Harvesting integrated end effector for hard-shell fruits

Abstract

According to the harvesting integrated end effector for the hard-shell fruits, the fruits can be grabbed, screwed and collected, the structure is exquisite, the harvesting efficiency is high, a rotating inner barrel is coaxially and rotationally arranged on a base outer barrel, and the front end of the rotating inner barrel is connected with a movable ring frame through threads; the motor drives the rotating inner cylinder to rotate through a transmission mechanism positioned at the periphery of the rotating inner cylinder; the friction ring is slidably arranged in a friction groove in the base outer cylinder, the fingers are located on the periphery of the front portion of the rotating inner cylinder, the inner side end, close to the axis of the rotating inner cylinder, of the rear end of each finger in the radial direction and the outer side end, away from the axis of the rotating inner cylinder, of the rear end of the finger are hinged to the movable ring frame and the front end of the connecting rod correspondingly, and the rear end of the connecting rod is hinged to the friction ring. Through the barrel-shaped structure screwing mechanism driven by the single motor, the functions of continuous picking and collecting can be achieved, the fruit collecting link is reduced, and the harvesting efficiency is high.

Description

Technical Field

[0001] The present invention belongs to the field of harvesting technology, and in particular relates to a harvesting-integrated end effector for hard-shell fruits. Background Art

[0002] Fruit picking requires a significant amount of labor and remains costly. With advances in robotics and artificial intelligence, harvesting robots have become an alternative to manual labor. These robots mimic the human method of picking, first picking the fruit and then placing it for collection. This is necessary for fruits with delicate surfaces. However, this method can even require more time to place the fruit after each harvest than it actually takes to harvest. For hard-shelled fruits, such as walnuts and tea-leaf berries, the fruit can be collected post-harvest using pipes or mesh.

[0003] Chinese patent CN117140573A discloses a single-drive two-stage rotary grabbing picking claw, comprising a clamping mechanism, a first-stage screwing mechanism, a second-stage screwing mechanism and a driving mechanism; the clamping mechanism comprises a plurality of clamping claws and a finger seat; the first-stage screwing mechanism comprises a spiral shell; the second-stage screwing mechanism comprises a frame, an adjusting bolt, a friction block, an adjusting spring and an adjusting nut; the driving mechanism comprises a motor, a sleeve 1 and a sleeve 2; the output shaft of the motor is connected to the sleeve 1, and the sleeve 1 is connected to the sleeve 2; the outer surface of the sleeve 2 is covered with a spiral shell, and the end of the sleeve 2 is connected to the finger seat. The finger seat is connected to the spiral shell, and the finger seat and the spiral shell can rotate relative to each other. The finger seat is rotatably connected to the clamping claw, and the end of each clamping claw is provided with a ball head. The surface of the spiral shell facing the end of the clamping claw is provided with multiple arc grooves with the same number as the ball heads. The ball head and the arc groove are slidingly connected to include a frame and a pair of clamping cylinders symmetrically arranged on the frame, and the piston rods of the two clamping cylinders are opposite, and the ends of the piston rods of the clamping cylinders are respectively rotatably connected to the corresponding clamping plates, and the clamping working surface of the clamping plate is an arc structure to cooperate with the clamped tree trunk.

[0004] The above mechanism realizes the grasping and twisting of fruits through a single motor-driven clamping mechanism, a first-level twisting mechanism and a second-level twisting mechanism. It has a simple structure and strong picking ability. However, the gripper is not designed with a matching collection function. The picked fruits still need to be collected by a separate collection mechanism, which limits the picking efficiency. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides an integrated end effector for harvesting hard-shelled fruits, which can grab and twist hard-shelled fruits, and provide a falling path along a rotating inner cylinder for collecting hard-shelled fruits. It integrates the picking and collecting functions of fruits, has a sophisticated structure, high harvesting efficiency, a simple and compact overall structure, a small size, a light weight, and is easy to use and operate, thus solving the above-mentioned problems.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] An integrated end effector for harvesting hard-shelled fruits, comprising a clamping mechanism, a screwing mechanism, and a driving mechanism;

[0008] The clamping mechanism includes multiple fingers; the screwing mechanism includes a rotating inner cylinder 2, a base outer cylinder 1, a movable ring frame 9, a connecting rod, a friction ring 6, an adjusting bolt 15, and an adjusting nut 13; the driving mechanism includes a motor and a transmission mechanism;

[0009] The rotating inner cylinder 2 is coaxial with the base outer cylinder 1 and is rotatably arranged on the base outer cylinder 1. The rotating inner cylinder 2 exceeds the front end periphery of the base outer cylinder 1 and is connected to the movable ring frame 9 through a threaded connection;

[0010] The motor is fixed on the base outer cylinder 1, and drives the rotating inner cylinder 2 to rotate coaxially relative to the base outer cylinder 1 through a transmission mechanism located on the outer periphery of the rotating inner cylinder 2;

[0011] The outer circumference of the base outer cylinder 1 is provided with a friction groove 1-2, and the friction ring 6 is slidably arranged in the friction groove 1-2. The friction ring 6 has buckle ears at two opposite ends in the circumferential direction, and the buckle ears are provided with bolt holes. The adjusting bolt 15 passes through the bolt holes on the two buckle ears and is connected to the adjusting nut 13. The friction force between the friction ring 6 and the friction groove 1-2 can be adjusted by adjusting the bolt 15 and the adjusting nut 13.

[0012] Multiple fingers are located on the outer periphery of the front of the rotating inner cylinder 2. The inner end of the rear end of each finger close to the axis of the rotating inner cylinder 2 in the radial direction and the outer end away from the axis of the rotating inner cylinder 2 are respectively hinged to the movable ring frame 9 and the front end of the connecting rod, and the rear end of the connecting rod is hinged to the friction ring 6.

[0013] The above-mentioned integrated end effector for harvesting hard-shelled fruits has an adjusting spring 14 on the outside of the adjusting bolt 15. The bolt head of the adjusting bolt 15 and the adjusting spring 14 are respectively located at two circumferentially opposite buckle ears, and the adjusting spring 14 is located between the adjusting nut 13 and a buckle ear or between the bolt head and the other buckle ear.

[0014] In the above-mentioned integrated end effector for harvesting hard-shelled fruits, the friction ring 6 includes three sections, and both ends of each section of the friction ring have buckle ears circumferentially opposite to the other two sections.

[0015] The above-mentioned integrated end effector for harvesting hard-shelled fruits has three fingers and three connecting rods. A connecting rod mounting groove is provided in the middle of each friction ring, and the rear end of each connecting rod is hinged to a connecting rod mounting groove provided in the middle of a friction ring.

[0016] The above-mentioned integrated end effector for harvesting hard-shelled fruits has a transmission mechanism including a synchronous belt and a synchronous wheel; the motor output shaft is connected to the synchronous wheel, and the synchronous wheel is engaged with the synchronous teeth on the outer periphery of the rotating inner cylinder 2 through the synchronous belt.

[0017] The above-mentioned integrated end effector for harvesting hard-shelled fruits has synchronous teeth located on the outer periphery of the rear end of the rotating inner cylinder 2 extending from the base outer cylinder 1, and a synchronous belt protective cover is installed on the base outer cylinder 1 to cover the synchronous belt.

[0018] The above-mentioned integrated end effector for harvesting hard-shelled fruits has a finger bracket 11 fixed to the rear end of each finger, a connecting block 8 fixed to the rear end of each finger bracket 11, and the inner and outer ends of the rear end of each connecting block 8 are respectively hinged to the movable ring frame 9 and the front end of a connecting rod.

[0019] The above-mentioned integrated end effector for harvesting hard-shelled fruits, the connecting block 8 is composed of four identical stepped shafts and two identical fixed plates, four stepped bearing holes and two bolt holes are processed on the fixed plates, the two fixed plates are located at both ends of the stepped shafts, the bolts pass through the bolt holes in the two fixed plates respectively, and the bolts are connected with nuts; the front end of the movable ring frame 9 and the front end of the connecting rod are respectively hinged to the stepped shafts on the connecting block 8.

[0020] The above-mentioned integrated end effector for harvesting hard-shelled fruits has a limiting ring 10 fixed at the front end of the rotating inner cylinder 2 in front of the movable ring frame 9.

[0021] The above-mentioned integrated end effector for harvesting hard-shelled fruits uses two bearings to connect the rotating inner cylinder 2 and the base outer cylinder 1. A retaining ring groove 2-2 is processed on the outer periphery of the rotating inner cylinder 2. The two bearings are respectively limited by the shaft shoulders on the base outer cylinder 1 and the rotating inner cylinder 2 and the retaining ring located in the retaining ring groove 2-2.

[0022] In the above-mentioned integrated end effector for harvesting hard-shelled fruits, the inner circumference of the friction ring 6 is an arc-shaped friction plate.

[0023] The beneficial effects achieved by the present invention are:

[0024] The motor in the present invention drives the rotating inner cylinder 2 to rotate relative to the base outer cylinder 1 through a transmission mechanism located on the outer periphery of the rotating inner cylinder 2. The rotation of the rotating inner cylinder 2 can drive the movable ring frame 9 threadedly engaged with the rotating inner cylinder 2 to move along the axial direction or rotate around the axis. However, when the fingers have not yet grasped the fruit, the rotational torque exerted on the mobile ring frame 9 by the rotating inner cylinder 2 is less than the static friction torque generated between the friction ring 6 and the friction groove 1-2 of the base outer cylinder by the whole composed of the mobile ring frame 9, the connecting rod and the friction ring 6. At this time, the friction ring 6 remains stationary relative to the friction groove 1-2, and the mobile ring frame 9 can only move backward along the axis of the rotating inner cylinder 2. Under the action of the mobile ring frame 9 and the connecting rod, the front end of the finger swings along the radial direction toward the axis of the rotating inner cylinder 2 on the inner side to achieve the closure of the finger. When the finger grasps the fruit, the motor is still rotating, and the finger cannot continue to close. At this time, the rotational torque of the mobile ring frame 9 and the rotating inner cylinder 2 gradually increases. When the torque exerted on the rotating inner cylinder 2 is greater than the friction torque between the friction ring 6 and the friction groove 1-2, the rotating inner cylinder 2, the mobile ring frame 9, the connecting rod, the friction ring 6, the finger, and the fruit are relatively fixed and continue to rotate with the rotating inner cylinder 2, thereby driving the fruit to rotate, realizing the twisting action, and separating the fruit from the fruit stem.

[0025] When picking the next fruit, the end effector is adjusted so that the front end of the finger faces upward, and the motor is reversed. The rotational torque applied to the rotating inner cylinder 2 by the moving ring frame 9 is less than the static friction torque generated between the friction ring 6 and the friction groove 1-2 of the base outer cylinder by the entirety of the moving ring frame 9, the connecting rod, and the friction ring 6. At this time, the friction ring 6 remains stationary relative to the friction groove 1-2, and the moving ring frame 9 can only move forward along the axis of the rotating inner cylinder 2. Under the action of the moving ring frame 9 and the connecting rod, the front end of the finger swings outward in the radial direction away from the axis of the rotating inner cylinder 2, and the finger opens, releasing the fruit. The fallen fruit falls through the through hole inside the rotating inner cylinder 2 and is collected, thus achieving integrated fruit picking and collection. Therefore, the end effector designed in the present invention is driven by a single motor, integrates the fruit picking and collection functions, has a compact structure, and high harvesting efficiency.

[0026] The present invention changes the distance between the circumferentially opposite buckle ears of the friction ring 6 by adjusting the bolt 15 and the adjusting nut 13, thereby adjusting the static friction force between the friction ring 6 and the friction groove 1-2, thereby indirectly adjusting the degree of grip (gripping force) of the fingers on the fruit.

[0027] The present invention can also control the maximum opening of the fingers by adjusting the axial position of the limit ring 10 on the rotating inner cylinder 2. The present invention can be used for harvesting hard-shelled fruits, with high harvesting efficiency and a high degree of automation; and the fruit can be collected quickly after harvest, saving additional fruit collection time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1This is a schematic diagram of the structure of the integrated harvesting end effector in the implementation of the present invention. Figure 1 ;

[0029] Figure 2 This is a schematic diagram of the structure of the integrated harvesting end effector in the implementation of the present invention. Figure 2 (Remove the timing belt protective cover, etc.);

[0030] Figure 3 A side view of the integrated harvesting end effector structure in the embodiment of the present invention;

[0031] Figure 4 This is a front view of the structure of the integrated harvesting end effector in the implementation of the present invention;

[0032] Figure 5 It is a schematic diagram of the rotating inner cylinder structure;

[0033] Figure 6 Schematic diagram of the base outer cylinder structure;

[0034] Figure 7 It is a three-dimensional diagram of the connecting block;

[0035] Figure 8 It is a structural diagram of the integrated harvesting end effector in the implementation of the present invention.

[0036] Description of reference numerals:

[0037] 1—base outer cylinder; 1-1—mounting hole; 1-2—friction groove; 1-3—protection cover mounting hole; 2—rotating inner cylinder; 2-1—rotating inner cylinder threaded end; 2-2—circlip groove; 2-3—synchronizing gear; 3—motor; 4—synchronizing wheel; 5—synchronizing belt; 6—friction ring; 7—connecting rod; 8—connecting block; 8-1—stepped shaft; 8-2—fixed plate; 9—movable ring frame; 10—limiting ring; 11—finger bracket; 12—finger; 13—adjusting nut; 14—adjusting spring; 15—adjusting bolt; 16—circlip; 17—bearing; 18—synchronizing belt protection cover; 19—circlip. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0039] An integrated end effector for harvesting hard-shelled fruits, comprising a clamping mechanism, a screwing mechanism, and a driving mechanism;

[0040] The clamping mechanism includes a plurality of fingers and a finger bracket 11; the screwing mechanism includes a rotating inner cylinder 2, a base outer cylinder 1, a movable ring frame 9, a limit ring 10, a connecting block 8, a connecting rod, a friction ring 6, an adjusting bolt 15, an adjusting spring 14, and an adjusting nut 13; the driving mechanism includes a motor 3, a synchronous wheel 4, a synchronous belt 5, and a synchronous belt protective cover 18;

[0041] The motor 3 is connected to the base outer cylinder 1 and fixed to the base outer cylinder 1. The motor output shaft is connected to the synchronous wheel 4, which is connected to the toothed end of the rotating inner cylinder 2 via a synchronous belt 5. The synchronous belt protective cover 18 is installed on the base outer cylinder 1. The rotating inner cylinder 2 is coaxially connected to the base outer cylinder 1 and can rotate relative to the axis of the base outer cylinder 1.

[0042] The outer wall of the base outer cylinder 1 is provided with a circle of circular friction grooves 1-2, within which the friction ring 6 is mounted. The friction ring 6 has buckle ears on both sides, each with a bolt hole. An adjusting bolt 15 passes through the bolt holes on the buckle ears of two adjacent friction rings 6. The adjusting bolt 15 is threadedly connected to an adjusting nut 13. An adjusting spring 14 is sheathed around the adjusting bolt 15. The bolt head of the adjusting bolt 15 and the adjusting spring 14 are respectively located at the buckle ears of two adjacent friction rings 6, with the adjusting spring 14 located between one buckle ear and the adjusting nut 13. A connecting rod mounting groove is provided in the middle of the friction ring 6, with circular holes on both sides. The connecting rod 7 has through holes at both ends. The rear end of the connecting rod 7 is mounted in the connecting rod mounting groove of the friction ring 6. The bolt shank of a half-thread bolt passes through one side of the connecting rod mounting groove, the circular hole at the rear end of the connecting rod, and the other side of the connecting rod mounting groove, in sequence. The half-thread bolt is connected to a nut.

[0043] The front end of the connecting rod 7 is connected to the connecting block 8. The connecting block 8 and the connecting rod can rotate relative to each other. A finger bracket 11 is fixed on the connecting block 8, and a finger 12 is installed on the finger bracket 11.

[0044] Furthermore, the connecting block 8 is composed of four identical stepped shafts 8-1 and two identical fixed plates 8-2. Four stepped bearing holes and two bolt holes are processed on the fixed plates 8-2. The two fixed plates are located at both ends of the stepped shaft 8-1. The bolts pass through the bolt holes in the two fixed plates respectively, and the bolts are connected with nuts.

[0045] Furthermore, the base outer cylinder 1 is provided with a protective cover mounting hole 1 - 3 , and the synchronous belt protective cover 18 is connected to the base outer cylinder 1 by bolts and nuts passing through the protective cover mounting hole 1 - 3 .

[0046] Furthermore, the outer wall of the front end of the rotating inner cylinder 2 is processed with threads, and the inner wall of the movable ring frame 9 is processed with the same threads, and the movable ring frame 9 is connected to the rotating inner cylinder 2 through threads.

[0047] Furthermore, a limit ring 10 is installed at the threaded top of the rotating inner cylinder 2.

[0048] Furthermore, the housing of the motor is fixed to the motor bracket of the base outer cylinder 1 by screws.

[0049] Furthermore, the synchronous wheel 4 cooperates with the motor output shaft through a flat key, and the synchronous wheel 4 is tightly connected to the motor output shaft through a set screw.

[0050] Furthermore, two bearings 17 are used to connect the rotating inner cylinder 2 and the base outer cylinder 1. A retaining ring groove 2-2 is processed on the outer wall of the rotating inner cylinder 2. The two bearings are respectively limited by the shaft shoulders on the base outer cylinder 1 and the rotating inner cylinder 2 and the retaining ring 19 located in the retaining ring groove 2-2.

[0051] Furthermore, the inner side of the friction ring 6 is an arc-shaped friction plate, and the friction ring 6 can only slide in the friction groove 1-2 of the base sleeve.

[0052] Furthermore, there are three of each of the friction ring 6 , the adjusting bolt 15 , the adjusting nut 13 , the adjusting spring 14 , the connecting rod 7 , the connecting block 8 , the finger bracket 11 and the finger 12 .

[0053] Furthermore, the finger 12 is made of a flexible material, and the finger 12 is bonded to the finger bracket 11 .

[0054] Furthermore, four mounting holes 1 - 1 are provided on the base outer cylinder 1 .

[0055] The motor of the present invention drives the rotating inner cylinder 2 to rotate relative to the base outer cylinder 1 through the synchronous wheel and the synchronous belt in sequence. The rotation of the rotating inner cylinder 2 can drive the movable ring frame 9 on the thread of the rotating inner cylinder 2 to move or rotate along the axial direction. However, when the finger has not yet grasped the fruit, the rotational torque of the rotating inner cylinder 2 applied to the movable ring frame 9 is less than the static friction torque generated between the friction ring 6 and the friction groove 1-2 of the base outer cylinder 1 applied to the entire body composed of the movable ring frame 9, the connecting block 8, the connecting rod and the friction ring 6. At this time, the movable ring frame 9 will only move along the axis of the rotating inner cylinder 2 to achieve the closure of the finger. When the finger grasps the fruit, the motor is still rotating, and the finger cannot continue to close. When the rotating inner cylinder 2, movable ring frame 9, connecting block 8, connecting rod, friction ring 6, finger support 11, finger, and fruit are relatively fixed. When the torque applied to the rotating inner cylinder 2 exceeds the friction between the friction ring 6 and the friction grooves 1-2 of the base outer cylinder 1, the rotating inner cylinder 2 will continue to rotate, thereby driving the fruit to rotate, achieving a twisting action and separating the fruit from the stem. One side of the rotating through-hole can be connected to a collection pipe. When picking the next fruit, the end effector is adjusted so that the finger points upward, and the motor is reversed to release the fruit. The fallen fruit can then be collected through the through-hole inside the rotating inner cylinder 2, achieving integrated fruit picking and collection. Therefore, the end effector designed in the present invention is driven by a single motor, integrating fruit picking and collection functions, with a compact structure and high harvesting efficiency. The present invention can indirectly adjust the finger's grip by adjusting the static friction between the friction ring 6 and the friction grooves 1-2 of the base outer cylinder 1. The present invention can also control the maximum opening of the finger by adjusting the position of the limit ring 10. This technology can be used for harvesting hard-shelled fruits, with strong harvesting efficiency and a high degree of automation; and the fruit can be collected quickly after harvest, saving additional fruit collection time.

[0056] The present invention can realize the functions of continuous picking and collecting through the cylindrical structure screwing mechanism driven by a single motor, reduce the fruit collection links, and improve the harvesting efficiency.

[0057] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A harvesting end effector for hard-shelled fruits, characterized by: It includes a clamping mechanism, a screwing mechanism, and a driving mechanism; The clamping mechanism includes a plurality of fingers; the screwing mechanism includes a rotating inner cylinder (2), a base outer cylinder (1), a movable ring frame (9), a connecting rod, a friction ring (6), an adjusting bolt (15), and an adjusting nut (13); the driving mechanism includes a motor and a transmission mechanism; The rotating inner cylinder (2) is coaxial with the base outer cylinder (1) and is rotatably arranged on the base outer cylinder (1). The rotating inner cylinder (2) exceeds the front end periphery of the base outer cylinder (1) and is connected to the movable ring frame (9) through a threaded connection. The motor is fixed on the base outer cylinder (1), and the motor drives the rotating inner cylinder (2) to rotate coaxially relative to the base outer cylinder (1) through a transmission mechanism located on the outer periphery of the rotating inner cylinder (2); A friction groove (1-2) is provided on the outer circumference of the base outer cylinder (1), and the friction ring (6) is slidably arranged in the friction groove (1-2). The friction ring (6) has buckle ears at two opposite ends in the circumferential direction, and the buckle ears are provided with bolt holes. An adjusting bolt (15) passes through the bolt holes on the two buckle ears and is connected to an adjusting nut (13). The friction force between the friction ring (6) and the friction groove (1-2) can be adjusted by adjusting the bolt (15) and the adjusting nut (13); A plurality of fingers are located on the outer periphery of the front portion of the rotating inner cylinder (2), and the inner end of the rear end of each finger close to the axis of the rotating inner cylinder (2) and the outer end away from the axis of the rotating inner cylinder (2) in the radial direction are respectively hinged to the movable ring frame (9) and the front end of the connecting rod, and the rear end of the connecting rod is hinged to the friction ring (6).

2. The integrated end effector for harvesting hard-shelled fruits according to claim 1, characterized in that: The adjusting bolt (15) is sheathed with an adjusting spring (14). The bolt head of the adjusting bolt (15) and the adjusting spring (14) are respectively located at two circumferentially opposite buckle ears. The adjusting spring (14) is located between the adjusting nut (13) and one buckle ear or between the bolt head and the other buckle ear.

3. The integrated end effector for harvesting hard-shelled fruits according to claim 1, characterized in that: The friction ring (6) comprises three sections, and both ends of each section of the friction ring are provided with buckle ears circumferentially opposite to the other two sections.

4. The integrated end effector for harvesting hard-shelled fruits according to claim 3, characterized in that: There are three fingers and three connecting rods. A connecting rod mounting groove is provided in the middle of each friction ring. The rear end of each connecting rod is hinged to a connecting rod mounting groove provided in the middle of a friction ring.

5. The integrated end effector for harvesting hard-shelled fruits according to claim 1, characterized in that: The transmission mechanism includes a synchronous belt and a synchronous wheel; the motor output shaft is connected to the synchronous wheel, and the synchronous wheel is engaged with the synchronous teeth on the outer periphery of the rotating inner cylinder (2) through the synchronous belt.

6. The integrated end effector for harvesting hard-shelled fruits according to claim 1, characterized in that: A finger bracket (11) is fixed to the rear end of each finger, a connecting block (8) is fixed to the rear end of each finger bracket (11), and the inner and outer ends of the rear end of each connecting block (8) are hinged to the movable ring frame (9) and the front end of a connecting rod respectively.

7. The integrated end effector for harvesting hard-shelled fruits according to claim 6, characterized in that: The connecting block (8) is composed of four identical stepped shafts and two identical fixed plates, four stepped bearing holes and two bolt holes are processed on the fixed plates, the two fixed plates are located at both ends of the stepped shafts, the bolts pass through the bolt holes in the two fixed plates respectively, and the bolts are connected with nuts; the front end of the movable ring frame (9) and the front end of the connecting rod are respectively hinged to the stepped shafts on the connecting block (8).

8. The integrated end effector for harvesting hard-shelled fruits according to claim 1, wherein: A limiting ring (10) is fixed to the front end of the rotating inner cylinder (2) in front of the movable ring frame (9).

9. The integrated end effector for harvesting hard-shelled fruits according to claim 1, characterized in that: The rotating inner cylinder (2) and the base outer cylinder (1) are connected by two bearings. A retaining ring groove (2-2) is machined on the outer periphery of the rotating inner cylinder (2). The two bearings are respectively limited by shaft shoulders on the base outer cylinder (1), the rotating inner cylinder (2), and the retaining ring located in the retaining ring groove (2-2).

10. The integrated end effector for harvesting hard-shelled fruits according to claim 1, characterized in that: The inner circumference of the friction ring (6) is an arc-shaped friction plate.

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