Robot hand for harvesting

Abstract

The objective is to provide a robotic hand for harvesting. [Solution] The system comprises a fruit picking device and a wire traction drive mechanism. The fruit picking device comprises a robot hand outer shell, a first claw portion, and a second claw portion. The first and second claw portions are arranged facing each other and rotatably connected to the robot hand outer shell. A storage cavity for accommodating fruit is formed between the first and second claw portions. The wire traction drive mechanism comprises a slider, a wire holder, and a plurality of fruit picking and gripping wires. One end of each of the plurality of fruit picking and gripping wires is connected to the slider and passes through the wire holder, and the other end is connected to the first and second claw portions, respectively. The slider is reciprocally movable in the longitudinal direction of the fruit picking and gripping wires. As the slider moves, the fruit picking and gripping wires are tightened and overlapped or loosened, causing the fruit to be picked or peeled off, and the first and second claw portions to open and close.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit harvesting devices, and particularly relates to a robotic hand for harvesting.

Background Art

[0002] Pepper is a tropical spice crop originating from the southwestern coast of India, and is currently a widely used seasoning worldwide. However, pepper harvesting is mainly performed manually, which involves heavy workload and low harvesting efficiency. In addition, even for peppers on the same plant, the maturity of the fruits varies, and the bonding strength between the fruits and the fruit stems also differs. In most cases, a fruit spike is considered harvestable when 1 to 2 red fruits are observed on it, but there is a difference in the flavor after processing between mature pepper and immature pepper, and differences also arise in quality and economic value. Therefore, if only the fruits on mature fruit spikes can be selectively harvested while leaving immature fruit spikes to be harvested at a later date, it can contribute to improving the income of pepper farmers. Although conventional mechanical harvesting is also feasible, existing pepper harvesters may experience foreign matter contamination, fruit damage and contamination during use, which become factors causing quality degradation of pepper. Furthermore, many commercially available robotic hands for harvesting fruits and vegetables only have the functions of simply clamping or cutting, and cannot selectively harvest only some of the fruits on a fruit spike. In addition, since it is necessary to appropriately control the pressure applied to the fruits to prevent damage, the structure and control method also become more complicated.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The present invention has been made in view of the above circumstances, and an object thereof is to provide a robotic hand for harvesting, in contrast to the conventional manual harvesting that involves heavy workload and low harvesting efficiency.

Means for Solving the Problems

[0004] The present invention provides a harvesting robot hand comprising a harvesting device and a wire traction drive mechanism. The harvesting device comprises a robot hand outer shell, a first claw portion, and a second claw portion, the first claw portion and the second claw portion being arranged opposite each other and rotatably connected to the robot hand outer shell, and a containment cavity for containing fruit being formed between the first claw portion and the second claw portion. The wire traction drive mechanism comprises a slider, a wire holder, and at least two plucking and gripping wires. One end of each plucking and gripping wire is connected to the slider and passes through the wire holder, while the other ends are connected to the first claw portion and the second claw portion, respectively. The slider is reciprocally movable in the longitudinal direction of the plucking and gripping wires. As the slider moves, the plucking and gripping wires are tightened and overlapped or loosened, causing the fruit to be picked or detached, and the first claw portion and the second claw portion to open and close.

[0005] Preferably, the gripping wire comprises a first gripping wire and a second gripping wire, with one end of each of the first and second gripping wires connected to the slider and passing through the wire holder, the other end of the first gripping wire fixed to the first claw portion, and the other end of the second gripping wire fixed to the second claw portion.

[0006] Preferably, the device includes a first wire block provided on the slider for fixing the first clamping wire, and a second wire block provided at the ends of the first and second claw portions for fixing the second clamping wire, wherein the gripping wire passes through the first wire block and wire holder in order and is extended to and fixed to the second wire block.

[0007] Preferably, the robot hand outer shell comprises an outer shell body and a holding portion provided at the end of the outer shell body for attaching the first claw portion and the second claw portion. The outer shell body is provided with a first sliding groove, and the slider is in sliding contact with the first sliding groove.

[0008] Preferably, the system further comprises a rotating shaft and a torsion spring, wherein the first claw portion is rotatably connected to the robot hand outer shell via the rotating shaft, the torsion spring is fitted onto the rotating shaft, one end of the torsion spring is locked to the robot hand outer shell, and the other end is locked to the first claw portion.

[0009] Preferably, the wire traction drive mechanism comprises a power drive unit, a drive screw shaft, and a nut, wherein the power drive unit is provided inside the outer shell of the robot hand, the output terminal of the power drive unit is connected to the drive screw shaft, and the nut is screwed onto the drive screw shaft.

[0010] Preferably, the power drive unit comprises a motor, a screw, and a bearing base, wherein the screw fastens and fixes the motor housing of the motor to the robot hand outer shell, the bearing base is connected to the robot hand outer shell, and the drive screw shaft is rotatably connected to the bearing base.

[0011] Preferably, a brush is attached to the lower front end of the first claw portion and / or the second claw portion, and a collection tube is attached to the lower rear end of the first claw portion and / or the second claw portion. The first and second claws have a hollow structure inside, and when the first and second claws overlap, they form a sealed containment cavity together with the brush and collection tube, which is used to collect harvested fruit.

[0012] Preferably, the collection tube is an expandable and contractible cylindrical member.

[0013] Preferably, the system also includes a camera and a ball joint, the camera being connected to the robot hand shell via the ball joint.

[0014] Preferably, the fruit to be harvested is pepper. [Effects of the Invention]

[0015] The harvesting robot hand of the present invention comprises a picking device and a wire traction drive mechanism. During the opening and closing of the first and second claws of the picking device, the fruit can be grasped by pulling and loosening or tightening the picking and gripping wire. The wire traction drive mechanism comprises a slider, a wire holder, and two picking and gripping wires. The slider is reciprocally movable along the length of the picking and gripping wire. When the slider moves toward the claw, the picking and gripping wire loosens and grasps the pepper fruit. When the slider moves toward the claw, the picking and gripping wire tightens and overlaps, tearing and detaching the pepper fruit, which is then collected in the containment cavity. At this time, when the first and second claws are open, the two picking and gripping wires are loosened. When the first and second claws are closed, the two picking and gripping wires are tightened, and the pull of the slider cuts off the pepper fruits, which are collected in the containment cavity, achieving a high degree of automation in the pepper fruit harvesting process.

[0016] The harvesting robot hand of the present invention precisely grasps the fruit stalks of pepper clusters by controlling the picking and gripping wires provided on the first and second claws. Subsequently, as the first and second claws are pulled backward, the picking and gripping wires provided on the first and second claws detach the fruit from the cluster. The picking and gripping wires are made of a material that has flexibility and a certain degree of toughness, and do not apply rigid force when in contact with the fruit. Compared to the rigid scissor structure commonly used in the prior art, this has the advantage of suppressing damage to the fruit. By detaching the fruit from the cluster using the elastic picking and gripping wires, mature pepper fruits are easily detached because they are weakly bound to the fruit stalks, while immature fruits remain strongly bound to the fruit stalks. As a result, the immature fruits can be harvested again at a later date, contributing to increased profits for pepper farmers. In addition, the inside of the first and second claws has a hollow structure, and when both claws are closed, a storage cavity for collecting pepper fruits is formed. When the first and second claws are closed, the storage cavity becomes a nearly sealed space, making it difficult for the collected peppercorns to fall out. This improves the harvesting and collection rate and reduces losses due to fruit dropping. [Brief explanation of the drawing]

[0017] [Figure 1] This is a schematic diagram showing the first and second claws of a harvesting robot hand according to one embodiment of the present invention in an open state. [Figure 2] This is a schematic diagram showing the first and second claws of a harvesting robot hand according to one embodiment of the present invention in a closed state. [Figure 3] This is a top view of a harvesting robot hand related to one embodiment of the present invention. [Figure 4] This is a cross-sectional view along line AA in Figure 3. [Modes for carrying out the invention]

[0018] The technical means in the embodiments of this application will be described in detail below with reference to the drawings in the embodiments of this application, but it goes without saying that the embodiments described are only some of the embodiments of this application, not all of them. All other embodiments obtained based on the embodiments of this application, without any creative activity by those skilled in the art, are all within the scope of protection of this application.

[0019] When an element is referred to as being "fixed" or "attached" to another element, it may be that the other element is directly on top of it or interposed by it. Note that when an element is referred to as being "linked" to another element, it may be that the other element is directly linked to it or interposed by it.

[0020] The directions or positional relationships indicated by terms such as "length," "width," "top," "bottom," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," and "outside" are based on the directions or positional relationships shown in the drawings and are merely for the purpose of simplifying the explanation of this application. They do not indicate or suggest that the shown devices or components necessarily have a specific direction, or are configured and operated in a specific direction. Therefore, these terms should not be interpreted as limiting this application.

[0021] Note that the terms "first" and "second" are merely used for descriptive purposes, and shall not be construed as indicating or implying relative importance, or implicitly indicating the number of the specified technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. Further, in the present application, unless otherwise specifically stated, the term "plurality" means two or more.

[0022] The structures, proportions, dimensions and the like shown in the drawings appended to the present specification are provided merely as references for those skilled in the art to understand and interpret the contents disclosed in the present specification, and are not intended to limit the embodiments of the present application. Therefore, these do not possess any technically essential meaning. Even if modifications of structures, changes of proportions, adjustments of dimensions and the like are made, as long as they do not affect the effects achieved and the objectives attained by the present application, such modifications shall be construed as falling within the technical scope disclosed in the present application.

[0023] Reference is made to Figure 1 and Figure 2. The present invention provides a robotic hand for harvesting, comprising a picking device 10 and a wire traction drive mechanism 20. The picking device 10 includes a robotic hand outer shell 8, a first claw portion 1, and a second claw portion 2. The first claw portion 1 and the second claw portion 2 are arranged to face each other and are rotatably connected to the robotic hand outer shell 8, and a receiving cavity 3 for accommodating fruits is formed between the first claw portion 1 and the second claw portion 2, The wire traction drive mechanism 20 includes a slider 4 that reciprocates in the length direction of the clamping wire for picking 6, a wire holder 5 provided on the slider 4, and at least two clamping wires for picking 6. One end of each of the plurality of clamping wires for picking 6 is connected to the slider 4 and passes through the wire holder 5, and the other end thereof is connected to the first claw portion 1 and the second claw portion 2 respectively. The slider 4 is capable of reciprocating in the length direction of the clamping wires for picking 6. As the slider 4 moves, the clamping wires for picking 6 are tightened to overlap or loosened, so that fruits are picked or peeled off, and the first claw portion 1 and the second claw portion 2 realize opening and closing operations.

[0024] The fruit to be harvested is pepper. Pepper is a tropical spice crop used as a seasoning, and because the grains are small and numerous, harvesting is currently mainly done by hand, which is inefficient. Many fruit and vegetable harvesting devices cannot properly control the pressure applied to the fruit, making it difficult to avoid damage to the fruit. The present invention can be applied to crops other than pepper, and the harvesting principle is not limited to pepper; by adjusting the size and structural shape, it can also be used to harvest cluster crops such as tobacco leaves, mulberry leaves, goji berries, and grapes. This embodiment provides a robotic hand for harvesting pepper fruits. The robotic hand comprises a picking device 10 and a wire traction drive mechanism 20. The picking device 10 comprises a first claw portion 1 and a second claw portion 2 arranged opposite each other. Both claw portions can be opened and closed by a drive device (for example, a power drive unit 30). When both claw portions are open, the pepper fruit clusters are housed in the storage cavity 3 and harvesting is performed. When the claws are closed, the first claw 1 and the second claw 2 are pulled and moved, and the fruit is detached and collected in the containment cavity 3.

[0025] In this embodiment, the wire traction drive mechanism 20 comprises a slider 4, a wire holder 5, and two gripping wires 6. One end of the wire holder 5 is connected to the first claw portion 1 via a fastening member, and the other end is similarly connected to the second claw portion 2 via a fastening member. One end of the gripping wire 6 is connected to the slider 4, guided through the wire holder 5, and led to the tips of the first claw portion 1 and the second claw portion 2 located in the direction of the other end. The slider 4 is reciprocally movable along the length of the gripping wire 6. When the slider 4 moves toward the claw portion, the gripping wire 6 loosens and grips the pepper fruit. When the slider 4 moves toward the claw portion, the gripping wire 6 tightens and overlaps, tearing and detaching the pepper fruit and collecting it in the storage cavity 3. When the first claw portion 1 and the second claw portion 2 are open, the two picking and gripping wires 6 loosen. When the first claw portion 1 and the second claw portion 2 are closed, the two picking and gripping wires 6 tighten, and the pull of the slider 4 cuts off the pepper fruit, which is collected in the storage cavity 3, achieving a high level of automation in the pepper fruit harvesting process.

[0026] The harvesting robot hand of the present invention controls the picking and gripping wire 6 provided on the first claw portion 1 and the second claw portion 2 to accurately grip the fruit stalk of the pepper cluster. Subsequently, as the first claw portion 1 and the second claw portion 2 are pulled backward, the picking and gripping wire 6 provided on the first claw portion 1 and the second claw portion 2 peels the fruit from the cluster. The inside of the first claw portion 1 and the second claw portion 2 is hollow, and when both claw portions are closed, a certain internal space (i.e., storage space 3) for collecting pepper fruits is formed. As a further improvement of the above technical configuration, the picking and gripping wire 6 comprises a first gripping wire 61 and a second gripping wire 62, both of which pass through a wire holder 5, the end of the first gripping wire 61 is fixed to the first claw portion 1, and the end of the second gripping wire 62 is fixed to the second claw portion 2.

[0027] Specifically, the starting ends of the first clamping wire 61 and the second clamping wire 62 are connected to the slider 4, the middle section passes through the wire holder 5, and the end sections are fixed to the first claw portion 1 and the second claw portion 2, respectively.

[0028] In this embodiment, the harvesting robot hand is provided on the slider 4 and includes a first wire block 71 for fixing the first gripping wire 61, and a second wire block 72 provided at the ends of the first claw portion 1 and the second claw portion 2 for fixing the second gripping wire 62. The picking gripping wire 6 passes through the first wire block 71 and the wire holder 5 in order and is extended to and fixed to the second wire block 72.

[0029] To ensure clarity, the first clamping wire block 71 fixes the first clamping wire 61 to the slider 4, and the second clamping wire block 72 fixes the second clamping wire 62 to the ends of the first claw portion 1 and the second claw portion 2, thereby preventing the clamping wire from sliding during the picking operation.

[0030] In this embodiment, the robot hand outer shell 8 comprises an outer shell body 81 and a holding portion 82 provided at the end of the outer shell body 81 for attaching the first claw portion 1 and the second claw portion 2. The outer shell body 81 is provided with a first sliding groove 83, and the slider 4 is in sliding contact with the first sliding groove 83.

[0031] Specifically, the first claw portion 1 and the second claw portion 2 are detachably attached to the outer shell body 81 via the holding portion 82, and different dimensions of the first claw portion 1 and the second claw portion 2 can be selected and attached depending on the size of peppers or fruits and vegetables. Selectively, the holding portion 82 is made of a U-shaped steel plate, and the first claw portion 1 and the second claw portion 2 engage with the recesses of the U-shaped steel plate. In the above embodiment, the wire holder 5 is attached to the upper surface of the U-shaped steel plate of the holding portion 82 and is used to guide the picking and clamping wire 6.

[0032] The outer shell body 81 is provided with a first sliding groove 83, the bottom of the slider 4 is connected to the drive screw shaft 19, and the top of the slider 4 protrudes through the first sliding groove 83, and this protruding part is connected and fixed to the starting end of the gripping wire 6. The slider 4 moves along the first sliding groove 83 as the drive screw shaft 19 operates, tightening or loosening the gripping wire 6.

[0033] Specifically, the harvesting robot hand comprises a rotating shaft and a torsion spring 9. The first claw portion 1 is rotatably connected to the robot hand outer shell 8 via the rotating shaft, the torsion spring 9 is fitted onto the rotating shaft, one end of the torsion spring 9 is locked to the robot hand outer shell 8, and the other end of the torsion spring 9 is locked to the first claw portion 1. When the picking and gripping wire is tightened and the first claw portion 1 closes, the first claw portion 1 compresses the torsion spring 9, and when the picking and gripping wire is loosened, the restoring force of the torsion spring 9 opens the first claw portion 1. Similarly, the configuration of the second claw portion 2 is a mirror image of the configuration of the first claw portion 1.

[0034] Referring to Figures 3 and 4, this embodiment comprises a power drive unit 30, a drive screw shaft 19, and a nut portion 17. The power drive unit 30 is housed within the robot hand outer shell 8, the output terminal of the power drive unit 30 is connected to the drive screw shaft 19, and the nut portion 17 is screwed onto the drive screw shaft 19. The nut portion 17 is screwed onto the drive screw shaft 19, and the slider 4 is fitted onto the nut portion 17, sliding in the first sliding groove 83 and reciprocating along the direction of the drive screw shaft 19. The slider 4 is provided with a screw hole for attaching the first clamping wire block 71.

[0035] This embodiment further includes a power drive unit 30. The power drive unit 30 comprises a motor 13, a motor housing 14, a screw 15, and a bearing base 18. The screw 15 fastens and fixes the motor housing 14 of the motor 13 to the robot hand outer shell 8, the bearing base 18 is connected to the robot hand outer shell 8, and the drive screw shaft 19 is rotatably connected to the bearing base 18. Furthermore, an extension rod can be connected to one end of the motor housing 14, thereby enabling the harvesting of pepper fruits at high places.

[0036] A brush 11 is attached to the lower front end of the first claw portion 1 and / or the second claw portion 2, and a collection tube 12 is attached to the lower rear end of the first claw portion 1 and / or the second claw portion 2. The inside of the first claw portion 1 and the second claw portion 2 are hollow, and when the first claw portion 1 and the second claw portion 2 overlap, they together with the brush 11 and the collection tube 12 define a sealed containment cavity 3, which is used to collect harvested fruit.

[0037] The collection tube 12 is made up of an expandable and contractible cylindrical member, and its length can be adjusted according to the movement of the robot hand.

[0038] Specifically, a brush 11 is attached to the lower front end of the first claw portion 1 or the second claw portion 2, and a collection tube 12 is attached to the lower rear end of the first claw portion 1 or the second claw portion 2. In this embodiment, brushes 11 are attached to the lower front ends of the first claw portion 1 and the second claw portion 2, and collection tubes 12 are attached to the lower rear ends of the first claw portion 1 and the second claw portion 2. The brushes 11, collection tubes 12, and the hollow interiors of the first claw portion 1 and the second claw portion 2 together define a sealed containment cavity 3. After the pepper fruits are separated from the pedicels by the picking and gripping wires 6, they fall into the containment cavity 3 and are collected.

[0039] In the portion of the containment cavity 3 that grips the pepper cones, a picking and gripping wire 6 is positioned above, and a brush 11 is attached below. When gripping the pepper cones, the bristles of the brush 11 conform to the outer contour of the cones, sealing the internal space and preventing the detached pepper cones from leaking out of the first claw portion 1 and the second claw portion 2. The cones then roll down along the inclined surface into the collection tube 12 below for collection.

[0040] Specifically, the harvesting robot hand includes a camera 40 and a ball joint 16, the camera 40 being connected to the robot hand's outer shell 8 via the ball joint 16. The camera 40 is mounted on the frame of the motor housing 14 and can rotate in multiple directions via the ball joint 16.

[0041] Camera 40 monitors the current harvesting work in real time and enables multi-angle and multi-directional rotational shooting via the ball joint 16.

[0042] This invention enables the harvesting of pepper by a robotic hand with the assistance of machine vision using a camera 40. By selectively removing pepper fruits during the harvesting process, it is possible to prevent contamination of foreign matter, fruit damage, and contamination during subsequent mechanical threshing processes. Furthermore, by selectively removing only the fruits from mature fruit clusters, the quality of the final pepper product can be improved. In addition, even within the same pepper plant, there is variation in the degree of fruit maturity, and the strength of the bond between the fruit and the fruit stalk also differs. In many cases, harvesting is possible when 1-2 red fruits are visible on a fruit cluster, but there is a difference in flavor after processing between mature and immature pepper, resulting in differences in quality and economic value. Therefore, if only the fruits on mature fruit clusters can be selectively harvested, and the immature fruit clusters can be left to be harvested at a later date, it can contribute to improving the profitability of pepper farmers.

[0043] The technical features of the embodiments described above can be combined in any way. For the sake of brevity, the possible combinations of each technical feature of the embodiments described above are not described. However, any combination of these technical features should be considered to be within the scope described herein, provided that it is not inconsistent.

[0044] The embodiments described above merely illustrate some methods of carrying out the present invention. Although the description is relatively specific and detailed, it cannot be interpreted as limiting the scope of the claims. It should be noted that those skilled in the art can make several modifications and improvements without departing from the technical spirit of the present invention, and such modifications and improvements are included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention is based on the appended claims. [Explanation of Symbols]

[0045] 10 Plucking device 1 1st claw part 11 brushes 12 Collection tubes 13 Motors 14 Motor Housing 15 screws 16 Ball joint 17 Nut section 18 Bearing base 19 Drive screw shaft 20 Wire traction drive mechanism 2 2nd claw part 30 Power drive unit 3 containment cavities 40 Cameras 4 Sliders 5 Wire holder 6. Clamping wires used 61 First clamping wire 62. Second clamping wire 71. First clamping wire block 72. Second clamping wire block 8. Robot hand outer shell 81 Outer shell 82 Holding part 83 First sliding groove 9 Torsion spring

Claims

1. A harvesting robot hand comprising a picking device and a wire traction drive mechanism, wherein the picking device comprises a robot hand outer shell, a first claw portion and a second claw portion, the first claw portion and the second claw portion are arranged facing each other and rotatably connected to the robot hand outer shell, and a storage cavity for accommodating fruit is formed between the first claw portion and the second claw portion. The wire traction drive mechanism comprises a slider, a wire holder, and at least two picking and gripping wires. One end of each of the multiple picking and gripping wires is connected to the slider and passes through the wire holder, while the other ends are connected to the first claw portion and the second claw portion, respectively. The slider is reciprocally movable in the longitudinal direction of the picking and gripping wires. As the slider moves, the picking and gripping wires are tightened and overlapped or loosened, causing the fruit to be picked or detached, and the first claw portion and the second claw portion to open and close. A robotic hand for harvesting, characterized by the following features.

2. The harvesting robot hand according to claim 1, wherein the picking and gripping wire comprises a first gripping wire and a second gripping wire, one end of both the first gripping wire and the second gripping wire is connected to the slider and passes through the wire holder, the other end of the first gripping wire is fixed to the first claw portion, and the other end of the second gripping wire is fixed to the second claw portion.

3. The harvesting robot hand according to claim 2, further comprising a first wire block provided on the slider for fixing the first gripping wire, and a second wire block provided at the ends of the first and second claw portions for fixing the second gripping wire, wherein the picking gripping wire passes through the first wire block and the wire holder in order and is extended to and fixed to the second wire block.

4. The robot hand outer shell comprises an outer shell body and a holding portion provided at the end of the outer shell body for attaching the first claw portion and the second claw portion. The outer shell body is provided with a first sliding groove, and the slider is in sliding contact with the first sliding groove. A harvesting robot hand according to claim 3, characterized in that it is a harvesting robot hand as described in claim 3.

5. The harvesting robot hand according to claim 4, further comprising a rotating shaft and a torsion spring, wherein the first claw portion is rotatably connected to the robot hand outer shell via the rotating shaft, the torsion spring is fitted onto the rotating shaft, one end of the torsion spring is locked to the robot hand outer shell, and the other end is locked to the first claw portion.

6. The wire traction drive mechanism comprises a power drive unit, a drive screw shaft, and a nut, wherein the power drive unit is provided inside the outer shell of the robot hand, the output end of the power drive unit is connected to the drive screw shaft, and the nut is screwed onto the drive screw shaft, as described in claim 4, for harvesting robot hand.

7. The power drive unit comprises a motor, a screw, and a bearing base, wherein the screw fastens and fixes the motor housing of the motor to the robot hand outer shell, the bearing base is connected to the robot hand outer shell, and the drive screw shaft is rotatably connected to the bearing base, characterized in that the harvesting robot hand according to claim 6.

8. A brush is attached to the lower front end of the first claw portion and / or the second claw portion, and a collection tube is attached to the lower rear end of the first claw portion and / or the second claw portion. The first and second claws have a hollow structure inside, and when the first and second claws overlap, they form a sealed containment cavity together with the brush and collection tube, which is used to collect harvested fruit. A harvesting robot hand according to any one of claims 1 to 4, characterized in that

9. The harvesting robot hand according to claim 8, characterized in that the collection tube is an extendable cylindrical member.

10. A harvesting robot hand according to any one of claims 1 to 4, further comprising a camera and a ball joint, wherein the camera is connected to the robot hand outer shell via the ball joint.

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