End effector for pruning branches and leaves of fruits and vegetables and method thereof

Abstract

The invention discloses a fruit and vegetable branch and leaf pruning end effector and a method thereof, and belongs to the field of agricultural robots. The device comprises a main body frame, a clamping mechanism, a shearing mechanism, a first transmission mechanism, a second transmission mechanism and a third transmission mechanism. The motor is connected with the first transmission mechanism through a coupler. A second gear on the first transmission mechanism is in meshing transmission with a rack on the clamping mechanism to drive the clamping mechanism to move, and the clamping action is completed. A first gear on the first transmission mechanism is in meshing transmission with a third gear on the second transmission mechanism to drive the second transmission mechanism to move. And a first bevel gear on the second transmission mechanism is in meshing transmission with a second bevel gear on the third transmission mechanism to drive the third transmission mechanism to move. A second bevel gear on the third transmission mechanism is in sliding fit with the cam pressing block and the tool rest to drive the shearing mechanism to move up and down to complete the shearing action. The device is high in pruning efficiency, and lateral branches are prevented from being damaged.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and particularly relates to a fruit and vegetable branch and leaf pruning end effector and a method thereof. Background Art

[0002] In modern agricultural planting, the pruning of fruit and vegetable branches and leaves is a key link to improve the quality and yield of crops. Reasonable pruning can not only optimize the nutrient distribution of plants, promote their healthy growth and significantly increase the yield and quality of fruits, but also shape the ideal form of plants, making their structure more compact and uniform. Traditional pruning of fruit and vegetable branches and leaves mainly relies on manual operation, which faces many challenges. First of all, manual pruning requires a large amount of labor input and extremely high labor intensity. Especially in large-scale orchards, the pruning work is often difficult to be completed on time, seriously affecting the agricultural production efficiency. Secondly, manual pruning requires high experience of workers. Workers with insufficient experience may cause poor pruning effects or even damage the plants due to improper operation. In addition, the speed of manual pruning is relatively slow, which is difficult to meet the rapid and efficient requirements of modern agriculture; at the same time, the extension of the pruning cycle may interfere with the normal growth cycle of fruits, delay the picking time, and thus affect the market supply and economic benefits of agricultural products.

[0003] To address these challenges, introducing automated pruning equipment becomes a possible solution. However, the existing fruit and vegetable branch and leaf pruning equipment still has obvious deficiencies. On the one hand, many devices cannot achieve synchronous clamping and cutting operations, resulting in a cumbersome pruning process and low efficiency, and it is difficult to meet the needs of large-scale production. On the other hand, some devices lack protection measures for branches and leaves during the pruning process, and the cut after pruning is easily damaged, increasing the risk of plant infection by pests and diseases, and even possibly affecting the subsequent growth of plants and the quality of fruits.

[0004] Therefore, it is particularly urgent to develop a new type of fruit and vegetable branch and leaf pruning equipment. Summary of the Invention

[0005] The purpose of the present invention is to overcome the problems of existing fruit and vegetable lateral branch pruning, and provide a fruit and vegetable branch and leaf pruning end effector and a method thereof.

[0006] The specific technical solution adopted by the present invention is as follows: it includes a main body frame and a clamping mechanism, a shearing mechanism, a first transmission mechanism, a second transmission mechanism and a third transmission mechanism installed on the main body frame; the clamping mechanism includes a rack, a slider, a moving block, a guide rail and a rubber pad; the shearing mechanism includes a second bevel gear, a cam pressing block, a tool holder and a blade; the first transmission mechanism includes a motor, a first rotating shaft, a coupling, a first gear and a second gear; the second transmission mechanism includes a second rotating shaft, a third gear and a first bevel gear; the third transmission mechanism includes a third rotating shaft and a second bevel gear;

[0007] A motor is fixed on the main body frame; the output shaft of the motor is coaxially and fixedly connected to the first rotating shaft through a coupling; a first gear is coaxially and fixedly connected to the first rotating shaft; the first gear and the third gear form a meshing drive; the first rotating shaft is rotatably connected to the main body frame; a second gear is located and forms a meshing drive with a rack; the rack is fixed on a slider, and the slider is slidably connected to a guide rail; the guide rail is fixedly connected to an outer cover plate; the outer cover plate is fixedly connected to the main body frame.

[0008] The third gear is fixed on the second rotating shaft; the upper end of the second rotating shaft is rotatably connected to the main body frame; a first bevel gear is arranged at the lower end of the second rotating shaft; the first bevel gear is fixedly connected to the second rotating shaft.

[0009] The first bevel gear and the second bevel gear are in meshing drive; the second bevel gear is fixed in the middle part of the third rotating shaft; the front end of the third rotating shaft is rotatably connected to the outer cover plate; the rear end of the third rotating shaft is rotatably connected to the main body frame.

[0010] A tool rest is arranged between the second bevel gear and the cam pressing block, and the bottom end and both side faces of the tool rest are slidably connected to the second bevel gear and the cam pressing block; the upper end of the tool rest is fixedly connected to a blade for shearing branches and leaves; a rectangular guiding groove is formed on the tool rest.

[0011] Small cylindrical bosses are formed on both side faces in the thickness direction of the tool rest, and the bottom surface of the small cylindrical boss is tangent to the bottom surface of the tool rest. A limiting groove is formed at the middle position in the height direction of the tool rest. The tool rest is arranged in a guide chute between the second bevel gear and the cam pressing block and forms a sliding pair with the guide chute.

[0012] A branch guiding groove and a limiting block are formed on the upper right side of the main body frame, and the right side of the slot hole of the branch guiding groove is tangent to the limiting block; a rectangular positioning block for facilitating the up and down movement of the tool is formed below the branch guiding groove of the main body frame.

[0013] Preferably, the above-mentioned main body frame includes a rectangular outer frame and a rectangular flat plate at the bottom; a circular hole for arranging the third rotating shaft is formed at the rear of the rectangular outer frame, and a rectangular positioning block which is in sliding contact with the rectangular guiding groove on the tool rest is arranged above the circular hole; circular holes for connecting with a robotic arm and wiring holes for the motor are formed on the rectangular flat plate.

[0014] Preferably, the above-mentioned first rotating shaft and the second rotating shaft are parallel to each other and perpendicular to the bottom surface of the main body frame; the third rotating shaft is parallel to the bottom surface of the main body frame and is located directly below the second rotating shaft.

[0015] Preferably, a stepped cam is provided behind the second bevel gear. The larger cam in the stepped cam and the cam on the rear cam block have the same size and position, and a guide chute is provided along the axial position of the larger cam on the stepped cam; a guide chute is provided along the axial position on the cam block. The guide chute provided along the axial position on the larger cam in the stepped cam behind the second bevel gear has the same size and position as the guide chute provided along the axial position on the cam block. During installation, the direction of the stepped cam provided behind the second bevel gear is the same as the direction of the cam on the cam block.

[0016] Preferably, bolt holes are provided at the front ends of both side faces of the main body frame, and bolt holes are also provided at the same positions on the outer cover plate. The main body frame and the outer cover plate are fixedly connected by bolts.

[0017] Preferably, bolt holes are provided above the outer cover plate, and the guide rail is fixedly connected to the outer cover plate by bolts; a motor interface groove is provided below the outer cover plate.

[0018] Preferably, the motor is fixed by bolts between the bottom surfaces of the middle plane of the main body frame.

[0019] In a second aspect, the present invention provides a picking method using the fruit and vegetable branch and leaf trimming end effector of the first aspect, and the steps are as follows:

[0020] S1: Start the motor, drive the first rotating shaft to rotate through the coupling, thereby driving the first gear and the second gear to rotate; the first gear drives the third gear to rotate, thereby driving the second rotating shaft to rotate, and the second rotating shaft drives the first bevel gear below the second rotating shaft to rotate; the first bevel gear drives the second bevel gear to rotate, thereby driving the third rotating shaft to rotate, and the third rotating shaft drives the cam block behind the third rotating shaft to rotate. When the cams on the second bevel gear and the cam block rotate to the lower limit position, the tool rest is located at the lower limit position, and the motor is turned off. The preparation work is completed.

[0021] S2: Fix the end effector on the robotic arm, move the end effector to the trimming target through the robotic arm, the motor rotates forward half a turn, drive the first rotating shaft to rotate through the coupling, thereby driving the first gear and the second gear to rotate; the second gear drives the rack, the slider and the moving block to move to the right along the guide rail, so that the rubber pad on the moving block approaches the rubber pad on the limiting block at the upper right end of the main body frame to complete the clamping action; during this process, the first gear drives the third gear to rotate, thereby driving the second rotating shaft to rotate, and the second rotating shaft drives the first bevel gear below the second rotating shaft to rotate; the first bevel gear drives the second bevel gear to rotate, thereby driving the third rotating shaft to rotate, and the third rotating shaft drives the cam block behind the third rotating shaft to rotate. The cams behind the second bevel gear and the cam block drive the tool rest to move upward along the height direction of the rectangular positioning block behind the main body frame through the limiting groove, and the tool rest drives the blade to move upward to complete the shearing action.

[0022] S3: The motor rotates counterclockwise half a turn, drives the first rotating shaft to rotate through the coupling, and then drives the first gear and the second gear to rotate; the second gear drives the rack, the slider and the moving block to move leftward along the guide rail, so that the rubber pad on the moving block and the rubber pad on the limiting block at the upper right end of the main body frame move away from each other, and the moving block completes the reset action; during this process, the first gear drives the third gear to rotate, and then drives the second rotating shaft to rotate. The second rotating shaft drives the first bevel gear below the second rotating shaft to rotate; the first bevel gear drives the second bevel gear to rotate, and then drives the third rotating shaft to rotate. The third rotating shaft drives the cam pressing block behind the third rotating shaft to rotate. The cam and the cam pressing block behind the second bevel gear drive the tool rest and the blade to move downward along the height direction of the rectangular positioning block at the rear of the main body frame through the limiting groove, and the tool rest completes the reset action. Steps S2 and S3 are one trimming action.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) The total power of the end effector for trimming fruit and vegetable branches and leaves provided by the present invention is provided by one motor, and the power is stable; the clamping mechanism is driven by the meshing of gears and racks, and the transmission ratio is accurate, ensuring a constant clamping force during the process of clamping lateral branches, thereby protecting the lateral branches from damage. This further reduces the risk of lateral branch cracking and virus infection after trimming.

[0025] (2) In the end effector for trimming fruit and vegetable branches and leaves provided by the present invention, the clamping mechanism and the shearing mechanism are cooperated through gear transmission, and the cooperation accuracy is high. This design enables the clamping and cutting actions to run synchronously, improving the working efficiency.

[0026] (3) In the end effector for trimming fruit and vegetable branches and leaves provided by the present invention, the tool rest steadily advances in a predetermined path through the sliding fit between the small cylindrical boss in the thickness direction of the tool rest and the axial groove of the cam, with little jitter of the tool rest, and can meet the multi-angle shearing operation of the end effector for trimming fruit and vegetable branches and leaves. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 Isometric view of the end effector for trimming fruit and vegetable branches and leaves provided in this embodiment;

[0029] Figure 2 Internal structure diagram of the end effector for trimming fruit and vegetable branches and leaves provided in this embodiment;

[0030] Figure 3 Schematic diagram of the second bevel gear provided in this embodiment;

[0031] Figure 4 Schematic diagram of the outer cover plate provided in this embodiment;

[0032] Figure 5 Schematic diagram of the tool holder structure provided in this embodiment;

[0033] Figure 6 Schematic diagram of the cam pressing block provided in this embodiment;

[0034] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0035] 1 - main body frame, 2 - first rotating shaft, 3 - coupling, 4 - first gear, 5 - second gear, 6 - rack, 7 - slider, 8 - moving block, 9 - guide rail, 10 - outer cover plate, 11 - second rotating shaft, 12 - third gear, 13 - first bevel gear, 14 - third rotating shaft, 15 - second bevel gear, 16 - cam pressing block, 17 - tool holder, 18 - blade, 19 - motor, 20 - rubber pad, 21 - limit block, 22 - rectangular positioning block, 23 - clamping mechanism, 24 - shearing mechanism, 25 - first transmission mechanism, 26 - second transmission mechanism, 27 - third transmission mechanism. Detailed implementation manners

[0036] The following further elaborates and explains the present invention in conjunction with the attached drawings and detailed implementation manners. Without conflict, the technical features of each implementation manner in the present invention can be combined accordingly.

[0037] In the description of this specification, the description referring to terms such as "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials, or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0038] The "front", "rear", "left", and "right" described in the present invention, unless otherwise specified, are all based on Figure 1 the directions shown, but it should be clear that this expression is only for facilitating the description of the device structure and cannot limit the protection scope of the present invention. Any appropriate deformation made by those skilled in the art based on the present invention shall fall within the protection scope of the present invention.

[0039] As a preference in the specific implementation manners of the present invention, this embodiment provides asFigure 1 The shown end effector for trimming fruits and vegetable branches and leaves. The end effector for trimming fruits and vegetable branches and leaves includes a main body frame 1 and a clamping mechanism 23, a shearing mechanism 24, a first transmission mechanism 25, a second transmission mechanism 26 and a third transmission mechanism 27 mounted on the main body frame 1.

[0040] The clamping mechanism 23 provided in this embodiment is as Figure 2 shown. The clamping mechanism 23 includes a rack 6, a slider 7, a moving block 8, a guide rail 9 and a rubber pad 20.

[0041] The shearing mechanism 24 provided in this embodiment is as Figure 2 shown. The shearing mechanism 24 includes a second bevel gear 15, a cam pressing block 16, a tool holder 17 and a blade 18.

[0042] The first transmission mechanism 25, the second transmission mechanism 26 and the third transmission mechanism 27 provided in this embodiment are as Figure 2 shown. The first transmission mechanism 25 includes a motor 23, a first rotating shaft 2, a coupling 3, a first gear 4 and a second gear 5. The second transmission mechanism 26 includes a second rotating shaft 11, a third gear 12 and a first bevel gear 13. The third transmission mechanism 27 includes a third rotating shaft 14 and a second bevel gear 15. The first rotating shaft 2 and the second rotating shaft 11 are parallel to each other and perpendicular to the bottom surface of the main body frame 1; the third rotating shaft 14 is parallel to the bottom surface of the main body frame 1 and is located directly below the second rotating shaft 11.

[0043] The second bevel gear 15 and the cam pressing block 16 provided in this embodiment are respectively as Figure 3 and as Figure 6 shown. A stepped cam is provided behind the second bevel gear 15. The larger cam in the stepped cam and the cam on the rear cam pressing block 16 are the same in size and position, and a guide chute is provided in the axial position of the larger cam in the stepped cam; a guide chute is provided in the axial position of the cam pressing block 16. The guide chute provided in the axial position of the larger cam in the stepped cam behind the second bevel gear 15 is the same in size and position as the guide chute provided in the axial position of the cam pressing block 16. During installation, the direction of the stepped cam provided behind the second bevel gear 15 is the same as the direction of the cam on the cam pressing block 16.

[0044] The main body frame 1 provided in this embodiment is as Figure 4 shown. The main body frame 1 includes a rectangular outer frame and a rectangular flat plate at the bottom; a circular hole for setting the third rotating shaft 14 is provided behind the rectangular outer frame, and a rectangular positioning block 22 that is in sliding contact with the rectangular guide groove on the tool holder 17 is provided above the circular hole; circular holes for connecting with a robotic arm and wiring holes for a motor are provided on the rectangular flat plate. The motor 19 is fixed between the bottom surfaces of the middle plane of the main body frame 1 by bolts.

[0045] The tool holder 17 provided in this embodiment is asFigure 5 As shown, small cylindrical bosses are provided on both sides of the tool rest 17 in the thickness direction, and the bottom surface of the small cylindrical boss is tangent to the bottom surface of the tool rest 17. A limiting groove is provided at the middle position of the tool rest 17 in the height direction. The tool rest 17 is arranged in the guide chute between the second bevel gear 15 and the cam pressing block 16 and forms a sliding pair with the guide chute.

[0046] This embodiment also provides a method for pruning using the above-mentioned fruit and vegetable branch and leaf pruning end effector, which is as follows:

[0047] (1) Before work, perform an initial reset on the fruit and vegetable branch and leaf pruning end effector. Start the motor 19, drive the first rotating shaft 2 to rotate through the coupling 3, thereby driving the first gear 4 and the second gear 5 to rotate; the first gear 4 drives the third gear 12 to rotate, thereby driving the second rotating shaft 11 to rotate, and the second rotating shaft 11 drives the first bevel gear 13 below the second rotating shaft 11 to rotate; the first bevel gear 13 drives the second bevel gear 15 to rotate, thereby driving the third rotating shaft 14 to rotate, and the third rotating shaft 14 drives the cam pressing block 16 behind the third rotating shaft 14 to rotate.

[0048] When the cams on the second bevel gear 15 and the cam pressing block 16 rotate to the lower limit position, the tool rest is at the lower limit position, and the motor 19 is turned off. The fruit and vegetable branch and leaf pruning end effector completes the preparation work.

[0049] (2) Fix the end effector on the robotic arm, move the end effector to the pruning target through the robotic arm, the motor 19 rotates forward half a turn, drive the first rotating shaft 2 to rotate through the coupling 3, thereby driving the first gear 4 and the second gear 5 to rotate; the second gear 5 drives the rack 6, the slider 7 and the moving block 8 to move to the right along the guide rail 9, so that the rubber pad 20 on the moving block 8 approaches the rubber pad 20 on the limiting block 21 at the upper right end of the main body frame 1, and the clamping action is completed.

[0050] Since rubber pads 20 are attached to the side surfaces of the moving block 8 and the limiting block 21 at the upper right end of the main body frame 1, the surface friction is increased. Therefore, during the clamping process, the side branches of the pruning target will not move too far.

[0051] During the clamping process, the first gear 4 drives the third gear 12 to rotate, thereby driving the second rotating shaft 11 to rotate, and the second rotating shaft 11 drives the first bevel gear 13 below the second rotating shaft 11 to rotate; the first bevel gear 13 drives the second bevel gear 15 to rotate, thereby driving the third rotating shaft 14 to rotate, the third rotating shaft 14 drives the cam pressing block 16 behind the third rotating shaft 14 to rotate, and the cams behind the second bevel gear 15 and the cam pressing block 16 drive the tool rest 17 to move upward along the height direction of the rectangular positioning block 22 behind the main body frame 1 through the limiting groove, and the tool rest 17 drives the blade 18 to move upward to complete the shearing action.

[0052] When the motor rotates forward half a turn, the first gear 4 and the third gear 12 mesh and drive each other, driving the moving block 8 on the slider 7 to approach the limit block 21 to complete the clamping action. At the same time, the third gear 12 drives the tool rest 17 and the blade 18 to complete the shearing action through the second transmission mechanism 26 and the third transmission mechanism 27. Therefore, the clamping action and the shearing action of the end effector for trimming fruit and vegetable branches and leaves of the present invention can be completed simultaneously.

[0053] (3) The motor 19 rotates backward half a turn, drives the first rotating shaft 2 through the coupling 3, thereby driving the first gear 4 and the second gear 5 to rotate; the second gear 5 drives the rack 6, the slider 7 and the moving block 8 to move leftward along the guide rail 9, so that the rubber pad 20 on the moving block 8 is away from the rubber pad 20 on the limit block 21 at the upper right end of the main body frame 1, and the moving block 8 completes the reset action; during this process, the first gear 4 drives the third gear 12 to rotate, thereby driving the second rotating shaft 11 to rotate, and the second rotating shaft 11 drives the first bevel gear 13 below the second rotating shaft 11 to rotate; the first bevel gear 13 drives the second bevel gear 15 to rotate, thereby driving the third rotating shaft 14 to rotate, and the third rotating shaft 14 drives the cam pressing block 16 behind the third rotating shaft 14 to rotate, and the cam and the cam pressing block 16 behind the second bevel gear 15 drive the tool rest 17 and the blade 18 to move downward along the height direction of the rectangular positioning block 22 behind the main body frame 1 through the limit groove, and the tool rest 17 completes the reset action.

[0054] When the motor rotates backward half a turn, the first gear 4 and the third gear 12 mesh and drive each other, driving the moving block 8 on the slider 7 to move away from the limit block 21 to complete the clamping reset action. At the same time, the third gear 12 drives the tool rest 17 and the blade 18 to complete the shearing reset action through the second transmission mechanism 26 and the third transmission mechanism 27. Therefore, the clamping reset action and the shearing reset action of the end effector for trimming fruit and vegetable branches and leaves of the present invention can be completed simultaneously.

[0055] (4) The end effector repeats steps (2) and (3) to complete continuous trimming of the branches and leaves.

[0056] The end effector for trimming fruit and vegetable branches and leaves provided by the present invention overcomes the shortcomings of trimming fruit and vegetable side branches in the prior art and improves the working efficiency of agricultural robots. The device has high trimming reliability, is easy to operate, has high versatility, is suitable for trimming different fruit and vegetable side branches, avoids the problem of damage to the cut of fruit and vegetable side branches after trimming, and reduces the risk of fruit and vegetables being infected with viruses.

[0057] The above-described embodiments are only a preferred solution of the present invention, but they are not intended to limit the present invention. Those of ordinary skill in the relevant technical fields can still make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all technical solutions obtained by adopting equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A fruit and vegetable branch and leaf pruning end effector, characterized in that, It includes a main frame (1), as well as a clamping mechanism (23), a shearing mechanism (24), a first transmission mechanism (25), a second transmission mechanism (26), and a third transmission mechanism (27) mounted on the main frame (1); the clamping mechanism (23) includes a rack (6), a slider (7), a moving block (8), a guide rail (9), and a rubber pad (20); the shearing mechanism (24) includes a second bevel gear (15), a cam pressing block (16), a tool holder (17), and a blade (18); the first transmission mechanism (25) includes a motor (19), a first rotating shaft (2), a coupling (3), a first gear (4), and a second gear (5); the second transmission mechanism (26) includes a second rotating shaft (11), a third gear (12), and a first bevel gear (13); the third transmission mechanism (27) includes a third rotating shaft (14) and a second bevel gear (15). A motor (19) is fixed on the main frame (1); the output shaft of the motor (19) is coaxially and fixedly connected to the first rotating shaft (2) through the coupling (3); the first gear (4) is coaxially and fixedly connected to the first rotating shaft (2); the first gear (4) and the third gear (12) are engaged in transmission; the first rotating shaft (2) is rotatably connected to the main frame (1); the second gear (5) is engaged in transmission with the rack (6); the rack (6) is fixed on the slider (7), and the slider (7) is slidably connected to the guide rail (9); the guide rail (9) is fixedly connected to the outer cover plate (10); the outer cover plate (10) is fixedly connected to the main frame (1). The third gear (12) is fixed on the second rotating shaft (11); the upper end of the second rotating shaft (11) is rotatably connected to the main frame (1); a first bevel gear (13) is arranged at the lower end of the second rotating shaft (11); the first bevel gear (13) is fixedly connected to the second rotating shaft (11). The first bevel gear (13) and the second bevel gear (15) are engaged in transmission; the second bevel gear (15) is fixed in the middle part of the third rotating shaft (14); the front end of the third rotating shaft (14) is rotatably connected to the outer cover plate (10); the rear end of the third rotating shaft (14) is rotatably connected to the main frame (1). A tool holder (17) is arranged between the second bevel gear (15) and the cam pressing block (16), and the bottom end and both side surfaces of the tool holder (17) are slidably connected to the second bevel gear (15) and the cam pressing block (16); the upper end of the tool holder (17) is fixedly connected to a blade (18) for shearing branches and leaves; a rectangular guide groove is provided on the tool holder (17). Small cylindrical bosses are provided on both side surfaces in the thickness direction of the tool holder (17), and the bottom surface of the small cylindrical bosses is tangent to the bottom surface of the tool holder (17), and a limiting groove is provided at the middle position in the height direction of the tool holder (17). The tool holder (17) is arranged in the guide chute between the second bevel gear (15) and the cam pressing block (16) and forms a sliding pair with the guide chute. On the upper right side of the main body frame (1), there are a branch guiding groove and a limiting block (21), and the right side of the slot hole of the branch guiding groove is tangent to the limiting block (21); below the branch guiding groove of the main body frame (1), there is a rectangular positioning block (22) facilitating the up and down movement of the cutter.

2. The end effector for trimming fruit and vegetable branches and leaves according to claim 1, characterized in that, The main body frame (1) includes a rectangular outer frame and a rectangular flat plate at the bottom; a circular hole for arranging the third rotating shaft (14) is opened at the rear of the rectangular outer frame, and a rectangular positioning block (22) which is in sliding contact with the rectangular guiding groove on the tool rest (17) is arranged above the circular hole; circular holes for connecting with the robotic arm and wiring holes for the motor are opened on the rectangular flat plate.

3. The fruit and vegetable branch and leaf pruning end effector according to claim 1, characterized in that, The first rotating shaft (2) and the second rotating shaft (11) are parallel to each other and perpendicular to the bottom surface of the main body frame (1); the third rotating shaft (14) is parallel to the bottom surface of the main body frame (1) and is located directly below the second rotating shaft (11).

4. The fruit and vegetable branch and leaf pruning end effector according to claim 1, wherein, A stepped cam is opened at the rear of the second bevel gear (15). The larger cam in the stepped cam and the cam on the rear cam pressing block (16) are the same in size and position, and a guide sliding groove is opened along the axial position on the larger cam in the stepped cam; a guide sliding groove is opened along the axial position on the cam pressing block (16). The guide sliding groove opened along the axial position on the larger cam in the stepped cam at the rear of the second bevel gear (15) is the same in size and position as the guide sliding groove opened along the axial position on the cam pressing block (16). During installation, the direction of the stepped cam opened at the rear of the second bevel gear (15) is the same as the direction of the cam on the cam pressing block (16).

5. The end effector for trimming fruit and vegetable branches and leaves according to claim 1, characterized in that, Bolt holes are opened at the front ends of both sides of the main body frame (1), and bolt holes are also opened at the same positions on the outer cover plate (10). The main body frame (1) and the outer cover plate (10) are fixedly connected by bolts.

6. The end effector for pruning fruit and vegetable branches and leaves according to claim 1, characterized in that, Bolt holes are opened above the outer cover plate (10), and the guide rail (9) is fixedly connected to the outer cover plate (10) by bolts; a motor interface groove is opened below the outer cover plate (10).

7. The end effector for trimming fruit and vegetable branches and leaves according to claim 1, characterized in that, The motor (19) is fixedly bolted between the bottom surfaces of the middle planes of the main body frame (1).

8. A picking method using the fruit and vegetable branch and leaf pruning end effector according to any one of claims 1 to 7, characterized in that, The steps are as follows: S1: Start the motor (19), drive the first rotating shaft (2) to rotate through the coupling (3), thereby driving the first gear (4) and the second gear (5) to rotate; the first gear (4) drives the third gear (12) to rotate, thereby driving the second rotating shaft (11) to rotate, and the second rotating shaft (11) drives the first bevel gear (13) below the second rotating shaft (11) to rotate; the first bevel gear (13) drives the second bevel gear (15) to rotate, thereby driving the third rotating shaft (14) to rotate, and the third rotating shaft (14) drives the cam pressing block (16) behind the third rotating shaft (14) to rotate. When the cams on the second bevel gear (15) and the cam pressing block (16) rotate to the lower limit position, the tool rest is at the lower limit position, and then turn off the motor (19). Complete the preparation work. S2: Fix the end effector on the robotic arm. Move the end effector to the pruning target through the robotic arm. The motor (19) rotates forward half a turn, drives the first rotating shaft (2) to rotate through the coupling (3), and thus drives the first gear (4) and the second gear (5) to rotate. The second gear (5) drives the rack (6), the slider (7) and the moving block (8) to move rightward along the guide rail (9), so that the rubber pad (20) on the moving block (8) approaches the rubber pad (20) on the limiting block (21) at the upper right end of the main body frame (1), completing the clamping action. During this process, the first gear (4) drives the third gear (12) to rotate, thus driving the second rotating shaft (11) to rotate. The second rotating shaft (11) drives the first bevel gear (13) below the second rotating shaft (11) to rotate. The first bevel gear (13) drives the second bevel gear (15) to rotate, thus driving the third rotating shaft (14) to rotate. The third rotating shaft (14) drives the cam pressing block (16) behind the third rotating shaft (14) to rotate. The cam and the cam pressing block (16) behind the second bevel gear (15) drive the tool rest (17) to move upward along the height direction of the rectangular positioning block (22) behind the main body frame (1) through the limiting groove. The tool rest (17) drives the blade (18) to move upward, completing the shearing action. S3: The motor (19) rotates backward half a turn, drives the first rotating shaft (2) to rotate through the coupling (3), and thus drives the first gear (4) and the second gear (5) to rotate. The second gear (5) drives the rack (6), the slider (7) and the moving block (8) to move leftward along the guide rail (9), so that the rubber pad (20) on the moving block (8) moves away from the rubber pad (20) on the limiting block (21) at the upper right end of the main body frame (1), and the moving block (8) completes the reset action. During this process, the first gear (4) drives the third gear (12) to rotate, thus driving the second rotating shaft (11) to rotate. The second rotating shaft (11) drives the first bevel gear (13) below the second rotating shaft (11) to rotate. The first bevel gear (13) drives the second bevel gear (15) to rotate, thus driving the third rotating shaft (14) to rotate. The third rotating shaft (14) drives the cam pressing block (16) behind the third rotating shaft (14) to rotate. The cam and the cam pressing block (16) behind the second bevel gear (15) drive the tool rest (17) and the blade (18) to move downward along the height direction of the rectangular positioning block (22) behind the main body frame (1) through the limiting groove, and the tool rest (17) completes the reset action. Steps S2 and S3 are one pruning action.

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