Special multifunctional end effector for agricultural robot for fruit bunching, picking and threshing facilities
By designing a multi-functional end effector with a compact structure and regular contour, the fruit stems are self-locking and cutting by using linear drive parts and resettable gates, the problems of high labor costs and poor results in traditional picking are solved, and efficient fruit picking and leaf cutting functions are achieved.
Patent Information
- Application Number
- CN202510761806.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-09
- Publication Date
- 2025-08-01
AI Technical Summary
Traditional artificial fruit picking and existing end effectors are difficult to efficiently handle the crisscrossing and overlapping branches, resulting in high labor costs and poor picking results.
A multifunctional end effector with a compact structure and regular contour is designed, including a base, a fruit stalk accommodating concave, a fruit stalk stop and a cutting assembly. The cutting blade is driven to cut the fruit stalk in the picking direction by using a linear drive member, and the self-locking and cutting of the fruit stalk is achieved through a resettable gate piece and a convenient fruit stalk lock sleeve on the slope.
It achieves efficient and convenient fruit picking effect, and can remove obstructed leaves, reduce labor costs and improve picking efficiency.
Smart Images
Figure CN120391197A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the field of end effectors, and particularly relates to a multi-functional end effector dedicated to a facility agricultural robot for string fruit picking and leaf beating. Background Art
[0002] In agricultural planting, "string fruit" refers to a situation where multiple fruits are hanging on a single branch, such as the way of string tomatoes. This method has a high yield, but the nutrient supply is uneven, and the fruit sizes are different. Many fruits we commonly use grow in the form of string fruit. Therefore, for the picking of these fruits, it is to disconnect the connecting fruit stalks of the string fruit and the corresponding branches to achieve the picking of the string fruit.
[0003] For the traditional manual picking of string fruit, due to the criss-crossing and overlapping of branches, a huge amount of manpower is required, and it is difficult to reduce the labor cost. The traditional end effector shortens the fruit stalk through a scissor structure. However, similarly, the large and irregular scissor contour is also difficult to achieve the expected string fruit picking effect among the criss-crossing and overlapping branches. Summary of the Invention
[0004] Aiming at the deficiencies of the prior art, the present invention provides a multi-functional end effector dedicated to a facility agricultural robot for string fruit picking and leaf beating, which is small in structure and has a relatively regular contour, and can conveniently achieve the predetermined string fruit picking effect.
[0005] To achieve the above object, the present invention provides the following technical solutions:
[0006] A multi-functional end effector dedicated to a facility agricultural robot for string fruit picking and leaf beating, which picks string fruit from branches by disconnecting the fruit stalks. It is characterized in that it includes: a base, taking the length extension direction of the base as the picking direction, based on the picking direction, the base forms a relative picking end and a driving end, a fruit stalk receiving recess is formed at the picking end, and the fruit stalk receiving recess is recessed along the picking direction, a fruit stalk stopper is movably arranged at the opening of the fruit stalk receiving recess for relatively closing or opening the fruit stalk receiving recess to the outside, a cutting assembly includes a linear driving member and a cutting blade arranged at the output end of the linear driving member, the linear driving member is arranged at the driving end, and the linear driving member is used to drive the cutting blade to move along the picking direction towards the fruit stalk receiving recess. Wherein, when the fruit stalk stopper closes the fruit stalk passing through the fruit stalk receiving recess in the fruit stalk receiving recess, and the cutting blade passes through the fruit stalk receiving recess along the picking direction, the cutting blade cuts the fruit stalk, so that the branches and the string fruit located on the upper and lower sides of the picking end are disconnected.
[0007] Preferably, the fruit stalk stopper is a pair of resetable brake pads. The pair of resetable brake pads are respectively hinged on both sides of the opening of the fruit stalk receiving notch, and the hinge axis is perpendicular to the picking direction. The hinge point divides the resetable brake pad into a continuous closed part and a reset part. The reset part is rotatably reset through a reset tension spring. The ends of the pair of closed parts abut against each other to normally close the fruit stalk receiving notch. The closed part is opened by an external force to open the fruit stalk receiving notch, and returns to the normally closed state through resetable rotation.
[0008] Furthermore, a fruit stalk guiding slope is formed at the picking end, extending towards the inside of the fruit stalk receiving notch and continuous with the inner wall of the fruit stalk receiving notch. The fruit stalk slides along the fruit stalk guiding slope to the closed part, pushing the closed part to rotate and open, so that the fruit stalk enters the inside of the fruit stalk receiving notch. When the fruit stalk no longer pushes the closed part, the closed part rotates and resets to return to the normally closed state.
[0009] Still further, an end bending part is formed at the picking end, bending and extending towards the outside. The surface of the end bending part is the fruit stalk guiding slope.
[0010] Furthermore, the contour line formed by the pair of closed parts closing the fruit stalk receiving notch is used as the closed stop contour. The closed stop contour has a fruit stalk constraint position. When the fruit stalk is located at the fruit stalk constraint position and the cutting blade cuts the fruit stalk along the picking direction, the fruit stalk is positioned within the fruit stalk constraint position and remains stationary.
[0011] Preferably, the base has two guiding chutes that are opposite and parallel to the picking direction. The opposite sides of the cutting blade are respectively formed with guiding sliding fins that cooperate with the guiding chutes. When the cutting blade passes by the fruit stalk stopper, the gap between the cutting blade and the fruit stalk stopper is less than the predetermined cutting gap.
[0012] Furthermore, the base includes a receiving shell part. The receiving shell part is formed with a knife placement dock and a fruit stalk receiving notch that are adjacent and communicate with each other along the picking direction. The knife placement dock is open towards the outside in a direction perpendicular to the picking direction. The cutting blade is located in the knife placement dock. The receiving shell part is formed by fitting together a pair of upper and lower threaded receiving half shells. The guiding chutes are formed by splicing half groove notches at the edges of the pair of receiving half shells.
[0013] Preferably, the linear driving member is a push-pull electromagnet, having a coil cylinder and a driving iron core inserted into the coil cylinder. The driving iron core extends along the picking direction and both ends protrude out of the coil cylinder. The driving iron core is formed with a blade coupling end close to the fruit stalk receiving notch and an elastic reset end far from the fruit stalk receiving notch. The cutting blade is threadedly arranged on the blade coupling end, and the elastic reset end is sleeved with a spring, so that the driving iron core is elastically resetable relative to the coil cylinder.
[0014] Preferably, the base further includes an external connection installation part that is mechanically connected to a predetermined external entity.
[0015] Compared with the prior art, the beneficial effects of the present invention are:
[0016] 1. Because the multifunctional end effector of the agricultural robot for fruit picking and leaf threshing facilities of the present invention includes a base, a fruit stalk accommodating recess, a fruit stalk stopper and a cutting assembly, the base forms a picking end and a driving end relative to each other, the fruit stalk accommodating recess is formed at the picking end, the fruit stalk stopper can be movably arranged at the opening of the fruit stalk accommodating recess, and is used to close or open the fruit stalk accommodating recess relative to the outside, the cutting assembly includes a linear drive member and a cutting blade, the linear drive member is arranged at the driving end, and the linear drive member is used to drive the cutting blade to move toward the fruit stalk accommodating recess along the picking direction. When the fruit stalk stopper seals the fruit stalk passing through the fruit stalk accommodating recess in the fruit stalk accommodating recess, and the cutting blade passes through the fruit stalk accommodating recess along the picking direction, the cutting blade cuts the fruit stalk, thereby disconnecting the branches and fruit bunches located on the upper and lower sides of the picking end respectively. Therefore, the present invention has a compact structure and a relatively regular contour, can conveniently achieve the predetermined fruit bunch picking effect, and can also be used to remove obstructing leaves near the fruit bunch by cutting the leaf stalks, thereby achieving leaf threshing.
[0017] 2. Because the fruit stem stopper of the present invention is a pair of resettable brake pieces, the pair of resettable brake pieces are respectively hinged on both sides of the open mouth of the fruit stem accommodating recess, and the hinge axis is perpendicular to the picking direction. The hinge point divides the resettable brake piece into a continuous closing part and a reset part. The reset part realizes resettable rotation through a reset tension spring. The ends of a pair of closing parts abut to keep the fruit stem accommodating recess normally closed. The closing part is opened by external force to open the fruit stem accommodating recess, and is restored to normal closure through resettable rotation. When in use, it is only necessary to align the open mouth of the fruit stem accommodating recess with the fruit stem of the bunch of fruits to be picked and push the present invention. It is clear that the fruit stalk pushes the outer surface of the closing part, causing the closing part to be driven to rotate, thereby opening the normally closed fruit stalk accommodating recess. The present invention continues to be pushed, and the fruit stalk enters the inside of the fruit stalk accommodating recess. When the fruit stalk no longer pushes the closing part, the reset part is reset by the reset spring, that is, the closing part resumes rotation, and the open mouth of the fruit stalk accommodating recess is normally closed. Therefore, the present invention does not need to add an additional mechanism to control the opening or closing of the fruit stalk accommodating recess, and does not need to perform any operation at the picking end. The fruit stalk accommodating recess can automatically lock the fruit stalk to achieve the expected fruit picking effect.
[0018] 3. Since the picking end of the present invention is formed with a stalk guiding slope that extends towards the inside of the stalk receiving recess and is continuous with the inner wall of the stalk receiving recess, the stalk slides along the stalk guiding slope to the closing part, pushing the closing part to rotate and open, so that the stalk enters the inside of the stalk receiving recess. Therefore, in the present invention, as long as the stalk enters the stalk guiding slope, the subsequent stalk locking sleeve operation can be conveniently completed. Therefore, when preparing to lock the stalk sleeve, it is only necessary to align the stalk guiding slope with the stalk, without strictly aligning the opening of the stalk receiving recess with the stalk. The corresponding range of the stalk guiding slope is significantly larger than the opening of the stalk receiving recess, so that the locking sleeve corresponding to the fruit cluster to be picked can be more conveniently performed.
[0019] 4. Since the picking end of the present invention is formed with an end bending part that bends and extends towards the outside, and the surface of the end bending part is the stalk guiding slope, the present invention expands the corresponding range of the stalk guiding slope through the end bending part.
[0020] 5. Since in the present invention, the contour line of the pair of closing parts closing the stalk receiving recess is used as the closing and blocking contour, the closing and blocking contour has a stalk constraint position. When the stalk is located at the stalk constraint position and the cutting blade cuts the stalk along the picking direction, the stalk is positioned within the stalk constraint position and remains stationary. That is, the closing and blocking contour at the stalk constraint position is concave arc or "V". Therefore, when cutting the stalk of the fruit cluster to be picked in the present invention, the stalk constraint makes the stalk positioned, that is, the stalk will not slide along the closing and blocking contour due to the influence of the cutting force, so that it is more conducive to cutting the stalk.
[0021] 6. Since the base of the present invention has two guiding chutes that are opposite and parallel to the picking direction, and the opposite sides of the cutting blade are respectively formed with guiding wing pieces that cooperate with the guiding chutes. When the cutting blade passes through the stalk stopper, the gap between the cutting blade and the stalk stopper is less than the predetermined cutting gap. Therefore, the guiding chutes of the present invention greatly reduce the vertical offset of the cutting edge of the cutting blade, that is, it can ensure that the vertical gap between the cutting blade and the stalk stopper is less than the predetermined cutting gap, so that it is more conducive to easily cutting the stalk positioned by the stalk constraint position.
[0022] 7. Since the base of the present invention includes a receiving shell part, the receiving shell part is formed with a knife placement dock and a stalk receiving recess that are adjacent and communicate with each other along the picking direction. The knife placement dock is open towards the outside in the vertical direction, the cutting blade is located in the knife placement dock, the receiving shell part is formed by fitting a pair of upper and lower threaded receiving half shells, and the guiding chutes are formed by splicing half groove recesses at the edges of the pair of receiving half shells. Therefore, the cutting blade of the present invention can be conveniently removed from the linear driving member, taken out from the knife placement dock, and a new cutting blade can be replaced. Description of the Drawings
[0023] Figure 1Schematic diagram of the multi-functional end effector dedicated to the cluster fruit picking and leaf pruning facility agricultural robot according to the embodiment of the present invention Figure 1 ;
[0024] Figure 2 Schematic diagram of the multi-functional end effector dedicated to the cluster fruit picking and leaf pruning facility agricultural robot according to the embodiment of the present invention Figure 2 ;
[0025] Figure 3 Longitudinal sectional schematic diagram of the multi-functional end effector dedicated to the cluster fruit picking and leaf pruning facility agricultural robot according to the embodiment of the present invention;
[0026] Figure 4 Cross-sectional schematic diagram of the multi-functional end effector dedicated to the cluster fruit picking and leaf pruning facility agricultural robot according to the embodiment of the present invention;
[0027] Figure 5 Implementation schematic diagram of the multi-functional end effector dedicated to the cluster fruit picking and leaf pruning facility agricultural robot according to the embodiment of the present invention (the end bending part is not shown).
[0028] In the figure: 100, multi-functional end effector dedicated to the cluster fruit picking and leaf pruning facility agricultural robot, D, picking direction, 10, base, 10a, picking end, 10b, driving end, 11, frame housing part, 12, accommodating housing part, 121, knife placement dock, 121a, guiding chute, 122, fruit stalk accommodating notch, 1221, end bending part, 1221a, fruit stalk guiding slope, 13, external installation part, 20, resetable brake piece, 21, closing part, 21a, closing stop contour, 21b, fruit stalk constraint position, 22, reset part, 22a, reset tension spring, 30, cutting assembly, 31, push-pull electromagnet, 311, coil cylinder, 312, driving iron core, 312a, blade coupling end, 312b, elastic reset end, 32, cutting blade, 32a, guiding sliding wing, B, branch, P, fruit stalk, F, cluster fruit. Detailed implementation method
[0029] In order to make the technical means, creative features, achieved purposes and effects realized by the present invention easy to understand, the following embodiments will specifically describe the multi-functional end effector dedicated to the cluster fruit picking and leaf pruning facility agricultural robot of the present invention in conjunction with the accompanying drawings. It should be noted that the description of these implementation manners is used to help understand the present invention, but does not constitute a limitation to the present invention.
[0030] The multi-functional end effector 100 dedicated to the cluster fruit picking and leaf pruning facility agricultural robot in this embodiment picks the cluster fruit by disconnecting the fruit stalk from the branch.
[0031] As Figure 1 and Figure 2As shown, the multi-functional end effector 100 for the special-purpose string fruit picking and leaf removal facility agricultural robot includes a base 10, a fruit stalk stopper, and a cutting assembly 30.
[0032] As Figure 3 and Figure 4 shown, taking the length extension direction of the base 10 as the picking direction D, based on the picking direction D, the base 10 forms opposite picking end 10a and driving end 10b. Specifically, the picking end 10a is close to the fruit stalk to be disconnected, and the driving end 10b is far from the fruit stalk to be disconnected.
[0033] The base 10 includes a frame housing 11, a receiving housing portion 12, and an external mounting portion 13. Specifically, the frame housing 11 and the receiving housing portion 12 are sequentially connected along the picking direction. The frame housing 11 is used to set the cutting assembly 30, and the picking end 10a is the free end of the receiving housing 12, and the driving end 10b is the free end of the frame housing 11.
[0034] The receiving housing portion 12 is formed by fitting a pair of upper and lower thread-matching receiving half-shells (not shown in the drawings).
[0035] The receiving housing portion 12 is formed with a knife placement dock 121 and a fruit stalk receiving notch 122 that are adjacent and communicate with each other along the picking direction D.
[0036] The knife placement dock 121 opens towards the outside in a direction perpendicular to the picking direction D. In this embodiment, the knife placement dock 121 is a hollow in the receiving housing 12 close to the frame housing 11, and the knife placement dock 121 is a rectangular parallelepiped hollow with its long side extending along the picking direction D.
[0037] On both opposite sides of the knife placement dock 121, the solid parts of the receiving housing 12 are provided with guiding chutes 121a. The guiding chutes 121a extend towards the picking end 10a along the picking direction D, and the guiding chutes 121a are formed by fitting semi-groove notches (not shown in the drawings) at the adjacent edges of a pair of receiving half-shells. The two guiding chutes 121a are opposite and parallel to the picking direction D. Specifically, the adjacent edges of a pair of receiving half-shells respectively form symmetrical semi-groove notches, so that when the pair of receiving half-shells form the receiving housing 12, the symmetrical semi-groove notches cooperate to form the guiding chute 121a.
[0038] The fruit stalk receiving notch 122 is formed at the picking end 10a, and the fruit stalk receiving notch is recessed along the picking direction D.
[0039] The picking end 10a is formed with an end bending portion 1221 that bends outward and extends symmetrically. The surface of the end bending portion 1221 is formed with a fruit stalk guiding slope 1221a. The fruit stalk guiding slope 1221a extends towards the inside of the fruit stalk accommodating recess 122 and is continuous with the inner wall of the fruit stalk accommodating recess 122. Specifically, the fruit stalk guiding slope 1221a forms a continuous guiding conical surface relative to the fruit stalk accommodating recess 122. When the fruit stalk enters the clamping range of the fruit stalk guiding slope 1221a in the shape of a guiding conical surface and the fruit stalk and the picking end 10a move towards each other, the fruit stalk can enter the inside of the fruit stalk accommodating recess 122 through the limiting and guiding of the fruit stalk guiding slope 1221a.
[0040] The external mounting portion 13 is mechanically connected to a predetermined external entity.
[0041] The fruit stalk stopper is movably arranged at the opening of the fruit stalk accommodating recess 122 for closing or opening the fruit stalk accommodating recess 122 relative to the outside. Specifically, when the fruit stalk enters the fruit stalk accommodating recess 122, the fruit stalk first passes through the fruit stalk stopper.
[0042] The fruit stalk stopper is a pair of resetable brake pads 20. The pair of resetable brake pads 20 are respectively hinged on both sides of the opening of the fruit stalk accommodating recess 122, and the hinge axis is perpendicular to the picking direction D.
[0043] The hinge point divides the resetable brake pad 20 into a continuous closing portion 21 and a reset portion 22.
[0044] The reset portion 22 realizes resetable rotation through a reset tension spring 22a. Specifically, the reset tension spring 22a extends along the picking direction D. One end of the reset tension spring 22a connected to the reset portion 22 is the end close to the picking end 10a, and the other end is connected to a convex column inside the accommodating housing 12 and is relatively close to the tool placing dock 121.
[0045] The ends of the pair of closing portions 21 abut against each other to normally close the fruit stalk accommodating recess 122. The closing portion 21 is opened by an external force pointing from the outside into the fruit stalk accommodating recess 122 to open the fruit stalk accommodating recess 122, and through the reset rotation of the reset portion 22, it realizes resetable rotation and returns to the normally closed state, that is, the ends of the pair of closing portions 21 abut against each other.
[0046] Taking the contour line where the pair of closing portions 21 close the fruit stalk accommodating recess 122 as the closing and stopping contour 21a, the closing and stopping contour 21a has a fruit stalk restraining position 21b. In this embodiment, the closing and stopping contour 21a is a convex arc facing the fruit stalk guiding slope 1221a, and the fruit stalk restraining position 21b is the arc segment of the convex arc closest to the fruit stalk guiding slope 1221a.
[0047] The cutting assembly 30 includes a linear driving member and a cutting blade 32.
[0048] The linear drive member is a push-pull electromagnet 31 disposed at the drive end 10b and located within the frame housing 11.
[0049] The push-pull electromagnet 31 has a coil cylinder 311 and a drive iron core 312.
[0050] The drive iron core 312 is inserted into the coil cylinder, and the drive iron core 312 extends along the picking direction D and both ends protrude from the coil cylinder 311. The drive iron core 312 is formed with a blade coupling end 312a close to the fruit stalk receiving recess 122 and an elastic reset end 312b away from the fruit stalk receiving recess 122. That is, the blade coupling end 312a is located within the blade dock 121, and the elastic reset end 312b passes through the drive end 10b.
[0051] Specifically, the power supply for the coil cylinder 311 (not shown in the drawings) is provided on the frame housing 11, and the electrical connection between the power supply and the coil cylinder 311 is routed inside the frame housing 11.
[0052] The cutting blade 32 is located within the blade dock 121. The cutting blade 32 is threadedly provided on the blade coupling end 312a. That is, the push-pull electromagnet 31 is used to drive the cutting blade 32 to move along the picking direction D towards the fruit stalk receiving recess 122.
[0053] The elastic reset end 312b is sleeved with a spring. One end of the spring abuts against the outer surface of the frame housing 11, and the other end is constrained by the flange structure of the elastic reset end 312b, so that the drive iron core 312 is elastically resettable relative to the coil cylinder 311 along the picking direction D. That is.
[0054] Guide sliding fins 32a that cooperate with the guide sliding grooves 121a are respectively formed on opposite sides of the cutting blade 32 close to the cutting assembly 30. When the cutting blade 32 moves along the picking direction D through the drive of the push-pull electromagnet 31 and passes by the fruit stalk stop member, the gap between the cutting blade 32 and the fruit stalk stop member is less than a predetermined cutting gap, so that the cutting blade 32 can more easily cut off the fruit stalk.
[0055] When the fruit stalk is located at the fruit stalk constraint position 21b and the cutting blade 32 cuts the fruit stalk along the picking direction D, the fruit stalk is positioned within the fruit stalk constraint position 21b of the fruit stalk constraint position 21b and does not slide relative to the closed stop contour 21a, but remains stationary.
[0056] As Figure 5 shown, the following describes the process of picking clustered fruits of the present invention in conjunction with embodiments:
[0057] T1: An external predetermined entity (or operator) holds the drive end 10b so that the fruit stalk guiding slope 1221a corresponds to the fruit stalk P of the clustered fruits F to be picked, and moves the present invention so that the fruit stalk guiding slope 1221a moves towards the fruit stalk P of the clustered fruits F to be picked.
[0058] T2: When the fruit stalk P slides along the fruit stalk introduction slope surface 1221a to the closed part 21 of the resetable brake piece 20, that is, the fruit stalk P relatively pushes the closed part 21 to rotate and open the fruit stalk accommodation notch 122, so that the fruit stalk P enters the inside of the fruit stalk accommodation notch 122. When the fruit stalk P separates from the resetable brake piece 20, that is, no longer relatively pushes the closed part 21, the closed part 21 rotates in reset, and the resetable brake piece 20 restores the fruit stalk accommodation notch 122 to the normally closed state. At this time, the fruit stalk P passes through the fruit stalk accommodation notch 122, and the corresponding branch B and clustered fruits F are respectively located on the upper and lower sides of the picking end 10a.
[0059] T3: Energize the push-pull electromagnet 31, the cutting blade 32 moves towards the picking end 10a along the picking direction D, and when the cutting blade 32 passes through the fruit stalk accommodation notch 122, the fruit stalk P is pushed by the cutting blade 32 to the closed stop contour line 21a, and the fruit stalk P is continuously pushed by the cutting blade 32 and moves along the closed stop contour line 21a to the fruit stalk constraint position 21b. Since the fruit stalk constraint position 21b is the arc segment of the closed stop contour line 21a closest to the picking end 10a, the fruit stalk P is positioned under the three-sided constraint of the cutting edge of the cutting blade 122 and the continuous closed stop contour line 21a on both sides of the fruit stalk constraint position 21b, so that the cutting blade 122 cuts the positioned fruit stalk P to complete the picking of the clustered fruits. At this time, the elastic reset end 312b of the driving iron core 312 approaches the frame housing 11, compressing the externally sleeved spring.
[0060] T4: De-energize the push-pull electromagnet 31. At this time, the spring sleeved on the elastic reset end 312b of the driving iron core 312 elastically recovers, so that the elastic reset end 312b moves away from the frame housing 11 and returns.
[0061] Moreover, the special multi-functional end effector 100 for the clustered fruit picking and leaf removing facility agricultural robot can not only pick the clustered fruits by disconnecting the fruit stalks, but also remove the leaf stalks on the branches by disconnecting the leaf stalks, that is, realize leaf removing. In this embodiment, when picking the clustered fruits, since the clustered fruits are often blocked and covered by the leaves, resulting in the clustered fruits not being able to conveniently enter the fruit stalk accommodation notch 122 and thus not being able to be picked. Therefore, when the leaves block and cover the clustered fruits, the operator can first remove the leaves blocking the clustered fruits to be picked through the special multi-functional end effector 100 for the clustered fruit picking and leaf removing facility agricultural robot, and then pick the clustered fruits when the relevant leaves do not obstruct the picking of the clustered fruits.
[0062] The above embodiments are the preferred cases of the present invention and are not used to limit the protection scope of the present invention. Various deformations or modifications that can be made by those of ordinary skill in the art without creative labor within the scope of the appended claims still fall within the protection scope of this patent.
Claims
1. A multi-functional end effector dedicated to a greenhouse robot for string fruit picking and leaf stripping, which picks string fruit from branches by disconnecting the fruit stalks, and is characterized in that, Including: A base, with the extending direction of the length of the base taken as the picking direction. Based on this picking direction, the base forms an opposite picking end and a driving end. A fruit stalk receiving recess, formed at the picking end, and the fruit stalk receiving recess is recessed along the picking direction. A fruit stalk stop member, movably arranged at the opening of the fruit stalk receiving recess, for closing or opening the fruit stalk receiving recess relative to the outside. A cutting assembly, including a linear driving member and a cutting blade arranged at the output end of the linear driving member. The linear driving member is arranged at the driving end, and the linear driving member is used to drive the cutting blade to move along the picking direction towards the fruit stalk receiving recess. Wherein, when the fruit stalk stop member closes the fruit stalk passing through the fruit stalk receiving recess inside the fruit stalk receiving recess, and the cutting blade passes through the fruit stalk receiving recess along the picking direction, the cutting blade cuts the fruit stalk, so that the branches and clusters of fruits located on the upper and lower sides of the picking end are disconnected.
2. The special multi-functional end effector for the cluster fruit picking and leaf pruning facility agricultural robot according to claim 1, characterized in that: Among them, The fruit stalk stop member is a pair of resetable brake plates, and the pair of resetable brake plates are respectively hinged on both sides of the opening of the fruit stalk receiving recess, and the hinge axis is perpendicular to the picking direction. The hinge point divides the resetable brake plate into a continuous closing part and a reset part, and the reset part realizes resetable rotation through a reset tension spring. The ends of the pair of closing parts abut against each other to normally close the fruit stalk receiving recess, and the closing part is opened by an external force to open the fruit stalk receiving recess, and returns to the normally closed state through resetable rotation.
3. The special multi-functional end effector for the cluster fruit picking and leaf pruning facility agricultural robot according to claim 2, characterized in that: Among them, The picking end is formed with a fruit stalk guiding slope extending towards the inside of the fruit stalk receiving recess and continuous with the inner wall of the fruit stalk receiving recess. The fruit stalk slides along the fruit stalk guiding slope to the closing part, pushing the closing part to rotate and open, so that the fruit stalk enters the inside of the fruit stalk receiving recess. When the fruit stalk no longer pushes the closing part, the closing part rotates and resets to return to the normally closed state.
4. The special multi-functional end effector for the cluster fruit picking and leaf pruning facility agricultural robot according to claim 3, characterized in that: Among them, The picking end is formed with an end bending part extending and bending towards the outside, and the surface of the end bending part is the fruit stalk guiding slope.
5. The special multi-functional end effector for the cluster fruit picking and leaf pruning facility agricultural robot according to claim 2, characterized in that: Among them, Taking the contour line of the pair of closing parts closing the fruit stalk receiving recess as the closing stop contour, and the closing stop contour has a fruit stalk constraint position. When the fruit stalk is located at the fruit stalk constraint position, and the cutting blade cuts the fruit stalk along the picking direction, the fruit stalk is positioned within the fruit stalk constraint position and remains stationary.
6. The special multi-functional end effector for the cluster fruit picking and leaf pruning facility agricultural robot according to claim 1, characterized in that: Among them, The base has two guiding sliding grooves that are opposite to each other and both parallel to the picking direction. Opposite sides of the cutting blade are respectively formed with guiding sliding fins that cooperate with the guiding sliding grooves. When the cutting blade passes by the fruit stalk stopper, the gap between the cutting blade and the fruit stalk stopper is less than a predetermined cutting gap.
7. The multi-functional end effector for a special string fruit picking and leaf removing facility agricultural robot according to claim 6, wherein: Among them, The base includes a housing portion, and the housing portion is formed with a knife placement dock and the fruit stalk receiving recess that are adjacent to and communicate with each other along the picking direction. The knife placement dock is open towards the outside in a direction perpendicular to the picking direction, and the cutting blade is located within the knife placement dock. The housing portion is formed by fitting together a pair of upper and lower housing half shells that are threadedly engaged with each other, and the guiding sliding grooves are formed by splicing semi-groove recesses at the edges of the pair of housing half shells.
8. The multi-functional end effector for a special string fruit picking and leaf removing facility agricultural robot according to claim 1, wherein: Among them, The linear driving member is a push-pull electromagnet, which has a coil cylinder and a driving iron core inserted into the coil cylinder. The driving iron core extends along the picking direction and both ends thereof protrude out of the coil cylinder. The driving iron core is formed with a blade coupling end close to the fruit stalk receiving recess and an elastic reset end far from the fruit stalk receiving recess. The cutting blade is threadedly provided on the blade coupling end, and the elastic reset end is sleeved with a spring, so that the driving iron core is elastically resettable relative to the coil cylinder.
9. The multi-functional end effector for a special string fruit picking and leaf removing facility agricultural robot according to claim 1, wherein: Among them, The base further includes an external connection mounting portion that is mechanically connected to a predetermined external entity.