Dual drive shutter clamp shear type picking executor and picking method

Abstract

The application discloses a kind of dual-drive shutter clamping shearing type picking executor and picking method, including executor scaffold, the executor scaffold top is shearing module, below is clamping module;Shearing module and clamping module are fixedly connected to executor scaffold;The shearing module is used to realize the shearing of spherical fruit stem;The clamping module is used to realize the clamping of spherical fruit after shearing module shearing.The present application solves the problems of poor positioning accuracy, low success rate and high damage rate of existing picking executor.The picking executor and picking method have high success rate, low damage rate and high positioning accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of picking executioner, in particular to a double-drive shutter clamping and shearing type picking executioner and picking method. BACKGROUND

[0002] Currently, fruit picking process faces many challenges, mainly due to its strong seasonal demand and high labor intensity. Naturally grown fruits, due to their irregular shape and diverse size, bring significant difficulty to the automation of picking work.

[0003] Most of the existing spherical fruit picking robot manipulators use clamping and pulling method for work, which may cause the positioning of the recognized fruit to change, reducing the picking accuracy. In addition, this process is complicated and time-consuming. Although some automatic picking devices use scissors shearing type executioner to improve picking efficiency, the positioning accuracy of the shearing point is extremely high, and its accuracy is difficult to guarantee when facing fruits with variable growth conditions. As for the existing pipeline extraction type scheme, its applicability is limited, mainly for fruits with low fruit stem connection strength. In the face of fruits with thick and strong fruit stems, this method is difficult to quickly separate the fruit from the fruit stem, and the picking efficiency is limited. SUMMARY

[0004] In order to overcome the defects existing in the prior art, the present application proposes a double-drive shutter clamping and shearing type picking executioner and picking method to solve the problems of poor positioning accuracy, low success rate and high damage rate of the existing picking executioner. The picking executioner and picking method have the characteristics of high success rate, low damage rate and high positioning accuracy.

[0005] In order to achieve the above purpose, the technical scheme adopted by the present application is:

[0006] A double-drive shutter clamping and shearing type picking executioner, comprising an executioner scaffold, a shearing module above the executioner scaffold, and a clamping module below the executioner scaffold; the shearing module and the clamping module are fixedly connected to the executioner scaffold;

[0007] The shearing module is used to realize the shearing of the fruit stem of the spherical fruit;

[0008] The clamping module is used to clamp the spherical fruit after shearing by the shearing module.

[0009] The shearing module comprises a first motor, a small gear, a large gear, a crank, a shearing blade, a bearing, a frame ring, a shearing blade support ring and a bearing support ring;

[0010] The frame ring is a circular ring with through holes evenly spaced around the circumference, which facilitates the connection of the shearing blade and the shearing blade support ring through bolts;

[0011] The shear blade support ring is located inside the actuator arm, below the frame ring;

[0012] One side of the crank is bolted to the large gear, and the other side is bolted to one side of the shearing blade. The other side of the shearing blade is rotatably connected to the shearing blade support ring.

[0013] The large gear is located directly above the actuator arm, and is bolted through the crank, the large gear and the actuator arm in sequence from above, without being directly connected to the frame ring;

[0014] Below the frame ring are the shearing blade, copper stud, and shearing blade support ring. Bolts pass through the frame ring and shearing blade from top to bottom and are threaded to the copper stud. The copper stud is threaded to the shearing blade support ring.

[0015] The first motor and the actuator arm are connected by screws, with the pinion and gear located above the actuator arm and the gear located below the crank.

[0016] The shearing blade is a triangular axe-shaped structure with two rings on the outside. The two rings are used for connecting the crank and the frame ring bolts, respectively. All the shearing blades are arranged circumferentially and closed inward to form a complete circle, which facilitates the cutting of fruit stems.

[0017] The bearing is positioned horizontally in the inner track groove of the large gear and vertically in the bearing support ring, which restricts the up-and-down movement of the large gear and limits the opening and closing angle of the shearing blade.

[0018] The bearing support ring and the shear blade support ring are both arranged in a ring array inside the actuator arm, with a distance of half the length of a crank between them.

[0019] The output shaft of the first motor is connected to the pinion by screws. The pinion meshes with the large gear to provide power to the shearing module. The motor housing of the first motor is connected to the actuator frame by screws.

[0020] The clamping module includes a second motor, a motor housing, a motor cover, a claw disc, a connecting block, balls, a rotating ring, a rotating frame, and clamping bars;

[0021] The motor housing connects the motor cover plate and the second motor, with the second motor located inside the motor housing and the motor cover plate.

[0022] The claw disc has an arc-shaped structure, and the side of the motor housing is provided with a groove. The top of the claw disc extends into the groove, and the bottom of the claw disc is provided with a U-shaped groove structure. The U-shaped groove structure and the connecting block boss structure are connected by bolts.

[0023] The connecting block is located on the outside of the actuator frame, the actuator frame is located above the outside of the actuator frame, the rotating frame is located above the actuator frame, and the top of the rotating frame is connected to the second motor;

[0024] The connecting block is a rectangular block structure with a boss on the top. The boss fits into the U-shaped groove of the claw plate and is connected by bolts. The bottom has a rectangular through hole that fits into the outer boss of the actuator arm and is connected by bolts. The upper part has a circular groove with balls that roll and connect with the rotating ring.

[0025] The ball bearing is embedded in the spherical groove of the connecting block and contacts the outer point of the rotating ring, ensuring that the rotating ring rotates smoothly.

[0026] The rotating ring has a circular structure. The lower part of the rotating ring is an annular groove that cooperates with the actuator frame. The upper part is a boss with a U-shaped groove, which is connected to the rotating frame by bolts.

[0027] The rotating frame has a ring structure in the middle, which is rotatably connected to the second motor. Arc-shaped rods are provided on both sides of the ring structure, which are rotatably connected to a U-shaped groove with a boss below the rotating ring.

[0028] One side of the clamping bar is connected to a boss with a groove on the inner side of the rotating ring, and the other side is connected to a boss with a groove on the inner side of the actuator frame.

[0029] The clamping bar has a stepped structure in the middle, which divides the clamping bar into two parts: a high-step structure and a low-step structure.

[0030] The clamping strips are made of flexible rubber material and have a certain elastic deformation capacity. Multiple sets of clamping strips are set and distributed circumferentially, and the clamping strips do not interfere with each other.

[0031] The clamping bars are shaped like 120° arc steps and are provided in three sections. The rotating ring and the inner side of the actuator frame are provided with grooved bosses at equal intervals of 120°. Clockwise, they can be divided into 120°, 240°, and 360°. The three clamping bars are inserted into the grooved bosses on the inner side of the actuator frame in a clockwise direction (120°, 240°, 360°), and the three clamping bars are inserted into the grooved bosses on the inner side of the rotating ring in a clockwise direction (240°, 360°, 120°), thereby realizing clamping and releasing.

[0032] The actuator frame is circular in shape, with shearing blade support rings and bearing support rings arranged in an array on the inner side of the ring, and bosses arranged in an array on the outer side of the ring. The bosses are connected to the connecting blocks by bolts.

[0033] The actuator arm end is connected to the handle via a connector and bolts. The handle serves as a bridge between the fruit picking actuator and the robotic arm. The handle is located between the connector and the end of the robotic arm and is bolted to both.

[0034] A harvesting method using a dual-drive shutter-clamping shearing harvesting actuator includes the following steps:

[0035] When the fruit-picking actuator approaches the fruit, the first motor controls the shearing blade to open, and the second motor controls the clamping bar to open. Then, the end effector wraps the fruit inside the actuator's frame. The second motor first controls the clamping bar to clamp the fruit, and then the first motor controls the shearing blade to close, completing the fruit cutting.

[0036] The clamping module is equipped with clamping bars. When the second motor drives the rotating frame, the rotating ring fixed to it drives the clamping bars to clamp inward or loosen outward, thereby achieving the clamping of spherical fruits.

[0037] The shearing module is equipped with circumferentially distributed axe-shaped shearing blades. When the first motor drives the pinion to rotate circumferentially, the pinion transmits the power to the large gear, and the crank fixed to it drives the shearing blades to close inward or spread outward, thereby achieving the shearing of the fruit stem.

[0038] The beneficial effects of this invention are:

[0039] This invention discloses a dual-drive shutter-clamping and shearing harvesting actuator. This actuator integrates clamping and shearing functions, comprising, from bottom to top, a clamping module, an actuator frame, and a shearing module. The clamping module is equipped with clamping bars. When the second motor drives the rotating frame, the rotating ring fixed to it causes the clamping bars to clamp inward or loosen outward, thus clamping spherical fruits. The clamping bars are made of flexible rubber material, possessing a certain degree of elastic deformation capability, resulting in a relatively small clamping force. Multiple clamping bars are circumferentially distributed, and they do not interfere with each other, ensuring complete clamping without causing the fruit to fall. This achieves fruit clamping while protecting the fruit's skin, effectively improving the positioning accuracy of fruit harvesting and reducing the damage rate. The shearing module is equipped with circumferentially distributed axe-shaped shearing blades. When the first motor drives the pinion to rotate circumferentially, the pinion transmits power to the large gear, and the crank fixed to it causes the shearing blades to close inward or open outward, thus shearing the fruit stem. Multiple sets of axe-shaped shearing blades are arranged circumferentially. The greater the torque input from the motor, the greater the shearing force, which can accommodate fruit stems of different thicknesses, greatly improving the success rate of separating fruit from stems. This actuator can adapt to fruits in different growth conditions, simplifying the harvesting process and saving harvesting time.

[0040] This invention discloses a fruit-picking method using a dual-drive shutter-clamping shearing actuator. When the fruit-picking actuator approaches the fruit, a first motor controls the shearing blades to open, and a second motor controls the clamping strips to open. Then, the end effector wraps the fruit inside the actuator's handle. The second motor first controls the clamping strips to clamp the fruit, and then the first motor controls the shearing blades to close, completing the fruit cutting. This actuator mimics the manual fruit-picking process through its integrated clamping and shearing design, allowing users to hold the fruit with one hand and cut it with the other. This picking method is simple and effective, adaptable to various fruit-picking needs, and not only improves the quality and efficiency of the fruit-picking industry but also accelerates the modernization of agriculture. Attached Figure Description

[0041] Figure 1 This is a structural diagram of the fruit picking actuator of the present invention.

[0042] Figure 2 This is an exploded view of the fruit picking actuator of the present invention.

[0043] Figure 3 This is an exploded view of the sheared portion of the present invention.

[0044] Figure 4 This is an exploded view of the clamping part of the present invention.

[0045] Figure 5 This is a structural diagram of the shearing blade of the present invention in the open state.

[0046] Figure 6 This is a structural diagram of the shear blade in the closed state of the present invention.

[0047] Figure 7 This is a structural diagram of the clamping strip in the closed state of the present invention.

[0048] Figure 8 This is a structural diagram of the clamping strip in the open state of the present invention.

[0049] In the diagram, 1 is the shearing blade, 2 is the large gear, 3 is the crank, 4 is the actuator arm, 5 is the connector, 6 is the handle, 7 is the rotating frame, 8 is the clamping bar, 9 is the second motor, 10 is the bearing, 11 is the frame ring, 12 is the shearing blade support ring, 13 is the bearing support ring, 14 is the rotating ring, 15 is the motor housing, 16 is the ball bearing, 17 is the first motor, 18 is the pinion, 19 is the connecting block, 20 is the motor cover plate, and 21 is the claw disc. Detailed Implementation

[0050] The present invention will now be described in further detail with reference to the accompanying drawings.

[0051] like Figure 1 , Figure 2As shown in the figure, this invention discloses a dual-drive shutter clamping and shearing picking actuator and picking method. This actuator imitates the process of manually picking fruit through an integrated clamping and shearing design, including a shearing module and a clamping module.

[0052] Furthermore, the shearing module is equipped with circumferentially distributed axe-shaped shearing blades 1. When the first motor 17 drives the pinion 18 to rotate circumferentially, the pinion 18 transmits power to the large gear 2, and the crank 3 fixed to it drives the shearing blades 1 to close inward or open outward, thereby achieving the shearing of the fruit stem. The clamping module is equipped with clamping bars 8. When the second motor 9 drives the rotating frame 7, the rotating ring 14 fixed to it drives the clamping bars 8 to clamp inward or loosen outward, thereby achieving the clamping of spherical fruits.

[0053] The shearing module is connected to the first motor 17, and the clamping module is connected to the second motor 9.

[0054] The shearing module is equipped with circumferentially distributed axe-shaped shearing blades 1. When the first motor 17 drives the pinion 18 to rotate circumferentially, the pinion 18 transmits the power to the large gear 2, and the crank 3 fixed to it drives the shearing blades 1 to close inward or spread outward, thereby realizing the shearing of the stem of the spherical fruit.

[0055] The clamping module is equipped with a clamping bar 8. When the second motor 9 drives the rotating frame 7, the rotating ring 14 fixed to it drives the clamping bar 8 to clamp inward or loosen outward, thereby achieving the clamping of spherical fruits.

[0056] like Figure 3 The shearing module includes a first motor 17, a pinion 18, a large gear 2, a crank 3, a shearing blade 1, a bearing 10, a frame ring 11, a shearing blade support ring 12, and a bearing support ring 13. The first motor 17 is fixedly connected to the lower part of the actuator frame 4, and the pinion 18 and the large gear 2 are fixedly connected to the upper part of the actuator frame 4.

[0057] Furthermore, the large gear 2 is fixed above the actuator arm 4 and below the crank 3.

[0058] Furthermore, one side of the crank 3 is bolted to the large gear 2, and the other side is bolted to the shearing blade 1.

[0059] Furthermore, one side of the shearing blade 1 is bolted to the crank 3, and the other side is bolted to the shearing blade support ring 12. The shearing blade 1 has a triangular axe-shaped structure with two circular rings on the outside, arranged circumferentially. When closed inward, it forms a complete circle, which facilitates the cutting of fruit stems.

[0060] Furthermore, the bearing 10 is positioned horizontally in the inner track groove of the large gear 2 and vertically in the bearing support ring 13, which restricts the up-and-down movement of the large gear and limits the opening and closing angle of the shearing blade 1.

[0061] Furthermore, the frame ring 11 is a circular ring with through holes spaced evenly in the circumference, which facilitates connection with the shearing blade 1 and the shearing blade support ring 12 by bolts.

[0062] like Figure 4 The clamping module includes a second motor 9, a motor housing 15, a motor cover plate 20, a claw disc 21, a connecting block 19, ball bearings 16, a rotating ring 14, a rotating frame 7, and clamping bars 8. The second motor 9 is housed inside the motor housing 15 and the motor cover plate 20. The motor cover plate 20 is connected to the motor housing 15 by screws, and the motor housing 15 is connected to the second motor 9 by screws.

[0063] The second motor 9 is placed inside the motor housing 15 and the motor cover plate 20. The motor cover plate 20 is connected to the motor housing 15 by screws, and the motor housing 15 is connected to the second motor 9 by screws.

[0064] Furthermore, the connecting block 19 is fixedly connected to the claw disk 21 and the actuator arm 4, and is tumbledly connected to the rotating ring 14 via balls 16.

[0065] The claw disk 21 has an arc-shaped structure. The motor housing 15 has a groove on its side. The top of the claw disk 21 extends into the groove. The bottom of the claw disk 21 has a U-shaped groove structure. The U-shaped groove structure is fixed to the boss structure of the connecting block 19 by bolts.

[0066] The connecting block 19 is a rectangular block structure with a boss on the top. The boss engages with the U-shaped groove of the claw plate 21 and is connected by bolts. The bottom has a rectangular through hole that engages with the outer boss of the actuator arm 4 and is connected by bolts. The upper part has a circular groove with a ball bearing 16 that is in rolling connection with the rotating ring 14.

[0067] Furthermore, the ball bearing 16 is embedded in the spherical groove of the connecting block 19 and makes contact with the outer point of the rotating ring 14, ensuring that the rotating ring 14 rotates smoothly.

[0068] Furthermore, the rotating ring 14 has a circular structure, with its lower part bolted to the rotating frame 7 and its upper part bolted to the actuator arm 4.

[0069] Furthermore, one side of the rotating frame 7 is bolted to the second motor 9, and the other side is bolted to the rotating ring 14.

[0070] Furthermore, one side of the clamping bar 8 is connected to the rotating ring 14, and the other side is connected to the actuator frame 4.

[0071] The clamping bars 8 are shaped like 120° arc steps and are provided in three. The rotating ring 14 and the actuator frame 4 are provided with grooved bosses at equal intervals of 120° on the inner side. They can be divided into 120°, 240° and 360° clockwise. The three clamping bars are inserted into the grooved bosses on the inner side of the actuator frame 4 in a clockwise direction (120°, 240°, 360°) and the three clamping bars are inserted into the grooved bosses on the inner side of the rotating ring 14 in a clockwise direction (240°, 360°, 120°), thereby realizing clamping and releasing.

[0072] like Figure 1 , Figure 2 The actuator frame 4 is circular in shape, with shearing blade support rings 12 and bearing support rings 13 arranged in an array on the inner side of the ring. Bosses are arranged on the outer side of the ring and bolted to connecting blocks 19.

[0073] Furthermore, the connector 5 is located between the actuator frame 4 and the handle 6, and is connected to both by bolts.

[0074] Furthermore, the handle 6, serving as a bridge connecting the fruit-picking actuator and the robotic arm, is located between the connector 5 and the end of the robotic arm, and is connected to both by bolts.

[0075] This invention also discloses a picking method using a dual-drive shutter clamping shearing type picking actuator, comprising the following steps:

[0076] like Figures 5-8 As shown, when the fruit-picking actuator approaches the fruit, the first motor 17 controls the opening of the shearing blade 1, and the second motor 9 controls the opening of the clamping strip 8. Then, the end effector wraps the fruit inside the actuator's handpiece 4. The second motor 9 first controls the clamping strip 8 to tighten, and then the first motor 17 controls the closing of the shearing blade 1, completing the fruit cutting. This actuator uses an integrated clamping and cutting design to mimic the process of manual fruit picking, allowing the user to hold the fruit with one hand and cut it with the other. This picking method is simple and effective, adaptable to various fruit picking needs, and not only benefits the fruit picking industry by improving quality and efficiency but also accelerates the modernization of agriculture.

[0077] The actuator disclosed in this invention integrates clamping and shearing functions, comprising, from bottom to top, a clamping module, an actuator frame, and a shearing module. The clamping module is equipped with clamping strips 8. When the second motor 9 drives the rotating frame 7, the rotating ring 14 connected to it causes the clamping strips 8 to clamp inward or loosen outward, thereby clamping spherical fruits. The clamping strips 8 are made of flexible rubber material, possessing a certain elastic deformation capacity, resulting in a relatively small clamping force. Multiple clamping strips are circumferentially distributed, and the strips do not interfere with each other, ensuring complete clamping without causing the fruit to fall. This achieves fruit clamping while protecting the fruit's skin, effectively improving the positioning accuracy during fruit harvesting and reducing the damage rate. The shearing module is equipped with circumferentially distributed axe-shaped shearing blades 1. When the first motor 17 drives the pinion 18 to rotate circumferentially, the pinion 18 transmits power to the large gear 2, and the crank 3 fixed to it causes the shearing blades 1 to close inward or open outward, thereby shearing the fruit stem. Multiple sets of axe-shaped shearing blades are arranged circumferentially. The greater the torque input from the motor, the greater the shearing force, which can adapt to fruit stems of different thicknesses, greatly improving the success rate of separating fruit from stems. This actuator can adapt to fruits in different growth conditions, simplifying the harvesting process and saving harvesting time.

Claims

1. A dual-drive shutter-clamping shearing-type picking actuator, characterized in that, Includes an actuator frame (4), with a shearing module above and a clamping module below; The cutting module is used to cut the stem of spherical fruits; The clamping module is used to clamp the spherical fruit after it has been cut by the cutting module; The clamping module includes a second motor (9), a motor housing (15), a motor cover plate (20), a claw plate (21), a connecting block (19), a ball bearing (16), a rotating ring (14), a rotating frame (7), and a clamping bar (8). The motor housing (15) connects the motor cover plate (20) and the second motor (9). The second motor (9) is placed inside the motor housing (15) and the motor cover plate (20). The claw plate (21) has a three-claw structure. The upper part of the claw plate (21) is fixedly connected to the side of the motor housing (15), and the lower part is fixedly connected to the connecting block (19). The connecting block (19) is set on the outside of the actuator frame (4), the actuator frame (4) is set on the upper outside of the actuator frame (4), the rotating frame (7) is set on the upper part of the actuator frame (4), and the second motor (9) is connected to the top of the rotating frame (7). One side of the clamping bar (8) is connected to the inside of the rotating ring (14), and the other side is connected to the inside of the actuator frame (4); One side of the clamping bar (8) is rotatably connected to the inner side of the rotating ring (14) with a grooved boss, and the other side is connected to the inner side of the actuator frame (4) with a grooved boss; The clamping bar (8) has a stepped structure in the middle, which divides the clamping bar (8) into two parts: one part is a high-step structure and the other part is a low-step structure. The clamping strip (8) is made of flexible rubber material and has a certain elastic deformation ability. Multiple sets of clamping strips (8) are provided, and the multiple sets of clamping strips (8) are distributed circumferentially. The clamping strips do not interfere with each other. The clamping bar (8) has a 120° arc-shaped stepped structure and is provided in three. The rotating ring (14) and the actuator frame (4) are provided with grooved bosses at equal intervals of 120°. The angles can be divided into 120°, 240° and 360° clockwise. The three clamping bars (8) are inserted into the grooved bosses on the inner side of the actuator frame (4) clockwise on the higher step side and into the grooved bosses on the inner side of the rotating ring (14) clockwise on the lower step side, thereby realizing clamping and releasing.

2. The dual-drive shutter clamping and shearing type picking actuator according to claim 1, characterized in that, The shearing module includes a first motor (17), a pinion (18), a large gear (2), a crank (3), a shearing blade (1), a bearing (10), a frame ring (11), a shearing blade support ring (12), and a bearing support ring (13). The frame ring (11) is a circular ring with through holes at equal intervals around its circumference, which facilitates its connection with the shearing blade (1) and the shearing blade support ring (12) by bolts; The shear blade support ring (12) is located inside the actuator frame (4) and below the frame ring (11); The crank (3) is bolted to the large gear (2) on one side and to the shearing blade (1) on the other side. The shearing blade (1) is bolted to the shearing blade support ring (12) on the other side. The large gear (2) is located directly above the actuator frame (4), and is passed through the crank (3), the large gear (2) and the actuator frame (4) from above by bolts. Below the frame ring (11) are the shearing blade (1), the copper stud and the shearing blade support ring (12). The bolt passes through the frame ring (11) and the shearing blade (1) from top to bottom and is threaded to the copper stud. The copper stud is threaded to the shearing blade support ring (12). The first motor (17) is fixedly connected to the lower part of the actuator frame (4), the pinion (18) and the gear (2) are fixedly located above the actuator frame (4) and the gear (2) is located below the crank (3); The output shaft of the first motor (17) is connected to the pinion (18) by screws. The pinion (18) meshes with the large gear (2). The motor housing of the first motor (17) is connected to the actuator arm (4) by screws.

3. The dual-drive shutter clamping and shearing type picking actuator according to claim 2, characterized in that, The shearing blade (1) is a triangular axe-shaped structure with two rings on the outside. The two rings are used for bolt connection of the crank (3) and the frame ring (11). All the shearing blades (1) are arranged in a circumferential direction and closed inward to form a complete circle, which is convenient for cutting the fruit stem.

4. The dual-drive shutter clamping and shearing type picking actuator according to claim 2, characterized in that, The bearing (10) is placed horizontally in the inner track groove of the large gear (2) and vertically in the bearing support ring (13); The bearing support ring (13) and the shear blade support ring (12) are arranged in a ring array inside the actuator frame (4), with a distance of half the length of the crank (3) between them.

5. A dual-drive shutter clamping and shearing type picking actuator according to claim 1, characterized in that, The claw disk (21) has an arc-shaped structure. The side of the motor housing (15) is provided with a groove. The top of the claw disk (21) extends into the groove. The bottom of the claw disk (21) is provided with a U-shaped groove structure. The U-shaped groove structure is connected to the boss structure of the connecting block (19) by bolts. The connecting block (19) is a rectangular block structure with a boss on the top. The boss is engaged with the U-shaped groove of the claw plate (21) and connected by bolts. The bottom is provided with a rectangular through hole and engaged with the outer boss of the actuator arm (4) and connected by bolts. The upper part is provided with a circular groove with a ball (16) that is rolled and connected to the rotating ring (14). The ball (16) is embedded in the spherical groove of the connecting block (19) and contacts the outer point of the rotating ring (14) to ensure that the rotating ring (14) rotates smoothly.

6. The dual-drive shutter clamping and shearing type picking actuator according to claim 1, characterized in that, The rotating ring (14) is a ring-shaped structure. The structure below the rotating ring (14) is an annular groove, which is connected to the actuator frame (4). The structure above is a boss with a U-shaped groove, which is connected to the rotating frame (7). The rotating frame (7) has a ring structure in the middle, which is connected to the second motor (9). Arc rods are set on both sides of the ring structure, and the rotating ring (14) is rotatably connected to the U-shaped groove with a boss below.

7. A dual-drive shutter clamping and shearing type picking actuator according to claim 1, characterized in that, The actuator frame (4) is circular in shape. The inner side of the ring is arranged with shearing blade support ring (12) and bearing support ring (13). The outer side of the ring is arranged with bosses, which are bolted to the connecting block (19). The actuator frame (4) is connected to the handle (6) at the end via a connector (5), and the two are fixed together by bolts. The handle (6) is located between the connector (5) and the end of the robotic arm, and is connected to both by bolts.

8. A picking method based on a dual-drive shutter clamping shearing picking actuator according to any one of claims 1-7, characterized in that, Includes the following steps: When the fruit picking actuator reaches the position close to the fruit, the first motor (17) controls the shearing blade (1) to open, and the second motor (9) controls the clamping bar (8) to open. Then the end effector wraps the fruit inside the actuator frame (4). The second motor (9) first controls the clamping bar (8) to clamp, and then the first motor (17) controls the shearing blade (1) to close, thus completing the fruit cutting. When the second motor (9) drives the rotating frame (7), the rotating ring (14) fixed thereto drives the clamping bar (8) to clamp inward or loosen outward, thereby achieving the clamping of spherical fruit; The shearing module is equipped with circumferentially distributed axe-shaped shearing blades (1). When the first motor (17) drives the pinion (18) to rotate circumferentially, the pinion (18) transmits the power to the large gear (2), and the crank (3) connected to it drives the shearing blades (1) to close inward or spread outward, thereby realizing the shearing of the fruit stem.

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