CN113519268A - Rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth and pepper harvester - Google Patents

Abstract

The invention provides a rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth and a pepper harvester; the bionic picking elastic tooth comprises a skin layer, a far-end finger, a middle finger and a near-end finger; the skin layer is wrapped outside the distal finger, the middle finger and the proximal finger which are hinged in sequence; the far-end finger, the middle finger and the near-end finger are all provided with finger bones, a tendon layer, a muscle tendon layer and a blood vessel layer, the finger bones are wrapped by the muscle tendon layer, the muscle tendon layer is wrapped by the tendon layer, and the blood vessel layer is arranged in the muscle tendon layer; the vascular layer is a sealed tube that can be filled with a liquid medium. The invention takes human fingers as a bionic prototype, and solves the problem of high breakage rate of the traditional elastic teeth on a pepper harvester when peppers are picked.

Description

Rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth and pepper harvester

Technical Field

The invention belongs to the technical field of engineering bionics, and particularly relates to a rigid-flexible-liquid coupling loss-reduction bionic picking spring tooth and a pepper harvester.

Background

The pepper has rich nutritive value and is one of essential vegetables on dining tables of people. At present, the harvesting of the hot pepper mainly comprises mechanical harvesting and manual picking, the mechanically harvested hot pepper is mainly used for making hot pepper paste or extracting capsorubin, and the manually picked hot pepper is mainly used for eating. The hot pepper planting in areas such as Xinjiang, Guizhou, Sichuan and the like in China is mainly carried out in large field blocks, the planting area is wide, and the hot pepper planting in areas such as Shandong, Jiangsu, Henan and the like is mainly carried out in greenhouse or small field blocks. For peppers planted in a large field, a spring-tooth type large pepper harvester is often adopted for harvesting at present, and the pepper harvester does not need to harvest rows, but still faces the problem of high pepper breakage rate, so that the pepper quality is reduced; for peppers planted in small fields or greenhouses, manual picking is mainly used, however, in the face of such huge pepper planting area, the problems of labor shortage, low picking efficiency, high labor intensity, high labor price and the like are often faced in pepper harvesting, and mechanized harvesting of peppers planted in small fields or greenhouses is very urgent.

The elastic teeth are used as working parts on the pepper harvester, which are in direct contact with peppers, and the damage rate of the peppers is obviously influenced in aspects of appearance, structure, material, function and the like. The spring tooth that uses commonly at present mainly is that the well upper portion has the billet of certain camber, and the bottom is the torsional spring structure, has played the effect of twisting back and kick-backing, has reduced the power of hitting to the hot pepper. In order to further reduce the damage to the peppers, researchers nest flexible rubber or plastic on steel bars to design a composite elastic tooth picking device. For example, chinese utility model patent hot pepper is picked device and is authorized bulletin number: CN202197565U nests the hollow flexible spring tooth sleeve on the spring tooth, which reduces the damage to the hot pepper. The elastic teeth assembled by soft and hard materials can reduce the damage rate of the peppers to a certain extent, but the problem of higher damage rate of the peppers is still not obviously solved, and the structure or material assembly mode of the elastic teeth needs to be further invented and created or perfected.

Disclosure of Invention

Aiming at the technical problems, the invention provides a rigid-flexible-liquid coupling loss reduction bionic picking spring tooth and a pepper harvester, which take human fingers as bionic prototypes and solve the problem of high breakage rate of the traditional spring tooth on the pepper harvester when pepper is picked; in materials, materials such as bones, muscle tendons, fascia, skin, body fluid and the like in human fingers and wrapping characteristics of the materials are simulated, each knuckle is assembled by adopting rigid materials, flexible materials and liquid in a coupling mode, and hitting force and impact force of hot peppers during picking are reduced; in the motion posture, the posture of free motion of a plurality of finger joints of a human finger is simulated, and the torsion and reset functions of each rigid phalanx can be realized by a plurality of torsion spring structures, so that the motion freedom of the whole bionic picking spring tooth is increased. The invention strives for simple structure and wide market application prospect while realizing the functions of reducing loss and increasing gain during mechanical picking of hot peppers.

The technical scheme of the invention is as follows: a rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth comprises a bionic picking spring tooth; the bionic picking elastic tooth comprises a skin layer, a far-end finger, a middle finger and a near-end finger; the skin layer is wrapped outside the distal finger, the middle finger and the proximal finger which are hinged in sequence; the far-end finger, the middle finger and the near-end finger are all provided with finger bones, a tendon layer, a muscle tendon layer and a blood vessel layer, the finger bones are wrapped by the muscle tendon layer, the muscle tendon layer is wrapped by the tendon layer, and the blood vessel layer is arranged in the muscle tendon layer; the vascular layer is a sealed tube that can be filled with a liquid medium.

In the scheme, the far side of the far-end finger is provided with a non-porous end cover, the near side of the far-end finger is provided with a porous end cover, the two sides of the middle finger are respectively provided with a porous end cover, and the two sides of the near-end finger are respectively provided with a porous end cover.

In the above scheme, the distal finger comprises a distal finger bone, a first fascia layer, a first muscle tendon layer, a first blood vessel layer, a non-porous end cap and a first porous end cap; the first muscle tendon layer wraps the far-end phalanx, the first muscle tendon layer wraps the first muscle tendon layer, and a plurality of first blood vessel layers are arranged in the first muscle tendon layer; the non-porous end cover is arranged at the far end of the far end finger, the first porous end cover is arranged at the near end of the far end finger, and the far end finger bone penetrates through the first porous end cover to be connected with the finger bone of the middle finger.

In the above scheme, the middle finger comprises a middle finger bone, a second fascia layer, a second muscle tendon layer, a second blood vessel layer and a second porous end cap; the second muscle tendon layer wraps the middle phalanx, the second muscle tendon layer wraps the second muscle tendon layer, and a plurality of second blood vessel layers are arranged in the second muscle tendon layer; the far end and the near end of the middle finger are both provided with second porous end covers, and the two ends of the middle finger bone penetrate through the second porous end covers to be connected with the finger bone of the far end finger and the finger bone of the near end finger respectively.

In the above scheme, the proximal finger includes a proximal phalanx, a third fascia layer, a third muscle tendon layer, a third blood vessel layer and a third porous end cap, the proximal phalanx is wrapped by the third muscle tendon layer, the third fascia layer wraps the third muscle tendon layer, and a plurality of third blood vessel layers are arranged in the third muscle tendon layer; the far end and the near end of the near-end finger are provided with third porous end covers, and the two ends of the near-end finger bone penetrate through the third porous end covers to be connected with the finger bone of the middle finger and the support respectively.

In the scheme, the far-end finger is connected with the middle finger, the torsion springs are respectively arranged inside two sides of the far-end finger, which are in mutual contact with the middle finger, and the nuts are screwed after the bolts penetrate through the middle finger, the torsion springs and the far-end finger, so that the hinge connection of the far-end finger and the middle finger can be rotated.

In the scheme, the middle finger is connected with the near-end finger, the torsion springs are respectively arranged in the two sides of the middle finger, which are in mutual contact with the near-end finger, and the nuts are screwed after the bolts penetrate through the near-end finger, the torsion springs and the middle finger, so that the hinge connection of the middle finger and the near-end finger can be rotated.

In the scheme, the skin layer, the fascia layer, the muscle tendon layer, the non-porous end cap and the porous end cap are made of rubber; the phalanges of the distal finger, the middle finger and the proximal finger are made of rigid materials.

Furthermore, the rubber hardness of the skin layer, the nonporous end cap and the porous end cap is the same, the rubber hardness of the skin layer, the nonporous end cap and the porous end cap is greater than that of the fascia layer, and the rubber hardness of the fascia layer is greater than that of the muscle tendon layer.

A hot pepper harvester comprises the rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth.

Compared with the prior art, the invention has the beneficial effects that: the bionic picking spring tooth with rigid-flexible-liquid coupling loss reduction is designed by taking a finger as a bionic prototype and considering the aspects of structure, material, motion posture and the like, the bionic picking spring tooth is formed by wrapping and assembling rigid phalanges, flexible rubber and liquid in a coupling manner, and simultaneously the connection mode of each phalange in a single finger is simulated, so that the functions of torsion and rebound of each phalange are realized, the hitting force and the collision force when the spring tooth and pepper interact are reduced, and the problem of high damage rate of the traditional spring tooth on a pepper harvester when pepper is picked is solved. In the structure, the multi-knuckle combination and connection characteristics of human fingers are simulated, and the multi-knuckle combination type elastic teeth are adopted to replace the traditional integrated elastic teeth, so that the flexibility of the whole bionic picking elastic teeth is improved; in materials, materials such as bones, muscle tendons, fascia, skin, body fluid and the like in human fingers and wrapping characteristics of the materials are simulated, each knuckle is assembled by adopting rigid materials, flexible materials and liquid in a coupling mode, and hitting force and impact force of hot peppers during picking are reduced; in the motion posture, the posture of free motion of a plurality of knuckles of a human finger is simulated, and the torsion spring structure can realize the functions of torsion and reset of each section of rigid phalanx, thereby increasing the degree of freedom of the motion of the whole bionic picking spring tooth. The invention strives for simple structure and wide market application prospect while realizing the functions of reducing loss and increasing gain during mechanical picking of hot peppers.

Drawings

Fig. 1 is a perspective view of a rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth according to an embodiment of the invention.

Fig. 2 is a front view of a rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth according to an embodiment of the invention.

Fig. 3 is a cross-sectional view a-a of fig. 2.

Fig. 4 is an enlarged view at B in fig. 3.

Fig. 5 is a perspective view of a rigid-flexible-fluid coupled trauma reducing biomimetic pick with skin layers removed from the teeth, in accordance with one embodiment of the present invention.

Fig. 6 is a front view of a rigid-flexible-liquid coupled trauma reducing biomimetic pick with skin layers removed according to one embodiment of the present invention.

Fig. 7 is a cross-sectional view a-a of fig. 6.

Fig. 8 is a sectional view of B-B in fig. 6.

Fig. 9 is a cross-sectional view of C-C in fig. 6.

Fig. 10 is a front view of the distal phalanx, middle phalanx, proximal phalanx and abutment connections in a rigid-flexible-liquid coupled trauma reducing biomimetic pick-up bullet according to one embodiment of the present invention.

Fig. 11 is a cross-sectional view a-a of fig. 10.

Fig. 12 is a sectional view of B-B in fig. 10.

Fig. 13 is a cross-sectional view of C-C in fig. 10.

Fig. 14 is a perspective view of a rigid-flexible-liquid coupled trauma reducing biomimetic pick bullet according to one embodiment of the present invention.

The bionic picking elastic tooth comprises a support 1, a bolt 2, a bionic picking elastic tooth 3, a skin layer 31, a distal finger 32, a non-porous end cover 321, a first porous end cover 322, a distal finger 323, a first fascia layer 324, a first muscle tendon layer 325, a first blood vessel layer 326, a middle finger 33, a middle finger 331, a second porous end cover 332, a second fascia layer 334, a second muscle tendon layer 335, a second blood vessel layer 336, a proximal finger 34, a proximal finger 341, a third porous end cover 342, a third fascia layer 344, a third muscle tendon layer 345, a third blood vessel layer 346, a nut 4 and a torsion spring 5.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Example 1

Fig. 1-4 and 14 show a preferred embodiment of the rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth, which comprises a support 1, a bolt 2, a bionic picking spring tooth 3, a nut 4 and a torsion spring 5; adopt the mode that bolt 2 and nut 4 are connected, will bionical picking bullet tooth 3 and support 1 are connected, have laid a torsional spring 5 respectively in the inside of bionical picking bullet tooth 3 and the support 1 both sides of mutual contact, and bolt 2 passes support 1, torsional spring 5 and bionical picking bullet tooth 3 back, and the elasticity degree of moderate degree adjustment nut 4 guarantees that the hinge is connected rotatably. The bottom of the support 1 is circularly and uniformly distributed with a plurality of through holes, and the rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth monomer is mainly used for being installed on a picking roller of a pepper harvester in a bolt-nut connection mode.

As shown in fig. 5-9, the bionic picking bullet tooth 3 comprises a skin layer 31, a distal finger 32, a middle finger 33 and a proximal finger 34; the skin layer 31 is wrapped outside the distal finger 32, the middle finger 33 and the proximal finger 34 which are hinged in sequence; the nail-free glue is adopted for fixation, and the nail-free glue is respectively coated on the contact surfaces of the skin layer 31 and the distal finger 32, the skin layer 31 and the middle finger 33, and the skin layer 31 and the proximal finger 34. The far-end finger 32 and the middle finger 33 are connected by adopting a mode of connecting the bolt 2 and the nut 4, the torsion springs 5 are respectively arranged inside two sides of the far-end finger 32 and the middle finger 33 which are mutually contacted, and after the bolt 2 passes through the middle finger 33, the torsion springs 5 and the far-end finger 32, the tightness degree of the nut 4 is properly adjusted, so that the hinged connection can be rotated. Similarly, the middle finger 33 and the near-end finger 34 are connected by adopting a mode of connecting the bolt 2 and the nut 4, a torsion spring 5 is respectively arranged inside two sides of the middle finger 33 and the near-end finger 34 which are contacted with each other, and after the bolt 2 passes through the near-end finger 34, the torsion spring 5 and the middle finger 33, the tightness degree of the nut 4 is properly adjusted, so that the hinged connection can be rotated. The far-end finger 32, the middle finger 33 and the near-end finger 34 are all provided with finger bones, a fascia layer, a muscle tendon layer and a blood vessel layer, the finger bones are wrapped by the muscle tendon layer, the muscle tendon layer is wrapped by the fascia layer, and the blood vessel layer is arranged in the muscle tendon layer; the blood vessel layer is a sealed cylindrical liquid pipe, and a buffer medium can be filled in the liquid pipe. Preferably, the liquid pipe can be filled with liquid media such as water, oil, mixed solution and the like.

The far side of the far end finger 32 is provided with a non-porous end cover, the near side is provided with a porous end cover, two sides of the middle finger 33 are respectively provided with a porous end cover, and two sides of the near end finger 34 are respectively provided with a porous end cover; the muscle membrane layer is pasted with the surface of muscle tendon layer, the blood vessel layer is pasted with the muscle tendon layer, the muscle tendon layer is pasted with the surface of finger bone contact each other.

As shown in fig. 6 and 7, according to the present embodiment, the distal finger 32 preferably includes a distal phalanx 323, a first fascia layer 324, a first muscle tendon layer 325, a first vascular layer 326, a non-porous end cap 321, and a first porous end cap 322; the first muscle tendon layer 325 wraps the distal phalanx 323, the first fascia layer 324 wraps the first muscle tendon layer 325, and a plurality of first blood vessel layers 326 in a circular array are arranged in the first muscle tendon layer 325; the imperforate end cap 321 is disposed at the distal end of the distal finger 32, the first perforate end cap 322 is disposed at the proximal end of the distal finger 32, and the distal phalanx 323 passes through the first perforate end cap 322 to connect with the middle phalanx 331 of the middle finger 33; the contact surfaces of the first fascia layer 324 and the first muscle tendon layer 325, the first blood vessel layer 326 and the first muscle tendon layer 325, and the first muscle tendon layer 325 and the distal phalanx 323 are all adhered by nail-free glue.

As shown in fig. 6 and 8, according to the present embodiment, the middle finger 33 preferably includes a middle finger bone 331, a second fascia layer 334, a second muscle tendon layer 335, a second blood vessel layer 336 and a second apertured end cap 332; the second muscle tendon layer 335 wraps the middle phalanx 331, the second fascia layer 334 wraps the second muscle tendon layer 335, and a plurality of second blood vessel layers 336 in a circular array are arranged in the second muscle tendon layer 335; the far end and the near end of the middle finger 33 are both provided with a second perforated end cap 332, and the two ends of the middle finger bone 331 penetrate through the second perforated end cap 332 to be respectively connected with the far end finger bone 323 of the far end finger 32 and the near end finger bone 341 of the near end finger 34; the surfaces of the second fascia layer 334, the second muscle tendon layer 335, the second blood vessel layer 336, the second muscle tendon layer 335 and the middle finger bone 331, which are in contact with each other, are adhered by nail-free glue.

As shown in fig. 6 and 9, according to the present embodiment, the proximal finger 34 includes a proximal phalanx 341, a third fascia layer 344, a third muscle tendon layer 345, a third blood vessel layer 346, and a third porous end cap 342, the third muscle tendon layer 345 covers the proximal phalanx 341, the third fascia layer 344 covers the third muscle tendon layer 345, and a plurality of third blood vessel layers 346 are disposed in a circular array in the third muscle tendon layer 345; the far end and the near end of the near end finger 34 are provided with third porous end covers 342, and the two ends of the near end phalanx 341 pass through the third porous end covers 342 to be respectively connected with the middle phalanx 331 of the middle finger 33 and the support 1; the contact surfaces of the third fascia layer 344 and the third muscle tendon layer 345, the third blood vessel layer 346 and the third muscle tendon layer 345, and the third muscle tendon layer 345 and the proximal phalanx 341 are all adhered by nail-free glue.

As shown in fig. 10, the distal phalanx 323 of the distal finger 32 and the middle phalanx 331 of the middle finger 33, the middle phalanx 331 of the middle finger 33 and the proximal phalanx 341 of the proximal finger 34, the proximal phalanx 341 of the proximal finger 34 and the support 1 are connected by means of the bolt 2 and the nut 4.

As shown in fig. 10 and 11, according to the present embodiment, it is preferable that the distal finger 32 is connected to the intermediate finger 33, a torsion spring 5 is respectively installed inside both sides of the distal finger 32 and the intermediate finger 33 contacting each other, and after the bolt 2 passes through the intermediate finger 33, the torsion spring 5 and the distal finger 32, the nut 4 is screwed so that the hinge connection of the distal finger 32 and the intermediate finger 33 is rotatable.

As shown in fig. 10 and 12, according to the present embodiment, it is preferable that the middle finger 33 and the proximal finger 34 are connected, a torsion spring 5 is respectively installed inside both sides of the middle finger 33 and the proximal finger 34 contacting each other, and after the bolt 2 passes through the proximal finger 34, the torsion spring 5 and the middle finger 33, the nut 4 is screwed so that the middle finger 33 and the proximal finger 34 are hinge-connected to be rotatable.

As shown in fig. 10 and 13, it is preferable according to the present embodiment to further include a stand 1; the support 1 is connected with the proximal end finger 34, a torsion spring 5 is respectively arranged inside two sides of the support 1, which are contacted with the proximal end finger 34, and after the bolt 2 passes through the support 1, the torsion spring 5 and the proximal end finger 34, the nut 4 is screwed on, so that the support 1 is rotatably hinged with the proximal end finger 34.

According to the present embodiment, the skin layer 31, the fascia layer, the muscle tendon layer, the non-porous end cap and the porous end cap are preferably made of rubber; preferably, the skin layer 31, the tendon film layer, the non-porous end cap and the porous end cap are made of elastomer rubber TPU, and the muscle tendon layer is made of common rubber; the rubber hardness of the skin layer 31, the nonporous end caps and the porous end caps is the same, the rubber hardness of the skin layer 31, the nonporous end caps and the porous end caps is greater than that of the fascia layer, and the rubber hardness of the fascia layer is greater than that of the muscle tendon layer. The phalanges of the distal finger 32, the middle finger 33 and the proximal finger 34 are made of rigid material. Preferably, the distal phalanx 323, the middle phalanx 331 and the proximal phalanx 341 are all made of rigid 45# steel.

A bionic engineering principle of a rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth is as follows:

the hot pepper that present greenhouse or small field piece were planted mainly relies on the manual work to gather, and people's finger does not cause the harm to the hot pepper as the executor with hot pepper direct contact when picking the hot pepper in the quick picking process, and this is closely related with structure, material and motion gesture etc. of people's finger, provides the bionical prototype of ideal for reducing the design of loss gain picking bullet tooth. When the moving object is contacted with fingers or palms, the impact force and the hitting force are greatly reduced under the rigid-flexible-liquid three-phase coupling action of the hands. The finger mainly comprises a phalanx unit, a muscle tendon unit, a blood vessel unit, a fascia unit, a skin unit and the like, based on the engineering bionic principle, the engineering bionic technology is adopted, a hand is taken as a bionic prototype, the traditional buffer mode that only flexible rubber is nested on a rigid body is changed, a liquid phase body is introduced, and a new thought is provided for the innovation of loss reduction and gain bionic picking of the elastic teeth. The invention designs a rigid-flexible-liquid coupling loss-reducing bionic picking spring tooth by taking a human finger as a bionic prototype and considering the aspects of structure, material, motion posture and the like. Structurally, the multi-knuckle combination and connection characteristics of human fingers are simulated, and the multi-knuckle combination type elastic teeth are adopted to replace the traditional integrated elastic teeth, so that the flexibility of the whole bionic picking elastic teeth is improved; in materials, materials such as bones, muscle tendons, fascia, skin, body fluid and the like in human fingers and wrapping characteristics of the materials are simulated, each knuckle is assembled by adopting rigid materials, flexible materials and liquid in a coupling mode, and hitting force and impact force of hot peppers during picking are reduced; in the motion posture, the posture of free motion of a plurality of knuckles of a human finger is simulated, and the torsion spring structure can realize the functions of torsion and reset of each section of rigid phalanx, thereby increasing the degree of freedom of the motion of the whole bionic picking spring tooth.

Example 2

A pepper harvester, comprising the rigid-flexible-liquid coupling damage-reducing bionic picking spring teeth described in embodiment 1, thereby having the beneficial effects of embodiment 1, and the details are not repeated herein.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims (10)

1. A rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth is characterized by comprising a bionic picking spring tooth (3); the bionic picking elastic tooth (3) comprises a skin layer (31), a far-end finger (32), a middle finger (33) and a near-end finger (34); the skin layer (31) is wrapped outside the distal finger (32), the middle finger (33) and the proximal finger (34) which are hinged in sequence; the far-end finger (32), the middle finger (33) and the near-end finger (34) are respectively provided with a finger bone, a tendon layer, a muscle tendon layer and a blood vessel layer, the finger bone is wrapped by the muscle tendon layer, the muscle tendon layer is wrapped by the tendon layer, and the muscle tendon layer is internally provided with a plurality of blood vessel layers; the blood vessel layer is a sealed tube which can be filled with liquid medium; torsion springs are respectively arranged at the phalange connecting part of the far-end finger (32) and the middle finger (33) and the phalange connecting part of the middle finger (33) and the near-end finger (34).

2. The rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth as claimed in claim 1, characterized in that the far side of the far end finger (32) is provided with a hole-free end cover, the near side is provided with a hole-free end cover, the two sides of the middle finger (33) are respectively provided with a hole-free end cover, and the two sides of the near end finger (34) are respectively provided with a hole-free end cover.

3. The rigid-flexible-liquid coupled trauma reducing biomimetic picking bullet tooth according to claim 1, wherein the distal finger (32) comprises a distal phalanx (323), a first fascia layer (324), a first muscle tendon layer (325), a first vascular layer (326), a non-porous end cap (321), and a first porous end cap (322); the first muscle tendon layer (325) wraps the distal phalanx (323), the first fascia layer (324) wraps the first muscle tendon layer (325), and a plurality of first blood vessel layers (326) are arranged in the first muscle tendon layer (325); the non-porous end cap (321) is arranged at the far end of the far end finger (32), the first porous end cap (322) is arranged at the near end of the far end finger (32), and the far end finger bone (323) penetrates through the first porous end cap (322) to be connected with the finger bone of the middle finger (33).

4. The rigid-flexible-liquid coupled trauma reduction biomimetic picking bullet tooth according to claim 1, wherein the middle finger (33) comprises a middle finger bone (331), a second fascia layer (334), a second muscle tendon layer (335), a second blood vessel layer (336), and a second apertured end cap (332); the middle phalanx (331) is wrapped by the second muscle tendon layer (335), the second muscle tendon layer (335) is wrapped by the second fascia layer (334), and a plurality of second blood vessel layers (336) are arranged in the second muscle tendon layer (335); the far end and the near end of the middle finger (33) are both provided with a second porous end cover (332), and the two ends of the middle finger bone (331) penetrate through the second porous end covers (332) to be respectively connected with the finger bone of the far end finger (32) and the finger bone of the near end finger (34).

5. The rigid-flexible-liquid coupling injury-reducing bionic picking spring tooth according to claim 1, characterized in that the proximal finger (34) comprises a proximal phalanx (341), a third fascia layer (344), a third muscle tendon layer (345), a third blood vessel layer (346) and a third perforated end cap (342), the third muscle tendon layer (345) wraps the proximal phalanx (341), the third fascia layer (344) wraps the third muscle tendon layer (345), and a plurality of third blood vessel layers (346) are arranged in the third muscle tendon layer (345); the far end and the near end of the near end finger (34) are provided with third porous end covers (342), and the two ends of the near end phalanx (341) penetrate through the third porous end covers (342) to be respectively connected with the phalanx of the middle finger (33) and the support (1).

6. The rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth as claimed in claim 1, characterized in that the distal finger (32) is connected with the middle finger (33), a torsion spring (5) is respectively arranged inside two sides of the distal finger (32) and the middle finger (33) which are contacted with each other, and after a bolt (2) passes through the middle finger (33), the torsion spring (5) and the distal finger (32), a nut (4) is screwed on, so that the hinged connection of the distal finger (32) and the middle finger (33) can rotate.

7. The rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth as claimed in claim 1, characterized in that the middle finger (33) and the proximal finger (34) are connected, a torsion spring (5) is respectively arranged inside two sides of the middle finger (33) and the proximal finger (34) which are contacted with each other, and after a bolt (2) passes through the proximal finger (34), the torsion spring (5) and the middle finger (33), a nut (4) is screwed on, so that the middle finger (33) and the proximal finger (34) are hinged and can rotate.

8. The rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth as claimed in claim 1, characterized in that the skin layer (31), the fascia layer, the muscle tendon layer, the non-porous end cap and the porous end cap are made of rubber; the phalanges of the distal finger (32), the middle finger (33) and the proximal finger (34) are made of rigid materials.

9. The rigid-flexible-liquid coupling damage-reducing bionic picking spring tooth as claimed in claim 8, characterized in that the rubber hardness of the skin layer (31), the non-porous end cap and the porous end cap is the same, the rubber hardness of the skin layer (31), the non-porous end cap and the porous end cap is greater than that of the fascia layer, and the rubber hardness of the fascia layer is greater than that of the muscle tendon layer.

10. A pepper harvester, characterized in that it comprises a rigid-flexible-liquid coupled damage-reducing biomimetic picking spring finger according to any of claims 1-9.

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