A picking mechanism

Abstract

The application relates to the picking technical field and discloses a picking mechanism which comprises an automatic mechanical arm, the bottom end of the automatic mechanical arm is provided with an end shell, a clamping assembly is arranged in the end shell, the clamping assembly comprises a base, a first motor is arranged on the top of the base, the clamping assembly further comprises a righting mechanism, and the shearing assembly further comprises a maintenance mechanism. Through cooperation of the clamping assembly and the shearing assembly, when two clamping plates move to the two sides of a to-be-picked stem, the two clamping plates realize stable clamping of the to-be-picked stem, after the two clamping plates clamp the to-be-picked stem, two scissors are closed to cut the to-be-picked stem, then the automatic mechanical arm clamps the to-be-picked stem through the two clamping plates and transports the to-be-picked stem to a collecting position, picking is completed, the to-be-picked stem can keep good stability in the cutting process, the cutting neatness is guaranteed, and the situation that the to-be-picked stem slips off due to direct shearing is avoided.

Description

Technical Field

[0001] This invention relates to the field of harvesting technology, and more specifically to a harvesting mechanism. Background Technology

[0002] Asparagus is a perennial herbaceous plant with both high nutritional and economic value. With increasing market demand, the scale of asparagus cultivation is expanding. However, this expansion brings challenges such as untimely harvesting and low harvesting efficiency. To address these issues, harvesting robots have emerged. These robots use visual positioning and identification to precisely harvest asparagus through a cutting method. A collection device below the cutting mechanism catches the cut stems or other parts of the asparagus, effectively improving harvesting efficiency and quality, and meeting the needs of large-scale industrial development. Similarly, the harvesting methods for lettuce and dried mustard greens also present many challenges.

[0003] However, the biggest problem lies in the fact that if the stems are lodged or tilted, they are difficult to harvest, or they cannot be cut in one go. These situations reduce the accuracy of harvesting or lower the quality of the stems to be harvested. Summary of the Invention

[0004] The purpose of this invention is to provide a harvesting mechanism to solve the above-mentioned problems and overcome the shortcomings of the prior art, as detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A harvesting mechanism, serving as the actuator of a harvesting robot, includes an automated robotic arm and further includes: Connector frame for detachable connection to automated robotic arms; The end shell is fixed to the connecting frame and covers it to form an integrated cavity; The clamping assembly includes a base, which is fixed to a connecting frame. A first motor is installed on the top of the base, and two first gear shafts are rotatably installed on the bottom of the base. The two first gear shafts are respectively connected to clamping plates, and the two clamping plates are used to clamp the stem to be picked. The shearing assembly includes a slide table that is slidably disposed within an integrated cavity. Two scissors are rotatably disposed on the slide table for cutting the stem to be harvested. The clamping assembly also includes a straightening mechanism and a maintenance mechanism. The straightening mechanism includes two pairs of short shafts and two fixed rods. The two pairs of short shafts are rotatably mounted on two clamping plates. When the clamping plates hold the stems, the short shafts contact the stems to be picked and straighten them. The maintenance mechanism is used to clean impurities attached to the scissors.

[0006] In one possible implementation, the connecting frame is provided with two supports, and the base is provided with two rotating shafts on both sides, with the two rotating shafts rotatably connected to the two supports respectively; Two first gear shafts mesh with each other, one of which is connected to the output end of the first motor. The first motor can drive the two clamping plates to perform clamping action through the two first gear shafts.

[0007] In one possible implementation, a third motor is provided on the slide table and a support is slidably connected thereto. The output end of the third motor is connected to a third gear shaft, and a second rack is connected to the support. The second rack meshes with the third gear shaft. The support is hinged to two first connecting rods, and the two first connecting rods are respectively hinged to two scissor rods; When the support moves, it can drive two shears to perform a cutting action through the two first links.

[0008] In one possible implementation, a second motor is provided on the connecting frame, the output end of the second motor is connected to a second gear shaft, a first rack is connected to the slide, and the second gear shaft meshes with the first rack; The second motor drives the slide to extend and retract on the connecting frame through the meshing of the second gear shaft and the first rack.

[0009] As one possible implementation, a rocker arm is provided at the end of each of the two rotating shafts away from the base, and a sliding shaft is provided at the end of each rocker arm away from the rotating shaft; Two slot blocks are provided on the slide table, and L-shaped slots are opened on the slot blocks. The two sliding shafts are located in the L-shaped slots of the two slot blocks respectively. When the groove block moves towards the direction of the rotating shaft, the rocker arm swings through the cooperation of the L-shaped groove and the sliding shaft.

[0010] As one possible implementation, a damping ring is provided at the rotating connection between the shaft and the bracket, so that the shaft remains stationary when it is not subjected to external force.

[0011] As one possible implementation, the short shaft is provided with an elastic rod and a lever, two fixed rods are fixed to the base, and a second connecting rod is hinged to the end of the fixed rod; The two pairs of levers are respectively hinged to the end of the corresponding second link away from the fixed rod.

[0012] As one possible implementation, the maintenance mechanism includes two rotating frames, which are rotatably connected to the bottom of the slide table. A pair of brushes are installed on the rotating frames, and a sliding rod is connected to the rotating part of the rotating frames. A leaf spring is connected between the two rotating frames. A triangular block is provided at the bottom of the inner wall of the end shell, and the triangular block is located on the movement trajectory of the slide rod; When the sliding rod contacts the triangular block, it is pushed open, causing the rotating frame to open synchronously, so that the two pairs of brushes contact the blades of the two scissors respectively.

[0013] As one possible implementation, each of the two slide bars is connected to an arc-shaped vibrating block, and the arc-shaped vibrating block is provided with multiple protruding teeth; The protruding teeth of the two arc-shaped vibrating blocks mesh with each other when they come into contact, generating vibration.

[0014] As one possible implementation, it also includes a first mobile module, which is detachably mounted on the harvesting robot; A second moving module is horizontally slidably connected to a first moving module, and an automated robotic arm is vertically slidably connected to the second moving module. A first driving device for driving the second moving module to move horizontally is provided between the second moving module and the first moving module, and a second driving device for driving the automated robotic arm to move up and down is provided between the automated robotic arm and the second moving module.

[0015] The beneficial effects are: 1. This invention utilizes the cooperation of a clamping component and a shearing component. When the two clamping plates move to both sides of the stem to be harvested, they clamp together to stably hold the stem. Once the two clamping plates have clamped the stem, the two shears close to cut it. Subsequently, an automated robotic arm uses the two clamping plates to pick up the stem and transport it to the collection point, completing the harvesting process. This ensures good stability of the stem during the cutting process, guaranteeing a clean cut and preventing the stem from slipping due to direct shearing. Furthermore, as the two shears extend, the two clamping plates clamp the stem and swing upwards, causing the stem to bend and generate tension. This tension is concentrated at the shearing point, and combined with the shearing action of the shears, it promotes the breakage of the stem and slightly tilts the cut, ensuring that the shearing force closely follows the fiber direction of the stem, further reducing burrs and deformation at the cut.

[0016] 2. By setting up a straightening mechanism, this invention enables the stem to be straightened when the position of the stem to be picked is offset or tilted, causing the stem to be not located in the center of the area between the two clamping plates. The two pairs of elastic rods can move synchronously to center the stem, so that when the two clamping plates stably hold the stem to be picked, the stem can be located in the center of the area between the two clamping plates, thereby improving the clamping accuracy and facilitating the subsequent cutting by the cutting component.

[0017] 3. The present invention, through the setting of the maintenance mechanism, allows the two scissors to open and move at an angle after cutting, while the two rotating frames drive two pairs of brushes to clean the blades of the two scissors during the closing process, brushing off the mud or impurities attached to the blades, keeping the blades clean, and avoiding damage to the blades caused by mud or impurities on the surface of the stems to be harvested after long-term use, thus reducing their sharpness. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the automated robotic arm structure of the present invention; Figure 3 This is a schematic diagram of the end shell structure of the present invention; Figure 4 This is a schematic diagram of the clamping component structure of the present invention; Figure 5 This is a schematic diagram of the straightening mechanism structure of the present invention; Figure 6 This is a schematic diagram of the elastic rod structure of the present invention; Figure 7 This is a schematic diagram of the shearing component structure of the present invention; Figure 8 This is a schematic diagram of the slide structure of the present invention; Figure 9 This is a schematic diagram of the rocker arm structure of the present invention; Figure 10 This is a schematic diagram of the slot block structure of the present invention; Figure 11 This is a schematic diagram of the maintenance mechanism structure of the present invention; Figure 12 This is a schematic diagram of the rotating frame structure of the present invention; Figure 13 This is a schematic diagram of the arc-shaped vibrating block structure of the present invention.

[0020] The annotations in the attached figures are explained as follows: 1. First moving module; 2. Second moving module; 3. Automated robotic arm; 4. End shell; 40. Connecting frame; 5. Gripping assembly; 51. Base; 52. Rotating shaft; 53. Support; 54. First motor; 55. First gear shaft; 56. Clamping plate; 57. Rocker arm; 58. Sliding shaft; 59. Slot block; 6. Shearing assembly; 61. Second motor; 62. Second gear shaft; 63. Slide table; 64. First rack; 65. Third motor; 66. Third gear shaft; 67. Support; 68. Second rack; 69. First connecting rod; 610. Scissors; 7. Straightening mechanism; 71. Short shaft; 72. Elastic rod; 73. Toggle lever; 74. Fixed rod; 75. Second connecting rod; 8. Maintenance mechanism; 81. Rotating frame; 82. Brush; 83. Sliding rod; 84. Triangular block; 85. Leaf spring; 86. Arc-shaped vibrating block. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] One embodiment of the present invention is as follows: Please see Figure 1 - Figure 10 A harvesting mechanism includes: a connecting frame mounted at the bottom of an automated robotic arm 3; an end shell 4 covering the outside of the connecting frame; a clamping assembly 5 mounted on the connecting frame 40 inside the end shell 4; the clamping assembly 5 including a base 51; a first motor 54 mounted on the top of the base 51; and two meshing first gear shafts 55 rotatably mounted on the bottom of the base 51. Clamping plates 56 for clamping the stems to be harvested are respectively connected to the two first gear shafts 55; rotating shafts 52 are respectively connected to both sides of the base 51; and two brackets 53 mounted on the end shell 4 are rotatably connected to the two rotating shafts 52 in a one-to-one correspondence. One of the first gear shafts 55 is connected to the output end of the first motor 54, and the first motor 54 can drive the two clamping plates 56 to complete the clamping action through the two first gear shafts 55.

[0023] The automated robotic arm 3 can be an existing structure with multiple movable joints, a built-in drive device and sensors, capable of moving the end shell 4 to move the gripping component 5 to the side of the stem to be harvested. When the first motor 54 starts, its output directly drives the first gear shaft 55 connected to it to rotate; since the two first gear shafts 55 mesh with each other, the actively rotating first gear shaft 55 will drive the other first gear shaft 55 to rotate synchronously in the opposite direction. The two clamping plates 56 are fixedly connected to the two first gear shafts 55 respectively, so they will achieve clamping or opening actions with the opposite rotation of the corresponding first gear shafts 55. When the two clamping plates 56 move to both sides of the stem to be harvested, the clamping action can achieve stable gripping of the stem to be harvested.

[0024] In one embodiment, the connecting frame 40 is provided with a shearing assembly 6, which includes a slide 63 slidably mounted inside the end housing 4, on which two shears 610 for shearing the stems to be harvested are rotatably connected. A third motor 65 is also mounted on the slide 63, the output end of which is connected to a third gear shaft 66; at the same time, a support 67 is slidably connected to the slide 63, and the support 67 is hinged to two first connecting rods 69, which are respectively connected to the two shears 610. The support 67 is also provided with a second rack 68 that meshes with the third gear shaft 66.

[0025] When the support 67 moves, the two first connecting rods 69 drive the two scissors 610 to complete the cutting action: after the third motor 65 starts, it drives the third gear shaft 66 to rotate, and the gear shaft drives the support 67 to slide on the slide table 63 through the second rack 68; the scissors 610 consists of a handle and a cutting edge, and the first connecting rod 69 is hinged at the cutting edge. Therefore, when the support 67 moves closer to the scissors 610, it will drive the cutting edges of the two scissors 610 to close through the two first connecting rods 69, and perform the cutting action; similarly, when the support 67 moves away from the scissors 610, the two first connecting rods 69 will drive the scissors 610 to open. After the two clamping plates 56 clamp the stem to be harvested, the two scissors 610 close and cut the stem to be harvested. Then the automated robotic arm 3 uses the two clamping plates 56 to clamp the stem to be harvested and transport it to the collection position to complete the harvesting process.

[0026] In one embodiment, a second motor 61 is mounted on the connecting frame 40, and its output end is connected to a second gear shaft 62; a first rack 64 is connected to the slide 63, and the second gear shaft 62 meshes with the first rack 64. The second motor 61 can drive the slide 63 to perform telescopic movement on the end shell 4 through the cooperation of the second gear shaft 62 and the first rack 64. Specifically, when the second motor 61 rotates, it drives the first rack 64 to perform linear movement through the second gear shaft 62. The movement of the first rack 64 synchronously drives the slide 63 to move, so that the slide 63 can telescopically move within the end shell 4, thereby allowing the end of the slide 63 away from the automated robotic arm 3 to complete the telescopic movement at the end of the end shell 4. Since the slide table 63 moves synchronously with the two scissors 610 above it, when cutting is required, the slide table 63 can extend the scissors 610 to the appropriate position of the stem to be picked; after cutting, the slide table 63 will then retract the scissors 610 into the end shell 4, so as to avoid the scissors 610 interfering with the clamping plates 56 during the process of picking the stem.

[0027] In addition, rocker arms 57 are connected to the ends of the two rotating shafts 52 away from the base 51, and sliding shafts 58 are connected to the ends of the rocker arms 57 away from the rotating shafts 52. Two slot blocks 59 are connected to the slide table 63, and L-shaped slots are formed on the slot blocks 59. The two sliding shafts 58 are located on the movement trajectories of the L-shaped slots of the two slot blocks 59. When the slot blocks 59 move towards the rotating shafts 52, the rocker arms 57 can swing through the cooperation of the L-shaped slots and the sliding shafts 58. A damping ring is provided at the rotational connection between the rotating shafts 52 and the bracket 53, so that the rotating shafts 52 remain stationary when no external force is applied.

[0028] When the slide 63 approaches the base 51, it drives the two slot blocks 59 to move synchronously. Taking one of the slot blocks 59 as an example, its L-shaped slot is divided into a horizontal slot and a vertical slot: during the movement, the sliding shaft 58 first enters the horizontal slot of the slot block 59; when the vertical slot contacts the sliding shaft 58, the inner wall of the vertical slot applies a lateral thrust to the sliding shaft 58, causing the sliding shaft 58 to drive the rocker arm 57 to swing downward; then the sliding shaft 58 slides down along the vertical slot and is limited by its horizontal position, and the swing of the rocker arm 57 drives the rotating shaft 52 to rotate on the bracket 53, ultimately causing the base 51 and the two clamping plates 56 to swing upward. This action allows the two shears 610 to extend while the two clamping plates 56 clamp the stem to be harvested and swing upward, causing the stem to bend and generate tension—the tension will be concentrated at the cutting point, which, combined with the cutting action of the shears 610, can both promote the breaking of the stem to be harvested and make the cut slightly inclined, so that the cutting force is more in line with the fiber direction of the stem, reducing burrs and deformation at the cut.

[0029] When the slide table 63 retracts and moves away from the base 51, the vertical groove of the slot block 59 drives the rocker arm 57 to swing upwards via the slide shaft 58; the slide shaft 58 slides upwards along the vertical groove until it disengages from the vertical groove, and finally slides out along the horizontal groove, at which point the base 51 returns to its original position. The damping ring at the connection between the rotating shaft 52 and the bracket 53 has a certain frictional resistance. Its function is to limit the rotation of the rotating shaft 52 when the slide shaft 58 does not apply external force to the rocker arm 57, ensuring that the gripping assembly 5 maintains the current angle of the stem to be harvested, avoiding angle deviation caused by the movement of the robotic arm or slight external vibrations, and ensuring the stability of the harvesting process.

[0030] In one embodiment, the system further includes a first mobile module 1, which is mounted on the harvesting robot and is horizontally slidably connected to a second mobile module 2. An automated robotic arm 3 is vertically slidably connected to the second mobile module 2. A first driving device is provided between the second mobile module 2 and the first mobile module 1 to drive the second mobile module 2 to move horizontally. A second driving device is provided between the automated robotic arm 3 and the second mobile module 2 to drive the automated robotic arm 3 to rise and fall.

[0031] When the harvesting robot moves, it drives the first moving module 1, the second moving module 2, and the automated robotic arm 3 to move within the harvesting area. After the first drive device is activated, it drives the second moving module 2 to reciprocate horizontally along the guide rail of the first moving module 1, achieving lateral position adjustment of the robotic arm on the horizontal plane. The second drive device drives the automated robotic arm 3 to move vertically up and down along the guide rail of the second moving module 2, achieving vertical position adjustment of the robotic arm. Through the coordinated action of the first moving module 1 and the second moving module 2, the automated robotic arm 3 can achieve two-dimensional movement in both horizontal and vertical directions. Combined with its multi-joint rotation function, it can cover a large harvesting area, adapting to different row spacings and heights of stem planting, significantly improving the harvesting robot's operational flexibility and applicability, and meeting the harvesting needs of large-scale stem planting. Furthermore, multiple sets of the second moving module 2 and the automated robotic arm 3 can be set on the first moving module 1, further improving harvesting efficiency.

[0032] In another embodiment, please refer to Figure 3 , Figure 5 , Figure 6 It also includes a straightening mechanism 7, used to straighten the two clamping plates 56 when the stems are to be harvested. The straightening mechanism 7 includes two pairs of short shafts 71 and two fixed rods 74. The two pairs of short shafts 71 are rotatably mounted on the two clamping plates 56 respectively. Each short shaft 71 is connected to an elastic rod 72 and a lever 73. The two fixed rods 74 are fixedly connected to the base 51. The end of the rods 74 away from the base 51 is hinged to a second connecting rod 75. The levers 73 on the two pairs of short shafts 71 are respectively hinged to the ends of the two second connecting rods 75 away from the fixed rods 74.

[0033] Specifically, when the two clamping plates 56 approach each other, the fixing rod 74 remains stationary, causing the distance between the fixing rod 74 and the clamping plates 56 to increase. At this time, the second connecting rod 75 on the fixing rod 74 applies a pulling force to the two levers 73 connected to it, causing the two elastic rods 72 to swing synchronously. Since the elastic rods 72 are made of elastic material, the two elastic rods 72 on the same clamping plate 56 are considered as a pair. When the pair of elastic rods 72 swings, they will move towards the center of the area between the two clamping plates 56. Therefore, when the two pairs of elastic rods 72 swing synchronously towards the center, they will contact the stem to be harvested between the clamping plates and apply a pushing force. If the position of the stem to be harvested is offset or tilted, causing its stem to deviate from the center of the area between the clamping plates, the synchronous centering movement of the two pairs of elastic rods 72 can straighten the stem to be harvested. When the two clamping plates 56 stabilize the stem to be harvested, the stem to be harvested is exactly in the center position of the area between the clamping plates, thereby improving the clamping accuracy and providing convenience for the subsequent cutting operation of the cutting assembly 6.

[0034] In one embodiment, see Figure 3 , Figure 11 - Figure 13It also includes a maintenance mechanism 8 for cleaning mud or impurities adhering to the scissors 610. The maintenance mechanism 8 includes two rotating frames 81, both of which are rotatably mounted on the bottom of the slide table 63. A pair of brushes 82 are provided on the rotating frames 81, and the rotating parts of the rotating frames 81 are connected to the sliding rods 83. A triangular block 84 is provided at the bottom of the inner wall of the end shell 4. The triangular block 84 is located on the movement trajectory of the two sliding rods 83. When the two sliding rods 83 come into contact with the triangular block 84, they are pushed open by the triangular block 84. When the two sliding rods 83 open, they drive the two rotating frames 81 to open. When the two pairs of brushes 82 move, they come into contact with the cutting edges of the two scissors 610 respectively. A leaf spring 85 is connected between the two rotating frames 81.

[0035] The end of the slide rod 83 away from the rotating frame 81 contacts the triangular block 84, which has two inclined surfaces. The two slide rods 83 contact the two inclined surfaces of the triangular block 84 respectively. When the end shell 4 of the slide table 63 extends outward, the two slide rods 83 disengage from the triangular block 84. At this time, the two rotating frames 81 open with the help of the spring force of the leaf spring 85, and the two slide rods 83 close together in the middle. After the two rotating frames 81 open, the two pairs of brushes 82 disengage from the two scissors 610, without affecting the cutting operation. When the slide table 63 drives the two scissors 610 to retract into the end shell 4, the two slide rods 83 contact the two inclined surfaces of the triangular block 84 again and slide along the inclined surfaces.

[0036] As the slide table 63 continues to move, the two slide rods 83 gradually open along the two inclined planes. When the two slide rods 83 open, they drive the two rotating frames 81 to close together. After completing the cutting, the two scissors 610 will open and move at an angle. During the closing process, the two rotating frames 81 drive the two pairs of brushes 82 to clean the blades of the two scissors 610, brushing off the mud or impurities attached to the blades of the scissors 610, keeping the blades of the scissors 610 clean, and preventing the blades of the scissors 610 from being damaged by mud or impurities on the surface of the stem to be picked after long-term use, thus reducing their sharpness.

[0037] It is important to emphasize that each of the two sliding rods 83 is connected to an arc-shaped vibrating block 86, which has multiple protruding teeth. When the protruding teeth of the two arc-shaped vibrating blocks 86 come into contact, they cause the two arc-shaped vibrating blocks 86 to vibrate. The arc-shaped vibrating blocks 86, the rotating frame 81, and the sliding rods 83 all have a certain degree of elasticity. When the two sliding rods 83 swing, they drive the two arc-shaped vibrating blocks 86 to rotate synchronously, causing them to rub against each other. The multiple protruding teeth on them collide and generate intermittent impact force, which in turn causes the two arc-shaped vibrating blocks 86 to vibrate. This vibration is transmitted through the sliding rods 83 to the rotating frame 81, and then to the brush 82. The brush 82 cleans the blade of the scissors 610 while vibrating. It can shake off the mud or impurities on the blade through vibration, and it can also shake off the mud or impurities attached to itself to keep it clean, thereby effectively enhancing the cleaning effect on the blade.

[0038] In any or all of the above embodiments, the stem to be harvested is asparagus, lettuce, or any plant or vegetable suitable for this harvesting robot.

[0039] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A harvesting mechanism, serving as the actuator of a harvesting robot, comprising an automated robotic arm, characterized in that, Also includes: Connector frame for detachable connection to automated robotic arms; The end shell is fixed to the connecting frame and covers it to form an integrated cavity; The clamping assembly includes a base, which is fixed to a connecting frame. A first motor is installed on the top of the base, and two first gear shafts are rotatably installed on the bottom of the base. The two first gear shafts are respectively connected to clamping plates, and the two clamping plates are used to clamp the stem to be picked. The shearing assembly includes a slide table that is slidably disposed within an integrated cavity. Two scissors are rotatably disposed on the slide table for cutting the stem to be harvested. The clamping assembly also includes a straightening mechanism and a maintenance mechanism. The straightening mechanism includes two pairs of short shafts and two fixed rods. The two pairs of short shafts are rotatably mounted on two clamping plates. When the clamping plates hold the stems, the short shafts contact the stems to be picked and straighten them. The maintenance mechanism is used to clean impurities attached to the scissors.

2. The harvesting mechanism according to claim 1, characterized in that: The connecting frame is provided with two brackets, and the base is provided with a rotating shaft on each side, and the two rotating shafts are rotatably connected to the two brackets respectively. Two first gear shafts mesh with each other, one of which is connected to the output end of the first motor. The first motor can drive the two clamping plates to perform clamping action through the two first gear shafts.

3. The harvesting mechanism according to claim 1, characterized in that: The slide is equipped with a third motor and a support that is slidably connected thereto. The output end of the third motor is connected to a third gear shaft, and a second rack is connected to the support. The second rack meshes with the third gear shaft. The support is hinged to two first connecting rods, and the two first connecting rods are respectively hinged to two scissor rods; When the support moves, it can drive two shears to perform a cutting action through the two first links.

4. The harvesting mechanism according to claim 1, characterized in that: A second motor is provided on the connecting frame, and a second gear shaft is connected to the output end of the second motor. A first rack is connected to the slide, and the second gear shaft meshes with the first rack. The second motor drives the slide to extend and retract on the connecting frame through the meshing of the second gear shaft and the first rack.

5. A harvesting mechanism according to claim 1, characterized in that: Two rocker arms are provided at the ends of the two rotating shafts that are away from the base, and sliding shafts are provided at the ends of the rocker arms that are away from the rotating shafts. Two slot blocks are provided on the slide table, and L-shaped slots are opened on the slot blocks. The two sliding shafts are located in the L-shaped slots of the two slot blocks respectively. When the groove block moves towards the direction of the rotating shaft, the rocker arm swings through the cooperation of the L-shaped groove and the sliding shaft.

6. A harvesting mechanism according to claim 2, characterized in that: A damping ring is provided at the rotating connection between the shaft and the bracket. When the shaft is not subjected to external force, it remains stationary through the damping ring.

7. A harvesting mechanism according to claim 1, characterized in that: The short shaft is equipped with an elastic rod and a lever, and two fixed rods are fixed to the base. The end of the fixed rod is hinged to a second connecting rod. The two pairs of levers are respectively hinged to the end of the corresponding second link away from the fixed rod.

8. A harvesting mechanism according to claim 1, characterized in that: The maintenance mechanism includes two rotating frames, which are rotatably connected to the bottom of the slide table. A pair of brushes are installed on the rotating frames, and the rotating parts of the rotating frames are connected to slide rods. A leaf spring connects the two rotating frames. A triangular block is provided at the bottom of the inner wall of the end shell, and the triangular block is located on the movement trajectory of the slide rod; When the sliding rod contacts the triangular block, it is pushed open, causing the rotating frame to open synchronously, so that the two pairs of brushes contact the blades of the two scissors respectively.

9. A harvesting mechanism according to claim 8, characterized in that: Each of the two sliding rods is connected to an arc-shaped vibrating block, and the arc-shaped vibrating block is provided with multiple protruding teeth; The protruding teeth of the two arc-shaped vibrating blocks mesh with each other when they come into contact, generating vibration.

10. A harvesting mechanism according to claim 1, characterized in that: It also includes a first mobile module, which is detachably mounted on the harvesting robot; A second moving module is horizontally slidably connected to a first moving module, and an automated robotic arm is vertically slidably connected to the second moving module. A first driving device for driving the second moving module to move horizontally is provided between the second moving module and the first moving module, and a second driving device for driving the automated robotic arm to move up and down is provided between the automated robotic arm and the second moving module.

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