Pepper picking robot picking executor

Abstract

The application discloses a pepper picking robot picking executor and particularly relates to the field of agriculture. The picking executor comprises a travelling device, a picking mechanical arm and a branch thinning mechanical arm are installed on the travelling device, a picking device for picking peppers is installed at the tail end of the picking mechanical arm, and a branch thinning mechanism for pushing away pepper branches is installed at the tail end of the branch thinning mechanical arm; the branch thinning mechanism comprises a fixing rod, a connecting rod is installed on the fixing rod, a connecting cylinder is installed at the front end of the connecting rod, and a wire mesh is installed between the fixing rod and the connecting cylinder. The branch thinning mechanism is inserted below the pepper canopy to tilt the canopy upward, so that the peppers in the canopy are exposed, and when the branch thinning mechanism gradually moves away, the peppers can fall from the branch thinning mechanism and thus be recognized and picked, thereby avoiding the problems of missed picking and wrong picking caused by visual recognition missed detection and inaccurate positioning.

Description

Technical Field

[0001] This invention relates to the field of agricultural technology, and more specifically, to a chili-harvesting robot harvesting actuator. Background Technology

[0002] Currently, in large-scale chili pepper cultivation, standardized plant management methods such as pruning and trellising are commonly adopted. By regulating plant morphology and controlling the distribution of branches and leaves, the nutrient consumption of ineffective branches and leaves is reduced, and the plant's nutrients are concentrated on fruit development, thereby improving chili pepper yield and quality. Under this cultivation model, chili peppers produce a large number of fruits with concentrated fruit distribution. However, the plants also have dense and overlapping branches and leaves, with many fruits hidden among the leaves and branches, which greatly hinders mechanized harvesting.

[0003] With the rapid development of intelligent and automated agricultural technologies, fruit and vegetable harvesting robots have been gradually applied to chili harvesting operations. This effectively addresses the shortcomings of manual harvesting, such as low efficiency, high labor costs, and high labor intensity, making them a core piece of equipment for cost reduction and efficiency improvement in large-scale chili cultivation. Currently, the mainstream technical solutions for chili harvesting robots mainly consist of a mobile chassis, a multi-degree-of-freedom harvesting robotic arm, a harvesting end effector, a vision recognition module, and a control system. The typical operating process is as follows: the mobile chassis carries the entire machine to the target work area; the vision recognition module collects field images, identifies mature chili fruits, and calculates the spatial coordinates of the fruits and stems; the control system plans the optimal movement path for the robotic arm based on the identification and positioning results; the robotic arm drives the end effector to the harvesting point, clamps the fruit, cuts the stem, and completes the harvesting operation. Finally, the chili fruits are collected through direct dropping or negative pressure suction via a flexible tube, achieving automated chili harvesting and replacing manual labor to a certain extent for basic harvesting tasks.

[0004] However, existing chili-harvesting robots have inherent technical limitations in their harvesting operation modes, making them unsuitable for the complex plant environment after chili cultivation with pruning and trellising. After pruning and trellising, chili plants have dense foliage and a compact canopy, making it easy for mature fruits to be completely or partially obscured by upper lateral branches. Existing equipment relies solely on visual algorithms for target identification and positioning. When chili fruits are obscured by branches, the visual module cannot effectively extract the complete features of the fruit, easily leading to problems such as missed target identification, positioning deviation, and incorrect harvesting point determination. Summary of the Invention

[0005] The problem that the chili-picking robot actuator provided by this invention aims to solve is that: in existing chili-picking robots, mature chilies are easily obscured by lateral branches, causing visual recognition to miss or mis-pick, resulting in missed or incorrect picking.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a chili-picking robot harvesting actuator, comprising a traveling device, on which a harvesting robotic arm and a pruning robotic arm are mounted. The end of the harvesting robotic arm is equipped with a harvester for picking chilies, and the end of the pruning robotic arm is equipped with a pruning mechanism for separating chili branches. The pruning mechanism includes a fixed rod, on which a connecting rod is mounted, and at the front end of the connecting rod is a connecting cylinder. A wire mesh is installed between the fixed rod and the connecting cylinder.

[0007] Preferably, the connecting rod is movably inserted into the fixed rod along the radial direction of the fixed rod, the connecting cylinder is rotatably connected to the front end of the connecting rod, one end of the wire mesh is fixed to the fixed rod, the other end of the wire mesh is wrapped around the connecting cylinder, the front end of the connecting rod is equipped with a driving component one, the driving component one is used to drive the connecting cylinder to rotate, and the fixed rod is equipped with a driving component two for driving the connecting cylinder to move closer to or away from the fixed rod.

[0008] Preferably, the second drive component includes a fixed frame fixedly mounted on a fixed rod, a rack movably inserted into the end of the fixed rod away from the connecting rod, a motor fixedly mounted on the fixed frame, a gear mounted on the output end of the motor, the gear meshing with the rack, and the end of the connecting cylinder away from the first drive component mounted on the end of the rack.

[0009] Preferably, the cylindrical surface of the connecting cylinder has several through holes, and the interior of the connecting cylinder is connected to the output end of the air pump, so that the gas discharged by the air pump is blown out through the through holes.

[0010] Preferably, the through hole includes several full-circle upper air blowing holes formed on the outer cylindrical surface of the connecting cylinder and several half-circle lower air blowing holes formed on the lower side of the outer cylindrical surface of the connecting cylinder, with the full-circle upper air blowing holes and the half-circle lower air blowing holes spaced apart.

[0011] Preferably, the connecting cylinder has an inner cylinder inside, one end of which is connected to one end of the rack, and the inner cylinder can slide along the axial direction of the connecting cylinder. Several circular air-blowing holes are opened on the outer cylindrical surface of the inner cylinder. A driving component three is installed at one end of the connecting cylinder. When the driving component three pushes the inner cylinder to move, the air-blowing holes are connected to the upper air-blowing holes or the lower air-blowing holes.

[0012] Preferably, the harvester includes a finger-clamping cylinder, with clamping plates installed on both fingers of the finger-clamping cylinder for clamping the chili peppers. A cutting cylinder is fixedly installed at the upper end of the finger-clamping cylinder, and a cutting blade for cutting the stem is installed at the output end of the cutting cylinder.

[0013] Preferably, elastic bands are provided on both the upper and lower sides of the two clamping plates. One end of the elastic band is fixedly connected to one end of the clamping plate, and the other end of the elastic band is fixed to the other end of the clamping plate by fastening bolts.

[0014] Preferably, the end of the harvesting robotic arm is equipped with a binocular three-dimensional vision recognition device.

[0015] Preferably, the traveling device includes a traveling mechanism, on which a carriage is mounted, and inside the carriage is a cargo bed.

[0016] The technical effects and advantages of this invention are as follows: This invention extends the thinning mechanism below the canopy of the chili peppers to tilt and push the canopy upwards, which can expose the chili peppers in the canopy. As the thinning mechanism gradually moves away from the canopy, the chili peppers can fall off the thinning mechanism and be identified and picked, thus avoiding the problems of missed picking and incorrect picking caused by visual recognition and inaccurate positioning. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 .

[0018] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 .

[0019] Figure 3 This is a schematic diagram of the pruning mechanism of the present invention.

[0020] Figure 4 This is a partial structural schematic diagram of the branching mechanism of the present invention.

[0021] Figure 5 This is a cross-sectional view of the pruning mechanism of the present invention.

[0022] Figure 6 For the present invention Figure 4 Enlarged view of the local structure at point A in the middle.

[0023] Figure 7 For the present invention Figure 5 Enlarged view of the local structure at point B.

[0024] Figure 8 This is a schematic diagram of the harvester of the present invention.

[0025] The attached figures are labeled as follows: 1. Traveling device; 11. Walking mechanism; 12. Cargo box; 13. Cargo bed; 2. Harvesting robotic arm; 21. Rotating seat one; 22. Swing arm one; 23. Rocker arm one; 24. Rotating arm one; 25. Forearm one; 3. Harvester; 31. Finger-gripping cylinder; 32. Clamping plate; 33. Cutting cylinder; 34. Cutting blade; 35. Elastic band; 36. Fastening bolt; 4. Thinning robotic arm; 41. Rotating seat two; 42. Swing arm... 43. Rocker arm 2; 44. Rotating arm 2; 45. Forearm 2; 5. Thinning mechanism; 50. Wire mesh; 51. Fixed rod; 52. Connecting rod; 53. Connecting cylinder; 531. Upper air hole; 532. Lower air hole; 54. Drive component 1; 55. Drive component 2; 551. Fixed frame; 552. Rack; 553. Motor; 554. Gear; 56. Inner cylinder; 561. Inner air hole; 57. Drive component 3. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0027] The dense foliage and compact canopy of hanging chili pepper plants make it easy for mature fruits to be completely or partially obscured by the upper lateral branches, leading to missed detection and inaccurate positioning, resulting in missed or incorrect harvesting. To address this technical problem, the following technical solution is proposed.

[0028] Refer to the instruction manual appendix Figures 1-4 The chili-picking robot includes a traveling device 1, on which a picking robotic arm 2 and a thinning robotic arm 4 are mounted. The end of the picking robotic arm 2 is equipped with a picker 3 for picking chilies, and the end of the thinning robotic arm 4 is equipped with a thinning mechanism 5 for separating chili branches. The thinning mechanism 5 includes a fixed rod 51, on which a connecting rod 52 is mounted, and at the front end of the connecting rod 52 is a connecting cylinder 53. A wire mesh 50 is installed between the fixed rod 51 and the connecting cylinder 53.

[0029] The end of the harvesting robotic arm 2 is equipped with a binocular three-dimensional vision recognition device, which can be tilted and finely adjusted left and right, and is electrically connected to the main control system.

[0030] It should be noted that during chili harvesting, the traveling device 1 first moves to the harvesting area. Using a binocular 3D vision recognition device, a 3D model of the plant is constructed, mature chilies are identified, the fruit stalk cutting point is located, and the area of ​​lateral shading is distinguished from the area of ​​immature green fruit. For unshaded chilies and partially shaded chilies where the chili and fruit stalk can be located, the harvesting robotic arm 2 can drive the harvester 3 to the corresponding position for direct harvesting. For partially shaded chilies where the chili and fruit stalk cannot be located or identified, the thinning robotic arm 4 first drives the thinning mechanism 5 to the corresponding area, extending the thinning mechanism 5 under the chili canopy, and then tilts and pushes the canopy upwards. In this way, the chilies in the canopy can be revealed. The peppers are exposed, but at this time, the peppers in the canopy are supported and blocked by the wire mesh 50, and cannot be directly harvested. Due to the setting of the wire mesh 50, the binocular three-dimensional vision recognition device can identify the peppers and determine whether there are mature peppers. If there are no mature peppers, the thinning robotic arm 4 drives the thinning mechanism 5 to move away from the canopy. If there are mature peppers, the thinning robotic arm 4 then drives the thinning mechanism 5 to move along the length of the thinning mechanism 5 and gradually move away from the pepper plant. During the movement, the peppers gradually move away from the wire mesh 50. When the binocular three-dimensional vision recognition device identifies a mature pepper, the harvesting robotic arm 2 can drive the harvester 3 to move to the position of the mature pepper for harvesting. That is, the thinning mechanism 5 moves the harvester 3 while harvesting.

[0031] The above technical solution extends the thinning mechanism 5 below the canopy of the chili peppers to tilt and push the canopy upwards, which can expose the chili peppers in the canopy. As the thinning mechanism 5 gradually moves away from the canopy, the chili peppers can fall off the thinning mechanism 5 and be identified and picked, thus avoiding the problems of missed picking and incorrect picking caused by visual recognition and inaccurate positioning.

[0032] In this embodiment, as Figure 8 As shown, the picker 3 includes a finger-clamping cylinder 31, with clamping plates 32 installed on both fingers of the finger-clamping cylinder 31. The two clamping plates 32 are used to clamp the chili peppers. A cutting cylinder 33 is fixedly installed on the upper end of the finger-clamping cylinder 31, and a cutting blade 34 for cutting the stem is installed on the output end of the cutting cylinder 33.

[0033] It should be noted that the finger-clamping cylinder 31 can move the two clamping plates 32 closer together to clamp the chili pepper or move them apart to release the chili pepper. The cutting cylinder 33 moves the cutting blade 34 forward to cut the stem of the chili pepper.

[0034] Furthermore, elastic bands 35 are provided on both the upper and lower sides of the two clamping plates 32. One end of the elastic band 35 is fixedly connected to one end of the clamping plate 32, and the other end of the elastic band 35 is fixed to the other end of the clamping plate 32 by fastening bolts 36.

[0035] It should be noted that, through the design of the elastic band 35, when the two clamping plates 32 approach each other, the elastic band 35 contacts the surface of the chili pepper, thereby clamping it and avoiding the problems caused by direct hard contact between the clamping plates 32 and the chili pepper. The position of the elastic band 35 can be adjusted by the fastening bolt 36, thus achieving the purpose of adjusting the tension of the elastic band 35.

[0036] In this embodiment, as Figure 1 and Figure 2 As shown, the traveling device 1 includes a traveling mechanism 11, a carriage 12 is mounted on the traveling mechanism 11, and a cargo box 13 is placed inside the carriage 12.

[0037] It should be noted that the traveling device 1 adopts a tracked traveling mechanism, on which a slewing device can be installed. The carriage 12 is installed on the slewing device, so that the slewing device can drive the carriage 12 and the picking robotic arm 2 and the thinning robotic arm 4 on it to rotate to the required angle.

[0038] Specifically, when harvesting chili peppers, the harvesting robotic arm 2 first moves the harvester 3 to the location of the chili pepper. Then, the clamping cylinder 31 moves two clamping plates 32 closer together, holding the chili pepper in place. Next, the cutting cylinder 33 moves the cutting blade 34 to cut the chili pepper stem. The harvesting robotic arm 2 then moves the harvester 3 above the corresponding truck bed 13. A feed inlet is provided on the truck bed 12. After the harvester 3 releases the chili pepper, it can fall into the truck bed 13 through the feed inlet. The truck bed 13 is lined with a soft, anti-collision liner, allowing the harvested chili peppers to fall directly and smoothly into the collection bin, preventing damage from falls from height. Example

[0039] After the pruning robotic arm 4 drives the pruning mechanism 5 to tilt upwards and pry open the chili pepper canopy, when it is time to harvest the chili peppers, the pruning robotic arm 4 drives the pruning mechanism 5 to move along the length of the pruning mechanism 5 and gradually move away from the chili pepper plant. At this time, the chili pepper canopy moves relative to the wire mesh 50, which can easily scratch the chili pepper branches. To solve this technical problem, the following technical solution is proposed.

[0040] Refer to the instruction manual appendix Figures 3-5 The connecting rod 52 is movably inserted into the fixed rod 51 along the radial direction of the fixed rod 51. The connecting cylinder 53 is rotatably connected to the front end of the connecting rod 52. One end of the wire mesh 50 is fixed to the fixed rod 51, and the other end of the wire mesh 50 is wrapped around the connecting cylinder 53. A driving component 1 54 is installed at the front end of the connecting rod 52. The driving component 1 54 is used to drive the connecting cylinder 53 to rotate. A driving component 2 55 is installed on the fixed rod 51 to drive the connecting cylinder 53 to move closer to or away from the fixed rod 51.

[0041] It should be noted that the drive component 54 uses a geared motor. When the harvesting robotic arm 2 drives the thinning mechanism 5 to tilt upwards and push the pepper canopy upwards, and it is time to harvest the peppers, instead of the thinning robotic arm 4 driving the thinning mechanism 5 to move away from the pepper plant along its length, the drive component 54 drives the connecting cylinder 53 to rotate and rewind the wire mesh 50, while the drive component 55 drives the connecting cylinder 53 to move towards the fixed rod 51. The connecting rod 52 acts as a guide, and the wire mesh 50 is not connected to the connecting rod 52 or the drive component 55. In this way, the wire mesh 50 is gradually separated from the pepper by the way the connecting cylinder 53 rewinds it, and then harvesting can be carried out.

[0042] The above technical solution uses the method of winding the wire mesh 50 to gradually separate the wire mesh 50 from the chili peppers, thereby avoiding relative movement between the chili pepper canopy and the wire mesh 50, thus preventing the chili pepper branches from being scratched.

[0043] In this embodiment, as Figure 3 and Figure 4 As shown, the second drive component 55 includes a fixed frame 551 fixedly mounted on a fixed rod 51. A rack 552 is movably inserted into the end of the fixed rod 51 away from the connecting rod 52. A motor 553 is fixedly mounted on the fixed frame 551. A gear 554 is mounted on the output end of the motor 553. The gear 554 meshes with the rack 552. The end of the connecting cylinder 53 away from the first drive component 54 is mounted on the end of the rack 552.

[0044] It should be noted that the motor 553 drives the gear 554 to rotate, the gear 554 drives the rack 552 to move, and the rack 552 drives the connecting cylinder 53 and the connecting rod 52 to move. Example

[0045] When the pruning robotic arm 4 drives the pruning mechanism 5 to extend into the canopy of the chili pepper, it will scrape against the side branches of the chili pepper. In order to reduce the damage to the side branches, the following technical solution is proposed.

[0046] Refer to the instruction manual appendix Figures 4-5 The cylindrical surface of the connecting cylinder 53 has several through holes, and the interior of the connecting cylinder 53 is connected to the output end of the air pump. The gas discharged by the air pump is blown out through the through holes.

[0047] It should be noted that when the thinning robotic arm 4 drives the thinning mechanism 5 into the pepper canopy, air is blown into the connecting cylinder 53 by an air pump and blown out from the through hole to all sides, thereby blowing the pepper canopy to both sides, reducing the chance of the thinning mechanism 5 contacting the side branches, and thus reducing damage to the side branches. Example

[0048] After the thinning robot arm 4 drives the thinning mechanism 5 to tilt upward and push the pepper canopy upward, when it is time to harvest the peppers, the wire mesh 50 is rolled up so that the wire mesh 50 gradually separates from the peppers. However, the canopy below may block the peppers upward. Therefore, the following technical solution is proposed.

[0049] Refer to the instruction manual appendix Figures 4-7 The through hole includes several full-circle upper air blowing holes 531 opened on the outer cylindrical surface of the connecting cylinder 53 and several half-circle lower air blowing holes 532 opened on the lower side of the outer cylindrical surface of the connecting cylinder 53. The full-circle upper air blowing holes 531 and the half-circle lower air blowing holes 532 are arranged at intervals.

[0050] Furthermore, the connecting cylinder 53 is provided with an inner cylinder 56. One end of the inner cylinder 56 is connected to one end of the rack 552, and the inner cylinder 56 can slide along the axial direction of the connecting cylinder 53. Several circular air-blowing holes 561 are opened on the outer cylindrical surface of the inner cylinder 56. A driving component 3 57 is installed at one end of the connecting cylinder 53. When the driving component 3 57 pushes the inner cylinder 56 to move, the air-blowing holes 561 are connected to the upper air-blowing hole 531 or the lower air-blowing hole 532.

[0051] It should be noted that when the thinning mechanism 5 is inserted below the pepper canopy, the inner air hole 561 is connected to the upper air hole 531, allowing gas to be blown out from the upper air hole 531 to open up the upper and lower canopies of the pepper. This reduces damage to the lateral branches of the canopy when the thinning mechanism 5 is inserted. As the thinning robotic arm 4 moves the thinning mechanism 5 along its length away from the pepper plant, the drive component 3 57 moves the inner cylinder 56, connecting the inner air hole 561 to the lower air hole 532. Since the lower air hole 532 is located on the lower side of the outer cylindrical surface of the connecting cylinder 53, air can only be blown downwards from the lower air hole 532 to open up the lower canopy and prevent it from blocking the pepper upwards. The drive component 3 57 can be an electromagnet. Example

[0052] like Figure 1 and Figure 2 As shown, this embodiment provides a specific structural form of a harvesting robotic arm 2 and a pruning robotic arm 4.

[0053] The harvesting robotic arm 2 includes a rotating base 21 fixedly installed with the carriage 12. A swing arm 22 is installed at the output end of the rotating base 21. A rocker arm 23 is installed at the output end of the swing arm 22. A rotating arm 24 is installed at the output end of the rocker arm 23. A forearm 25 is installed at the output end of the rotating arm 24. The harvester 3 is installed at the output end of the forearm 25.

[0054] The pruning robotic arm 4 includes a rotating base 41 fixedly installed with the carriage 12. A swing arm 42 is installed at the output end of the rotating base 41. A rocker arm 43 is installed at the output end of the swing arm 42. A rotating arm 44 is installed at the output end of the rocker arm 43. A forearm 45 is installed at the output end of the rotating arm 44. The pruning mechanism 5 is installed at the output end of the forearm 45.

[0055] Working principle: This chili-harvesting robot addresses the problem of dense foliage and easily obscured fruits in trellis-grown chilies, leading to visual omissions and harvesting errors. It utilizes two robotic arms working in tandem to automate the harvesting process, including thinning, identification, clamping, cutting, and fruit collection. At the start of the operation, the traveling mechanism 11 moves to the target area, the cargo box 12 carries the entire machine's components, and the bucket 13 collects the harvested chili fruits. The harvesting robotic arm 2 is equipped with a binocular 3D vision recognition device at its end, which constructs a 3D model of the chili plant, identifies mature chilies, calculates the spatial coordinates of the fruit and its stem, and distinguishes between obscured branches and immature fruits. For unobstructed chilies, the harvesting robotic arm 2 directly drives the harvester 3 to the target location for harvesting. When fruits are obscured by foliage and cannot be accurately located, the thinning robotic arm 4 drives the thinning mechanism 5 to perform preliminary thinning operations. When the thinning robotic arm 4 inserts the thinning mechanism 5 under the chili pepper canopy, the air pump supplies air into the connecting cylinder 53. The drive component 3 57 pushes the inner cylinder 56 to slide, connecting the inner air hole 561 with the upper air hole 531. Gas is then ejected outward from the upper air hole 531, blowing the lateral branches to both sides and reducing scratching damage to the branches during insertion. The wire mesh 50 between the fixed rod 51 and the connecting cylinder 53 lifts and separates the canopy. The wire mesh 50 is permeable, allowing the binocular three-dimensional vision recognition device to determine whether there are mature chilies underneath. After detecting mature chilies, the drive component 1 54 drives the connecting cylinder 53 to rotate and retract the wire mesh 50. Simultaneously, the motor 553 in the drive component 2 55 drives the gear 554 to mesh with the transmission rack 552, pulling the connecting cylinder 53 towards the fixed rod 51. The wire mesh 50 gradually retracts, preventing overall movement from pulling and scratching the branches. Drive component 3 57 readjusts the position of the inner cylinder 56, aligning the inner air inlet 561 with the lower air inlet 532. The airflow is directed downwards, suppressing the rebound of lower branches and leaves, preventing them from obscuring the chilies again. The wire mesh 50 gradually retracts, exposing each chili pepper individually, and the harvester 3 begins operation. The finger-clamping cylinder 31 drives the clamping plate 32 to close, and the elastic band 35 on the clamping plate 32 flexibly holds the chilies, preventing rigid compression from damaging the peel. The cutting cylinder 33 drives the cutting blade 34 to extend and cut the stem. The harvesting robotic arm 2 moves the harvester 3 above the feed inlet of the truck bed 12, the clamping plate 32 releases, and the chilies fall into the truck bed 13 with a soft lining, completing one harvesting cycle. The entire mechanism, through the coordinated operation of pruning, identification, and harvesting, solves the problem of missed identification caused by the shading of branches and leaves on hanging chilies, achieving efficient and automated chili harvesting.

[0056] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A chili-harvesting robot harvesting actuator, characterized in that: The device includes a traveling device (1), on which a picking robotic arm (2) and a thinning robotic arm (4) are installed. The end of the picking robotic arm (2) is equipped with a picker (3) for picking chili peppers, and the end of the thinning robotic arm (4) is equipped with a thinning mechanism (5) for prying open chili pepper branches. The thinning mechanism (5) includes a fixed rod (51), a connecting rod (52) is installed on the fixed rod (51), a connecting cylinder (53) is installed at the front end of the connecting rod (52), and a wire mesh (50) is installed between the fixed rod (51) and the connecting cylinder (53).

2. The chili-harvesting robot harvesting actuator according to claim 1, characterized in that: The connecting rod (52) is movably inserted into the fixed rod (51) along the radial direction of the fixed rod (51). The connecting cylinder (53) is rotatably connected to the front end of the connecting rod (52). One end of the wire mesh (50) is fixed to the fixed rod (51), and the other end of the wire mesh (50) is wrapped around the connecting cylinder (53). A driving component one (54) is installed at the front end of the connecting rod (52). The driving component one (54) is used to drive the connecting cylinder (53) to rotate. A driving component two (55) is installed on the fixed rod (51) to drive the connecting cylinder (53) to move closer to or away from the fixed rod (51).

3. The chili-harvesting robot harvesting actuator according to claim 2, characterized in that: The second driving component (55) includes a fixed frame (551) fixedly mounted on a fixed rod (51). A rack (552) is movably inserted into one end of the fixed rod (51) away from the connecting rod (52). A motor (553) is fixedly mounted on the fixed frame (551). A gear (554) is mounted on the output end of the motor (553). The gear (554) meshes with the rack (552). The end of the connecting cylinder (53) away from the first driving component (54) is mounted on the end of the rack (552).

4. The chili-picking robot harvesting actuator according to claim 3, characterized in that: The cylindrical surface of the connecting cylinder (53) has several through holes, and the interior of the connecting cylinder (53) is connected to the output end of the air pump, and the gas discharged by the air pump is blown out through the through holes.

5. The chili-picking robot harvesting actuator according to claim 4, characterized in that: The through hole includes several full-circle upper air blowing holes (531) opened on the outer cylindrical surface of the connecting cylinder (53) and several half-circle lower air blowing holes (532) opened on the lower side of the outer cylindrical surface of the connecting cylinder (53). The full-circle upper air blowing holes (531) and the half-circle lower air blowing holes (532) are spaced apart.

6. The chili-harvesting robot harvesting actuator according to claim 5, characterized in that: The connecting cylinder (53) has an inner cylinder (56) inside. One end of the inner cylinder (56) is connected to one end of the rack (552), and the inner cylinder (56) can slide along the axial direction of the connecting cylinder (53). Several circular air-blowing holes (561) are opened on the outer cylindrical surface of the inner cylinder (56). A driving component three (57) is installed at one end inside the connecting cylinder (53). When the driving component three (57) pushes the inner cylinder (56) to move, the air-blowing holes (561) are connected to the upper air-blowing hole (531) or the lower air-blowing hole (532).

7. The chili-picking robot harvesting actuator according to claim 1, characterized in that: The picker (3) includes a finger-clamping cylinder (31), on which two clamping fingers of the finger-clamping cylinder (31) are clamping plates (32), which are used to clamp the chili peppers. A cutting cylinder (33) is fixedly installed at the upper end of the finger-clamping cylinder (31), and a cutting blade (34) for cutting the stem is installed at the output end of the cutting cylinder (33).

8. The chili-picking robot harvesting actuator according to claim 1, characterized in that: Both sides of the two clamping plates (32) are provided with elastic bands (35). One end of the elastic band (35) is fixedly connected to one end of the clamping plate (32), and the other end of the elastic band (35) is fixed to the other end of the clamping plate (32) by fastening bolts (36).

9. The chili-picking robot harvesting actuator according to claim 1, characterized in that: The harvesting robotic arm (2) is equipped with a binocular three-dimensional vision recognition device at its end.

10. The chili-picking robot harvesting actuator according to claim 1, characterized in that: The traveling device (1) includes a traveling mechanism (11), on which a carriage (12) is mounted, and a cargo box (13) is placed inside the carriage (12).

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