A sleeve-type tomato harvesting end effector

Abstract

The application provides a sleeve type tomato picking end effector, and relates to the field of agricultural picking equipment. The end effector is arranged on a picking robot, and the picking robot comprises a moving platform (10), a picking mechanical arm (30), an effector body (20), a conveying pipe (40), a storage groove (50) and a central control system. The effector body (20) comprises a fixed support (21), an information acquisition mechanism (22), an inner cylinder assembly composed of an inner cylinder framework (231), a rotating support (232), a protruding block (233) and a positioning support (234), a clamping assembly (24) composed of a shifting piece (241), a first pin shaft (242), a roller (243), a second pin shaft (244), an elastic piece (245) and a flexible sleeve (246), an outer cylinder assembly composed of an outer cylinder framework (251), a flexible gasket (252), a roller guide rail (253), a sliding guide rail (254) and a connecting support (255) and a driving mechanism. The end effector has high picking efficiency and good picking stability.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting equipment technology, specifically to a sleeve-type tomato harvesting end effector. Background Technology

[0002] Tomatoes are rich in nutrients and have a unique flavor. They can be eaten raw, cooked, processed into tomato sauce, juice, or canned whole, making them one of the main vegetables for people. With the promotion of greenhouse tomato cultivation technology in my country, the planting area and annual output are increasing. Researching and promoting automated tomato harvesting technology has become an urgent problem to be solved at this stage.

[0003] When tomatoes grow, they typically grow in clusters of 3 to 5, with the fruits touching and influencing each other. Therefore, during harvesting, the end effector struggles to approach and grasp the fruit in an ideal position, easily leading to grasping failure or damage to adjacent fruits. Furthermore, to prevent the fruits from pricking each other during transport, tomatoes should be picked gently and placed carefully, ideally without the stem. This also presents a challenge, requiring effective separation of the fruit from the stem during harvesting; otherwise, secondary processing is necessary after harvesting, reducing harvesting efficiency.

[0004] Existing research on tomato harvesting robots mainly involves two approaches: one is to first use suction cups to adhere to the tomato and pull it away from the fruit cluster, then clamp the fruit and rotate it to separate the stem. During rotation, the end effector inevitably comes into contact with surrounding fruit, causing damage to adjacent tomato clusters. Furthermore, because tomato stems are relatively thin and flexible, suction cups are not easy to pull and separate the target tomato from the cluster; forceful pulling can easily damage the tomato stem, resulting in poor harvesting efficiency. In addition, the harvesting process relies heavily on the adhesion between the suction cup and the tomato, leading to poor harvesting stability. The other approach involves designing a specific mechanism to clamp the fruit and then using the rotation of the wrist joint in two vertical directions to... The current tomato harvesting end effector mimics the action of a human hand breaking off the fruit stem to harvest tomatoes. However, it has several drawbacks: firstly, it requires a large space for rotation to ensure the end effector can effectively "break" the fruit (but clusters of tomatoes are adjacent to each other, lacking sufficient space for rotation); secondly, it requires low adhesion between the fruit stem and the fruit, limiting its applicability. If the adhesion is high, insufficient gripping force cannot effectively separate the fruit from the stem, and high gripping force can easily damage the fruit's skin, affecting its storage time (once the tomato skin is damaged, the flesh inside will quickly rot and spoil); thirdly, the "breaking" process generates significant vibration, which can easily affect adjacent tomato clusters. If the adhesion between the fruit and stem in adjacent tomato clusters is low, the fruit will fall off and be damaged. Therefore, existing tomato harvesting end effectors suffer from low harvesting efficiency, poor harvesting stability, inability to effectively separate the fruit from the stem, easy damage to the fruit skin, and easy impact on adjacent tomato clusters. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention aims to provide a sleeve-type tomato harvesting end effector. This end effector, through a push-pull harvesting structure, effectively avoids the problems of low harvesting efficiency, poor harvesting stability, inability to effectively separate the fruit from the stem, easy damage to the fruit skin, and easy impact on adjacent tomato clusters that occur during the tomato harvesting process due to traditional pull-type or suction cup-type harvesting structures.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A sleeve-type tomato harvesting end effector is disclosed. The end effector is mounted on a harvesting robot, which includes a mobile platform, a harvesting robotic arm, an actuator body, a delivery pipe, a storage tank, and a central control system. The harvesting robotic arm is fixedly mounted on the end face of the mobile platform, with the actuator body located at the end of the robotic arm furthest from the mobile platform. A storage tank is provided on one side of the end face of the mobile platform, with one end of the delivery pipe connected to the actuator body and the other end connected to the storage tank. The central control system is located inside the mobile platform on the side of the harvesting robotic arm furthest from the storage tank, and is electrically connected to the harvesting robotic arm and the actuator body.

[0008] Based on further optimization of the above scheme, the harvesting robotic arm adopts a multi-axis linkage robotic arm.

[0009] Based on further optimization of the above scheme, the actuator body includes a fixed bracket, an information acquisition mechanism, an inner cylinder assembly, a clamping assembly, an outer cylinder assembly, and a drive mechanism. The fixed bracket is fixedly installed at the end of the harvesting robot arm (i.e., the end of the harvesting robot arm away from the moving platform), and the information acquisition mechanism is installed on the upper end of the fixed bracket. The inner cylinder assembly is fixedly installed on the end face of the fixed bracket away from the moving platform. The inner cylinder assembly includes an inner cylinder skeleton, rotating supports, protrusions, and a positioning bracket. One end of the inner cylinder skeleton is fixedly connected to the side of the fixed bracket away from the moving platform, and multiple U-shaped grooves are evenly opened around its central axis on the outer wall of the inner cylinder skeleton near the fixed bracket. Multiple rotating supports are evenly arranged around the central axis on the outer wall of the inner cylinder skeleton at the end away from the fixed bracket. Multiple protrusions are evenly arranged around the central axis on the outer wall of the inner cylinder skeleton between the U-shaped grooves and the rotating supports. The positioning bracket is fixedly installed on the inner wall of the inner cylinder skeleton between the U-shaped grooves and the rotating supports. The clamping assembly is set corresponding to the rotating supports and includes a toggle element, a first pin, a roller, a second pin, an elastic element, and a flexible sleeve. The toggle element has an overall concave structure and is located near the rotating supports. One end is provided with a first pin and a second pin that are parallel to each other, with the second pin located on the inner side (i.e., the side closer to the inner cylinder frame). The second pin is rotatably mounted on a corresponding rotating support. A roller is fixedly sleeved on the outer wall of the first pin. An elastic element is provided on the second pin, with one end of the elastic element connected to a moving element and the other end connected to the inner cylinder frame. The outer cylinder assembly is coaxially mounted on the outer ring of the inner cylinder assembly, including the outer cylinder frame, a flexible washer, a roller guide rail, a sliding guide rail, and a connecting bracket. The outer cylinder frame is coaxially mounted on the outer ring of the inner cylinder frame and is located away from the fixed bracket. A flexible washer is coaxially installed at one end of the outer cylinder frame. Multiple protruding roller guides are provided on the inner wall of the outer cylinder frame away from the fixed support and corresponding to the rollers. The front surface of the roller guides has an inclined angle relative to the center line of the outer cylinder frame, and its rear surface is parallel to the center line of the outer cylinder frame. Multiple sliding guides are provided on the inner wall of the outer cylinder frame between the roller guides and the fixed support and corresponding to the protrusions. The protrusions are slidably engaged in the corresponding sliding guides. A coaxial connecting bracket is provided at the end of the outer cylinder frame close to the fixed support. The drive mechanism is installed on the fixed support and located on the inner wall of the inner cylinder frame.

[0010] Based on further optimization of the above scheme, the elastic element is a torsion spring.

[0011] Based on further optimization of the above scheme, the inclination angle of the front surface of the roller guide rail relative to the center of the outer cylinder frame is 5° to 30°.

[0012] Based on further optimization of the above scheme, the drive mechanism includes a motor and a lead screw. The motor is fixedly mounted on the end face of the fixed bracket away from the moving platform, and the lead screw is fixedly mounted on the output shaft of the motor. The lead screw is coaxially mounted with the inner cylinder frame, and the end of the lead screw away from the motor passes through the middle of the connecting bracket and is rotatably connected to the positioning bracket. The lead screw is threadedly connected to the connecting bracket, and the outer support foot of the connecting bracket is set with a corresponding U-shaped groove.

[0013] Based on further optimization of the above scheme, the connecting bracket adopts any one of the following: cross-shaped bracket, X-shaped bracket, or Y-shaped bracket.

[0014] Based on further optimization of the above scheme, the bottom of the inner cylinder frame is provided with an opening on the side away from the fixed support, and the bottom of the outer cylinder frame is provided with a corresponding sliding groove. The end of the conveying pipe away from the storage groove passes through the sliding groove and is tightly connected to the opening.

[0015] Based on further optimization of the above scheme, an arc-shaped blade is provided on the upper part of the end face of the outer cylinder frame away from the fixed support, and an arc-shaped groove is opened on the flexible washer corresponding to the arc-shaped blade. Initially, the arc-shaped blade is hidden in the arc-shaped groove (that is, the exposed width of the arc-shaped blade is less than the thickness of the flexible washer).

[0016] The following are the technical effects of the technical solution of the present invention:

[0017] This application uses an actuator body composed of a fixed bracket, an information collection mechanism, an inner cylinder assembly, a clamping assembly, an outer cylinder assembly, and a drive mechanism to harvest tomato fruits. By cooperating with the inner cylinder assembly, the clamping assembly, and the outer cylinder assembly, a push-pull harvesting method is achieved through a single drive (i.e., driving the movement of the outer cylinder assembly). This completes the process of harvesting tomatoes while simultaneously pushing and pulling, thereby effectively cutting off the tomato stems. Moreover, the stems can be cut off at the point closest to the fruit, avoiding excessively long stems at the fruit that would affect subsequent transportation and storage. Meanwhile, this application utilizes a push-pull harvesting method, which achieves several advantages: first, it allows for the simultaneous execution of two actions, reducing the number of drive mechanisms used and improving the overall operational stability of the device; second, it eliminates the need for additional rotation or offset space for fruit cutting, thus minimizing the impact on adjacent tomato clusters during harvesting; third, it precisely targets the connection point between the harvested tomato stem and the stem, exerting minimal force on the main stem and preventing damage; and fourth, by using opposing and simultaneous pushing and pulling forces, it achieves rapid and effective cutting of the tomato stem, improving harvesting efficiency and avoiding repeated harvesting and stem cutting. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the harvesting robot in the embodiments of this application.

[0019] Figure 2 This is a schematic diagram of the actuator body in an embodiment of this application.

[0020] Figure 3 This is a schematic diagram of the inner cylinder assembly in an embodiment of this application.

[0021] Figure 4 This is an exploded view of the clamping component in an embodiment of this application.

[0022] Figure 5 This is a schematic diagram of the outer cylinder assembly in an embodiment of this application.

[0023] Figure 6 This is a schematic diagram of the actuator body being picked up in an embodiment of this application.

[0024] Among them, 10 is the mobile platform; 20 is the actuator body; 21 is the fixed bracket; 22 is the information acquisition mechanism; 231 is the inner cylinder frame; 232 is the rotating support; 233 is the protrusion; 234 is the positioning bracket; 24 is the clamping assembly; 241 is the actuating component; 242 is the first pin; 243 is the second pin; 244 is the roller; 245 is the elastic component; 246 is the flexible sleeve; 251 is the outer cylinder frame; 252 is the flexible washer; 253 is the roller guide rail; 254 is the sliding guide rail; 255 is the connecting bracket; 261 is the motor; 262 is the lead screw; 30 is the harvesting robotic arm; 40 is the conveying pipe; and 50 is the storage trough. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0026] Example 1:

[0027] A sleeve-type tomato harvesting end effector is mounted on a harvesting robot, which includes a mobile platform 10, a harvesting robotic arm 30, an actuator body 20, a delivery pipe 40, a collection trough 50, and a central control system. Figure 1 As shown, the harvesting robotic arm 30 is fixedly mounted on the end face of the mobile platform 10, with an actuator body 20 located at the end of the harvesting robotic arm 30 furthest from the mobile platform. The harvesting robotic arm 30 is a multi-axis linkage robotic arm (e.g., three-axis, four-axis, five-axis, six-axis, etc., the specific number of axes selected according to the actual situation; and the multi-axis robotic arm can adopt a conventional structure in this field). One side of the end face of the mobile platform 10 (i.e.... Figure 1 A receiving trough 50 is provided on the left side (as shown). One end of the conveying pipe 40 is connected to the actuator body 20, and the other end is connected to the receiving trough 50. Meanwhile, to prevent the tomato fruits conveyed by the conveying pipe 40 from colliding with the side wall of the receiving trough 50 and causing damage, a sponge buffer layer is provided on the inner wall of the receiving trough 50 to cushion the impact of the tomato fruits. A central control system is installed inside the mobile platform 10 on the side of the harvesting robotic arm 30 away from the receiving trough 50. The central control system is electrically connected to the harvesting robotic arm 30 and the actuator body 20.

[0028] See Figure 2As shown, the actuator body 20 includes a fixed bracket 21, an information acquisition mechanism 22, an inner cylinder assembly, a clamping assembly 24, an outer cylinder assembly, and a drive mechanism. The fixed bracket 21 is fixedly installed at the end of the harvesting robotic arm 30 (i.e., the end of the harvesting robotic arm 30 away from the moving platform 10), and the information acquisition mechanism 22 (which mainly includes a depth camera) is installed on the upper end of the fixed bracket 21. The inner cylinder assembly is fixedly installed on the end face of the fixed bracket 21 away from the moving platform. The inner cylinder assembly includes an inner cylinder frame 231, a rotating support 232, a protrusion 233, and a positioning bracket 234, as shown. Figure 3 As shown, one end of the inner cylinder frame 231 is fixedly connected to the side of the fixed bracket 21 away from the moving platform 10, and multiple U-shaped grooves are evenly formed on the outer wall of the inner cylinder frame 231 near the fixed bracket 21 around its central axis (see reference). Figure 3 As shown, the number of U-shaped grooves is determined according to the actual situation, generally three or four; in this embodiment, four U-shaped grooves are used. Multiple rotating supports 232 are evenly arranged on the outer wall of the inner cylinder frame 231 away from the fixed bracket 21 and around its central axis (the number of rotating supports 232 is set according to the actual situation, generally 3 to 6; in this embodiment, 4 are used). Multiple protrusions 233 are evenly arranged on the outer wall of the inner cylinder frame 231 between the U-shaped grooves and the rotating supports 232 and around its central axis (the number of protrusions 233 is set according to the actual situation, generally 3 to 5; in this embodiment, 4 are used). A positioning bracket 234 is fixedly installed on the inner wall of the inner cylinder frame 231 between the U-shaped grooves and the rotating supports 232 (the positioning bracket 234 is any one of a Y-shaped bracket, a cross-shaped bracket, an X-shaped bracket, or a disc-shaped bracket, such as...). Figure 3 As shown, a cross-shaped bracket is used in this embodiment; the clamping assembly 24 is set with a corresponding rotating support (that is, the number of clamping assemblies 24 in this embodiment is 4), see [link]. Figure 4 As shown, it includes an actuating element 241, a first pin 242, a roller 244, a second pin 243, an elastic element 245, and a flexible sleeve 246. The actuating element 241 has an overall concave structure. At one end near the rotating support 232, the first pin 242 and the second pin 243 are parallel to each other, with the second pin 243 located on the inner side (i.e., the side closest to the inner cylinder frame 231). Figure 4 As shown, the first pin 242 and the second pin 243 respectively pass through the end of the actuating member 241 near the rotating support 232. The second pin 243 is rotatably mounted on the corresponding rotating support 232 (i.e., the rotating support 232 has mounting holes corresponding to the second pin 243, and both ends of the second pin 243 are rotatably sleeved on the mounting holes). The roller 244 is fixedly sleeved on the outer wall of the first pin 242. An elastic element 245 is provided on the second pin 243. One end of the elastic element 245 is connected to the actuating member 241, and the other end is connected to the inner cylinder frame 231. The elastic element 245 is a torsion spring (e.g., Figure 4(As shown). The outer cylinder assembly is coaxially arranged around the outer ring of the inner cylinder assembly, including an outer cylinder frame 251, a flexible washer 252, roller guide rails 253, sliding guide rails 254, and a connecting bracket 255. The outer cylinder frame 251 is coaxially arranged around the outer ring of the inner cylinder frame 231, and a flexible washer 252 is coaxially arranged at the end of the outer cylinder frame 251 away from the fixed bracket 21 (to avoid damage to non-target tomatoes, branches, etc. during harvesting). Multiple protruding roller guide rails 253 are arranged on the inner wall of the outer cylinder frame 251 away from the fixed bracket 21, corresponding to the rollers 244 (e.g., ...). Figure 5 As shown, in this embodiment, there are 4 roller guide rails 253), and the front end of the roller guide rail 253 (i.e. Figure 5 The surface of the left end shown has an inclined angle relative to the center line of the outer cylinder frame 251, generally 5° to 30° (15° in this embodiment), and its (i.e., the roller guide rail 253) rear end surface is parallel to the center line of the outer cylinder frame 251. The outer cylinder frame 251 is located on the inner wall between the roller guide rail 253 and the fixed bracket 21, and multiple sliding guide rails 254 are opened corresponding to the protrusion 231 (e.g., Figure 5 As shown), the protrusion 231 is slidably engaged within the corresponding sliding guide rail 254. A coaxial connecting bracket 255 is provided at one end of the outer cylinder frame 251 near the fixed bracket 21. The connecting bracket 255 can be any one of a cross-shaped bracket, an X-shaped bracket, or a Y-shaped bracket (the shape of the connecting bracket 255 is set according to the number of U-shaped grooves; for example, if there are four U-shaped grooves, the connecting bracket 255 uses a cross-shaped bracket or an X-shaped bracket; if there are three U-shaped grooves, the connecting bracket 255 uses a Y-shaped bracket; such as...). Figure 5 As shown, this embodiment uses an X-shaped bracket.

[0029] The drive mechanism is mounted on the fixed bracket 21 and located on the inner wall of the inner cylinder frame 231. Specifically, the drive mechanism includes a motor 261 and a lead screw 262. The motor 261 is fixedly mounted on the end face of the fixed bracket 21 away from the moving platform 10, and the output shaft of the motor 261 is fixedly mounted on the lead screw 262 through a coupling. The lead screw 262 is coaxially mounted with the inner cylinder frame 231, and the end of the lead screw 262 away from the motor 261 passes through the middle of the connecting bracket 255 and is rotatably connected to the positioning bracket 234. The lead screw 262 is threadedly connected to the connecting bracket 255, and the outer support of the connecting bracket 255 is set with a corresponding U-shaped groove (that is, the outer support of the connecting bracket 255 passes through the corresponding U-shaped groove and is fixedly connected to the outer cylinder frame 251).

[0030] The inner cylinder frame 231 has an opening at its bottom on the side away from the fixed support 21. The outer cylinder frame 251 has a corresponding sliding groove at its bottom. The end of the conveying pipe 40 away from the receiving groove 50 passes through the sliding groove and is tightly connected to the opening. An arc-shaped blade is provided on the upper part of the end face of the outer cylinder frame 251 away from the fixed support 21. The flexible washer 252 has an arc-shaped groove corresponding to the arc-shaped blade. Initially, the arc-shaped blade 252 is hidden in the arc-shaped groove (i.e., the exposed width of the arc-shaped blade is less than the thickness of the flexible washer 252).

[0031] Example 2:

[0032] As an optimized technical solution of this application, a tomato harvesting method employs the end effector as described in Example 1, comprising:

[0033] Step 1: The information collection mechanism 22 identifies tomatoes and marks the target tomatoes (i.e., tomatoes to be picked). The depth information of the tomatoes is fed back to the central control system. The central control system controls the operation of the picking robotic arm 30, so that the actuator body 20 moves towards the picking point. When the actuating part 241 of the actuator body 20 is inserted into the tomato cluster (i.e., the actuator body 20 reaches the picking point), the picking robotic arm 30 stops moving.

[0034] Step 2: The central control system drives the motor 261 to rotate forward, which in turn drives the lead screw 262 to rotate forward. The lead screw 262 drives the outer cylinder frame 251 to translate away from the fixed support 21 through the connecting bracket 255. During the movement of the outer cylinder frame 251, the roller guide rail 253 moves to the corresponding roller 244. The roller 244 is gradually rotated by the force at the front end of the roller guide rail 253, causing the actuating element 241 to move away from the rotating support 232 towards the center line of the inner cylinder frame 231. The elastic element 245 is squeezed and deformed, thereby realizing the actuating element 241 pulling the target tomato located inside the inner cylinder frame 231. As the outer cylinder frame 251 continues to move, the roller 244 moves to the rear end face of the roller guide rail 253. At this time, the clamping component 24 stops moving, and the outer cylinder frame 251 continues to move away from the fixed support 21, thereby pushing the tomato stem to separate from the target tomato. At this time, the arc-shaped blade cuts the stem.

[0035] Step 3: The target tomatoes separated from the stems fall into the collection trough 50 through the opening and conveyor pipe 40. At this time, the motor 261 is reversed by the central control system. The motor 261 drives the outer cylinder frame 251 to move towards the end closer to the fixed bracket 21 through the lead screw 262. The force of the outer cylinder frame 251 on the roller 244 gradually decreases. The actuating part 251 is reset under the force of the elastic part 245, and then waits for the next tomato harvest.

[0036] Example 3:

[0037] As an optimized technical solution of this application, the specific method for the information collection mechanism 22 to identify tomatoes and mark target tomatoes (i.e., tomatoes to be picked) in step one is as follows:

[0038] First, images containing tomato fruits are acquired using a depth camera to form an image dataset for a convolutional neural network; then, an image semantic segmentation network (such as U-net) is used... DeepLabv3+ The image dataset is segmented to obtain segmentation maps. Then, an RGB color space model is used to separate the masked regions of the segmentation maps using the green and red channels, respectively, to obtain tomato fruit and stem images. Gaussian blurring is then applied to both fruit and stem images to reduce noise. Next, a preset tomato ripeness color threshold is set, and the color of the image separated by the red channel is compared with this threshold. If the color of the image separated by the red channel (i.e., the average pixel chromaticity) is not less than the tomato ripeness color threshold, it indicates that the tomato is ripe and ready for harvest. Tomato marking: If the image color separated from the red channel (i.e., the average pixel chromaticity) is less than the tomato ripeness color threshold, the tomato on the surface is unripe and no marking is performed. Then, using a preset grayscale threshold, for images with tomato markings, the Gaussian blurred image is converted into a binarized image (the target area pixel value in the binarized image is 255, and the background area pixel value is 0). A line-by-line scan is performed starting from the top left corner of the binarized image. If a pixel is a tomato fruit point, that point and its surrounding pixels are marked as visited, until the entire outline is scanned. The resulting fruit outline pixels are... (x f ,y f f=1,2,…,n Finally, based on the definition of the centroid moment, the centroid coordinates of the tomato fruit are obtained. (x 0 ,y 0 ) :

[0039] ;

[0040] In the formula: f(x f ,y f ) Represents the outline pixels of the fruit in the binary image of the fruit. (x f ,y f ) Pixel values;

[0041] The coordinates of the fruit's centroid are the same as the harvest coordinates;

[0042] Finally, based on the fruit picking coordinates and the camera spatial calculation model, the two-dimensional centroid coordinates are converted into three-dimensional actual spatial coordinates. Then, the three-dimensional actual spatial coordinates are converted into robotic arm coordinates through the robot hand-eye calibration algorithm, thereby realizing the control of the picking robotic arm 30 over the actuator body 20.

Claims

1. A sleeving tomato picking end effector, characterized by: The end effector is arranged on the picking robot, the picking robot comprises a moving platform, a picking mechanical arm, an effector body, a conveying pipe, a receiving groove and a central control system, the picking mechanical arm is fixedly arranged on the end face of the moving platform and the effector body is arranged at the end of the picking mechanical arm away from the moving platform; the receiving groove is arranged on one side of the end face of the moving platform, one end of the conveying pipe is communicated with the effector body and the other end is communicated with the receiving groove; the central control system is arranged inside the moving platform on the side away from the receiving groove, and the central control system is electrically connected with the picking mechanical arm and the effector body; The effector body comprises a fixed support, an information acquisition mechanism, an inner cylinder assembly, a clamping assembly, an outer cylinder assembly and a driving mechanism, the fixed support is fixedly arranged at the end of the picking mechanical arm and the information acquisition mechanism is arranged on the upper end of the fixed support; the inner cylinder assembly is fixedly arranged on the end face of the end of the fixed support away from the moving platform, the inner cylinder assembly comprises an inner cylinder framework, a rotating support, a protruding block and a positioning support, one end of the inner cylinder framework is fixedly connected with the side face of the fixed support away from the moving platform, a plurality of U-shaped grooves are uniformly arranged on the outer wall of the side of the inner cylinder framework close to the fixed support around the central axis, a plurality of rotating supports are uniformly arranged on the outer wall of the end of the inner cylinder framework away from the fixed support around the central axis, a plurality of protruding blocks are uniformly arranged on the outer wall of the inner cylinder framework between the U-shaped grooves and the rotating supports, and the positioning support is fixedly arranged on the inner wall of the inner cylinder framework between the U-shaped grooves and the rotating supports; the clamping assembly is arranged corresponding to the rotating support and comprises a poking piece, a first pin shaft, a roller, a second pin shaft, an elastic piece and a flexible sleeve, the poking piece is of a concave structure as a whole, the first pin shaft and the second pin shaft are arranged on the end close to the rotating support and are parallel to each other, the second pin shaft is arranged on the corresponding rotating support in a rotating mode, the roller is fixedly sleeved on the outer wall of the first pin shaft, the elastic piece is arranged on the second pin shaft, one end of the elastic piece is connected with the poking piece and the other end is connected with the inner cylinder framework; the outer cylinder assembly is coaxially arranged outside the inner cylinder assembly and comprises an outer cylinder framework, a flexible gasket, a roller guide rail, a sliding guide rail and a connecting support, the outer cylinder framework is coaxially arranged outside the inner cylinder framework, the flexible gasket is coaxially arranged on the end of the outer cylinder framework away from the fixed support, a plurality of protruding roller guide rails are arranged on the inner wall of the side of the outer cylinder framework away from the fixed support corresponding to the rollers, the front end surface of the roller guide rail has an inclination angle relative to the center line of the outer cylinder framework, the rear end surface is parallel to the center line of the outer cylinder framework, a plurality of sliding guide rails are arranged on the inner wall of the outer cylinder framework between the roller guide rail and the fixed support corresponding to the protruding blocks, the protruding blocks are slidingly connected in the corresponding sliding guide rails, and the connecting support is coaxially arranged on the end of the outer cylinder framework close to the fixed support; the driving mechanism is arranged on the fixed support and on the inner wall of the inner cylinder framework.

2. A sleeved tomato picking end effector according to claim 1, characterized in that: The picking mechanical arm adopts a multi-axis linkage mechanical arm.

3. A sleeved tomato picking end effector according to claim 1 or 2, characterized in that: The elastic piece adopts a torsion spring.

4. A sleeved tomato picking end effector according to claim 1, characterized in that: The inclination angle of the front end surface of the roller guide rail relative to the center line of the outer cylinder framework is 5°-30°.

5. A sleeved tomato picking end effector according to claim 1, characterized in that: The driving mechanism comprises a motor and a lead screw, the motor is fixedly arranged on the end face of the fixed support away from the moving platform, the output shaft of the motor is fixedly arranged with the lead screw, the lead screw is coaxially arranged with the inner cylinder framework, one end of the lead screw away from the motor penetrates through the middle part of the connecting support and is rotationally connected with the positioning support, the lead screw is threadedly connected with the connecting support, and the outer leg of the connecting support is correspondingly arranged with a U-shaped groove.

6. A sleeved tomato picking end effector according to claim 1, characterized in that: The connecting support is any one of a cross-shaped support, an X-shaped support or a Y-shaped support.

7. A sleeved tomato picking end effector according to claim 1, characterized in that: The inner cylinder framework is arranged with an opening at the bottom away from the fixed support, the outer cylinder framework is correspondingly arranged with a sliding groove at the bottom, and one end of the conveying pipe away from the storage groove penetrates through the sliding groove and is in close communication with the opening.

8. A sleeved tomato picking end effector according to claim 1, characterized in that: An arc-shaped blade is arranged on the upper part of the end face of the outer cylinder framework away from the fixed support, an arc-shaped groove is arranged in the flexible gasket corresponding to the arc-shaped blade, and the arc-shaped blade is hidden in the arc-shaped groove at the beginning.

Images