A fruit harvesting device

Abstract

The utility model relates to agricultural machinery technical field and discloses a kind of fruit harvesting device, fruit harvesting device includes clamping mechanism, shearing mechanism and drive mechanism, clamping mechanism includes gripper and buffer, wherein, two grippers are oppositely arranged, buffer is arranged on the opposite side of two grippers, shearing mechanism includes two hingedly cutters, one end of each cutter is hingedly connected with gripper, drive mechanism is connected with gripper, to drive clamping mechanism switch between open state and clamping state, and in clamping state, drive mechanism is also configured to drive two cutters relative rotation by gripper to shear the fruit stem of fruit;In the above scheme, through the driving action of single driving source, the timing linkage of gripper closure clamping fruit and cutter cutting fruit stem can be realized, this kind of mode avoids that shearing mechanism needs additional independent driving module, reduces the mechanism complexity of entire fruit harvesting device, simultaneously avoids action conflict problem.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to a fruit harvesting device. Background Technology

[0002] Fruit harvesting is a crucial step in agricultural production, directly impacting fruit quality, commercial value, and subsequent distribution efficiency. Traditional harvesting methods rely heavily on manual labor, primarily using shears or hand-picking. While manual harvesting allows for precise assessment of fruit ripeness and gentle handling, avoiding mechanical damage and maintaining fruit peel integrity, its low efficiency, high labor intensity, and rising labor costs are becoming increasingly prominent. With an aging population and a shortage of agricultural labor, traditional harvesting methods can no longer meet the market demands of large-scale, intensive production, hindering the sustainable development of the fruit industry.

[0003] Against this backdrop, mechanized fruit harvesting technology, with its advantages of high efficiency and low cost, has become a crucial breakthrough for the transformation and upgrading of agricultural modernization. Mechanized harvesting achieves rapid sorting and harvesting of fruits through automated or semi-automated equipment, significantly shortening the harvesting cycle, reducing reliance on labor, and providing scalable solutions for large-scale planting. However, the biological characteristics of fruits, such as fragile skin, diverse shapes, and uneven ripening, pose unique challenges to the design of mechanized harvesting equipment: on the one hand, mechanical damage caused during clamping and cutting must be avoided; on the other hand, it must adapt to complex field environments and plant structures. Utility Model Content

[0004] This utility model discloses a fruit harvesting device to solve the above-mentioned technical problems existing in related technologies.

[0005] To solve the above problems, the present invention adopts the following technical solution:

[0006] This application provides a fruit harvesting device, which includes:

[0007] A clamping mechanism, comprising grippers and a buffer, wherein two grippers are disposed opposite to each other, and the buffer is disposed on one side opposite to the two grippers;

[0008] A shearing mechanism comprising two hinged cutters, one end of each cutter being hinged to the gripper;

[0009] A driving mechanism is connected to the gripper to drive the clamping mechanism to switch between an open state and a clamping state. In the clamping state, the driving mechanism is also configured to drive the two cutters to rotate relative to each other through the gripper to cut the fruit stalk.

[0010] The technical solution adopted in this utility model can achieve the following beneficial effects:

[0011] In the initial state, the two grippers of this application are in an open state, and the fruit can enter between the two grippers through the opening area. During the process of the drive mechanism driving the grippers to switch from an open state to a closed state, the buffer on the inner side of the grippers first contacts the fruit to clamp and fix the fruit. As the drive mechanism continues to move, the two opposing grippers move closer together. During this process, the buffer undergoes adaptive buffer deformation to avoid excessive clamping force and damage to the fruit. At the same time, the opposing movement of the grippers can drive the two cutters to rotate relative to each other, thereby cutting the fruit stem. That is to say, through the driving action of a single drive source, the sequential linkage of the grippers closing to clamp the fruit and the cutters cutting the fruit stem can be achieved. This method avoids the need for an additional independent drive module for the cutting mechanism, reduces the structural complexity of the entire fruit harvesting device, and avoids the problem of action conflict. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the structure of the fruit harvesting device according to an embodiment of this application;

[0014] Figure 2 This is a schematic diagram of the connection between the gripper and the buffer in an embodiment of this application;

[0015] Figure 3 This is a cross-sectional schematic diagram of the buffer according to an embodiment of this application.

[0016] In the picture:

[0017] 100. Clamping mechanism; 110. Gripper; 111. Ear plate; 120. Buffer; 121. Support plate; 122. Pin; 1221. Pin body; 1222. First ring; 1223. Second ring; 1224. Limiting protrusion; 123. Sleeve; 1231. Limiting part; 124. First elastic element; 125. Second elastic element; 126. Guide ring; 127. Boss; 128. Flexible pad; 200. Shearing mechanism; 210. Cutter; 300. Drive mechanism; 310. Drive element; 320. Link assembly; 321. Base; 322. Connecting block; 323. First link; 324. Second link. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0019] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0020] The following is in conjunction with the appendix Figures 1 to 3 The fruit harvesting device provided in this application will be described in detail through specific embodiments and application scenarios.

[0021] Please see Figure 1 This application discloses a fruit harvesting device for harvesting mature fruits, such as fruit harvesting. The disclosed fruit harvesting device includes a clamping mechanism 100, a cutting mechanism 200, and a driving mechanism 300. The driving mechanism 300 is connected to the clamping mechanism 100, thereby driving the clamping mechanism 100 to clamp the fruit. In this application embodiment, the clamping mechanism 100 is connected to the cutting mechanism 200. When the driving mechanism 300 drives the clamping mechanism 100 to clamp the fruit, with the further action of the driving mechanism 300, the driving mechanism 300 can also drive the cutting mechanism 200 to cut the stem of the fruit through the clamping mechanism 100.

[0022] In the embodiments of this application, please refer to Figure 1 and Figure 2 The clamping mechanism 100 includes a gripper 110 and a buffer 120. The gripper 110 has an arc-shaped plate structure. The two grippers 110 are arranged opposite each other and form a receiving space between them for holding the fruit. The buffer 120 is located on the opposite side of the two grippers 110. The two grippers 110 can move towards each other to close or move away from each other to open. When the two grippers 110 move towards each other to close, the buffer 120 on the inner side of the gripper 110 can contact the surface of the fruit and realize the clamping action.

[0023] In this embodiment, the drive mechanism 300 is connected to two grippers 110. The drive mechanism 300 can drive the two grippers 110 to switch between an open state and a clamping state. It is understood that in the open state, there is a large opening area between the two grippers 110, and the fruit can enter the accommodating space between the two grippers 110 through the opening area. When the drive mechanism 300 drives the grippers 110 to switch from the open state to the clamping state, the two grippers 110 move towards each other and close, so that the two inner buffers 120 contact the fruit and form a clamp.

[0024] In this embodiment, the shearing mechanism 200 includes two hinged blades 210. Specifically, the two blades 210 are hinged at their middle portions, and one end of each blade 210 is hinged to a gripper 110, forming a "scissors"-like structure. Specifically, one end of each blade 210 is connected to the upper end of the gripper 110. When the two grippers 110 hold the fruit, the blades 210 correspond to the fruit stem. When the driving mechanism 300 drives the two grippers 110 to close or open, the two grippers 110 can act as the driving end of the "scissors" structure to cut the fruit stem. For example, the blades 210 can be made of lightweight stainless steel. The blade edge of the blade 210 can be designed as linear or slightly arc-shaped. The blade edge of the blade 210 can also be designed with a serrated structure, which can adapt to the cylindrical structure of the fruit stem during the shearing action, improving shearing efficiency.

[0025] Based on the above technical solution, in specific applications, the fruit harvesting device disclosed in this application initially has two grippers 110 in an open state. Fruit can enter between the two grippers 110 through the opening area. During the process of the drive mechanism 300 driving the grippers 110 to switch from an open state to a closed state, the buffer 120 on the inner side of the grippers 110 first contacts the fruit to clamp and fix it. As the drive mechanism 300 continues to drive, the two opposing grippers 110 further approach each other. In this process, the buffer 120 undergoes adaptive buffer deformation to avoid excessive clamping force that could damage the fruit. At the same time, the opposing movement of the grippers 110 can drive the two cutters 210 to rotate relative to each other, thereby achieving the cutting of the fruit stem. In other words, in this solution, through the continuous driving action of a single drive source, the sequential linkage of the grippers 110 closing to clamp the fruit and the cutters 210 cutting the fruit stem can be achieved. This method avoids the need for an additional independent drive module for the cutting mechanism 200, reduces the structural complexity of the entire fruit harvesting device, and avoids the problem of action conflict.

[0026] Meanwhile, the process of clamping the fruit and cutting the stem does not require manual intervention or additional sensor triggering. The entire process of clamping-buffering-cutting-resetting can be completed in stages by the continuous linear action of the drive mechanism 300, which greatly shortens the operation time required to harvest a single fruit and significantly improves operation efficiency.

[0027] In the embodiments of this application, please refer to Figure 1 The drive mechanism 300 includes a drive element 310 and a linkage assembly 320. The drive element 310 is connected to the gripper 110 via the linkage assembly 320, thereby driving the gripper 110 to switch between an open state and a clamping state. For example, the drive element 310 can use a high-precision servo cylinder or linear motor as the drive source. The movement speed and stroke of the actuator end of the drive element 310 can be controlled by programming, thereby maintaining the timing and consistency of the clamping-shearing action. The actuator end of the drive element 310 is connected to the gripper via the linkage assembly 320. In this embodiment, the linkage assembly 320 can be symmetrically distributed between the drive member 310 and the two grippers 110. This ensures the symmetry and consistency of the movement of the two grippers 110, avoiding uneven force on the fruit due to inconsistent movements of the two grippers 110, which could lead to the fruit falling off or being damaged. Furthermore, the linkage assembly 320 ensures that the two grippers 110 move synchronously, which in turn ensures that the two cutters 210 move synchronously during cutting, thus cleanly and neatly cutting off the fruit stem.

[0028] In the embodiments of this application, please continue to refer to Figure 1The linkage assembly 320 includes a base 321, a connecting block 322, a first connecting rod 323, and a second connecting rod 324. The base 321 and the connecting block 322 are distributed on the action path of the actuator end of the drive member 310. Both the base 321 and the connecting block 322 are symmetrical structures. The actuator end of the drive member 310 passes through the base 321 and connects to the connecting block 322, thereby driving the connecting block 322 to move forward or retract backward. The two ends of the first link 323 are hinged to the base 321 and the gripper 110, respectively. The two ends of the second link 324 are hinged to the first link 323 and the connecting block 322, respectively. It can be understood that the second link 324 is hinged to the middle of the first link 323. The entire link assembly 320 is a symmetrical structure to ensure that the two grippers 110 move synchronously. During the forward movement of the connecting block 322, the two grippers 110 move in opposite directions, switching to an open state. During the backward retraction of the connecting block 322, the two grippers 110 move towards each other, switching to a closed state. In the initial state, the two grippers 110 are in an open state. When clamping and shearing operations are required, the actuator of the drive unit 310 retracts, thereby driving the two grippers 110 to move towards each other, thus causing sequential clamping and shearing actions. It is understood that the fruit harvesting device of this application embodiment can be attached to the harvesting equipment to carry out fruit harvesting operations, wherein the drive component 310 and the base 321 can be fixedly installed on the harvesting equipment.

[0029] In the embodiments of this application, please refer to Figure 2 The gripper 110 has an arc-shaped structure, and an ear plate 111 is provided on the outer side of the gripper 110. The aforementioned connecting rod assembly 320 is connected to the ear plate 111. Specifically, the first connecting rod 323 is hinged to the ear plate 111. In a further technical solution, the number of first connecting rods 323 can be multiple parallel ones, thereby ensuring the stability and reliability of the transmission connection.

[0030] In the embodiments of this application, please refer to Figure 2 and Figure 3The buffer 120 is located inside the gripper 110. Specifically, the buffer 120 includes a support plate 121, a pin 122, a sleeve 123, a first elastic element 124, and a second elastic element 125. The pin 122 is fixedly connected to the gripper 110. For example, one end of the pin 122 is threaded, and the inner wall of the gripper 110 is provided with a threaded hole that matches the pin 122. The pin 122 and the gripper 110 are threadedly connected to achieve a fixed connection between them. The sleeve 123 is movably sleeved on the pin 122, and the sleeve 123 can be moved axially along the pin 122. The outer end of the sleeve 123 is fixedly connected to the support plate 121. For example, the sleeve 123 can be threadedly connected to the support plate 121, or the sleeve 123 can be integrally connected to the support plate 121, or the sleeve 123 can be snapped into the support plate 121. This application does not impose specific limitations on these aspects.

[0031] Please continue reading Figure 2 and Figure 3 The support plate 121 has an arc-shaped plate structure. The support plate 121 is used to contact and clamp the fruit. The arc-shaped structure of the support plate 121 can adapt to the outer surface of the fruit to ensure sufficient contact surface and ensure clamping stability. The first elastic element 124 and the second elastic element 125 are both located between the pin 122 and the sleeve 123. For example, the first elastic element 124 and the second elastic element 125 are both helical springs coaxially arranged with the pin 122 and the sleeve 123. During the process of the gripper 110 switching from the open state to the clamping state, the fruit contacts the support plate 121 and forces the first elastic element 124 to compress and deform first. As the drive mechanism 300 further drives, the integrated structure formed by the connection of the support plate 121 and the sleeve 123 further forces the second elastic element 125 to compress and deform. That is to say, during the shearing process, based on the intervention of the second elastic element 125, the entire buffer 120 applies a greater clamping force to the fruit.

[0032] It should be noted that, in the embodiments of this application, during the process of the two grippers 110 switching from the open state to the gripping state, although the elastic force applied by the first elastic element 124 increases with the increase of deformation, the elastic force applied by it is still insufficient to ensure that the fruit is stably gripped during the shearing stage. Therefore, the second elastic element 125 is introduced in stages to ensure more stable gripping of the fruit and avoid large disturbances during shearing.

[0033] During the sequential action of the drive mechanism 300 driving the gripper 110 to close and clamp the fruit and cut the fruit stem, only the first elastic element 124 intervenes during the clamping stage. As the buffer 120 adapts to the shape and size of the fruit, the elastic force applied by the first elastic element 124 is small, which can avoid damage to the fruit. As the gripper 110 continues to close, the arc-shaped support plate 121 has a good fit with the fruit, and the possibility of damage is small. This reduces the possibility of damage caused when the second elastic element 125 intervenes during the cutting stage. Based on the intervention of the second elastic element 125 during the cutting stage, the arc-shaped support plate 121 can apply a greater clamping force to the fruit, ensuring that the fruit is stable and does not slip during cutting. This ensures the certainty of the cutting point and the flatness of the cut, avoiding the situation where the fruit stem is too long or too short due to slight shaking of the fruit, or the burrs at the cut are severe, thereby improving the cutting success rate and reducing fruit damage.

[0034] In some embodiments of this application, please refer to... Figure 3 The pin 122 includes a pin body 1221, a first ring 1222, and a second ring 1223. The pin body 1221 has a threaded section and is fixed to the clamp 110 via the threaded section. The first ring 1222 and the second ring 1223 are coaxially connected to the end of the pin body 1221 facing away from the clamp 110, and the extension length of the first ring 1222 is greater than the extension length of the second ring 1223. The aforementioned first elastic element 124 can be accommodated within the first ring 1222, and the second elastic element 125 can be accommodated between the first ring 1222 and the second ring 1223, with the extension length of the first elastic element 124 greater than that of the second elastic element 125. The extension length of the second elastic element 125 is greater than that of the second ring body 1223, so that the second elastic element 125 has a portion exposed in the axial direction of the second ring body 1223. With this configuration, when the gripper 110 closes to hold the fruit through the arc-shaped support plate 121, the first elastic element 124 is compressed to a certain extent first, and then the second elastic element 125 will intervene. This ensures that the fruit is firmly held before the fruit stalk is cut, thus ensuring the flatness of the cut part and that the remaining fruit stalk has an appropriate length. If the remaining fruit stalk is too short, it is easy for the fruit juice to seep out. If the remaining fruit stalk is too long, it may cause mutual punctures during transportation, especially when the cut part is uneven, the puncture phenomenon is more obvious.

[0035] As described above, the sleeve 123 is movably fitted onto the pin 122. To prevent the sleeve 123 from axially disengaging from the pin 122, a limiting structure is provided between the sleeve 123 and the pin 122 in this embodiment. Specifically, a limiting protrusion 1224 is provided on the pin 122. For example, the limiting protrusion 1224 is an annular structure extending circumferentially along the pin 122. This limiting protrusion 1224 can be provided on the pin body 1221 or on the second annular body 1223. For an example, please refer to [link to example]. Figure 3 The limiting protrusion 1224 can be set here without specific restrictions. The sleeve 123 is provided with a limiting part 1231 at one end facing away from the support plate 121. For example, the limiting part 1231 is an annular structure that is threaded into the inner side of the sleeve 123. Along the axial direction of the pin 122, the limiting part 1231 and the limiting protrusion 1224 limit each other, thereby preventing the sleeve 123 from axially disengaging from the pin 122. It is understood that the assembly connection between the sleeve 123 and the pin 122 should be before the pin 122 is connected to the gripper 110.

[0036] In this embodiment of the application, a circumferential positioning structure may be provided between the pin 122 and the sleeve 123. For example, one of the pin 122 and the sleeve 123 may be provided with an axially extending positioning protrusion (not shown in the figure), and the other may be provided with an axially extending positioning recess (not shown in the figure). The positioning protrusion and the positioning recess are positioned and cooperated, so that the sleeve 123 can move axially relative to the pin 122, while preventing the sleeve 123 from rotating circumferentially, thereby preventing the support plate 121 from rotating arbitrarily and ensuring the stability of the fruit clamping.

[0037] For further technical solutions, please refer to [link / reference]. Figure 3 The end of the second elastic element 125 is provided with a guide ring 126. Exemplarily, the end of the second elastic element 125 is welded and fixed to the guide ring 126. A boss 127 is fixedly provided inside the sleeve 123. The diameter of the first elastic element 124 is smaller than the diameter of the boss 127, and the inner diameter of the guide ring 126 is slightly larger than the diameter of the boss 127. During the process of the gripper 110 switching from the open state to the clamping state, in the clamping stage, the end face of the first elastic element 124 abuts against the boss 127. During the transition from the clamping stage to the shearing stage, the guide ring 126 guides and cooperates with the boss 127, so that the second elastic element 125 can stably abut against the inside of the sleeve 123, avoiding radial bending deformation of the end of the second elastic element 125, which would cause instability of the elastic force generated by the second elastic element 125, or even interference with the first elastic element 124, which could cause the fruit to shake during shearing, resulting in uneven cuts or fruit damage.

[0038] In this embodiment, taking an eggplant as an example, the eggplant typically has a certain length. If a buffer 120 is used to clamp it on both sides, instability in clamping still exists. Therefore, in a further technical solution, each gripper 110 is provided with at least two buffers 120, and all buffers 120 are distributed along the longitudinal direction of the gripper 110. It is understood that the number and spacing of the buffers 120 can be adaptively designed according to the shape and size of the mature fruit to be harvested, so that the buffers 120 can match the fruit, thereby ensuring the stability of the fruit clamping.

[0039] In a further technical solution, the distance between two adjacent buffers 120 is adjustable. For example, the arc-shaped gripper 110 is provided with a through groove (not shown in the figure) that extends longitudinally through the gripper. The threaded section of the pin 122 in each buffer 120 passes through the through groove and engages with the nut distributed on the outside of the gripper 110, thereby connecting and fixing the buffer 120 to the gripper 110. When it is necessary to adjust the distance between the two buffers 120 to adapt to the appearance size of the fruit, the nut can be rotated to release the tightness of the gripper 110, and the buffer 120 can be slid up and down in the through groove to a suitable position. Then, the nut can be tightened again. This adjustment method can achieve stepless distance adjustment without removing the buffer 120 from the gripper 110, so that the fruit harvesting device has a certain compatibility for harvesting different kinds of fruits. For example, it can harvest apples, eggplants, zucchini and other fruits, which can improve the utilization rate of the fruit harvesting device, extend the fruit harvesting season, and improve the economic efficiency of the fruit harvesting device.

[0040] In this embodiment of the application, a flexible pad 128 is provided on the inner side of the support plate 121. For example, the flexible pad 128 can be a rubber pad or a silicone pad. The flexible pad 128 has low compression deformation, high resilience and anti-slip properties, which can effectively buffer the fruit and provide a certain degree of protection for the fruit while ensuring the stability of the clamping.

[0041] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0042] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. A fruit picking device, characterized in that, include: A clamping mechanism (100) includes grippers (110) and a buffer (120), wherein the two grippers (110) are disposed opposite to each other, and the buffer (120) is disposed on the opposite side of the two grippers (110); A shearing mechanism (200) includes two hinged cutters (210), one end of each cutter (210) being hinged to the gripper (110); A drive mechanism (300) is connected to the gripper (110) to drive the clamping mechanism (100) to switch between an open state and a clamping state. In the clamping state, the drive mechanism (300) is also configured to drive the two cutters (210) to rotate relative to each other via the gripper (110) to cut the fruit stem.

2. The fruit picking device according to claim 1, characterized in that The drive mechanism (300) includes a drive member (310) and a linkage assembly (320). The drive member (310) is connected to the gripper (110) through the linkage assembly (320) to drive the gripper (110) to switch between the open state and the clamping state.

3. The fruit picking device according to claim 2, characterized in that The linkage assembly (320) includes a base (321), a connecting block (322), a first link (323), and a second link (324); wherein: The two ends of the first connecting rod (323) are hinged to the base (321) and the gripper (110) respectively. The two ends of the second connecting rod (324) are hinged to the first connecting rod (323) and the connecting block (322) respectively. The actuating end of the driving member (310) passes through the base (321) and is connected to the connecting block (322).

4. The fruit picking apparatus according to claim 3, wherein The gripper (110) has an arc-shaped structure, and an ear plate (111) is provided on the outer side of the gripper (110). The first connecting rod (323) is connected to the ear plate (111).

5. The fruit picking apparatus according to any one of claims 1 to 4, wherein The buffer (120) includes a support plate (121), a pin (122), a sleeve (123), a first elastic element (124), and a second elastic element (125); wherein: The pin (122) is connected and fixed to the gripper (110), the sleeve (123) is movably sleeved on the pin (122), and the outer end of the sleeve (123) is connected and fixed to the support plate (121). The support plate (121) is used to hold the fruit. The first elastic element (124) and the second elastic element (125) are both located between the pin (122) and the sleeve (123). During the process of the gripper (110) switching from the open state to the gripping state, the first elastic element (124) is configured to undergo elastic deformation before the second elastic element (125).

6. The fruit picking apparatus of claim 5, wherein, The pin (122) includes a pin body (1221), a first ring (1222), and a second ring (1223). The pin body (1221) is connected and fixed to the gripper (110). The first ring (1222) and the second ring (1223) are coaxially connected to one end of the pin body (1221) facing away from the gripper (110), and the extension length of the first ring (1222) is greater than the extension length of the second ring (1223). The first elastic element (124) is located inside the first ring body (1222), the second elastic element (125) is sleeved on the outside of the first ring body (1222), and the second elastic element (125) is located on the inside of the second ring body (1223).

7. The fruit picking apparatus of claim 6, wherein, The end of the second elastic element (125) is provided with a guide ring (126), and the sleeve (123) is provided with a boss (127). During the process of the gripper (110) switching from the open state to the clamping state, the first elastic element (124) abuts against the end face of the boss (127), and the guide ring (126) guides and cooperates with the boss (127).

8. The fruit picking apparatus of claim 5, wherein, The pin (122) is provided with a limiting protrusion (1224), and the sleeve (123) is provided with a limiting part (1231) on the inner side. Along the axial direction of the pin (122), the limiting protrusion (1224) and the limiting part (1231) are mutually limiting.

9. The fruit picking apparatus of claim 5, wherein, The support plate (121) has an arc-shaped structure, and a flexible pad (128) is provided on the inner side of the support plate (121). And / or, each of the grippers (110) is provided with at least two of the buffers (120), and the buffers (120) are distributed along the longitudinal direction of the gripper (110).

10. The fruit picking apparatus of claim 9, wherein, The spacing between two adjacent buffers (120) is adjustable.

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