Ellipsoidal fruit and vegetable picking flexible end effector

Abstract

The application belongs to the technical field of ellipsoidal fruit and vegetable picking, and discloses an ellipsoidal fruit and vegetable picking flexible end effector. The end effector comprises a mounting bracket, a plurality of fixed discs are fixedly connected around the central axis of the mounting bracket, the fixed discs are rotationally connected with rotating connection pipes, the lower sides of the rotating connection pipes are fixedly connected with lower fixed baffles, and the fixed discs are provided with through holes which are communicated with the lower sides of the rotating connection pipes and the fans. The lower fixed baffles are provided with through holes which are communicated with the through holes of the rotating connection pipes, and the lower fixed baffles are fixedly connected with corrugated pipes on the sides away from the mounting bracket. The corrugated pipes and the adsorption plates are supported through the cooperation of the lower fixed connection plates, the rotating connection plates and other structures, the rotating connection plates and the lower fixed connection plates are deflected through the mutual sliding of the piston connection pipes and the sliding piston pipes, the corrugated pipes and the adsorption plates are bent, and the fruit and vegetables to be picked are further adsorbed and fixed.

Description

Technical Field

[0001] This invention belongs to the field of ellipsoidal fruit and vegetable harvesting technology, specifically an ellipsoidal flexible end effector for fruit and vegetable harvesting. Background Technology

[0002] With the rapid development of modern agriculture, more and more farmers are growing fruits and vegetables in greenhouses. In traditional greenhouse production, the harvesting process is highly dependent on manual labor and requires a lot of manpower. Therefore, in large-scale greenhouse cultivation, the use of mechanized harvesting devices can significantly save manpower and accelerate the mechanization of agricultural production.

[0003] Traditional robotic arms make rigid mechanical contact with fruits and vegetables, which can easily damage them during harvesting. Traditional fully driven robotic arms lack flexible contact when interacting with fruits and vegetables. When clamping and fixing ellipsoidal fruits and vegetables, they are difficult to fit the shape of the ellipsoid, resulting in uneven force on the fruits and vegetables and increasing the possibility of damage. Summary of the Invention

[0004] To address the problems of lack of flexible contact and difficulty in fixing the ellipsoidal shape mentioned in the background art, the present invention provides an ellipsoidal flexible end effector for fruit and vegetable harvesting.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an ellipsoidal flexible end effector for fruit and vegetable harvesting, comprising a mounting bracket, wherein a fixed disk array distributed around the central axis of the mounting bracket is fixedly connected to the mounting bracket, a rotating connecting pipe is rotatably connected to the fixed disk, and a lower fixed baffle is fixedly connected to the upper side of the rotating connecting pipe; the fixed disk has a through hole communicating with a fan on the lower side;

[0006] The lower fixed baffle has a through hole that communicates with the through hole of the rotating connecting pipe. A corrugated pipe is fixedly connected to the side of the lower fixed baffle away from the mounting bracket. An adsorption plate is fixedly connected to the corrugated pipe. An upper fixed baffle is fixedly connected to the upper side of the corrugated pipe. The upper fixed baffle is fixedly connected to the adsorption plate. The adsorption plate has an array of through holes for adsorbing and fixing the surface of fruits and vegetables. The adsorption plate is made of flexible material.

[0007] When the corrugated pipe and the adsorption plate are squeezed by fruits and vegetables, they deflect outward around the axis of the rotating connecting pipe, and the fan on the lower side of the fixed disc draws in air, which then adsorbs and fixes the fruits and vegetables through the air holes of the adsorption plate. The corrugated pipe bends adaptively.

[0008] Preferably, a lower fixed connecting plate is fixedly connected to the upper side of the lower fixed baffle, an upper rotating connecting plate is rotatably connected to the lower side of the upper fixed baffle, and a plurality of arrayed rotating connecting plates are rotatably connected between the upper rotating connecting plate and the lower fixed connecting plate. A rotating connecting shaft is rotatably connected to the lower side of the rotating connecting plate away from the lower fixed connecting plate.

[0009] Preferably, a plurality of arrayed connecting piston tubes are fixedly connected to the upper side of the lower fixed baffle, the lower side of the connecting piston tubes is connected to the fan under the fixed disc, a fixed plate is fixedly connected to the side of the connecting piston tube away from the lower fixed connecting plate, a sliding piston tube is slidably connected between two connecting piston tubes, a limit sliding ring is fixedly connected to the sliding piston tube, and the rotating connecting shaft is rotatably connected through the limit sliding ring.

[0010] Preferably, a piston baffle is fixedly connected inside the sliding piston tube, a first sliding limiting post is fixedly connected to the lower side of the piston baffle, the first sliding limiting post slides through and is slidably connected to the limiting baffle, the limiting baffle is fixedly connected to the inner side of the connecting piston tube, a first return spring is provided between the piston baffle and the limiting baffle, a second sliding limiting post is fixedly connected to the upper side of the piston baffle, a communicating piston column slides through and is slidably connected to the piston baffle, the communicating piston column is slidably connected to the second sliding limiting post, and a second return spring is provided between the communicating piston column and the piston baffle.

[0011] Preferably, the spring constant of the first reset spring is smaller than that of the second reset spring.

[0012] Preferably, an air tube is fixedly connected between the upper fixed baffle and the lower fixed baffle, a rotating piston is slidably connected through the upper fixed baffle, a third limiting sliding post is fixedly connected to the lower side of the rotating piston, a limiting sliding plate is slidably connected through the third limiting sliding post, the limiting sliding plate is fixedly connected inside the air tube, and a third return spring is provided between the rotating piston and the limiting sliding plate.

[0013] Preferably, a cutting tool is fixedly connected to the upper side of the rotating piston, and a clamping mounting plate is fixedly connected to the upper side of the rotating piston at the other corner. A sliding fixing plate is slidably connected through the clamping mounting plate. A fourth return spring is provided between the clamping mounting plate and the sliding fixing plate. A pair of lower fixing magnets are fixedly connected to the clamping mounting plate, and an upper fixing magnet is fixedly connected to the clamping mounting plate at the middle corner.

[0014] Preferably, the lower fixed magnet and the upper fixed magnet have opposite magnetic properties on the side away from the clamping mounting plate.

[0015] Preferably, the height of the piston baffle at the location of the clamping mounting plate is lower than the height of the piston baffle at the location of the upper fixed magnet, and the height of the piston baffle at the location of the cutter is higher than the height of the piston baffle at the location of the upper fixed magnet.

[0016] Preferably, a torsion spring is provided between the fixed disc and the rotating connecting pipe, and a torsion spring is provided between the rotating piston and the upper fixed baffle.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] The present invention supports the corrugated pipe and the adsorption plate by setting up a lower fixed connecting plate and a rotating connecting plate in cooperation. By sliding the piston connecting pipe and the sliding piston pipe, the rotating connecting plate and the lower fixed connecting plate are deflected, which in turn causes the corrugated pipe and the adsorption plate to bend, and further adsorb and fix the fruits and vegetables to be harvested.

[0019] This invention uses a combination of upper and lower fixed magnets and a sliding fixed plate to fix the stems of fruits and vegetables to be harvested. The two clamping mounting plates are attracted together by the principle of opposite poles attracting each other through the upper and lower fixed magnets, while the sliding fixed plate slides inward, thus fixing the stems of fruits and vegetables to be harvested in both directions.

[0020] This invention, through the combination of structures such as piston baffles and connecting piston columns, enables the gas in the connecting piston tube to be transmitted upward in stages. Through the double piston structure, and with the elastic coefficient of the second return spring being greater than that of the first return spring, the gas transmission in the connecting piston tube is further staged. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a half-sectional view of the fixed disk of the present invention;

[0023] Figure 3 This is an exploded view of the fixed structure of the present invention;

[0024] Figure 4 This is an exploded view of the partially bent structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the piston structure of the present invention;

[0026] Figure 6 This is a partial sectional view of the tracheal structure of the present invention;

[0027] Figure 7 This is a schematic diagram of the tool structure of the present invention;

[0028] Figure 8This is a schematic diagram of the clamping mechanism of the present invention.

[0029] In the diagram: 1. Mounting bracket; 11. Fixed disc; 2. Rotating connecting pipe; 3. Corrugated pipe; 31. Adsorption plate; 32. Lower fixed baffle; 33. Upper fixed baffle; 4. Lower fixed connecting plate; 41. Rotating connecting plate; 42. Upper rotating connecting plate; 43. Rotating connecting shaft; 5. Connecting piston tube; 51. Fixed plate; 52. Sliding piston tube; 53. Limiting sliding ring; 54. Piston baffle; 55. First sliding limiting post; 56. Limiting baffle; 57. First return spring; 58. Connecting piston column; 59. Second sliding limiting post; 510. Second return spring; 6. Air pipe; 61. Rotating piston; 62. Limiting sliding plate; 63. Third limiting sliding post; 64. Third return spring; 65. Cutting tool; 7. Clamping mounting plate; 71. Sliding fixed plate; 72. Fourth return spring; 73. Lower fixed magnet; 74. Upper fixed magnet. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only 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.

[0031] like Figures 1 to 8 As shown, the present invention provides an ellipsoidal flexible end effector for fruit and vegetable harvesting, including a mounting bracket 1. The mounting bracket 1 is fixedly connected to a fixed disc 11 arranged in an array around the central axis of the mounting bracket 1. The fixed disc 11 is rotatably connected to a rotating connecting pipe 2. A lower fixed baffle 32 is fixedly connected to the upper side of the rotating connecting pipe 2. The fixed disc 11 has a through hole that communicates with a fan on the lower side.

[0032] The lower fixed baffle 32 has a through hole that communicates with the through hole of the rotating connecting pipe 2. A corrugated pipe 3 is fixedly connected to the side of the lower fixed baffle 32 away from the mounting bracket 1. An adsorption plate 31 is fixedly connected to the corrugated pipe 3. An upper fixed baffle 33 is fixedly connected to the upper side of the corrugated pipe 3. The upper fixed baffle 33 is fixedly connected to the adsorption plate 31. An array of through holes for adsorbing and fixing the surface of fruits and vegetables is opened on the adsorption plate 31. The adsorption plate 31 is made of flexible material.

[0033] When the corrugated pipe 3 and the adsorption plate 31 are squeezed by fruits and vegetables, they deflect outward around the axis of the rotating connecting pipe 2, and the fan on the lower side of the fixed disc 11 draws in air, which then adsorbs and fixes the fruits and vegetables through the air holes of the adsorption plate 31, and the corrugated pipe 3 bends adaptively.

[0034] A lower fixed connecting plate 4 is fixedly connected to the upper side of the lower fixed baffle 32, and an upper rotating connecting plate 42 is rotatably connected to the lower side of the upper fixed baffle 33. Several arrays of rotating connecting plates 41 are rotatably connected between the upper rotating connecting plate 42 and the lower fixed connecting plate 4. A rotating connecting shaft 43 is rotatably connected to the lower side of the rotating connecting plate 41 away from the lower fixed connecting plate 4.

[0035] Several arrayed connecting piston tubes 5 are fixedly connected to the upper side of the lower fixed baffle 32. The lower side of the connecting piston tubes 5 is connected to the fan under the fixed disc 11. A fixed plate 51 is fixedly connected to the side of the connecting piston tubes 5 away from the lower fixed connecting plate 4. A sliding piston tube 52 is slidably connected between two connecting piston tubes 5. A limit sliding ring 53 is fixedly connected to the sliding piston tube 52. The rotating connecting shaft 43 passes through the limit sliding ring 53 and is rotatably connected.

[0036] A piston baffle 54 is fixedly connected inside the sliding piston tube 52. A first sliding limit post 55 is fixedly connected to the lower side of the piston baffle 54. The first sliding limit post 55 is slidably connected through a limit baffle 56. The limit baffle 56 is fixedly connected inside the connecting piston tube 5. A first return spring 57 is provided between the piston baffle 54 and the limit baffle 56. A second sliding limit post 59 is fixedly connected to the upper side of the piston baffle 54. A connecting piston post 58 is slidably connected through the piston baffle 54. The connecting piston post 58 is slidably connected to the second sliding limit post 59. A second return spring 510 is provided between the connecting piston post 58 and the piston baffle 54.

[0037] The elastic coefficient of the first return spring 57 is less than that of the second return spring 510.

[0038] The above scheme is adopted as follows: the detector locates the fruits and vegetables to be harvested, and then the device is raised upward. The fan at the bottom of the fixed disc 11 is in the blowing state, so that the connecting piston column 58 and the piston baffle 54 are in a sealed state, that is, the limiting sliding ring 53 and the piston baffle 54 are stationary in the vertical direction, so that the position of the rotating connecting shaft 43 does not change, and the rotating connecting plate 41 does not deflect relative to the lower fixed connecting plate 4. The lower fixed connecting plate 4, the rotating connecting plate 41 and the upper rotating connecting plate 42 jointly support the bellows 3 and the adsorption plate 31 in the vertical direction. As the device is raised upward, the fruits and vegetables to be harvested first contact the adsorption plate 31 and squeeze the adsorption plate 31 to deflect outward. When the fruits and vegetables to be harvested contact the mounting bracket 1, the device stops raising, and the fan at the bottom of the fixed disc 11 changes from blowing to sucking. Since the adsorption plate 31 is made of flexible material, during the process of the fruits and vegetables to be harvested squeezing the adsorption plate 31... In the process, the adsorption plate 31 will bend adaptively. When the fan draws air, the fruits and vegetables to be picked are adsorbed and fixed through the air holes on the adsorption plate 31. At the same time, the piston baffle 54 slides down, which in turn drives the limiting sliding ring 53 to slide down. This causes the rotating connecting shaft 43 to drive the rotating connecting plate 41 to deflect. Since the elastic coefficient of the second return spring 510 is greater than that of the first return spring 57, the connecting piston column 58 will not slide down during the downward movement of the piston baffle 54. After the piston baffle 54 on the lower side has finished sliding down, the connecting piston column 58 slides down, which then passes upward step by step. This causes the entire support frame composed of the lower fixed connecting plate 4, the rotating connecting plate 41 and the upper rotating connecting plate 42 to bend, which in turn causes the bellows 3 and the adsorption plate 31 to bend, so that the adsorption plate 31 is further attached to the surface of the fruits and vegetables to be picked and adsorbed and fixed through the air holes of the adsorption plate 31.

[0039] After the harvesting of fruits and vegetables is completed, the fan on the lower side of the fixed disc 11 changes from suction to blowing. The uppermost connecting piston column 58 first resets, then the piston baffle 54 resets, and so on down level by level, so that the entire support frame composed of the lower fixed connecting plate 4, the rotating connecting plate 41 and the upper rotating connecting plate 42 is reset. At the same time, the air holes on the adsorption plate 31 no longer adsorb and fix the harvested fruits and vegetables. During this process, the harvested fruits and vegetables are collected.

[0040] like Figure 1 and Figures 6 to 8 As shown, an air pipe 6 is fixedly connected between the upper fixed baffle 33 and the lower fixed baffle 32. A rotating piston 61 is slidably connected through the upper fixed baffle 33. A third limiting sliding post 63 is fixedly connected to the lower side of the rotating piston 61. A limiting sliding plate 62 is slidably connected through the third limiting sliding post 63. The limiting sliding plate 62 is fixedly connected inside the air pipe 6. A third return spring 64 is provided between the rotating piston 61 and the limiting sliding plate 62.

[0041] A cutting tool 65 is fixedly connected to the upper side of the rotating piston 61, and a clamping mounting plate 7 is fixedly connected to the upper side of the rotating piston 61 at the other corner. A sliding fixing plate 71 is slidably connected through the clamping mounting plate 7. A fourth return spring 72 is provided between the clamping mounting plate 7 and the sliding fixing plate 71. A pair of lower fixing magnets 73 are fixedly connected to the clamping mounting plate 7, and an upper fixing magnet 74 is fixedly connected to the clamping mounting plate 7 at the middle corner.

[0042] The lower fixed magnet 73 and the upper fixed magnet 74 have opposite magnetic properties on the side away from the clamping mounting plate 7.

[0043] The height of the piston baffle 54 at the location of the clamping mounting plate 7 is lower than the height of the piston baffle 54 at the location of the upper fixed magnet 74, and the height of the piston baffle 54 at the location of the tool 65 is higher than the height of the piston baffle 54 at the location of the upper fixed magnet 74.

[0044] A torsion spring is provided between the fixed disc 11 and the rotating connecting pipe 2, and a torsion spring is provided between the rotating piston 61 and the upper fixed baffle 33.

[0045] The above scheme is adopted: Figure 1 For example, label 3 represents the right and label 31 represents the left. After the device completes the adsorption and fixation of the fruits and vegetables to be harvested, the three rotating pistons 61 adapt to the adsorption plate 31 and come close to the stem of the fruits and vegetables to be harvested. Since the left piston baffle 54 is lower than the upper piston baffle 54, and the upper piston baffle 54 is lower than the right piston baffle 54, during the adsorption bending process of the device, the left side bends first, the upper side bends second, and the right side bends last. Consequently, the left rotating piston 61 is at the bottom and the right rotating piston 61 is at the top. The fan under the fixed disc 11 draws air into the air pipe 6. This causes the rotating piston 61 to slide into the air pipe 6. As the left and upper clamping mounting plates 7 slide toward the air pipe 6, they come into contact with each other through the lower fixed magnet 73 and the upper fixed magnet 74. The sliding fixing plates 71, which are 60 degrees apart, clamp the stem of the fruit or vegetable to be harvested. Finally, the rotating piston 61 on the right drives the blade 65 to slide toward the air pipe 6. The blade 65 cuts the stem. After harvesting, the fan on the lower side of the fixed disc 11 changes from suction to blowing. The three rotating pistons 61 are reset by the elastic force of the third return spring 64, and the sliding fixing plate 71 is reset by the elastic force of the fourth return spring 72.

[0046] Working principle and usage process of this invention:

[0047] The detector locates the fruits and vegetables to be harvested, then the device is raised. The fan at the bottom of the fixed disc 11 is in blowing mode, ensuring that the connecting piston column 58 and piston baffle 54 are sealed. That is, the limiting sliding ring 53 and piston baffle 54 are stationary in the vertical direction, thus preventing the position of the rotating connecting shaft 43 from changing. Consequently, the rotating connecting plate 41 does not deflect relative to the lower fixed connecting plate 4. The lower fixed connecting plate 4, rotating connecting plate 41, and upper rotating connecting plate 42 jointly support the bellows 3 and the adsorption plate 31 in the vertical direction. As the device is raised, the fruits and vegetables to be harvested first contact the adsorption plate 31 and squeeze it, causing it to deflect outward. When the fruits and vegetables to be harvested contact the mounting bracket 1, the device stops raising, and the fan at the bottom of the fixed disc 11 changes from blowing to suction. Since the adsorption plate 31 is made of flexible material, during the process of the fruits and vegetables to be harvested squeezing the adsorption plate 31, the adsorption plate is drawn in. The auxiliary plate 31 will bend adaptively. When the fan draws air, the fruits and vegetables to be picked are adsorbed and fixed through the air holes on the adsorption plate 31. At the same time, the piston baffle 54 slides down, which in turn drives the limiting sliding ring 53 to slide down. This causes the rotating connecting shaft 43 to drive the rotating connecting plate 41 to deflect. Since the elastic coefficient of the second return spring 510 is greater than that of the first return spring 57, the connecting piston column 58 will not slide down during the downward movement of the piston baffle 54. After the piston baffle 54 on the lower side has finished sliding down, the connecting piston column 58 slides down, which then passes upward step by step. This causes the entire support frame composed of the lower fixed connecting plate 4, the rotating connecting plate 41 and the upper rotating connecting plate 42 to bend, which in turn causes the bellows 3 and the adsorption plate 31 to bend, so that the adsorption plate 31 is further attached to the surface of the fruits and vegetables to be picked and adsorbed and fixed through the air holes of the adsorption plate 31.

[0048] After the harvesting of fruits and vegetables is completed, the fan on the lower side of the fixed disc 11 changes from suction to blowing. The uppermost connecting piston column 58 resets first, followed by the piston baffle 54, and then resets step by step downwards, thus resetting the entire support frame composed of the lower fixed connecting plate 4, the rotating connecting plate 41, and the upper rotating connecting plate 42. At the same time, the air holes on the adsorption plate 31 no longer adsorb and fix the harvested fruits and vegetables. During this process, the harvested fruits and vegetables are collected.

[0049] by Figure 1For example, label 3 represents the right and label 31 represents the left. After the device completes the adsorption and fixation of the fruits and vegetables to be harvested, the three rotating pistons 61 adapt to the adsorption plate 31 and come close to the stem of the fruits and vegetables to be harvested. Since the left piston baffle 54 is lower than the upper piston baffle 54, and the upper piston baffle 54 is lower than the right piston baffle 54, during the adsorption bending process of the device, the left side bends first, the upper side bends second, and the right side bends last. Consequently, the left rotating piston 61 is at the bottom and the right rotating piston 61 is at the top. The fan under the fixed disc 11 draws air into the air pipe 6. This causes the rotating piston 61 to slide into the air pipe 6. As the left and upper clamping mounting plates 7 slide toward the air pipe 6, they come into contact with each other through the lower fixed magnet 73 and the upper fixed magnet 74. The sliding fixing plates 71, which are 60 degrees apart, clamp the stem of the fruit or vegetable to be harvested. Finally, the rotating piston 61 on the right drives the blade 65 to slide toward the air pipe 6. The blade 65 cuts the stem. After harvesting, the fan on the lower side of the fixed disc 11 changes from suction to blowing. The three rotating pistons 61 are reset by the elastic force of the third return spring 64, and the sliding fixing plate 71 is reset by the elastic force of the fourth return spring 72.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An ellipsoidal flexible end effector for harvesting fruits and vegetables, comprising a mounting bracket (1), characterized in that: The mounting bracket (1) is fixedly connected to a fixed disc (11) arranged in an array around the central axis of the mounting bracket (1). The fixed disc (11) is rotatably connected to a rotating connecting pipe (2). A lower fixed baffle (32) is fixedly connected to the upper side of the rotating connecting pipe (2). The fixed disc (11) has a through hole that communicates with the fan on the lower side. The lower fixed baffle (32) has a through hole that communicates with the through hole of the rotating connecting pipe (2). A corrugated pipe (3) is fixedly connected to the side of the lower fixed baffle (32) away from the mounting bracket (1). An adsorption plate (31) is fixedly connected to the corrugated pipe (3). An upper fixed baffle (33) is fixedly connected to the upper side of the corrugated pipe (3). The upper fixed baffle (33) is fixedly connected to the adsorption plate (31). An array of through holes for adsorbing and fixing the surface of fruits and vegetables is opened on the adsorption plate (31). The adsorption plate (31) is made of flexible material. When the corrugated pipe (3) and the adsorption plate (31) are squeezed by fruits and vegetables, they deflect outward around the axis of the rotating connecting pipe (2), and the fan on the lower side of the fixed disc (11) draws in air, and then adsorbs and fixes the fruits and vegetables through the air holes of the adsorption plate (31), and the corrugated pipe (3) bends adaptively. The lower fixed baffle (32) is fixedly connected to the upper side of the lower fixed baffle (33), and the upper rotating connecting plate (42) is rotatably connected to the lower side of the upper fixed baffle (33). A plurality of rotating connecting plates (41) are rotatably connected between the upper rotating connecting plate (42) and the lower fixed connecting plate (4). A rotating connecting shaft (43) is rotatably connected to the lower side of the rotating connecting plate (41) away from the lower fixed connecting plate (4). The upper side of the lower fixed baffle (32) is fixedly connected with a plurality of arrayed connecting piston tubes (5). The lower side of the connecting piston tubes (5) is connected to the fan under the fixed disc (11). The side of the connecting piston tubes (5) away from the lower fixed connecting plate (4) is fixedly connected with a fixed plate (51). A sliding piston tube (52) is slidably connected between two connecting piston tubes (5). The sliding piston tube (52) is fixedly connected with a limit sliding ring (53). The rotating connecting shaft (43) is rotatably connected through the limit sliding ring (53). A piston baffle (54) is fixedly connected inside the sliding piston tube (52). A first sliding limit post (55) is fixedly connected to the lower side of the piston baffle (54). The first sliding limit post (55) slides through and is connected to a limit baffle (56). The limit baffle (56) is fixedly connected to the inner side of the connecting piston tube (5). A first return spring (57) is provided between the piston baffle (54) and the limit baffle (56). A second sliding limit post (59) is fixedly connected to the upper side of the piston baffle (54). A connecting piston column (58) slides through and is connected inside the piston baffle (54). The connecting piston column (58) is slidably connected to the second sliding limit post (59). A second return spring (510) is provided between the connecting piston column (58) and the piston baffle (54). An air pipe (6) is fixedly connected between the upper fixed baffle (33) and the lower fixed baffle (32), and a rotating piston (61) is slidably connected through the upper fixed baffle (33). A cutting tool (65) is fixedly connected to the upper side of the rotating piston (61), and a clamping mounting plate (7) is fixedly connected to the upper side of the rotating piston (61) at the other corner. A sliding fixing plate (71) is slidably connected through the clamping mounting plate (7). A fourth reset spring (72) is provided between the clamping mounting plate (7) and the sliding fixing plate (71). A pair of lower fixing magnets (73) are fixedly connected to the clamping mounting plate (7), and an upper fixing magnet (74) is fixedly connected to the clamping mounting plate (7) at the middle corner.

2. The ellipsoidal flexible end effector for fruit and vegetable harvesting according to claim 1, characterized in that: The elastic coefficient of the first reset spring (57) is less than that of the second reset spring (510).

3. The ellipsoidal flexible end effector for fruit and vegetable harvesting according to claim 1, characterized in that: A third limiting sliding post (63) is fixedly connected to the lower side of the rotating piston (61). The third limiting sliding post (63) slides through and is connected to a limiting sliding plate (62). The limiting sliding plate (62) is fixedly connected inside the air pipe (6). A third return spring (64) is provided between the rotating piston (61) and the limiting sliding plate (62).

4. The ellipsoidal flexible end effector for fruit and vegetable harvesting according to claim 1, characterized in that: The lower fixed magnet (73) and the upper fixed magnet (74) are magnetically opposite on the side away from the clamping mounting plate (7).

5. The ellipsoidal flexible end effector for fruit and vegetable harvesting according to claim 1, characterized in that: The height of the piston baffle (54) at the location of the clamping mounting plate (7) is lower than the height of the piston baffle (54) at the location of the upper fixed magnet (74), and the height of the piston baffle (54) at the location of the cutter (65) is higher than the height of the piston baffle (54) at the location of the upper fixed magnet (74).

6. The ellipsoidal flexible end effector for fruit and vegetable harvesting according to claim 1, characterized in that: A torsion spring is provided between the fixed disc (11) and the rotating connecting pipe (2), and a torsion spring is provided between the rotating piston (61) and the upper fixed baffle (33).

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