A picking end effector and method suitable for multiple types of fruit

Abstract

The application discloses a picking end effector suitable for multiple types of fruits and a method thereof, and belongs to the technical field of agricultural machines. The picking end effector comprises a sliding rail shell, a fruit conveying structure and a telescopic main body. A second motor is connected with an arc-shaped rack structure through a gear. The arc-shaped rack structure is connected with a first cam and a second cam through a rack fixing seat. Cam grooves are arranged on the two cams and are connected with a clamping jaw mechanism and a shearing jaw mechanism respectively. The cam converts rotation into sliding of the clamping jaw and the shearing jaw. A first motor is connected with a lead screw shaft through a shaft coupling. The lead screw shaft and a clamping jaw seat constitute a lead screw transmission, and the rotation of the motor is converted into the up-down movement of the clamping jaw seat. A clamping finger and a rubber pad for protecting the fruits are fixed on the clamping jaw. A blade for cutting stems is fixed on the shearing jaw. A cylinder push rod is connected with the rear side of the telescopic main body. The fruit conveying device is connected with the lower side of the sliding rail shell. The device has high picking efficiency, the distance between the clamping and shearing can be adjusted, and the fruits can be prevented from being cut by the blade.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically a harvesting end effector and method applicable to various types of fruits. Background Technology

[0002] Traditional fruit harvesting in agriculture typically relies on manual operation or fixed-size mechanical harvesting equipment. However, with the increasing scale of planting, manual harvesting is time-consuming and labor-intensive, and existing harvesting equipment often lacks adaptability due to the diversity of fruit size, shape, and variety. Harvesting claws with fixed gripper and shearing claw distances are only suitable for specific types or sizes of fruit, and may be insufficiently flexible or even cause damage to other types or sizes. Existing automated harvesting end effectors usually lack the function of adjusting the distance between the gripper and shearing claw. This means that when handling fruits of different sizes, manual intervention is required to adjust or replace the gripper and shearing claw to prevent interference, increasing labor and time costs and significantly reducing harvesting efficiency.

[0003] Therefore, it is necessary to provide a harvesting end effector with an adjustable distance between the gripper and the shearing claw to address the problems of insufficient adaptability and low efficiency in the prior art. This actuator should be able to automatically adjust the distance between the gripper and the shearing claw according to the size and shape of the fruit, thereby achieving efficient harvesting of fruits of different types and sizes, improving harvesting efficiency, and reducing damage to the fruit from the shearing claw. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects in the prior art, solve the problem of interference between existing fruit picking clamps and shears, and provide a picking end effector and method applicable to multiple types of fruits.

[0005] The specific technical solution adopted in this invention is as follows:

[0006] In a first aspect, the present invention provides a harvesting end effector applicable to various types of fruits, including a slide rail housing and a fruit conveying structure, a telescopic body and a cylinder mounted on the slide rail housing;

[0007] The inner side of the slide rail housing is provided with a sliding track groove along the front-to-back direction, forming a sliding pair with the telescopic body; the bottom of the slide rail housing is provided with a fruit conveying structure, the inlet of which is located directly below the initial position of the telescopic body; the push rod of the cylinder is connected to one side of the telescopic body to apply a force for the telescopic body to move back and forth; the telescopic body includes an outer shell, an internal transmission structure, and a clamping and cutting mechanism. The outer shell is used to enclose the internal transmission structure, which drives the clamping and cutting mechanism. When moving to the front, it can clamp the fruit and cut the fruit stem. When returning to the initial position, it can send the picked fruit into the fruit storage box through the fruit conveying structure.

[0008] Preferably, the outer housing includes a main telescopic housing, a first front baffle, a second front baffle, a lead screw base, and an L-shaped rear baffle. The main telescopic housing has a square cylindrical structure with a first front baffle and a second front baffle symmetrically arranged at the front. A window for the shearing mechanism to extend is opened between the first front baffle and the second front baffle. An L-shaped rear baffle is provided at the rear of the main telescopic housing and is fixedly connected to the push rod of the cylinder. Continuous U-shaped grooves are provided on the left and right sides and the bottom of the main telescopic housing for installing the lead screw base. A second motor is fixed at the rear of the top of the main telescopic housing, and a first motor is fixed at the front of the top through a motor mounting bracket.

[0009] Preferably, the internal transmission structure includes a lead screw transmission structure and a gear and rack transmission structure;

[0010] The lead screw drive structure includes a first motor, a first cam, a second cam, a lead screw shaft, a bearing housing, a shearing jaw seat, and a gripper seat. The motor shaft of the first motor is connected to the top of the lead screw shaft via a coupling, and the threaded end of the lead screw shaft is connected to the bearing housing via a first bearing. The bearing housing is installed at the center of the concave side surface of the lead screw base. The upper part of the lead screw shaft is connected to the central shaft of the second cam via a third bearing, the middle part is connected to the central shaft of the shearing jaw seat via a second bearing, and the lower part is connected to the lead screw in the central threaded hole of the gripper seat. Both ends of the shearing jaw seat are fixedly connected to the main telescopic housing. Vertical guide grooves are provided on both sides inside the lead screw base and the main telescopic housing. The left and right ends of the gripper seat are restricted by the guide grooves, so that the gripper seat can only perform linear motion of rising or falling when the lead screw shaft rotates forward or backward. A first cam, which is also threadedly connected to the lead screw shaft, is fixed in the middle of the gripper seat. The upper surface of the first cam has two vertical positioning blocks, and a gear and arc-shaped rack drive structure is installed between the two positioning blocks.

[0011] The gear and rack transmission structure includes a second motor, a rack mounting base, a gear, and a variable rack structure. The rack mounting base is installed on the bottom edge of the second cam, and its two ends form a vertical sliding pair with the two positioning blocks of the first cam, and the rack mounting base is circumferentially positioned by the two positioning blocks. An arc-shaped groove for installing the variable rack structure is opened circumferentially in the middle of the rack mounting base. The variable rack structure includes a first single tooth, a first curved spring, a first guide rail, an arc-shaped rack, a second curved spring, a second guide rail, and a second single tooth. The inner sides of the outermost teeth at both ends of the arc-shaped rack are provided with... There is a base, on which two arc-shaped first and second guide rails are fixedly extended outward along the circumference respectively; a first curved spring and a second curved spring are respectively sleeved on the outside of the first and second guide rails, and a second single tooth and a first single tooth that can move along the guide rails are respectively slidably fixed at their outer ends; in the initial state, the first curved spring and the second curved spring respectively press the second single tooth and the first single tooth against the limiting surface at the outer end of the first and second guide rails, and the central angle between the second single tooth and the first single tooth is 60°; the motor shaft of the second motor is fixedly connected to the gear, and the first single tooth meshes with the gear for transmission.

[0012] Furthermore, the clamping and shearing mechanism includes symmetrically arranged left and right clamps and symmetrically arranged left and right shears; the first cam and the second cam are respectively provided with two cam grooves symmetrical about the axis, the first cam is used to control the clamping and releasing between the left and right clamps, and the second cam is used to control the shearing and releasing between the left and right shears;

[0013] The left gripper includes a third positioning wheel, a first irregularly shaped slider, a first gripping finger, and a first rubber pad; one end of the first irregularly shaped slider is equipped with the third positioning wheel via a positioning shaft, and the other end is equipped with the first gripping finger, with the first rubber pad installed on the inner side of the first gripping finger; the right gripper includes a fourth positioning wheel, a second irregularly shaped slider, a second gripping finger, and a second rubber pad; one end of the second irregularly shaped slider is equipped with the fourth positioning wheel via a positioning shaft, and the other end is equipped with the second gripping finger, with the second rubber pad installed on the inner side of the second gripping finger; the third positioning wheel and the fourth positioning wheel are respectively located in the two cam grooves of the first cam and can move along the trajectory of the cam grooves. Through the change in the shape of the cam grooves, the centers of the third positioning wheel and the fourth positioning wheel gradually approach the center of the first cam in the first 30°, and maintain a constant radius with respect to the center of the first cam in the last 30°.

[0014] The left scissor claw includes a first positioning wheel, a third irregularly shaped slider, and a first blade; one end of the third irregularly shaped slider is equipped with the first positioning wheel via a positioning shaft, and the other end is equipped with the first blade; the right scissor claw includes a second positioning wheel, a fourth irregularly shaped slider, and a second blade; one end of the fourth irregularly shaped slider is equipped with the second positioning wheel via a positioning shaft, and the other end is equipped with the second blade; the first positioning wheel and the second positioning wheel are respectively located in the two cam grooves of the second cam and can move along the trajectory of the cam grooves. By changing the shape of the cam grooves, the centers of the first positioning wheel and the second positioning wheel maintain a constant radius with respect to the center of the second cam in the first 30°, and gradually move closer to the center of the second cam in the last 30°.

[0015] Due to the design of the cam grooves on the first and second cams, the clamping and shearing mechanism can first clamp the fruit and then cut the fruit stem during harvesting.

[0016] Preferably, the first and second gripping fingers can be laterally adjusted on the first and second irregularly shaped sliders, respectively.

[0017] Preferably, a second front slide rail plate and a third rear slide rail plate are respectively installed on the front and rear sides of the outer side of the first irregularly shaped slider; a third front slide rail plate and a fourth rear slide rail plate are respectively installed on the front and rear sides of the outer side of the second irregularly shaped slider; a fourth front slide rail plate and a first rear slide rail plate are respectively installed on the front and rear sides of the outer side of the third irregularly shaped slider; and a first front slide rail plate and a second rear slide rail plate are respectively installed on the front and rear sides of the outer side of the fourth irregularly shaped slider. The first front slide rail plate, the second front slide rail plate, the third front slide rail plate, the fourth front slide rail plate, the first rear slide rail plate, the second rear slide rail plate, the third rear slide rail plate, and the fourth rear slide rail plate have the same structure, and each of them is provided with a plurality of roller structures that can form a sliding pair with the corresponding irregularly shaped slider to reduce the sliding friction of the irregularly shaped slider.

[0018] Preferably, the main telescopic housing is provided with a third roller and a fourth roller on the left outer side, and a first roller and a second roller on the right outer side, which are slidably connected to the sliding track groove on the slide rail housing through the rollers on both sides.

[0019] Preferably, the fruit conveying structure includes a fruit pipe, a pipe fixing seat, and an end adapter ring; the pipe fixing seat is a U-shaped groove structure, with its top fitting and connected to the protrusion on the outer side of the bottom of the slide rail housing, and the opening at the bottom connected to the fruit pipe through the end adapter ring.

[0020] Secondly, the present invention provides a fruit harvesting method using any of the harvesting end effectors applicable to multiple types of fruits described in the first aspect, as follows:

[0021] S1: Fix the harvesting end effector to the robotic arm; before harvesting the fruit, the harvesting end effector is in its initial state, and the telescopic body is retracted inside the slide rail housing; the shear claw seat and the gripper seat are close together; the cylinder, the first motor, and the second motor are all in the off state.

[0022] S2: When harvesting fruit, the fruit size signal is converted into a corresponding number of pulses; the first motor receives the pulse signal and rotates a specified number of times, driving the lead screw to rotate and adjusting the distance between the shear claw seat and the gripper seat to prevent the shear claw from cutting the fruit due to being too close to the gripper; the cylinder starts, and the push rod pushes the telescopic body outward along the inner track of the slide rail housing; the robotic arm continues to move, so that the shear claw composed of the first and second blades and the gripper composed of the first and second gripper fingers simultaneously reach the fruit stem and the fruit position respectively; the second motor rotates forward, driving the gear to rotate; the rotation of the gear causes the arc-shaped rack and rack fixing seat to move along the lead screw... The shaft rotates; since the second cam is fixedly connected to the rack fixing seat, the second cam rotates synchronously with the arc-shaped rack; the two positioning structures on the first cam make it rotate synchronously with the rack fixing seat; the first cam and the second cam rotate synchronously around the lead screw shaft; the rotation of the second cam and the first cam respectively reduces the distance between the first positioning wheel and the second positioning wheel, and the distance between the third positioning wheel and the fourth positioning wheel; the reduction in the distance between the two sets of positioning wheels indirectly reduces the distance between the first irregular slider and the second irregular slider, and the distance between the third irregular slider and the fourth irregular slider, thereby realizing the function of the gripper to pick up the fruit and the scissor to cut the fruit stem;

[0023] During this process, because the cam grooves on the first and second cams are different, the steps of gripping the fruit and cutting the stem are not performed simultaneously: in the first half of the time, the first and second irregularly shaped sliders retract in distance, while the distance between the third and fourth irregularly shaped sliders remains unchanged, that is, the gripper grips the fruit first, and the scissor remains stationary; in the second half of the time, the third and fourth irregularly shaped sliders begin to retract in distance, while the first and second irregularly shaped sliders remain in their retracted state and the distance between them no longer changes, that is, the gripper holds the fruit, and the scissor begins to cut the stem; when the arc rack rotates to its limit position, the first curved spring is compressed along the first guide rail, and the first single tooth approaches the arc rack. At this time, the gear just disengages from the entire arc rack mechanism and continues to rotate, so that the motor shaft will not be blocked due to the poor accuracy of the second motor when the positioning wheel reaches the limit position of the cam groove;

[0024] S3: After the fruit stalk is cut, the cylinder starts again, pulling the push rod back, which in turn pulls the telescopic body carrying the fruit back to its initial position along the inner track of the slide rail housing; after the telescopic body is fully returned to its position, the second motor receives a signal and begins to reverse, the first cam, the second cam, the arc rack and the rack fixing seat rotate back to their initial positions, the shearing claw and the gripper release one after another, the fruit falls into the fruit conveying mechanism and enters the target fruit storage box through the fruit pipe, completing one harvest;

[0025] S4: When the harvesting end effector receives the next fruit harvesting signal, repeat the operations of S2 to S3.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] 1) The clamping and shearing mechanism of the multi-type fruit-picking end effector provided by this invention consists of a clamping claw structure and a shearing claw structure. The clamping action of the clamping claw structure and the shearing action of the shearing claw structure are staggered and perfectly connected. The fruit stem is cut only after the fruit is clamped. The clamping and shearing actions can be completed with the power of the second motor. The clamping claw and the shearing claw are controlled by two different cam drives, and the rotation of the first cam and the second cam is synchronized. This structural design realizes the function of clamping before shearing, which improves the harvesting success rate. At the same time, one motor can cleverly control the two structures to perform the steps, reducing the number of motors.

[0028] 2) In the multi-type fruit-picking end effector provided by this invention, the second motor drives the first and second cams to rotate synchronously via gear and arc-shaped rack transmission. The entire arc-shaped rack has a special structure. When the cam rotates to the two extreme positions of clamping and releasing the clamp, the gear can continue to rotate, pushing the single tooth close to the arc-shaped rack. At this time, the spring between the single tooth and the arc-shaped rack is compressed. When the gear disengages, the spring rebounds partially, causing the single tooth to immediately engage with the next gear tooth, and then disengage, repeating this process. This structural design allows the second motor to rotate excessively without stalling, eliminating the need for precise control of the motor's rotation number, reducing control difficulty, and preventing the motor from experiencing reduced service life due to stalling.

[0029] 3) In the multi-type fruit-picking end effector provided by this invention, the first motor receives a fruit size signal and adjusts the distance between the gripper and the shearing claw via a lead screw drive, effectively avoiding interference between the shearing claw and the fruit, and ensuring accurate positioning of the fruit stem by the shearing claw. This design enables the end effector to flexibly pick fruits of different sizes and greatly reduces the chance of the blade accidentally damaging the fruit when shearing the stem. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention;

[0031] Figure 2 This is a schematic diagram of the telescopic main structure of the device of the present invention;

[0032] Figure 3 This is a schematic diagram of the fruit conveying structure of the device of the present invention;

[0033] Figure 4 This is a schematic diagram of the gear and arc-shaped rack transmission structure of the device of the present invention;

[0034] Figure 5 This is a bottom view of the internal structure of the lower half of the telescopic main body of the device of the present invention;

[0035] Figure 6 This is a schematic diagram of the lead screw drive structure of the device of the present invention;

[0036] Figure 7 This is a top view schematic diagram of the first movement stage of the clamping and shearing mechanism of the device of the present invention clamping the fruit;

[0037] Figure 8 This is a top view schematic diagram of the second movement stage of the clamping and shearing mechanism of the device of the present invention, showing the clamping and shearing of the fruit and the fruit stalk.

[0038] Figure 9 This is a schematic diagram of the connection structure between the gear and the variable rack structure in the device of the present invention;

[0039] In the diagram: 1. Slide rail housing; 2. Fruit pipe; 3. Pipe fixing seat; 4. End adapter ring; 5. First rubber pad; 6. First gripper finger; 7. First irregularly shaped slider; 8. Second rubber pad; 9. Second gripper finger; 10. Second irregularly shaped slider; 11. First blade; 12. Third irregularly shaped slider; 13. Second blade; 14. Fourth irregularly shaped slider; 15. First front baffle; 16. Second front baffle; 17. Main telescopic housing; 18. Motor fixing seat; 19. Coupling; 20. First motor; 21. Second motor; 22. L-shaped rear baffle; 23. Cylinder; 24. Rack fixing seat; 25. Gear; 26. First single tooth; 27. First curved spring; 28. First guide rail; 29. ​​Arc-shaped rack; 30. Second curved spring; 30. Second guide rail. 31. Second single tooth; 32. First bearing; 33. First cam; 34. Second bearing; 35. Second cam; 36. Third bearing; 37. Lead screw shaft; 38. First roller; 39. Second roller; 40. Third roller; 41. Fourth roller; 42. Lead screw base; 43. Bearing seat; 44. First positioning wheel; 45. Second positioning wheel; 46. Third positioning wheel; 47. Fourth positioning wheel; 48. Scissor claw seat; 49. Gripper claw seat; 50. First front slide rail plate; 51. Second front slide rail plate; 52. Third front slide rail plate; 53. Fourth front slide rail plate; 54. First rear slide rail plate; 55. Second rear slide rail plate; 56. Third rear slide rail plate; 57. Fourth rear slide rail plate; 58. Fruit conveying structure; 59. Telescopic main body; 60. Detailed Implementation

[0040] The present invention will be further described and illustrated below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] like Figure 1 As shown, this invention provides a harvesting end effector suitable for various types of fruits. The harvesting end effector mainly includes a slide rail housing 1, a fruit conveying structure 59, a telescopic body 60, and a cylinder 23 mounted on the slide rail housing 1. The cylinder 23 is fixed to the back of the slide rail housing 1, and the fruit conveying structure 59 is fixed to the bottom. A sliding track groove is provided on the inner side of the slide rail housing 1, forming a sliding pair with the telescopic body 60, allowing the telescopic body 60 to extend and retract along the track.

[0042] The structure and connection methods of each component will be explained in detail below.

[0043] In this invention, sliding track grooves are provided on both sides of the inner side of the slide rail housing 1 along the front and rear directions, and the two sliding track grooves and the telescopic body 60 form a sliding pair.

[0044] As a preferred embodiment of the present invention, such as Figure 2 and 5 As shown, the telescopic body 60 has a third roller 41 and a fourth roller 42 on the left outer side of the main telescopic housing 17, and a first roller 39 and a second roller 40 on the right outer side. The four rollers on both sides are slidably connected to the sliding track groove on the inner side of the slide rail housing 1 to achieve a drawer-like effect.

[0045] In this invention, the bottom of the slide rail housing 1 is provided with a fruit conveying structure 59, and the entrance of the fruit conveying structure 59 is located directly below the initial position of the telescopic body 60.

[0046] As a preferred embodiment of the present invention, such as Figure 3 As shown, the fruit conveying structure 59 mainly includes a fruit pipe 2, a pipe fixing seat 3, and an end adapter ring 4. The pipe fixing seat 3 has a U-shaped groove structure, with its top fitting against the protrusion on the outer side of the bottom of the slide rail housing 1, and its bottom opening connected to the fruit pipe 2 through the end adapter ring 4. When the telescopic body 60 finishes picking the fruit and retracts into the slide rail housing 1, the fruit is positioned directly above the pipe opening. At this point, the grippers and shears release, allowing the fruit to fall into the fruit pipe 2 and be conveyed to the box.

[0047] In this invention, the push rod of cylinder 23 is connected to one side of the telescopic body 60 to apply a force for the telescopic body 60 to move back and forth. The telescopic body 60 mainly includes an outer shell, an internal transmission structure, and a clamping and shearing mechanism. The outer shell is used to enclose the internal transmission structure, which drives the clamping and shearing mechanism. When moving forward, it can clamp the fruit and cut the fruit stem. When returning to the initial position, it can send the picked fruit into the fruit storage box through the fruit conveying structure 59.

[0048] As a preferred embodiment of the present invention, such as Figure 1 and 2 As shown, the outer casing mainly includes a main telescopic housing 17, a first front baffle 15, a second front baffle 16, a lead screw base 43, and an L-shaped rear baffle 22. The main telescopic housing 17 has a square cylindrical structure, with the first front baffle 15 and the second front baffle 16 symmetrically arranged at the front. A window for the shearing mechanism to extend is opened between the first front baffle 15 and the second front baffle 16. An L-shaped rear baffle 22 is provided at the rear of the main telescopic housing 17. The L-shaped rear baffle 22 is fixedly connected to the push rod of the cylinder 23, transmitting the telescopic movement of the push rod to the entire telescopic body 60. During harvesting, the push rod pushes the telescopic body 60 out of the slide rail housing 1. After harvesting, the push rod pulls the telescopic body 60 back into the slide rail housing 1. Continuous U-shaped grooves are opened on the left and right sides and the bottom of the main telescopic housing 17, the shape of which matches the shape of the lead screw base 43, for installing the lead screw base 43. A second motor 21 is fixed to the rear of the top of the main telescopic housing 17, and a first motor 20 is fixed to the front of the top via a motor mounting bracket 18. The motor mounting bracket 18 serves as a transition plate for the first motor 20 and is fixed to the outer housing of the telescopic body 60. The second motor 21 is directly fixed to the main telescopic housing 17.

[0049] As a preferred embodiment of the present invention, the internal transmission structure mainly includes a lead screw transmission structure and a gear and arc-shaped rack transmission structure. For example... Figures 4-6As shown, the lead screw drive structure mainly includes a first motor 20, a first cam 34, a second cam 36, a lead screw shaft 38, a bearing housing 44, a shearing jaw seat 49, and a gripper seat 50. The motor shaft of the first motor 20 is connected to the smooth shaft end at the top of the lead screw shaft 38 via a coupling 19, transmitting the rotation of the motor to the lead screw shaft 38. The threaded end at the bottom of the lead screw shaft 38 is connected to the bearing housing 44 via a first bearing 33, and the bearing housing 44 is mounted at the center of the concave side surface of the lead screw base 43. The upper part of the lead screw shaft 38 is connected to the central shaft of the second cam 36 via a third bearing 37, the middle part is connected to the central shaft of the shearing jaw seat 49 via a second bearing 35, and the lower part is connected to the lead screw in the central threaded hole of the gripper seat 50. Due to the design that the lead screw shaft 38 is connected to the bearing housing 44 via the first bearing 33, to the shearing jaw seat 49 via the second bearing 35, and to the second cam 36 via the third bearing 37, the lead screw drive and the gear rack drive do not interfere with each other. Both ends of the scissor holder 49 are fixedly connected to the main telescopic housing 17. Vertical guide grooves are provided on both sides of the screw base 43 and the main telescopic housing 17. The left and right ends of the gripper holder 50 are restricted by these guide grooves, ensuring that the gripper holder 50 can only perform linear upward or downward movement via the forward or reverse rotation of the screw shaft 38. This adjusts the vertical distance between the gripper and the scissor, meaning the screw shaft 38 converts the rotational motion of the first motor 20 into linear motion of the gripper holder 50. A first cam 34, also threadedly connected to the screw shaft 38, is fixed in the middle of the gripper holder 50. The upper surface of the first cam 34 has two vertical positioning blocks, and a gear and arc-shaped rack transmission structure is installed between the two positioning blocks.

[0050] As a preferred embodiment of the present invention, such as Figure 4 As shown, the gear and rack transmission structure mainly includes a second motor 21, a rack mounting base 24, a gear 25, and a variable rack structure. The rack mounting base 24 is installed on the bottom edge of the second cam 36, and its two ends form vertical sliding pairs with the two positioning blocks of the first cam 34, achieving circumferential positioning of the rack mounting base 24 through the two positioning blocks. An arc-shaped groove for mounting the variable rack structure is formed circumferentially in the middle of the rack mounting base 24. Figure 9As shown, the variable rack structure includes a first single tooth 26, a first curved spring 27, a first guide rail 28, an arc-shaped rack 29, a second curved spring 30, a second guide rail 31, and a second single tooth 32. The inner sides of the outermost teeth at both ends of the arc-shaped rack 29 are provided with bases, and the first guide rail 28 and the second guide rail 31, both arc-shaped, are fixedly attached to the two bases extending outward in the circumferential direction. The corresponding axis of the arc-shaped rack 29 coincides with the axis of the lead screw shaft 38. The first curved spring 27 and the second curved spring 30 are respectively sleeved on the outside of the first guide rail 28 and the second guide rail 31, and the second single tooth 32 and the first single tooth 26, which can move along the guide rails, are slidably fixed at their outer ends. In the initial state, the first curved spring 27 and the second curved spring 30 respectively press the second single tooth 32 and the first single tooth 26 against the limiting surfaces at the outer ends of the first guide rail 28 and the second guide rail 31, and the central angle between the second single tooth 32 and the first single tooth 26 is 60°. Therefore, the stroke of the gear rack transmission only needs to be within the range of 60°. The motor shaft of the second motor 21 is fixedly connected to the gear 25, and the gear 25 directly transmits the rotation of the second motor. The first single tooth 26 meshes with the gear 25 for transmission.

[0051] In actual use, initially, the spring presses a single tooth against the limiting surface at the outer end of the arc-shaped guide rail. When the arc-shaped rack structure rotates to its limit position, the arc-shaped rack 29 stops rotating, and the gear 25 continues to rotate, repeatedly pushing the single tooth against the arc-shaped rack 29. When the single tooth contacts the arc-shaped rack 29, the curved spring is compressed, the previous tooth of the gear 25 disengages, and the spring pushes the single tooth back a certain distance so that it engages with the next tooth of the gear 25, and this process repeats. This allows the structure to complete the transmission task without causing the second motor 21 to stall and overheat, affecting its operation.

[0052] As a preferred embodiment of the present invention, such as Figure 4 As shown, the arc-shaped rack 29 is fixed on the rack fixing seat 24, and the rack fixing seat 24 is fixed to the edge of the second cam 36. The rack fixing seat 24 and the two positioning blocks extending from the upper surface of the first cam 34 form a sliding pair, so that the two cams rotate synchronously, and the vertical linear distance between them can be adjusted. The groove between the two positioning blocks extending from the upper surface of the first cam 34 and the rack fixing seat 24 restricts the movement space of a single tooth in the arc-shaped rack structure. In the double cam transmission structure, the first cam 34, the second cam 36, the lead screw shaft 38, and the arc-shaped rack 29 are coaxial.

[0053] As a preferred embodiment of the present invention, such as Figures 4-8As shown, the clamping and shearing mechanism mainly includes symmetrically arranged left and right grippers, as well as symmetrically arranged left and right shearing claws. The left and right grippers together constitute the clamping mechanism, and the left and right shearing claws together constitute the shearing mechanism. The first cam 34 and the second cam 36 each have two cam grooves symmetrical about their axes, and the cam grooves of the two cams have different shapes. The first cam 34 is used to control the clamping and releasing between the left and right grippers, and the second cam 36 is used to control the shearing and releasing between the left and right shearing claws.

[0054] Specifically, the left gripper includes a third positioning wheel 47, a first irregularly shaped slider 7, a first gripper finger 6, and a first rubber pad 5. The third positioning wheel 47 is mounted on one end of the first irregularly shaped slider 7 via a positioning shaft, and the first gripper finger 6 is mounted on the other end. The first rubber pad 5 is mounted on the inner side of the first gripper finger 6. The right gripper includes a fourth positioning wheel 48, a second irregularly shaped slider 10, a second gripper finger 9, and a second rubber pad 8. The fourth positioning wheel 48 is mounted on one end of the second irregularly shaped slider 10 via a positioning shaft, and the second gripper finger 9 is mounted on the other end. The second rubber pad 8 is mounted on the inner side of the second gripper finger 9. The third positioning wheel 47 and the fourth positioning wheel 48 are respectively located in the two cam grooves of the first cam 34 and can move along the trajectory of the cam grooves. Through the change in the shape of the cam grooves, the centers of the third positioning wheel 47 and the fourth positioning wheel 48 gradually approach the center of the first cam 34 in the first 30°, and maintain a constant radius with respect to the center of the first cam 34 in the latter 30°.

[0055] Specifically, the left scissor claw includes a first positioning wheel 45, a third irregularly shaped slider 12, and a first blade 11. The first positioning wheel 45 is mounted on one end of the third irregularly shaped slider 12 via a positioning shaft, and the first blade 11 is mounted on the other end. The right scissor claw includes a second positioning wheel 46, a fourth irregularly shaped slider 14, and a second blade 13. The second positioning wheel 46 is mounted on one end of the fourth irregularly shaped slider 14 via a positioning shaft, and the second blade 13 is mounted on the other end. The first positioning wheel 45 and the second positioning wheel 46 are respectively located in the two cam grooves of the second cam 36 and can move along the trajectory of the cam grooves. Through changes in the shape of the cam grooves, the centers of the first positioning wheel 45 and the second positioning wheel 46 maintain a constant radius relative to the center of the second cam 36 in the first 30° angle, and gradually move closer to the center of the second cam 36 in the subsequent 30° angle.

[0056] In the end effector, the positioning wheel is located in the cam groove. When the cam rotates, the positioning wheel moves along the cam groove trajectory. Due to the design of the cam groove shape on the first cam 34 and the second cam 36, the clamping and shearing mechanism can first clamp the fruit and then cut the fruit stem during harvesting.

[0057] In actual use, the first gripper 6 and the second gripper 9 can be adjusted laterally on the first irregularly shaped slider 7 and the second irregularly shaped slider 10, respectively. At the same time, the flexible hollow rubber pad installed on the gripper can effectively reduce the damage to the fruit when gripping it.

[0058] In practical use, two of the eight identical first front slide rail plates 51 are installed on both sides of each irregularly shaped slider as guides, forming a sliding pair. When the cam rotates, the positioning wheel moves along the cam groove trajectory, and the positioning wheel transmits the motion to the irregularly shaped slider, realizing the approach and departure movements of the left and right grippers and left and right shears.

[0059] The first front slide rail plate 51 has a multi-roller structure that reduces the sliding friction of irregularly shaped sliders. Specifically:

[0060] The first irregularly shaped slider 7 has a second front slide rail plate 52 and a third rear slide rail plate 57 installed on its outer front and rear sides, respectively. The second irregularly shaped slider 10 has a third front slide rail plate 53 and a fourth rear slide rail plate 58 installed on its outer front and rear sides, respectively. The third irregularly shaped slider 12 has a fourth front slide rail plate 54 and a first rear slide rail plate 55 installed on its outer front and rear sides, respectively. The fourth irregularly shaped slider 14 has a first front slide rail plate 51 and a second rear slide rail plate 56 installed on its outer front and rear sides, respectively. The first front slide rail plate 51, the second front slide rail plate 52, the third front slide rail plate 53, the fourth front slide rail plate 54, the first rear slide rail plate 55, the second rear slide rail plate 56, the third rear slide rail plate 57, and the fourth rear slide rail plate 58 have the same structure, and each of them is provided with several roller structures that can form a sliding pair with the corresponding irregularly shaped slider to reduce the sliding friction of the irregularly shaped slider.

[0061] In actual use, the gripper seat 50 restricts the vertical movement freedom of the first cam 34, the first irregular slider 7, and the second irregular slider 10; the scissor seat 49 and the main telescopic housing 17 restrict the vertical movement freedom of the second cam 36, the third irregular slider 12, and the fourth irregular slider 14.

[0062] Based on the above-mentioned harvesting end effector applicable to various types of fruits, the present invention also provides a fruit harvesting method, which is as follows:

[0063] S1: Secure the harvesting end effector to the robotic arm. Before harvesting the fruit, the harvesting end effector is in its initial state, with the telescopic body 60 retracted inside the slide rail housing 1. The shearing claw seat 49 and the gripper seat 50 are close together. The cylinder 23, the first motor 20, and the second motor 21 are all in an inactive state.

[0064] S2: When harvesting fruit, the fruit size signal is converted into a corresponding number of pulses. The first motor 20 receives the pulse signal and rotates a specified number of times, driving the lead screw shaft 38 to rotate. This adjusts the distance between the shear claw seat 49 and the gripper seat 50, preventing the shear claw from cutting the fruit due to excessive proximity. The cylinder 23 starts, pushing the telescopic body 60 outwards along the inner track of the slide rail housing 1 via a push rod. The robotic arm continues to move, causing the shear claw, composed of the first blade 11 and the second blade 13, and the gripper, composed of the first gripper finger 6 and the second gripper finger 9, to simultaneously reach the fruit stem and fruit positions, respectively. The second motor 21 rotates forward, driving the gear 25 to rotate. The rotation of the gear 25 causes the arc-shaped rack 29 and the rack fixing seat 24 to rotate along the lead screw shaft 38. Since the second cam 36 is fixedly connected to the rack fixing seat 24, the second cam 36 rotates synchronously with the arc-shaped rack 29. Two positioning structures on the first cam 34 cause it to rotate synchronously with the rack fixing seat 24. The first cam 34 and the second cam 36 rotate synchronously around the lead screw shaft 38. The rotation of the second cam 36 and the first cam 34 respectively reduces the distance between the first positioning wheel 45 and the second positioning wheel 46, and the distance between the third positioning wheel 47 and the fourth positioning wheel 48. The reduction in the distance between the two sets of positioning wheels indirectly reduces the distance between the first irregularly shaped slider 7 and the second irregularly shaped slider 10, and the distance between the third irregularly shaped slider 12 and the fourth irregularly shaped slider 14, thereby realizing the function of the gripper picking up the fruit and the scissor cutting the fruit stem.

[0065] During this process, because the cam grooves on the first cam 34 and the second cam 36 are different, the steps of gripping the fruit and cutting the stem are not performed simultaneously: in the first half, the first irregularly shaped slider 7 and the second irregularly shaped slider 10 retract in distance, while the distance between the third irregularly shaped slider 12 and the fourth irregularly shaped slider 14 remains unchanged, that is, the gripper grips the fruit first, and the scissor remains stationary. In the second half, the third irregularly shaped slider 12 and the fourth irregularly shaped slider 14 begin to retract in distance, while the first irregularly shaped slider 7 and the second irregularly shaped slider 10 remain in their retracted state and the distance between them no longer changes, that is, the gripper holds the fruit, and the scissor begins to cut the stem. When the arc-shaped rack 29 rotates to its limit position, the first curved spring 27 is compressed along the first guide rail 28, and the first single tooth 26 comes close to the arc-shaped rack 29. At this time, the gear 25 just disengages from the entire arc-shaped rack 29 mechanism and continues to rotate, so that the motor shaft will not be blocked due to the poor accuracy of the second motor 21 when the positioning wheel reaches the limit position of the cam groove.

[0066] In practical applications, the second motor 21 can be controlled to rotate one or two more revolutions before stopping to ensure that the cam structure rotates to its limit position. The control precision requirements for the second motor 21 are not high, which can save costs.

[0067] S3: After the fruit stalk is cut, cylinder 23 restarts, pulling the push rod back, which in turn pulls the telescopic body 60 carrying the fruit back to its initial position along the inner track of the slide rail housing 1. After the telescopic body 60 is fully returned to its original position, the second motor 21 receives a signal and begins to reverse. The first cam 34, the second cam 36, the arc-shaped rack 29, and the rack fixing seat 24 rotate back to their initial positions. The shearing claws and grippers release one after another, and the fruit falls into the fruit conveying mechanism 59 and enters the target fruit storage box through the fruit pipe 2, completing one harvest.

[0068] In practical applications, the short-distance telescopic picking of the telescopic body 60 and the pipeline transport of fruit effectively save picking interval time, avoiding the need for the robotic arm to travel back and forth to the fruit storage box located on the robot body for each fruit picked. This not only improves picking efficiency but also reduces the movement stroke of the robotic arm and extends its service life.

[0069] S4: When the harvesting end effector receives the next fruit harvesting signal, repeat the operations of S2 to S3.

[0070] The harvesting end effector provided by this invention overcomes the shortcomings of existing technologies that easily damage fruits during harvesting, thus improving the working efficiency of agricultural robots. This device boasts high harvesting reliability, convenient operation, and high versatility, making it suitable for harvesting various types of fruits and vegetables. It avoids damage to fruits near the stem, reducing the rate of spoiled fruit.

[0071] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all technical solutions obtained through equivalent substitution or transformation fall within the protection scope of the present invention.

Claims

1. A harvesting end effector suitable for various types of fruits, characterized in that, Includes a slide rail housing (1) and a fruit conveying structure (59), a telescopic body (60) and a cylinder (23) mounted on the slide rail housing (1). The inner side of the slide rail housing (1) is provided with a sliding track groove along the front-to-back direction, which forms a sliding pair with the telescopic body (60); the bottom of the slide rail housing (1) is provided with a fruit conveying structure (59), and the entrance of the fruit conveying structure (59) is located directly below the initial position of the telescopic body (60); the push rod of the cylinder (23) is connected to one side of the telescopic body (60) to apply the force for the telescopic body (60) to move back and forth; the telescopic body (60) includes an outer shell, an internal transmission structure and a clamping and cutting mechanism. The outer shell is used to enclose the internal transmission structure, and the clamping and cutting mechanism is driven by the internal transmission structure. When it moves to the front, it can perform the operation of clamping fruit and cutting fruit stems. When it returns to the initial position, it can send the picked fruit into the fruit storage box through the fruit conveying structure (59); The outer shell includes a main telescopic shell (17), a first front baffle (15), a second front baffle (16), a lead screw base (43), and an L-shaped rear baffle (22). The internal transmission structure includes a lead screw transmission structure and a gear and arc rack transmission structure; The lead screw drive structure includes a first motor (20), a first cam (34), a second cam (36), a lead screw shaft (38), a bearing seat (44), a scissor seat (49), and a gripper seat (50). The motor shaft of the first motor (20) is connected to the top of the lead screw shaft (38) via a coupling (19), and the threaded end of the lead screw shaft (38) is connected to the bearing seat (44) via a first bearing (33). The bearing seat (44) is installed at the center of the concave side surface of the lead screw base (43). The upper part of the lead screw shaft (38) is connected to the central shaft of the second cam (36) via a third bearing (37), and the middle part is connected to the central shaft of the scissor seat (49) via a second bearing (35). The shaft is connected, and the lower part is connected to the screw in the center threaded hole of the claw seat (50); the two ends of the claw seat (49) are fixedly connected to the main telescopic housing (17); the screw base (43) and the main telescopic housing (17) are provided with vertical guide grooves on both sides inside. The left and right ends of the claw seat (50) are restricted by the guide grooves, so that the claw seat (50) can only make linear motion of rising or falling through the forward or reverse rotation of the screw shaft (38); the middle part of the claw seat (50) is fixed with a first cam (34) that is also threadedly connected to the screw shaft (38). The upper surface of the first cam (34) has two vertical positioning blocks, and the gear and arc rack transmission structure is installed between the two positioning blocks; The gear and rack transmission structure includes a second motor (21), a rack mounting base (24), a gear (25), and a variable rack structure. The rack mounting base (24) is installed on the bottom edge of the second cam (36), and its two ends form a vertical sliding pair with the two positioning blocks of the first cam (34) respectively. The rack mounting base (24) is circumferentially positioned by the two positioning blocks. The rack mounting base (24) has an arc-shaped groove for installing the variable rack structure in the middle along the circumferential direction. The variable rack structure includes a first single tooth (26), a first curved spring (27), a first guide rail (28), an arc-shaped rack (29), a second curved spring (30), a second guide rail (31), and a second single tooth (32). The inner side of the outermost teeth at both ends of the arc-shaped rack (29) is provided with a platform. The upper part is fixed with a first guide rail (28) and a second guide rail (31) that are both arc-shaped, extending outward along the circumference respectively; the outer sides of the first guide rail (28) and the second guide rail (31) are respectively fitted with a first curved spring (27) and a second curved spring (30), and the outer ends are respectively slidably fixed with a second single tooth (32) and a first single tooth (26) that can move along the guide rail; in the initial state, the first curved spring (27) and the second curved spring (30) respectively press the second single tooth (32) and the first single tooth (26) against the limiting surface at the outer end of the first guide rail (28) and the second guide rail (31), and the central angle between the second single tooth (32) and the first single tooth (26) is 60°; the motor shaft of the second motor (21) is fixedly connected to the gear (25), and the first single tooth (26) meshes with the gear (25) for transmission.

2. The harvesting end effector applicable to various types of fruits according to claim 1, characterized in that, The main telescopic housing (17) is a square cylindrical structure with a first front baffle (15) and a second front baffle (16) symmetrically arranged at the front. A window for the clamping and shearing mechanism to extend is opened between the first front baffle (15) and the second front baffle (16). An L-shaped rear baffle (22) is provided at the rear of the main telescopic housing (17), and the L-shaped rear baffle (22) is fixedly connected to the push rod of the cylinder (23). Continuous U-shaped grooves are opened on the left and right sides and the bottom of the main telescopic housing (17) for installing the lead screw base (43). A second motor (21) is fixed at the rear of the top of the main telescopic housing (17), and a first motor (20) is fixed at the front of the top through a motor mounting seat (18).

3. The harvesting end effector applicable to various types of fruits according to claim 1, characterized in that, The clamping and shearing mechanism includes a symmetrically arranged left clamp and a right clamp, as well as a symmetrically arranged left shear and a right shear; the first cam (34) and the second cam (36) are respectively provided with two cam grooves symmetrical about the axis. The first cam (34) is used to control the clamping and releasing between the left clamp and the right clamp, and the second cam (36) is used to control the shearing and releasing between the left shear and the right shear. The left gripper includes a third positioning wheel (47), a first irregularly shaped slider (7), a first gripper finger (6), and a first rubber pad (5); one end of the first irregularly shaped slider (7) is equipped with the third positioning wheel (47) via a positioning shaft, and the other end is equipped with the first gripper finger (6), with the first rubber pad (5) installed on the inner side of the first gripper finger (6); the right gripper includes a fourth positioning wheel (48), a second irregularly shaped slider (10), a second gripper finger (9), and a second rubber pad (8); one end of the second irregularly shaped slider (10) is equipped with the fourth positioning wheel (47) via a positioning shaft. The positioning wheel (48) has a second clamping finger (9) installed at one end, and a second rubber pad (8) is installed on the inner side of the second clamping finger (9); the third positioning wheel (47) and the fourth positioning wheel (48) are respectively located in the two cam grooves of the first cam (34) and can move along the trajectory of the cam groove. By changing the shape of the cam groove, the center of the third positioning wheel (47) and the fourth positioning wheel (48) gradually approaches the center of the first cam (34) in the first 30°, and keeps the radius between them and the center of the first cam (34) unchanged in the last 30°. The left scissor includes a first positioning wheel (45), a third irregular slider (12), and a first blade (11); one end of the third irregular slider (12) is equipped with the first positioning wheel (45) via a positioning shaft, and the other end is equipped with the first blade (11); the right scissor includes a second positioning wheel (46), a fourth irregular slider (14), and a second blade (13); one end of the fourth irregular slider (14) is equipped with the second positioning wheel (46) via a positioning shaft, and the other end is equipped with the second blade (13); the first positioning wheel (45) and the second positioning wheel (46) are respectively located in the two cam grooves of the second cam (36) and can move along the trajectory of the cam grooves. By changing the shape of the cam grooves, the center of the first positioning wheel (45) and the second positioning wheel (46) maintains a constant radius between the center of the first cam (36) and the center of the second cam (36) in the first 30°, and gradually moves closer to the center of the second cam (36) in the last 30°. Due to the design of the cam groove shape on the first cam (34) and the second cam (36), the clamping and shearing mechanism can first clamp the fruit and then cut the fruit stem during harvesting.

4. The harvesting end effector applicable to various types of fruits according to claim 3, characterized in that, The first clamping finger (6) and the second clamping finger (9) can be adjusted laterally on the first irregular slider (7) and the second irregular slider (10), respectively.

5. A harvesting end effector suitable for various types of fruits according to claim 3, characterized in that, The first irregular slider (7) is equipped with a second front slide rail plate (52) and a third rear slide rail plate (57) on the front and back sides respectively. The second irregular slider (10) is equipped with a third front slide rail plate (53) and a fourth rear slide rail plate (58) on the front and back sides respectively. The third irregular slider (12) is equipped with a fourth front slide rail plate (54) and a first rear slide rail plate (55) on the front and back sides respectively. The fourth irregular slider (14) is equipped with a first front slide rail plate (51) and a second rear slide rail plate (56) on the front and back sides respectively. The first front slide rail plate (51), the second front slide rail plate (52), the third front slide rail plate (53), the fourth front slide rail plate (54), the first rear slide rail plate (55), the second rear slide rail plate (56), the third rear slide rail plate (57), and the fourth rear slide rail plate (58) have the same structure. Each of them is provided with a number of roller structures that can form a sliding pair with the corresponding irregular slider to reduce the sliding friction of the irregular slider.

6. The harvesting end effector applicable to various types of fruits according to claim 1, characterized in that, The main telescopic housing (17) has a third roller (41) and a fourth roller (42) on the left outer side, and a first roller (39) and a second roller (40) on the right outer side. The rollers on both sides are slidably connected to the sliding track groove on the slide rail housing (1).

7. A harvesting end effector suitable for various types of fruits according to claim 1, characterized in that, The fruit conveying structure (59) includes a fruit pipe (2), a pipe fixing seat (3) and an end adapter ring (4); the pipe fixing seat (3) is a U-shaped groove structure, with its top fitting and connected to the protrusion on the outer side of the bottom of the slide rail housing (1), and the opening at the bottom connected to the fruit pipe (2) through the end adapter ring (4).

8. A fruit harvesting method using the harvesting end effector applicable to multiple types of fruits as described in claim 3, characterized in that, Specifically as follows: S1: Fix the harvesting end effector to the robotic arm; before harvesting the fruit, the harvesting end effector is in the initial state, and the telescopic body (60) is retracted inside the slide rail housing (1); the scissor seat (49) and the gripper seat (50) are close together and in the closest state; the cylinder (23), the first motor (20), and the second motor (21) are all in the unstarted state; S2: When picking fruit, the fruit size signal is converted into the corresponding number of pulses; the first motor (20) receives the pulse signal and rotates a specified number of times, driving the lead screw shaft (38) to rotate, adjusting the distance between the shear claw seat (49) and the gripper seat (50) to prevent the shear claw from cutting the fruit due to being too close to the gripper; the cylinder (23) starts, and pushes the telescopic body (60) outward along the inner track of the slide rail housing (1) through the push rod; the robotic arm continues to move, so that the shear claw composed of the first blade (11) and the second blade (13) and the gripper composed of the first gripper finger (6) and the second gripper finger (9) reach the fruit stem and fruit position at the same time; the second motor (21) rotates forward to drive the gear (25) to rotate; the rotation of the gear (25) causes the arc rack (29) and the rack fixing seat (24) to rotate along the lead screw shaft (38); The second cam (36) is fixedly connected to the rack and pinion seat (24), and the second cam (36) rotates synchronously with the arc rack (29); the two positioning structures on the first cam (34) make it rotate synchronously with the rack and pinion seat (24); the first cam (34) and the second cam (36) rotate synchronously around the lead screw shaft (38); the rotation of the second cam (36) and the first cam (34) respectively causes the distance between the first positioning wheel (45) and the second positioning wheel (46) to shrink, and the distance between the third positioning wheel (47) and the fourth positioning wheel (48) to shrink; the shrinkage of the distance between the two sets of positioning wheels indirectly causes the distance between the first irregular slider (7) and the second irregular slider (10) to shrink, and the distance between the third irregular slider (12) and the fourth irregular slider (14) to shrink, thereby realizing the function of the gripper to pick up the fruit and the scissor to cut the fruit stem; During this process, because the cam grooves on the first cam (34) and the second cam (36) are different, the steps of gripping the fruit and cutting the fruit stem are not performed simultaneously: in the first half of the time, the first irregular slider (7) and the second irregular slider (10) first move closer together, while the distance between the third irregular slider (12) and the fourth irregular slider (14) remains unchanged, that is, the gripper grips the fruit first and the scissor remains stationary; in the second half of the time, the third irregular slider (12) and the fourth irregular slider (14) begin to move closer together, while the distance between the first irregular slider (7) and the second irregular slider (10) remains unchanged. The second irregular slider (10) remains in the retracted state and the distance between them no longer changes, that is, the gripper holds the fruit and the shearing claw begins to cut the stem; when the arc rack (29) rotates to the limit position, the first curved spring (27) is compressed along the first guide rail (28), and the first single tooth (26) is close to the arc rack (29). At this time, the gear (25) just disengages from the entire arc rack (29) mechanism and continues to rotate, so that the motor shaft will not be blocked due to the poor accuracy of the second motor (21) when the positioning wheel reaches the limit position of the cam groove; S3: After the fruit stalk is cut, the cylinder (23) starts again, pulls the push rod back, and then pulls the telescopic body (60) with the fruit along the inner track of the slide rail housing (1) back to the initial position; after the telescopic body (60) is fully returned to its position, the second motor (21) receives the signal and starts to reverse, the first cam (34), the second cam (36), the arc rack (29) and the rack fixing seat (24) rotate back to the initial position, the scissors and grippers are released one after another, the fruit falls into the fruit conveying structure (59) and enters the target fruit storage box through the fruit pipe (2), completing one harvest; S4: When the harvesting end effector receives the next fruit harvesting signal, repeat the operations of S2~S3.

Images