Picking manipulator

Abstract

The present invention relates to the field of berry picking devices, and in particular to a picking manipulator, comprising a picking apparatus and a cable drive. The picking apparatus comprises a manipulator housing, a first mechanical jaw, and a second mechanical jaw; the first mechanical jaw and the second mechanical jaw are arranged opposite to each other and are separately rotatably connected to the manipulator housing, and an accommodating cavity for placing berries is formed between the first mechanical jaw and the second mechanical jaw; the cable drive comprises a sliding block, a cable clamp base, and at least two picking cables; and each of the multiple picking cables has one end connected to the sliding block and passing through the cable clamp base, and the other end separately connected to the first mechanical jaw and the second mechanical jaw. The sliding block can move back and forth along the length direction of the picking cables, and during the movement of the sliding block, the picking cables are tensioned to overlap or loosened to pick or detach berries, while the first mechanical jaw and the second mechanical jaw perform opening and closing motions. By using the present invention, when performing berry picking, the picking process is highly automated, and berries are not prone to damage.

Description

Mechanical hand for picking TECHNICAL FIELD

[0001] The present application relates to the technical field of fruit picking devices, in particular to a mechanical hand for picking. BACKGROUND

[0002] The prior art generally uses a mechanical arm with two clamping jaws to clamp fruit to achieve picking, or uses a clamping jaw with a cutting tool to cut the fruit stem to achieve picking. TECHNICAL PROBLEM

[0003] Peppers are currently mainly picked by hand, which is labor-intensive and inefficient. In addition, the maturity of peppers on the same plant is also different, and the connection force of the fruit and the stem is also different. In most cases, when one or two red fruit grains appear on the pepper ear, it can be picked, but the products processed from mature and immature peppers are different in flavor, quality, and economic value. If only the fruit grains on the mature fruit ear are picked and the immature fruit ear is left to be picked when it is mature, the income of pepper growers will be improved. In addition, traditional machines can also be used for picking. Pepper picking machines will mix in impurities, damage fruit grains, and be contaminated during use, resulting in a decrease in the quality of peppers. Most fruit and vegetable picking mechanical hands on the market are limited to clamping and cutting, and cannot meet the function of picking part of the fruit grains of the fruit ear. At the same time, the pressure applied to the fruit grains also needs to be controlled to avoid damage to the fruit grains, and the structure and control method are more complex. TECHNICAL SOLUTION

[0004] Therefore, it is necessary to provide a mechanical hand for picking to solve the problem of high labor intensity and low efficiency of manual picking.

[0005] The present application provides a mechanical hand for picking, comprising a picking device and a wire drive; the picking device comprises a mechanical hand shell, a first mechanical hand claw and a second mechanical hand claw, the first mechanical hand claw and the second mechanical hand claw are oppositely arranged and respectively rotationally connected to the mechanical hand shell, and a containing cavity for accommodating fruit grains is formed between the first mechanical hand claw and the second mechanical hand claw;

[0006] The wire drive comprises a sliding block, a wire holder, and at least two picking clamping wires; one end of the picking clamping wires is connected to the sliding block and passes through the wire holder, and the other end is respectively connected to the first mechanical hand claw and the second mechanical hand claw; the sliding block can move back and forth along the length direction of the picking clamping wires, and in the process of sliding block movement, the picking clamping wires are pulled tight and coincide or relaxed to pick or peel off the fruit grains, and at the same time, the first mechanical hand claw and the second mechanical hand claw are opened and closed.

[0007] Preferably, the picking clamp line comprises a first clamp line and a second clamp line, one end of the first clamp line and the second clamp line are connected with the slider and pass through the bundle line seat, the other end of the first clamp line is fixed to the first mechanical hand claw, and the other end of the second clamp line is fixed to the second mechanical hand claw.

[0008] Preferably, a first clamp line block for fixing the first clamp line is arranged on the slider, and a second clamp line block for fixing the second clamp line arranged at the ends of the first mechanical hand claw and the second mechanical hand claw is fixed, and the picking clamp line extends through the first clamp line block, the bundle line seat and the second clamp line block in sequence.

[0009] Preferably, the mechanical hand shell comprises a shell main body and a clamping part arranged at the end of the shell main body for mounting the first mechanical hand claw and the second mechanical hand claw.

[0010] The shell main body is provided with a first sliding groove, and the slider is slidingly connected to the first sliding groove.

[0011] Preferably, a rotating shaft and a torsional spring are further included, the first mechanical hand claw is rotatably connected to the mechanical hand shell through the rotating shaft, and the torsional spring is sleeved on the rotating shaft, one end of the torsional spring is limited in the mechanical hand shell, and the other end of the torsional spring is limited in the first mechanical hand claw.

[0012] Preferably, the pull line drive further comprises a power drive, a drive screw rod and a screw sleeve, the power drive is arranged in the mechanical hand shell, the output end of the power drive is connected to the drive screw rod, and the drive screw rod is threadedly connected with the screw sleeve.

[0013] Preferably, the power drive comprises a motor, a screw and a bearing seat, the screw is tightly connected between the motor shell of the motor and the mechanical hand shell, the bearing seat is connected to the mechanical hand shell, and the drive screw rod is rotatably connected to the bearing seat.

[0014] Preferably, a brush is mounted at the front end below the first mechanical hand claw and / or the second mechanical hand claw, and a collecting pipe is mounted at the rear end below the first mechanical hand claw and / or the second mechanical hand claw.

[0015] The first mechanical hand claw and the second mechanical hand claw are hollow inside, and when the first mechanical hand claw and the second mechanical hand claw coincide, the brush and the collecting pipe together form a sealed containing cavity for collecting picked fruit particles.

[0016] Preferably, the collecting pipe is a telescopic sleeve.

[0017] Preferably, a camera and a spherical hinge are further included, and the camera is connected with the mechanical hand shell through the spherical hinge.

[0018] Preferably, the picked grains are peppers. Advantages

[0019] The mechanical hand for picking of the present application comprises a picking device and a wire driving; wherein the first mechanical hand claw and the second mechanical hand claw of the picking device can pull the picking clamp wire to relax or clamp the grains in the process of opening or closing. The wire driving comprises a slider, a wire holder and two picking clamp wires. The slider moves back and forth along the length direction of the picking clamp wire, the picking clamp wire relaxes to clamp the pepper grains in the process of the slider moving close to the mechanical hand claw, and the picking clamp wire is pulled tight to overlap and then drag and break the pepper grains to make them peel off and collect in the accommodation cavity in the process of the slider moving away from the mechanical hand claw. At this time, the first mechanical hand claw and the second mechanical hand claw are open, and the two picking clamp wires are relaxed; the first mechanical hand claw and the second mechanical hand claw are closed, and the two picking clamp wires are pulled tight. The picking clamp wire drags and breaks the pepper grains to make them peel off and collect in the accommodation cavity, and the process of picking the pepper grains is highly automated.

[0020] The mechanical hand for picking of the present application controls the picking clamp wire of the first mechanical hand claw and the second mechanical hand claw to accurately clamp the fruit stem of the pepper ear, and then the first mechanical hand claw and the second mechanical hand claw are pulled backward, so that the picking clamp wire on the first mechanical hand claw and the second mechanical hand claw can peel off the grains on the ear. The picking clamp wire is made of a relatively soft and elastic material, and does not exert a rigid force when contacting the grains. Compared with the rigid scissors structure commonly used in the prior art, the picking clamp wire is not easy to damage the grains when contacting them. The picking clamp wire with a certain elasticity is used to peel off the grains on the ear. Since the connection force between the mature pepper grains and the fruit stem is relatively weak, and the connection force between the immature pepper grains and the fruit stem is relatively strong, the mature grains are easy to be peeled off in the peeling process, while the immature grains are still retained on the fruit stem to be picked after maturing, which can improve the income of pepper growers. The first mechanical hand claw and the second mechanical hand claw are hollowed out and can form an accommodation cavity together for collecting the pepper grains. When the first mechanical hand claw and the second mechanical hand claw are closed, the accommodation cavity is a nearly closed space, and the collected pepper grains are not easy to fall off, thereby improving the picking and collecting rate of the grains and reducing the loss of the grains falling off. BRIEF DESCRIPTION OF DRAWINGS

[0021] Fig. 1 is a schematic view of the first mechanical hand claw and the second mechanical hand claw of the mechanical hand for picking of an embodiment of the present application in an open state;

[0022] Fig. 2 is a schematic view of the first mechanical hand claw and the second mechanical hand claw of the mechanical hand for picking of an embodiment of the present application in a closed state;

[0023] Fig. 3 is a top view of the mechanical hand for picking of an embodiment of the present application;

[0024] Fig. 4 is a sectional view of Fig. 3 at A-A.

[0025] The reference signs in the figures are explained below:

[0026] 1. first mechanical gripper; 2. second mechanical gripper; 3. accommodating cavity; 4. sliding block; 5. wire holder; 6. picking wire; 8. mechanical hand shell; 9. torsion spring; 10. picking device; 11. brush; 12. collecting tube; 13. motor; 14. motor shell; 15. screw; 16. spherical hinge; 17. screw sleeve; 18. bearing seat; 19. driving screw; 20. wire driving; 30. power driving; 40. camera; 61. first clamping wire; 62. second clamping wire; 71. first clamping wire block; 72. second clamping wire block; 81. shell body; 82. clamping part; 83. first sliding groove. Embodiment of the present application

[0027] Referring to FIG. 1 and FIG. 2, the present application provides a mechanical hand for picking, comprising a picking device 10 and a wire driving 20; the picking device 10 comprises a mechanical hand shell 8, a first mechanical gripper 1 and a second mechanical gripper 2, the first mechanical gripper 1 and the second mechanical gripper 2 are oppositely arranged and respectively rotationally connected to the mechanical hand shell 8, and an accommodating cavity 3 for accommodating fruit particles is formed between the first mechanical gripper 1 and the second mechanical gripper 2;

[0028] The wire driving 20 comprises a sliding block 4 reciprocating along the length direction of the picking wire, a wire holder 5 arranged on the sliding block 4, and at least two picking wires 6; one end of the picking wires 6 is connected with the sliding block 4 and passes through the wire holder 5, and the other end is respectively connected to the first mechanical gripper 1 and the second mechanical gripper 2; the sliding block 4 can reciprocate along the length direction of the picking wire, and the picking wire 6 is pulled tight and overlapped or loosened in the process of the sliding block 4 moving to pick or peel off the fruit particles, and at the same time, the first mechanical gripper 1 and the second mechanical gripper 2 are opened and closed.

[0029] The pepper grains are picked. The pepper grains are a kind of tropical spice crops for seasoning. The pepper picking grains are small in size and large in quantity, and at present, mainly rely on manual picking, and the efficiency is low. Most of the fruit spars cannot control the pressure applied on the grains to avoid the damage of the grains. The present application can also be applied to the harvesting of other crops, and the picking principle is not only suitable for the picking of pepper, but also can be used for picking tobacco leaves, mulberry leaves, medlar, grape and other string-shaped crops by improving the size and structure. The embodiment provides a mechanical hand for picking pepper grains, which comprises a picking device 10 and a wire driving 20. Wherein, the picking device 10 comprises two oppositely arranged first mechanical hand claws 1 and second mechanical hand claws 2. It can be understood that the two mechanical hand claws can be opened or closed through the driving device (power driving 30). The two mechanical hand claws are opened to accommodate the pepper ear in the accommodating cavity 3 to pick the pepper, and after closing, the first mechanical hand claw 1 and the second mechanical hand claw 2 are moved to strip the grains and collect them in the accommodating cavity 3.

[0030] In the embodiment, the wire driving 20 comprises a sliding block 4, a wire binding seat 5 and two picking clamping wires 6. Wherein, one end of the wire binding seat 5 is connected with the first mechanical hand claw 1 through a fastener, and the other end is connected with the second mechanical hand claw 2 through a fastener. One end of the picking clamping wire 6 is connected with the sliding block 4, and the other end is guided to the end of the first mechanical hand claw 1 and the second mechanical hand claw 2 through the wire binding seat 5. The sliding block 4 moves back and forth along the length direction of the picking clamping wire, the picking clamping wire 6 is relaxed to clamp the pepper grains in the process that the sliding block 4 moves close to the mechanical hand claw, and the picking clamping wire 6 is pulled tight to overlap and then drag and break the pepper grains to strip and collect them in the accommodating cavity 3 in the process that the sliding block 4 moves away from the mechanical hand claw. At this time, the first mechanical hand claw 1 and the second mechanical hand claw 2 are opened, and the two picking clamping wires 6 are relaxed; the first mechanical hand claw 1 and the second mechanical hand claw 2 are closed, and the two picking clamping wires 6 are pulled tight, the picking clamping wire 6 drags and breaks the pepper grains to strip and collect them in the accommodating cavity 3 through the sliding block 4.

[0031] The mechanical hand for picking of the present application accurately clamps the fruit stem of the pepper ear through the picking clamping wire 6 of the first mechanical hand claw 1 and the second mechanical hand claw 2, and then drags back the first mechanical hand claw 1 and the second mechanical hand claw 2, so that the picking clamping wire 6 on the first mechanical hand claw 1 and the second mechanical hand claw 2 can strip the grains on the ear; the first mechanical hand claw 1 and the second mechanical hand claw 2 are hollowed out, and can form a certain internal space (i.e. the accommodating cavity 3) together for collecting the pepper grains. As a further improvement of the above technical solution, the picking clamping wire 6 comprises a first clamping wire 61 and a second clamping wire 62, the first clamping wire 61 and the second clamping wire 62 both pass through the wire binding seat 5, the end of the first clamping wire 61 is fixed on the first mechanical hand claw 1, and the end of the second clamping wire 62 is fixed on the second mechanical hand claw 2.

[0032] Specifically, the starting end of the first clamping wire 61 and the second clamping wire 62 is connected with the sliding block 4, the middle part passes through the wire holder 5, and the end part is fixed to the first mechanical hand 1 and the second mechanical hand 2 respectively.

[0033] In the embodiment, the mechanical hand for picking also includes a first clamping wire block 71 arranged on the sliding block 4 for fixing the first clamping wire 61, and a second clamping wire block 72 arranged at the end of the first mechanical hand 1 and the second mechanical hand 2 for fixing the second clamping wire 62, and the picking clamping wire 6 extends through the first clamping wire block 71, the wire holder 5 and is fixed to the second clamping wire block 72 in sequence.

[0034] It can be understood that the first clamping wire block 71 fixes the first clamping wire 61 to the sliding block 4, and the second clamping wire block 72 fixes the second clamping wire 62 to the end of the first mechanical hand 1 and the second mechanical hand 2, so as to prevent sliding during picking.

[0035] In the embodiment, the mechanical hand shell 8 includes a shell main body 81 and a clamping part 82 arranged at the end of the shell main body 81 for mounting the first mechanical hand 1 and the second mechanical hand 2.

[0036] The shell main body 81 is provided with a first sliding groove 83, and the sliding block 4 is slidingly connected to the first sliding groove 83.

[0037] Specifically, the first mechanical hand 1 and the second mechanical hand 2 are detachably mounted to the shell main body 81 through the clamping part 82, and different sizes of the first mechanical hand 1 and the second mechanical hand 2 are selected according to the size of the fruit particles of the picked peppers or fruits and vegetables. Optionally, the clamping part 82 is a U-shaped steel plate, and the first mechanical hand 1 and the second mechanical hand 2 are buckled in the groove of the U-shaped steel plate. The wire holder 5 of the above-mentioned embodiment is mounted on the upper end surface of the U-shaped steel plate of the clamping part 82 for guiding the picking clamping wire 6.

[0038] The shell main body 81 is also provided with a first sliding groove 83, and the bottom of the sliding block 4 is connected with the driving lead screw 19, and the top part protrudes through the first sliding groove 83, and the protruding part is fixedly connected with the starting end of the picking clamping wire 6. The sliding block 4 moves along the first sliding groove 83 during the movement of the driving lead screw 19 to tighten or loosen the picking clamping wire 6.

[0039] Specifically, the mechanical hand for picking also includes a rotating shaft and a torsional spring 9, the first mechanical hand 1 is rotatably connected to the mechanical hand shell 8 through the rotating shaft, the torsional spring 9 is sleeved on the rotating shaft, one end of the torsional spring 9 is limited in the mechanical hand shell 8, and the other end of the torsional spring 9 is limited in the first mechanical hand 1. When the picking clamping wire is tightened and the first mechanical hand 1 is closed, the first mechanical hand 1 extrudes the torsional spring 9, and when the picking clamping wire is loosened, the first mechanical hand 1 is opened under the elastic force provided by the torsional spring 9. Similarly, the second mechanical hand 2 is mirror-imaged with the first mechanical hand 1 in structure.

[0040] Referring to FIG. 3 and FIG. 4, the embodiment further comprises a power drive 30, a drive screw 19 and a screw sleeve 17, the power drive 30 is arranged in the mechanical arm housing 8, the output end of the power drive 30 is connected to the drive screw 19, and the screw sleeve 17 is threadedly connected to the drive screw 19; the screw sleeve 17 is screwed on the drive screw 19, and the sliding block 4 is sleeved on the screw sleeve 17; the sliding block 4 is cooperated with the first sliding groove 83 to move back and forth in the direction of the drive screw 19; and the sliding block 4 is provided with a screw hole for mounting the first line clamping block 71.

[0041] The embodiment further comprises a power drive 30, the power drive 30 comprises a motor 13, a motor housing 14, a screw 15 and a bearing seat 18, the screw 15 is used to fasten the motor housing 14 of the motor 13 to the mechanical arm housing 8, the bearing seat 18 is connected to the mechanical arm housing 8, and the drive screw 19 is rotatably connected to the bearing seat 18. Further, a long rod can be connected to one end of the motor housing 14 to realize picking of the pepper grains at a higher position.

[0042] A brush 11 is mounted at the front lower end of the first mechanical arm claw 1 and / or the second mechanical arm claw 2, and a collecting pipe 12 is mounted at the rear lower end of the first mechanical arm claw 1 and / or the second mechanical arm claw 2; the first mechanical arm claw 1 and the second mechanical arm claw 2 are hollow, and when the first mechanical arm claw 1 and the second mechanical arm claw 2 are overlapped, the brush 11 and the collecting pipe 12 together form a sealed containing cavity 3 for collecting the picked grains.

[0043] The collecting pipe 12 is a telescopic sleeve pipe, and the length thereof can be adjusted along with the movement of the mechanical arm.

[0044] Specifically, a brush 11 is mounted at the front lower end of the first mechanical arm claw 1 or the second mechanical arm claw 2, and a collecting pipe 12 is mounted at the rear lower end of the first mechanical arm claw 1 or the second mechanical arm claw 2.

[0045] In the embodiment, a brush 11 is mounted at the front lower end of the first mechanical arm claw 1 and the second mechanical arm claw 2, and a collecting pipe 12 is mounted at the rear lower end of the first mechanical arm claw 1 and the second mechanical arm claw 2. The brush 11 and the collecting pipe 12 together form a sealed containing cavity 3 with the hollow interiors of the first mechanical arm claw 1 and the second mechanical arm claw 2. The pepper grains are collected in the containing cavity 3 after being clamped and cut by the picking clamping line 6.

[0046] The picking clamping line 6 is above the part of the containing cavity 3 for clamping the pepper, and the brush 11 is below the part of the containing cavity 3 for clamping the pepper. The brush 11 is used to adapt to the shape of the pepper cluster by the bristles on the brush 11 when the pepper cluster is clamped, so as to seal the internal space, so that the peeled pepper grains cannot fall out of the first mechanical arm claw 1 and the second mechanical arm claw 2 and roll down to the collecting pipe 12 below along the slope.

[0047] Specifically, the mechanical hand for picking also comprises a camera 40 and a spherical hinge 16, the camera 40 is connected with the mechanical hand shell 8 through the spherical hinge 16, the camera 40 is installed on the frame of the motor shell 14 and can rotate in multiple directions through the spherical hinge 16.

[0048] The camera 40 monitors the current picking working condition in real time and rotates in multiple angles and directions through the spherical hinge 16 to shoot.

[0049] Through the machine vision assistance of the camera 40, the pepper can be picked by the mechanical hand, the pepper grains are peeled off in the picking process, and the impurities, damage and pollution in the subsequent processing by using the machine threshing process are avoided. The selective peeling of the mature fruit grains of the fruit cluster can also improve the quality of the final pepper product. The maturity of the peppers on the same pepper plant is also different, and the connection force of the grains and the fruit stem is also different. In most cases, when one or two red grains appear on the pepper cluster, the pepper can be picked, but the products processed by the mature and immature peppers are different in flavor, quality and economic value. If only the grains on the mature fruit cluster are picked and the immature fruit cluster is left, the income of the pepper grower can be improved. Industrial applicability

[0050] The mechanical hand for picking comprises a picking device and a wire driving, wherein the first mechanical hand claw and the second mechanical hand claw of the picking device can pull the picking clamp wire to relax or clamp the grains in the process of opening or closing. The wire driving comprises a sliding block, a wire holder and two picking clamp wires. The sliding block moves back and forth along the length direction of the picking clamp wire, the picking clamp wire is relaxed to clamp the pepper grains in the process that the sliding block moves close to the mechanical hand claw, and the picking clamp wire is pulled tight and coincides to drag and break the pepper grains to peel off and collect in the accommodating cavity in the process that the sliding block moves away from the mechanical hand claw. At this time, the first mechanical hand claw and the second mechanical hand claw are opened, and the two picking clamp wires are relaxed; the first mechanical hand claw and the second mechanical hand claw are closed, and the two picking clamp wires are pulled tight. The picking clamp wire drags and breaks the pepper grains to peel off and collect in the accommodating cavity, and the process of picking the pepper grains is highly automated.

Claims

1. A mechanical hand for picking, characterized in that, The application relates to a fruit picking device and a pull-wire driving device. The fruit picking device comprises a mechanical hand shell, a first mechanical hand claw and a second mechanical hand claw, the first mechanical hand claw and the second mechanical hand claw are oppositely arranged and are respectively rotationally connected to the mechanical hand shell, and a containing cavity for containing fruit particles is formed between the first mechanical hand claw and the second mechanical hand claw. The pull-wire driving device comprises a sliding block, a wire binding seat and at least two picking clamping wires, one end of the picking clamping wires is connected to the sliding block and passes through the wire binding seat, the other end of the picking clamping wires is respectively connected to the first mechanical hand claw and the second mechanical hand claw, the sliding block can move back and forth along the length direction of the picking clamping wires, and in the process of the movement of the sliding block, the picking clamping wires are pulled tight and coincide or are loosened to pick or peel the fruit particles, and meanwhile the first mechanical hand claw and the second mechanical hand claw are opened and closed.

2. The mechanical hand for picking according to claim 1, characterized in that, The picking clamping wires comprise a first clamping wire and a second clamping wire, one end of the first clamping wire and the second clamping wire is connected to the sliding block and passes through the wire binding seat, the other end of the first clamping wire is fixed to the first mechanical hand claw, and the other end of the second clamping wire is fixed to the second mechanical hand claw.

3. The mechanical hand for picking according to claim 2, characterized in that, The first clamping wire block for fixing the first clamping wire is arranged on the sliding block, and the second clamping wire block for fixing the second clamping wire is fixedly arranged at the end of the first mechanical hand claw and the second mechanical hand claw, and the picking clamping wires extend through the first clamping wire block, the wire binding seat and the second clamping wire block in sequence.

4. The mechanical hand for picking according to claim 3, characterized in that, The mechanical hand shell comprises a shell main body and a clamping part arranged at the end of the shell main body and used for mounting the first mechanical hand claw and the second mechanical hand claw. The shell main body is provided with a first sliding groove, and the sliding block is slidingly connected to the first sliding groove.

5. The mechanical hand for picking according to claim 4, characterized in that, The first mechanical hand claw is rotationally connected to the mechanical hand shell through a rotating shaft, a torsional spring is sleeved on the rotating shaft, one end of the torsional spring is limited in the mechanical hand shell, and the other end of the torsional spring is limited in the first mechanical hand claw.

6. The mechanical hand for picking according to claim 4, characterized in that, The pull-wire driving device further comprises a power driving device, a driving screw rod and a screw sleeve, the power driving device is arranged in the mechanical hand shell, the output end of the power driving device is connected to the driving screw rod, and the screw sleeve is threadedly connected to the driving screw rod.

7. The mechanical hand for picking according to claim 6, characterized in that, The power driving device comprises a motor, a screw and a bearing seat, the screw is tightly connected between the motor shell of the motor and the mechanical hand shell, the bearing seat is connected to the mechanical hand shell, and the driving screw rod is rotationally connected to the bearing seat.

8. The mechanical hand for picking according to any one of claims 1 to 4, characterized in that, A brush is arranged at the front end below the first mechanical hand claw and / or the second mechanical hand claw, and a collecting pipe is arranged at the rear end below the first mechanical hand claw and / or the second mechanical hand claw. The first mechanical hand claw and the second mechanical hand claw are hollow, and when the first mechanical hand claw and the second mechanical hand claw coincide, the brush and the collecting pipe together form a sealed containing cavity for collecting the picked fruit particles.

9. The mechanical hand for picking according to claim 8, characterized in that, The collecting pipe is a telescopic sleeve pipe.

10. The mechanical hand for picking according to any one of claims 1 to 4, characterized in that, A camera and a spherical hinge are further arranged, and the camera is connected to the mechanical hand shell through the spherical hinge.

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