CN210695008U - Fruit and vegetable picking actuator based on integration of flexible grasping and clamping shear - Google Patents

Abstract

The utility model provides a fruit and vegetable picking actuator based on the integration of flexible grasping and clipping, which is characterized in that: a clipping mechanism and a grasping mechanism are included; The joint shaft; the first cutting edge is provided with a guide groove, and the second cutting blade is provided with a movable groove; the guide groove and the movable groove form an included angle; the joint shaft can be movably arranged at the superposition of the guide groove and the movable groove; Shearing driving device; the joint shaft is connected with the shearing driving device; the first side of the cutting edge close to the gripping mechanism is provided with a clamping piece 1, and the side of the second cutting edge close to the grasping mechanism is respectively provided with a clamping piece 2; The holding mechanism includes a grasping base and at least two soft fingers; the grasping base is connected with the scissors. The fruit and vegetable picking actuator can improve work efficiency, reduce labor costs, improve the non-destructive picking rate of fruits and vegetables, and provide sufficient shearing force to cut fruit stems.

Description

Fruit and vegetable picking actuator based on flexible grasping and clipping

technical field

The utility model relates to the technical field of fruit and vegetable picking, in particular to a fruit and vegetable picking actuator based on the integration of flexible grasping and clipping.

Background technique

my country is a major producer of bunch-shaped fruits such as lychees and grapes. However, in the process of picking these bunch-shaped fruits, we still mainly rely on manual picking, which requires a lot of labor and takes up a certain amount of labor costs. With the aging of the population and the reduction of the labor force, problems such as fruit damage and timely picking have gradually emerged. With the continuous development and maturity of intelligent industries such as robotics, the proposal of "Industry 4.0", and the successive proposals and deepening of policies such as "Made in China 2025", profound changes have taken place in the manufacturing industry, and robots are gradually replacing human labor. If the manipulator is applied to string fruit picking, the mechanization, automation and intelligent picking of fruits can be realized, which can effectively improve the agricultural production environment and promote the progress of agricultural science and technology.

The Chinese invention patent "End Effector of String Fruit Picking Robot" (publication number: CN106233938A) discloses an end effector of a string fruit picking robot, which mainly includes a lifting mechanism, a clamping mechanism and a shearing mechanism. The fruit stem is clamped by the clamping mechanism. When the clamping force reaches the preset value, the lifting mechanism is activated, and the shearing mechanism is activated after the lifting is in place. However, the shearing mechanism of the actuator adopts a steering gear, and the shearing force may be insufficient under the slightly larger diameter of the fruit stem. In addition, the lifting mechanism of the actuator adopts a tray method to lift the bunched fruit, and the bunched fruit is easily damaged in the process of falling into the tray, which affects the quality of the bunched fruit.

The soft finger is formed by casting with flexible material under a special process; the soft finger is inflated or inhaled through the air path, and the soft finger can realize adaptive grasping of objects of different shapes and sizes under the characteristics of its flexible material. Therefore, the soft finger is an ideal solution to support the fruit bunch during the fruit picking process. However, in the existing flexible clamping jaws with soft fingers, the base of the fingers is fixed, and the soft fingers cannot flexibly change positions according to the characteristics of the fruit bunching, thus limiting the protection effect on the bunched fruit when the soft body fingers support the bunched fruit.

Utility model content

In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present utility model is to provide a flexible gripping and clipping integrated, which can improve work efficiency, reduce labor costs, improve the rate of non-destructive picking of fruits and vegetables, and provide sufficient shearing force for shearing. Fruit and vegetable picking actuators with stems.

In order to achieve the above purpose, the utility model is realized by the following technical solutions: a fruit and vegetable picking actuator based on flexible grasping and clipping and shearing, which is characterized in that: it includes a clipping and shearing mechanism and a grasping mechanism;

The clipping mechanism includes a shearing blade 1 and a shearing blade 2 that are hinged to each other, and a joint shaft; the first shearing blade is provided with a guide groove, and the second shearing blade is provided with a movable groove; the guiding groove and the movable groove form an included angle, and the guiding groove and the The movable groove is partially overlapped; the joint shaft is movably arranged at the overlap of the guide groove and the movable groove;

The first shearing blade is provided with a shearing driving device; the joint shaft is connected with the shearing driving device, so as to realize that the shearing driving device drives the joint shaft to move along the length direction of the guide groove, so that the joint shaft drives the two shearing blades around the shearing blade one and the shearing blade. The hinge point of the second blade rotates to realize shearing or opening; the side of the first cutting blade close to the grasping mechanism is provided with a clamping member 1, and the side of the second cutting blade close to the grasping mechanism is respectively provided with a clamping member 2;

The grasping mechanism includes a grasping base and at least two soft fingers arranged on the grasping base; the grasping base is connected with the scissors.

The working principle of the fruit and vegetable picking actuator of the utility model is as follows: first, the shape and size of fruits and vegetables are obtained through visual recognition, so as to obtain the holding position of fruits and vegetables and the position of fruit stem clipping; the identification of the shape and size of fruits and vegetables can use the existing technology; Then, the grasping mechanism uses soft fingers to grasp the fruits and vegetables; after that, the cutting drive device drives the joint shaft to move along the length of the guide groove, and the joint shaft drives the second cutting blade to rotate around the hinge point between the first cutting blade and the second cutting blade to make the cutting blade The first and second shearing blades are sheared to realize the cutting of fruit stems; the first and second clamping members move closer together with the first and second shearing blades, so after the fruit stems are cut, the first and second clamping members The second clamp is clamped. The fruit and vegetable picking actuator of the utility model can quickly carry out fruit and vegetable picking work, improve work efficiency, and reduce labor costs; firstly, soft fingers are used to grasp the fruits and vegetables, and then the fruit stems are cut and clamped, which can improve the non-destructive picking rate of fruits and vegetables.

Since the distance between the different positions of the guide groove and the hinge point is different, the distance between the joint shaft and the hinge point changes during the movement along the length of the guide groove, and the connection between the joint shaft and the second cutting edge cannot be fixed at the same Therefore, the second cutting blade is provided with a movable groove to match the change of the distance between the joint shaft and the hinge point, so that the joint shaft can be linked with the second cutting blade when moving along the length of the guide groove; the structure is simple and ingenious, which is conducive to reducing the implementation of fruit and vegetable picking. the overall weight of the device. The shearing drive device is used to drive the joint shaft to move in a straight line to link the two shearing blades, which can provide enough shearing force to cut the fruit stem and speed up the picking speed.

Preferably, the cutting edge of the first cutting edge has an inner concave arc shape; the cutting edge of the second cutting blade has an outer convex arc shape.

Preferably, the clamping part of the first clamping part is arranged along the cutting edge direction of the first cutting edge, and the clamping part of the clamping part 1 is in the shape of a wave boss; there is a clamp between the clamping part 2 and the clamping part 1. Hold the gap. When the first cutting edge and the second cutting edge quickly cut the fruit stalk, the first and second clipping members clamp the fruit stalk, which can reduce the vibration and impact of the fruits and vegetables during cutting, and can also carry out the cutting of the fruit and vegetables after cutting the fruit and vegetable. Support, especially for bunch-type fruits and vegetables, such as grapes, can prevent the upper fruit from falling down and causing fruit damage.

Preferably, the gripping base includes a mounting seat, a fixing claw mounting frame and at least two rotating claw mounting frames; the number of soft fingers is at least three; each soft finger is respectively connected to the fixing claw mounting frame and the rotating claw mounting frame superior;

The fixing claw mounting frame is connected with the mounting seat; each rotating claw mounting frame is connected with the mounting seat through a rotary driving mechanism, so that the rotating driving mechanism drives the rotating claw mounting frame to rotate, so that the soft fingers connected with the rotating claw mounting frame rotate Realize position adjustment.

The working principle of the gripping mechanism is as follows: the rotating drive mechanism drives each rotating claw mounting frame to rotate, so that the soft fingers connected to the rotating claw mounting frame rotate to realize position adjustment; all the soft fingers form a variety of grasping forms, making them suitable for grasping Take more types of fruits and vegetables, improve the versatility of the equipment, and reduce the cost of use.

Preferably, there are two rotating claw mounting brackets; the two rotating claw mounting brackets are hinged with the mounting seat at the same hinge; the rotation driving mechanism includes a linear motion driver connected to the mounting seat, and a linkage;

The linear motion driver is connected with the linkage, so that the linear motion driver drives the linkage to move; the two rotating claw mounting brackets are respectively rotatably connected with the linkage, and the two connection points are located on both sides of the motion axis; the motion axis refers to The axis of motion passing through the hinge point and parallel to the driving direction of the linear motion drive.

The linear motion driver drives the linkage to move, and the linkage drives the two rotating claw mounting brackets to rotate towards each other around the hinge through the connection point to achieve closeness, or rotate back around the hinge to achieve separation; therefore, the rotating claw The three pneumatic soft fingers connected by the mounting frame and the fixed claw mounting frame can form a side-by-side gripping form or a wrapping gripping form; in the wrapping gripping form, the pneumatic software fingers connected by the two rotating claw mounting frames can also be adjusted Go to different positions to form a wrapping grip form with various angles. The gripping mechanism can realize the transformation of the two gripping forms, expand the range of gripping types of fruits and vegetables, and be safer, more convenient and more efficient. The rotary drive mechanism is simple and ingenious, and can effectively make the two rotary claw mounting brackets rotate around the hinge joint to realize the position adjustment of the pneumatic software fingers. For string-shaped fruits and vegetables with long length and irregular distribution, the wrapping gripping form is preferred; for string-shaped fruits and vegetables with short length and regular inverted cone shape, or single-fruiting fruits and vegetables, the side-by-side gripping form is preferred.

Preferably, the two rotating claw mounting brackets are respectively provided with rotating holes; the linkage member is provided with an elongated guide hole along the direction of the movement axis; the mounting base is connected with a connecting piece; the connecting piece passes through the rotating claw mounting bracket The hole and the elongated guide hole of the linkage connect the rotating claw mounting bracket, the linkage and the mounting seat together.

Preferably, the linkage member is a cam member; the rotating claw mounting bracket is provided with a guide position matching the movement track of the edge of the cam member. The setting of the cam piece can convert the linear driving action of the linear motion driver on the cam piece into the pushing action of the cam piece on the rotating claw mounting frame; the rotating claw mounting frame is not only driven by the connection point with the cam piece, but also by the cam piece The driving force can better convert the linear motion of the linear motion driver into the rotation of the rotating claw mounting frame.

Preferably, the soft fingers are adjustably connected to the fixed claw mounting bracket and the rotating claw mounting bracket, respectively. The advantage of this setting is that the distance of each pneumatic software finger can be adjusted according to the size and type of the fruits and vegetables to be grasped, so that the grasping mechanism can be better matched with various fruits and vegetables, and the versatility is further improved.

Preferably, the gripping base is connected with the shearing blade through a lifting device. The lifting device can use the existing technology, such as air cylinder; it can be judged by visual recognition, according to the shape, size and the reserved length of the fruit and vegetable, adjust the distance between the grasping mechanism and the clipping mechanism, so as to adjust the grasping position of the fruit and vegetable and the fruit and vegetable. Terrier clipping position.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

1. The fruit and vegetable picking actuator of the present utility model can quickly carry out fruit and vegetable picking work, improve work efficiency, and reduce labor costs; it can improve the fruit and vegetable picking rate without damage;

2. The clipping mechanism of the fruit and vegetable picking actuator of the present utility model is simple and portable, the initial opening angle between the first cutting blade and the second cutting blade can be opened to a larger angle, and the error tolerance rate of the aligned fruit stem before cutting is relatively high. It can reduce the accuracy of positioning and shearing of fruit stems and speed up fruit and vegetable picking efficiency; the shear drive device is used to drive the joint shaft to move in a straight line to link the two cutting blades to achieve shearing, which can provide enough shearing force to cut the fruit stems and speed up the cutting. picking speed;

3. The fruit and vegetable picking actuator of the present utility model adopts the first clamping piece and the second clamping piece to clamp the fruit stem, which can slow down the vibration and impact of the fruit and vegetable during shearing, and can also support the fruit and vegetable after cutting the fruit stem, which can avoid the upper part of the fruit and vegetable. The fruit falls down and causes fruit damage;

4. All the soft fingers of the grasping mechanism of the fruit and vegetable picking actuator of the present utility model can form various grasping forms, making it suitable for grasping more types of fruits and vegetables, improving the versatility of the equipment and reducing the use cost;

5. The fruit and vegetable picking actuator of the present utility model can adjust the distance between the grasping mechanism and the clipping mechanism, thereby adjusting the grasping position of fruits and vegetables and the clipping position of fruit stems.

Description of drawings

1 is a schematic structural diagram of the fruit and vegetable picking actuator of the present utility model under the wrapping and gripping form;

2 is a schematic structural diagram of the fruit and vegetable picking actuator of the present utility model in a parallel gripping form;

3 is a schematic structural diagram of the clipping mechanism in the fruit and vegetable picking actuator of the present invention;

4 is an exploded view of the gripping mechanism in the fruit and vegetable picking actuator of the present invention;

5 is a schematic structural diagram of another gripping mechanism in the wrapped gripping form of the fruit and vegetable picking actuator of the present invention;

6 is a schematic structural diagram of another gripping mechanism in the parallel gripping form of the fruit and vegetable picking actuator of the present invention;

7 is an exploded view of another gripping mechanism in the fruit and vegetable picking actuator of the present invention;

8 is an exploded view of the fixed claw mounting frame, the rotating claw mounting frame and the linkage of another gripping mechanism in the fruit and vegetable picking actuator of the present invention;

FIG. 9 is a schematic view of the gripping mechanism under the wrapped gripping form of another gripping mechanism in the fruit and vegetable picking actuator of the present invention;

Fig. 10 is an opening schematic diagram of another kind of gripping mechanism in the wrapped gripping form of the fruit and vegetable picking actuator of the present invention;

Figure 11 is a schematic view of clamping under the parallel-type grasping form of another grasping mechanism in the fruit and vegetable picking actuator of the present invention;

12 is an opening schematic diagram of another kind of grasping mechanism in the parallel grasping form of the fruit and vegetable picking actuator of the present invention;

Fig. 13 is the working flow chart of the fruit and vegetable picking actuator of the present invention;

Among them, 1 is the fixing claw mounting frame, 2 is the rotating claw mounting frame, 3 is the linkage, 4 is the cylinder used to drive the linkage, 5 is the cylinder mounting frame 1, 6 is the connecting piece, 7 is the cutting blade 2, 8 1 is the cutting edge, 9 is the cylinder for driving the joint shaft, 10 is the cylinder mounting frame 2, 11a is the clamping piece 1, 11b is the clamping piece 2, 12 is the joint shaft, 13 is the soft finger, 14 is the lifting device , 15 is a mounting seat, 16 is an elongated guide hole, 17 is a turning hole, 18 is a guide position, 19 is a boss, and 20 is a linkage mounting hole.

Detailed ways

The present utility model will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example

In this embodiment, a fruit and vegetable picking actuator based on flexible grasping and clipping is integrated, and its structure is shown in FIGS. 1 to 12 , including a clipping mechanism and a grasping mechanism.

The clipping mechanism includes mutually hinged shearing blades 1 8 and shearing blades 2 7, and a joint shaft 12; the first shearing blade 8 is provided with a guide groove, and the second shearing blade 7 is provided with a movable groove; the guiding groove and the movable groove form an included angle, and The guide groove and the movable groove are partially overlapped; the joint shaft 12 is movably arranged at the overlap of the guide groove and the movable groove;

The shearing blade 18 is provided with a shearing driving device; in this embodiment, the shearing driving device adopts the existing technology, such as the cylinder 9; the joint shaft 12 is connected with the cylinder 9, so as to realize that the cylinder 9 drives the joint shaft 12 to move along the length direction of the guide groove , so that the joint shaft 12 drives the second cutting edge 7 to rotate around the hinge point between the cutting edge one 8 and the cutting edge two 7 to realize shearing or opening; Two clamping members 11b are respectively provided on one side of the second 7 close to the gripping mechanism.

The cutting edge of the first shearing blade 8 has an inner concave arc; the cutting edge of the second cutting blade 7 has an outer convex arc. The clamping part of the first clamping part 11a is arranged along the cutting edge direction of the shearing blade 1 8, and the clamping part of the clamping part one 11a is in the shape of a wave boss 19; Leave a clamping gap.

The grasping mechanism includes a grasping base and at least two soft fingers 13 arranged on the grasping base; the number of the soft fingers 13 can be two, three, four, or more, as long as they can grasp fruits and vegetables .

The gripping base is connected with the shearing blade one 8 through the lifting device 14 . In this embodiment, the lifting device 14 can adopt the prior art, such as an air cylinder. It can be judged by visual recognition, and the distance between the gripping mechanism and the clipping mechanism can be adjusted according to the shape, size and the reserved length of the fruit stalk, so as to adjust the holding position of the fruit and vegetable and the clipping position of the fruit stalk.

In this embodiment, the grasping base includes a mounting base 15 , a fixed claw mounting frame 1 and at least two rotating claw mounting frames 2 ; each soft finger 13 is connected to the fixed claw mounting frame 1 and the rotating claw mounting frame 2 respectively. The number of soft fingers 13 is at least three, such as three, four, five or more; the number of rotating claw mounts is at least two, such as two, three, four or more.

The fixed claw mounting frame 1 is connected with the mounting seat 15; each rotating claw mounting frame 2 is connected with the mounting seat 15 through the rotation driving mechanism respectively, so as to realize that the rotating driving mechanism drives the rotating claw mounting frame 2 to rotate, so as to connect with the rotating claw mounting frame 2 The software finger 13 rotates to realize position adjustment.

The rotary drive mechanism drives each rotating claw mounting frame 2 to rotate, so that the soft fingers 13 connected with the rotating claw mounting frame 2 rotate to realize position adjustment; all the soft fingers 13 form various grasping forms, making them suitable for grasping more types of Fruits and vegetables, improve the versatility of the equipment and reduce the cost of use.

A further scheme is: the number of rotating claw mounting frames 2 is two; the two rotating claw mounting frames 2 are hinged with the mounting seat 15 at the same hinge; . The linear motion drive can use the existing technology, such as the cylinder 4 .

One solution of the gripping mechanism in this embodiment is that the fixing claw mounting frame 1 and the mounting seat 15 are integrally formed, as shown in FIG. 5 to 12 shown.

The cylinder 4 is connected with the linkage 3, so that the cylinder 4 drives the linkage 3 to move; the two rotating claw mounts 2 are respectively rotatably connected with the linkage 3, and the two connection points are located on both sides of the movement axis; the movement axis refers to the The axis of movement passing through the hinge point and parallel to the driving direction of the cylinder 4 .

The fixing claw mounting frame 1 is provided with a mounting groove 21; the two rotating claw mounting frames 2 are respectively fitted to the upper and lower bottom surfaces of the linkage member 3 and are embedded into the linkage mounting holes through the bosses 19 between the upper and lower bottom surfaces of the linkage member 3 The rotatable connection is realized in 20; the connection between the two rotating claw mounting brackets 2 and the linkage 3 is embedded in the installation groove 21, and the connection between the two rotating claw mounting brackets 2 and the linkage 3 passes through the groove walls on both sides of the installation groove 21. achieve positioning. The fixing claw mounting frame 1 and the linkage member 3 are mutually positioned.

The two rotating claw mounting brackets 2 are respectively provided with rotating holes 17; the linkage member 3 is provided with an elongated guide hole 16 along the direction of the movement axis; the mounting seat 15 is connected with a connecting piece 6; The rotating hole 17 and the elongated guide hole 16 of the linkage 3 connect the rotating claw mounting frame 2 , the linkage 3 and the mounting seat 15 together.

The linear motion driver drives the linkage 3 to move, and the linkage 3 drives the two rotating claw mounting brackets 2 to rotate towards each other around the hinge through the connection point to achieve closeness, or rotate back around the hinge to achieve separation; therefore, the rotating claw is installed The three pneumatic soft fingers 13 connected between the frame 2 and the fixed claw mounting frame 1 can form a side-by-side gripping form or a wrapping gripping form; in the wrapping gripping form, the pneumatic software fingers connected by the two rotating claw mounting frames 2 13 can also be adjusted to different positions to form a wrapping grip form with various angles. The gripping mechanism can realize the transformation of the two gripping forms, expand the range of gripping types of fruits and vegetables, and be safer, more convenient and more efficient. The rotary drive mechanism is simple and ingenious, and can effectively make the two rotary claw mounting brackets 2 rotate around the hinge joint to realize the position adjustment of the pneumatic software fingers 13 . For string-shaped fruits and vegetables with long length and irregular distribution, the wrapping gripping form is preferred; for string-shaped fruits and vegetables with short length and regular inverted cone shape, or single-fruiting fruits and vegetables, the side-by-side gripping form is preferred.

The linkage member 3 is a cam member; the rotating claw mounting frame 2 is provided with a guide position 18 matching the movement track of the edge of the cam member. The setting of the cam member can convert the linear driving effect of the linear motion driver on the cam member into the pushing effect of the cam member on the rotating claw mounting frame 2; The pushing force of the cam member can better convert the linear motion of the linear motion driver into the rotation of the rotating claw mounting frame 2 .

The soft fingers 13 are respectively connected with the fixed claw mounting bracket 1 and the rotating claw mounting bracket 2 in an adjustable manner. The advantage of this setting is that the distance of each pneumatic software finger 13 can be adjusted according to the size and type of the fruits and vegetables to be grasped, so that the grasping mechanism can be better matched with various fruits and vegetables, and the versatility is further improved.

The above-mentioned picking method based on the integrated flexible grasping and clipping actuator for fruit and vegetable picking, as shown in Figure 13, includes the following steps:

The first step is to obtain the shape and size of fruits and vegetables through visual recognition, so as to obtain the holding position of fruits and vegetables and the position of fruit stalk clipping; the identification of fruit and vegetable shape and fruit and vegetable size can adopt the existing technology; according to the shape of fruits and vegetables, the grasping mechanism of the grasping mechanism is adjusted. Shape; adjust the height of the clipping mechanism according to the fruit and vegetable holding position and the fruit stem clipping position, so that the distance between the clipping mechanism and the grasping mechanism matches the fruit and vegetable holding position and the fruit stem clipping position;

In the second step, soft fingers hold the fruits and vegetables flexibly;

In the third step, the shearing drive device makes the first and second shearing blades cut to realize the cutting of fruit stems; After the stem is cut, it is clamped by the first and second clamps;

The fourth step is to hold the fruit flexibly with the fingers of the soft body, and hold the fruit stalk between the first and second clamping members to lift the fruit and vegetable, and move the fruit and vegetable to the placement position;

In the fifth step, the shearing driving device is reset so that the first and second clamping members release the fruit stems; the soft fingers release the fruits and vegetables.

The above-mentioned embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited by the above-mentioned embodiments, and any other changes, modifications, and substitutions made without departing from the spirit and principle of the present utility model , combination and simplification, all should be equivalent replacement methods, which are all included in the protection scope of the present invention.

Claims (9)

1. The utility model provides an executor is picked to fruit vegetables based on it is flexible grab to grab and cut integrative with pressing from both sides, its characterized in that: comprises a clamping and shearing mechanism and a grasping mechanism;

the clamping and shearing mechanism comprises a first shearing blade, a second shearing blade and a combined shaft, wherein the first shearing blade and the second shearing blade are hinged with each other; the first cutting edge is provided with a guide groove, and the second cutting edge is provided with a movable groove; the guide groove and the movable groove form an included angle, and the guide groove and the movable groove are partially overlapped; the joint shaft is movably arranged at the superposed position of the guide groove and the movable groove;

the first shear blade is provided with a shear driving device; the joint shaft is connected with the shearing driving device so as to drive the joint shaft to move along the length direction of the guide groove, and the joint shaft drives the second shearing blade to rotate around a hinge point of the first shearing blade and the second shearing blade so as to realize shearing or opening; one side of the first shear blade, which is close to the grasping mechanism, is provided with a first clamping piece, and one side of the second shear blade, which is close to the grasping mechanism, is provided with a second clamping piece;

the gripping mechanism comprises a gripping base and at least two soft fingers arranged on the gripping base; the grasping base is connected with the first shearing blade.

2. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 1, wherein: the cutting edge of the first shear blade is provided with an inward concave arc shape; the cutting edge of the second cutting edge is provided with an outer convex arc shape.

3. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 2, wherein: the clamping part of the first clamping piece is arranged along the cutting edge direction of the first shear blade and is in a wave boss shape; and a clamping gap is reserved between the second clamping piece and the first clamping piece.

4. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 1, wherein: the gripping base comprises a mounting seat, a fixed jaw mounting frame and at least two rotating jaw mounting frames; the number of the soft fingers is at least three; each soft finger is respectively connected to the fixed claw mounting rack and the rotating claw mounting rack;

the fixed claw mounting frame is connected with the mounting seat; each rotary claw mounting frame is connected with the mounting seat through a rotary driving mechanism respectively to realize that the rotary driving mechanism drives the rotary claw mounting frame to rotate, so that the soft finger connected with the rotary claw mounting frame rotates to realize position adjustment.

5. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 4, wherein: the number of the rotary claw mounting frames is two; the two rotary claw mounting frames are hinged with the mounting seat at the same hinge position; the rotary driving mechanism comprises a linear motion driver connected to the mounting seat and a linkage piece;

the linear motion driver is connected with the linkage piece so as to realize that the linear motion driver drives the linkage piece to move; the two rotating claw mounting frames are respectively rotatably connected with the linkage piece, and the two connecting points are positioned on two sides of the movement axis; the movement axis refers to a movement axis passing through the hinge point and being parallel to the driving direction of the linear motion driver.

6. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 5, wherein: the two rotating claw mounting frames are respectively provided with rotating holes; the linkage piece is provided with a long guide hole along the direction of the motion axis; the mounting seat is connected with a connecting piece; the rotary claw mounting frame, the linkage piece and the mounting seat are connected together through the connecting piece penetrating through the rotary hole of the rotary claw mounting frame and the long guide hole of the linkage piece.

7. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 6, wherein: the linkage piece is a cam piece; the rotating claw mounting frame is provided with a guiding position matched with the motion track of the edge of the cam piece.

8. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 4, wherein: the soft fingers are respectively and adjustably connected with the fixed claw mounting rack and the rotating claw mounting rack.

9. The fruit and vegetable picking actuator based on flexible grip and clip shear integration of any one of claims 1 to 8, wherein: the grasping base is connected with the first shear blade through a lifting device.

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