learning model. The fruit stem is the part connecting the banana to the plant. The banana target is segmented at the pixel level. The generalization ability of the model is improved by augmenting the dataset.

[0020] The control system, combined with the occlusion calculation module, calculates the shape and position of the occluded part when the target banana is partially occluded by other objects.

[0021] The deep learning model infers the 3D data of the occluded part based on the image and depth information from the current viewpoint, and optimizes the completeness of target recognition based on the inference results;

[0022] This process effectively avoids positioning errors caused by occlusion in traditional methods, ensuring accurate identification and positioning of the target banana and providing stable visual support for subsequent clamping operations.

[0023] According to the above technical solution, a precise three-dimensional model of the banana target is generated by a three-dimensional positioning algorithm. During the operation, three-dimensional point cloud data of the banana is collected, and the inertial measurement unit provides the current position and attitude data of the gripper or the robot body.

[0024] Using 3D point cloud processing technology, a complete 3D structure of a banana is generated. The precise location of the banana is determined through feature extraction and target recognition algorithms. The most suitable clamping point is calculated, taking into account the shape of the banana, the position of the stem, and the gripping method of the gripper. The contact force during the clamping process is monitored in real time by a force sensor, and the clamping force is dynamically adjusted.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. Equipped with a flexible clamping component, the entire flexible clamping component is close to the rubber bunch. The clamping motor continues to drive the clamping screw to rotate until the anti-slip rubber pad is squeezed into contact with the rubber. The translation motor drives the squeezing roller and gear to rotate. The drive shaft at the top of the squeezing roller moves along the adjustment guide hole. Because the translation motor can only move along the translation rail, the squeezing roller will also squeeze different positions of the arc spring plate during the rotation, changing the squeezing shape of the arc spring plate. Then, by inflating the clamping air bladder through the clamping air pump, the quick and flexible adjustment clamping operation can be completed. The shape and force of the clamping part can be adjusted according to the shape of the banana to adapt to banana bunches of various sizes, resulting in better clamping effect and less damage to the bananas, thus improving the quality of banana harvesting.

[0027] 2. An expanded clamping component is provided. If the banana bunches to be harvested are long and large, it is difficult to harvest them with only one flexible clamping component. A magnetic plate is embedded in the magnetic ring to initially combine the two flexible clamping components. The bottom end of the extended push rod is connected to the top end of the internal threaded tube through a threaded connection. The connection is quick and simple and is more suitable for harvesting banana bunches of different sizes. The flexible air bladder is inflated by the protective air pump. The flexible air bladder inflates and moves closer to the banana bunch to better protect the bananas and prevent them from being damaged.

[0028] 3. By integrating multiple sensors such as image sensors, depth sensors, and force sensors, the system can acquire precise real-time data on the banana's location, shape, and external environment, ensuring accurate target identification even in complex environments. Particularly in stem segmentation and occlusion handling, deep learning algorithms are used to finely segment and compensate for the banana stem and occluded areas, effectively preventing damage caused by occlusion or accidental stem grasping. Simultaneously, 3D positioning and picking point optimization algorithms can calculate the optimal gripping point in real time, ensuring appropriate gripping force and avoiding pressure or damage to the banana. The integration of these innovative technologies not only significantly improves the automation and efficiency of the banana harvesting process but also significantly reduces banana damage and enhances harvesting quality.

[0029] In summary, the flexible clamping component adjusts the clamping shape and force application to better hold the rubber and prevent damage to the bananas. The enlarged clamping component combines multiple flexible clamping components, making it more suitable for harvesting banana bunches of different sizes. The two components work together to achieve better clamping and harvesting results. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0031] In the attached diagram:

[0032] Figure 1 This is a schematic diagram of the structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the flexible clamping component of the present invention;

[0034] Figure 3 This is a schematic diagram of the installation structure of the extrusion roller of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of the enlarged clamping assembly of the present invention;

[0036] Figure 5 This is a schematic diagram of the installation structure of the extended charging push rod of the present invention;

[0037] Figure 6 This is a schematic diagram of the installation structure of the magnetic chuck of the present invention;

[0038] Numbered in the diagram: 1. Connecting mounting rod;

[0039] 2. Flexible clamping assembly; 201. End slide rail; 202. End plate; 203. Clamping motor; 204. Clamping lead screw; 205. Clamping transmission block; 206. Clamping box; 207. Rack; 208. Vertical partition; 209. Arc-shaped spring plate; 210. Clamping airbag; 211. Anti-slip rubber pad; 212. Clamping air pump; 213. Extrusion roller; 214. Gear; 215. Drive shaft; 216. Adjustment guide hole; 217. Translation plate; 218. Translation rail; 219. Translation motor;

[0040] 3. Enlarged clamping assembly; 301. Expansion block; 302. Limiting ring; 303. Adjustable internal thread tube; 304. Rotating collar; 305. Push rod groove; 306. Expanding push rod; 307. Magnetic ring; 308. Flexible airbag; 309. Protective pad; 310. Magnetic plate; 311. Electromagnet; 312. Protective air pump. Detailed Implementation

[0041] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0042] Example: Figure 1-6 As shown, the present invention provides a flexible biomimetic clamping mechanism for bananas, including a connecting rod 1, with a flexible clamping component 2 installed at one end of the connecting rod 1. The flexible clamping component 2 includes an end slide rail 201, an end plate 202, a clamping motor 203, a clamping screw 204, a clamping transmission block 205, a clamping box 206, a rack 207, a vertical partition 208, an arc-shaped spring plate 209, a clamping airbag 210, an anti-slip rubber pad 211, a clamping air pump 212, a squeezing roller 213, a gear 214, a transmission shaft 215, an adjustment guide hole 216, a translation plate 217, a translation rail 218, and a translation motor 219.

[0043] One end of the connecting rod 1 is welded to the middle of the side of the end slide rail 201. Both ends of the end slide rail 201 are inlaid with end plates 202. A clamping motor 203 is installed on one side of one end plate 202. The output shaft of the clamping motor 203 is movably connected to the clamping screw 204 through the end plate 202. Both ends of the clamping screw 204 are threadedly connected to clamping transmission blocks 205. A clamping box 206 is welded to one end of the clamping transmission block 205. The threads at both ends of the clamping screw 204 are turned in opposite directions. The outer side of the clamping transmission block 205 is in contact with the inner wall of the end slide rail 201. One end of the clamping box 206 is in contact with one side of the end slide rail 201, so that the clamping transmission block 205 can slide along the end slide rail 201.

[0044] The clamping box 206 has racks 207 fixedly installed at both its top and bottom. The middle portions of the two racks 207 are welded to both ends of a vertical partition 208. One side of the vertical partition 208 is welded to the middle of one side of an arc-shaped spring plate 209. A clamping airbag 210 is adhered to one side of the arc-shaped spring plate 209, and an anti-slip rubber pad 211 is adhered to one side of the clamping airbag 210. A clamping air pump 212 is installed in the middle of the top surface of the clamping box 206. The inflation end of the clamping air pump 212 passes through the top of the clamping box 206 and connects to the clamping airbag 210. Squeezing rollers 21 are slidably engaged between the two racks 207 at both ends. 3. Gears 214 are welded to both ends of the extrusion roller 213. The gears 214 mesh with the rack 207. A drive shaft 215 is welded to the middle of the top surface of the top gear 214. An adjustment guide hole 216 is opened on the top surface of the clamping box 206 corresponding to the drive shaft 215. A translation plate 217 is movably sleeved on the top surface of the clamping box 206. One side of the translation plate 217 is slidably engaged with the inside of the translation rail 218. The translation rail 218 is fixedly connected to the top surface of the clamping box 206. A translation motor 219 is connected to the top surface of the translation plate 217. The output shaft end of the translation motor 219 is connected to the drive shaft 215.

[0045] The end slide rail 201 is equipped with an enlarged clamping assembly 3, which includes an expansion block 301, a limit ring 302, an adjusting internal thread tube 303, a rotating collar 304, a push rod groove 305, an expansion push rod 306, a magnetic ring 307, a flexible airbag 308, a protective soft pad 309, a magnetic plate 310, an electromagnet 311, and a protective air pump 312.

[0046] An expansion block 301 is sleeved at one end of the connecting rod 1 near the slide rail 201. A limit ring 302 is welded to the top surface of the expansion block 301. An adjusting internal thread tube 303 is rotatably connected inside the limit ring 302. A rotating collar 304 is fixedly sleeved on the outside of the adjusting internal thread tube 303. A push rod groove 305 is opened at the bottom end of the expansion block 301. An expansion push rod 306 is embedded inside the push rod groove 305.

[0047] The clamping box 206 has magnetic rings 307 welded to its top and bottom surfaces. A flexible airbag 308 is set inside the magnetic ring 307. A protective soft pad 309 is attached to one side of the flexible airbag 308. Magnetic plates 310 are attached to the top and bottom of the flexible airbag 308. Electromagnets 311 are embedded at both ends of the magnetic plates 310. A protective air pump 312 is installed on one side of the flexible airbag 308. The input terminals of the clamping motor 203, clamping air pump 212, translation motor 219, expansion push rod 306, electromagnet 311 and protective air pump 312 are electrically connected to the output terminal of an external controller. The input terminal of the external controller is electrically connected to the output terminal of an external power supply to ensure that the clamping motor 203, clamping air pump 212, translation motor 219, expansion push rod 306, electromagnet 311 and protective air pump 312 work normally.

[0048] Furthermore, the flexible clamping mechanism is controlled by a control system, wherein the data acquisition module of the control system includes at least two types of sensors;

[0049] Sensors include, but are not limited to, image sensors, depth sensors, and force sensors. By fusing sensor data and combining the output signals of different types of sensors, more accurate banana positioning information can be provided, and this is done in conjunction with an inertial measurement unit.

[0050] Furthermore, the image sensor is used to acquire two-dimensional image information of the target banana, the depth sensor is used to generate three-dimensional depth data of the target object, the pressure sensor is used to sense the contact force during the gripping process, and the inertial measurement unit provides the real-time attitude and position information of the manipulator.

[0051] By using multi-sensor fusion algorithms, data from different sensors are integrated and processed, thereby effectively eliminating blind spots and errors caused by a single sensor.

[0052] Furthermore, the control system uses a deep learning model to detect and recognize targets in the acquired images, and combines sensor data to perform three-dimensional positioning of the target, providing accurate reference coordinates for subsequent grasping actions. Finally, by calculating the gripping point in real time and optimizing the grasping method, the system ensures the accuracy of the gripping action and the integrity of the banana, avoiding possible damage during the gripping process.

[0053] Furthermore, the image is segmented using a deep learning model. The fruit stalk, as the part connecting the banana to the plant, is segmented into pixels. The generalization ability of the model is improved by augmenting the dataset.

[0054] The control system, combined with the occlusion calculation module, calculates the shape and position of the occluded part when the target banana is partially occluded by other objects.

[0055] The deep learning model infers the 3D data of the occluded part based on the image and depth information from the current viewpoint, and optimizes the completeness of target recognition based on the inference results;

[0056] This process effectively avoids positioning errors caused by occlusion in traditional methods, ensuring accurate identification and positioning of the target banana and providing stable visual support for subsequent clamping operations.

[0057] Furthermore, a precise 3D model of the banana target is generated using a 3D positioning algorithm. During the operation, 3D point cloud data of the banana is collected, and the inertial measurement unit provides the current position and attitude data of the gripper or the robot body.

[0058] Using 3D point cloud processing technology, a complete 3D structure of the banana is generated. The precise position of the banana is determined by feature extraction and target recognition algorithms. The most suitable clamping point is calculated, taking into account the shape of the banana, the position of the stem, and the gripping method of the gripper. The contact force during the clamping process is monitored in real time by a force sensor, and the clamping force is dynamically adjusted to avoid over-clamping or squeezing.

[0059] The working principle and usage process of this invention: Before clamping, the spacing of the clamping boxes 206 is initially adjusted according to the size of the banana bunch to be picked. The adjustment method is to start the clamping motor 203, which drives the clamping screw 204 to rotate. The clamping transmission blocks 205 at both ends of the clamping screw 204 slide in the end slide rail 201, so that the two clamping boxes 206 are close to each other. The anti-slip rubber pads 211 of the two clamping airbags 210 at the same height are close to the diameter of the banana bunch, so as to facilitate subsequent picking operations.

[0060] When harvesting is required, the flexible clamping assembly 2 is brought close to the rubber string, and two clamping boxes 206 at the same height are fitted onto the outside of the rubber string. The clamping motor 203 continues to drive the clamping screw 204 to rotate, and the clamping boxes 206 move closer to each other again until the anti-slip rubber pad 211 presses into contact with the rubber. Then, the translation motor 219 is started, which drives the extrusion roller 213 and gear 214 to rotate. The gear 214 meshes with the rack 207, and the drive shaft 215 at the top of the extrusion roller 213 moves along the adjustment guide hole 216. Because the translation motor 219 and the translation plate 217 are connected... Furthermore, the translation plate 217 is slidably connected to the translation rail 218. The translation motor 219 itself cannot rotate, but can only move along the translation rail 218. During the rotation of the squeezing roller 213, it will also squeeze different positions of the arc spring plate 209, changing the squeezing shape of the arc spring plate 209. Then, by inflating the clamping air bladder 210 with the clamping air pump 212, the quick and flexible adjustment clamping operation can be completed. The shape and force of the clamping part can be adjusted according to the shape of the banana to adapt to banana bunches of various sizes. The clamping effect is better and the bananas are less likely to be damaged, thus improving the quality of banana harvesting.

[0061] If the banana bunches to be harvested are long and large, it is difficult to harvest them with only one flexible clamping component 2. Then, a magnetic plate 310 is embedded in the magnetic ring 307, and an electromagnet 311 magnetizes the magnetic plate 310. The adsorption clamping box 206 is used to fix the two flexible clamping components 2 and initially combine them. Then, an expansion push rod 306 is snapped into the push rod groove 305. The bottom end of the extension of the expansion push rod 306 is connected to the top end of the adjusting internal thread tube 303 through a thread. The rotating collar 304 is turned to adjust the internal thread tube 303 to rotate within the limiting ring 302 and complete the connection operation between the bottom end of the extension of the expansion push rod 306 and the adjusting internal thread tube 303. The connection is quick and simple and more suitable for harvesting banana bunches of different sizes. Finally, the flexible air bag 308 is inflated by the protective air pump 312. The flexible air bag 308 inflates and moves closer to the banana bunch to better protect the bananas and prevent them from being damaged.

[0062] The flexible clamping component 2 adjusts the clamping shape and force position to better clamp the rubber and prevent damage to the bananas. The enlarged clamping component 3 combines multiple flexible clamping components 2, which can better accommodate the harvesting of banana bunches of different sizes. The two components work together to achieve better clamping and harvesting results.

[0063] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible biomimetic clamping mechanism for banana fruit, comprising a connecting mounting rod (1), characterized in that: A flexible clamping assembly (2) is installed at one end of the connecting rod (1), and the flexible clamping assembly (2) includes an end slide rail (201); One end of the connecting mounting rod (1) is welded to the middle of the side of the end slide rail (201). Both ends of the end slide rail (201) are inlaid with end plates (202). A clamping motor (203) is installed on one side of one end plate (202). The output shaft of the clamping motor (203) is movably connected to the clamping screw (204) through the end plate (202). Both ends of the clamping screw (204) are connected to clamping transmission blocks (205) by threads. One end of the clamping transmission block (205) is welded with a clamping box (206). The clamping box (206) has racks (207) fixedly installed at its top and bottom. The middle parts of the two racks (207) are welded to the two ends of the vertical partition (208). One side of the vertical partition (208) is welded to the middle of one side of the arc-shaped spring plate (209). A clamping airbag (210) is glued to one side of the arc-shaped spring plate (209). An anti-slip rubber pad (211) is glued to one side of the clamping airbag (210). A clamping air pump (212) is installed in the middle of the top surface of the clamping box (206). The inflation end of the clamping air pump (212) passes through the top of the clamping box (206) and connects to the clamping airbag (210).

2. The flexible biomimetic clamping mechanism for banana fruit according to claim 1, characterized in that, A squeezing roller (213) is slidably engaged at both ends between the two racks (207). Gears (214) are welded to both ends of the squeezing rollers (213). The gears (214) mesh with the racks (207). A drive shaft (215) is welded to the middle of the top surface of the gear (214) at the top. An adjustment guide hole (216) is provided on the top surface of the clamping box (206) corresponding to the drive shaft (215). A translation plate (217) is movably sleeved on the top surface of the clamping box (206) at the top surface of the drive shaft (215). One side of the translation plate (217) is slidably engaged inside the translation rail (218). The translation rail (218) is fixedly connected to the top surface of the clamping box (206). A translation motor (219) is connected to the top surface of the translation plate (217). The output shaft end of the translation motor (219) is connected to the drive shaft (215).

3. The flexible biomimetic clamping mechanism for banana fruit according to claim 1, characterized in that, The two ends of the clamping screw (204) have opposite thread directions, the outer side of the clamping transmission block (205) is in contact with the inner wall of the end slide rail (201), and one end of the clamping box (206) is in contact with one side of the end slide rail (201).

4. The flexible biomimetic clamping mechanism for banana fruit according to claim 2, characterized in that, The end slide rail (201) is equipped with an enlarged clamping assembly (3), which includes an expansion block (301); An expansion block (301) is sleeved at one end of the connecting mounting rod (1) near the end slide rail (201). A limit ring (302) is welded to the top surface of the expansion block (301). An adjusting internal thread pipe (303) is rotatably connected inside the limit ring (302). A rotating collar (304) is fixedly sleeved on the outside of the adjusting internal thread pipe (303). A push rod groove (305) is opened at the bottom end of the expansion block (301). An expansion push rod (306) is embedded inside the push rod groove (305). The clamping box (206) has magnetic rings (307) welded to its top and bottom surfaces. A flexible airbag (308) is provided inside the magnetic ring (307). A protective pad (309) is attached to one side of the flexible airbag (308). Magnetic plates (310) are attached to the top and bottom of the flexible airbag (308). Electromagnets (311) are embedded at both ends of the magnetic plates (310). A protective air pump (312) is installed on one side of the flexible airbag (308).

5. The flexible biomimetic clamping mechanism for banana fruit according to claim 4, characterized in that, The input terminals of the clamping motor (203), clamping air pump (212), translation motor (219), expansion push rod (306), electromagnet (311) and protection air pump (312) are electrically connected to the output terminal of the external controller, and the input terminal of the external controller is electrically connected to the output terminal of the external power supply.

6. The flexible biomimetic clamping mechanism for banana fruit according to claim 1, characterized in that, The flexible clamping mechanism is controlled by a control system, wherein the data acquisition module of the control system includes at least two types of sensors; Sensors include, but are not limited to, image sensors, depth sensors, and force sensors. By fusing sensor data and combining the output signals of different types of sensors, banana positioning information is provided, and this is done in conjunction with an inertial measurement unit.

7. The flexible biomimetic clamping mechanism for banana fruit according to claim 6, characterized in that, The image sensor is used to acquire two-dimensional image information of the target banana, the depth sensor is used to generate three-dimensional depth data of the target object, the pressure sensor is used to sense the contact force during the clamping process, and the inertial measurement unit provides the real-time posture and position information of the manipulator. By using multi-sensor fusion algorithms, data from different sensors are integrated and processed, thereby effectively eliminating blind spots and errors caused by a single sensor.

8. The flexible biomimetic clamping mechanism for banana fruit according to claim 6, characterized in that, The control system uses a deep learning model to detect and recognize targets in the acquired images, and combines sensor data to perform three-dimensional positioning of the target, providing accurate reference coordinates for subsequent grasping actions. Finally, by calculating the gripping point in real time and optimizing the gripping method, the system ensures the accuracy of the gripping action and the integrity of the banana, avoiding possible damage during the gripping process.

9. A flexible biomimetic clamping mechanism for banana fruit according to claim 8, characterized in that, The image is segmented using a deep learning model. The fruit stalk is the part that connects the banana to the plant. The banana target is segmented at the pixel level. The generalization ability of the model is improved by augmenting the dataset. The control system, combined with the occlusion calculation module, calculates the shape and position of the occluded part when the target banana is partially occluded by other objects. The deep learning model infers the 3D data of the occluded part based on the image and depth information from the current viewpoint, and optimizes the completeness of target recognition based on the inference results; This process effectively avoids positioning errors caused by occlusion in traditional methods, ensuring accurate identification and positioning of the target banana and providing stable visual support for subsequent clamping operations.

10. A flexible biomimetic clamping mechanism for banana fruit according to claim 9, characterized in that, A precise 3D model of the banana target is generated using a 3D positioning algorithm. During operation, 3D point cloud data of the banana is collected, while the inertial measurement unit provides the current position and attitude data of the gripper or the robot body. Using 3D point cloud processing technology, a complete 3D structure of a banana is generated. The precise location of the banana is determined through feature extraction and target recognition algorithms. The most suitable clamping point is calculated, taking into account the shape of the banana, the position of the stem, and the gripping method of the gripper. The contact force during the clamping process is monitored in real time by a force sensor, and the clamping force is dynamically adjusted.

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