A rigid-flexible coupling bimodal end effector for chrysanthemum picking

Abstract

The application discloses a rigid-flexible coupling bimodal end effector for picking chrysanthemum morifolium ramat, and belongs to the field of agricultural harvesting machines. The rigid-flexible coupling bimodal end effector comprises a driving execution device and a fixing device. The driving execution device comprises a bimodal finger, a steering engine and the like, is used for realizing the opening and closing of the end effector, controlling the expansion mode and the contraction mode of the bimodal finger, and realizing reverse transmission of two rows of bimodal fingers through the rotation of the steering engine. The fixing device is used for fixing the steering engine and the bimodal finger. The application realizes a rigid-flexible coupling bimodal end effector scheme suitable for picking fragile chrysanthemum morifolium ramat in a small scale and with low loss, can solve the problems of complex structure and high cost of the end picking mechanism in the prior art, simultaneously solve the problems of great damage to flowers when a rigid end effector is used for picking, weak gripping force of a flexible end effector and low picking efficiency, and is favorable for reducing damage and improving picking efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting machinery, specifically to a rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemum. Background Technology

[0002] Hangzhou white chrysanthemum has high medicinal and health value, and its planting area in my country has grown rapidly in recent years. However, the layering method of Hangzhou white chrysanthemum results in plants of varying heights and difficult row separation, leading to complex harvesting conditions. Currently, mechanized harvesting is not yet available, and all harvesting is done manually, resulting in low mechanical efficiency and high labor intensity. While some research institutions have designed end effectors for Hangzhou white chrysanthemum, some devices are relatively complex in structure, costly, or cause significant damage to the plant or flowers, resulting in low harvesting efficiency and a high rate of missed harvests. Therefore, designing a low-cost, high-efficiency end effector suitable for small-scale, low-damage harvesting of Hangzhou white chrysanthemum is crucial.

[0003] Chinese Patent 202210840887.X discloses a comb-type translating picking device, which includes a frame, a transmission structure, and a picking part. The picking part includes a comb and a connecting structure. During the upward movement, the angle between the picking part and the flower remains constant, and the direction of the force applied by the picking part to the flower is constant.

[0004] Chinese Patent 202211232895.2 discloses an integrated harvester and collection method for Hangzhou white chrysanthemums, including a cylinder fixing plate, a cylinder, and an arc-shaped mechanical claw. It is equipped with single-time precise harvesting and batch harvesting modes. Working in conjunction with a robotic arm, the single-time precise harvesting mode can achieve precise harvesting of a single Hangzhou white chrysanthemum flower, while the batch harvesting mode can achieve batch harvesting of Hangzhou white chrysanthemum flowers within the comb tooth range.

[0005] Chinese Patent 202111035543.3 discloses a petal harvester, including a vehicle body, a flower combing component, and a collecting component. The vehicle body has a compartment with a collection inlet at the front end. The flower combing component includes a first combing unit and a second combing unit arranged sequentially from front to back. The collecting component is installed on the vehicle body. When the vehicle body moves forward, the flower plants enter the compartment through the collection inlet, and the first combing unit and the second combing unit comb the flower plants downward and upward respectively, and the petals fall onto the collecting component.

[0006] Chinese Patent 201410008817.3 discloses a high-elasticity rubber tube expansion clamping device for harvesting plant flowers and leaves, including a compression chamber connected to a frame, an air storage bladder installed in the compression chamber, an air guide tube connecting the air storage bladder and the high-elasticity rubber tube, and a high-elasticity (expandable) rubber tube. Using this device, each set can accommodate up to 400 high-elasticity rubber tubes, equivalent to 400 fingers working simultaneously during manual harvesting.

[0007] Based on previous research and inventions, the dual-arm robotic harvesting robot in question has the following problems:

[0008] (1) Most of the end effectors used are comb-type structures. During the harvesting process, some branches cannot be prevented from entering the comb structure, resulting in a high content of impurities in the harvested chrysanthemums, which can easily damage the flowers, resulting in a high rate of missed harvesting, and also has requirements on the growth form of Hangzhou white chrysanthemums.

[0009] (2) Most of the end effectors used are rigid structures, lacking flexibility, with a high damage rate and relatively complex drive structures, which affects economic benefits.

[0010] (3) Using a separate high-elasticity rubber tube as the end effector to pick flowers lacks rigid support, is easily interfered with by plant branches, and is prone to deformation during picking, resulting in failure to pick flowers.

[0011] Therefore, in order to address the above problems, there is an urgent need to propose a rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemums that has flexibility and sufficient rigidity, simple structure, high working efficiency and low damage rate. Summary of the Invention

[0012] To address the shortcomings of existing technologies, the present invention aims to provide a simple and reliable rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemums. This invention enables small-scale, non-destructive harvesting of densely growing, fragile Hangzhou white chrysanthemum flowers. It can conveniently assist workers or be used as an end effector for robotic arms to achieve non-destructive, batch harvesting of Hangzhou white chrysanthemum flowers. The dual-modal fingers can open and close, and have two modes: expansion and contraction. The structure is simple and the cost is low, improving harvesting efficiency and harvesting coverage while reducing damage rate.

[0013] To achieve the above solution, the technical solution adopted by the present invention is as follows:

[0014] A rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemum includes a fixing device and a driving device. The fixing device includes a finger base, a fixing screw, and a servo motor base. The driving device includes a dual-modal finger, a screw sleeve, and a servo motor. The dual-modal finger is fixed to the finger base by the fixing screw and the screw sleeve, and the servo motor is mounted on the servo motor base.

[0015] The dual-modal finger is a three-layer superimposed structure similar to a finger, including a rigid hand piece and a highly elastic membrane sealed and attached to the left and right sides of the rigid hand piece;

[0016] The rigid handpiece includes a rigid toothed side, an inflation / deflation port, a fixed flange, and a rigid outer side. The rigid toothed side and the rigid outer side together form the outer contour of the rigid handpiece, which is hollow and shaped like a curved finger. The rigid toothed side is designed with several toothed fingertips. The inflation / deflation port is located at the end of the rigid toothed side and connects to the hollow part of the outer contour. The fixed flange is located at the end of the rigid handpiece, and a through hole is provided in the center of the fixed flange.

[0017] The high-elastic membrane has the same curved finger shape as the rigid hand piece. The edge of the high-elastic membrane is sealed and fitted along the outer contour of the rigid hand piece. By sealing the high-elastic membrane on both sides of the rigid hand piece, a cavity that can be filled and released with gas is formed, resulting in a dual-mode finger with two modes: positive pressure expansion and negative pressure contraction. The dual-mode finger is connected to an external device through the gas filling and releasing port to control the air pressure in the cavity.

[0018] As a preferred embodiment of the present invention, the dual-modal fingers are arranged in two rows on the left and right below the finger base, five in a group, arranged in opposite staggered parallel rows, and the dual-modal fingers arranged in opposite staggered parallel rows on both sides are all bent inward.

[0019] The fixed flanges at the ends of the dual-modal fingers are connected in series and fixed to each other by screw sleeves, and the screw sleeves are coaxial with the through holes of the fixed flanges.

[0020] As a preferred embodiment of the present invention, the finger base is a U-shaped part, with front and rear side plates parallel to the base plate. Each side plate is provided with a pair of parallel and symmetrical screw holes, and a bearing is installed in the screw holes. The inner ring of the bearing is fixed to the screw hole, and the outer rings of the two pairs of bearings are respectively connected to the end fixing flanges of two sets of dual-modal fingers.

[0021] As a preferred embodiment of the present invention, the screw sleeve includes a long sleeve and a short sleeve. The fixing flanges of two adjacent bimodal fingers in each group of bimodal fingers are connected by the long sleeve. The fixing flanges at the beginning of one group of bimodal fingers and the fixing flanges at the end of another group of bimodal fingers are respectively connected to the corresponding bearing outer rings by the short sleeves.

[0022] As a preferred embodiment of the present invention, the drive actuator further includes a first drive gear and a second drive gear. The rotating head of the servo motor is connected to the first drive gear, and the second drive gear meshes with the first drive gear. The first drive gear and the second drive gear are respectively fixedly connected to the outer rings of two bearings at the ends of the finger base. The servo motor drives the first drive gear to rotate, and the second drive gear meshes with the first drive gear to achieve reverse transmission, thereby driving the outer rings of the bearings to rotate, so as to realize the synchronous opening and closing of two sets of dual-modal fingers.

[0023] The control method for a rigid-flexible coupled dual-modal end effector used for harvesting Hangzhou white chrysanthemums includes the following steps:

[0024] S1. Start the rigid-flexible coupling dual-modal end effector. In the initial state, the dual-modal fingers are in the open state. At this time, the dual-modal fingers are in the first mode, and the high elastomer membrane is in a contracted negative pressure state. Control the end effector to approach the target Hangzhou white chrysanthemum flower and make the opening direction of the end effector face the Hangzhou white chrysanthemum flower.

[0025] S2. Control the servo motor according to the number and size of the target Hangzhou white chrysanthemums so that the dual-mode fingers come together at a suitable angle and remain there;

[0026] S3. Apply positive pressure to the inflation / deflation port. After the high-elastic membrane of the dual-mode fingers expands, they come into contact with each other. The dual-mode fingers are in the second mode, so that the toothed fingertips and the high-elastic membrane wrap around the target Hangzhou white chrysanthemum calyx and flower part.

[0027] S4. The end effector is dragged away from the target chrysanthemum. The chrysanthemum flower base is pulled away from the stem under the support of the rigid hand plate of the dual-modal finger and the flexible collision friction of the high elastic membrane.

[0028] S5. Move the end effector to the collection point of the Hangzhou white chrysanthemum, control the servo motor to open the dual-mode fingers, and at the same time input negative pressure into the inflation / deflation port to cause the high elastomer membrane of the dual-mode fingers to contract, and the dual-mode fingers return to the first mode;

[0029] S6. Repeat steps S1 to S5 to achieve continuous and non-destructive harvesting of Hangzhou white chrysanthemums.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] (1) The present invention sets up a driving actuator and a fixing device to form a rigid-flexible coupling dual-modal end effector for picking Hangzhou white chrysanthemum. The opening and closing of the dual-modal fingers is controlled by the servo motor in the driving actuator. The structure is simple. Under pneumatic control, the dual-modal fingers can realize two modes of expansion and contraction, which is conducive to the operation of flexible picking of flowers. The fixing device is used to fix the servo motor and fix the dual-modal fingers. The cost is low. The two rows of dual-modal fingers are interlaced, resulting in a high picking success rate.

[0032] (2) In the contraction mode, the high elastic membrane of the dual-modal finger of the present invention is tightly attached to the surface of the rigid hand piece, which can easily reduce the collision and friction between the end effector and the plant. In the contraction mode, it is easy to reduce the adhesion between the flower and the end effector. By setting the toothed finger pads, the dual-modal finger can better wrap the flower. In the expansion state of the dual-modal finger, the surface area of ​​the high elastic membrane increases. After the two rows of fingers arranged in opposite directions expand, they are squeezed together, which increases the friction between the end effector and the flower calyx and other parts, so that the picked flower is evenly stressed and not easily damaged. The friction area with the branches is relatively small, which is conducive to the flower stem falling off. At the same time, the gap of the dual-modal finger is reduced, and the flower is not easy to leak out of the gap or get stuck in the gap. The flexible high elastic membrane also reduces the picking damage rate. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a first modal schematic diagram of the overall structure of the present invention;

[0035] Figure 2 This is a second modal schematic diagram of the overall structure of the present invention;

[0036] Figure 3 for Figure 1 A diagram showing the view from below;

[0037] Figure 4 This is a demonstration diagram of the second mode of the bimodal finger;

[0038] Figure 5 This is a side view of a rigid handpiece;

[0039] Figure 6 for Figure 4 Enlarged view of a portion at point A;

[0040] Figure 7 for Figure 1 Front view;

[0041] Figure 8 for Figure 7 Sectional view at point AA;

[0042] In the diagram: 1. Finger base; 2. Fixing screw; 3. Dual-modal finger; 301. High-elastic membrane; 302. Rigid hand piece; 3021. Rigid piece toothed side; 3022. Toothed fingertip; 3023. Air inlet / outlet; 3024. Fixing flange; 3025. Through hole; 3026. Cavity; 3027. Rigid piece outer side; 4. Screw sleeve; 5. Servo motor; 501. Rotating head; 6. Servo motor base; 7. Bearing; 8. Right-angle fixed connector; 9. First drive gear; 10. Second drive gear. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] The following is in conjunction with the appendix Figure 1-8 The embodiments of the present invention will be described in further detail below.

[0045] In the description of this invention, it should be noted that the terms "upper side", "lower side", "left side", "right side", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0046] like Figure 1 , Figure 2 As shown, a rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemum mainly includes a fixing device (finger base 1, fixing screw 2, servo motor base 6) and a drive actuator (dual-modal finger 3, screw sleeve 4, servo motor 5).

[0047] The dual-mode finger 3 is fixed to the finger base 1 by fixing screw 2 and screw sleeve 4. The servo motor 5 is set on the servo motor base 6. The servo motor base 6 is spliced ​​to the end of the finger base 1, which makes the structure compact and the transmission method simple.

[0048] like Figure 4-6 As shown, the dual-modal finger is a three-layer superimposed structure similar to a finger, including a rigid hand piece 302 and a high-elastic membrane 301 sealed and attached to the left and right sides of the rigid hand piece 302. The rigid hand piece 302 serves as the phalanx, and the high-elastic membrane 301 serves as the skin, mimicking the rigid-flexible coupling structure of the phalanx, muscles, and skin of the finger, thus ensuring the rigidity and flexibility of the end effector.

[0049] The rigid hand piece 302 includes a rigid toothed side 3021, an inflation / deflation port 3023, a cavity 3026, a fixing flange 3024, and a rigid outer side 3027. The rigid toothed side 3021 and the rigid outer side 3027 together form the outer contour of the rigid hand piece, which is hollow and shaped like a curved finger. The rigid toothed side 3021 is designed with eleven toothed fingertips 3022, which mimic the structure of fingertips to increase the wrapping effect when picking flowers. The rigid hand piece 302 has a cavity structure inside that is similar in shape to the outer contour of the rigid hand piece. The inflation / deflation port is located at the end of the rigid toothed side, and the cavity structure is connected to the inflation / deflation port. The rigid hand piece also has a fixing flange 3024 at the end, and the fixing flange has a through hole 3025 in the center for easy connection with the finger base.

[0050] The high-elastic membrane 301 has the same curved finger shape as the rigid hand piece 302. The edge of the high-elastic membrane 301 is sealed and fitted along the outer contour of the rigid hand piece 302. By sealing the high-elastic membrane 301 on both sides of the rigid hand piece 302, a cavity that can be filled and released with gas is formed, resulting in a dual-mode finger 3 with two modes: positive pressure expansion and negative pressure contraction. The dual-mode finger 3 is connected to an external device through the air inlet and outlet to control the air pressure in the cavity. In the negative pressure mode, the fingers will not interfere with each other. In the positive pressure mode, the gaps between the fingers are filled, better wrapping the picked flower and making it evenly stressed.

[0051] like Figure 3 , Figure 7 As shown, the fixing flange 3024 at the end of the dual-modal finger 3 is installed on the finger base through connecting parts such as screw sleeves, fixing screws, and bearings. In this embodiment, a total of three fixing screws, ten screw sleeves, and four bearings are required.

[0052] The dual-modal fingers 3 are arranged in two groups of five on each side below the finger base. The two groups are arranged in a staggered parallel arrangement to ensure that the dual-modal fingers 3 do not interfere with each other when opening and closing. The dual-modal fingers 3 arranged in a staggered parallel arrangement on both sides are bent inward. The fixing flange 3024 at the end of each group of dual-modal fingers 3 is connected in series with each other by screw sleeves 4. The screw sleeves have eight long sleeves and two short sleeves. The length of the short sleeves is half the length of the long sleeves. The length difference of the staggered arrangement of the dual-modal fingers 3 is the length of the short sleeves. The screw sleeves have a hollow internal structure and are coaxial with the through hole of the fixing flange, the bearing, and the fixing screw 2.

[0053] In one specific embodiment of the present invention, the finger base is a U-shaped part. The front and rear sides of the finger base are perpendicular to the bottom edge, and each side has two parallel and symmetrical screw holes. A bearing is installed in each screw hole, and the inner ring of the bearing is fixedly connected to the finger base by a fixing screw (the inner ring of the bearing directly corresponding to the servo motor does not require fixing screws). The screw sleeve and the through hole of the fixing flange cooperate to fix the dual-mode finger 3. The outer ring of the bearing is fixedly connected to the fixing flange of the dual-mode finger closest to the bearing. Since the two sets of dual-mode fingers 3 are arranged in a staggered parallel configuration, at least two dual-mode fingers 3 need to be fixedly connected to the fixing flange and the outer ring of the bearing using short screw sleeves. A structure is formed by gear meshing transmission, creating two rows of dual-mode fingers that can rotate to grip and open.

[0054] like Figure 3 , Figure 7 and Figure 8As shown, the servo motor is fixedly connected to the bottom of the servo motor base by a right-angle fixed connector. The rotating head of the servo motor is connected to the first drive gear, and the second drive gear meshes with the first drive gear. The first drive gear and the second drive gear are respectively fixedly connected to the outer rings of two bearings at the end of the finger base 1. The servo motor drives the first drive gear to rotate, and the second drive gear meshes with the first drive gear to achieve reverse transmission, thereby driving the outer rings of the bearings to rotate and realize the synchronous opening and closing of the left and right rows of dual-mode fingers.

[0055] The above-mentioned rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemum includes the following implementation steps:

[0056] S1. Activate the rigid-flexible coupling dual-modal end effector. In the initial state, the dual-modal fingers are in the open state, the dual-modal fingers are in the first mode, and the high elastomer membrane is in a contracted negative pressure state. The end effector is brought close to the target Hangzhou white chrysanthemum flower with the flower facing one side by manual or other means, so that the opening direction of the end effector is facing the Hangzhou white chrysanthemum flower.

[0057] S2. The servo motor of the drive actuator controls the dual-modal fingers of the end effector to close to a suitable angle and hold, according to the quantity and size of the Hangzhou white chrysanthemums to be picked this time.

[0058] S3. Apply positive pressure to the inflation / deflation port to cause the high-elastic membrane of the dual-mode fingers to expand and come into contact with each other. The dual-mode fingers are in the second mode, with the toothed fingertips and the high-elastic membrane wrapping around the target Hangzhou white chrysanthemum calyx and flower part.

[0059] S4. The end effector is dragged away from the target chrysanthemum by manual or other means. The chrysanthemum flower bud is pulled away from the stem by the support of the rigid hand plate of the dual-modal finger and the flexible collision friction of the high elastic membrane.

[0060] S5. Move the end effector to the collection point of the Hangzhou white chrysanthemum, control the servo motor of the drive actuator to open the dual-mode fingers, and at the same time input negative pressure into the inflation / deflation port to contract the high elastomer membrane of the dual-mode fingers, and the dual-mode fingers return to the first mode;

[0061] S6. Repeat steps S1-S5 to achieve continuous and non-destructive harvesting of Hangzhou white chrysanthemums.

[0062] As described above, during the harvesting process, after the end effector is moved to the appropriate position by a robotic arm or manual operation, the actuator is driven to close the dual-modal fingers to harvest. Based on pneumatic control, the dual-modal fingers expand to flexibly grasp the flowers. The various steps are executed in an orderly manner, which can achieve small-scale harvesting of Hangzhou white chrysanthemums without damage.

[0063] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Unless otherwise expressly specified and limited, the terms "installation" and "connection" should be interpreted broadly, for example, they can refer to a fixed connection or an integral connection, or a mechanical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0064] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in this invention may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed in this invention.

Claims

1. A rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemum, characterized in that, The device includes a fixing device and a drive actuator. The fixing device includes a finger base (1), a fixing screw (2), and a servo base (6). The drive actuator includes a dual-mode finger (3), a screw sleeve (4), and a servo (5). The dual-mode finger (3) is fixed to the finger base (1) by the fixing screw (2) and the screw sleeve (4). The servo (5) is mounted on the servo base (6). The dual-modal finger (3) is a three-layer superimposed structure similar to a finger, including a rigid hand piece (302) and a high-elastic membrane (301) sealed and attached to the left and right sides of the rigid hand piece (302). The rigid handpiece (302) includes a rigid toothed side (3021), an inflation / deflation port (3023), a fixing flange (3024), and a rigid outer side (3027). The rigid toothed side (3021) and the rigid outer side (3027) together form the outer contour of the rigid handpiece (302) in the shape of a hollow, curved finger. The rigid toothed side (3021) is designed with several toothed fingertips (3022). The inflation / deflation port (3023) is located at the end of the rigid toothed side (3021) and connects to the hollow part of the outer contour. The fixing flange (3024) is located at the end of the rigid handpiece (302), and a through hole (3025) is provided in the center of the fixing flange (3024). The high-elastic membrane (301) has the same curved finger shape as the rigid hand piece (302). The edge of the high-elastic membrane (301) is sealed and fitted along the outer contour of the rigid hand piece (302). By sealing the high-elastic membrane (301) on both sides of the rigid hand piece (302), a cavity (3026) that can be filled and released is formed, resulting in a dual-mode finger (3) with two modes: positive pressure expansion and negative pressure contraction. The dual-mode finger (3) is connected to an external device through the air inlet (3023) to control the air pressure in the cavity (3026). The dual-modal fingers (3) are arranged in two rows below the finger base (1), five in a group, arranged in opposite staggered parallel arrangement. The dual-modal fingers (3) arranged in opposite staggered parallel arrangement on both sides are bent inward. The fixing flanges (3024) at the ends of the dual-modal fingers (3) are fixed and connected in series at the through holes (3025) by screw sleeves (4). The screw sleeves (4) and the through holes (3025) of the fixing flanges (3024) are coaxial. The finger base (1) is a U-shaped part. The front and rear side plates are parallel to the base plate. Each side plate is provided with a pair of parallel and symmetrical screw holes. Bearings (7) are installed in the screw holes. The inner ring of the bearings (7) is fixed to the screw holes. The outer rings of the two pairs of bearings (7) are respectively connected to the end fixing flanges (3024) of the two groups of dual-modal fingers (3). The drive actuator further includes a first drive gear (9) and a second drive gear (10). The rotating head (501) of the servo motor (5) is connected to the first drive gear (9). The second drive gear meshes with the first drive gear (9). The first drive gear (9) and the second drive gear (10) are respectively fixedly connected to the outer rings of two bearings (7) at the end of the finger base (1). The servo motor (5) drives the first drive gear (9) to rotate. The second drive gear (10) meshes with the first drive gear (9) to achieve reverse transmission, thereby driving the outer rings of the bearings (7) to rotate, so as to realize the synchronous opening and closing of the two sets of dual-mode fingers (3).

2. The rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemum according to claim 1, characterized in that, The screw sleeve (4) includes a long sleeve and a short sleeve. The fixing flanges (3024) of two adjacent bimodal fingers in each set of bimodal fingers (3) are connected by the long sleeve. The first fixing flange (3024) of one set of bimodal fingers (3) and the last fixing flange (3024) of another set of bimodal fingers (3) are respectively connected to the outer ring of the corresponding bearing (7) through the short sleeve.

3. A control method for a rigid-flexible coupled dual-modal end effector for harvesting Hangzhou white chrysanthemum according to any one of claims 1-2, characterized in that, Includes the following steps: S1. Start the rigid-flexible coupling dual-mode end effector. In the initial state, the dual-mode finger (3) is in the open state. At this time, the dual-mode finger (3) is in the first mode, and the high elastomer membrane (301) is in the contracted negative pressure state. Control the end effector to approach the target Hangzhou white chrysanthemum flower and make the opening direction of the end effector face the Hangzhou white chrysanthemum flower. S2. Control the servo motor (5) according to the number and size of the target Hangzhou white chrysanthemums so that the dual-modal fingers (3) come together at a suitable angle and remain there; S3. Positive pressure is input into the inflation / deflation port (3023). After the high elastic membrane (301) of the dual-mode finger (3) expands, they come into contact with each other. The dual-mode finger (3) is in the second mode, so that the toothed fingertip (3022) and the high elastic membrane (301) wrap around the target Hangzhou white chrysanthemum calyx and flower part. S4. The end effector is dragged away from the target chrysanthemum. The chrysanthemum flower bud is pulled away from the stem under the support of the rigid hand piece (302) of the dual-modal finger (3) and the flexible collision friction of the high elastic membrane (301). S5. Move the end effector to the collection point of the chrysanthemum and control the servo motor (5) to open the dual-mode finger (3). At the same time, input negative pressure into the inflation / deflation port (3023) to cause the high elastic membrane (301) of the dual-mode finger (3) to contract, and the dual-mode finger (3) returns to the first mode. S6. Repeat steps S1 to S5 to achieve continuous and non-destructive harvesting of Hangzhou white chrysanthemums.

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