Flexible-rigid integrated gripper for harvesting fruits and vegetables in breaking-off manner and harvesting robot

A flexible-rigid integrated gripper for harvesting fruits and vegetables in a breaking-off manner, comprising:

• a base,
• a driving member connected to the base, and
• a flexible harvesting mechanism, the flexible harvesting mechanism comprises:
• a rigid member;
• and
• a flexible body arranged on the base and internally provided with a mounting space in fit with the rigid member, wherein the rigid member is arranged in the mounting space, and wherein in a direction away from the base, a thickness of a side wall of the flexible body gradually decreases, the mounting space gradually increases, and a flexible harvesting opening in fit with a fruit/vegetable is formed by an inner side surface of the flexible body;
• when the flexible body is exhausted, a size of the flexible harvesting opening gradually reduces in the direction away from the base;
• and when the flexible body is inflated, the size of the flexible harvesting opening gradually increases in the direction away from the base;
• and
• the driving member is configured to drive the base to move, thus harvesting a fruit/vegetable inside the flexible harvesting opening;
• wherein the flexible body comprises a plurality of independent flexible cavity bodies which are circumferentially arranged around a central point, each of the flexible cavity bodies is an independent sealing unit and has an independent inflation and exhausting interface;
• the rigid member comprises a plurality of rigid rods, each of the rigid rods corresponds to a corresponding one of the flexible cavity bodies in the flexible body, each of the flexible cavity bodies is provided with a flexible chamber which is internally arranged with a corresponding one of the rigid rods, one end of the corresponding one of the rigid rods is fixed to a bottom wall of the flexible chamber and an other end of the corresponding one of the rigid rods is freely suspended or connected to a supporting frame;
• and
• wherein in the direction away from the base, a thickness of a side wall of each of the flexible cavity bodies gradually decreases, the flexible chamber gradually increases, a diameter of each of the rigid rods gradually increases;
• and a gap is reserved between a periphery of the corresponding one of the rigid rods and an inner wall of the flexible chamber.