A fruit and vegetable branch and leaf pruning end effector and method thereof

Abstract

This invention discloses an end effector and method for pruning fruit and vegetable branches and leaves, belonging to the field of agricultural robots. The device includes a main frame, a clamping mechanism, a shearing mechanism, a first transmission mechanism, a second transmission mechanism, and a third transmission mechanism. A motor is connected to the first transmission mechanism via a coupling. A second gear on the first transmission mechanism meshes with a rack on the clamping mechanism, driving the clamping mechanism to move and complete the clamping action. A first gear on the first transmission mechanism meshes with a third gear on the second transmission mechanism, driving the second transmission mechanism to move. A first bevel gear on the second transmission mechanism meshes with a second bevel gear on the third transmission mechanism, driving the third transmission mechanism to move. A second bevel gear on the third transmission mechanism slides with a cam pressure block and a blade holder, driving the shearing mechanism to move up and down, completing the shearing action. This device has high pruning efficiency and avoids damage to side branches.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to an end effector and method for pruning fruit and vegetable branches and leaves. Background Technology

[0002] In modern agriculture, pruning fruit and vegetable branches and leaves is a crucial step in improving crop quality and yield. Proper pruning not only optimizes nutrient distribution, promotes healthy growth, and significantly increases fruit yield and quality, but also shapes the plant into an ideal form, making its structure more compact and uniform. Traditional fruit and vegetable pruning relies primarily on manual labor, which faces numerous challenges. First, manual pruning requires a large workforce and is extremely labor-intensive, especially in large orchards where pruning work is often difficult to complete on time, severely impacting agricultural production efficiency. Second, manual pruning demands a high level of experience from workers; inexperienced workers may cause poor pruning results or even damage the plants due to improper operation. Furthermore, manual pruning is relatively slow, failing to meet the demands of modern agriculture for speed and efficiency; simultaneously, the extended pruning cycle may interfere with the normal growth cycle of the fruit, delaying harvest time and consequently affecting the market supply and economic benefits of agricultural products.

[0003] To address these challenges, introducing automated pruning equipment has become a possible solution. However, existing fruit and vegetable pruning equipment still has significant shortcomings. On the one hand, many devices cannot achieve simultaneous clamping and cutting operations, resulting in a cumbersome and inefficient pruning process that is difficult to meet the needs of large-scale production. On the other hand, some devices lack protective measures for branches and leaves during pruning, making the cuts easily damaged, increasing the risk of plant infection by pests and diseases, and potentially affecting the subsequent growth of the plant and the quality of the fruit.

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

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

[0006] The specific technical solution adopted in this invention is as follows: it includes a main frame and a clamping mechanism, a shearing mechanism, a first transmission mechanism, a second transmission mechanism, and a third transmission mechanism mounted on the main 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 pressure 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 frame; the motor output shaft is coaxially and fixedly connected to the first rotating shaft through a coupling; the first rotating shaft is coaxially and fixedly connected to the first gear; the first gear and the third gear form a meshing transmission; the first rotating shaft is rotatably connected to the main frame; the second gear is located and forms a meshing transmission with the rack; the rack is fixed on the slider, and the slider is slidably connected to the guide rail; the guide rail is fixedly connected to the outer cover plate; the outer cover plate is fixedly connected to the main 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 frame; the lower end of the second rotating shaft is provided with a first bevel gear; the first bevel gear is fixedly connected to the second rotating shaft.

[0009] The first bevel gear meshes with the second bevel gear for transmission; 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; and the rear end of the third rotating shaft is rotatably connected to the main frame.

[0010] A tool holder is placed between the second bevel gear and the cam pressure block. The bottom end and two sides of the tool holder are slidably connected to the second bevel gear and the cam pressure block. The upper end of the tool holder is fixedly connected to the blade used for cutting branches and leaves. A rectangular guide groove is provided on the tool holder.

[0011] Small cylindrical bosses are provided on both sides of the tool holder in the thickness direction, and the bottom surface of the small cylindrical bosses is tangent to the bottom surface of the tool holder. A limit groove is provided in the middle position of the tool holder in the height direction. The tool holder is set in the guide groove between the second bevel gear and the cam pressure block, and forms a sliding pair with the guide groove.

[0012] A branch guide groove and a limiting block are provided on the upper right side of the main frame, and the right side of the groove of the branch guide groove is tangent to the limiting block; a rectangular positioning block is provided below the branch guide groove of the main frame to facilitate the up and down movement of the tool.

[0013] Preferably, the main frame includes a rectangular outer frame and a rectangular flat plate at the bottom; a circular hole for setting a third rotating shaft is opened at the rear of the rectangular outer frame, and a rectangular positioning block that slides in contact with the rectangular guide groove on the tool holder is provided above the circular hole; a circular hole for connecting to the robotic arm and a wiring hole for the motor are provided on the rectangular flat plate.

[0014] Preferably, the first and second rotating shafts are parallel to each other and perpendicular to the bottom surface of the main frame; the third rotating shaft is parallel to the bottom surface of the main frame and 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 is the same size and position as the cam on the cam pressure block behind it, and the larger cam in the stepped cam has a guide groove along its axial direction. The cam pressure block also has a guide groove along its axial direction. During installation, the direction of the stepped cam behind the second bevel gear is the same as the direction of the cam on the cam pressure block.

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

[0017] Preferably, bolt holes are provided on the upper part of the outer cover plate, and the guide rail is fixedly connected to the outer cover plate by bolts; a motor interface slot is provided on the lower part of the outer cover plate.

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

[0019] Secondly, the present invention provides a harvesting method using the end effector of the fruit and vegetable pruning device described in the first aspect, comprising the following steps:

[0020] S1: Start the motor, which drives the first shaft to rotate via the coupling, thereby driving the first and second gears to rotate; the first gear drives the third gear to rotate, thereby driving the second shaft to rotate; the second shaft drives the first bevel gear below it to rotate; the first bevel gear drives the second bevel gear to rotate, thereby driving the third shaft to rotate; the third shaft drives the cam pressure block behind it to rotate. When the cam on the second bevel gear and the cam on the cam pressure block rotate to their lower limit positions, the tool holder is at its lower limit position. Turn off the motor. Preparation is complete.

[0021] S2: Fix the end effector to the robotic arm, and move the end effector to the trimming target location via the robotic arm. The motor rotates half a turn clockwise, driving the first shaft to rotate via the coupling, which in turn drives the first gear and the second gear to rotate. The second gear drives the rack, slider, and moving block to move to the right along the guide rail, so that the rubber pad on the moving block comes into contact with the rubber pad on the limit block at the upper right end of the main frame, completing the clamping action. During this process, the first gear drives the third gear to rotate, which in turn drives the second shaft to rotate. The second shaft drives the first bevel gear below the second shaft to rotate. The first bevel gear drives the second bevel gear to rotate, which in turn drives the third shaft to rotate. The third shaft drives the cam pressure block behind the third shaft to rotate. The cam and cam pressure block behind the second bevel gear drive the blade holder to move upward along the height direction of the rectangular positioning block behind the main frame via the limit groove. The blade holder drives the blade to move upward, completing the shearing action.

[0022] S3: The motor reverses half a turn, driving the first shaft to rotate via the coupling, which in turn drives the first and second gears to rotate. The second gear drives the rack, slider, and moving block to move to the left along the guide rail, causing the rubber pad on the moving block to move away from the rubber pad on the limit block at the upper right end of the main frame, thus completing the moving block's reset action. During this process, the first gear drives the third gear to rotate, which in turn drives the second shaft to rotate. The second shaft then drives the first bevel gear below it to rotate. The first bevel gear drives the second bevel gear to rotate, which in turn drives the third shaft to rotate. The third shaft then drives the cam pressure block behind it to rotate. The cam and cam pressure block behind the second bevel gear drive the tool holder and blade to move downwards along the height direction of the rectangular positioning block at the rear of the main frame via the limit groove, thus completing the tool holder's reset action. Steps S2 and S3 constitute one trimming action.

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

[0024] (1) The total power of the fruit and vegetable branch and leaf pruning end actuator provided by the present invention is provided by a single motor, which provides stable power; the clamping mechanism is driven by gear and rack meshing, with an accurate transmission ratio, ensuring that the clamping force is constant during the clamping of side branches, thereby protecting the side branches from damage. This further reduces the risk of side branches cracking and becoming infected with viruses after pruning.

[0025] (2) In the fruit and vegetable branch and leaf pruning end effector provided by the present invention, the clamping mechanism and the cutting mechanism are coupled through gear transmission, which ensures high accuracy. This design enables the clamping and cutting actions to run synchronously, improving work efficiency.

[0026] (3) In the fruit and vegetable branch and leaf trimming end actuator provided by the present invention, the blade holder moves steadily in the predetermined path through the sliding cooperation between the small cylindrical boss in the thickness direction of the blade holder and the axial groove of the cam, the blade holder shakes little, and can meet the requirements of the fruit and vegetable branch and leaf trimming end actuator to perform multi-angle cutting operations. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is an isometric view of the fruit and vegetable branch and leaf pruning end effector provided in this embodiment;

[0029] Figure 2 This is a schematic diagram of the internal structure of the fruit and vegetable branch and leaf pruning end effector provided in this embodiment;

[0030] Figure 3 This is a schematic diagram of the second bevel gear structure provided in this embodiment;

[0031] Figure 4 This is a schematic diagram of the outer cover plate provided in this embodiment;

[0032] Figure 5 This is a schematic diagram of the tool holder structure provided in this embodiment;

[0033] Figure 6 This is a schematic diagram of the cam pressure block provided in this embodiment;

[0034] The attached diagram lists the components represented by each number as follows:

[0035] 1-Main 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 pressure block, 17-Tool holder, 18-Blade, 19-Motor, 20-Rubber pad, 21-Limiting 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

[0036] The present invention will be further described and illustrated below with reference to the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly, provided that there is no mutual conflict.

[0037] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0038] Unless otherwise specified, the terms "front," "rear," "left," and "right" in this invention refer to... Figure 1 The directions shown are for reference only. However, it should be clarified that this description is only for the convenience of describing the device structure and does not limit the scope of protection of this invention. Any appropriate modifications made by those skilled in the art based on this invention should fall within the scope of protection of this invention.

[0039] As a preferred embodiment of the present invention, this embodiment provides the following: Figure 1 The fruit and vegetable pruning end effector shown is a main frame 1 and a clamping mechanism 23, a cutting mechanism 24, a first transmission mechanism 25, a second transmission mechanism 26 and a third transmission mechanism 27 mounted on the main frame 1.

[0040] The clamping mechanism 23 provided in this embodiment is as follows: Figure 2 As 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 follows: Figure 2 As shown, the shearing mechanism 24 includes a second bevel gear 15, a cam pressure block 16, a knife 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 follows: Figure 2 As 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 is parallel to the second rotating shaft 11 and perpendicular to the bottom surface of the main frame 1; the third rotating shaft 14 is parallel to the bottom surface of the main frame 1 and is located directly below the second rotating shaft 11.

[0043] The second bevel gear 15 and cam block 16 provided in this embodiment are respectively as follows: Figure 3 He Ru Figure 6 As shown, a stepped cam is provided behind the second bevel gear 15. The larger cam in the stepped cam is the same size and position as the cam on the cam pressure block 16 behind it, and the larger cam in the stepped cam has a guide groove along its axial direction; the cam pressure block 16 also has a guide groove along its axial direction. The guide groove on the larger cam in the stepped cam behind the second bevel gear 15 is the same size and position as the guide groove on the cam pressure block 16 along its axial direction. During installation, the direction of the stepped cam behind the second bevel gear 15 is the same as the direction of the cam on the cam pressure block 16.

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

[0045] The tool holder 17 provided in this embodiment is as follows: Figure 5 As shown, small cylindrical bosses are provided on both sides of the tool holder 17 in the thickness direction, and the bottom surface of the small cylindrical bosses is tangent to the bottom surface of the tool holder 17. A limit groove is provided at the middle position in the height direction of the tool holder 17. The tool holder 17 is disposed in the guide groove between the second bevel gear 15 and the cam pressure block 16, and forms a sliding pair with the guide groove.

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

[0047] (1) Before operation, perform an initial reset of the fruit and vegetable branch and leaf pruning end actuator. Start the motor 19, which drives the first 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 shaft 11 to rotate, and the second shaft 11 drives the first bevel gear 13 below the second shaft 11 to rotate; the first bevel gear 13 drives the second bevel gear 15 to rotate, thereby driving the third shaft 14 to rotate, and the third shaft 14 drives the cam pressure block 16 behind the third shaft 14 to rotate.

[0048] When the cam on the second bevel gear 15 and the cam on the cam pressure block 16 rotate to the lower limit position, the blade holder is in the lower limit position, and the motor 19 is turned off. The fruit and vegetable branch trimming end effector has completed its preparation work.

[0049] (2) Fix the end effector on the robotic arm and move the end effector to the trimming target by the robotic arm. The motor 19 rotates half a turn in the forward direction and drives the first 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 comes close to the rubber pad 20 on the limit block 21 at the upper right end of the main frame 1, and completes the clamping action.

[0050] Because rubber pads 20 are attached to the sides of the moving block 8 and the side of the limiting block 21 at the upper right end of the main frame 1, the surface friction is increased. Therefore, the target side branch will not move a large distance during the clamping process.

[0051] During the clamping process, the first gear 4 drives the third gear 12 to rotate, which in turn drives the second rotating shaft 11 to rotate. The second rotating shaft 11 drives the first bevel gear 13 below it to rotate. The first bevel gear 13 drives the second bevel gear 15 to rotate, which in turn drives the third rotating shaft 14 to rotate. The third rotating shaft 14 drives the cam pressure block 16 behind it to rotate. The cam behind the second bevel gear 15 and the cam pressure block 16 drive the tool holder 17 to move upward along the height direction of the rectangular positioning block 22 behind the main frame 1 through the limiting groove. The tool holder 17 drives the blade 18 to move upward, completing the cutting action.

[0052] When the motor rotates half a turn forward, the first gear 4 and the third gear 12 mesh and drive each other, causing the moving block 8 on the slider 7 to approach the limiting block 21, completing the clamping action. At the same time, the third gear 12 drives the blade holder 17 and the blade 18 to complete the cutting action through the second transmission mechanism 26 and the third transmission mechanism 27. Therefore, the clamping and cutting actions of this fruit and vegetable branch and leaf pruning end effector can be completed simultaneously.

[0053] (3) The motor 19 reverses half a turn, driving 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 left along the guide rail 9, so that the rubber pad 20 on the moving block 8 is far away from the rubber pad 20 on the limit block 21 at the upper right end of the main 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 pressure block 16 behind the third rotating shaft 14 to rotate, and the cam and cam pressure block 16 behind the second bevel gear 15 drive the tool holder 17 and the blade 18 to move downward along the height direction of the rectangular positioning block 22 behind the main frame 1 through the limit groove, and the tool holder 17 completes the reset action.

[0054] When the motor reverses half a turn, the first gear 4 and the third gear 12 mesh and drive each other, causing the moving block 8 on the slider 7 to move away from the limiting block 21, completing the clamping and resetting action. At the same time, the third gear 12 drives the blade holder 17 and the blade 18 through the second transmission mechanism 26 and the third transmission mechanism 27 to complete the cutting and resetting action. Therefore, the clamping and resetting actions and the cutting and resetting actions of this fruit and vegetable branch and leaf pruning end effector can be completed simultaneously.

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

[0056] The fruit and vegetable branch pruning end effector provided by this invention overcomes the shortcomings of existing fruit and vegetable lateral branch pruning technologies, improving the working efficiency of agricultural robots. This device offers high pruning reliability, convenient operation, and high versatility, making it suitable for pruning various fruit and vegetable lateral branches. It avoids damage to the cut surfaces of pruning fruit and vegetable lateral branches, reducing the risk of viral infection.

[0057] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all technical solutions obtained through equivalent substitution or transformation fall within the protection scope of the present invention.

Claims

1. A fruit and vegetable shoot and leaf pruning end effector, comprising: The system includes a main 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 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 pressure 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 a coupling (3); the first rotating shaft (2) is coaxially and fixedly connected to the first gear (4); the first gear (4) and the third gear (12) form a meshing transmission; the first rotating shaft (2) is rotatably connected to the main frame (1); the second gear (5) is located and forms a meshing transmission with the rack (6); the rack (6) is fixed on the slider (7), 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); the lower end of the second rotating shaft (11) is provided with a first bevel gear (13); the first bevel gear (13) is fixedly connected to the second rotating shaft (11); The first bevel gear (13) meshes with the second bevel gear (15) for 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 blade holder (17) is arranged between the second bevel gear (15) and the cam pressure block (16). The bottom end and two sides of the blade holder (17) are slidably connected to the second bevel gear (15) and the cam pressure block (16). The upper end of the blade holder (17) is fixedly connected to a blade (18) for cutting branches and leaves. A rectangular guide groove is provided on the blade holder (17). The tool holder (17) has small cylindrical bosses on both sides in the thickness direction, and the bottom surface of the small cylindrical bosses is tangent to the bottom surface of the tool holder (17). A limit groove is opened in the middle position in the height direction of the tool holder (17). The tool holder (17) is set in the guide groove between the second bevel gear (15) and the cam pressure block (16), and forms a sliding pair with the guide groove. The main frame (1) has a branch guide groove and a limiting block (21) on the upper right side, and the right side of the groove of the branch guide groove is tangent to the limiting block (21); a rectangular positioning block (22) is provided below the branch guide groove of the main frame (1) to facilitate the up and down movement of the tool. A stepped cam is provided behind the second bevel gear (15). The larger cam in the stepped cam is the same size and position as the cam on the cam pressure block (16) behind it. A guide groove is provided on the larger cam in the stepped cam along the axial position. A guide groove is provided on the cam pressure block (16) along the axial position. The guide groove on the larger cam in the stepped cam behind the second bevel gear (15) along the axial position is the same size and position as the guide groove on the cam pressure block (16) along the axial position. During installation, the direction of the stepped cam behind the second bevel gear (15) is the same as the direction of the cam on the cam pressure block (16).

2. The fruit and vegetable branch and leaf pruning end effector according to claim 1, characterized in that, The main 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 opened at the rear of the rectangular outer frame, and a rectangular positioning block (22) is provided above the circular hole to slide in contact with the rectangular guide groove on the tool holder (17); a circular hole for connecting to the robotic arm and a wiring hole 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) is parallel to the second rotating shaft (11) and perpendicular to the bottom surface of the main frame (1); the third rotating shaft (14) is parallel to the bottom surface of the main frame (1) and located directly below the second rotating shaft (11).

4. The fruit and vegetable branch and leaf pruning end effector according to claim 1, characterized in that, Bolt holes are provided at the front ends of both sides of the main frame (1), and bolt holes are also provided at the same positions of the outer cover plate (10); the main frame (1) and the outer cover plate (10) are fixedly connected by bolts.

5. The fruit and vegetable branch and leaf pruning end effector according to claim 1, characterized in that, Bolt holes are provided on the top of the outer cover plate (10), and the guide rail (9) is fixedly connected to the outer cover plate (10) by bolts; a motor interface slot is provided on the bottom of the outer cover plate (10).

6. The fruit and vegetable branch and leaf pruning end effector according to claim 1, characterized in that, The motor (19) is fixed between the bottom surfaces of the middle plane of the main frame (1) by bolts.

7. A harvesting method using the fruit and vegetable branch and leaf pruning end effector according to any one of claims 1 to 6, characterized in that, The steps are as follows: S1: Start the motor (19), drive the first 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 shaft (11) to rotate, the second shaft (11) drives the first bevel gear (13) below the second shaft (11) to rotate; the first bevel gear (13) drives the second bevel gear (15) to rotate, thereby driving the third shaft (14) to rotate, the third shaft (14) drives the cam pressure block (16) behind the third shaft (14) to rotate, when the cam on the second bevel gear (15) and the cam on the cam pressure block (16) rotate to the lower limit position, the tool holder is in the lower limit position, and the motor (19) is turned off; the preparation work is completed; S2: Fix the end effector to the robotic arm, and move the end effector to the trimming target location via the robotic arm. The motor (19) rotates half a turn forward, driving the first shaft (2) to rotate via the coupling (3), thereby driving the first gear (4) and the second gear (5) to rotate. The second gear (5) drives the rack (6), slider (7), and moving block (8) to move to the right along the guide rail (9), so that the rubber pad (20) on the moving block (8) comes close to the rubber pad (20) on the limit block (21) at the upper right end of the main frame (1), completing the clamping action. During this process, the first gear (4) drives the third gear (12) to rotate, from The second rotating shaft (11) is driven 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 pressure block (16) behind the third rotating shaft (14) to rotate. The cam and cam pressure block (16) behind the second bevel gear (15) drive the knife holder (17) to move upward along the height direction of the rectangular positioning block (22) behind the main frame (1) through the limiting groove. The knife holder (17) drives the blade (18) to move upward, completing the cutting action. S3: The motor (19) reverses half a turn, driving the first 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), slider (7) and moving block (8) to move to the left 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 limit block (21) at the upper right end of the main 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 shaft (11) to rotate, and the second shaft (1) 1) Drive 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 pressure block (16) behind the third rotating shaft (14) to rotate, the cam and cam pressure block (16) behind the second bevel gear (15) drive the tool holder (17) and the blade (18) to move downward along the height direction of the rectangular positioning block (22) behind the main frame (1) through the limiting groove, and the tool holder (17) completes the reset action; steps S2 and S3 are a trimming action.

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