Strawberry lossless picking end effector

Abstract

The utility model discloses a strawberry lossless picking end effector, which belongs to the field of agricultural machinery, mainly aims at mechanical picking in an overhead strawberry growth mode, and comprises a stem clamping mechanism, and a compensation mechanism is embedded in the stem clamping mechanism to ensure that stable clamping force is provided for stems during picking. The fruit clamping mechanism controls clamping force applied to the surfaces of the strawberries through a connecting rod set and a torsional spring, and an electric push rod mechanism is fixed to the connecting structure. The end effector solves the technical problems that in the picking process of an existing end effector, due to mechanical vibration and inertia of fruits, the fruits fall off, the clamping force on the surfaces of the fruits is difficult to control, and damage is likely to be caused.

Description

Technical Field

[0001] This utility model belongs to the field of strawberry picking technology, specifically relating to a strawberry non-destructive picking end effector. Background Technology

[0002] In mechanical harvesting, the end effector of the harvesting machinery comes into direct contact with strawberries. The strawberry skin is very fragile compared to other fruits and is easily damaged by the end effector, which directly affects the harvesting quality of strawberries. Therefore, the end effector is one of the most important components in harvesting machinery. It is necessary to design an end effector that causes less or no damage to the surface of strawberries during harvesting to ensure the harvesting quality of strawberries.

[0003] Existing strawberry harvesting end effectors mainly employ two harvesting methods: gripping the fruit and gripping the stem. The fruit-gripping method requires extremely high control over the gripping force, while the stem-gripping method demands high positioning accuracy from the robotic arm. Furthermore, unavoidable vibrations during harvesting can easily cause the stem to detach. To address these issues, a pneumatic-electric hybrid driven strawberry harvesting end effector was designed. This harvester primarily grips the strawberry stem, bearing the weight of the strawberry, while also supporting the fruit's movement to reduce fruit detachment during harvesting. Utility Model Content

[0004] The purpose of this invention is to provide a non-destructive strawberry harvesting end effector, which solves the problem that existing strawberry harvesting end effectors are difficult to precisely control the contact force with strawberries when performing harvesting tasks, easily damaging the surface of strawberries and causing a decline in the quality of harvested ripe strawberries.

[0005] The technical solution adopted by this utility model is a strawberry non-destructive harvesting end effector, characterized in that it includes a fruit stem clamping mechanism, and a fruit clamping mechanism is arranged below the fruit stem clamping mechanism. The fruit stem clamping mechanism and the fruit clamping mechanism are connected by a connecting structure to form a whole machine.

[0006] The feature of this utility model is that,

[0007] The specific structure of the stem clamping mechanism is as follows: it includes a right clamping finger and a left clamping finger mounted on the cylinder via ball bearing guides. The right clamping finger is equipped with a stationary slider and a moving slider. The stationary slider has a guide rail gap and a notch between its upper and lower surfaces for the moving slider to slide. The protruding guide block on the moving slider can slide in the guide rail gap, and a through hole is provided for screw connection to the right clamping finger. A blade is provided above the moving slider, which is located in the gap formed by the stationary slider and the right clamping finger. A compression spring A is provided between the moving slider and the right clamping finger. The stationary slider has a circular recess corresponding to the diameter of the compression spring A. The moving slider has a cylindrical protruding positioning post, which is connected to both ends of the compression spring A for fixing the compression spring A. The right clamping finger is also equipped with a similar cylindrical recess as the moving slider, which, together with another cylindrical protruding positioning post on the moving slider, is used to position the compression spring B. The stationary slider is fixed to the right clamping finger by screws.

[0008] The structure on the left clamping finger of the cylinder is an auxiliary clamping structure for the fruit stem. One end of the auxiliary clamping structure is connected to the left clamping finger of the cylinder, and the other end is a wedge-shaped structure. The side of the auxiliary clamping structure opposite to the serrated contact surface of the moving slider is flat. The flat surface, in conjunction with the groove, allows the strawberry stem to be inserted into the groove of the moving slider, ensuring a tight clamping of the strawberry stem without cutting it off. A blade-receiving groove is also provided on the auxiliary clamping structure directly opposite the blade position to accommodate the blade. The wedge-shaped structure of the auxiliary clamping structure helps the stem enter the clamping range. The auxiliary clamping structure is fixed to the left clamping finger of the cylinder with fastening screws. The right clamping finger of the cylinder is also mounted on the cylinder, which is fixed to the upper connecting plate with screws.

[0009] The cylinder tail is equipped with a robotic arm interface, which can be installed on different robotic arms by connecting different flanges, thus having a certain degree of versatility.

[0010] The specific structure of the fruit clamping mechanism is as follows: it includes an electric push rod mechanism, which is connected to a linkage group, and the linkage group is finally connected to the clamping finger. The electric push rod mechanism is fixed to the lower connecting plate of the connecting structure by bolts. The head of the electric push rod mechanism is inserted into the connecting hole of the moving push rod and fixed by screws. The moving push rod is hinged to the first connecting rod, and the first connecting rod is connected to the second connecting rod. Since the stationary connecting rod is fixed on the lower connecting plate, the second connecting rod rotates around the hole and pushes the third connecting rod forward. The third connecting rod pushes the clamping finger forward. Since the clamping finger is hinged to the stationary connecting rod through hole K, the final result is that the clamping finger rotates around hole K in a closed rotation.

[0011] The linkage assembly is as follows: the moving push rod is connected to the first link's hole B through hole A; the first link is connected to the second link's hole D through hole C; the second link is connected to the third link's hole F through hole E, and to the stationary link's hole H through hole G; the third link is connected to the finger clamp's hole J through hole I; and the finger clamp is connected to the stationary link's hole L through hole K. All linkage joints are hinged with locking screws. A torsion spring is also installed at each hole, fitted onto the locking screw connecting the stationary link and the finger clamp. The two ends of the torsion spring are pressed against the corresponding planes of the stationary link and the finger clamp, respectively, to limit the torque of the finger clamp during the closing process, further reducing the contact force on the strawberry surface and ensuring the strawberry is not damaged by the finger clamp.

[0012] The clip is based on a right triangle and extends longitudinally along the two right-angled sides. The clip is equipped with replaceable flexible pads, which are fixed to the contact surface between the clip and the strawberry by mounting slots and screws.

[0013] The specific structure of the connection structure is as follows: it includes an upper connecting plate and a lower connecting plate connected by internally threaded cylindrical pins. Each of the upper and lower connecting plates is provided with 4 fixing pin seats. Two through holes are opened on both sides of each fixing pin seat. Bolts are fixed to their corresponding connecting plates through the through holes. The inner diameter of the through hole at the top of the fixing pin seat is slightly narrower than the other parts of the hole, so that the fixing pin seat is fixed to the head of the internally threaded cylindrical pin. The entire structure connects the upper connecting plate and the lower connecting plate through 4 internally threaded cylindrical pins. The upper connecting plate is then connected to the cylinder, and the lower connecting plate is connected to the electric push rod mechanism. Thus, the fruit stem clamping mechanism and the fruit clamping mechanism constitute the complete strawberry non-destructive harvesting end effector.

[0014] The specific structure of the electric linear actuator mechanism is as follows: the motor housing is fixed to the lower connecting plate through the positioning holes on the two ears, and the rod housing is connected to it. The rod housing has an inner guide rail inside, which is used for the rolling of balls. The ball guide rail on the rod cooperates with the inner guide rail to change the sliding friction of the electric linear actuator mechanism during movement into rolling friction, which greatly increases its service life. The top of the rod has a connecting hole, which is connected to the hole M of the moving rod.

[0015] The beneficial effects of this invention are as follows: The strawberry harvesting end effector, compared to existing stem-clamping end effectors, solves the problem of strawberry fruit falling due to the inability of a single-drive structure to clamp before cutting by embedding a compensation device, thus optimizing the end effector's workflow. Compared to existing fruit-clamping end effectors, the gripping fingers only assist the stem-clamping mechanism in harvesting, greatly reducing the clamping contact force on the strawberry surface, thereby reducing surface damage, ensuring the quality of harvested strawberries, and preventing strawberries from falling due to the robotic arm's vibration and the fruit's own inertia during the process of being moved into the harvesting basket. This invention reduces surface damage and the drop rate during harvesting by simultaneously setting up stem-clamping and fruit-clamping devices; flexible pads at the finger heads and torsion springs at the joints between the fingers and the stationary connecting rod further protect the strawberry surface from damage; the end effector is made entirely of ABS and acrylic sheets, reducing its weight and the load on the robotic arm. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall design of the strawberry non-destructive harvesting end effector of this utility model.

[0017] Figure 2 This is a schematic diagram of the strawberry stem clamping mechanism of the end effector for non-destructive strawberry harvesting according to this utility model.

[0018] Figure 3 This is an exploded view of the strawberry stem clamping mechanism of the end effector for non-destructive strawberry harvesting according to this utility model.

[0019] Figure 4 This is a schematic diagram of the fruit clamping mechanism of the strawberry non-destructive harvesting end effector of this utility model.

[0020] Figure 5 This is an exploded view of the fruit clamping mechanism of the strawberry non-destructive harvesting end effector of this utility model.

[0021] Figure 6 This is a schematic diagram of the connection structure of the strawberry non-destructive harvesting end effector of this utility model.

[0022] Figure 7 This is a schematic diagram of the outer shell of the electric push rod mechanism of the strawberry non-destructive harvesting end effector of this utility model.

[0023] Figure 8 This is a schematic diagram of the electric push rod mechanism of the strawberry non-destructive harvesting end effector of this utility model.

[0024] Figure 9 This is an enlarged view of the structural details of the fruit clamping mechanism of the strawberry non-destructive harvesting end effector of this utility model.

[0025] Figure 10 This diagram shows the corresponding connection holes of the fruit clamping mechanism in the end effector for non-destructive strawberry harvesting of this utility model.

[0026] Figure 11 This is a cross-sectional view of the fixing bolt seat of the connection structure of the strawberry non-destructive harvesting end effector of this utility model.

[0027] In the diagram, 1. Fruit stem clamping mechanism, 2. Fruit clamping mechanism, 3. Linking structure, 4. Blade, 5. Compression spring A, 6. Static slider, 7. Moving slider, 8. Serrated groove, 9. Wedge structure, 10. Auxiliary fruit stem clamping structure, 11. Left gripper finger of cylinder, 12. Cylinder, 13. Robotic arm interface, 14. Right gripper finger of cylinder, 15. Compression spring B, 16. Torsion spring, 17. Gripper finger, 17-1. Hole K, 17-2. Hole J, 18. Flexible pad, 19. Static push rod, 19-1. Hole H, 19-2. Hole L, 20. Third connecting rod. 20-1. Hole F, 20-2. Hole I, 21. Second connecting rod, 21-1. Hole G, 21-2. Hole D, 21-3. Hole E, 22. First connecting rod, 22-1. Hole B, 22-2. Hole C, 23. Moving push rod, 23-1. Hole A, 23-2. Hole M, 24. Electric push rod mechanism, 25. Fixed bolt seat, 26. Upper connecting plate, 27. Moving push rod guide hole, 28. Lower connecting plate, 29. Internal threaded cylindrical pin, 30. Motor housing, 31. Rod housing, 32. Inner guide rail of housing, 33. Ball, 34. Ball guide rail. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0029] This utility model is a non-destructive end effector for strawberry harvesting, with the structure as follows: Figure 1 As shown, the device includes a fruit stem clamping mechanism 1. The cylinder 12 in the fruit stem clamping mechanism 1 is fixed to the upper connecting plate 26 in the connecting structure 3 by screws. The electric push rod mechanism 24 in the fruit clamping mechanism 2 is fixed to the lower connecting plate 28 in the connecting structure 3 by bolts. This design ensures a tight connection between all parts, preventing loosening, and allows for overall movement during operation.

[0030] Combination Figures 2-3The specific structure of the stem clamping mechanism is as follows: It includes a right clamping finger 14 and a left clamping finger 11 mounted on a cylinder 12 via ball bearing guides. A stationary slider 6 and a movable slider 7 are provided on the right clamping finger 14. The stationary slider 6 has a guide rail gap between its upper and lower surfaces for the movable slider 7 to slide, allowing a protruding guide block on the movable slider 7 to slide within the guide rail gap. A through hole is provided for screw connection to the right clamping finger 14. A blade 4 is positioned above the movable slider 7, which is located in the gap formed by the stationary slider 6 and the right clamping finger 14. A compression spring A5 is positioned between the movable slider 7 and the right clamping finger 14. The stationary slider 6 has a circular recess corresponding to the diameter of the compression spring A5. The movable slider 7 has cylindrical protruding positioning posts connected to the compression spring A5. Both ends are used to fix the compression spring A5. The right clamping finger 14 of the cylinder is also provided with a cylindrical recess similar to that on the movable slider 7. Together with another cylindrical protruding positioning post on the movable slider 7, it is used to position the compression spring B15. The fixed slider 6 is fixed to the right clamping finger 14 of the cylinder by screws. When picking strawberries, the movable slider 7 can slide relative to the right clamping finger 14 of the cylinder and the fixed slider 6 through the gap of the guide rail. Thus, when clamping the fruit stem, the compression spring A5 and the compression spring B15 are first compressed by force, so that the fruit stem is first embedded into the serrated groove 8 to obtain sufficient clamping force. As the spring continues to contract, the blade 4 cuts the fruit stem. After the picking is completed, the movable slider 7 is pushed back to the initial position by the compression spring A5 and the compression spring B15 to wait for the next picking.

[0031] The structure on the left clamping finger 11 of the cylinder is an auxiliary clamping fruit stem structure 10. One end of the auxiliary clamping fruit stem structure 10 is connected to the left clamping finger 11 of the cylinder, and the other end of the auxiliary clamping fruit stem structure 10 is a wedge-shaped structure 9. The side of the auxiliary clamping fruit stem structure 10 opposite to the serrated contact surface 8 of the movable slider 7 is a flat surface. The auxiliary clamping fruit stem structure 10 also has a blade receiving groove to accommodate the blade 4 at the position directly opposite the blade 4. The wedge-shaped structure 9 helps the fruit stem enter the clamping range. The auxiliary clamping fruit stem structure 10 is fixed to the left clamping finger of the cylinder by fastening screws. The right clamping finger 14 of the cylinder and the left clamping finger 11 of the cylinder are both mounted on the cylinder 12 of model Airtac MHZ-32D. The cylinder 12 is fixed to the upper connecting plate 26 by screws.

[0032] The cylinder 12 is equipped with a robotic arm interface 13 at its tail. The robotic arm interface 13 can be installed on different robotic arms by connecting different flanges, thus having a certain degree of versatility.

[0033] Combination Figures 4-5The specific structure of the fruit clamping mechanism is as follows: it includes an electric push rod mechanism 24, which is connected to a linkage group, and the linkage group is ultimately connected to the clamping finger 17. By setting the position of the linkage group and the length of each link, the torque on the clamping finger when it is closed can be made smaller and smaller, thus achieving the purpose of protecting the surface of the strawberry. The electric actuator mechanism 24 is selected as the Mancheng MC105860. The electric actuator mechanism 24 is fixed to the lower connecting plate 28 of the connecting structure 3 by bolts. The head of the electric actuator mechanism 24 is inserted into the connecting hole of the moving actuator 23 and fixed by screws. The moving actuator 23 is connected to the hole B22-1 of the first connecting rod 22 through hole A23-1. The first connecting rod 22 is connected to the hole D21-2 of the second connecting rod 21 through hole C22-2. The second connecting rod is connected to the hole F20-1 of the third connecting rod 20 through hole E21-3, and to the hole H19-1 of the stationary connecting rod 19 through hole G21-1. The third connecting rod 20 is connected to the hole J17-2 of the clamping finger 17 through hole I20-2. The clamping finger 17 is connected to the hole L19-2 of the stationary connecting rod 19 through hole K17-1. All connecting joints are hinged with locking screws. A torsion spring 16 is also installed at this hole. Figure 9 As shown, the torsion spring 16 is fitted onto the locking screw used to connect the stationary connecting rod 19 and the clamping finger 17. The two ends of the torsion spring 16 are respectively in close contact with the corresponding planes of the stationary connecting rod 19 and the clamping finger 17, which is used to limit the torque of the clamping finger during the closing process, further reduce the contact force on the strawberry surface, and ensure the quality of the strawberry.

[0034] When the fruit clamping device is working, the electric push rod mechanism 24 extends, pushes the moving push rod 23 and drives the first connecting rod 22 to move forward together. The first connecting rod 22 is connected to the second connecting rod 21. Since the stationary connecting rod 19 is fixed on the lower connecting plate 28, the second connecting rod 21 rotates around the hole G21-1, and at the same time pushes the third connecting rod 20 forward. The third connecting rod pushes the clamping finger 17 forward. Since the clamping finger 17 is hinged to the stationary connecting rod 19 through the hole K17-1, the final result is that the clamping finger 17 rotates around the hole K17-1 in a closed rotation.

[0035] The linkage assembly is made of ABS plastic, which effectively meets the strength requirements, reduces the overall weight of the machine, and reduces the load on the robotic arm.

[0036] The clamping finger 17 is a structure based on a right triangle with two right-angled sides extending longitudinally. The clamping finger 17 is equipped with a replaceable flexible pad 18. The flexible pad 18 is fixed to the contact surface between the clamping finger 17 and the strawberry through the mounting groove and screw. When the fruit clamping device is working, the two clamping fingers 17 close and move closer to each other, clamping the strawberry in the middle.

[0037] like Figure 6As shown, the specific structure of the connection structure is as follows: it includes an upper connecting plate 26 and a lower connecting plate 28 connected by internal threaded cylindrical pins 29. Both the upper connecting plate 26 and the lower connecting plate 28 are provided with four fixing pin seats 25. Two through holes are opened on both sides of the fixing pin seat 25. Bolts are fixed to their corresponding connecting plates through the through holes. The inner diameter of the through hole opened at the top of the fixing pin seat 25 is slightly narrower than the other parts of the hole, so that the fixing pin seat 25 is fixed to the head of the internal threaded cylindrical pin 29. The entire structure connects the upper connecting plate 26 and the lower connecting plate 28 through four internal threaded cylindrical pins 29. The upper connecting plate 26 is connected to the cylinder 12, and the lower connecting plate 28 is connected to the electric push rod mechanism 24. Thus, the fruit stem clamping mechanism 1 and the fruit clamping mechanism constitute the complete strawberry non-destructive harvesting end effector.

[0038] Combination Figure 7 and Figure 8 The specific structure of the electric push rod mechanism is as follows: the motor housing 30 is fixed to the lower connecting plate 28 through the positioning holes on the two ears, and the rod housing 31 is connected at the same time. The rod housing 31 has an inner guide rail 32 inside, which is used for the ball bearing 33 to roll inside. The ball bearing guide rail 34 on the rod cooperates with the inner guide rail 32 to change the sliding friction of the electric push rod mechanism 24 during movement into rolling friction, which greatly increases its service life. The top of the electric push rod mechanism 24 has a connecting hole, which is connected to the hole M23-2 of the moving push rod 23.

[0039] Example 1

[0040] This utility model is a non-destructive end effector for strawberry harvesting, with the structure as follows: Figure 1 As shown, the device includes a fruit stem clamping mechanism 1. The cylinder 12 in the fruit stem clamping mechanism 1 is fixed to the upper connecting plate 26 in the connecting structure 3 by screws. The electric push rod mechanism 24 in the fruit clamping mechanism 2 is fixed to the lower connecting plate 28 in the connecting structure 3 by bolts. This design ensures a tight connection between all parts, preventing loosening, and allows for overall movement during operation.

[0041] Combination Figures 2-3The specific structure of the stem clamping mechanism is as follows: It includes a right clamping finger 14 and a left clamping finger 11 mounted on a cylinder 12 via ball bearing guides. A stationary slider 6 and a movable slider 7 are provided on the right clamping finger 14. The stationary slider 6 has a guide rail gap between its upper and lower surfaces for the movable slider 7 to slide, allowing a protruding guide block on the movable slider 7 to slide within the guide rail gap. A through hole is provided for screw connection to the right clamping finger 14. A blade 4 is positioned above the movable slider 7, which is located in the gap formed by the stationary slider 6 and the right clamping finger 14. A compression spring A5 is positioned between the movable slider 7 and the right clamping finger 14. The stationary slider 6 has a circular recess corresponding to the diameter of the compression spring A5. The movable slider 7 has cylindrical protruding positioning posts connected to the compression spring A5. Both ends are used to fix the compression spring A5. The right clamping finger 14 of the cylinder is also provided with a cylindrical recess similar to that on the movable slider 7. Together with another cylindrical protruding positioning post on the movable slider 7, it is used to position the compression spring B15. The fixed slider 6 is fixed to the right clamping finger 14 of the cylinder by screws. When picking strawberries, the movable slider 7 can slide relative to the right clamping finger 14 of the cylinder and the fixed slider 6 through the gap of the guide rail. Thus, when clamping the fruit stem, the compression spring A5 and the compression spring B15 are first compressed by force, so that the fruit stem is first embedded into the serrated groove 8 to obtain sufficient clamping force. As the spring continues to contract, the blade 4 cuts the fruit stem. After the picking is completed, the movable slider 7 is pushed back to the initial position by the compression spring A5 and the compression spring B15 to wait for the next picking.

[0042] Example 2

[0043] This utility model is a non-destructive end effector for strawberry harvesting, with the structure as follows: Figure 1 As shown, the device includes a fruit stem clamping mechanism 1. The cylinder 12 in the fruit stem clamping mechanism 1 is fixed to the upper connecting plate 26 in the connecting structure 3 by screws. The electric push rod mechanism 24 in the fruit clamping mechanism 2 is fixed to the lower connecting plate 28 in the connecting structure 3 by bolts. This design ensures a tight connection between all parts, preventing loosening, and allows for overall movement during operation.

[0044] Combination Figures 2-3The specific structure of the stem clamping mechanism is as follows: It includes a right clamping finger 14 and a left clamping finger 11 mounted on a cylinder 12 via ball bearing guides. A stationary slider 6 and a movable slider 7 are provided on the right clamping finger 14. The stationary slider 6 has a guide rail gap between its upper and lower surfaces for the movable slider 7 to slide, allowing a protruding guide block on the movable slider 7 to slide within the guide rail gap. A through hole is provided for screw connection to the right clamping finger 14. A blade 4 is positioned above the movable slider 7, which is located in the gap formed by the stationary slider 6 and the right clamping finger 14. A compression spring A5 is positioned between the movable slider 7 and the right clamping finger 14. The stationary slider 6 has a circular recess corresponding to the diameter of the compression spring A5. The movable slider 7 has cylindrical protruding positioning posts connected to the compression spring A5. Both ends are used to fix the compression spring A5. The right clamping finger 14 of the cylinder is also provided with a cylindrical recess similar to that on the movable slider 7. Together with another cylindrical protruding positioning post on the movable slider 7, it is used to position the compression spring B15. The fixed slider 6 is fixed to the right clamping finger 14 of the cylinder by screws. When picking strawberries, the movable slider 7 can slide relative to the right clamping finger 14 of the cylinder and the fixed slider 6 through the gap of the guide rail. Thus, when clamping the fruit stem, the compression spring A5 and the compression spring B15 are first compressed by force, so that the fruit stem is first embedded into the serrated groove 8 to obtain sufficient clamping force. As the spring continues to contract, the blade 4 cuts the fruit stem. After the picking is completed, the movable slider 7 is pushed back to the initial position by the compression spring A5 and the compression spring B15 to wait for the next picking.

[0045] The structure on the left clamping finger 11 of the cylinder is an auxiliary clamping fruit stem structure 10. One end of the auxiliary clamping fruit stem structure 10 is connected to the left clamping finger 11 of the cylinder, and the other end of the auxiliary clamping fruit stem structure 10 is a wedge-shaped structure 9. The side of the auxiliary clamping fruit stem structure 10 opposite to the serrated contact surface 8 of the movable slider 7 is a flat surface. The auxiliary clamping fruit stem structure 10 also has a blade receiving groove to accommodate the blade 4 at the position directly opposite the blade 4. The wedge-shaped structure 9 helps the fruit stem enter the clamping range. The auxiliary clamping fruit stem structure 10 is fixed to the left clamping finger of the cylinder by fastening screws. The right clamping finger 14 of the cylinder and the left clamping finger 11 of the cylinder are both mounted on the cylinder 12 of model Airtac MHZ-32D. The cylinder 12 is fixed to the upper connecting plate 26 by screws.

[0046] Example 3

[0047] This utility model is a non-destructive end effector for strawberry harvesting, with the structure as follows: Figure 1 As shown, the device includes a fruit stem clamping mechanism 1. The cylinder 12 in the fruit stem clamping mechanism 1 is fixed to the upper connecting plate 26 in the connecting structure 3 by screws. The electric push rod mechanism 24 in the fruit clamping mechanism 2 is fixed to the lower connecting plate 28 in the connecting structure 3 by bolts. This design ensures a tight connection between all parts, preventing loosening, and allows for overall movement during operation.

[0048] Combination Figures 2-3The specific structure of the stem clamping mechanism is as follows: It includes a right clamping finger 14 and a left clamping finger 11 mounted on a cylinder 12 via ball bearing guides. A stationary slider 6 and a movable slider 7 are provided on the right clamping finger 14. The stationary slider 6 has a guide rail gap between its upper and lower surfaces for the movable slider 7 to slide, allowing a protruding guide block on the movable slider 7 to slide within the guide rail gap. A through hole is provided for screw connection to the right clamping finger 14. A blade 4 is positioned above the movable slider 7, which is located in the gap formed by the stationary slider 6 and the right clamping finger 14. A compression spring A5 is positioned between the movable slider 7 and the right clamping finger 14. The stationary slider 6 has a circular recess corresponding to the diameter of the compression spring A5. The movable slider 7 has cylindrical protruding positioning posts connected to the compression spring A5. Both ends are used to fix the compression spring A5. The right clamping finger 14 of the cylinder is also provided with a cylindrical recess similar to that on the movable slider 7. Together with another cylindrical protruding positioning post on the movable slider 7, it is used to position the compression spring B15. The fixed slider 6 is fixed to the right clamping finger 14 of the cylinder by screws. When picking strawberries, the movable slider 7 can slide relative to the right clamping finger 14 of the cylinder and the fixed slider 6 through the gap of the guide rail. Thus, when clamping the fruit stem, the compression spring A5 and the compression spring B15 are first compressed by force, so that the fruit stem is first embedded into the serrated groove 8 to obtain sufficient clamping force. As the spring continues to contract, the blade 4 cuts the fruit stem. After the picking is completed, the movable slider 7 is pushed back to the initial position by the compression spring A5 and the compression spring B15 to wait for the next picking.

[0049] The structure on the left clamping finger 11 of the cylinder is an auxiliary clamping fruit stem structure 10. One end of the auxiliary clamping fruit stem structure 10 is connected to the left clamping finger 11 of the cylinder, and the other end of the auxiliary clamping fruit stem structure 10 is a wedge-shaped structure 9. The side of the auxiliary clamping fruit stem structure 10 opposite to the serrated contact surface 8 of the movable slider 7 is a flat surface. The auxiliary clamping fruit stem structure 10 also has a blade receiving groove to accommodate the blade 4 at the position directly opposite the blade 4. The wedge-shaped structure 9 helps the fruit stem enter the clamping range. The auxiliary clamping fruit stem structure 10 is fixed to the left clamping finger of the cylinder by fastening screws. The right clamping finger 14 of the cylinder and the left clamping finger 11 of the cylinder are both mounted on the cylinder 12 of model Airtac MHZ-32D. The cylinder 12 is fixed to the upper connecting plate 26 by screws.

[0050] The cylinder 12 is equipped with a robotic arm interface 13 at its tail. The robotic arm interface 13 can be installed on different robotic arms by connecting different flanges, thus having a certain degree of versatility.

[0051] Example 4

[0052] This utility model is a non-destructive end effector for strawberry harvesting, with the structure as follows: Figure 1As shown, the device includes a fruit stem clamping mechanism 1. The cylinder 12 in the fruit stem clamping mechanism 1 is fixed to the upper connecting plate 26 in the connecting structure 3 by screws. The electric push rod mechanism 24 in the fruit clamping mechanism 2 is fixed to the lower connecting plate 28 in the connecting structure 3 by bolts. This design ensures a tight connection between all parts, preventing loosening, and allows for overall movement during operation.

[0053] Combination Figures 2-3 The specific structure of the stem clamping mechanism is as follows: It includes a right clamping finger 14 and a left clamping finger 11 mounted on a cylinder 12 via ball bearing guides. A stationary slider 6 and a movable slider 7 are provided on the right clamping finger 14. The stationary slider 6 has a guide rail gap between its upper and lower surfaces for the movable slider 7 to slide, allowing a protruding guide block on the movable slider 7 to slide within the guide rail gap. A through hole is provided for screw connection to the right clamping finger 14. A blade 4 is positioned above the movable slider 7, which is located in the gap formed by the stationary slider 6 and the right clamping finger 14. A compression spring A5 is positioned between the movable slider 7 and the right clamping finger 14. The stationary slider 6 has a circular recess corresponding to the diameter of the compression spring A5. The movable slider 7 has cylindrical protruding positioning posts connected to the compression spring A5. Both ends are used to fix the compression spring A5. The right clamping finger 14 of the cylinder is also provided with a cylindrical recess similar to that on the movable slider 7. Together with another cylindrical protruding positioning post on the movable slider 7, it is used to position the compression spring B15. The fixed slider 6 is fixed to the right clamping finger 14 of the cylinder by screws. When picking strawberries, the movable slider 7 can slide relative to the right clamping finger 14 of the cylinder and the fixed slider 6 through the gap of the guide rail. Thus, when clamping the fruit stem, the compression spring A5 and the compression spring B15 are first compressed by force, so that the fruit stem is first embedded into the serrated groove 8 to obtain sufficient clamping force. As the spring continues to contract, the blade 4 cuts the fruit stem. After the picking is completed, the movable slider 7 is pushed back to the initial position by the compression spring A5 and the compression spring B15 to wait for the next picking.

[0054] The structure on the left clamping finger 11 of the cylinder is an auxiliary clamping fruit stem structure 10. One end of the auxiliary clamping fruit stem structure 10 is connected to the left clamping finger 11 of the cylinder, and the other end of the auxiliary clamping fruit stem structure 10 is a wedge-shaped structure 9. The side of the auxiliary clamping fruit stem structure 10 opposite to the serrated contact surface 8 of the movable slider 7 is a flat surface. The auxiliary clamping fruit stem structure 10 also has a blade receiving groove to accommodate the blade 4 at the position directly opposite the blade 4. The wedge-shaped structure 9 helps the fruit stem enter the clamping range. The auxiliary clamping fruit stem structure 10 is fixed to the left clamping finger of the cylinder by fastening screws. The right clamping finger 14 of the cylinder and the left clamping finger 11 of the cylinder are both mounted on the cylinder 12 of model Airtac MHZ-32D. The cylinder 12 is fixed to the upper connecting plate 26 by screws.

[0055] The cylinder 12 is equipped with a robotic arm interface 13 at its tail. The robotic arm interface 13 can be installed on different robotic arms by connecting different flanges, thus having a certain degree of versatility.

[0056] Combination Figures 4-5 The specific structure of the fruit clamping mechanism is as follows: it includes an electric push rod mechanism 24, which is connected to a linkage group, and the linkage group is ultimately connected to the clamping finger 17. By setting the position of the linkage group and the length of each link, the torque on the clamping finger when it is closed can be made smaller and smaller, thus achieving the purpose of protecting the surface of the strawberry. The electric actuator mechanism 24 is selected as the Mancheng MC105860. The electric actuator mechanism 24 is fixed to the lower connecting plate 28 of the connecting structure 3 by bolts. The head of the electric actuator mechanism 24 is inserted into the connecting hole of the moving actuator 23 and fixed by screws. The moving actuator 23 is connected to the hole B22-1 of the first connecting rod 22 through hole A23-1. The first connecting rod 22 is connected to the hole D21-2 of the second connecting rod 21 through hole C22-2. The second connecting rod is connected to the hole F20-1 of the third connecting rod 20 through hole E21-3, and to the hole H19-1 of the stationary connecting rod 19 through hole G21-1. The third connecting rod 20 is connected to the hole J17-2 of the clamping finger 17 through hole I20-2. The clamping finger 17 is connected to the hole L19-2 of the stationary connecting rod 19 through hole K17-1. All connecting joints are hinged with locking screws. A torsion spring 16 is also installed at this hole. Figure 9 As shown, the torsion spring 16 is fitted onto the locking screw used to connect the stationary connecting rod 19 and the clamping finger 17. The two ends of the torsion spring 16 are respectively in close contact with the corresponding planes of the stationary connecting rod 19 and the clamping finger 17, which is used to limit the torque of the clamping finger during the closing process, further reduce the contact force on the strawberry surface, and ensure the quality of the strawberry.

[0057] Example 5

[0058] This utility model is a non-destructive end effector for strawberry harvesting, with the structure as follows: Figure 1 As shown, the device includes a fruit stem clamping mechanism 1. The cylinder 12 in the fruit stem clamping mechanism 1 is fixed to the upper connecting plate 26 in the connecting structure 3 by screws. The electric push rod mechanism 24 in the fruit clamping mechanism 2 is fixed to the lower connecting plate 28 in the connecting structure 3 by bolts. This design ensures a tight connection between all parts, preventing loosening, and allows for overall movement during operation.

[0059] Combination Figures 2-3The specific structure of the stem clamping mechanism is as follows: It includes a right clamping finger 14 and a left clamping finger 11 mounted on a cylinder 12 via ball bearing guides. A stationary slider 6 and a movable slider 7 are provided on the right clamping finger 14. The stationary slider 6 has a guide rail gap between its upper and lower surfaces for the movable slider 7 to slide, allowing a protruding guide block on the movable slider 7 to slide within the guide rail gap. A through hole is provided for screw connection to the right clamping finger 14. A blade 4 is positioned above the movable slider 7, which is located in the gap formed by the stationary slider 6 and the right clamping finger 14. A compression spring A5 is positioned between the movable slider 7 and the right clamping finger 14. The stationary slider 6 has a circular recess corresponding to the diameter of the compression spring A5. The movable slider 7 has cylindrical protruding positioning posts connected to the compression spring A5. Both ends are used to fix the compression spring A5. The right clamping finger 14 of the cylinder is also provided with a cylindrical recess similar to that on the movable slider 7. Together with another cylindrical protruding positioning post on the movable slider 7, it is used to position the compression spring B15. The fixed slider 6 is fixed to the right clamping finger 14 of the cylinder by screws. When picking strawberries, the movable slider 7 can slide relative to the right clamping finger 14 of the cylinder and the fixed slider 6 through the gap of the guide rail. Thus, when clamping the fruit stem, the compression spring A5 and the compression spring B15 are first compressed by force, so that the fruit stem is first embedded into the serrated groove 8 to obtain sufficient clamping force. As the spring continues to contract, the blade 4 cuts the fruit stem. After the picking is completed, the movable slider 7 is pushed back to the initial position by the compression spring A5 and the compression spring B15 to wait for the next picking.

[0060] The structure on the left clamping finger 11 of the cylinder is an auxiliary clamping fruit stem structure 10. One end of the auxiliary clamping fruit stem structure 10 is connected to the left clamping finger 11 of the cylinder, and the other end of the auxiliary clamping fruit stem structure 10 is a wedge-shaped structure 9. The side of the auxiliary clamping fruit stem structure 10 opposite to the serrated contact surface 8 of the movable slider 7 is a flat surface. The auxiliary clamping fruit stem structure 10 also has a blade receiving groove to accommodate the blade 4 at the position directly opposite the blade 4. The wedge-shaped structure 9 helps the fruit stem enter the clamping range. The auxiliary clamping fruit stem structure 10 is fixed to the left clamping finger of the cylinder by fastening screws. The right clamping finger 14 of the cylinder and the left clamping finger 11 of the cylinder are both mounted on the cylinder 12 of model Airtac MHZ-32D. The cylinder 12 is fixed to the upper connecting plate 26 by screws.

[0061] The cylinder 12 is equipped with a robotic arm interface 13 at its tail. The robotic arm interface 13 can be installed on different robotic arms by connecting different flanges, thus having a certain degree of versatility.

[0062] Combination Figures 4-5The specific structure of the fruit clamping mechanism is as follows: it includes an electric push rod mechanism 24, which is connected to a linkage group, and the linkage group is ultimately connected to the clamping finger 17. By setting the position of the linkage group and the length of each link, the torque on the clamping finger when it is closed can be made smaller and smaller, thus achieving the purpose of protecting the surface of the strawberry. The electric actuator mechanism 24 is selected as the Mancheng MC105860. The electric actuator mechanism 24 is fixed to the lower connecting plate 28 of the connecting structure 3 by bolts. The head of the electric actuator mechanism 24 is inserted into the connecting hole of the moving actuator 23 and fixed by screws. The moving actuator 23 is connected to the hole B22-1 of the first connecting rod 22 through hole A23-1. The first connecting rod 22 is connected to the hole D21-2 of the second connecting rod 21 through hole C22-2. The second connecting rod is connected to the hole F20-1 of the third connecting rod 20 through hole E21-3, and to the hole H19-1 of the stationary connecting rod 19 through hole G21-1. The third connecting rod 20 is connected to the hole J17-2 of the clamping finger 17 through hole I20-2. The clamping finger 17 is connected to the hole L19-2 of the stationary connecting rod 19 through hole K17-1. All connecting joints are hinged with locking screws. A torsion spring 16 is also installed at this hole. Figure 9 As shown, the torsion spring 16 is fitted onto the locking screw used to connect the stationary connecting rod 19 and the clamping finger 17. The two ends of the torsion spring 16 are respectively in close contact with the corresponding planes of the stationary connecting rod 19 and the clamping finger 17, which is used to limit the torque of the clamping finger during the closing process, further reduce the contact force on the strawberry surface, and ensure the quality of the strawberry.

[0063] When the fruit clamping device is working, the electric pusher 24 extends, pushing the push rod 23 and causing the first connecting rod 22 to move forward together. The first connecting rod 22 is connected to the second connecting rod 21. Since the stationary connecting rod 19 is fixed on the lower connecting plate 28, the second connecting rod 21 rotates around the hole G21-1, while pushing the third connecting rod 20 forward. The third connecting rod pushes the clamping finger 17 forward. Since the clamping finger 17 is hinged to the stationary connecting rod 19 through the hole K17-1, the final result is that the clamping finger 17 rotates around the hole K17-1 in a closed rotation.

[0064] The linkage assembly is made of ABS plastic, which effectively meets the strength requirements, reduces the overall weight of the machine, and reduces the load on the robotic arm.

[0065] Example 6

[0066] This utility model is a non-destructive end effector for strawberry harvesting, with the structure as follows: Figure 1 As shown, the device includes a fruit stem clamping mechanism 1. The cylinder 12 in the fruit stem clamping mechanism 1 is fixed to the upper connecting plate 26 in the connecting structure 3 by screws. The electric push rod mechanism 24 in the fruit clamping mechanism 2 is fixed to the lower connecting plate 28 in the connecting structure 3 by bolts. This design ensures a tight connection between all parts, preventing loosening, and allows for overall movement during operation.

[0067] Combination Figures 2-3 The specific structure of the stem clamping mechanism is as follows: It includes a right clamping finger 14 and a left clamping finger 11 mounted on a cylinder 12 via ball bearing guides. A stationary slider 6 and a movable slider 7 are provided on the right clamping finger 14. The stationary slider 6 has a guide rail gap between its upper and lower surfaces for the movable slider 7 to slide, allowing a protruding guide block on the movable slider 7 to slide within the guide rail gap. A through hole is provided for screw connection to the right clamping finger 14. A blade 4 is positioned above the movable slider 7, which is located in the gap formed by the stationary slider 6 and the right clamping finger 14. A compression spring A5 is positioned between the movable slider 7 and the right clamping finger 14. The stationary slider 6 has a circular recess corresponding to the diameter of the compression spring A5. The movable slider 7 has cylindrical protruding positioning posts connected to the compression spring A5. Both ends are used to fix the compression spring A5. The right clamping finger 14 of the cylinder is also provided with a cylindrical recess similar to that on the movable slider 7. Together with another cylindrical protruding positioning post on the movable slider 7, it is used to position the compression spring B15. The fixed slider 6 is fixed to the right clamping finger 14 of the cylinder by screws. When picking strawberries, the movable slider 7 can slide relative to the right clamping finger 14 of the cylinder and the fixed slider 6 through the gap of the guide rail. Thus, when clamping the fruit stem, the compression spring A5 and the compression spring B15 are first compressed by force, so that the fruit stem is first embedded into the serrated groove 8 to obtain sufficient clamping force. As the spring continues to contract, the blade 4 cuts the fruit stem. After the picking is completed, the movable slider 7 is pushed back to the initial position by the compression spring A5 and the compression spring B15 to wait for the next picking.

[0068] The structure on the left clamping finger 11 of the cylinder is an auxiliary clamping fruit stem structure 10. One end of the auxiliary clamping fruit stem structure 10 is connected to the left clamping finger 11 of the cylinder, and the other end of the auxiliary clamping fruit stem structure 10 is a wedge-shaped structure 9. The side of the auxiliary clamping fruit stem structure 10 opposite to the serrated contact surface 8 of the movable slider 7 is a flat surface. The auxiliary clamping fruit stem structure 10 also has a blade receiving groove to accommodate the blade 4 at the position directly opposite the blade 4. The wedge-shaped structure 9 helps the fruit stem enter the clamping range. The auxiliary clamping fruit stem structure 10 is fixed to the left clamping finger of the cylinder by fastening screws. The right clamping finger 14 of the cylinder and the left clamping finger 11 of the cylinder are both mounted on the cylinder 12 of model Airtac MHZ-32D. The cylinder 12 is fixed to the upper connecting plate 26 by screws.

[0069] The cylinder 12 is equipped with a robotic arm interface 13 at its tail. The robotic arm interface 13 can be installed on different robotic arms by connecting different flanges, thus having a certain degree of versatility.

[0070] Combination Figures 4-5The specific structure of the fruit clamping mechanism is as follows: it includes an electric push rod mechanism 24, which is connected to a linkage group, and the linkage group is ultimately connected to the clamping finger 17. By setting the position of the linkage group and the length of each link, the torque on the clamping finger when it is closed can be made smaller and smaller, thus achieving the purpose of protecting the surface of the strawberry. The electric actuator mechanism 24 is selected as the Mancheng MC105860. The electric actuator mechanism 24 is fixed to the lower connecting plate 28 of the connecting structure 3 by bolts. The head of the electric actuator mechanism 24 is inserted into the connecting hole of the moving actuator 23 and fixed by screws. The moving actuator 23 is connected to the hole B22-1 of the first connecting rod 22 through hole A23-1. The first connecting rod 22 is connected to the hole D21-2 of the second connecting rod 21 through hole C22-2. The second connecting rod is connected to the hole F20-1 of the third connecting rod 20 through hole E21-3, and to the hole H19-1 of the stationary connecting rod 19 through hole G21-1. The third connecting rod 20 is connected to the hole J17-2 of the clamping finger 17 through hole I20-2. The clamping finger 17 is connected to the hole L19-2 of the stationary connecting rod 19 through hole K17-1. All connecting joints are hinged with locking screws. A torsion spring 16 is also installed at this hole. Figure 9 As shown, the torsion spring 16 is fitted onto the locking screw used to connect the stationary connecting rod 19 and the clamping finger 17. The two ends of the torsion spring 16 are respectively in close contact with the corresponding planes of the stationary connecting rod 19 and the clamping finger 17, which is used to limit the torque of the clamping finger during the closing process, further reduce the contact force on the strawberry surface, and ensure the quality of the strawberry.

[0071] When the fruit clamping device is working, the electric pusher 24 extends, pushing the push rod 23 and causing the first connecting rod 22 to move forward together. The first connecting rod 22 is connected to the second connecting rod 21. Since the stationary connecting rod 19 is fixed on the lower connecting plate 28, the second connecting rod 21 rotates around the hole G21-1, while pushing the third connecting rod 20 forward. The third connecting rod pushes the clamping finger 17 forward. Since the clamping finger 17 is hinged to the stationary connecting rod 19 through the hole K17-1, the final result is that the clamping finger 17 rotates around the hole K17-1 in a closed rotation.

[0072] The clamping finger 17 is a structure based on a right triangle with two right-angled sides extending longitudinally. The clamping finger 17 is equipped with a replaceable flexible pad 18. The flexible pad 18 is fixed to the contact surface between the clamping finger 17 and the strawberry through the mounting groove and screw. When the fruit clamping device is working, the two clamping fingers 17 close and move closer to each other, clamping the strawberry in the middle.

[0073] like Figure 6As shown, the specific structure of the connection structure is as follows: it includes an upper connecting plate 26 and a lower connecting plate 28 connected by internal threaded cylindrical pins 29. Both the upper connecting plate 26 and the lower connecting plate 28 are provided with four fixing pin seats 25. Two through holes are opened on both sides of the fixing pin seat 25. Bolts are fixed to their corresponding connecting plates through the through holes. The inner diameter of the through hole opened at the top of the fixing pin seat 25 is slightly narrower than the other parts of the hole, so that the fixing pin seat 25 is fixed to the head of the internal threaded cylindrical pin 29. The entire structure connects the upper connecting plate 26 and the lower connecting plate 28 through four internal threaded cylindrical pins 29. The upper connecting plate 26 is connected to the cylinder 12, and the lower connecting plate 28 is connected to the electric push rod mechanism 24. Thus, the fruit stem clamping mechanism 1 and the fruit clamping mechanism constitute the complete strawberry non-destructive harvesting end effector.

Claims

1. A strawberry non-destructive picking end effector, characterized in that, The application relates to a fruit stem clamping mechanism (1) provided with a fruit clamping mechanism (2) below the fruit stem clamping mechanism (1), and the fruit stem clamping mechanism (1) and the fruit clamping mechanism (2) are connected to form a whole machine through a connecting structure (3), and the specific structure of the fruit stem clamping mechanism is as follows: a cylinder right clamping finger (14) and a cylinder left clamping finger (11) are respectively installed on a cylinder (12) through ball guide rails, the cylinder right clamping finger (14) is provided with a static sliding block (6) and a dynamic sliding block (7), the static sliding block (6) is provided with a guide rail gap between upper and lower surfaces for the dynamic sliding block (7) to slide, a convex guide block on the dynamic sliding block (7) slides in the guide rail gap and is provided with a through hole connected with the cylinder right clamping finger (14) through a screw, a blade (4) is arranged above the dynamic sliding block (7), the dynamic sliding block (7) is arranged in a gap formed by the static sliding block (6) and the cylinder right clamping finger (14), a compression spring A (5) is arranged between the dynamic sliding block (7) and the cylinder right clamping finger (14), the static sliding block (6) is provided with a circular recess corresponding to the diameter of the compression spring A (5), the dynamic sliding block (7) is provided with a cylindrical convex positioning column, and the two ends of the compression spring A (5) are connected for fixing the compression spring A (5), the cylinder right clamping finger (14) is also provided with a cylindrical recess similar to the dynamic sliding block (7) and a cylindrical convex positioning column on the other side of the dynamic sliding block (7) for positioning the compression spring B (15), and the static sliding block (6) is fixed on the cylinder right clamping finger (14) through a screw.

2. The strawberry non-destructive picking end effector of claim 1, wherein, The structure on the cylinder left clamping finger (11) is an auxiliary fruit stem clamping structure (10), one end of the auxiliary fruit stem clamping structure (10) is connected with the cylinder left clamping finger (11), the other end of the auxiliary fruit stem clamping structure (10) is a wedge-shaped structure (9), the side, opposite to a sawtooth-shaped contact surface (8) of the dynamic sliding block (7), of the auxiliary fruit stem clamping structure (10) is a plane, a blade accommodating groove for accommodating the blade (4) is arranged at a position of the auxiliary fruit stem clamping structure (10) opposite to the blade (4), the wedge-shaped structure (9) helps the fruit stem to enter the clamping range, the auxiliary fruit stem clamping structure (10) is fixed on the cylinder left clamping finger through a fastening screw, and the cylinder right clamping finger (14) and the cylinder left clamping finger (11) are both installed on the cylinder (12) of a type of yade MHZ-32D, and the cylinder (12) is fixed on an upper connecting plate (26) through a screw.

3. The strawberry non-destructive picking end effector of claim 2, wherein, The tail of the cylinder (12) is provided with a mechanical arm interface (13), the mechanical arm interface (13) can be installed on different mechanical arms through different flanges, and has certain universality.

4. The strawberry non-destructive picking end effector of claim 3, wherein, The specific structure of the fruit clamping mechanism is: including an electric push rod mechanism (24), the electric push rod mechanism (24) is connected with a linkage, the linkage is finally connected with a clamping finger (17), the electric push rod mechanism (24) is fixed on the lower connecting plate (28) of the connecting structure (3) through bolts, the head of the electric push rod mechanism (24) is inserted into the connecting hole of a movable push rod (23) and fixed through a screw, the movable push rod (23) is hinged with a first linkage (22), the first linkage (22) is connected with a second linkage (21), since the static linkage (19) is fixed on the lower connecting plate (28), the second linkage (21) is made to rotate around the hole G (21-1) and simultaneously pushes the third linkage (20) forward, the third linkage pushes the clamping finger (17) forward, since the clamping finger (17) is hinged with the static linkage (19) through the hole K (17-1), finally the clamping finger (17) is made to rotate around the hole K (17-1) to close.

5. The strawberry non-destructive picking end effector of claim 4, wherein, The linkage is specifically: the movable push rod (23) is connected with the hole B (22-1) of the first linkage (22) through the hole A (23-1), the first linkage (22) is connected with the hole D (21-2) of the second linkage (21) through the hole C (22-2), the second linkage (21) is connected with the hole F (20-1) of the third linkage (20) through the hole E (21-3) and connected with the hole H (19-1) of the static linkage (19) through the hole G (21-1), the third linkage (20) is connected with the hole J (17-2) of the clamping finger (17) through the hole I (20-2), the clamping finger (17) is connected with the hole L (19-2) of the static linkage (19) through the hole K (17-1), all the connecting joints of the linkages are hinged with a locking screw, meanwhile, a torsional spring (16) is arranged at the hole, the torsional spring (16) is sleeved on the locking screw for connecting the static linkage (19) and the clamping finger (17), the two ends of the torsional spring (16) are tightly attached to the corresponding planes of the static linkage (19) and the clamping finger (17) respectively, for limiting the torque of the clamping finger in the closing process, further reducing the contact force on the surface of the strawberry and ensuring the quality of the strawberry.

6. The strawberry non-destructive picking end effector of claim 5, wherein, The clamping finger (17) is a structure with two straight sides longitudinally extended based on a right triangle, a replaceable flexible gasket (18) is arranged on the clamping finger (17), the flexible gasket (18) is fixed on the contact surface of the clamping finger (17) and the strawberry through a mounting groove and a screw.

7. The strawberry non-destructive picking end effector of claim 5, wherein, The specific structure of the connecting structure is that the upper connecting plate (26) and the lower connecting plate (28) are connected through the internal thread cylindrical pin (29), four fixed stud seats (25) are arranged on the upper connecting plate (26) and the lower connecting plate (28), two through holes are formed on the two sides of the fixed stud seat (25), the bolt is fixed through the through hole and the corresponding connecting plate, the inner diameter of the through hole formed on the top of the fixed stud seat (25) is slightly narrower than the other parts of the hole, the fixed stud seat (25) is fixed on the head of the internal thread cylindrical pin (29), the whole structure connects the upper connecting plate (26) and the lower connecting plate (28) through the four internal thread cylindrical pins (29), then the upper connecting plate (26) is connected with the cylinder (12), the lower connecting plate (28) is connected with the electric push rod mechanism (24), and then the fruit stem clamping mechanism (1) and the fruit clamping mechanism constitute the strawberry non-damage picking end effector complete machine.

8. The strawberry non-destructive picking end effector of claim 7, wherein, The specific structure of the electric push rod mechanism is that the motor shell (30) is fixed on the lower connecting plate (28) through the positioning holes on the two ears, and the connecting rod shell (31) is connected, the rod shell (31) is internally provided with a shell inner guide rail (32), the shell inner guide rail (32) is used for rolling the ball (33) in the shell inner guide rail (32), the ball guide rail (34) on the rod is matched with the shell inner guide rail (32), and the top of the rod is provided with a connecting hole connected with the hole M (23-2) of the electric push rod (23).

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