Lilac picking robot and operation method thereof

Abstract

The invention discloses a lilac picking robot and an operation method thereof, and belongs to the technical field of picking robots. The invention solves the problems that the picking quantity and quality are affected due to low efficiency of manual picking of lilac, and the integrity is damaged and the picking cost is increased due to general picking machinery in the prior art. The channel steel is fixedly connected to the chassis, the rodless air cylinder is fixedly connected to the channel steel, the mounting frame is fixedly connected to the movable end of the rodless air lever, the top end of the mounting frame is fixedly connected with the road surface observation camera, and one ends of the two mechanical arms are fixedly connected to the two sides of the mounting frame respectively. The other end of each mechanical arm is fixedly connected with a lilac recognition camera and a tail end executing mechanism, the collecting assembly comprises tarpaulin and a storage box, and the tarpaulin and the storage box are fixedly connected to the two sides of the rodless air cylinder respectively. The lilac picking robot can automatically pick lilac, the problem that manual picking consumes a large amount of manpower is solved, meanwhile, the picking speed is increased, and the integrity of lilac picking is guaranteed.

Description

Technical Field

[0001] The invention relates to a lilac picking robot and an operation method thereof, belonging to the technical field of picking robots. Background Art

[0002] Lilac can be divided into medicinal lilac and ornamental lilac. Medicinal lilac is a dicotyledonous plant of the Myrtaceae family. Lilac belongs to the Oleaceae family. Lilac is a deciduous shrub or small tree, named because the flower tube is slender like a nail and fragrant. The lilac plant is 2 to 8 meters tall, with opposite leaves, entire or sometimes lobed, rarely pinnate. The flowers are bisexual, in terminal or lateral panicles. The colors of lilac include purple, lavender or blue-purple, and there are also white purple-red and blue-purple, with white and purple being the most common. The capsule is oblong and dehiscent between the chambers.

[0003] Generally speaking, lilacs bloom between April and May, mainly in spring. The flowering period of lilacs is generally 2-3 weeks, but it varies depending on the variety. The flowering period is mainly affected by climate and cultivation methods. In warm and humid climates, the flowering period of lilacs will be longer and the flowers will be more colorful. In cold and dry climates, the flowering period will be shorter and the flowers will become smaller.

[0004] At present, most of the lilac flowers are still picked by hand, which is the most common picking method. The pickers hold scissors or knives and manually cut the flowers at the appropriate time. Manual picking can selectively pick high-quality flowers, which is relatively less harmful to the plants. However, the flowering period of lilac flowers is relatively short, and the manual picking method is inefficient, which requires more manpower to pick lilac flowers, avoiding the impact of missing the flowering period on the quantity and quality of the picked lilac flowers, and increasing the cost of picking.

[0005] In some specific areas where lilacs are cultivated on a large scale, special mechanical picking methods are used to pick lilacs. However, there are few types of special picking machines for lilacs, and most of them are general picking machines. Since the petals of lilacs are relatively fragile, the use of vibration and other picking methods will destroy the integrity of lilacs. In addition, when used on a small scale, mechanical picking is not economical and greatly increases the picking cost.

[0006] There is a wheeled flower picking robot in the prior art, such as Fig.11As shown, during operation, the flower picking robot is placed in the field. The flower picking robot uses a camera to identify the flowers and determine the position of the flowers, then controls the power wheel to move its own position, controls the push rod motor to balance the center of gravity of the robot to maintain stability, and finally controls the robot arm through the servo motor to complete the picking of the flowers and place them in the collection bucket to complete the collection. This mechanism uses a clamp as an actuator to pick the flowers by grabbing the entire flower. It is difficult to harvest flowers with relatively strong pedicels. When using this device to pick lilac flowers, some lilac flowers cannot be picked and fall, and the integrity of the lilac flowers will also be destroyed. Summary of the invention

[0007] The present invention aims to solve the problems of low efficiency of existing manual picking of lilac flowers, which affects the picking quantity and quality, as well as the damage to the integrity of general picking machinery and excessively high picking costs, and further provides a lilac picking robot and an operating method thereof.

[0008] The technical solution adopted by the present invention to solve the above technical problems is:

[0009] A lilac picking robot comprises a chassis, a channel steel, a plurality of action components, a picking component and a collecting component, each of the action components comprising a joint motor, a bearing, a first connecting plate, a second connecting plate, a hub motor and a moving wheel, the joint motor being fixedly connected to the chassis via the first connecting plate, the moving wheel being fixedly connected to the second connecting plate, the output shaft of the joint motor being fixedly connected to the second connecting plate, the hub motor being built into the moving wheel, the picking component comprising a rodless cylinder, a mounting frame, two mechanical arms, two end actuators, two lilac recognition cameras and a road surface observation camera, the channel steel being fixedly connected to the chassis, the rodless cylinder being fixedly connected to the channel steel, the mounting frame being fixedly connected to the movable end of the rodless gas lever, the top end of the mounting frame being fixedly connected to the road surface observation camera, one end of the two mechanical arms being respectively fixedly connected to the two sides of the mounting frame, the other end of each mechanical arm being fixedly connected to the lilac recognition camera and the end actuator, the collecting component comprising a tarpaulin and a storage box, the tarpaulin and the storage box being respectively fixedly connected to the two sides of the rodless cylinder.

[0010] Furthermore, a bearing is provided between the joint motor and the second connecting plate.

[0011] Furthermore, a reinforcement steel pipe frame is fixedly connected to the bottom end of the chassis, and the reinforcement steel pipe frame is connected and fixed to each other by welding a plurality of steel pipes.

[0012] Furthermore, the two robotic arms are both robotic arms with 6 degrees of freedom.

[0013] Furthermore, the end actuator includes fruit and vegetable shears, pneumatic clamps, a mounting box and a swing cylinder, the fruit and vegetable shears include scissors and a handle, the pneumatic clamps include a fixed part and a clamp part, the fixed part and the handle are respectively fixed in the mounting box, the clamp part and the scissors extend out of the mounting box respectively and are on opposite sides, the movable end of the swing cylinder is fixedly connected to a side of the mounting box close to the mechanical arm through a coupling, and the coupling is rotatably connected to the connecting piece.

[0014] Furthermore, when the fruit and vegetable shears of one end actuator are in motion, the pneumatic gripper of the other end actuator are in motion.

[0015] Furthermore, the swing stroke of the swing cylinder is 180°.

[0016] Furthermore, a telescopic bracket is fixedly connected to the lower surface of the tarpaulin, and the tarpaulin is horizontally extended by the telescopic bracket during picking, and is tilted upward away from the side of the channel steel by the rotating shaft during collection.

[0017] Furthermore, the range of motion of the rodless cylinder is at least the range of motion of a worker's shoulder during manual picking.

[0018] An operating method of the above-mentioned lilac picking robot comprises: identifying the field road conditions through a road observation camera, controlling the action component of the lilac picking robot to travel to the position where the lilac flowers need to be picked through a remote computer, identifying the coordinates of the position of the lilac flowers through a lilac recognition camera and sending them to a control system, the control system drives two mechanical arms to respectively drive the end effectors to move to the vicinity of the pedicels of the lilac flowers, one end effector clamps the pedicels of the lilac flowers through a pneumatic gripper, and the other end effector cuts the pedicels through fruit and vegetable shears, and the picked lilac flowers fall onto a tarpaulin. After picking is completed, the side of the tarpaulin away from the channel steel is tilted upward so that the picked lilac flowers are stored in a storage box, and the computer controls the action component to move the lilac picking robot out of the field.

[0019] Compared with the prior art, the present invention has the following effects:

[0020] The lilac picking robot can automatically pick lilac flowers through the picking component, which largely solves the problem of manual picking consuming a large amount of manpower. At the same time, the picking speed is improved through the end actuator, and the position of the lilac flowers is effectively identified through the lilac recognition camera, so that the lilac flowers can be accurately picked, the picking efficiency of the lilac flowers is improved, and the waste caused by missing the flowering period is avoided;

[0021] The lilac picking robot fills the gap in the market that there is no robot specialized in picking lilac flowers. The lilac picking robot adjusts the height of the robot arm through a rodless cylinder to enable the end of the robot arm to smoothly reach the lilac picking position, and cooperates with the end actuators installed on the two robot arms to achieve the picking operation of the lilac flowers, which greatly guarantees the integrity of the lilac picking and reduces the picking cost of the lilac flowers.

[0022] The lilac picking robot drives the steering and movement of the moving wheels through the joint motor and the hub motor, thereby completing the picking operation of the lilac flowers at various positions by the picking component. The road observation camera can adapt to the complex environment of the lilac field and collect the flowers through the collection component, thereby greatly improving the efficiency of picking lilac flowers.

[0023] The selected materials for the chassis, channel steel, action components, picking components and collection components of the lilac picking robot are all dustproof and waterproof, and can adapt to the problem of increased picking difficulty caused by weather changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of the lilac picking robot;

[0026] Figure 2 A schematic diagram showing the connection between the chassis and multiple action components of the lilac picking robot;

[0027] Figure 3 for Figure 2 A partial enlarged view of the middle part;

[0028] Figure 4 A schematic diagram of the connection between the picking components of the lilac picking robot and the lilac recognition camera;

[0029] Figure 5 This is a schematic diagram of the structure of the end effector of the lilac picking robot;

[0030] Figure 6 for Figure 5 Bottom view of

[0031] Figure 7 This is a schematic diagram of the internal structure of the picking component of the lilac picking robot;

[0032] Figure 8 A schematic diagram of the connection relationship between the joint motor and the first connecting plate of the lilac picking robot;

[0033] Fig. 9 A schematic diagram of the three-dimensional structure of the second connecting plate of the lilac picking robot;

[0034] Fig.10 A schematic diagram of the connection relationship between the bearing and the second connecting plate of the lilac picking robot;

[0035] Fig.11 is a schematic diagram of a wheeled flower picking robot in the background technology;

[0036] In the figure: 1. end actuator; 2. tarpaulin; 3. chassis; 4. storage box; 5. lilac flower recognition camera; 6. road observation camera; 7. channel steel; 8. rodless cylinder; 9. mounting frame; 10. robotic arm; 11. joint motor; 11-1. output shaft; 12. bearing; 12-1. outer ring; 12-2. inner ring; 13. second connecting plate; 13-1. boss; 14. moving wheel; 15. reinforced steel pipe frame; 16. fruit and vegetable shears; 16-1. scissors; 16-2. handle; 17. pneumatic clamp; 17-1. clamp part; 17-2. fixed part; 18. coupling; 19. swing cylinder; 20. mounting box; 21. connector; 22. first connecting plate. DETAILED DESCRIPTION

[0037] Specific implementation method 1: Figures 1 to 10 The technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] It should be noted that the descriptions of the present invention regarding directions such as "front", "back", "left", "right", "inside", "outside", "left side", "right side", "upper", "lower", "top", "bottom", etc. are all defined based on the relationship between the orientations or positions shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0039] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] A lilac picking robot includes a chassis 3, a channel steel 7, a plurality of action components, a picking component and a collecting component, each of the action components includes a joint motor 11, a bearing 12, a first connecting plate 22, a second connecting plate 13, a hub motor and a moving wheel 14, the joint motor 11 is fixedly connected to the chassis 3 through the first connecting plate 22, the moving wheel 14 is fixedly connected to the second connecting plate 13, the output shaft of the joint motor 11 is fixedly connected to the second connecting plate 13, the hub motor is built in the moving wheel 14, the picking component includes a rodless cylinder 8, a mounting frame 9, two mechanical arms 10. Two end effectors 1, two lilac flower recognition cameras 5 and a road observation camera 6. The channel steel 7 is fixedly connected to the chassis 3, the rodless cylinder 8 is fixedly connected to the channel steel 7, the mounting frame 9 is fixedly connected to the movable end of the rodless air lever, and the top of the mounting frame 9 is fixedly connected to the road observation camera 6. One end of the two mechanical arms is respectively fixedly connected to the two sides of the mounting frame 9, and the other end of each mechanical arm 10 is fixedly connected to the lilac flower recognition camera 5 and the end effector 1. The collection assembly includes a tarpaulin 2 and a storage box 4, and the tarpaulin 2 and the storage box 4 are respectively fixedly connected to the two sides of the rodless cylinder. Specifically, the lilac flower recognition camera 5 is a D405 depth camera, and the road observation camera 6 is a D435 depth camera. The depth camera is a telephoto depth camera. Through the telephoto depth camera, color images and depth images can be obtained simultaneously to detect and identify the location of lilac flowers, realize obstacle detection and ranging functions, and then realize path planning and automatic control during robot operation. The detected data information is transmitted to the remote control system through WiFi and other channels, and the signal transmission between the picking robot, the depth camera and the external computer is realized through WiFi. The hub motor provides the moving wheel 14 with moving power, and the joint motor 11 drives the moving wheel 14 to turn. The length of the storage box 4 is the same as the length of the tarpaulin 2, which can reduce the phenomenon of the lilac flowers picked on the tarpaulin 2 falling when dumping into the storage box 4. When the weight of the lilac flowers picked on the tarpaulin 2 reaches the weight that needs to be dumped into the storage box 4, the remote control system will obtain the weight signal of the lilac flowers picked on the tarpaulin and output the shaft rotation signal to the shaft control mechanism. The shaft control mechanism controls the rotation of the shaft to realize the dumping of the lilac flowers picked on the tarpaulin 2 into the storage box 4.

[0041] The picking component can automatically pick lilac flowers, which largely solves the problem of manual picking consuming a lot of manpower. At the same time, the picking speed is improved by the end actuator, and the position of the lilac flowers is effectively identified by the lilac flower recognition camera, so that the lilac flowers can be accurately picked, the picking efficiency of the lilac flowers can be improved, and the waste caused by missing the flowering period can be avoided; the height of the mechanical arm is adjusted by the rodless cylinder to achieve the end of the mechanical arm to smoothly reach the lilac flower picking position, and the end actuators installed on the two mechanical arms are coordinated to achieve the picking operation of the lilac flowers, which greatly guarantees the integrity of the lilac flower picking and reduces the picking cost of the lilac flowers; the picking operation of the lilac flowers at various positions is completed by the steering and movement of the moving wheels, and the road observation camera can adapt to the complex environment of the lilac flower field and collect the lilac flowers through the collection component, which greatly improves the picking efficiency of the lilac flowers; the selected materials of the chassis, channel steel, action component, picking component and collection component of the lilac flower picking robot are dustproof and waterproof, which can adapt to the problem of increased picking difficulty caused by weather changes.

[0042] A bearing 12 is disposed between the joint motor 11 and the second connecting plate 13 . Specifically, the second connecting plate also includes a boss 13-1 structure, the boss 13-1 includes an inner hole and a step structure, a key is arranged on the output shaft 11-1 of the joint motor 11, a keyway is arranged on the inner hole surface of the boss 13-1 of the second connecting plate 13, the key of the output shaft 11-1 is connected with the keyway of the boss 13-1, the inner ring 12-2 of the bearing 12 is fixedly connected with the upper surface of the step structure of the boss 13-1 by bolts, and the outer ring 12-1 of the bearing 12 is fixedly connected with the bottom of the first connecting plate 22 by bolts, thereby realizing the connection between the second connecting plate 13 and the joint motor 11 through the bearing 12. By sleeved the bearing 12 on the outer side of the boss 13-1, the gravity of the chassis and the parts on the chassis can be avoided from being concentrated on the second connecting plate 13. At the same time, when the lilac picking robot is bumpy due to uneven ground, the bearing can also ensure the stable connection between the output shaft of the joint motor 11 and the second connecting plate 13, and avoid the key of the output shaft of the joint motor 11 from slipping out of the keyway of the boss 13-1.

[0043] The bottom end of the chassis 3 is fixedly connected with a reinforced steel pipe frame 15, which is connected and fixed to each other by welding a plurality of steel pipes. The reinforced steel pipe frame 15 improves the load capacity of the chassis 3 and prevents deformation of the chassis 3 caused by stress concentration.

[0044] The two robotic arms 10 are both 6-DOF robotic arms 10. Through the combination of 6 DOF of up and down, left and right, front and back, the robotic arms 10 can perform complex operations such as grasping, manipulating and assembling in the process of picking lilac flowers, thereby improving the picking efficiency of lilac flowers and ensuring the integrity of picking lilac flowers.

[0045] The end actuator 1 includes a fruit and vegetable shear 16, a pneumatic clamp 17, a mounting box 20 and a swing cylinder 19. The fruit and vegetable shear 16 includes a pair of scissors 16-1 and a handle 16-2. The pneumatic clamp 17 includes a fixed portion 17-2 and a clamp portion 17-1. The fixed portion 17-2 and the handle 16-2 are respectively fixed in the mounting box 20. The clamp portion 17-1 and the scissors 16-1 extend out of the mounting box 20 and are located on opposite sides. The movable end of the swing cylinder 19 is fixedly connected to the side of the mounting box 20 close to the mechanical arm 10 through a coupling 18, and the coupling 18 is rotatably connected to the connecting member 21. Specifically, the handle 16-2 is fixedly connected to the mounting box 20 by a binding wire, and the fixed portion 17-2 is fixedly connected to the mounting box 20 by a bolt. The two end actuators 1 fix the pneumatic clamp 17 and the fruit and vegetable shears 16 in the installation box 20 through the fixing part 17-2 and the handle 16-2. One end actuator 1 clamps the lilac flowers through the clamp part 17-1, and the other end actuator 1 cuts the lilac flowers through the scissors 16-1. By arranging the clamp part 17-1 and the scissors 16-1 on two opposite sides of the installation box 20, it is convenient for the swing cylinder 19 to control the two end actuators 1 to switch between the fruit and vegetable shears 16 or the pneumatic clamp 17 respectively, so as to quickly clamp and cut the lilac flowers to be picked, thereby improving the picking efficiency of lilac flowers.

[0046] When the fruit and vegetable shears 16 of one end actuator 1 are in motion, the pneumatic gripper 17 of the other end actuator 1 is in motion. Specifically, when the pneumatic gripper 17 of one end actuator 1 is used to clamp the lilac flower stalk, the other end actuator 1 is used to shear the lilac flower stalk. The two end actuators 1 can reduce the difficulty of picking lilac flowers, thereby increasing the yield of lilac flowers that can be picked per unit area.

[0047] The swing stroke of the swing cylinder 19 is 180°. Specifically, the swing cylinders 19 of the two end actuators 1 act simultaneously, and the switching of the fruit and vegetable shears 16 or the pneumatic clamp 17 of each end actuator 1 is achieved through the 180° swing of the swing cylinder 19 .

[0048] The lower surface of the tarpaulin 2 is fixed with a telescopic bracket, and the tarpaulin 2 is horizontally extended by the telescopic bracket during picking, and is tilted upward away from the side of the channel steel 7 by the rotating shaft during collection. Specifically, the tarpaulin 2 is a telescopic tarpaulin, and the telescopic bracket on the lower surface of the tarpaulin 2 is extended and retracted by a motor fixed to the chassis 3, thereby realizing the horizontal unfolding and folding of the tarpaulin 2. Through the horizontal extension and retraction of the tarpaulin 2, the storage area of ​​the tarpaulin 2 is increased, and the probability of the picked lilac flowers falling is reduced. At the same time, the tarpaulin 2 is tilted upward away from the side of the channel steel by the remote control system and the rotating shaft control mechanism, so that the lilac flowers on the tarpaulin 2 slide into the storage box 4.

[0049] The range of motion of the rodless cylinder 8 is at least the range of motion of the worker's shoulder during manual picking. The rodless cylinder 8 drives the picking assembly to move up and down, ensuring that the height of the mechanical arm 10 at the lowest position is not lower than the height of the shoulder from the ground when the worker is squatting during manual picking; and the height of the mechanical arm 10 at the highest position is not lower than the height of the shoulder from the ground when the worker is standing during manual picking. This ensures that the picking range of the picking assembly is not less than that of manual picking, thereby increasing the number of lilac flowers picked and improving the quality of lilac flowers picked.

[0050] Through holes are evenly distributed on the chassis 3. Enough through holes of suitable size are drilled on the chassis 3 for installing the moving wheels 14 and the picking components.

[0051] An operation method of the above-mentioned lilac picking robot is to arrange the lilac picking robot in a field where lilacs need to be picked, identify the road conditions in the field through a road observation camera 6, and control the action component of the lilac picking robot to travel to the position where lilacs need to be picked through a remote computer. The coordinates of the position of the lilacs are identified through a lilac recognition camera 5 and sent to a control system. The control system drives two mechanical arms 10 to respectively drive the end effector 1 to move to the vicinity of the pedicel of the lilac, and the pneumatic clamp 17 of one end effector 1 clamps the pedicel of the lilac, and the fruit and vegetable shears 16 of the other end effector cut it off. If the pneumatic clamp 17 cannot reach the pedicel of the lilac to clamp the lilac, the swing cylinders 19 of the two end effectors 1 are rotated 180° to interchange the pneumatic clamps 17 and the fruit and vegetable shears 16 of the two end effectors 1, so as to solve the problem of being unable to effectively pick lilacs. The picked lilac flowers fall onto the tarpaulin 2, and the side of the tarpaulin away from the channel steel tilts upward so that the picked lilac flowers are stored in the storage box 4. The remote computer controls the action component to take the lilac flower picking robot out of the field.

[0052] Obviously, the embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to specific implementation methods. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. It is not necessary and impossible to exhaustively list all implementation methods here.

Claims

1. A lilac picking robot, characterized in that: The invention comprises a chassis (3), a channel steel (7), a plurality of action components, a picking component and a collecting component, each of the action components comprises a joint motor (11), a bearing (12), a first connecting plate (22), a second connecting plate (13), a hub motor and a moving wheel (14), the joint motor (11) is fixedly connected to the chassis (3) through the first connecting plate (22), the moving wheel (14) is fixedly connected to the second connecting plate (13), the output shaft of the joint motor (11) is fixedly connected to the second connecting plate (13), the hub motor is built in the moving wheel (14), the picking component comprises a rodless cylinder (8), a mounting frame (9), two mechanical arms (10), two end An actuator (1), two lilac flower recognition cameras (5) and a road observation camera (6), the channel steel (7) is fixedly connected to the chassis (3), the rodless cylinder (8) is fixedly connected to the channel steel (7), the mounting frame (9) is fixedly connected to the movable end of the rodless air lever, the top of the mounting frame (9) is fixedly connected to the road observation camera (6), one end of the two mechanical arms (10) is respectively fixedly connected to the two sides of the mounting frame (9), and the other end of each mechanical arm (10) is fixedly connected to the lilac flower recognition camera (5) and the end actuator (1), and the collection component includes a tarpaulin (2) and a storage box (4), and the tarpaulin (2) and the storage box (4) are respectively fixedly connected to the two sides of the rodless cylinder.

2. The lilac picking robot according to claim 1, characterized in that: A bearing (12) is provided between the joint motor (11) and the second connecting plate (13).

3. The lilac picking robot according to claim 1, characterized in that: A reinforcement steel pipe frame (15) is fixedly connected to the bottom end of the chassis (3), and the reinforcement steel pipe frame (15) is connected and fixed to each other by welding a plurality of steel pipes.

4. The lilac picking robot according to claim 1, characterized in that: The two mechanical arms (10) are both mechanical arms (10) with 6 degrees of freedom.

5. The lilac picking robot according to claim 1, characterized in that: The end actuator (1) comprises a fruit and vegetable shear (16), a pneumatic clamp (17), a mounting box (20) and a swing cylinder (19); the fruit and vegetable shear (16) comprises a pair of scissors (16-1) and a handle (16-2); the pneumatic clamp (17) comprises a fixed portion (17-2) and a clamp portion (17-1); the fixed portion (17-2) and the handle (16-2) are respectively fixedly connected in the mounting box (20); the clamp portion (17-1) and the scissors (16-1) are respectively extended out of the mounting box (20) and are located on opposite sides; the movable end of the swing cylinder (19) is fixedly connected to a side of the mounting box (20) close to the mechanical arm (10) through a coupling (18); the coupling (18) is rotatably connected to a connecting member (21).

6. The lilac picking robot according to claim 5, characterized in that: When the fruit and vegetable shears (16) of one end actuator (1) are in motion, the pneumatic clamping claw (17) of the other end actuator (1) are in motion.

7. The lilac picking robot according to claim 5, characterized in that: The swing stroke of the swing cylinder (19) is 180°.

8. The lilac picking robot according to claim 1, characterized in that: A telescopic bracket is fixedly connected to the lower surface of the tarpaulin (2). The tarpaulin (2) is horizontally extended by the telescopic bracket during picking, and is tilted upward away from the side of the channel steel (7) by the rotating shaft during collection.

9. The lilac picking robot according to claim 1, characterized in that: The range of motion of the rodless cylinder (8) is at least the range of motion of the worker's shoulder during manual picking.

10. An operating method of the lilac picking robot as claimed in any one of claims 1 to 9, characterized in that: The road surface condition in the field is identified by a road observation camera (6), and the action component of the lilac picking robot is controlled by a remote computer to travel to the position where the lilac flowers need to be picked. The coordinates of the position of the lilac flowers are identified by a lilac recognition camera (5) and sent to the control system. The control system drives two mechanical arms (10) to respectively drive the end effector (1) to move to the vicinity of the pedicel of the lilac flowers. One end effector clamps the pedicel of the lilac flowers by means of a pneumatic clamp (17), and the other end effector cuts the pedicel by means of a fruit and vegetable shear (16). The picked lilac flowers fall onto the tarpaulin (2). After the picking is completed, the side of the tarpaulin away from the channel steel is tilted upward so that the picked lilac flowers are stored in a storage box (4). The computer controls the action component to move the lilac picking robot out of the field.

Images