Rigid-flexible-liquid coupling loss reduction bionic picking elastic claw and pepper harvester

Abstract

The invention provides a rigid-flexible-liquid coupling loss reduction bionic picking elastic claw and a pepper harvester. The rigid-flexible-liquid coupling loss reduction bionic picking elastic claw comprises a skin layer, a far-end finger, a middle finger and a near-end finger; the skin layer wraps the outer surfaces of the far-end finger, the middle finger and the near-end finger which are hinged in sequence; each of the far-end finger, the middle finger and the near-end finger is provided with a phalanx, a fascia layer, a muscle and tendon layer and a blood vessel layer, the phalanx is wrapped by the muscle and tendon layer, the muscle and tendon layer is wrapped by the fascia layer, and a plurality of blood vessel layers are arranged in the muscle and tendon layer; and the blood vessel layer is a sealed tube which can be filled with a liquid medium. According to the rigid-flexible-liquid coupling loss reduction bionic picking elastic claw, the finger of a person is used as a bionic prototype, so that the problem of high damage rate of a traditional elastic claw on the pepper harvester during pepper picking is solved.

Description

technical field [0001] The invention belongs to the technical field of engineering bionics, and in particular relates to a rigid-flexible-liquid coupling loss-reducing bionic picking spring teeth and pepper harvester. Background technique [0002] Pepper is rich in nutritional value and is one of the indispensable vegetables on the people's table. The current capsicum harvest is mainly based on mechanical harvesting and manual picking. The capsicum harvested by machinery is mainly used for making chili sauce or extracting capsicum, and the capsicum harvested by hand is mainly used for food. In my country's Xinjiang, Guizhou, Sichuan and other regions, peppers are mainly planted in large fields with a vast area, while in Shandong, Jiangsu, Henan and other regions, peppers are mainly grown in greenhouses or small fields. For the peppers planted in large fields, large spring-toothed pepper harvesters are often used for harvesting. This kind of pepper harvester does not need to...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above-mentioned technical problems, the present invention provides a rigid-soft-liquid coupling loss-reducing bionic picking spring teeth and pepper harvester, which uses human fingers as the bionic prototype to solve the problem of the traditional spring teeth on the pepper harvester when picking peppers. For the problem of damage rate, the structure of the present invention imitates the multi-knuckle combination and connection characteristics of human fingers, and adopts multi-knuckle combined spring teeth instead of traditional one-piece spring teeth, which improves the flexibility of the whole bionic picking spring teeth; materials On the surface, it imitates the bones, muscle tendons, fascia, skin and body fluids in human fingers and their wrapping characteristics. Each knuckle is assembled with rigid materials, flexible materials and liquid coupling, which reduces the impact and collision when picking peppers. In terms of movement posture, it imitates the posture of free movement of multiple knuckles of human fingers. Multiple torsion spring structures can make each rigid phalanx realize the function of torsion and reset, which increases the freedom of the whole bionic picking spring teeth movement.

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