A hand-held field device for picking up achenes of a bush cherry and a method of use

Abstract

The application discloses a kind of ring type of field hand-held collection device of European plum and use method, it is related to the technical field of forest fruit harvesting machinery.The device includes jaw control device, bionic jaw and lifting transmission device.Bionic jaw is integrated with branch structure, branch clamping structure, fruit picking structure and fruit receiving structure, and the four synergies in turn, simulate the whole process of branch, branch clamping, fruit picking and fruit receiving of artificial harvesting.Jaw control device is connected with bionic jaw, lifting transmission device is composed of conveying motor, screw and sliding block, motor drives screw through coupling, sliding block is fixed on screw and is connected with jaw control device.The application is compact in structure, convenient to operate, adopts ring type of fruit picking structure to realize low-loss efficient separation, and is strong in adaptability to different plant individual differences, with high recovery rate and low breakage rate, effectively overcome the problems that traditional comb tooth type collection device is easily affected by lodging, branch is easily escaped and agronomic adaptation requirement is high.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting technology, specifically to a small forest fruit harvesting machine and its usage method. Background Technology

[0002] As a clustered shrub, the European plum (Prunus armeniaca) has soft branches that are prone to lodging. Fruiting branches and growing branches grow together, resulting in significant differences in geometric parameters and mechanical properties among plants. Furthermore, the fruit matures in a concentrated period and is difficult to store. Currently, harvesting European plums mainly relies on manual labor, which suffers from high labor intensity, low harvesting efficiency, and the need for prolonged squatting and moving during the picking process. While existing large-scale continuous harvesting devices such as comb-type harvesters have achieved a degree of mechanization, they are greatly affected by plant lodging, branches are prone to escape, and they require sophisticated agronomic practices, making them difficult to adapt to the differences between different varieties and individuals. Therefore, there is an urgent need for a handheld European plum harvesting device that is highly adaptable, has high harvesting efficiency, minimizes fruit damage, and is easy to operate. Summary of the Invention

[0003] The purpose of this invention is to provide a ring-type handheld harvesting device for European plums and its usage method. It uses biomimetic grippers to simulate the four core actions of manual harvesting: branching, branch clamping, fruit removal, and fruit release. The ring-shaped fruit removal structure achieves low-damage and efficient fruit separation. Furthermore, a linkage design between the lifting transmission device and the gripper control device enables continuous harvesting and collection of the fruit. This invention features a compact structure, simple operation, strong adaptability to individual plant differences, high harvesting efficiency, and low fruit breakage rate. It solves the problems of existing comb-type harvesting devices, such as significant impact from plant lodging, easy branch escape, and high agronomic requirements.

[0004] To achieve the above objectives, this invention provides a ring-type handheld harvesting device for European plums, comprising a gripper control device, a bionic gripper, and a lifting transmission device. The bionic gripper includes a branching structure, a branch-clamping structure, a fruit-removing structure, and a fruit-grabbing structure. The branching structure is located at the front end of the branch-clamping structure, the branch-clamping structure is inside the branching structure, the fruit-removing structure is at the center of the branch-clamping structure, and the fruit-grabbing structure is above the fruit-removing structure. The gripper control device is connected to the bionic gripper. The lifting transmission device includes a conveyor motor, a lead screw, and a slider. The conveyor motor is connected to the lead screw via a coupling, the lead screw slider is fixed to the lead screw, and the lead screw slider is fixedly connected to the gripper control device.

[0005] Preferably, the branching structure is composed of two wedge-shaped blocks with varying slope arc surfaces. One side of the arc surface of each branching structure is tangent to the arc surface of the fruit-removing structure, and the other side is tangent to the arc surface of the fruit-grafting structure.

[0006] Preferably, the clamping structure is a pair of symmetrically arranged and spatially staggered clamps, with a transition structure on the inner side of the two clamps facing the cylindrical wall. The transition structure has a height of 15mm, and the clamping structure has an arc surface tangent to the fruit removal structure.

[0007] Preferably, the fruit removal structure is a ring-shaped fruit removal structure with an inner diameter of 15-25 mm. The fruit removal structure has a chamfer on the side facing the cylindrical wall, which is 30°, 45° or 60°.

[0008] Preferably, the bottom of the result structure is an inclined surface, which is inclined at 20° toward the fruit removal structure in the center. The edge of the fruit receiving structure has a cylindrical wall that forms a cylinder shape, with a height of 140mm. The result structure and the fruit removal structure are an integral structure.

[0009] Preferably, the gripper control device includes a housing, an active pusher block, a driven pusher block, and a clamping block. The housing has linear grooves distributed on it. The active pusher block, driven pusher block, and clamping block are located inside the housing. The driven pusher block moves along the vertical linear grooves of the housing, and the clamping block moves along the horizontal linear grooves of the housing. The active pusher block and the driven pusher block, as well as the driven pusher block and the clamping block, are connected by mortise and tenon joints. The clamping block and the bionic gripper are connected by threads. The active pusher block is fixedly connected to a lead screw and slider. A compression spring is fitted onto the active pusher block via its support column, and the active pusher block contacts the housing through the compression spring.

[0010] Preferably, it also includes a frame, on which a lithium battery and a processor, a conveyor motor and an inductive switch are provided. The lithium battery powers the conveyor motor, the processor and the inductive switch. The processor is electrically connected to the inductive switch and the conveyor motor. The inductive switch is a metal sensor SN04-N, which is set at the end of the stroke of the lifting transmission device to detect the position of the lead screw nut and feed it back to the processor.

[0011] Preferably, the lifting and opening / closing of the gripper system is driven by the same conveyor motor. The gripper closes when the nut slider contacts the upper edge of the slider during the upward stroke and opens when it contacts the lower edge of the slider during the downward stroke.

[0012] The present invention also provides a method for using a ring-type handheld harvesting device for European plums in the field, comprising: Step 1. Align the branched structure of the bionic gripper with the gap between the target branch and the interfering branch. Control the conveyor motor to drive the lead screw to rotate. The lead screw slider drives the active push block to move upward together. The active push block drives the driven push block. The driven push block applies pressure to the gripper, causing the gripper to move towards the center along the horizontal straight groove of the shell, so that the bionic gripper closes. Step 2. The branch clamping structure guides the target branch into the fruit removal structure. The screw slider continues to rise, and the removal structure moves along the branch axis, applying pressure to the European plum fruit to separate the fruit stalk.

[0013] Furthermore, the device is moved above the fruit storage box, and the conveyor motor is reversed. The lead screw slide descends, causing the active push block to move down. The housing moves down together under the action of the compression spring. When the housing is blocked by the storage box, the active push block continues to move down under the pressure of the lead screw slide, causing the driven push block to move down. Through the tenon and mortise structure, the clamping block is pulled to move to both sides along the horizontal straight slide, causing the bionic gripper to complete the opening action.

[0014] The beneficial effects of this invention are: 1. Compared with the existing comb-type European plum harvesting device, the present invention uses a bionic gripper to simulate the manual harvesting action. Through the mechanical coordination of four core actions, namely branching, clamping, fruit removal and fruit grafting, it achieves effective clamping of fallen branches and low-damage separation of fruits. It is not affected by the lodging of the plant, the branches do not escape, and it has low requirements for planting agronomy and strong adaptability.

[0015] The reason why it is not affected by lodging is that: Prunus cerasifera is a shrub-type fruit tree. Affected by factors such as light, nutrients, water and growth years, different branches have significant differences in the number and location of fruits, branch length and diameter, which makes its lodging direction, degree and shape varied. The spatial distribution of branches is highly random, making it difficult to locate and pick them.

[0016] However, field observations and theoretical analysis revealed that the cross-sectional dimensions and lodging posture of *Prunus armeniaca* branches exhibited high consistency within a height of approximately 10 cm after emergence from the soil. Based on this common characteristic, this device was designed with this area as the clamping point, where the branches were reliably positioned.

[0017] As the grippers complete their clamping action, their structure naturally forms a fruit-removal ring, ensuring that the gripped branch remains confined within the ring throughout the subsequent fruit removal process, preventing it from escaping radially or undergoing significant positional shift. This design fundamentally eliminates the difficulty in fruit removal caused by branch lodging, ensuring the harvesting process adapts to individual plant differences.

[0018] 2. The ring-shaped fruit-removing structure set in this invention, through theoretical analysis and bench test verification, adopts a chamfered ring-shaped fruit-removing structure with an inner diameter of 15-25mm, which can achieve effective harvesting of multiple fruit nodes while ensuring a low loss rate. Moreover, the same fruit-removing ring can adapt to European plum fruits of different diameters without the need for frequent replacement of parts.

[0019] 3. Compared with traditional manual picking and large-scale harvesting devices, this invention adopts an underactuated design, which realizes the two actions of lifting and opening / closing the bionic gripper simultaneously through a single motor. The device of this invention has a compact structure, is lightweight and inexpensive. Combined with the characteristics of the gripper control device, it is easy and reliable to operate, has high harvesting efficiency and minimal fruit damage. Attached Figure Description

[0020] Figure 1This is a schematic diagram of the overall structure of an embodiment of the present invention.

[0021] Figure 2 This is a top view of an embodiment of the present invention.

[0022] Figure 3 This is a side view of an embodiment of the present invention.

[0023] Figure 4 for Figure 1 A magnified view of a portion of the image.

[0024] Figure 5 This is a schematic diagram of the gripper control device of the present invention.

[0025] Figure 6 This is a partial schematic diagram of the control device according to an embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram of a portion of the bionic gripper in an embodiment of the present invention.

[0027] Figure 8 This is another schematic diagram of the biomimetic gripper according to an embodiment of the present invention. The branch-clamping structure in the diagram is not symmetrical on the left and right grippers, but rather a spatial upper and lower layer structure. The transition structure is designed to prevent the branch-clamping structure from exerting shearing force on the branch, thus avoiding damage like scissors; therefore, the transition structure is always in the middle. The recessed part in the diagram is not part of the branch-clamping structure; this design is merely to allow the recessed structure to fit against the protruding part after the two grippers are clamped, ensuring the stability of the overall structure formed by the two grippers in fruit removal.

[0028] Figure 9 This is an exploded view of the key structure of the present invention.

[0029] Figure 10 This is a partial schematic diagram of the transmission device according to an embodiment of the present invention.

[0030] Figure 11 This is a schematic diagram of the wedge-shaped tenon and mortise structure between the driven push block and the clamping block in an embodiment of the present invention.

[0031] Figure 12 This is a top view of the driven push block.

[0032] Figure 13 This is the right view of the driven push block.

[0033] Figure 14 This is the main view of the block being pushed from the beginning.

[0034] Figure 15 This is a top view of the clamping block.

[0035] Figure 16 This is a bottom view of the clamping block.

[0036] Figure 17 This is the main view of the clip.

[0037] Figure 18 This is the left view of the clip.

[0038] Figure 19 This is a bottom view of the active push block structure.

[0039] Figure 20 This is the main view of the active push block structure.

[0040] Figure 21 Left view of the active push block structure.

[0041] In the diagram, 1-frame, 2-lithium battery, 3-processor, 4-conveyor motor, 5-lead screw, 6-driven push block, 7-compression spring, 8-inductive switch, 9-shield, 10-bearing seat, 11-housing, 12-bionic gripper, 13-coupling, 14-active push block, 15-lead screw slider, 16-clamping block, 17-branching structure, 18-branching structure, 19-fruit removal structure, 20-fruit receiving structure, 21-transition structure, 22-cylinder wall. Detailed Implementation

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Note: Unless otherwise specified, the experimental methods in the following examples are conventional methods, performed according to the techniques or conditions described in the literature in this field or according to the product instructions. Unless otherwise specified, the materials and reagents used in the following examples are commercially available.

[0044] This invention provides a ring-type handheld harvesting device for European plums. It uses biomimetic grippers to simulate the four core actions of manual harvesting: branching, branch clamping, fruit removal, and fruit release. The fruit removal structure 19 achieves low-damage and high-efficiency fruit separation. A linkage design between the lifting transmission device and the gripper control device is employed, with a single motor simultaneously controlling both the lifting and opening / closing of the grippers. This invention features a compact structure, lightweight design, low cost, strong adaptability to individual plant differences, high harvesting efficiency, and low fruit breakage rate. It solves the problems of existing comb-type harvesting devices, such as significant susceptibility to plant lodging, easy branch escape, and high agronomic requirements.

[0045] Example 1 like Figures 1 to 9As shown, a ring-type handheld harvesting device for European plums in the field includes a frame 1, a lifting transmission device, a gripper control device, and a bionic gripper 12.

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 9 and Figure 10 As shown, the lifting transmission device includes a conveyor motor 4, a coupling 13, a lead screw 5, and a lead screw slider 15. The conveyor motor 4 is connected to the lead screw 5 via the coupling 13. The lead screw 5 is mounted on the frame 1 via a bearing seat 10. The lead screw slider 15 is mounted on the lead screw 5 and is fixedly connected to the gripper control device. When the conveyor motor 4 is working, the lead screw 5 rotates, causing the lead screw slider 15 to move along the axial direction of the lead screw 5, thereby driving the gripper control device and the bionic gripper 12 to move up and down.

[0047] Preferably, the lead screw of the lifting transmission device is a T10 trapezoidal lead screw with a lead of 10mm and a length of not less than 800mm. The conveying motor is a 24V DC geared motor with a rated power of 0.015kW and a maximum speed of 297r / min.

[0048] like Figure 5 , Figure 6 , Figure 9 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 , Figure 20 and Figure 21 As shown, the gripper control device includes a housing 11, an active pusher 14, a driven pusher 6, and a clamping block 16. The housing 11 has linear grooves distributed on it, and the active pusher 14, driven pusher 6, and clamping block 16 are all arranged inside the housing 11. The driven pusher 6 is mounted on the vertical linear groove of the housing 11 via a slider structure, and the clamping block 16 is mounted on the horizontal linear groove of the housing 11 via a slider structure.

[0049] Both the driven push block 6 and the clamping block 16 can move along the slide groove. The active push block 14 and the driven push block 6, as well as the driven push block 6 and the clamping block 16, are connected by mortise and tenon joints. The clamping block 16 is connected to the bionic gripper 12 by threads. The active push block 14 is fixedly connected to the lead screw slider 15. When the lead screw slider 15 rises and falls, it drives the active push block 14 to move synchronously.

[0050] like Figure 5 , Figure 6 , Figure 9 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 , Figure 20 and Figure 21 As shown, compression springs 7 are sleeved on both sides of the active push block 14. When the active push block 14 is installed inside the housing 11, it abuts against the housing 11 through the compression springs 7. The compression springs 7 are sleeved on the support columns on both sides of the active push block 14, so that the active push block 14 and the housing 11 maintain elastic contact. When the lead screw slider 15 rises, the active push block 14 moves upward together, while the housing 11 does not move upward with the active push block 14. The active push block 14 drives the driven push block 6 to move upward. The driven push block 6 applies pressure to the clamping block 16 through the tenon and mortise structure, so that the clamping block 16 moves towards the center along the horizontal straight groove on the housing 11, thereby driving the bionic gripper 12 to complete the closing action. When the lead screw slider 15 descends, the active push block 14 moves downward, and the housing 11 moves downward together with the active push block 14. When the movement of the housing 11 is obstructed, the active push block 14 continues to move downward under the drive of the lead screw slider 15, causing the driven push block 6 to move downward. Through the tenon and mortise structure, the clamping block 16 moves to both sides along the horizontal straight groove, causing the bionic gripper 12 to complete the opening action. The angle between the mating surface of the driven push block 6 and the clamping block 16 and the vertical direction is 30°, so that the structure meets the self-locking condition.

[0051] like Figure 7 and Figure 8 As shown, the bionic gripper 12 includes a branching structure 17, a clamping structure 18, a fruit-removing structure 19, and a fruit-grabbing structure 20. The branching structure 17 is at the front end of the clamping structure 18, the clamping structure 18 is inside the branching structure 17, the fruit-removing structure 19 is at the center of the clamping structure 18, and the fruit-grabbing structure 20 is above the fruit-removing structure 19.

[0052] like Figure 7 and Figure 8 As shown, the branching structure 17 consists of two wedge-shaped blocks with varying slope arc surfaces. One side of the arc surface of each part of the branching structure 17 is tangent to the arc surface of the fruit removal structure 19, and the other side is tangent to the arc surface of the fruit grafting structure 20. During operation, the two wedge-shaped blocks of the branching structure 17 wedge into the space between the target branch and the interfering branch. As the wedge insertion distance increases, the outer arc surfaces of the two wedge-shaped blocks obliquely push the non-target branch away, while the inner arc surfaces of the two wedge-shaped blocks allow the target branch to transition to the arc surface of the fruit removal structure 19 through the clamping branch structure 18.

[0053] like Figure 7 and Figure 8As shown, the clamping structure 18 consists of a pair of symmetrically arranged and spatially staggered clamps. The two clamps have a transition structure 21 on their inner sides facing the cylindrical wall 22, with a height of 15mm. The clamping structure 18 has an arc surface tangent to the fruit-removing structure 19. During operation, as the bionic clamps 12 close, the branches slide along the surface of the clamping structure 18 under the guidance of the arc surface of the branching structure 17, entering the central region of the fruit-removing structure 19.

[0054] like Figure 7 and Figure 8 As shown, the fruit-removing structure 19 is a ring-shaped structure with an inner diameter ranging from 15-25 mm, preferably 18 mm. The fruit-removing structure 19 has a chamfer on the side facing the cylindrical wall 22, with a chamfer angle of 30° (the chamfer angle can also be 45° or 60°). During operation, the fruit-removing structure 19 moves along the branch axis, applying pressure to the plum fruit to separate the fruit stalk from the branch.

[0055] like Figure 7 and Figure 8 As shown, the bottom of the fruit-receiving structure 20 is an inclined surface, which slopes at 20° towards the center of the fruit-removing structure 19. The edge of the fruit-receiving structure 20 has a cylindrical wall 22 forming a circle, with a height of 140mm. The fruit-receiving structure 20 and the fruit-removing structure 19 are an integral structure. After fruit removal, the fruit falls into the fruit-receiving structure 20, and due to the arching effect, the fruit will not leak out from the bottom fruit-removing structure 19. When the fruit-receiving structure 20 moves above the fruit storage box, the bionic gripper 12 opens, the arching structure is broken, and the fruit falls into the storage box that is matched with this device.

[0056] like Figure 1 As shown, the frame 1 is equipped with a lithium battery 2 and a processor 3. The lithium battery 2 powers the conveyor motor 4 and the processor 3. The frame 1 is also equipped with a proximity switch 8, which is a metal sensor SN04-N, located at the end of the travel of the lifting transmission device. This switch detects the position of the slider 15 and sends feedback to the processor 3. The processor 3 is electrically connected to the conveyor motor 4.

[0057] In operation, the operator holds the device and aligns the branching structure 17 on the bionic gripper 12 with the gap between the target branch and the interfering branch. The branching structure 17 separates the target branch from the interfering branch. Then, the control motor 4 drives the lead screw 5 to rotate, and the lead screw slider 15 rises under the action of the lead screw 5, driving the active push block 14 to move upwards together, while the housing 11 remains stationary. The active push block 14 drives the driven push block 6 to move upwards together, and the driven push block 6 applies pressure to the clamping block 16, causing the clamping block 16 to move towards the center along the horizontal linear groove of the housing 11, closing the bionic gripper 12. The branch clamping structure 18 guides the target branch into the fruit removal structure 19. The lead screw slider 15 continues to rise, and the fruit removal structure 19 moves along the branch axis, applying pressure to the European plum fruit, causing the fruit stalk to separate from the branch. The fallen fruit falls into the fruit receiving structure 20 under gravity for temporary storage. The above operation is repeated until the entire European plum fruit plant is harvested.

[0058] After harvesting the fruit from a single European plum tree, the operator moves the device above the fruit collection box. The processor 3 controls the conveyor motor 4 to reverse, causing the lead screw slider 15 to descend. As the lead screw slider 15 descends, the active push block 14 moves downward, and the housing 11 moves downward under the action of the compression spring 7. When the housing 11 carrying the fruit moves to a suitable position above the collection box, the collection box obstructs the movement of the housing 11, causing the active push block 14 to continue moving downward under the pressure of the lead screw slider 15. This drives the driven push block 6 to move downward, and through the tenon and mortise structure, the clamping block 16 moves to both sides along the horizontal straight groove, causing the bionic gripper 12 to complete the opening action. Finally, the fruit falls from the fruit receiving structure 20 into the collection box.

[0059] If the sensor switch 8 detects that the slider 15 has reached the end of its stroke, the processor 3 controls the conveyor motor 4 to stop or reverse.

[0060] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A ring-type handheld harvesting device for European plums, characterized in that, The device includes a gripper control device, a bionic gripper, and a lifting transmission device. The bionic gripper includes a branching structure, a clamping structure, a fruit-removing structure, and a fruit-grabbing structure. The branching structure is at the front end of the clamping structure, the clamping structure is inside the branching structure, the fruit-removing structure is at the center of the clamping structure, and the fruit-grabbing structure is above the fruit-removing structure. The gripper control device is connected to the bionic gripper. The lifting transmission device includes a conveyor motor, a lead screw, and a slider. The conveyor motor is connected to the lead screw through a coupling, the lead screw slider is fixed on the lead screw, and the lead screw slider is fixedly connected to the gripper control device.

2. The apparatus according to claim 1, characterized in that, The branching structure consists of two wedge-shaped blocks with varying slope arc surfaces. One side of the arc surface of each branching structure is tangent to the arc surface of the fruit-removing structure, and the other side is tangent to the arc surface of the fruit-grafting structure.

3. The apparatus according to claim 1, characterized in that, The clamping structure consists of a pair of symmetrically arranged and spatially staggered clamps. The two clamps have a transition structure on the inner side facing the cylindrical wall, and the clamping structure has an arc surface tangent to the fruit removal structure.

4. The apparatus according to claim 1, characterized in that, The fruit-removing structure is a ring-shaped fruit-removing structure, and the side of the fruit-removing structure facing the cylindrical wall has a chamfer.

5. The apparatus according to claim 1, characterized in that, The bottom of the resulting structure is an inclined surface, which is inclined at 20° toward the fruit-removing structure in the center. The edge of the fruit-receiving structure has a cylindrical wall forming a cylinder. The resulting structure and the fruit-removing structure are an integral structure.

6. The apparatus according to claim 1, characterized in that, The gripper control device includes a housing, an active pusher block, a driven pusher block, and a clamping block. The housing has linear grooves distributed on it. The active pusher block, driven pusher block, and clamping block are placed inside the housing. The driven pusher block moves along the vertical linear groove of the housing, and the clamping block moves along the horizontal linear groove of the housing. The active pusher block and the driven pusher block, as well as the driven pusher block and the clamping block, are connected by mortise and tenon joints. The clamping block and the bionic gripper are connected by threads. The active pusher block is fixedly connected to the lead screw and slider. The active pusher block is fitted with a compression spring through its support column, and the active pusher block contacts the housing through the compression spring.

7. The apparatus according to claim 1, characterized in that, It also includes a frame, on which a lithium battery and processor, a conveyor motor and an inductive switch are mounted. The lithium battery powers the conveyor motor, processor and inductive switch. The processor is electrically connected to the inductive switch and the conveyor motor and is located at the end of the travel of the lifting transmission device. It is used to detect the position of the lead screw nut and feed it back to the processor.

8. The apparatus according to claim 1, characterized in that, The lifting and opening / closing of the gripper system is driven by the same conveyor motor. The gripper closes when the nut slider contacts the upper edge of the slider during the rising stroke and opens when it contacts the lower edge of the slider during the falling stroke.

9. A method for using a ring-type handheld harvesting device for European plums as described in any one of claims 1-8, characterized in that, include: Align the branched structure of the bionic gripper with the gap between the target branch and the interfering branch. Control the conveyor motor to drive the lead screw to rotate. The lead screw slider drives the active push block to move upward together. The active push block drives the driven push block. The driven push block applies pressure to the gripper, causing the gripper to move towards the center along the horizontal linear groove of the shell, so that the bionic gripper closes. The branch clamping structure guides the target branch into the fruit removal structure. The lead screw slider continues to rise, and the fruit removal structure moves along the branch axis, applying pressure to the European plum fruit and separating the fruit stalk.

10. The method according to claim 9, characterized in that, It also includes moving the device above the fruit storage box, controlling the conveyor motor to reverse, the lead screw slider to descend and drive the active push block to move down, the housing to move down together under the action of the compression spring, when the housing is blocked by the storage box, the active push block continues to move down under the pressure of the lead screw slider, driving the driven push block to move down, and pulling the clamping block to move to both sides along the horizontal straight slide through the tenon structure, driving the bionic gripper to complete the opening action.

Images