Soft picking hand integrally driven by pulling, twisting and holding and picking device thereof

Abstract

The invention relates to a picking device, and discloses a pulling, twisting and holding integrated driven soft picking hand and a picking device thereof.The pulling, twisting and holding integrated driven soft picking hand comprises a fixing table, a hand grab assembly is installed on the fixing table, the fixing table comprises an upper fixing plate and a lower fixing plate, a plurality of inclined ribs are installed between the upper fixing plate and the lower fixing plate, and when the upper fixing plate moves downwards, the upper fixing plate moves downwards; the upper fixing plate is twisted on the lower fixing plate through the inclined ribs; the gripper assembly comprises a finger connecting frame and a plurality of fingers, the fingers are evenly distributed on the finger connecting frame, and when the finger connecting frame is pulled in the axial direction, the fingers retract inwards in the radial direction. The number of parts and the equipment size are greatly reduced, multi-action delay is avoided, and the load requirement of the mechanical arm is lowered; the control logic is simplified, key actions such as clamping, stretching and twisting can be continuously performed only through simple instructions, redundant steps of step-by-step execution are omitted, the picking time consumption is remarkably shortened, the harvesting efficiency of a large-scale orchard is improved, coherent actions are triggered, and frequent adjustment of multiple groups of parameters is not needed.

Description

Technical Field

[0001] This invention relates to harvesting tools, and more particularly to a soft harvesting hand and harvester with integrated pull-twist-grip drive. Background Technology

[0002] Currently, the harvesting technology for spherical fruits is still in its developmental stage in the agricultural field. Traditional harvesting methods rely on manual operation, which is not only inefficient but also requires highly skilled workers. With technological advancements, some automated harvesting equipment has begun to be introduced into agricultural production, but these often suffer from problems such as complex structures and high costs. Current end effectors for fruit and vegetable harvesting generally adopt a mechanical transmission paradigm, relying on mechanical structures to transmit power and decompose the action sequence. Although these methods have undergone years of iteration, they still have the following structural defects: I. Complex structure and drive, making it difficult to coordinate multiple actions. Existing end effectors, in order to achieve functions such as gripper opening and closing, position adjustment, and posture twisting, generally employ multiple independent drive systems (such as pneumatic cylinders driving the grippers, motors driving rotary joints, and push rods controlling displacement), resulting in a bulky structure and numerous parts. For example, the gripper's clamping action is independent of the actuator's overall twisting and displacement actions, requiring complex sensors and control systems to coordinate the timing, which can easily lead to action delays or misalignments (such as the actuator starting to twist before the gripper has clamped, causing the fruit to fall off). The layout of multiple drive sources increases the weight and size of the equipment, not only increasing the load requirements on the mounted robotic arm but also reducing operational flexibility in confined spaces (such as among dense branches of fruit trees). This "discrete drive + fragmented multi-action" design results in a cumbersome harvesting process, high energy consumption, and numerous potential points of failure.

[0003] Second, the control logic is complex and the operation threshold is high. Existing actuators rely on multi-channel control for multi-action driving (such as controlling the gripper air pressure, rotary motor speed, and displacement push rod stroke separately), requiring complex control algorithms to achieve action matching. For example, during harvesting, the fruit must first be located using a vision system, then the gripper opening angle must be controlled separately, the actuator height adjusted, the rotary joint driven to align with the fruit stem, and finally the gripper tightened. The entire process involves the continuous input of multiple control commands, resulting in slow response speed. Different fruits (such as strawberries, apples, and citrus) have significantly different harvesting forces and action requirements, necessitating frequent adjustments to multiple sets of control parameters, making debugging difficult. This "multi-command-multi-action" control mode not only increases the development cost of automation systems but also struggles to meet the rapid response requirements of complex orchard environments.

[0004] Third, the material is rigid, easily damaging the fruit and has poor adaptability. Existing actuators often use metal or rigid plastic for the gripper and main structure, and are assembled using rigid connections such as bolts. This presents two major problems: First, the gripper lacks flexibility, making it difficult to precisely control the gripping force. This can easily cause indentations or damage to soft fruits (such as peaches and tomatoes), and may even crush fruits with delicate skins (such as blueberries and grapes). Second, the main structure cannot adapt to the fruit's growth posture through its own deformation, requiring the robotic arm to make additional adjustments, increasing operational complexity. Furthermore, rigid connections are prone to loosening due to stress concentration during frequent movements, affecting structural stability. In addition, traditional manufacturing processes (such as injection molding and machining) cannot achieve integrated molding of complex curved grippers or irregularly shaped support structures, resulting in low gripper-fruit fit and poor grasping stability.

[0005] IV. Single-action driven processes are inefficient and the harvesting process is redundant. Existing actuators require separate steps for their "clamping-torsion-displacement" actions, making it impossible to achieve multi-action linkage through a single drive. For example, after the gripper clamps the fruit, a separate rotary motor needs to be activated to twist the fruit stalk, and then a push rod needs to be driven to pull the fruit down from the branch. These three actions are performed sequentially, which is time-consuming. Although some actuators attempt to simplify the actions, they can only achieve partial linkage of "clamping + displacement" or "torsion + displacement," which cannot cover the entire harvesting process and still require additional drive assistance. This "single-action drive - multi-step execution" mode significantly reduces harvesting efficiency and makes it difficult to meet the high-efficiency harvesting needs of large-scale orchards.

[0006] In summary, existing harvesting end effectors suffer from problems such as complex structure, cumbersome control, poor material compatibility, and insufficient motion coordination, failing to balance harvesting efficiency, fruit protection, and ease of operation. To address these pain points, there is an urgent need for a new type of end effector that simplifies structure, optimizes materials, and achieves "single-drive-multiple-action" coordination, thereby improving the practicality and economy of automated fruit harvesting. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a soft picking hand and picking device with integrated pull-twist-grip drive.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A soft picking hand with integrated pull-twist-grip drive includes a fixed platform with a gripper assembly installed on the fixed platform. The fixed platform includes an upper fixed plate and a lower fixed plate. Multiple inclined ribs are installed between the upper fixed plate and the lower fixed plate. When the upper fixed plate moves downward, the upper fixed plate twists on the lower fixed plate through the inclined ribs. The gripper assembly includes a finger connector and multiple fingers. The multiple fingers are evenly distributed on the finger connector. When the finger connector is pulled axially, the fingers retract radially inward.

[0009] Preferably, the finger connector includes multiple supports and multiple connecting rods, with the number of supports being the same as the number of connecting rods. One end of the connecting rod is connected to a support, and the other end of the connecting rod is connected to an adjacent connecting rod. The multiple supports are fixed and evenly distributed on the upper fixed plate, and the fingers are placed on the supports.

[0010] Preferably, the finger connector includes a connecting part, and multiple connecting rods are evenly distributed on the connecting part, with grooves formed between the connecting rods and the connecting part.

[0011] Preferably, the top of the support is provided with a mounting groove, through which fingers are fixed to the support.

[0012] Preferably, the upper fixing plate is provided with a slot, and the support is fixed to the upper fixing plate through the slot.

[0013] Preferably, the finger connector is made of elastic material, the finger connector is integrally molded, and the support is a hollow triangle.

[0014] Preferably, the finger is made of an elastic material, the outer contour projection of the finger is triangular, and the side of the finger has a plurality of first through holes.

[0015] Preferably, the fixing platform is made of elastic material and is integrally formed. The upper fixing plate and the lower fixing plate are both provided with a second through hole for the cable to pass through.

[0016] Preferably, both the upper and lower fixing plates are polygonal in shape, with the end corners of the upper fixing plate and the lower fixing plate being offset. The inclined ribs include multiple end corner ribs and multiple diagonal ribs. The end corners of the upper fixing plate are connected to the end corners of the lower fixing plate through the end corner ribs. One end of the diagonal rib is connected to the lower end of the end corner rib, and the other end of the diagonal rib is connected to the upper end of the adjacent end corner rib.

[0017] A harvesting device includes a driver and an extension tube. The driver is installed at one end of the extension tube, and a twisting and bending harvesting end effector is installed at the other end of the extension tube. A cable is installed in the middle of the finger connecting frame, passing through the fixed platform and the extension tube in sequence. The other end of the cable is connected to the driver.

[0018] This invention, by adopting the above technical solutions, has significant technical effects: 1. It significantly simplifies the structure and drive system, reduces the number of parts and equipment size, avoids delays or misalignments in multiple actions, and lowers the load requirements of the robotic arm; it also simplifies the control logic, requiring only 1-2 core instructions to trigger continuous actions, eliminating the need for frequent adjustments to multiple sets of parameters, thus lowering the operational and development threshold; furthermore, through the radial contraction design of multiple evenly distributed fingers, it better conforms to the curved surface of spherical fruits, reduces local pressure, and at the same time reduces rigid connections to improve structural flexibility, effectively protecting soft or fragile fruits and adapting to fruits of different sizes; moreover, it allows key actions such as "clamping + stretching + twisting" to be performed continuously, eliminating redundant steps executed in stages, significantly shortening harvesting time, and improving the harvesting efficiency of large-scale orchards.

[0019] 2. It achieves ultimate structural simplification and high integration. By utilizing the inherent compression-torsion coupling characteristics of torsion materials, the drive systems of the three independent actions of clamping, stretching and torsion in traditional end effectors are integrated into a single, chainless intelligent structure.

[0020] Beneficial effects: By eliminating multiple traditional transmission components such as motors, cylinders, gears, and connecting rods, the number of parts is reduced by more than 70%. This not only significantly reduces manufacturing costs but also fundamentally reduces potential mechanical failure points, improving system reliability and bringing maintenance costs close to zero.

[0021] 3. This method achieves biomimetic, collaborative, and non-destructive picking actions. Through material properties rather than electronic programs, it naturally generates a coherent and collaborative sequence of "clamping + stretching + twisting," perfectly simulating the gentle and continuous characteristics of human hand picking.

[0022] Beneficial effects: Synergy of actions: The three actions are output synchronously from the material deformation process, with small timing errors, avoiding the problem of sudden changes in the force on the fruit stem caused by traditional step-by-step execution.

[0023] Non-destructive harvesting: The elastic modulus of the elastic material provides an adaptive, gradual clamping force that gently envelops the fruit surface, avoiding stress concentration and reducing the rate of fruit skin damage.

[0024] 4. It significantly reduces the complexity and cost of the control system, requiring only a simple linear drive source to control the entire complex harvesting process.

[0025] Beneficial effects: There is no need to write complex collaborative control algorithms for multiple actions, nor to configure multi-path drive circuits. This greatly simplifies the control logic of the host computer, reduces the performance requirements of the processor, and significantly reduces the integration, debugging, and subsequent maintenance costs of the entire system.

[0026] 5. Expanding the Design Paradigm of Agricultural Robots: This invention breaks away from the traditional fixed thinking of "mechanical transmission" and innovatively uses the properties of the torsional material itself as the driving and transmission system, proposing a brand-new design paradigm of "single driving input - intelligent material deformation - multi-action output".

[0027] Beneficial effects: It provides a brand-new approach to the design of end effectors for agricultural robots, enabling them to develop in the direction of lightweight, low cost, high reliability and low power consumption, which greatly promotes the popularization and application of harvesting automation technology.

[0028] In summary, this invention provides a method for harvesting spherical fruits that is structurally simple, intelligently operated, non-destructive, highly efficient, and low-cost, effectively solving the long-standing technical problems of existing technologies, such as system complexity, poor coordination, high damage rate, and high cost. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the harvesting end effector of the present invention.

[0030] Figure 2 This is a schematic diagram of the finger connector structure.

[0031] Figure 3 This is a three-dimensional structural diagram of the fixed platform.

[0032] Figure 4 This is a top view of the fixed platform.

[0033] The names of the body parts referred to by the numbers in the above attached diagrams are as follows: 1—Fixed platform, 2—Grab assembly, 3—Cable 11—Upper fixing plate, 12—Lower fixing plate, 13—Inclined rib, 14—Second through hole, 111—Slot, 131—End corner rib, 132—Diagonal rib 21—Finger connector, 22—Finger, 211—Support, 212—Connecting rod, 213—Connecting part, 214—Groove, 215—Mounting slot, 221—First through hole Detailed Implementation

[0034] The following is in conjunction with the appendix Figure 1-4 The invention will be further described in detail with reference to the embodiments.

[0035] Example 1 A soft-twist, gripping, and pulling integrated-drive harvester includes a fixed platform 1 with a gripper assembly 2 mounted on it. The gripper assembly 2 is used to hold the fruit to be harvested. The fixed platform 1 includes an upper fixed plate 11 and a lower fixed plate 12. Multiple inclined ribs 13 are installed between the upper and lower fixed plates 11 and 12. When the upper fixed plate 11 moves downward, it twists on the lower fixed plate 12 via the inclined ribs 13. When the upper fixed plate 11 moves downward, it pulls the gripper assembly 2 downward. When pressure is applied to the upper fixed plate 11, the pressure is transmitted to each unit of the inclined ribs 13. All units generate a small, consistent, and coordinated rotational tendency direction, rather than canceling each other out. The small rotations are successfully superimposed and transmitted, resulting in a definite, macroscopically visible torsional-compression coupled motion. This motion can be used for harvesting activities that require a combination of torsional and bending movements.

[0036] The gripper assembly 2 includes a finger connector 21 and multiple fingers 22. In this embodiment, there are three fingers 22, which are evenly distributed on the finger connector 21. When the finger connector 21 is pulled axially, the fingers 22 retract radially inward, thereby wrapping the fruit.

[0037] This harvesting end effector significantly simplifies the structure and drive system, reducing the number of parts and the size of the equipment, avoiding delays or misalignments in multiple actions, and lowering the load requirements of the robotic arm. It also simplifies the control logic, requiring only 1-2 core instructions to trigger continuous actions, eliminating the need for frequent adjustments to multiple sets of parameters, thus lowering the operational and development threshold. Furthermore, through the radial contraction design of multiple evenly distributed fingers 22, it better conforms to the curved surface of spherical fruits, reducing local pressure, while reducing rigid connections to improve structural flexibility, effectively protecting soft or fragile fruits, and adapting to fruits of different sizes. Moreover, it allows key actions such as "clamping + stretching + twisting" to be performed continuously, eliminating redundant steps that are executed in stages, significantly shortening harvesting time, and improving the harvesting efficiency of large-scale orchards.

[0038] The finger connecting frame 21 includes multiple supports 211 and multiple connecting rods 212. The number of supports 211 is the same as the number of connecting rods 212. There are three supports 211 and three connecting rods 212. One end of the connecting rod 212 is connected to the support 211, and the other end of the connecting rod 212 is connected to the adjacent connecting rod 212. Multiple supports 211 are fixed and evenly distributed on the upper fixed plate 11. The fingers 22 are set on the supports 211. The supports 211 tilt to drive each finger 22 to retract towards the central axis, so as to grasp the target picking object. The finger connector 21 drives multiple fingers 22 to simultaneously achieve radial contraction, ensuring consistent grasping action and uniform force distribution, avoiding localized stress concentration that could damage the fruit, while also improving the fit with spherical fruits and enhancing grasping stability. The support 211 is fixed to the upper fixing plate 11 and can be synchronized with the torsional action of the upper fixing plate 11, allowing the fingers 22 to complete the torsional action while clamping the fruit, further strengthening the core advantage of "single drive linkage multiple actions" and simplifying the action coordination logic. The structure is simple and easy to assemble, with no complex transmission parts, continuing the overall solution's characteristics of simplified structure and reduced failure points. Moreover, the evenly distributed design can adapt to spherical fruits of different sizes, improving grasping adaptability.

[0039] The finger connector 21 includes a connecting part 213, with multiple connecting rods 212 evenly distributed on the connecting part 213. Three connecting rods 212 are integrally formed on the connecting part 213, and a groove 214 is formed between the connecting rods 212 and the connecting part 213. The groove 214 provides flexible deformation space for the connecting rods 212. When the connecting part 213 is pulled axially, the connecting rods 212 can smoothly converge downwards, thereby driving the three fingers 22 to converge synchronously and evenly, ensuring the consistency of the grasping action and the balance of force. This not only improves the stability of the grasping action with the spherical fruit, but also further strengthens the core advantage of "single-drive linkage grasping action", continuing the design logic of simplifying the structure and optimizing the action coordination of the overall solution.

[0040] The support 211 has a mounting groove 215 at its top. Fingers 22 are fixed to the support 211 via the mounting groove 215. The mounting groove 215 precisely positions the fingers 22. Combined with the evenly distributed design of the support 211, this ensures that the multiple fingers 22 remain evenly distributed, further guaranteeing balanced force during grasping, improving fit with the spherical fruit, and reducing the risk of fruit damage. The upper fixing plate 11 has three slots 111. The support 211 is fixed to the upper fixing plate 11 via the slots 111. The slots 111 help the support 211 achieve even distribution, further ensuring the symmetrical layout of the multiple fingers 22, guaranteeing balanced force during grasping, improving fit and grasping stability, and reducing the risk of fruit damage.

[0041] The finger connector 21 is made of an elastic material, TPU 95A, which is relatively soft. This causes the connecting rod 212, connected to the mounting slot 215, to contract inward, thus achieving a gripping action. Since the force required to deform the finger connector 21 is much less than the force required to deform the fixed platform 1, the gripping action of the fingers 22 always precedes the torsional compression action, ensuring that the object being picked is gripped first, and then twisted and pulled down. The finger connector 21 is integrally molded, and the support 211 is a hollow triangle. This integral design eliminates the need for multi-part assembly, reduces potential failure points in rigid connections such as bolts, and ensures synchronized movement of components such as the connecting rod 212 and the support 211, enhancing the reliability of "single-drive, multi-action linkage." The hollow triangular structure of the support 211 significantly reduces weight while maintaining strong support strength and triangular stability, lowering the overall weight of the equipment and the load requirements of the robotic arm, and making the structure more compact.

[0042] The fingers 22 are made of an elastic material, which allows them to flexibly cushion pressure when in direct contact with fruit, preventing indentations or damage to soft fruits like peaches or fruits with delicate skin like blueberries. They can also adapt to spherical fruits of different diameters through slight deformation without requiring additional structural adjustments. The outer contour projection of the fingers 22 is triangular, combining stability and spatial flexibility. During grasping, it can conform to the surface of spherical fruits from multiple directions, reducing the risk of slippage. The triangular corner design also reduces interference with branches when operating among dense fruit tree foliage, improving adaptability in confined spaces. Multiple first through-holes 221 are present on the side of the fingers 22. These through-holes effectively reduce weight, lowering the weight of the fingers 22 and the overall load on the equipment. They also further increase the flexible deformation capacity of the fingers 22, making it easier to conform to the contour of the fruit and reducing the contact area with the fruit, ensuring gripping force while avoiding excessive squeezing damage.

[0043] The fixed platform 1 is made of elastic material, specifically TPU elastic material. The fixed platform 1 is integrally molded, eliminating the need for assembly steps of the upper fixed plate 11, lower fixed plate 12, and inclined ribs. This reduces potential failure points of rigid connectors such as bolts and ensures the accuracy of the torsion driven by the inclined ribs. Both the upper fixed plate 11 and lower fixed plate 12 have a second through hole 14 at their midpoints for the cable to pass through. The upper fixed plate 11 can be driven downwards by a single cable, eliminating the need for complex motors or pneumatic cylinders. This significantly simplifies the drive system, directly achieving "single-drive triggering torsion," aligning with the overall "multi-action linkage" design logic, while simultaneously reducing equipment cost and overall weight.

[0044] Both the upper fixing plate 11 and the lower fixing plate 12 are polygonal in shape. In this embodiment, both the upper fixing plate 11 and the lower fixing plate 12 are hexagonal. The corners of the upper fixing plate 11 and the lower fixing plate 12 are offset. The inclined rib 13 includes multiple corner ribs 131 and multiple diagonal ribs 132. The corners of the upper fixing plate 11 are connected to the corners of the lower fixing plate 12 through the corner ribs 131. One end of the diagonal rib 132 is connected to the lower end of the corner rib 131, and the other end of the diagonal rib 132 is connected to the upper end of the adjacent corner rib 131. The polygonal shape provides clear positioning support points for the corner ribs 131, making it easier to accurately arrange the ribs compared to circular or other shapes. The offset corner design allows the upper fixing plate 11 to move downwards, and the force difference of the corner ribs 131 naturally generates a uniform torsional torque, avoiding torsional jamming or angle deviation, making the linkage of "downward movement → torsion" smoother and more controllable. This rib combination design allows for more even force transmission, ensuring that each end of the upper fixed plate 11 moves synchronously when it is twisted, avoiding torsional deviation caused by uneven force, and further guaranteeing the accuracy of the "single drive triggered torsion" action.

[0045] Example 2 A harvesting device includes a driver and an extension tube. The driver is installed at one end of the extension tube, and the other end of the extension tube is equipped with a torsion-bending harvesting end actuator as described in Embodiment 1. A pull cable 3 is installed in the middle of the finger connecting frame 21, which passes through the fixed platform 1 and the extension tube in sequence. The other end of the pull cable 3 is connected to the driver. When the pull cable 3 is continuously tightened, the fixed platform 1 begins torsion-compression coupling motion, so that the harvesting end actuator realizes torsion-pulling action. When the pull cable 3 is released, the finger 22 unfolds and resets, and the fixed platform 1 rises and rotates in the opposite direction.

[0046] The working principle is as follows: After the harvester's driver is activated, the tension is transmitted through the cable 3 that passes through the extension tube, the second through hole 14 of the fixed platform 1 and connects to the middle of the finger connecting frame 21. When the finger connecting frame 21 is pulled axially, its connecting rod 212 deforms due to the groove 214 between it and the connecting part 213, causing the elastic triangular fingers 22 evenly distributed on the support 211 to contract radially inward to clamp the spherical fruit. At the same time, the upper fixed plate 11 moves downward with the tension. Because the upper and lower fixed plates 12 are polygonal and their end corners are misaligned, the end corner ribs 131 and diagonal ribs 132 between them are deformed by axial force, causing the upper fixed plate 11 to twist. The support 211, which is fixed to the upper fixed plate 11 through the slot 111, will simultaneously drive the fingers 22 that clamp the fruit to stretch and twist, so that the fruit stalk is separated from the branch. The whole process achieves the coordinated action of "clamping + stretching + twisting" through a single driver. After harvesting, the fixed platform 1 and the finger connecting frame 21 are reset by the elastic material and enter the next harvesting cycle.

Claims

1. A soft picking hand of pull-torque integrated drive, comprising a fixed platform (1) on which a gripper assembly (2) is installed, characterized in that: the fixed platform (1) comprises an upper fixed plate (11) and a lower fixed plate (12), a plurality of inclined ribs (13) are arranged between the upper fixed plate (11) and the lower fixed plate (12), and the upper fixed plate (11) is twisted on the lower fixed plate (12) through the inclined ribs (13) when the upper fixed plate (11) moves downward; the gripper assembly (2) comprises a finger connecting frame (21) and a plurality of fingers (22), the plurality of fingers (22) are uniformly distributed on the finger connecting frame (21), and the fingers (22) are radially inwardly retracted when the finger connecting frame (21) is axially pulled.

2. The soft picking hand of claim 1, wherein: The finger connecting frame (21) comprises a plurality of supports (211) and a plurality of connecting rods (212), the number of the supports (211) is the same as the number of the connecting rods (212), one end of the connecting rod (212) is connected with the support (211), the other end of the connecting rod (212) is connected with the adjacent connecting rod (212), the plurality of supports (211) are fixed and uniformly distributed on the upper fixed plate (11), and the fingers (22) are arranged on the supports (211).

3. The soft picking hand of claim 2, wherein: The finger connecting frame (21) comprises a connecting portion (213), the plurality of connecting rods (212) are uniformly distributed on the connecting portion (213), and the connecting rods (212) and the connecting portion (213) form grooves (214) therebetween.

4. The soft picking hand of claim 2, wherein: The top end of the support (211) is provided with a mounting groove (215), and the finger (22) is fixed on the support (211) through the mounting groove (215).

5. The soft picking hand of claim 2, wherein: The upper fixed plate (11) is provided with a clamping groove (111), and the support (211) is fixed on the upper fixed plate (11) through the clamping groove (111).

6. The soft picking hand of any one of claims 2-5, wherein: The finger connecting frame (21) is a connecting frame made of elastic material, the finger connecting frame (21) is integrally formed, and the support (211) is a hollow triangle.

7. The soft picking hand of claim 1, wherein: The finger (22) is a finger made of elastic material, the outer contour of the finger (22) is triangular in shape, and a plurality of first through holes (221) are formed through the side of the finger (22).

8. The soft picking hand of claim 1, wherein: The fixed platform (1) is a fixed platform made of elastic material, the fixed platform (1) is integrally formed, and the second through holes (14) for passing through the cables are arranged at the middle positions of the upper fixed plate (11) and the lower fixed plate (12).

9. The soft picking hand of claim 1, wherein: The upper fixed plate (11) and the lower fixed plate (12) are both polygonal in shape, the end corners of the upper fixed plate (11) are arranged in a staggered manner with the end corners of the lower fixed plate (12), the inclined ribs (13) comprise a plurality of end corner ribs (131) and a plurality of diagonal ribs (132), the end corners of the upper fixed plate (11) are connected with the end corners of the lower fixed plate (12) through the end corner ribs (131), one end of the diagonal rib (132) is connected with the lower end of the end corner rib (131), and the other end of the diagonal rib (132) is connected with the upper end of the adjacent end corner rib (131).

10. A picking apparatus comprising a driver and an extension tube, the driver being mounted at an end of the extension tube, characterised in that, The other end of the extension pipe is provided with a twist-bending type picking end effector as claimed in any one of claims 1-9, the middle of the finger connecting frame (21) is provided with a cable (3) sequentially passing through the fixed platform (1) and the extension pipe, and the other end of the cable (3) is connected with a driver.

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