Abstract: A compliant mounting to attach a suction cup (11) to a support rod (10) is configured so that tilting movement of the cup occurs in such a way that translation of the mouth of the cup is minimised. The effective centre of the cup pivotal movement should lie within the confines of, or closely adjacent the cup. In the embodiment this is achieved by providing a sleeve (50) having an open lower end across which is stretched a resilient membrane (52). The membrane has a central aperture in which is secured the cup (11). Tilting movement of the cup occurring by subjecting the cup to a one-sided force A results in a complex pivotal cup motion by deformation of the membrane (52).

Abstract: An automated mushroom harvester has a carriage adapted to be moved over a mushroom-growing area, a picking head assembly being mounted on the carriage. The assembly includes a pneumatic ram mounted for rotation about its own axis, the ram piston rod being non-rotatable with respect to the ram cylinder. A suction cap is mounted on the lower end of the rod, and control means is provided for the supply of air to and from the ram. The control means is operated to drive the ram in such a way as to maintain substantially constant the speed of the suction cap as it approaches a mushroom to be harvested, and to ensure the maximum energy of the moving parts of the picking head assembly is below 0.25 Joules, during that constant speed approach.

Abstract: Apparatus for harvesting delicate produce--but particularly mushrooms--includes a picking head which is controlled to be positioned over an item of produce to be harvested, by a camera which scans a tray of said items and a control unit operating on a camera output to determine the co-ordinates of those items found to be suitable for picking, for example from the size of those items. The picking head includes a bellows-like produce gripper through which air is drawn to hold an item of produce securely but gently against an engagement face at the free end of the gripper. Once the item has been securely held, it is pulled free by twisting and lifting action, imparted to the picking head. The stalk is then cut away by a cutter, and the item is deposited in a box carried on a separate conveyer.