Clamping and shearing device and picking robot

Abstract

The embodiment of the invention relates to the technical field of carrying devices, and particularly discloses a clamping and shearing device and a picking robot, the clamping and shearing device comprises a support, a clamping mechanism, a shearing mechanism and a lifting mechanism, the clamping mechanism is arranged on the support, the clamping mechanism is used for clamping fruits, the shearing mechanism is arranged on the support, and the shearing mechanism is used for shearing fruit stems; one end of the lifting mechanism is fixed to the support, the other end of the lifting mechanism is connected to the shearing mechanism, and the lifting mechanism is used for driving the shearing mechanism to ascend and descend relative to the clamping mechanism. Through the mode, the shearing mechanism can ascend and descend relative to the clamping mechanism by additionally arranging the lifting mechanism, so that the distance between the clamping mechanism and the shearing mechanism is adjustable; according to the clamping and shearing device, the relative positions of the clamping and shearing mechanism and the clamping mechanism can be adjusted by the picking robot applying the clamping and shearing device according to the proportional relation between different fruits and fruit stems, and therefore it is ensured that the picking robot can completely pick the fruits, and damage to the fruits is avoided.

Description

Technical Field

[0001] This application relates to the field of handling device technology, and in particular to a clamping and shearing device and a picking robot. Background Technology

[0002] Harvesting robots, as important equipment in modern agriculture for operations such as gripping and handling, mainly consist of a mobile chassis, an arm device, and a gripping and shearing device. The gripping and shearing device includes a gripping mechanism and a shearing mechanism. The gripping mechanism is connected to the arm device through a connector, and the shearing mechanism can cut the fruit stalk, so that the fruit can be picked from the plant and made easier for the gripping mechanism to pick it up.

[0003] In the process of developing this application, the inventors discovered that the spacing between the gripping and shearing mechanisms in current harvesting robots is relatively fixed. However, in actual harvesting, different types of fruits grow in various locations, and the size and relative proportion between the fruit and its stem are random. Even fruits of the same type can have inconsistent stem lengths due to differences in their growing environment. Furthermore, the complexity of the plant's growing environment means that fruits cannot be fully exposed to the naked eye, limiting the area that can be gripped. Therefore, when using a gripping and shearing device with a relatively fixed gripping and shearing mechanism, if the gripping mechanism is facing a fruit with its exposed part furthest from the stem, it can only grip that part. The shearing mechanism, which is fixed relative to the gripping mechanism, will cut into the fruit flesh, resulting in fruit waste. Moreover, when the relative proportion between the fruit and its stem is too large (e.g., large fruit with a short stem, or small fruit with a small stem), the shearing mechanism may fail to cut the stem, affecting the harvesting process. Summary of the Invention

[0004] This application provides a clamping and shearing device and a harvesting robot. The main technical problem it solves is that the spacing between the clamping structure and the shearing mechanism of existing harvesting robots is fixed, which makes it impossible to successfully harvest some fruits and stems with excessively large proportions.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a clamping and cutting device including a support, a clamping mechanism, a cutting mechanism and a lifting mechanism, wherein the clamping mechanism is disposed on the support and is used to clamp the fruit, the cutting mechanism is disposed on the support and is used to cut the fruit stem, and the lifting mechanism has one end fixed to the support and the other end connected to the cutting mechanism, and the lifting mechanism is used to drive the cutting mechanism to move up and down relative to the clamping mechanism.

[0006] Optionally, the support includes a base plate, a top plate, and guide members. A variable-volume movable space is provided between the base plate and the top plate. The clamping mechanism is fixed to the base plate, the shearing mechanism is fixed to the top plate, and the guide members are connected to the base plate and the top plate respectively. The guide members are used to guide the direction of lifting and lowering of the top plate relative to the base plate. At least a portion of the lifting mechanism is housed in the movable space, and the lifting mechanism is used to drive the top plate to move relative to the base plate to adjust the volume of the movable space.

[0007] Optionally, the top plate is provided with a first screw hole, and the bottom plate is provided with a first through hole. The first screw hole and the first through hole are arranged opposite to each other and are both connected to the movable space. The lifting mechanism includes a driving member and a lead screw. The output shaft of the driving member passes through the first through hole and extends into the movable space. One end of the lead screw is fixed to the driving member, and the other end of the lead screw is screwed to the first screw hole and extends out. The driving member is used to drive the lead screw to rotate so that the lead screw drives the top plate to rise and fall relative to the bottom plate.

[0008] Optionally, the lifting mechanism includes a telescopic cylinder, which is fixed to the base plate, with one end connected to the base plate and the other end connected to the top plate. The telescopic cylinder is used to drive the top plate to rise and fall relative to the base plate.

[0009] Optionally, the guide is a guide rod, and a first limiting part is provided at the end of the guide rod away from the base plate. The first limiting part is used to limit the maximum upward position of the top plate relative to the base plate.

[0010] Optionally, the surface of the top plate facing away from the bottom plate is provided with a first receiving groove, and when the top plate moves to the maximum rising position, the first limiting part is received in the first limiting groove.

[0011] Optionally, the guide rod is provided with a second limiting part, and the top plate is located between the first limiting part and the second limiting part. The second limiting part is used to limit the maximum descent position of the top plate relative to the bottom plate.

[0012] Optionally, a second receiving groove is provided on the surface of the top plate near the bottom plate, and when the top plate moves to the maximum lowering position, the second limiting part is received in the second limiting groove.

[0013] Optionally, the clamping and shearing device includes a swing mechanism, which is fixed to the bracket and is used to drive the shearing mechanism to rotate relative to the clamping mechanism.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a harvesting robot, the harvesting robot including a mobile chassis, a robotic arm, a loading frame and the above-mentioned clamping and shearing device, wherein the loading frame and the robotic arm are both mounted on the mobile chassis, and the clamping and shearing device is mounted on the end of the robotic arm.

[0015] The beneficial effects of this application embodiment are as follows: Unlike existing technologies, this application embodiment provides a clamping and shearing device including a support, a clamping mechanism, a shearing mechanism, and a lifting mechanism. The clamping mechanism is disposed on the support and is used to clamp the fruit. The shearing mechanism is disposed on the support and is used to cut the fruit stem. One end of the lifting mechanism is fixed to the support, and the other end is connected to the shearing mechanism. The lifting mechanism is used to drive the shearing mechanism to move up and down relative to the clamping mechanism. Through the above structure, this application embodiment enables the shearing mechanism to move up and down relative to the clamping mechanism by means of the lifting mechanism. This allows a harvesting robot equipped with the clamping and shearing device to adjust the relative positions of the shearing mechanism and the clamping mechanism according to the different proportions between the fruit and the fruit stem, thereby ensuring that the harvesting robot can harvest the fruit completely and avoid damage to the fruit. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is an exploded structural diagram of a clamping and shearing device provided in an embodiment of this application. Figure 2 This is an assembly diagram of one of the clamping and shearing devices provided in the embodiments of this application; Figure 3 This is a cross-sectional schematic diagram of the top plate of a clamping and shearing device provided in an embodiment of this application; Figure 4 This is an exploded structural diagram of another clamping and shearing device provided in an embodiment of this application; Figure 5 This is a cross-sectional schematic diagram of the top plate of another clamping and shearing device provided in an embodiment of this application; Figure 6 This is an exploded structural diagram of another clamping and shearing device provided in the embodiments of this application; Figure 7 This is an exploded structural diagram of a clamping and shearing device provided in an embodiment of this application; Figure 8 yes Figure 7 Enlarged view of part A in the middle; Figure 9 This is a cross-sectional schematic diagram of the top plate of a clamping and shearing device provided in an embodiment of this application; Figure 10 This is an exploded structural diagram of another clamping and shearing device provided in the embodiments of this application; Figure 11 This is an exploded structural diagram of a clamping and shearing device provided in an embodiment of this application; Figure 12 This is an exploded structural diagram of the shearing mechanism of a clamping and shearing device provided in an embodiment of this application.

[0018] 100. Clamping and shearing device; 1. Bracket; 11. Base plate; 111. First through hole; 112. Air guide hole; 12. Top plate; 121. Sliding hole; 122. First receiving groove; 123. Second receiving groove; 124. First screw hole; 125. Third receiving groove; 126. Fourth receiving groove; 12a. Rotating plate; 12a1. Sliding column; 12a2. Limiting platform; 12a3. Tooth; 12b. Base plate; 12b1. Arc groove; 12b11. Limiting groove; 12b2. Limiting baffle; 13. Guide; 131. Guide rod; 1311. First limiting part; 1312. Second limiting part; 132. Telescopic sleeve rod; 1321. First rod body; 1322. Second rod body; 14. Activity space; 2. Clamping mechanism; 21. Clamping drive component; 22. First clamping arm; 23. Second clamping arm; 3. Shearing mechanism; 31. Shearing drive component; 311. First insertion post; 312. Second insertion post; 32. First shearing arm; 321. First slide groove; 33. Second shearing arm; 331. Second slide groove; 4. Lifting mechanism; 41. Driving component; 42. Lead screw; 421. Third limiting part; 422. Fourth limiting part; 43. Telescopic cylinder; 5. Swinging mechanism; 51. Swinging drive component; 52. Swinging disk; 53. Rotation drive component; 54. Rack and pinion. Detailed Implementation

[0019] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] Existing harvesting robots used in agriculture include a mobile chassis, a robotic arm, a loading frame, and a clamping and shearing device. The mobile chassis supports the robotic arm and loading frame. The robotic arm is electrically connected to the mobile chassis and its movement is controlled. The clamping and shearing device is located at the end of the robotic arm furthest from the mobile chassis. The clamping and shearing device is electrically connected to the mobile chassis via the robotic arm, and the mobile chassis controls the clamping and shearing operation of the device. The clamping and shearing device includes a gripping mechanism and a shearing mechanism. The gripping mechanism grips the fruit, and the shearing mechanism cuts the fruit stalk connecting the fruit to the plant, allowing the fruit to be easily harvested. In existing clamping and shearing devices, the distance between the gripping mechanism and the shearing mechanism is fixed. Therefore, the clamping and shearing device... The ratio between the size of the fruit and the stem that can be harvested is fixed. However, in actual agricultural harvesting, the relative ratio between the fruit and the stem is random. There may be cases where the ratio between the fruit and the stem is too large (e.g., the fruit is large and the stem is short). This situation will cause the clamping mechanism and the shearing mechanism in the fixed-distance clamping mechanism to fail to cut the stem, thus affecting the harvesting of the fruit. Although the ratio between the fruit and the stem meets the requirements, there may be cases where the fruit is small in size. When the fruit is clamped by the clamping mechanism, the stem is also within the clamping range of the clamping mechanism, which makes it impossible for the shearing mechanism to cut the stem, resulting in the fruit not being harvested. Furthermore, due to the complexity of the plant's growing environment, some fruits cannot be fully exposed to the naked eye. Part of these fruits can be held by the clamping mechanism, while the other part is covered by the plant's leaves or branches. When the clamping mechanism holds part of such fruits, the other part of the fruit is located between the clamping mechanism and the cutting mechanism, or even within the cutting range of the cutting mechanism. This causes the cutting mechanism to cut part of the fruit during the cutting process, resulting in fruit damage and affecting the efficiency of harvesting and the actual harvesting experience.

[0022] To address the aforementioned problems, this application provides a clamping and shearing device 100. Please refer to [link to relevant documentation]. Figure 1 and Figure 2The clamping and shearing device 100 includes a support 1, a clamping mechanism 2, a shearing mechanism 3, and a lifting mechanism 4. The clamping mechanism 2 is mounted on the support 1 and is used to clamp the fruit. The shearing mechanism 3 is mounted on the support 1 and is used to cut the fruit stem. One end of the lifting mechanism 4 is fixed to the support 1, and the other end of the lifting mechanism 4 is connected to the shearing mechanism 3. The lifting mechanism 4 is used to drive the shearing mechanism 3 to rise and fall relative to the clamping mechanism 2. The support 1 provides support for the clamping mechanism 2, the shearing mechanism 3, and the lifting mechanism 4. The lifting mechanism 4 allows the distance between the shearing mechanism 3 and the clamping mechanism 2 to be adjustable. This allows the harvesting robot equipped with the clamping and shearing device 100 to increase the distance between the shearing mechanism 3 and the clamping mechanism 2 when the fruit is obscured by leaves or branches, so that the shearing mechanism 3 can successfully cut the fruit stem without damaging the fruit. When the fruit is large and the stem is short, the distance between the shearing mechanism 3 and the clamping mechanism 2 can be adjusted to ensure that the shearing mechanism 3 can successfully cut the stem and the fruit can be picked smoothly from the plant.

[0023] Understandably, in some other embodiments, the lifting mechanism 4 can also drive the clamping mechanism 2 to move up and down relative to the cutting mechanism 3. Specifically, one end of the lifting mechanism 4 is fixed to the bracket 1, and the other end of the lifting mechanism 4 is connected to the clamping mechanism 2. The movement of the clamping mechanism 2 is achieved by the movement of the lifting mechanism 4. It should be noted that, since the lifting mechanism 4 drives the clamping mechanism 2 to move in this embodiment, in the actual harvesting process of this embodiment, the cutting mechanism 3 is initially brought into contact with the fruit stem without cutting. Then, the lifting mechanism 4 drives the clamping mechanism 2 to move. When it is adjusted to a position where the fruit can be clamped smoothly, the clamping mechanism 2 clamps the fruit, and then the cutting mechanism 3 cuts the fruit stem to ensure that the fruit can be firmly clamped by the clamping mechanism after the fruit stem is cut, preventing the fruit from falling.

[0024] For the bracket 1 mentioned above, please refer to Figure 1 The support 1 includes a base plate 11, a top plate 12, and a guide 13. A variable-volume movable space 14 is provided between the base plate 11 and the top plate 12. The clamping mechanism 2 is fixed to the base plate 11, and the shearing mechanism 3 is fixed to the top plate 12. The guide 13 is connected to the base plate 11 and the top plate 12 respectively. The guide 13 is used to guide the direction of the top plate 12 relative to the base plate 11 for lifting. At least a portion of the lifting mechanism 4 is housed in the movable space 14 to improve the integration of the clamping and shearing device 100. The lifting mechanism 4 is used to drive the top plate 12 to move relative to the base plate 11 to adjust the volume of the movable space 14. The lifting mechanism 4 drives the top plate 12 to move relative to the base plate 11, thereby driving the shearing mechanism 3 fixed on the top plate 12 to move, thereby realizing the adjustment of the distance between the shearing mechanism 3 and the clamping mechanism 2.

[0025] It is understood that the structure selected for the guide member 13 includes, but is not limited to, a long strip-shaped upright structure, a telescopic and movable split sleeve structure, etc. For example, in this embodiment, the guide member 13 is preferably a long strip-shaped upright structure.

[0026] Specifically, the guide 13 is preferably a guide rod 131. One end of the guide rod 131 is connected to the bottom plate 11, and the top plate 12 is provided with a sliding hole 121. The other end of the guide rod 131 extends out after passing through the sliding hole 121. The end of the guide rod 131 away from the bottom plate 11 is provided with a first limiting part 1311. The first limiting part 1311 is used to limit the maximum upward position of the top plate 12 relative to the bottom plate 11. That is, the position of the first limiting part 1311 is the farthest position between the top plate 12 and the bottom plate 11. This position also represents the farthest position that the shearing mechanism 3 can move away from the clamping mechanism 2 under the drive of the lifting mechanism 4.

[0027] It should be noted that the length of the guide rod 131 is greater than or equal to the farthest distance of the top plate 12 from the bottom plate 11 driven by the lifting mechanism 4, so as to avoid the guide rod 131 from failing to guide the movement direction of the top plate 12 during the movement of the top plate 12.

[0028] In some embodiments, see Figure 3 The top plate 12 has a first receiving groove 122 on the surface away from the bottom plate 11. When the top plate 12 moves to the maximum rising position, the first limiting part 1311 is received in the first receiving groove 122, so that the first receiving groove 122 can effectively limit the first limiting part 1311, preventing the top plate 12 from moving beyond the preset length. When the first limiting part 1311 is received in the first receiving groove 122, the outer surface of the first limiting part 1311 is flush with the surface of the top plate 12 away from the bottom plate 11, so as to improve the aesthetics when the top plate 12 and the first limiting part 1311 are in contact.

[0029] In some embodiments, the clamping and shearing device 100 includes a sensing mechanism, which includes a first sensor housed in a first receiving groove 122. The first sensor is used to detect the distance between the first limiting part 1311 and the first receiving groove 122 and generate a feedback signal. When the first sensor detects that the first limiting part 1311 is completely housed in the first receiving groove 122, the moving chassis controls the lifting mechanism 4 to stop its upward movement according to the generated feedback signal, thereby protecting the top plate 12 and the lifting mechanism 4 and preventing excessive displacement that could damage the top plate 12 and the lifting mechanism 4.

[0030] In some embodiments, see Figure 1The guide rod 131 is provided with a second limiting part 1312. The top plate 12 is located between the first limiting part 1311 and the second limiting part 1312. The second limiting part 1312 is used to limit the maximum downward position of the top plate 12 relative to the bottom plate 11. That is, the position of the second limiting part 1312 is the closest position between the top plate 12 and the bottom plate 11. This position also represents the closest position that the shearing mechanism 3 can move towards the clamping mechanism 2 under the drive of the lifting mechanism 4.

[0031] It should be noted that the position of the second limiting part 1312 needs to maintain a certain distance from the connection position of the guide rod 131 to the base plate 11, so as to constrain the gap between the base plate 11 and the top plate 12, thereby preventing the shearing mechanism 3 and the clamping mechanism 2 from being in contact. The gap between the base plate 11 and the top plate 12 also provides space for at least part of the lifting mechanism 4 to form part of the above-mentioned active space 14.

[0032] Furthermore, in some embodiments, please refer to Figure 3 A second receiving groove 123 is provided on the surface of the top plate 12 near the bottom plate 11. When the top plate 12 moves to the maximum lowering position, the second limiting part 1312 is received in the second receiving groove 123, so that the second receiving groove 123 can effectively limit the second limiting part 1312, preventing the top plate 12 from moving in the direction closer to the bottom plate 11 beyond the preset position. When the second limiting part 1312 is received in the second receiving groove 123, the outer surface of the second limiting part 1312 is flush with the surface of the top plate 12 facing the bottom plate 11, so as to improve the aesthetics when the top plate 12 and the second limiting part 1312 are in contact.

[0033] In some embodiments, the sensing mechanism further includes a second sensor housed in a second receiving groove 123. The second sensor is used to detect the distance between the second limiting part 1312 and the second receiving groove 123 and generate a feedback signal. When the second sensor detects that the second limiting part 1312 is completely housed in the second limiting groove 12b11, the movable chassis controls the lifting mechanism 4 to stop its descent action according to the generated feedback signal, thereby protecting the top plate 12 and the lifting mechanism 4 and preventing excessive displacement that could damage the top plate 12 and the lifting mechanism 4.

[0034] It should be noted that the types of the first and second sensors described above include, but are not limited to, mechanical limit switches, non-contact proximity switches, photoelectric sensors, laser rangefinders, and ultrasonic sensors. For example, in this embodiment, both the first and second sensors are preferably mechanical limit switches.

[0035] Furthermore, the bottom of the first receiving groove 122 is provided with a first sensor groove, and the mechanical limit switch is received in the first sensor groove. A first contact portion extends from the first limiting part 1311. When the first limiting part 1311 is received in the first receiving groove 122, the first contact portion is received in the first sensor groove and abuts against the mechanical limit switch. The bottom of the second receiving groove 123 is provided with a second sensor groove, and the mechanical limit switch is received in the second sensor groove. A second contact portion extends from the second limiting part 1312. When the second limiting part 1312 is received in the second limiting groove 12b11, the second contact portion is received in the second sensor groove and abuts against the mechanical limit switch. In this way, the mis-touch of the mechanical limit switch by external branches and leaves can be avoided, thereby improving the accuracy of the mobile chassis in controlling the movement stroke of the lifting mechanism 4.

[0036] Understandably, the lifting mechanism 4 can be selected from structures including but not limited to: hydraulic lifting mechanism 4, pneumatic lifting mechanism 4, electric lifting mechanism 4, etc.

[0037] In other embodiments, the guide 13 is preferably a telescopic sleeve 132, see [reference needed]. Figure 4 The telescopic sleeve 132 is located in the movable space 14 between the bottom plate 11 and the top plate 12. The telescopic sleeve 132 includes a first rod 1321 and a second rod 1322. The first rod 1321 is slidably connected to the second rod 1322. The end of the first rod 1321 away from the second rod 1322 is connected to the top plate 12. The end of the second rod 1322 away from the first rod 1321 is fixed to the bottom plate 11. When the lifting mechanism 4 drives the top plate 12 to move relative to the bottom plate 11, it causes the first rod 1321 to slide relative to the second rod 1322. The telescopic sleeve 132 provides support for the relative movement of the top plate 12 and the bottom plate 11.

[0038] Specifically, the second rod 1322 is a hollow cylindrical shape and has a sliding cavity. The opening of the sliding cavity is located at the end of the second rod 1322 facing towards the top plate 12, and the first rod 1321 is slidably inserted into the sliding cavity from the opening.

[0039] It should be noted that when the guide 13 is preferably a telescopic sleeve rod 132, the length of the first rod 1321 itself is the minimum distance between the top plate 12 and the bottom plate 11 during the movement process in this application, so as to ensure that the activity space 14 can achieve the most basic storage function.

[0040] Understandably, the lifting mechanism 4 may be selected from structures including but not limited to: electric lifting mechanism 4, pneumatic lifting mechanism 4, or hydraulic lifting mechanism 4, etc.

[0041] In some embodiments, the lifting mechanism 4 of the clamping and shearing device 100 is preferably an electrically operated lifting mechanism 4. For details, please refer to [link to specific examples]. Figure 1 The top plate 12 is provided with a first screw hole 124, and the bottom plate 11 is provided with a first through hole 111. The first screw hole 124 and the first through hole 111 are arranged opposite to each other. Both the first through hole 111 and the first screw hole 124 are connected to the movable space 14. The lifting mechanism 4 includes a driving member 41 and a lead screw 42. The output shaft of the driving member 41 passes through the first through hole 111 and extends into the movable space 14. One end of the lead screw 42 is fixed to the driving member 41, and the other end of the lead screw 42 is screwed to the first screw hole 124 and extends out. The driving member 41 is used to drive the lead screw 42 to rotate so that the lead screw 42 drives the top plate 12 to rise and fall relative to the bottom plate 11. The rotation of the drive member 41 drives the lead screw 42 to rotate, thereby causing the top plate 12, which is screwed to the lead screw 42, to move. During the rotation, the lead screw 42 exerts a force on the top plate 12, forcing the top plate 12 to rotate as well. The guide member 13 in this application can effectively constrain the top plate 12, guiding the direction of movement of the top plate 12 while also limiting the top plate 12 to prevent the top plate 12 from rotating unexpectedly and affecting the lifting mechanism 4's operation of driving the top plate 12 to lift.

[0042] Understandably, the forward and reverse rotation of the drive component 41 enables control over the raising or lowering of the top plate 12. For example, in some embodiments, the forward rotation of the drive component 41 drives the lead screw 42 to rotate, thereby forcing the top plate 12 to rise; the reverse rotation of the drive component 41 drives the lead screw 42 to rotate, thereby forcing the top plate 12 to fall. In other embodiments, the forward rotation of the drive component 41 drives the lead screw 42 to rotate, thereby forcing the top plate 12 to fall; the reverse rotation of the drive component 41 drives the lead screw 42 to rotate, thereby forcing the top plate 12 to rise. The coordination between the forward and reverse rotation of the motor and the movement direction of the top plate 12 can be selected according to actual needs.

[0043] It should be noted that when the lifting mechanism 4 of the clamping and shearing device 100 is preferably the aforementioned driving member 41 and lead screw 42, in some embodiments, limiting structures similar to the aforementioned first limiting part 1311 and second limiting part 1312 can also be integrated onto the lead screw 42. For details, please refer to [link to relevant documentation]. Figure 4 and Figure 5A third limiting part 421 is provided at the end of the lead screw 42 away from the drive member 41. Furthermore, a third receiving groove 125 is provided on the surface of the top plate 12 away from the bottom plate 11. When the top plate 12 moves to the maximum rising position, the third limiting part 421 is received in the third receiving groove 125. A fourth limiting part 422 is provided at the end of the lead screw 42 near the drive member 41. Furthermore, a fourth receiving groove 126 is provided on the surface of the top plate 12 facing the bottom plate 11. When the top plate 12 moves to the maximum falling position, the fourth limiting part 422 is received in the fourth receiving groove 126. The third receiving groove 125 constrains the third limiting part 421, and the fourth receiving groove 126 constrains the fourth limiting part 422.

[0044] It should be noted that a third sensor and a fourth sensor can be installed in both the third limiting groove 12b11 and the fourth limiting groove 12b11. The structure and function of the third sensor and the fourth sensor are similar to those of the first sensor and the second sensor described above. For specific structures and functions, please refer to the above embodiments, which will not be repeated here.

[0045] In other embodiments, please refer to Figure 6 The lifting mechanism 4 is preferably a pneumatic lifting mechanism 4. Specifically, the lifting mechanism 4 includes a telescopic cylinder 43, which is fixed to the base plate 11. One end of the telescopic cylinder 43 is connected to the base plate 11, and the other end of the telescopic cylinder 43 is connected to the top plate 12. The telescopic cylinder 43 is used to drive the top plate 12 to rise and fall relative to the base plate 11.

[0046] It should be noted that, in order to improve the integration of the clamping and shearing device 100 and considering the driving method of the telescopic cylinder 43, the telescopic cylinder 43 is completely housed within the movable space 14, and the variable volume of the movable space 14 is achieved by the telescopic cylinder 43 driving the top plate 12 to move relative to the bottom plate 11.

[0047] In some embodiments, the telescopic cylinder 43 includes a cylinder drive and a telescopic member. The telescopic member is fixed to the output end of the cylinder drive and the cylinder drive is fixed to the base plate 11. The end of the telescopic member away from the cylinder drive is fixed to the top plate 12. The telescopic member can move in extension and retraction following the output end of the cylinder drive, thereby enabling the telescopic cylinder 43 to achieve relative movement between the top plate and the base plate, thereby realizing the lifting and lowering movement of the shearing mechanism 3 and the clamping mechanism 2.

[0048] Understandably, the number of telescopic cylinders 43 is a positive integer greater than or equal to one. When there is only one telescopic cylinder 43, it needs to cooperate with the guide 13 to ensure the stability of the top plate 12 when it moves relative to the bottom plate 11. When there are two telescopic cylinders 43, the guide 13 is no longer needed. Instead, the two telescopic cylinders 43 can drive the top plate 12 to move while also guiding the direction of the top plate 12's movement.

[0049] Furthermore, the base plate 11 is provided with an air guide hole 112, which is connected to the active space 14. An external air source can be connected to the telescopic cylinder 43 through the air guide hole 112 to reduce the impact of collisions or entanglements on the air pipes and other structures used to connect the telescopic cylinder 43 and the external air source during the lifting and lowering operation of the clamping and shearing device 100.

[0050] In actual harvesting, different types of fruits grow in various directions, and the angle between the fruit and its pedicel varies due to the location of the fruit and its own weight. Some fruits form a 90° right angle, while others form an acute angle. When the angle between the fruit and the pedicel is a right angle, the relatively fixed clamping mechanism 2 and shearing mechanism 3 can cut the pedicel normally. However, when the angle between the fruit and the pedicel is acute, the relatively fixed shearing mechanism 3 may fail to cut the pedicel, thus preventing the fruit from being harvested and affecting the harvesting efficiency of agricultural production.

[0051] To resolve the above technical issues, please refer to [link / reference]. Figure 7 This application provides a clamping and shearing device 100 including a swing mechanism 5, which is fixed to a bracket 1 and is used to drive the shearing mechanism 3 to rotate relative to the clamping mechanism 2.

[0052] It should be noted that the swing mechanism 5 drives the shearing mechanism 3 to rotate relative to the clamping mechanism 2 in the following ways: the swing mechanism 5 drives the shearing mechanism 3 to rotate, that is, the clamping mechanism 2 is fixed and the swing mechanism 5 drives the shearing mechanism 3 to rotate; or the swing mechanism 5 can drive the clamping mechanism 2 to rotate, that is, the shearing mechanism 3 is fixed and the swing mechanism 5 drives the clamping mechanism 2 to rotate, thereby realizing the relative rotation between the shearing mechanism 3 and the clamping mechanism 2.

[0053] In this application, it is preferred to use a swing mechanism 5 to drive the shearing mechanism 3 to rotate, thereby achieving relative rotation between the shearing mechanism 3 and the clamping mechanism 2. Specifically, one end of the swing mechanism 5 is fixed to the bracket 1, and the other end of the swing mechanism 5 is connected to the shearing mechanism 3. The swing mechanism 5 drives the shearing mechanism 3 to rotate relative to the clamping mechanism 2, thereby causing the clamping direction of the clamping mechanism 2 to differ from the shearing direction of the shearing mechanism 3, or causing the shearing angle of the shearing mechanism 3 to change.

[0054] It should be noted that the rotation direction of the shearing mechanism 3 driven by the swinging mechanism 5 relative to the clamping mechanism 2 includes, but is not limited to: driving the shearing mechanism 3 to swing in a direction parallel to the top plate 12, driving the shearing mechanism 3 to rotate around the central axis of the shearing mechanism 3, or a combination of the two.

[0055] In some embodiments, see Figure 7 and Figure 8 The swing mechanism 5 is driven by the shearing mechanism 3 to swing in a direction parallel to the top plate 12. Specifically, the top plate 12 includes a rotating plate 12a and a base plate 12b. The bottom plate 11 and the base plate 12b are spaced apart to form a receiving space. This receiving space is used to house a portion of the swing mechanism 5 and / or a portion of the clamping mechanism 2. The clamping mechanism 2 is fixed to the bottom plate 11. The rotating plate 12a is rotatably disposed on the surface of the base plate 12b facing away from the bottom plate 11. The shearing mechanism 3 is fixed to the rotating plate 12a. A sliding column 12a1 is provided on the surface of the base plate 12b facing the base plate 12b. The base plate 12b is provided with an arc-shaped groove 12b1. The sliding column 12a1 is slidably disposed in the arc-shaped groove 12b1. The cooperation between the sliding column 12a1 and the arc-shaped groove 12b1 realizes the guiding function for the rotation of the rotating plate 12a. The swing mechanism 5 is disposed on the base plate 12b and connected to the rotating plate 12a. The swing mechanism 5 is used to drive the rotating plate 12a to rotate. The rotating plate 12a drives the shearing mechanism 3 to rotate relative to the clamping mechanism 2. By driving the rotating plate 12a to rotate relative to the base plate 12b through the swing mechanism 5, the shearing mechanism 3 disposed on the rotating plate 12a can rotate relative to the clamping mechanism 2. This allows the clamping mechanism 2 to clamp the fruit while the shearing mechanism 3 rotates to cut the fruit stem at an acute angle to the fruit, thereby improving the harvesting efficiency of the harvesting robot using this clamping and shearing device 100.

[0056] It should be noted that the containment space and the aforementioned activity space 14 have an overlapping area. That is, when the clamping and shearing device 100 has a lifting function, the space occupied by the containment space is the same space occupied by the activity space 14 when the top plate 12 moves to the maximum lowering position.

[0057] For the swing mechanism 5 mentioned above, please refer to... Figure 7The swing mechanism 5 includes a swing drive 51 and a swing disk 52. The swing drive 51 is connected to the swing disk 52 and fixed to the base plate 12b. The swing disk 52 is connected to the rotating plate 12a. The swing drive 51 is used to drive the swing disk 52 to swing, thereby causing the sliding column 12a1 of the rotating plate 12a to slide in the arc groove 12b1.

[0058] It should be noted that the type of swing mechanism 5 can be selected depending on its position on the substrate 12b. When the swing mechanism 5 is at the center of the substrate 12b, it is a central rotation mechanism. When the swing mechanism 5 is at an off-center position on the substrate 12b, it is an off-center swing mechanism.

[0059] In some embodiments, see Figure 9 The sidewall of the arc-shaped groove 12b1 is provided with a limiting groove 12b11, and the sidewall of the sliding column 12a1 extends to a limiting platform 12a2. The limiting platform 12a2 is received in the limiting groove 12b11 and can slide along the limiting groove 12b11. The limiting platform 12a2 and the limiting groove 12b11 cooperate to prevent the sliding column 12a1 from disengaging from the arc-shaped groove 12b1 along the direction from the base plate 11 to the base plate 12b. Through the cooperation of the limiting platform 12a2 and the limiting groove 12b11, the sliding column 12a1 will not disengage from the arc-shaped groove 12b1 due to external shaking, inversion of the clamping and shearing mechanism, etc. during the sliding process, thus ensuring the stability of the clamping and shearing device 100.

[0060] Understandably, there are two limiting grooves 12b11 and two limiting platforms 12a2. The two limiting grooves 12b11 are located on opposite sidewalls of the arc-shaped groove 12b1, and one limiting platform 12a2 is housed within one limiting groove 12b11. The cooperation of the two limiting platforms 12a2 and the two limiting grooves 12b11 not only limits the sliding column 12a1, but also improves the stability of the sliding column 12a1 during the sliding process due to its symmetrical distribution structure, thus improving the stability of the clamping and shearing device 100 when rotating the shearing mechanism 3.

[0061] It is understandable that the structure of the swing mechanism 5 to realize the relative rotation of the base plate 12b and the rotating plate 12a is not limited to the above-mentioned swing drive 51 and swing disk 52 working together. It can also be driven by a cylinder and the rotating plate 12a in a universal connection.

[0062] For example, in some other embodiments, the swing mechanism 5 includes a drive cylinder fixed to the base plate 12b. The piston rod end of the drive cylinder is provided with a ball joint bearing (or an equivalent universal joint). The surface of the rotating plate 12a facing the base plate 12b is provided with a connecting lug, which is universally rotatably connected to the ball joint bearing. The surface of the rotating plate 12a facing the base plate 12b is provided with a second sliding post and a second arc-shaped guide groove. The second sliding post is slidably disposed in the second arc-shaped groove 12b1. The cooperation between the second sliding post and the second arc-shaped groove 12b1 realizes the guiding effect on the rotation of the rotating plate 12a. Through the above structure, when the drive cylinder drives the piston rod to extend, it can cooperate with the second sliding post to force the rotating plate 12a to rotate relative to the base plate 12b. The second sliding post realizes precise guidance of the rotating plate 12a and can also prevent the rotating plate 12a from detaching from the base plate 12b during rotation.

[0063] In some other embodiments, the swing mechanism 5 preferably drives the shearing mechanism 3 to rotate about the central axis of the shearing mechanism 3. For details, please refer to [link to relevant documentation]. Figure 10 The swing mechanism 5 includes a rotation drive 53 and a rack 54. The rotation drive 53 is mounted on the base plate 12b and connected to the rack 54. The rotation drive 53 drives the rack 54 to slide. The rotating plate 12a is provided with teeth 12a3, which mesh with the rack 54. The rotation drive 53 drives the rack 54 to slide so as to drive the shearing mechanism 3 to rotate through the teeth 12a3. Through the above structure, the rack 54 meshes with the teeth 12a3, so that the rotation drive 53 drives the rack 54 to slide, thereby causing the rotating plate 12a to rotate relative to the base plate 12b. This type of rotation is about the central axis of the shearing mechanism 3, which is different from the above-mentioned method of driving the shearing mechanism 3 to swing in a direction parallel to the top plate 12. The axes around which the two rotation methods are about are perpendicular to each other.

[0064] To facilitate understanding of the differences between the rotary drive 53 and rack 54, and the swing drive 51 and swing disk 52, it is assumed that the plane of the top plate 12 is the reference plane. The rotation axis of the rotating plate 12a is parallel to the reference plane due to the cooperation structure of the rotary drive 53, rack 54, and teeth 12a3. The rotation axis of the rotating plate 12a is perpendicular to the reference plane due to the cooperation of the swing drive 51 and swing disk 52 and the universal connection between the cylinder and the rotating plate 12a.

[0065] Furthermore, in some embodiments, when the swing mechanism 5 includes a rotation drive 53 and a rack 54, at least two elastic members are provided between the rotating plate 12a and the base plate 12b. The two elastic members are symmetrically arranged on both sides of the rotation drive 53, so that when the rotation drive 53 is not driving the rack 54 to slide, the two elastic members can provide elastic support for the rotating plate 12a, allowing the rotating plate 12a to remain parallel to the base plate 12b. Moreover, while the rotation drive 53 and the rack 54 provide support for the rotating plate 12a to keep it relatively parallel to the base plate 12b, the two elastic members can also serve as a buffer protection structure, allowing the rotating plate 12a to absorb external impact loads (such as the accidental fall of fruit or the falling of branches) and convert them into elastic potential energy, protecting the meshing of the rack 54 and the teeth 12a3.

[0066] Furthermore, in some embodiments, the substrate 12b is provided with two limiting baffles 12b2, which are spaced apart to form a constraint space. The rack 54 slides within the constraint space, and the two limiting baffles 12b2 are used to constrain the maximum sliding stroke of the rack 54. By constraining the maximum sliding stroke of the rack 54 through the limiting baffles 12b2, the rotation angle of the rotating plate 12a is constrained. It should be noted that the rotating plate 12a and the substrate 12b are spaced apart, and the gap between the rotating plate 12a and the substrate 12b needs to ensure that the rotating plate 12a will not collide with the substrate 12b when it rotates relative to the rotating plate 12b under the cooperation of the rack 54 and the teeth 12a3, thus preventing the rotation of the rotating plate 12a. The specific gap size needs to be selected after comprehensive consideration based on the actual required rotation angle of the rotating plate 12a and the size of the rotating plate 12a. Examples will not be given here.

[0067] In some embodiments, the method of driving the shearing mechanism 3 to rotate about the central axis of the shearing mechanism 3 can coexist with the method of driving the shearing mechanism 3 to swing in a direction parallel to the top plate 12, thereby enriching the rotation direction and rotation position of the shearing mechanism 3 relative to the clamping mechanism 2.

[0068] For example, in some embodiments, the swing mechanism 5 includes the swing drive 51 and swing disk 52 described above, as well as the rotation drive 53 and rack 54. The swing drive 51 is fixed to the base plate 12b, the swing disk 52 is driven to rotate by the swing drive 51, the rotation plate 12a is fixedly connected to the swing disk 52, the swing drive 51 drives the swing disk 52 to rotate, thereby causing the rotation plate 12a to rotate relative to the base plate 12b, so that the shearing mechanism 3 can swing relative to the clamping mechanism 2 in a direction parallel to the top plate 12. The rotation drive 53 is fixed to the surface of the rotating plate 12a facing away from the base plate 12b, and is connected to the rack 54. The rack 54 is slidably disposed on the surface of the rotating plate 12a facing away from the base plate 12b. The rotation drive 53 drives the rack 54 to slide on the rotating plate 12a. The side wall of the shearing mechanism 3 is provided with meshing teeth, and the rack 54 meshes with the meshing teeth. By driving the rack 54 through the rotation drive 53, the rotation of the shearing structure around its central axis is achieved by the cooperation of the meshing teeth and the rack 54. When the swing drive 51 and the rotation drive 53 work together, the swing of the shearing mechanism 3 in a direction parallel to the top plate 12 and the rotation around the central axis of the shearing mechanism 3 can be achieved simultaneously. By controlling different combinations of the swing angle of the swing drive 51 and the rotation angle of the rotation drive 53, the richness of the motion modes of the shearing structure relative to the clamping mechanism 2 can be improved. Furthermore, in order to ensure the normal operation of the rotation drive 53 and rack 54 driving the shearing structure to rotate around its central axis through the meshing teeth set on the shearing mechanism 3, a rotating seat is provided on the rotating plate 12a. The rotating seat is provided with a rotating through hole. Part of the shearing mechanism 3 extends into the rotating through hole and is rotatably set on the rotating seat. The rotating through hole provides support for the shearing mechanism 3 and also limits the shearing mechanism 3, preventing the shearing mechanism 3 from undergoing unexpected displacement or falling off the rotating seat.

[0069] It is understandable that the simultaneous existence of the driving shearing mechanism 3 rotating around its central axis and the driving shearing mechanism 3 swinging in a direction parallel to the top plate 12 is not limited to the above-mentioned methods. It is also possible to use a motor to directly drive or a cylinder to drive the shearing mechanism 3 to rotate around its central axis, and a motor to drive or a cylinder to drive the rotating plate 12a to swing relative to the base plate 12b in a direction parallel to the rotating plate 12a. The two can be arbitrarily combined, and will not be illustrated in detail here.

[0070] It should be noted that the lifting mechanism 4 and the swing mechanism 5 described above can exist independently of each other. That is, the clamping and shearing device 100 can only be equipped with the lifting mechanism 4 to make the shearing mechanism 3 rise or fall relative to the clamping mechanism 2, or only be equipped with the swing mechanism 5 to make the shearing mechanism 3 rotate relative to the clamping mechanism 2. The lifting mechanism 4 and the swing mechanism 5 described above can also coexist. That is, the clamping and shearing device 100 can be equipped with both the lifting mechanism 4 and the swing mechanism 5. The lifting mechanism 4 enables the top plate 12 to rise and fall relative to the shearing mechanism 3 and relative to the clamping mechanism 2. This causes the shearing mechanism 3 to rise and fall relative to the clamping mechanism 2. Since the swinging mechanism 5 is located on the top plate 12, the lifting mechanism 4 also causes the swinging mechanism 5 to rise or fall with the top plate 12. The swinging mechanism 5 controls the shearing mechanism 3 to rotate relative to the clamping mechanism 2. The swinging mechanism 5 and the lifting structure work together to enable the picking robot with this clamping and shearing device 100 to complete the picking work efficiently and quickly when facing complex and diverse picking angles and picking fruits and stems of special proportions, thus improving the picking efficiency of the picking robot.

[0071] In some embodiments, a stretchable and deformable wall covering is provided between the top plate 12 and the bottom plate 11. The wall covering encloses the space between the top plate 12 and the bottom plate 11, thereby isolating the active space 14 formed between the top plate 12 and the bottom plate 11 from the external environment and preventing external dust, rainwater and other foreign objects from entering the active space 14 and affecting the normal operation of the clamping and shearing device 100.

[0072] Understandable stretchable and deformable wallpaper, the possible structures include but are not limited to: wallpaper made of elastic materials, wallpaper with a roller shutter-like structure, wallpaper with a foldable and compressible structure, etc.

[0073] In some embodiments, multiple lifting mechanisms 4 can be used to make the top plate 12 rotate relative to the bottom plate 11 around the central axis of the shearing mechanism 3. For example, the lifting mechanism 4 includes two telescopic cylinders 43, which are symmetrically arranged in the movable space 14. One end of each telescopic cylinder 43 is fixed to the bottom plate 11, and the other end of each telescopic cylinder 43 is omnidirectionally connected to the top plate 12. When the two telescopic cylinders 43 extend or retract synchronously, the top plate 12 can rise or fall relative to the bottom plate 11. When the two telescopic cylinders 43 extend or retract asynchronously, the top plate 12 can rotate relative to the bottom plate 11 around the central axis of the shearing mechanism 3. For example, if one telescopic cylinder 43 extends while the other telescopic cylinder 43 does not work or the extension speed of the other telescopic cylinder 43 is smaller, the rotation of the top plate 12 relative to the bottom plate 11 can be achieved. The specific control effects and the control of the two telescopic cylinders 43 will not be described in detail here. It should be noted that the telescopic cylinder 43 is not the only option; telescopic motors, hydraulic telescopic structures, etc., can also be used.

[0074] Regarding the clamping mechanism 2 described above, please refer to 11. The clamping mechanism 2 includes a clamping drive 21, a first clamping arm 22, and a second clamping arm 23. One end of the first clamping arm 22 and one end of the second clamping arm 23 are rotatably connected to the clamping drive 21. The other ends of the first clamping arm 22 and the second clamping arm 23 are spaced apart to form an opening, allowing the fruit to be clamped by the first clamping arm 22 and the second clamping arm 23 through the opening. The clamping drive 21 is used to drive the first clamping arm 22 and the second clamping arm 23 to rotate, thereby controlling the opening degree of the opening to accommodate fruits of different shapes.

[0075] Understandably, the first clamping arm 22 and the second clamping arm 23 are detachably mounted on the clamping drive member 21, so that the clamping mechanism 2 can adapt to fruits with large size differences (e.g., apples, cherries, etc.) by selecting the first clamping arm 22 and the second clamping arm 23 of different sizes.

[0076] It should be noted that when the clamping drive 21 drives the first clamping arm 22 and the second clamping arm 23 to rotate, the clamping drive 21 can drive the first clamping arm 22 and the second clamping arm 23 to rotate together, so that the first clamping arm 22 and the second clamping arm 23 can move towards each other or away from each other at the same time; or the first clamping arm 22 and the second clamping arm 23 can be driven separately, for example, two clamping drive 21s can be used to drive the first clamping arm 22 and the second clamping arm 23 respectively, so that the clamping mechanism 2 can control the first clamping arm 22 and the second clamping arm 23 respectively when performing clamping action. When facing irregularly shaped fruits, the integrity of the fruits can be guaranteed and the fruits will not be squeezed or damaged.

[0077] For the shearing mechanism 3 mentioned above, please refer to... Figure 11The shearing mechanism 3 includes a shearing drive 31, a first shearing arm 32 and a second shearing arm 33. The first shearing arm 32 and the second shearing arm 33 are rotatably connected. One end of the first shearing arm 32 and one end of the second shearing arm 33 are both connected to the shearing drive 31. The other end of the first shearing arm 32 and the other end of the second shearing arm 33 are open, so that the fruit stalk can be inserted from the open and cut by the first shearing arm 32 and the second shearing arm 33.

[0078] For further details, please refer to Figure 12 The output end of the shearing drive 31 is provided with a first insertion post 311 and a second insertion post 312. One end of the first shearing arm 32 is provided with a first sliding groove 321, and one end of the second shearing arm 33 is provided with a second sliding groove 331. The first insertion post 311 is slidably inserted into the first sliding groove 321, and the second insertion post 312 is slidably inserted into the second sliding groove 331. With the above structure, when the output end of the shearing drive 31 extends or shortens, it can drive the first shearing arm 32 and the second shearing arm 33 to rotate around the intersection of the first shearing arm 32 and the second shearing arm 33, thereby cutting the fruit stalk that has penetrated into the opening.

[0079] In some embodiments, the clamping and shearing device 100 further includes an identification mechanism disposed on the support. The identification mechanism is used to photograph the external environment to identify the position of the fruit on the plant and generate a feedback signal, as well as to identify the relative position of the fruit stalk and the fruit, thereby facilitating the lifting mechanism 4 to control the shearing mechanism 3 to adjust its height relative to the clamping mechanism 2. Furthermore, the feedback signal generated by the identification mechanism also facilitates the swing mechanism 5 to control the shearing mechanism 3 to rotate relative to the clamping mechanism 2.

[0080] Understandably, the identification mechanism is used to capture the relative positions of the fruit and its stem in the external environment and to determine the distance between them. Therefore, the structure that can be used for the identification mechanism includes, but is not limited to, a depth-sensing camera and a camera, or a camera and a ranging component. For example, in this embodiment, the identification mechanism is a camera and a ranging component. The camera is used to capture images of the fruit and its stem so that the clamping and cutting device can move to the location of the fruit. The ranging component is used to generate corresponding data information so that the lifting mechanism 4 and the swinging mechanism 5 can adjust according to this data information.

[0081] In this application, the clamping and shearing device 100 includes a support 1, a clamping mechanism 2, a shearing mechanism 3, and a lifting mechanism 4. The clamping mechanism 2 is mounted on the support 1 and is used to clamp the fruit. The shearing mechanism 3 is mounted on the support 1 and is used to cut the fruit stem. One end of the lifting mechanism 4 is fixed to the support 1, and the other end of the lifting mechanism 4 is connected to the shearing mechanism 3. The lifting mechanism 4 is used to drive the shearing mechanism 3 to move up and down relative to the clamping mechanism 2. The support 1 provides support for the clamping mechanism 2, the shearing mechanism 3, and the lifting mechanism 4. The lifting mechanism 4 allows the distance between the shearing mechanism 3 and the clamping mechanism 2 to be adjustable. This allows the harvesting robot equipped with the clamping and shearing device 100 to increase the distance between the shearing mechanism 3 and the clamping mechanism 2 when the fruit is obscured by leaves or branches, so that the shearing mechanism 3 can successfully cut the fruit stem without damaging the fruit. When the fruit is large and the fruit stem is short, the distance between the shearing mechanism 3 and the clamping mechanism 2 can be decreased, so that the shearing mechanism 3 can successfully cut the fruit stem and ensure that the fruit can be easily harvested from the plant.

[0082] This application also provides a harvesting robot, which includes a mobile chassis, a robotic arm, a loading frame, and the aforementioned clamping and shearing device 100. The loading frame and robotic arm are both mounted on the mobile chassis, and the clamping and shearing device 100 is mounted at the end of the robotic arm. The mobile chassis includes a moving mechanism and a control mechanism. The control mechanism is electrically connected to the robotic arm, the moving mechanism, and the clamping and shearing device 100. The control mechanism is used to control the moving speed and direction of the moving mechanism, the moving direction and angle of the robotic arm, and the clamping and shearing actions of the clamping and shearing device 100, etc.

[0083] It should be noted that in some embodiments, the harvesting robot has an identification and detection device independent of the clamping and shearing device 100. This identification and detection device is mounted on the robotic arm and can move with the robotic arm. The identification and detection device is electrically connected to the mobile chassis and specifically to the control mechanism. The identification and detection device is used to detect external environmental data, thereby determining the orientation data of the fruit and the distance data between the fruit and the harvesting robot based on its own position. This data is then fed back to the control mechanism, which can then control the mobile mechanism and the robotic arm to move the clamping and shearing device to the fruit's location, facilitating the next cutting and clamping actions. The identification and detection device can be used only to generate orientation and distance data, while the identification mechanism of the clamping device generates the relative position data between the fruit and the stem. The identification and detection device and the identification mechanism work together to improve the harvesting accuracy of the harvesting robot. Alternatively, the identification and detection device can generate only orientation and distance data and simultaneously determine the relative position data between the fruit and the stem, improving the integration of the harvesting robot.

[0084] It should be noted that while preferred embodiments of this application are provided in the specification and accompanying drawings, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this application; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this application. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this application's specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A clamping and shearing device, characterized in that, include: support; A clamping mechanism is disposed on the bracket, and the clamping mechanism is used to clamp the fruit; A shearing mechanism is provided on the support, and the shearing mechanism is used to cut the fruit stalk; A lifting mechanism, one end of which is fixed to the bracket and the other end of which is connected to the shearing mechanism, is used to drive the shearing mechanism to move up and down relative to the clamping mechanism.

2. The clamping and shearing device according to claim 1, characterized in that, The support includes a base plate, a top plate, and a guide member. A variable-volume movable space is provided between the base plate and the top plate. The clamping mechanism is fixed to the base plate, the shearing mechanism is fixed to the top plate, and the guide member is connected to the base plate and the top plate respectively. The guide member is used to guide the direction of the top plate's lifting and lowering relative to the base plate. At least a portion of the lifting mechanism is housed within the active space, and the lifting mechanism is used to drive the top plate to move relative to the bottom plate to adjust the volume of the active space.

3. The clamping and shearing device according to claim 2, characterized in that, The top plate is provided with a first screw hole, and the bottom plate is provided with a first through hole. The first screw hole and the first through hole are arranged opposite to each other, and both the first through hole and the first screw hole are connected to the movable space. The lifting mechanism includes a drive component and a lead screw. The output shaft of the drive component extends into the movable space through the first through hole. One end of the lead screw is fixed to the drive component, and the other end of the lead screw is screwed into the first screw hole and extends out. The drive component is used to drive the lead screw to rotate so that the lead screw drives the top plate to rise and fall relative to the bottom plate.

4. The clamping and shearing device according to claim 2, characterized in that, The lifting mechanism includes a telescopic cylinder, which is fixed to the base plate. One end of the telescopic cylinder is connected to the base plate, and the other end is connected to the top plate. The telescopic cylinder is used to drive the top plate to rise and fall relative to the base plate.

5. The clamping and shearing device according to claim 2, characterized in that, The guide is a guide rod, and a first limiting part is provided at the end of the guide rod away from the base plate. The first limiting part is used to limit the maximum upward position of the top plate relative to the base plate.

6. The clamping and shearing device according to claim 5, characterized in that, A first receiving groove is provided on the surface of the top plate opposite to the bottom plate; When the top plate moves to the maximum rising position, the first limiting part is received in the first limiting groove.

7. The clamping and shearing device according to claim 5, characterized in that, The guide rod is provided with a second limiting part, and the top plate is located between the first limiting part and the second limiting part. The second limiting part is used to limit the maximum descent position of the top plate relative to the bottom plate.

8. The clamping and shearing device according to claim 7, characterized in that, A second receiving groove is provided on the surface of the top plate near the bottom plate; When the top plate moves to the maximum lowering position, the second limiting part is received in the second limiting groove.

9. The clamping and shearing device according to any one of claims 2-8, characterized in that, The clamping and shearing device includes a swing mechanism, which is fixed to the bracket and is used to drive the shearing mechanism to rotate relative to the clamping mechanism.

10. A harvesting robot, characterized in that, The harvesting robot includes a mobile chassis, a robotic arm, a loading frame, and a clamping and shearing device as described in any one of claims 1-9. The loading frame and the robotic arm are both mounted on the mobile chassis, and the clamping and shearing device is mounted on the end of the robotic arm.

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