A double-convex lens

Abstract

The application relates to a double-spore mushroom picking end effector, which comprises a shell and a supporting disc, the shell is cylindrical and has an opening at the bottom, the supporting disc is arranged in the shell, three connecting rods are arranged between the supporting disc and the inner top of the shell and are uniformly distributed in a circle, three transmission mechanisms are respectively arranged on the three connecting rods, the horizontal heights of the three transmission mechanisms are sequentially increased, locking mechanisms for locking the transmission mechanisms are arranged on the connecting rods, a first driving mechanism is arranged on the supporting disc and is used for rotating the three transmission mechanisms respectively, extension rods extending out of the shell are arranged on the transmission mechanisms, a second driving mechanism is arranged on the extension rods outside the shell, and a clamping finger is arranged on the second driving mechanism and can be driven to move by the second driving mechanism. The three fingers can be arbitrarily rotated at the head of the end effector according to requirements, reach a position suitable for picking mushroom caps, and reduce damage to surrounding double-spore mushrooms in the process of descending and grabbing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Agaricus bisporus picking, and particularly relates to an Agaricus bisporus picking end effector. BACKGROUND

[0002] At present, the Agaricus bisporus picking end effector is mostly a suction cup and a two-finger clamping manipulator, the picking effect is unstable and the damage is large, the suction cup can only suck the upper side of the cap of Agaricus bisporus, according to the growth characteristics of Agaricus bisporus, the cap of Agaricus bisporus is not always a complete circular shape and the surface of the cap is very smooth and regular, the suction cup needs to be in complete contact with the cap of Agaricus bisporus, and a space with very good air tightness is formed between the edge of the suction cup and the surface of Agaricus bisporus, so that the Agaricus bisporus can be pulled out from the substrate, and such a picking mode can cause damage to the substrate, mycelium and surrounding Agaricus bisporus. The clamping plate of the two-finger clamping manipulator is only in contact with the edge of the cap of Agaricus bisporus, and in the process of rotating the Agaricus bisporus, the sliding between the cap of Agaricus bisporus and the clamping plate is prone to occur, which can cause damage to the cap of Agaricus bisporus, and increase the possibility that the cap of Agaricus bisporus cannot be separated from the substrate. In the transportation process after picking, since the clamping plate is in contact with the edge of the cap of Agaricus bisporus, the bottom layer of the cap has no support, so in the process of placing into the collecting device, the cap is prone to slide and cause damage and pollution to the Agaricus bisporus.

[0003] Moreover, the multiple clamping claws of the Agaricus bisporus picking manipulator cannot be arbitrarily rotated at any angle in the vertical and horizontal plane direction, so that the Agaricus bisporus picking manipulator cannot adjust the clamping fingers and the position suitable for picking the cap of Agaricus bisporus according to the gap size and position between the Agaricus bisporus, and damage to the Agaricus bisporus and surrounding Agaricus bisporus is prone to occur. SUMMARY

[0004] In view of the problems in the prior art, the present application provides an Agaricus bisporus picking end effector.

[0005] The technical scheme adopted by the present application to solve the above technical problems is: an Agaricus bisporus picking end effector, comprising:

[0006] a shell, which is in a cylindrical shape and has an opening at the bottom;

[0007] The support disc is arranged in the shell, three connecting rods are arranged between the support disc and the inner top of the shell and are circumferentially distributed, three transmission mechanisms are respectively arranged on the three connecting rods, the horizontal heights of the three transmission mechanisms are sequentially increased, a locking mechanism for locking the transmission mechanisms is arranged on the connecting rod, a first driving mechanism is arranged on the support disc and is used for driving the three transmission mechanisms to rotate respectively, an extension rod extending out of the shell is arranged on the transmission mechanism, a second driving mechanism is arranged on the extension rod outside the shell, a clamping finger is arranged on the second driving mechanism, and the second driving mechanism can drive the clamping finger to move, so that the three clamping fingers are switched between a first deformation state and a second deformation state, wherein in the first deformation state, the three clamping fingers are gathered inward, and in the second deformation state, the three clamping fingers are opened outward.

[0008] As a preferred technical scheme, the transmission mechanism comprises a transmission gear rotatably arranged on the connecting rod, a transmission plate rotatably connected with the connecting rod is arranged on the upper end of the transmission gear, an end of the transmission plate towards the inner wall of the shell is provided with a connecting frame, a ball is rotatably arranged on the connecting frame, and an arc-shaped sliding groove for rolling of the ball is arranged on the inner wall of the shell. The end of the extension rod extending into the shell is connected with the connecting frame.

[0009] As a preferred technical scheme, the first driving mechanism comprises a rectangular frame and a spline shaft, a first driving motor and a second driving motor are arranged in the rectangular frame, a spline sleeve is rotatably arranged on the upper end surface of the rectangular frame, the spline shaft is arranged in the spline sleeve, an intermediate gear capable of engaging with the transmission gear is arranged on the upper end of the spline shaft, a connecting seat is rotatably arranged on the lower end of the spline shaft, a driving gear engaging with the spline shaft is arranged on the output shaft of the first driving motor, and a connecting rod is arranged on the output shaft of the second driving motor, and the end of the connecting rod is hingedly connected with the connecting seat.

[0010] As a preferred technical scheme, the locking mechanism comprises a supporting frame and a locking rack, a third driving motor and a sliding seat are arranged on the supporting frame, a movable rack is slidably arranged on the sliding seat, a driving gear cooperating with the movable rack is arranged on the third driving motor, a movable rod is arranged on the movable rack, a fixed rod is arranged on the supporting frame, one end of the locking rack is rotatably connected with the fixed rod, the other end of the locking rack is provided with a waist-shaped through hole cooperating with the movable rod, and the locking rack can engage with the transmission gear.

[0011] As a preferred technical scheme, the extension rod is L-shaped and comprises a vertical end and a horizontal end, the upper end of the vertical end extends into the shell and is connected with the connecting frame, the lower end of the vertical end extends out of the shell and is connected with the horizontal end, and the second driving mechanism is arranged on the horizontal end.

[0012] As a preferred technical scheme, the second driving mechanism comprises a fourth driving motor and a driving block arranged at the end of the output shaft of the fourth driving motor, and the clamping finger is arranged at the lower end of the driving block.

[0013] As a preferred technical scheme, the fingers are made of elastic material, and the fingers are inverted isosceles triangles, and each finger comprises a horizontal part, an inner inclined part close to the inner side, and an outer inclined part close to the outer side.

[0014] As a preferred technical scheme, the inner inclined part is provided with a slide rod on one side of the outer inclined part, the slide rod is provided with a slide shaft, the outer inclined part is provided with a slide rail on the other side of the inner inclined part, the slide rail is inclined from bottom to top, the slide rail is provided with a moving slide groove in the length direction of the slide rail, the moving slide groove is in sliding cooperation with the slide shaft, and the outer inclined part is further provided with an air bag close to the lower end of the inner inclined part.

[0015] The beneficial effects of the present application are as follows: 1. The present application adopts a three-finger clamping type, each finger is made of elastic material and comprises a slide rod, a slide rail and an air bag. When the mechanical hand grabs agaricus bisporus, the inner side of the finger is extruded, the slide rod slides along the slide rail, the inner inclined part of the inner side of the finger deforms according to the shape of the agaricus bisporus cap, so that the contact area of the inner side of the finger with the agaricus bisporus cap is increased, the sliding between the mechanical hand and the agaricus bisporus cap during picking is reduced, the damage to the cap caused by relative sliding is reduced, the force distribution during picking is uniform, the success rate of picking is higher, and the damage during picking is smaller. In addition, the deformation of the slide rod on the slide rail can also make the whole end of the mechanical finger bend towards the bottom of the cap. At this time, the air bag in the finger is in negative pressure. Due to the action of negative pressure and atmospheric pressure, the deformation of the end of the finger in the bending direction of the bottom of the cap is more. The deformation of the end of the finger twice makes the end of the mechanical hand finger better contact with the bottom of the agaricus bisporus cap. Not only does the picking force of the mechanical hand more evenly distribute on the whole cap, but also the agaricus bisporus is more stable during transportation.

[0016] 2. Due to the dense growth of agaricus bisporus and the mutual adhesion, and the different sizes of the gaps between agaricus bisporus, the three fingers of the present application can rotate at the head of the end effector in the vertical horizontal plane direction according to the needs, so as to reach a position suitable for picking the agaricus bisporus cap, and reduce the damage to the surrounding agaricus bisporus during the descending grabbing process of the end effector.

[0017] 3. The present application is controlled by a middle gear and three transmission gears. Such single-point control makes the control system more convenient, saves a lot of space, reduces the weight of the whole mechanical hand, makes the mechanical hand more flexible, and the limiting of the transmission gears is limited by the locking mechanism. The first driving motor can focus on providing the required torque, and the position control can be managed by the locking mechanism. This helps to simplify the system design, and the first driving motor does not need continuous motor power, which can reduce the wear of the first driving motor. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The structure of the present application is shown in the figure;

[0019] Figure 2 For Figure 1 Cross-sectional view of the middle shell;

[0020] Figure 3 Structure diagram of the invention without shell;

[0021] Figure 4 Structure diagram of the transmission mechanism of the invention;

[0022] Figure 5 Structure diagram of the locking mechanism of the invention;

[0023] Figure 6 Structure diagram of the first driving mechanism of the invention;

[0024] Figure 7 Structure diagram of the clamping finger of the invention.

[0025] Marked in the figure: 1, shell, 11, arc-shaped sliding groove, 2, clamping finger, 21, horizontal part, 22, outer inclined part, 23, inner inclined part, 24, sliding rod, 241, sliding shaft, 25, sliding rail, 251, moving sliding groove, 26, air bag, 3, extension rod, 4, fourth driving motor, 41, driving block, 5, support disc, 51, connecting rod, 6, transmission mechanism, 61, transmission gear, 62, transmission plate, 63, connecting frame, 64, ball, 7, locking mechanism, 71, vertical rod, 72, support plate, 73, locking rack, 731, waist-shaped through hole, 74, fixed rod, 75, third driving motor, 76, sliding seat, 77, moving rod, 8, first driving mechanism, 81, intermediate gear, 82, spline shaft, 83, driving gear, 84, first driving motor, 85, second driving motor, 86, connecting rod, 87, rectangular frame. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below in combination with the drawings and examples. It should be understood that in the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third" and the like are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0027] Please refer to Figures 1-7The application provides a double-spore mushroom picking end effector, which comprises a shell 1 and a support disc 5, the shell 1 is cylindrical and has an opening at the bottom, the support disc 5 is arranged in the shell 1, three connecting rods 51 are arranged between the support disc 5 and the top of the shell 1 in a circumferential distribution mode, three transmission mechanisms 6 are respectively arranged on the three connecting rods 51, the horizontal heights of the three transmission mechanisms 6 are sequentially increased, the connecting rod 51 is provided with a locking mechanism 7 for locking the transmission mechanism 6, the support disc 5 is provided with a first driving mechanism 8, the first driving mechanism 8 is used for driving the three transmission mechanisms 6 to rotate respectively, the transmission mechanism 6 is provided with an extension rod 3 extending out of the shell 1, the extension rod 3 is located between the support disc 5 and the inner wall of the shell 1 and does not contact the two, the extension rod 3 is provided with a second driving mechanism on the outer side of the shell 1, the second driving mechanism is provided with a clamping finger 2, the second driving mechanism can drive the clamping finger 2 to move, so that the three clamping fingers 2 are switched between a first deformation state and a second deformation state, wherein in the first deformation state, the three clamping fingers 2 are gathered inward, and in the second deformation state, the three clamping fingers 2 are opened outward.

[0028] In combination Figure 3 And Figure 4 As shown in the drawings, the transmission mechanism 6 comprises a transmission gear 61 rotatably arranged on the connecting rod 51, the transmission gear 61 is provided with a transmission plate 62 rotatably connected with the connecting rod 51 at the upper end, the transmission plate 62 is rotatably sleeved on the connecting rod 51 and is fixedly connected with the transmission gear 61 at the lower end, the end of the transmission plate 62 towards the inner wall of the shell 1 is provided with a connecting frame 63, the connecting frame 63 is rotatably provided with a ball 64, the inner wall of the shell 1 is provided with an arc-shaped sliding groove 11 matched with the ball 64 in rolling mode, and the end of the extension rod 3 extending into the shell 1 is connected with the connecting frame 63.

[0029] In combination Figure 6As shown, the first drive mechanism 8 includes a rectangular frame 87 and a splined shaft 82. A first drive motor 84 and a second drive motor 85 are housed within the rectangular frame 87. A splined sleeve is rotatably mounted on the upper surface of the rectangular frame 87. The rectangular frame 87 is formed by an upper top plate, a left side plate, a right side plate, and a lower top plate. The splined sleeve is rotatably mounted on the upper top plate and has no axial displacement. The splined shaft 82 passes through the splined sleeve. The upper end of the splined shaft 82 has an intermediate gear 81 that meshes with the transmission gear 61, and the lower end has a rotatable connecting seat. The output shaft of the first drive motor 84 has a drive gear 83 that meshes with the splined shaft 82. The output shaft of the second drive motor 85 has a connecting rod 86. The end of the connecting rod 86... Hinged to the connecting seat, the second drive motor 85 rotates, thereby driving the connecting rod 86 to swing, which in turn drives the spline shaft 82 to move up and down, thereby controlling the intermediate gear 81 to move up and down, enabling it to mesh with three transmission gears 61 at different heights. The first drive motor 84 drives the drive gear 83 to rotate, thereby driving the spline shaft 82 to rotate. After the intermediate gear 81 meshes with the transmission gear 61, the intermediate gear 81 rotates, driving the transmission gear 61 to rotate, thereby driving the gripper 2 to move along the circumference of the housing 1. The three grippers 2 of this application can rotate in the vertical and horizontal direction at the head of the end effector as needed, reaching a position suitable for picking the cap of the button mushroom, reducing the damage to the surrounding button mushrooms caused by the end effector during the descent and gripping process.

[0030] Among them, such as Figure 5 As shown, the locking mechanism 7 includes a support frame and a locking rack 73. The support frame includes a vertical rod 71 and a support plate 72 mounted on the vertical rod. The support plate 72 is fixedly connected to the connecting rod 51. The support frame is equipped with a third drive motor 75 and a slide block 76. A moving rack is slidably mounted on the slide block 76. The third drive motor 75 has a drive gear that meshes with the moving rack. The moving rack has a moving rod 77. The support frame is equipped with a fixed rod 74. One end of the locking rack 73 is rotatably connected to the fixed rod 74, and the other end has an oblong through hole 731 that meshes with the moving rod 77. The locking rack 73 can mesh with the transmission gear 61. The third drive motor 75 and the fixed rod 74 are rotatably connected to the fixed rod 74. The other end has an oblong through hole 731 that meshes with the moving rod 77. The locking rack 73 can mesh with the transmission gear 61. Both the fixed rod 74 and the slide 76 are mounted on the support plate 72. The slide 76 is elongated and extends along the length of the support plate 72. The locking rack 73 is slidably mounted on the slide 76. The third drive motor 75 drives the drive gear to rotate, thereby moving the locking rack 73 along its length. By controlling the rotation direction of the third drive motor 75, the movement direction of the locking rack 73 is controlled, which in turn moves the locking rack 73 closer to or further away from the transmission gear 61, thereby locking or unlocking the transmission gear 61. In the locked state, the locking rack 73 meshes with the transmission gear 61. In the unlocked state, the locking rack 73 moves away from the transmission gear 61 and does not mesh.

[0031] Combination Figure 1, Figure 3 and Figure 7 As shown, the extension rod 3 is L-shaped and includes a vertical end and a horizontal end. The upper end of the vertical end extends into the housing 1 and is connected to the connecting frame 63, while the lower end extends out of the housing 1 and is connected to the horizontal part 21. The second drive mechanism is set on the horizontal end. The second drive mechanism includes a fourth drive motor 4 and a drive block 41 set at the end of the output shaft of the fourth drive motor 4. The clamping finger 2 is set at the lower end of the drive block 41.

[0032] Specifically, in combination Figure 1 and Figure 7 As shown, the gripper 2 is made of elastic material and is shaped like an inverted isosceles triangle. The gripper 2 includes a horizontal portion 21, an inner inclined portion 23 near the inner side, and an outer inclined portion 22 near the outer side. The horizontal portion 21, inner inclined portion 23, and outer inclined portion 22 are all made of silicone material and are integrally formed. The connection point between the horizontal portion 21 and the inner inclined portion 23 on the horizontal portion 21 is defined as the inner end, and the connection point between the horizontal portion 21 and the outer inclined portion 22 is defined as the outer end. The driving block 41 is disposed on the horizontal portion 21 near the inner end to improve the stability of gripping the mushroom. The inner inclined portion 23 is positioned on the side opposite to the outer inclined portion 22. There is a sliding rod 24, on which a sliding shaft 241 is provided. A sliding rail 25 is provided on the side of the outwardly inclined part 22 opposite to the inwardly inclined part 23. The sliding rail 25 is inclined from bottom to top. A movable sliding groove 251 that slides and cooperates with the sliding shaft 241 is provided on the sliding rail 25 along its length direction. An air bladder 26 is also provided near its lower end on the side of the outwardly inclined part 22 opposite to the inwardly inclined part 23. A pressure sensor is also provided inside the inwardly inclined part 23. When the pressure sensor detects a pressure signal, the air bladder 26 is deflated. Due to the effect of the external atmospheric pressure, the contact surface between the air bladder 26 and the finger pincher 2 is more curved, and the finger pincher 2 makes better contact with the bottom of the mushroom cap, increasing the force between the finger and the mushroom cap.

[0033] In addition, when using this application, it can be installed at the end of the robotic arm of a mushroom harvesting robot. The first drive motor 84, the second drive motor 85, the third drive motor 75, and the fourth drive motor 4 of this application can be electrically connected to the controller of the mushroom harvesting robot for centralized control. Furthermore, this application can also be equipped with a separate PLC controller, which is electrically connected to the first drive motor 84, the second drive motor 85, the third drive motor 75, and the fourth drive motor 4, respectively, and can be selected according to needs.

[0034] The vision recognition system on the agaricus bisporus picking robot recognizes the agaricus bisporus, detects the agglutination agaricus bisporus, judges the size and position of the gap between the agaricus bisporus, and adjusts the height of the middle gear 81 to reach the height of the transmission gear 61 that needs to be rotated, according to the data of the vision system recognizing the agaricus bisporus. The controller on the agaricus bisporus picking robot controls the second driving motor 85 to rotate, adjusts the height of the spline shaft 82, and then adjusts the height of the middle gear 81, so that it reaches the height of the transmission gear 61 that needs to be rotated. The first driving motor 84 drives the driving gear 83 to rotate, so that the spline shaft 82 rotates, and then drives the middle gear 81 to rotate. The middle gear 81 is in contact with the transmission gear 61, so that it rotates. The transmission gear 61 is connected with the transmission plate 62, and then drives the connecting frame 63 to rotate on the arc-shaped sliding groove 11. The connecting frame 63 is connected with the extension rod 3, and then drives the clamp finger 2 to reach the position specified by the controller by moving the connecting frame 63 on the arc-shaped sliding groove 11. After reaching the specified position, the transmission mechanism 6 can be locked by the locking mechanism. The three fourth driving motors 4 rotate simultaneously to drive the three clamp fingers 2 to rotate simultaneously, and grasp the edge of the agaricus bisporus cap. The surface of the clamp finger 2 is made of flexible material. When the clamp finger 2 rotates to make the inner inclined surface 23 of the clamp finger 2 contact the agaricus bisporus, the inner inclined surface 23 is extruded to deform. The sliding rod 24 slides along the sliding rail 25 downward, and the position contacting the agaricus bisporus will be concave. The surrounding agaricus bisporus edge forms an arc shape, and the agaricus bisporus edge around the agaricus bisporus cap is in contact with the inner inclined surface 23 of the clamp finger 2, so that the contact area between the agaricus bisporus cap and the clamp finger 2 is increased, and the static friction between the agaricus bisporus cap and the clamp finger 2 is increased, and the stability of picking the agaricus bisporus is improved. When the concave position appears, the end of the clamp finger 2 bends towards the bottom of the agaricus bisporus cap, so that the mechanical finger reaches the bottom of the agaricus bisporus cap, and the stability of picking the agaricus bisporus is improved.

[0035] The three-finger clamping type is adopted, each clamp finger is made of sliding elastic material and includes a sliding rod 24, a sliding rail 25 and an air bag 26. When the agaricus bisporus is grasped, the inner side of the clamp finger 2 is extruded, the sliding rod 24 slides along the sliding rail 25 to make the inner inclined surface 23 of the clamp finger 2 deform according to the shape of the agaricus bisporus cap, so that the inner side of the clamp finger 2 increases the contact area with the agaricus bisporus cap, reduces the sliding between the agaricus bisporus cap and the clamp finger 2 during picking, and then reduces the damage to the agaricus bisporus cap caused by relative sliding. At the same time, the force distribution of picking the agaricus bisporus is uniform, the success rate of picking is higher, and the damage to the agaricus bisporus is smaller. In addition, the deformation of the sliding rod 24 on the sliding rail 25 can also make the end of the clamp finger 2 bend downward as a whole. At this time, the air bag in the clamp finger 2 is in negative pressure. Due to the action of negative pressure and atmospheric pressure, the deformation of the end of the clamp finger 2 in the bending direction of the agaricus bisporus cap is more. The deformation of the end of the clamp finger 2 twice makes the end of the clamp finger 2 better contact the bottom of the agaricus bisporus cap. Not only does the mechanical hand pick the force more uniformly distributed on the agaricus bisporus cap, but also the agaricus bisporus is more stable during transportation.

[0036] It should be noted that the above examples are only used to illustrate the present application, but the present application is not limited to the above examples, any simple modification, equivalent change and modification of the above examples according to the technical essence of the present application fall within the protection scope of the present application.

Claims

1. A double-convex agaricus picking end effector, characterized in that, The utility model relates to a double mushroom picking robot, which comprises the following: a shell (1) in a cylindrical shape with an opening at the bottom; a support disc (5) arranged in the shell (1), three connecting rods (51) being arranged in the shell (1) and the support disc (5) in a circumferentially uniform manner, three transmission mechanisms (6) being arranged on the three connecting rods (51) respectively, the horizontal heights of the three transmission mechanisms (6) being increased in sequence, a locking mechanism (7) being arranged on the connecting rod (51) for locking the transmission mechanism (6), a first driving mechanism (8) being arranged on the support disc (5) for rotating the three transmission mechanisms (6) respectively, an extension rod (3) being arranged on the transmission mechanism (6) and extending out of the shell (1), a second driving mechanism being arranged on the extension rod (3) outside the shell (1), and a clamping finger (2) being arranged on the second driving mechanism, the second driving mechanism being capable of moving the clamping finger (2) so that the three clamping fingers (2) can be switched between a first deformation state and a second deformation state, wherein, in the first deformation state, the three clamping fingers (2) are gathered inward, and in the second deformation state, the three clamping fingers (2) are spread outward; the clamping finger (2) is made of an elastic material and has an inverted isosceles triangle shape, and the clamping finger (2) comprises a horizontal part (21), an inner inclined part (23) close to the inner side, and an outer inclined part (22) close to the outer side; the inner inclined part (23) is provided with a sliding rod (24) on the side opposite to the outer inclined part (22), the sliding rod (24) is provided with a sliding shaft (241), the outer inclined part (22) is provided with a sliding rail (25) on the side opposite to the inner inclined part (23), the sliding rail (25) is arranged in an inclined manner from bottom to top, the sliding rail (25) is provided with a moving sliding groove (251) in sliding fit with the sliding shaft (241) along the length direction of the sliding rail (25), and the outer inclined part (22) is further provided with an air bag (26) on the lower end of the side opposite to the inner inclined part (23); the three clamping fingers (2) can rotate at the head of the end effector in the vertical horizontal plane direction according to requirements, so as to reach a position suitable for picking the double mushroom caps and reduce the damage to the surrounding double mushrooms in the process of descending and grabbing by the end effector.

2. The Agaricus bisporus picking end-effector of claim 1, wherein: the transmission mechanism (6) comprises a transmission gear (61) rotatably arranged on the connecting rod (51), the transmission gear (61) is provided with a transmission plate (62) rotatably connected with the connecting rod (51) at the upper end, the end of the transmission plate (62) facing the inner wall of the shell (1) is provided with a connecting frame (63), the connecting frame (63) is rotatably provided with a ball (64), the inner wall of the shell (1) is provided with an arc-shaped sliding groove (11) in rolling fit with the ball (64), and the end of the extension rod (3) extending into the shell (1) is connected with the connecting frame (63).

3. The Agaricus bisporus picking end-effector of claim 2, wherein: The first driving mechanism (8) comprises a rectangular frame (87) and a spline shaft (82), the first driving motor (84) and the second driving motor (85) are arranged in the rectangular frame (87), a spline sleeve is arranged on the upper end face of the rectangular frame (87), the spline shaft (82) is arranged in the spline sleeve, the spline shaft (82) is provided with an intermediate gear (81) capable of meshing with the transmission gear (61) on the upper end, a connecting seat is arranged on the lower end, a driving gear (83) capable of meshing with the spline shaft (82) is arranged on the output shaft of the first driving motor (84), a connecting rod (86) is arranged on the output shaft of the second driving motor (85), and the end of the connecting rod (86) is hinged to the connecting seat.

4. The Agaricus bisporus picking end-effector of claim 3, wherein: The locking mechanism (7) comprises a supporting frame and a locking rack (73), the supporting frame is provided with a third driving motor (75) and a sliding seat (76), a movable rack is arranged on the sliding seat (76) in a sliding mode, the third driving motor (75) is provided with a driving gear matched with the movable rack, a movable rod (77) is arranged on the movable rack, a fixed rod (74) is arranged on the supporting frame, one end of the locking rack (73) is rotatably connected with the fixed rod (74), the other end is provided with a waist-shaped through hole (731) matched with the movable rod (77), and the locking rack (73) is capable of meshing with the transmission gear (61).

5. The Agaricus bisporus picking end-effector of claim 2, wherein: The extension rod (3) is L-shaped and comprises a vertical end and a horizontal end, the upper end of the vertical end extends into the shell (1) and is connected with the connecting frame (63), the lower end extends out of the shell (1) and is connected with the horizontal part (21), and the second driving mechanism is arranged on the horizontal end.

6. A double convex mushroom picking end effector according to claim 5, wherein: The second driving mechanism comprises a fourth driving motor (4) and a driving block (41) arranged at the output shaft end of the fourth driving motor (4), and the clamping fingers (2) are arranged at the lower end of the driving block (41).

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